CN113415114B

CN113415114B - Cross-medium aircraft based on bionic variant wing

Info

Publication number: CN113415114B
Application number: CN202110849473.9A
Authority: CN
Inventors: 孟军辉; 罗剑桥; 李文光; 刘莉
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2023-12-12
Anticipated expiration: 2041-07-27
Also published as: CN113415114A

Abstract

The invention discloses a medium-crossing aircraft based on a bionic variant wing, and belongs to the field of medium-crossing aircraft. The invention takes the bird wing as a bionic object, imitates the bird wing in the aspect of the integral structure of the wing, and enables the bionic variant wing with a complex variable configuration to adapt to different working conditions through the active variable configuration of the wing and the passive deformation of the feather when the medium-crossing aircraft flies in the air by combining the rigid and flexible components, reduces the resistance of the medium-crossing aircraft in the water entering process by folding the wing backwards before entering water, improves the attitude stability in the water entering process, and reduces the navigation resistance and avoids the redundancy of lift force when the wing is folded backwards in the water navigation; through setting up the duct of underwater propulsion ware in the fuselage inside, after crossing the medium aircraft and going into water, the interior space of duct and wing can be filled with water rapidly, realizes the quick change of aircraft self average density simply and conveniently, adapts to the requirement of crossing the medium aircraft underwater navigation to self average density.

Description

Cross-medium aircraft based on bionic variant wing

Technical Field

The invention belongs to the field of medium-crossing aircrafts, and particularly relates to a medium-crossing aircrafts based on bionic variant wings.

Background

The medium-crossing aircraft is an amphibious unmanned aircraft with a new concept, which can be used for amphibious cruising in the air and water and freely crossing an air-water interface, and has various military and civil application prospects. The design of the cross-medium aircraft relates to a plurality of subject fields, the technical difficulty is high, the research is started later, the cross-medium aircraft with practical functions still does not exist in the world nowadays, and the research in the field is basically in the stages of overall concept design, key technology attack and prototype verification.

The existing cross-medium aircraft generally faces the problems that impact load is large in the water entering process and the posture is difficult to stabilize, and the average density of the cross-medium aircraft is small when the aircraft is sailed underwater, so that the problem that the aircraft is unfavorable for submerging is solved.

The existing cross-medium aircraft generally faces the problem of difficult take-off caused by the increase of hydrodynamic resistance and dead weight in the water outlet process.

The existing cross-medium aircraft mostly adopts a variant wing, and the resistance in water is reduced by retracting the wing before entering water. The morphing wing is typically weak in its ability to change configuration, and can only be stowed before entry into the water, and is difficult to use to improve flight performance. In addition, the variant wing is usually driven by a steering engine completely, and the driving system has a complex structure and large volume and weight.

Therefore, the technical scheme of the invention can better solve the technical problems facing the design of the cross-medium aircraft, and has important significance in overcoming or at least alleviating the defects of the prior art.

Disclosure of Invention

The invention discloses a medium-crossing aircraft based on a bionic variant wing, which aims to solve the technical problems that: the bird wing is taken as a bionic object, the bird wing is imitated in the aspect of the integral structure of the wing, and through the bionic variant wing which is combined with stiffness and softness and can carry out complex variable configuration, the medium-crossing aircraft can adapt to different working conditions through the active variable configuration of the wing and the passive deformation of feathers when flying in the air, the resistance of the medium-crossing aircraft in the water entering process is reduced by folding the wing backwards before entering water, meanwhile, the attitude stability in the water entering process is improved, and the backward folding state of the wing in the water navigation can reduce navigation resistance and avoid lift redundancy; through setting up the duct of underwater propulsion ware in the fuselage inside, after crossing the medium aircraft and going into water, the interior space of duct and wing can be filled with water rapidly, realizes the quick change of aircraft self average density simply and conveniently, adapts to the requirement of crossing the medium aircraft underwater navigation to self average density.

The aim of the invention is achieved by the following technical scheme.

The invention discloses a medium-crossing aircraft based on a bionic variant wing, which comprises a wing, a fuselage, a tail wing, an air propeller, an underwater propeller and an auxiliary take-off device. The wing takes the wing wings as bionic objects, the functions of rigid-flexible combination of the wing wings and complex variable configuration of the wing wings are realized by simulating the wing wings in the aspect of the overall structure of the wing wings, the medium-crossing aircraft can adapt to different working conditions through the active variable configuration of the wing wings and the passive deformation of feathers when flying in the air, the resistance of the medium-crossing aircraft in the water entering process is reduced by folding the wing wings backwards before entering water, meanwhile, the attitude stability in the water entering process is improved, and the backward folding state of the wing wings in the water navigation can reduce navigation resistance and avoid lift redundancy.

The single side of the wing comprises a wing mounting platform, a wing root, a wing middle and a wing tip. The structures of the left side and the right side of the wing are completely symmetrical.

The wing root mainly comprises a wing root front part, a wing root rear part, a wing root shearing deformation driving device, a wing-in-wing connecting device and a wing-in-wing rotary movement driving device; the front part of the wing root adopts a rigid parallelogram mechanism to realize shearing deformation, and the surface adopts a flexible skin adapting to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; the front part of the wing root is provided with a feather inserting plate for inserting feathers. The rear part of the wing root mainly comprises feathers and a wing root feather transmission device; the feathers are flexible feathers; the rigid parallelogram mechanism at the front part of the wing root can generate active rigid shearing deformation under the drive of the wing root shearing deformation driving device, and then the wing root feather transmission device drives the feathers to rotate, so that the direction of each feather is kept unchanged, the sweep angle of the wing root is changed, meanwhile, the feathers at the rear part of the wing root can generate passive flexible deformation under the action of air power, the wing root adapts to various working conditions through active change of the sweep angle and the passive deformation of the feathers, and the flying performance of the medium-crossing aircraft is greatly improved.

The middle wing mainly comprises a middle front part, a middle rear part, a middle shearing deformation driving device, a middle wing tip connecting device and a wing tip rotary motion driving device; the middle and front parts of the wings adopt a rigid parallelogram mechanism to realize shearing deformation, and the surfaces of the wings adopt flexible skins adapting to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; the middle and front parts of the wings are provided with feather inserting plates for inserting feathers. The middle and rear parts of the wing mainly comprise feathers and a wing-in-feather transmission device; the feathers are flexible feathers; the rigid parallelogram mechanism at the middle and front parts of the wings can generate active rigid shearing deformation under the drive of the shearing deformation driving device in the wings, and further the feather is driven to rotate through the feather transmission device in the wings, so that the direction of each feather is kept unchanged, the sweep angle in the wings is changed, meanwhile, the feather at the middle and rear parts of the wings can generate passive flexible deformation under the action of air power, the wings adapt to various working conditions through active change of the sweep angle and passive deformation of the feather, and the flying performance of the medium-crossing aircraft is greatly improved.

The wing root in-wing connecting device is positioned at the outer side of the wing root, and the wing in-wing is connected with the wing root through the wing root in-wing connecting device; the wing can rotate around the joint with the wing root in the vertical plane under the drive of the wing middle rotation movement driving device so as to realize the change of the dihedral angle in the wing; the dihedral angle of the wing tip varies with the dihedral angle in the wing. The wing neutralization and the wing tip greatly improve the flight performance of the cross-medium aircraft by actively changing the dihedral angle.

The wing tip mainly comprises a wing-shaped thin shell, a feather inserting plate, feathers and a wing tip feather transmission device; the section of the airfoil thin shell is in an airfoil shape, and openings are formed in the two sides and the rear part of the airfoil thin shell; the feather inserting plate is embedded in the wing-shaped thin shell, the feathers are inserted on the feather inserting plate, and the feathers extend out from the rear part and the outer side opening of the wing-shaped thin shell. The wing tip connecting device in the wing is located in the outer side of the wing, the feather inserting plate stretches out from an opening in the inner side of the wing-shaped thin shell, the wing tip connecting device in the wing is connected with the outer side of the wing, the wing tip connecting device can rotate around the connecting position in the wing in the horizontal plane under the driving of the wing tip rotating motion driving device, and further the wing tip feather driving device drives the feather to rotate, so that the wing tip unfolding and folding are achieved, meanwhile, the feather can be subjected to passive flexible deformation under the action of air power, the wing tip is suitable for various working conditions through active unfolding and folding and the passive deformation of the feather, and the flying performance of the medium-crossing aircraft is greatly improved. In addition, by controlling the wing tip rotational movement driving means on both sides of the wing so that the degree of stowing or deploying of the wing tips on both sides is different, that is, controlling the wing tip differential on both sides, it is possible to achieve a manipulation effect similar to that of an aileron.

The wing mounting platform comprises a wing root mounting platform and a wing root mounting platform rotary motion driving device; the wing root is arranged on the wing root mounting platform, and can be subjected to shearing deformation relative to the wing root mounting platform under the driving of the wing root shearing deformation driving device; the wing root installation platform is installed on the machine body, and can rotate around the joint of the wing root installation platform and the machine body in the horizontal plane under the drive of the wing root installation platform rotary motion driving device, so that the single side of the wing is driven to rotate around the joint of the wing and the machine body in the horizontal plane, and the capability of changing the glancing angle of the wing is further improved.

Before the cross-medium aircraft enters water, the wing is folded back to the maximum extent through the maximum backward shearing deformation of the wing roots and the wings on the two sides of the wing, the maximum folding of the wing tips on the two sides of the wing and the maximum backward rotation of the wing root mounting platforms on the two sides of the wing, so that the resistance of the cross-medium aircraft in the water entering process is reduced, the attitude stability in the water entering process is improved, and the sailing resistance can be reduced and the lift redundancy can be avoided in the state of folding back of the wing after entering water.

The underwater propeller is an electric ducted propeller, and the duct is positioned in the machine body; the wing is not subjected to airtight and waterproof treatment except for key electrical equipment, namely the inner space of the wing is communicated with the outside; through with the duct setting of underwater propulsion ware in the inside of fuselage and make the inner space of wing communicates with the external world, after crossing medium aircraft goes into water, the duct with the inner space of wing is filled with water rapidly, realizes the quick change of aircraft self average density simply and conveniently, adapts to the requirement of crossing medium aircraft underwater navigation to self average density.

Preferably, the wing root mounting platform comprises a main shaft and two secondary shafts; the main shaft is provided with a secondary shaft mounting plate fixedly connected with the main shaft, and two secondary shafts are mounted on the secondary shaft mounting plate and can rotate by taking the axis of the secondary shaft as a rotating shaft; the axis of the main shaft and the axes of the two secondary shafts are in the vertical direction; the front connecting rod and the rear connecting rod of the rigid parallelogram mechanism at the front part of the wing root are respectively fixedly connected with the two secondary shafts, and the rigid parallelogram mechanism at the front part of the wing root can be subjected to shearing deformation relative to the wing root mounting platform; the main shaft is connected with the machine body through a rolling bearing, and the wing root mounting platform can rotate in a horizontal plane by taking the axis of the main shaft as a rotating shaft; the wing root mounting platform rotary motion driving device comprises a steering engine, a steering engine pull rod and a steering engine pull rod connecting plate; the steering engine is arranged in the machine body, the steering engine pull rod connecting plate is fixedly connected with the main shaft, and the steering engine pull rod is hinged with the rocker arm of the steering engine and the steering engine pull rod connecting plate; the rocker arm of the steering engine can rotate to drive the wing root mounting platform to rotate in a horizontal plane by taking the axis of the main shaft as a rotating shaft, and then drive the single side of the wing to rotate in the horizontal plane by taking the axis of the main shaft as the rotating shaft. Through setting up main shaft, secondary shaft, steering wheel pull rod and steering wheel pull rod connecting plate, realize the installation of wing root with wing mounting platform is around with the fuselage junction is rotatory.

Preferably, the wing root shear deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy springs are arranged on one of two diagonals of each rigid parallelogram mechanism unit in the front rigid parallelogram mechanism of the wing root, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units which are separated by one rigid parallelogram mechanism unit are the same; the shape memory alloy spring with the diagonal direction being the first direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform in a certain direction, and the shape memory alloy spring with the diagonal direction being the second direction is stretched; the shape memory alloy spring with the diagonal direction being the second direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction being the first direction is stretched, thereby realizing the driving of the shear deformation of the rigid parallelogram mechanism and further realizing the driving of the shear deformation of the wing roots; the shape memory alloy springs are arranged on the diagonal lines of the rigid parallelogram mechanism units, and the shape memory alloy springs are electrified to shrink to drive the rigid parallelogram mechanism to shear and deform, so that the wing root shear deformation is realized, meanwhile, the shape memory alloy springs are adopted as the wing root shear deformation driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is brought to the deformation configuration of the wing.

Preferably, the shearing deformation driving device in the wing is a plurality of shape memory alloy springs; the shape memory alloy springs are arranged on one of two diagonals of each rigid parallelogram mechanism unit in the middle and front rigid parallelogram mechanism of the wing, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units which are separated by one rigid parallelogram mechanism unit are the same; the shape memory alloy spring with the diagonal direction being the first direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform in a certain direction, and the shape memory alloy spring with the diagonal direction being the second direction is stretched; the shape memory alloy spring with the diagonal direction being the second direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction being the first direction is stretched, thereby realizing the driving of the shear deformation of the rigid parallelogram mechanism and further realizing the driving of the shear deformation in the wing; the shape memory alloy springs are arranged on the diagonal lines of the rigid parallelogram mechanism units, and the shape memory alloy springs are electrified to shrink to drive the rigid parallelogram mechanism to deform in a shearing way, so that the in-wing deformation is realized, meanwhile, the shape memory alloy springs are adopted as an in-wing deformation driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is brought to the deformation configuration of the wing.

Preferably, the wing root in-wing connecting device is two flexible hinges, the wing in-wing rotary motion driving device is a plurality of shape memory alloy springs, and the shape memory alloy springs are arranged at the upper edge and the lower edge of the connection part between the wing root and the wing in-wing; energizing the shape memory alloy spring at the upper edge to contract will drive the wing to deflect upwards while stretching the shape memory alloy spring at the lower edge; energizing the shape memory alloy spring at the lower edge to contract will drive the wing to deflect downwards while stretching the shape memory alloy spring at the upper edge, thereby realizing the driving of the rotary motion in the wing; the shape memory alloy springs are arranged at the upper edge and the lower edge of the joint between the wing root and the wing, and the wing is driven to rotate by electrifying and contracting the shape memory alloy springs, so that the dihedral angle change in the wing is realized, and meanwhile, the shape memory alloy springs are adopted as the wing middle rotation movement driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is provided for the configuration change of the wing.

Preferably, the wing tip connecting device in the wing is a wing tip mounting platform, the wing tip mounting platform is a column hinge fixed on the middle and outer sides of the wing, and a feather insert plate of the wing tip extends out of an opening on the inner side of the wing thin shell and is hinged with the middle and outer sides of the wing through the wing tip mounting platform; the wing tip rotary motion driving device comprises a telescopic rod, a telescopic rod mounting platform, a shape memory alloy spring and a common spring; the telescopic rod specifically comprises a telescopic rod primary rod and a telescopic rod secondary rod, the outer diameter of the telescopic rod secondary rod is the same as the inner diameter of the telescopic rod primary rod, and the telescopic rod secondary rod is inserted into the telescopic rod primary rod; the telescopic rod primary rod is arranged on the telescopic rod installation platform, the telescopic rod installation platform is arranged on the middle outer side of the wing, and the telescopic rod primary rod is hinged with the middle outer side of the wing through the telescopic rod installation platform; the telescopic rod secondary rod is hinged with a feather plugboard of the wing tip; the common spring is arranged in the first-stage rod of the telescopic rod and is always in a compressed state, so that the force can be applied to the second-stage rod of the telescopic rod; the shape memory alloy spring is arranged outside the telescopic rod, and two ends of the shape memory alloy spring are respectively fixed on the first-stage telescopic rod and the second-stage telescopic rod; the shape memory alloy spring is electrified to shrink to drive the telescopic rod to shrink, and then the telescopic rod drives the feather inserting plate of the wing tip to rotate inwards, so that the feather of the wing tip is driven to shrink inwards through the wing tip feather transmission device; the shape memory alloy spring loses acting force after power failure, the shape memory alloy spring recovers to be long under the action of the common spring, the telescopic rod stretches and drives the feather inserting plate of the wing tip to rotate outwards, and then the feather of the wing tip is driven to expand outwards through the wing tip feather transmission device, so that the wing tip rotating movement is driven; and the common spring and the shape memory alloy spring are respectively arranged inside and outside the telescopic rod, so that the on and off of the shape memory alloy spring are controlled, and the wing tip is retracted and expanded.

Preferably, the wing root feather transmission device is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism at the front part of the wing root; the elastic rope connects the root parts of the feathers of the wing roots in series; the rigid parallelogram mechanism generates shear deformation and drives the feathers to rotate around the hinged position with the feather inserting plate through the elastic ropes, so that the direction of each feather of the wing root is kept unchanged, and the transmission from the shear deformation of the rigid parallelogram mechanism at the front part of the wing root to the rotation of the feathers is realized; the transmission from the rigid parallelogram mechanism at the front part of the wing root to the wing root feather is realized by arranging an elastic rope.

Preferably, the feather transmission device in the wing is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism in the middle front part of the wing; the elastic rope connects the root parts of each feather in the wings in series; the rigid parallelogram mechanism generates shear deformation and drives the feathers to rotate around the hinged position with the feather inserting plate through the elastic ropes, so that the direction of each feather in the wing is kept unchanged, and the transmission from the shear deformation of the rigid parallelogram mechanism at the front part of the wing to the rotation of the feathers is realized; the transmission from the wing middle front rigid parallelogram mechanism to the wing feather is realized by arranging an elastic rope.

Preferably, the wing tip feather transmission device is an elastic rope, two ends of the elastic rope are respectively fixed at the outer side in the wing and the root part of the outermost feather of the wing tip, the outermost feather of the wing tip is fixedly connected with a feather inserting plate of the wing tip, and the rest of the inner feather can rotate around a hinge joint part of the feather inserting plate of the wing tip; the root of each feather of the wing tip is connected in series by the elastic rope; the rotation of the feather inserting plate of the wing tip drives the feathers to rotate around the hinge joint of the feather inserting plate through the elastic ropes, so that the feathers of the wing tip are converged or unfolded, and the transmission from the rotation of the feather inserting plate of the wing tip to the rotation of the feathers is realized; the transmission from the feather insert plate of the wing tip to the wing tip feather is realized by arranging an elastic rope.

Preferably, the duct inlet and the duct outlet of the underwater propeller are respectively positioned at the neck and the tail of the fuselage; a baffle is arranged at the inlet of the duct, and the baffle is closed when the medium-crossing aircraft flies in the air, so that the influence of the duct on the aerodynamic shape is avoided; after water is filled, the baffle is automatically opened under the action of water pressure; through with the duct setting of underwater propulsion ware in the inside of fuselage and make the inner space of wing communicates with the external world, after crossing medium aircraft goes into water, the duct with the inner space of wing is filled with water rapidly, realizes the quick change of aircraft self average density simply and conveniently, adapts to the requirement of crossing medium aircraft underwater navigation to self average density.

Preferably, the shape of the machine body is formed by splicing the head of the delphinidin and the body of the psyllid according to a certain proportion.

Preferably, the tail fin is a full-motion V-shaped tail fin.

Preferably, the aerial propeller is a motor propeller, and the blades of the propeller can be folded; the aerial propeller is arranged on the upper side of the tail of the machine body.

Preferably, the auxiliary take-off device comprises a high-pressure air bottle and an air bag, wherein the high-pressure air bottle is positioned in the machine body, the air bag is attached to two sides of the abdomen of the machine body, and an air nozzle is arranged at the rear part of the air bag; the high-pressure gas cylinder is used for inflating the air bag; the air bag can jet backward through the jet.

The invention discloses a working method of a medium-crossing aircraft based on a bionic variant wing, which comprises the following steps: when flying in the air, the wing can adapt to various working conditions through the active deformation configuration of the wing and the passive deformation of the feather, so that better flying performance is obtained; before water is injected, the wing is folded backwards to the maximum extent, so that the resistance in the water injection process of the cross-medium aircraft is reduced, and meanwhile, the attitude stability in the water injection process is improved; in the water entering process, the duct of the underwater propeller and the inner space of the wing can be rapidly filled with water, so that the rapid change of the average density of the aircraft is realized, and the requirements of the underwater navigation of the cross-medium aircraft on the average density of the aircraft are met; after water is filled, the air propeller stops working, and the underwater propeller starts working; when sailing in water, the backward folded state of the wing is kept, the sailing resistance is reduced, and the lift redundancy is avoided; when taking off on water, the aircraft floats to the water surface, the air propeller and the underwater propeller work simultaneously, the high-pressure gas cylinder inflates to the air bag, the air bag is inflated and then serves as a pontoon, extra buoyancy is provided, draft is reduced, organism drainage is promoted, meanwhile, sliding resistance is reduced, stability in the taking off process is improved, the air nozzle at the tail part of the air bag continuously sprays air backwards, extra thrust is provided, and meanwhile, low-head moment caused by the eccentric thrust of the air propeller is balanced to take off in a sliding mode.

The beneficial effects are that:

1. the invention discloses a medium-crossing aircraft based on a bionic variant wing, which takes a bird wing as a bionic object, imitates the bird wing in the aspect of the overall structure of the wing, and enables the medium-crossing aircraft to adapt to different working conditions through the active deformation configuration of the wing and the passive deformation of feathers in the air flight through rigid-flexible combination, reduces the resistance of the medium-crossing aircraft in the water entering process by folding the wing backwards before entering water, improves the attitude stability in the water entering process, reduces the navigation resistance and avoids the lift redundancy in the backward folding state of the wing in the water navigation, namely the deformation capability of the medium-crossing aircraft is stronger, not only can meet the requirement of the backward folding of the wing before entering water, but also can adapt to various working conditions through the active deformation configuration of the wing and the passive deformation of the feathers in the air flight, and greatly improves the flight performance; the shape memory alloy spring is adopted to drive the wing to change the configuration, so that the complexity of a driving system is reduced, the volume and the weight of the driving system are reduced, and convenience is provided for changing the configuration of the wing.

2. According to the medium-crossing aircraft based on the bionic variant wing, the air bags which serve as pontoons and can jet backwards are arranged on two sides of the aircraft belly, so that the difficulty of taking off on water is greatly reduced.

3. The invention discloses a medium-crossing aircraft based on a bionic variant wing, wherein the wing is not subjected to sealing and waterproof treatment except key electrical equipment; the duct of the underwater propeller is positioned in the fuselage; through setting up the duct of underwater propeller in the inside of fuselage and making the inner space and the external intercommunication of wing, after crossing medium aircraft income water, the duct of underwater propeller and the inner space of wing are filled with water rapidly, realize the quick change of aircraft self average density simply and conveniently, adapt to the requirement of crossing medium aircraft underwater navigation to self average density.

Drawings

Fig. 1 is a schematic diagram of a medium-crossing aircraft based on a bionic morphing wing.

Fig. 2 is another schematic diagram of a medium-crossing aircraft based on a bionic morphing wing.

FIG. 3 is a schematic view of the wing conditions and the propeller conditions of the air propeller during underwater and underwater navigation.

Fig. 4 is a schematic view of the inflated airbag.

FIG. 5 is a schematic top view of a single-sided wing layout.

FIG. 6 is a schematic top view of a single-sided wing configuration-changed layout.

FIG. 7 is a schematic structural view of an airfoil mounting platform.

Fig. 8 is a schematic structural view of a wing root.

Fig. 9 is a schematic structural view of the connection between the wing root and the wing.

Figure 10 is a schematic view of the structure of the wing tip and the connection between the wing tip and the wing.

The wing comprises a 1-wing, a 2-fuselage, a 3-tail wing, a 4-motor propeller, a 5-duct inlet, a 6-duct outlet, a 7-airbag, an 8-jet, an 11-wing mounting platform, a 12-wing root, a 13-wing middle, a 14-wing tip, a 111-main shaft, a 112-secondary shaft, a 113-steering engine pull rod, a 121-wing root leading edge, a 122-wing root girder, a 123-wing root rib, a 124-wing root outer side rib, a 125-wing root stringer, a 126-wing root trailing edge stringer, a 127-wing root trailing edge stringer connecting piece, a 128-wing root feather plugboard, a 129-wing root feather, a 1210-wing root elastic rope, a 1211-wing root shape memory alloy spring, a 1212-flexible hinge, a 1213-flexible hinge connecting plate, a 1214-flexible hinge safety plug, a 1215-wing middle connecting shape memory alloy spring, a 131-wing middle inner side rib, a 132-middle outer side rib, a 133-wing mounting platform, a 134-wing tip safety, a 135-wing tip mounting platform, a 135-wing tip mounting rod, a 136-wing rod, a 136-expansion rod, a 137-expansion rod, a flexible rod spring shell, a flexible rod spring shell, a 144-shaped spring shell, a flexible rod 144-shaped spring shell, a flexible rod, and a flexible rod 144.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.

As shown in fig. 1 and 2, the configuration of the present embodiment is consistent with the description of the invention, and includes a wing 1, a fuselage 2, a tail 3, an air propeller, an underwater propeller, and an auxiliary take-off device. Wherein, fin 3 is full-motion V-arrangement fin, and the aerial propeller is a motor screw propeller 4, and the underwater propulsion ware is an electronic duct screw propeller, and motor and duct are located inside the fuselage, and auxiliary take-off device includes high-pressure gas cylinder and two air bags 7, and the high-pressure gas cylinder is located inside the fuselage, and air bags 7 attach in fuselage belly both sides.

Referring to fig. 5, a single side of the wing 1 comprises a wing mounting platform 11, a wing root 12, a wing in 13 and a wing tip 14. The left and right sides of the wing 1 are completely symmetrical in construction.

In this embodiment, the root 12 includes a root front portion, a root rear portion, a root shear deformation drive, a root in-wing connection, and a in-wing rotational movement drive. Referring to FIG. 8, the root front specifically includes a root leading edge 121, a root spar 122, three root ribs 123, a root stringer 125, a root trailing edge stringer 126, a root trailing edge stringer attachment 127, and a root feather insert plate 128. The root outboard rib 124 is the outermost one of the three root ribs 123 of the root 12. The rear part of the wing root specifically comprises a wing root feather 129 and a wing root feather transmission device, wherein the wing root feather transmission device is a wing root elastic rope 1210. The root girder 122, root stringers 125, and root feather insert 128 are hinged to the root ribs 123. The two root girders 122, the two root stringers 125, the root feather insert plate 128, and the three root ribs 123 constitute a rigid parallelogram mechanism in front of the root 12, the rigid parallelogram mechanism in front of the root 12 having two rigid parallelogram mechanism units. The root leading edge 121 is fixedly attached to the forward root main beam 122. The plurality of wing root feathers 129 are hinged on the wing root feather inserting plate 128, the wing root feathers 129 are connected by wing root elastic ropes 1210, and two ends of the wing root elastic ropes 1210 are fixed on the adjacent wing root wing ribs 123. The two root trailing edge stringers 126 are respectively lapped on the upper end and the lower end of the tail part of the root rib 123, the two root trailing edge stringers 126 are connected by a plurality of root trailing edge stringer connecting pieces 127, and the root trailing edge stringers 126 are fixedly connected with the root trailing edge stringer connecting pieces 127. The root trailing edge stringers 126 are in frictional contact with the root rib 123 and the root outboard rib 124. The root leading edge 121, the root stringers 125, the root trailing edge stringers 126, the root ribs 123 together support a flexible skin, the tension of which can ensure that the root trailing edge stringers 126 do not come loose. For simplicity, only 1 wing root feathers 129 are depicted in FIG. 8. The root shearing deformation driving device is two root shape memory alloy springs 1211, each root shape memory alloy spring 1211 is located on one of two diagonal lines of a quadrangle formed by the two root girders 122 and the two root ribs 123, and directions of the diagonal lines where the adjacent root shape memory alloy springs 1211 are located are different. Both ends of the root shape memory alloy spring 1211 are fixed to the root girder 122. Energizing contraction of a certain root shape memory alloy spring 1211 will drive the rigid parallelogram mechanism to shear deformation in a certain direction, and simultaneously stretching the root shape memory alloy spring 1211 adjacent to the same, and energizing contraction of the root shape memory alloy spring 1211 adjacent to the same will drive the rigid parallelogram mechanism to shear deformation in an opposite direction, and simultaneously stretching the root shape memory alloy spring 1211, thereby realizing driving of the rigid parallelogram mechanism to shear deformation. Due to the action of the wing root elastic rope 1210, the wing root feathers 129 rotate along with the shearing deformation of the rigid parallelogram mechanism around the hinge joint with the wing root feather inserting plate 128, so that the direction of each wing root feather 129 is kept unchanged when the wing root feather inserting plate 128 rotates, and therefore the rear part of the wing root 12 also generates shearing-like deformation. The change in sweep is achieved by shear deformation of the root 12 as a whole. Referring to fig. 9, the in-wing attachment means specifically includes a flexible hinge 1212, a flexible hinge attachment plate 1213, and a flexible hinge safety pin 1214. Specific components of flexible hinge 1212 that connect at both ends are root outboard rib 124 and mid inboard rib 131. The flexible hinge 1212 is connected to the root outboard rib 124 and the inboard rib 131 in the wing, specifically by a flexible hinge web 1213 and a flexible hinge safety pin 1214. The wing center rotation movement driving device is formed by eight wing center connecting shape memory alloy springs 1215, and four wing center connecting shape memory alloy springs 1215 are respectively fixed on the upper edge and the lower edge of the wing center outer side wing rib 124 and the wing center inner side wing rib 131. The energized contraction of the root in-wing connection shape memory alloy springs 1215 at the upper edges of the root outer rib 124 and the in-wing inner rib 131 will drive the in-wing 13 to deflect upward while simultaneously stretching the root in-wing connection shape memory alloy springs 1215 at the lower edges of the root outer rib 124 and the in-wing inner rib 131. The energizing contraction of the root-in-wing connection shape memory alloy springs 1215 at the lower edges of the root-outside rib 124 and the in-wing inside rib 131 will drive the in-wing 13 to deflect downward, while simultaneously stretching the root-in-wing connection shape memory alloy springs 1215 at the upper edges of the root-outside rib 124 and the in-wing inside rib 131, thereby effecting actuation of the dihedral angle variation of the in-wing 13. When the camber angle is changed in the wing 13, the camber angle is changed with the wing tip 14 together with the wing 13.

In this embodiment, the in-wing 13 includes an in-wing front portion, an in-wing rear portion, an in-wing shear deformation driving device, an in-wing tip connecting device, and a wing tip rotational movement driving device. The mid-wing front, mid-wing rear and mid-wing shear deformation drives are similar in construction to the root front, root rear and root shear deformation drives, respectively, except that the mid-wing 13 has four rigid parallelogram mechanism units. The principle of the shear deformation of the wing 13 is the same as that of the wing root 12, and the sweep angle of the wing 13 can be changed by the shear deformation of the whole.

Referring to fig. 10, in the present embodiment, the wing tip 14 includes an airfoil shell 142, a wing tip feather insert plate 141, eleven wing tip feathers 143, and a wing tip feather transmission device, which is a wing tip elastic rope 144. For simplicity, only the outermost wing tip feathers 143 are shown in the figure ten. The wing tip feathers 143 are mounted on wing tip feather inserts 141, the wing tip feather inserts 141 being embedded in the wing-shaped thin shell 142. The airfoil shell 142 serves to maintain the aerodynamic profile of the wing tip 14. The wing tip feathers 143 are connected by wing tip elastic ropes 144. The wing tip feathers 143 shown in fig. 10 are fixed with respect to the wing tip feather inserting plate 141, and other wing tip feathers 143 not shown on the inner side can rotate around the hinge joint with the wing tip feather inserting plate 141, and the wing tip elastic cord 144 has one end connected to the wing tip feathers 143 shown in fig. 10 and one end fixed to the wing middle and outer side rib 132. The wing-in-wing tip connection device includes a wing tip mounting platform 133 and a wing tip safety latch 134, the wing tip mounting platform 133 being secured to the wing-in-wing outboard rib 132 by the wing tip safety latch 134. The wing tip feather insert 141 is hinged to the wing middle outer wing rib 132 by a wing tip mounting platform 133. The wing tip rotational movement drive means comprises 1 telescopic rod, telescopic rod mounting platform 135, a telescopic rod shape memory alloy spring 139 and a conventional spring 138. The telescopic rod specifically comprises a telescopic rod primary rod 136 and a telescopic rod secondary rod 137, wherein the outer diameter of the telescopic rod secondary rod 137 is the same as the inner diameter of the telescopic rod primary rod 136, and the telescopic rod secondary rod 137 is inserted into the telescopic rod primary rod 136. The telescoping rod primary lever 136 is mounted on a telescoping rod mounting platform 135, and the telescoping rod mounting platform 135 is mounted on the outboard rib 132 in the wing. The telescopic rod secondary rod 137 is hinged with the wing tip feather insert 141. The normal spring 138 is placed inside the telescopic rod primary rod 136 and is always in a compressed state, and can apply force to the telescopic rod secondary rod 137. The telescopic rod shape memory alloy spring 139 is disposed outside the telescopic rod, and both ends are respectively fixed to the telescopic rod primary rod 136 and the telescopic rod secondary rod 137. Energizing the telescopic rod shape memory alloy spring 139 to contract will drive the telescopic rod to contract, and then the telescopic rod drives the wing tip feather inserting plate 141 and the wing tip feathers 143 shown in fig. 10 to rotate inwards, and then the rest ten wing tip feathers 143 are driven to converge inwards through the wing tip elastic ropes 144. The telescopic rod shape memory alloy spring 139 loses the acting force after being powered off, under the action of the common spring 138, the telescopic rod shape memory alloy spring 139 is restored to the original length, the telescopic rod stretches and drives the wing tip feather inserting plate 141 and the wing tip feathers 143 shown in fig. 10 to rotate outwards, and then the rest ten wing tip feathers 143 are driven to expand outwards through the wing tip elastic ropes 144, so that the folding and unfolding of the wing tip 14 are realized. By controlling the wing tip rotational movement driving means on both sides of the wing 1 so that the folding or unfolding degrees of the wing tips 14 on both sides are different, that is, controlling the wing tips 14 on both sides differentially, a manipulation effect similar to that of an aileron can be achieved.

Referring to fig. 7, in the present embodiment, the wing mounting platform 11 includes a root mounting platform and a root mounting platform rotational motion driving device. The wing root mounting platform comprises 1 main shaft 111 and two secondary shafts 112, wherein a secondary shaft mounting plate fixedly connected with the main shaft 111 is arranged on the main shaft 111, and the two secondary shafts 112 are mounted on the secondary shaft mounting plate and can rotate by taking the axis of the wing root mounting platform as a rotating shaft; the axis of the main shaft 111 and the axes of the two secondary shafts 112 are in the vertical direction. The two wing root main beams 122 are respectively fixedly connected with the two secondary shafts 112, and the wing root main beams 122 can rotate around the wing root mounting platform by taking the secondary shafts 112 as shafts under the drive of the wing root shape memory alloy springs 1211, so that the wing root 12 is subjected to shearing deformation relative to the wing root mounting platform. The main shaft 111 is connected to the machine body 2 via a rolling bearing. The wing root mounting platform rotary motion driving device comprises a steering engine, a steering engine pull rod 113 and a steering engine pull rod connecting plate. The steering wheel is installed in the inside of fuselage 2, and steering wheel pull rod connecting plate links firmly with the main shaft, and steering wheel pull rod 113 is articulated with steering wheel pull rod connecting plate and the rocking arm of steering wheel. The wing root mounting platform can be driven by a steering engine to rotate around the machine body 2 by taking the main shaft 111 as a rotating shaft.

Fig. 6 shows the layout of the wing 1 when the wing root 12 is turned 45 degrees, the wing middle 13 is turned 45 degrees, and the wing tip 14 is turned 45 degrees inwards.

Referring to the wing 1 in fig. 3, in this embodiment, before the cross-medium aircraft based on the bionic variant wing enters water, the wing 1 is folded backwards with the maximum amplitude and attached to two sides of the fuselage 2, specifically, the wing mounting platform 11 rotates backwards around the connection with the fuselage 2, and meanwhile, the wing root 12 and the wing middle 13 are sheared and deformed backwards, and the wing tip 14 rotates inwards. The deformation scheme can reduce the hydrodynamic resistance of the medium-crossing aircraft based on the bionic variant wing and avoid the adverse effect caused by overlarge lifting surface.

In this embodiment, the front appearance of the body 2 is the appearance of the head of a delphinidin, and the rear appearance is the appearance of the body of a psyllid. By adopting the appearance design, the drag characteristic and the attitude stability of the medium-crossing aircraft based on the bionic variant wing in the process of crossing in the air and water and underwater navigation can be improved.

Referring to fig. 2, in the present embodiment, the duct inlet 5 and the duct outlet 6 are located at the neck and tail of the fuselage 2, respectively. The baffle is arranged at the duct inlet 5, and when the medium-crossing aircraft based on the bionic variant wing flies in the air, the baffle is closed, so that the influence of the duct on the aerodynamic shape is avoided. After entering water, the baffle automatically opens under the action of water pressure, and the underwater propeller starts to work.

In this embodiment, the wing 1 is not sealed and waterproofed except for the critical electrical equipment. When the cross-medium aircraft based on the bionic variant wing enters water, the inner spaces of the wing roots 12 and the wings 13 and the duct of the underwater propeller are rapidly filled with water, the average density of the aircraft is rapidly changed, and the aircraft can smoothly enter water and submerge.

In the present embodiment, the propeller of the motor propeller 4 is foldable, and the folded state of the blades is shown as the motor propeller 4 in fig. 3. When the medium-crossing aircraft based on the bionic variant wing sails underwater, the air propeller stops working, and the blades are folded back under the action of water flow, so that sailing resistance is reduced.

Referring to fig. 2 and 4, in the present embodiment, the air bags 7 are located on both sides of the abdomen of the body 2, and the air nozzles 8 are located on the tail of the air bags 7. The airbag 7 shown in fig. 2 is in an uninflated state, the airbag 7 is tightly attached to the fuselage 2, and the hydrodynamic appearance of the medium-crossing aircraft based on the bionic variant wing is not affected. The air bag 7 shown in fig. 4 is in an inflated state, and the air bag 7 is continuously and backwardly inflated through the air jet 8 when the air bag 7 is inflated by the high-pressure air bottle. When the medium-crossing aircraft based on the bionic variant wing takes off from the water, the auxiliary take-off device starts to work, the high-pressure gas cylinder inflates the gas bag 7, the gas bag 7 can serve as a pontoon after being inflated, extra buoyancy is provided, the draft is reduced, the organism drainage is promoted, meanwhile, the sliding resistance is reduced, and the stability in the take-off process is improved. The air bag 7 continuously jets backwards through the air jet 8 while inflating, so that not only can extra thrust be provided, but also the low head moment caused by the eccentric thrust of the air propeller engine can be balanced. After the water take-off is completed, the auxiliary take-off device stops working, the high-pressure gas cylinder stops inflating the air bag 7, the gas in the air bag 7 is completely released through the gas spraying port 8, and the air bag 7 returns to an uninflated state.

Finally, it should be pointed out that: while the foregoing has been provided for the purpose of illustrating the general principles of the invention, it will be understood that the foregoing disclosure is only illustrative of the principles of the invention and is not intended to limit the scope of the invention, but is to be construed as limited to the specific principles of the invention.

Claims

1. A cross-medium aircraft based on bionic variant wings, which is characterized in that: the device comprises wings, a fuselage, a tail wing, an air propeller, an underwater propeller and an auxiliary take-off device; the wing takes the wing as a bionic object, the functions of rigid-flexible combination of the wing and complex variable configuration of the wing are realized by simulating the wing in the aspect of the integral structure of the wing, the cross-medium aircraft can adapt to different working conditions through the active variable configuration of the wing and the passive deformation of feathers when flying in the air, the resistance of the cross-medium aircraft in the water inlet process is reduced by folding the wing backwards before water inlet, the attitude stability in the water inlet process is improved, and the backward folding state of the wing in the water navigation can reduce navigation resistance and avoid lift redundancy;

The single side of the wing comprises a wing mounting platform, a wing root, a wing middle wing and a wing tip; the structures of the left side and the right side of the wing are completely symmetrical;

the wing root mainly comprises a wing root front part, a wing root rear part, a wing root shearing deformation driving device, a wing-in-wing connecting device and a wing-in-wing rotary movement driving device; the front part of the wing root adopts a rigid parallelogram mechanism to realize shearing deformation, and the surface adopts a flexible skin adapting to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; the front part of the wing root is provided with a feather inserting plate for inserting feathers; the rear part of the wing root mainly comprises feathers and a wing root feather transmission device; the feathers are flexible feathers; the rigid parallelogram mechanism at the front part of the wing root can generate active rigid shearing deformation under the drive of the wing root shearing deformation driving device, and further the wing root feather transmission device drives the feathers to rotate, so that the direction of each feather is kept unchanged, the sweep angle of the wing root is changed, meanwhile, the feathers at the rear part of the wing root can generate passive flexible deformation under the action of air power, the wing root adapts to various working conditions through active change of the sweep angle and the passive deformation of the feathers, and the flying performance of the medium-crossing aircraft is greatly improved;

The middle wing mainly comprises a middle front part, a middle rear part, a middle shearing deformation driving device, a middle wing tip connecting device and a wing tip rotary motion driving device; the middle and front parts of the wings adopt a rigid parallelogram mechanism to realize shearing deformation, and the surfaces of the wings adopt flexible skins adapting to the shearing deformation of the rigid parallelogram mechanism; the rigid parallelogram mechanism comprises a plurality of rigid parallelogram mechanism units, and each unit shares a front connecting rod and a rear connecting rod; the middle front part of the wing is provided with a feather inserting plate for inserting feathers; the middle and rear parts of the wing mainly comprise feathers and a wing-in-feather transmission device; the feathers are flexible feathers; the rigid parallelogram mechanism at the middle and front parts of the wings can generate active rigid shearing deformation under the drive of the shearing deformation driving device in the wings, and further the feather is driven to rotate through the feather driving device in the wings, so that the direction of each feather is kept unchanged, the glancing angle in the wings is changed, meanwhile, the feather at the middle and rear parts of the wings can generate passive flexible deformation under the action of air power, the flying performance of a cross-medium aircraft is greatly improved through actively changing the glancing angle and the passive deformation of the feather to adapt to various working conditions;

The wing root in-wing connecting device is positioned at the outer side of the wing root, and the wing in-wing is connected with the wing root through the wing root in-wing connecting device; the wing can rotate around the joint with the wing root in the vertical plane under the drive of the wing middle rotation movement driving device so as to realize the change of the dihedral angle in the wing; the dihedral angle of the wing tip is always the same as in the wing, which dihedral angle varies with the dihedral angle in the wing; the wing center and the wing tip greatly improve the flight performance of the cross-medium aircraft by actively changing the dihedral angle;

the wing tip mainly comprises a wing-shaped thin shell, a feather inserting plate, feathers and a wing tip feather transmission device; the section of the airfoil thin shell is in an airfoil shape, and openings are formed in the two sides and the rear part of the airfoil thin shell; the feather inserting plate is embedded in the wing-shaped thin shell, the feathers are inserted on the feather inserting plate, and the feathers extend out from the rear and outer openings of the wing-shaped thin shell; the wing tip connecting device in the wing is positioned at the outer side of the wing, the feather inserting plate extends out of an opening at the inner side of the wing thin shell, is connected with the outer side of the wing through the wing tip connecting device in the wing and can rotate around a joint with the wing in a horizontal plane under the driving of the wing tip rotating motion driving device, and further the wing tip feather driving device drives the feather to rotate, so that the wing tip is unfolded and folded, meanwhile, the feather can be subjected to passive flexible deformation under the action of air power, the wing tip adapts to various working conditions through active unfolding and folding and the passive deformation of the feather, and the flying performance of the medium-crossing aircraft is greatly improved; in addition, by controlling the wing tip rotational movement driving devices on both sides of the wing, the folding or unfolding degrees of the wing tips on both sides are different, namely, the wing tip differential on both sides is controlled, so that the control effect similar to that of an aileron can be realized;

The wing mounting platform comprises a wing root mounting platform and a wing root mounting platform rotary motion driving device; the wing root is arranged on the wing root mounting platform, and can be subjected to shearing deformation relative to the wing root mounting platform under the driving of the wing root shearing deformation driving device; the wing root installation platform is arranged on the machine body, and can rotate around the joint with the machine body in a horizontal plane under the drive of the wing root installation platform rotary motion driving device, so that a single side of the wing is driven to rotate around the joint with the machine body in the horizontal plane, and the capability of changing the glancing angle of the wing is further improved;

before the cross-medium aircraft enters water, the wing is folded back to the maximum extent through the maximum backward shearing deformation of the wing roots and the wings on the two sides of the wing, the maximum folding of the wing tips on the two sides of the wing and the maximum backward rotation of the wing root mounting platforms on the two sides of the wing, so that the resistance of the cross-medium aircraft in the water entering process is reduced, the attitude stability in the water entering process is improved, and the sailing resistance can be reduced and the lift redundancy can be avoided in the state of folding back of the wing after entering water;

2. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein: the wing root mounting platform comprises a main shaft and two secondary shafts; the main shaft is provided with a secondary shaft mounting plate fixedly connected with the main shaft, and two secondary shafts are mounted on the secondary shaft mounting plate and can rotate by taking the axis of the secondary shaft as a rotating shaft; the axis of the main shaft and the axes of the two secondary shafts are in the vertical direction; the front connecting rod and the rear connecting rod of the rigid parallelogram mechanism at the front part of the wing root are respectively fixedly connected with the two secondary shafts, and the rigid parallelogram mechanism at the front part of the wing root can be subjected to shearing deformation relative to the wing root mounting platform; the main shaft is connected with the machine body through a rolling bearing, and the wing root mounting platform can rotate in a horizontal plane by taking the axis of the main shaft as a rotating shaft; the wing root mounting platform rotary motion driving device comprises a steering engine, a steering engine pull rod and a steering engine pull rod connecting plate; the steering engine is arranged in the machine body, the steering engine pull rod connecting plate is fixedly connected with the main shaft, and the steering engine pull rod is hinged with the rocker arm of the steering engine and the steering engine pull rod connecting plate; the rocker arm of the steering engine can rotate to drive the wing root mounting platform to rotate in a horizontal plane by taking the axis of the main shaft as a rotating shaft, so that one side of the wing is driven to rotate in the horizontal plane by taking the axis of the main shaft as the rotating shaft; through setting up main shaft, secondary shaft, steering wheel pull rod and steering wheel pull rod connecting plate, realize the installation of wing root with wing mounting platform is around with the fuselage junction is rotatory.

3. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein: the wing root shear deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy springs are arranged on one of two diagonals of each rigid parallelogram mechanism unit in the front rigid parallelogram mechanism of the wing root, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units which are separated by one rigid parallelogram mechanism unit are the same; the shape memory alloy spring with the diagonal direction being the first direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform in a certain direction, and the shape memory alloy spring with the diagonal direction being the second direction is stretched; the shape memory alloy spring with the diagonal direction being the second direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction being the first direction is stretched, thereby realizing the driving of the shear deformation of the rigid parallelogram mechanism and further realizing the driving of the shear deformation of the wing roots; the shape memory alloy springs are arranged on the diagonal lines of the rigid parallelogram mechanism units, and the shape memory alloy springs are electrified to shrink to drive the rigid parallelogram mechanism to shear and deform, so that the wing root shear deformation is realized, meanwhile, the shape memory alloy springs are adopted as the wing root shear deformation driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is brought to the deformation configuration of the wing.

4. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein: the shearing deformation driving device in the wing is a plurality of shape memory alloy springs; the shape memory alloy springs are arranged on one of two diagonals of each rigid parallelogram mechanism unit in the middle and front rigid parallelogram mechanism of the wing, and one shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; the diagonal directions of the shape memory alloy spring are only two, namely a first direction and a second direction; the diagonal directions of the shape memory alloy springs in the adjacent rigid parallelogram mechanism units are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units which are separated by one rigid parallelogram mechanism unit are the same; the shape memory alloy spring with the diagonal direction being the first direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform in a certain direction, and the shape memory alloy spring with the diagonal direction being the second direction is stretched; the shape memory alloy spring with the diagonal direction being the second direction is electrified to shrink, so that the rigid parallelogram mechanism is driven to shear and deform towards the other direction, and meanwhile, the shape memory alloy spring with the diagonal direction being the first direction is stretched, thereby realizing the driving of the shear deformation of the rigid parallelogram mechanism and further realizing the driving of the shear deformation in the wing; the shape memory alloy springs are arranged on the diagonal lines of the rigid parallelogram mechanism units, and the shape memory alloy springs are electrified to shrink to drive the rigid parallelogram mechanism to deform in a shearing way, so that the in-wing deformation is realized, meanwhile, the shape memory alloy springs are adopted as an in-wing deformation driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is brought to the deformation configuration of the wing.

5. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein: the wing root middle wing connecting device is two flexible hinges, the wing middle rotation movement driving device is a plurality of shape memory alloy springs, and the shape memory alloy springs are arranged at the upper edge and the lower edge of the connection part between the wing root and the wing middle; energizing the shape memory alloy spring at the upper edge to contract will drive the wing to deflect upwards while stretching the shape memory alloy spring at the lower edge; energizing the shape memory alloy spring at the lower edge to contract will drive the wing to deflect downwards while stretching the shape memory alloy spring at the upper edge, thereby realizing the driving of the rotary motion in the wing; shape memory alloy springs are arranged at the upper edge and the lower edge of the joint between the wing root and the wing, and the wing is driven to rotate by electrifying and contracting the shape memory alloy springs, so that the change of the dihedral angle in the wing is realized, meanwhile, the shape memory alloy springs are adopted as a wing middle rotation movement driving device, so that the complexity of a driving system can be reduced, the volume and the weight of the driving system are reduced, and convenience is provided for the configuration change of the wing;

the wing tip connecting device in the wing is a wing tip mounting platform, the wing tip mounting platform is a column hinge fixed on the middle and outer sides of the wing, and a feather insert plate of the wing tip extends out of an opening on the inner side of the wing-shaped thin shell and is hinged with the middle and outer sides of the wing through the wing tip mounting platform; the wing tip rotary motion driving device comprises a telescopic rod, a telescopic rod mounting platform, a shape memory alloy spring and a common spring; the telescopic rod specifically comprises a telescopic rod primary rod and a telescopic rod secondary rod, the outer diameter of the telescopic rod secondary rod is the same as the inner diameter of the telescopic rod primary rod, and the telescopic rod secondary rod is inserted into the telescopic rod primary rod; the telescopic rod primary rod is arranged on the telescopic rod installation platform, the telescopic rod installation platform is arranged on the middle outer side of the wing, and the telescopic rod primary rod is hinged with the middle outer side of the wing through the telescopic rod installation platform; the telescopic rod secondary rod is hinged with a feather plugboard of the wing tip; the common spring is arranged in the first-stage rod of the telescopic rod and is always in a compressed state, so that the force can be applied to the second-stage rod of the telescopic rod; the shape memory alloy spring is arranged outside the telescopic rod, and two ends of the shape memory alloy spring are respectively fixed on the first-stage telescopic rod and the second-stage telescopic rod; the shape memory alloy spring is electrified to shrink to drive the telescopic rod to shrink, and then the telescopic rod drives the feather inserting plate of the wing tip to rotate inwards, so that the feather of the wing tip is driven to shrink inwards through the wing tip feather transmission device; the shape memory alloy spring loses acting force after power failure, the shape memory alloy spring recovers to be long under the action of the common spring, the telescopic rod stretches and drives the feather inserting plate of the wing tip to rotate outwards, and then the feather of the wing tip is driven to expand outwards through the wing tip feather transmission device, so that the wing tip rotating movement is driven; and the common spring and the shape memory alloy spring are respectively arranged inside and outside the telescopic rod, so that the on and off of the shape memory alloy spring are controlled, and the wing tip is retracted and expanded.

6. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein:

the wing root feather transmission device is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the rigid parallelogram mechanism at the front part of the wing root; the elastic rope connects the root parts of the feathers of the wing roots in series; the rigid parallelogram mechanism generates shear deformation and drives the feathers to rotate around the hinged position with the feather inserting plate through the elastic ropes, so that the direction of each feather of the wing root is kept unchanged, and the transmission from the shear deformation of the rigid parallelogram mechanism at the front part of the wing root to the rotation of the feathers is realized; the transmission from the rigid parallelogram mechanism at the front part of the wing root to the wing root feather is realized by arranging an elastic rope;

the wing-in-wing feather transmission device is an elastic rope, and two ends of the elastic rope are respectively fixed on a left connecting rod and a right connecting rod of the wing-in-wing front rigid parallelogram mechanism; the elastic rope connects the root parts of each feather in the wings in series; the rigid parallelogram mechanism generates shear deformation and drives the feathers to rotate around the hinged position with the feather inserting plate through the elastic ropes, so that the direction of each feather in the wing is kept unchanged, and the transmission from the shear deformation of the rigid parallelogram mechanism at the front part of the wing to the rotation of the feathers is realized; the transmission from the wing middle front rigid parallelogram mechanism to the wing feather is realized by arranging an elastic rope;

The wing tip feather transmission device is an elastic rope, two ends of the elastic rope are respectively fixed at the outer side in the wing and the root part of the outermost feather of the wing tip, the outermost feather of the wing tip is fixedly connected with a feather inserting plate of the wing tip, and the rest of the inner feather can rotate around a position hinged with the feather inserting plate of the wing tip; the root of each feather of the wing tip is connected in series by the elastic rope; the rotation of the feather inserting plate of the wing tip drives the feathers to rotate around the hinge joint of the feather inserting plate through the elastic ropes, so that the feathers of the wing tip are converged or unfolded, and the transmission from the rotation of the feather inserting plate of the wing tip to the rotation of the feathers is realized; the transmission from the feather insert plate of the wing tip to the wing tip feather is realized by arranging an elastic rope.

7. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein:

the duct inlet and the duct outlet of the underwater propeller are respectively positioned at the neck and the tail of the machine body; a baffle is arranged at the inlet of the duct, and the baffle is closed when the medium-crossing aircraft flies in the air, so that the influence of the duct on the aerodynamic shape is avoided; after water is filled, the baffle is automatically opened under the action of water pressure; through with the duct setting of underwater propulsion ware in the inside of fuselage and make the inner space of wing communicates with the external world, after crossing medium aircraft goes into water, the duct with the inner space of wing is filled with water rapidly, realizes the quick change of aircraft self average density simply and conveniently, adapts to the requirement of crossing medium aircraft underwater navigation to self average density.

8. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 1, wherein:

the tail fin is a full-moving V-shaped tail fin;

the aerial propeller is a motor propeller, and blades of the propeller can be folded; the air propeller is arranged on the upper side of the tail part of the machine body;

the auxiliary take-off device comprises a high-pressure air bottle and an air bag, wherein the high-pressure air bottle is positioned in the machine body, the air bag is attached to two sides of the abdomen of the machine body, and an air jet is arranged at the rear part of the air bag; the high-pressure gas cylinder is used for inflating the air bag; the air bag can jet backward through the jet.

9. A biomimetic morphing wing-based cross-medium aircraft as defined in claim 8, wherein: the working method is that when flying in the air, the wing can adapt to various working conditions through the active deformation of the wing and the passive deformation of the feathers, so that better flying performance is obtained; before water is injected, the wing is folded backwards to the maximum extent, so that the resistance in the water injection process of the cross-medium aircraft is reduced, and meanwhile, the attitude stability in the water injection process is improved; in the water entering process, the duct of the underwater propeller and the inner space of the wing can be rapidly filled with water, so that the rapid change of the average density of the aircraft is realized, and the requirements of the underwater navigation of the cross-medium aircraft on the average density of the aircraft are met; after water is filled, the air propeller stops working, and the underwater propeller starts working; when sailing in water, the backward folded state of the wing is kept, the sailing resistance is reduced, and the lift redundancy is avoided; when taking off on water, the aircraft floats to the water surface, the air propeller and the underwater propeller work simultaneously, the high-pressure gas cylinder inflates to the air bag, the air bag is inflated and then serves as a pontoon, extra buoyancy is provided, draft is reduced, organism drainage is promoted, meanwhile, sliding resistance is reduced, stability in the taking off process is improved, the air nozzle at the tail part of the air bag continuously sprays air backwards, extra thrust is provided, and meanwhile, low-head moment caused by the eccentric thrust of the air propeller is balanced to take off in a sliding mode.