CN113415114B - Cross-medium aircraft based on bionic variant wing - Google Patents

Abstract

The invention discloses a cross-media aircraft based on a bionic variant wing, which belongs to the field of cross-media aircraft. The present invention uses bird wings as bionic objects and imitates bird wings in terms of the overall structure of the wings. Through the combination of rigidity and softness and the bionic variant wings capable of complex deformation, the cross-media aircraft can pass through the wings when flying in the air. The active configuration change and the passive deformation of feathers adapt to different working conditions. The wings are folded backward before entering the water to reduce the resistance of the cross-media aircraft when it enters the water. At the same time, it improves the attitude stability during the water entry process. The wings are better when sailing in the water. The folded-back state can reduce navigation resistance and avoid redundant lift; by arranging the duct of the underwater propeller inside the fuselage, after the cross-medium aircraft enters the water, the internal space of the duct and wing can be quickly filled with water. , simply and conveniently realize the rapid change of the aircraft's own average density, and adapt to the requirements of the cross-medium aircraft's underwater navigation for its own average density.

Description

A cross-media aircraft based on bionic variant wings

Technical field

The invention belongs to the field of cross-media aircraft, and in particular relates to a cross-media aircraft based on bionic variant wings.

Background technique

The cross-media aircraft is a new concept amphibious unmanned aircraft that can cruise in the air and water and can freely cross the air-water interface. It has many military and civil application prospects. The design of cross-media aircraft involves multiple subject areas and is technically difficult. In addition, the research started late. There is still no cross-media aircraft with practical functions in the world. The current research in this field is basically still in the overall conceptual design and key stages. Technical research and prototype verification stage.

Existing cross-media aircraft generally face the problems of large impact loads and difficult attitude stabilization during water entry, as well as the problem that the average density of cross-media aircraft is too low when underwater navigation, which is not conducive to diving.

Existing cross-media aircraft generally face take-off difficulties caused by increased hydrodynamic resistance and dead weight during the water exit process.

Existing cross-media aircraft mostly use morphed wings, and the wings are retracted before entering the water to reduce resistance in the water. The variant wings usually have weak configuration changing capabilities and can only be retracted before entering the water, but are difficult to use to improve flight performance. In addition, this variant of the wing is usually driven entirely by a steering gear, and the drive system has a complex structure, large volume and weight.

Therefore, it is of great significance to invent a technical solution that can better solve the technical problems faced by cross-media aircraft design and overcome or at least alleviate the shortcomings of the existing technology.

Contents of the invention

The technical problem to be solved by the cross-media aircraft based on the bionic variant wing disclosed by the present invention is to use the bird wing as the bionic object, imitate the bird wing in the overall structure of the wing, and be able to perform complex deformation through the combination of rigidity and softness. The bionic variant wing enables the cross-media aircraft to adapt to different working conditions through the active deformation of the wing and the passive deformation of the feathers when flying in the air. The cross-media aircraft can be reduced in size by folding the wings backward before entering the water. resistance during water entry, and at the same time improve attitude stability during water entry. When sailing in the water, the folded-back state of the wings can reduce navigation resistance and avoid lift redundancy; by arranging the duct of the underwater propeller inside the fuselage , after the cross-media aircraft enters the water, the internal spaces of the ducts and wings can be quickly filled with water, easily and conveniently realizing the rapid change of the aircraft's own average density, and adapting to the requirements of the cross-media aircraft's underwater navigation for its own average density.

The object of the present invention is achieved through the following technical solutions.

The invention discloses a cross-media aircraft based on a bionic variant wing, which includes a wing, a fuselage, a tail, an air propeller, an underwater propeller and an auxiliary take-off device. The wing uses a bird wing as a bionic object. By imitating the bird wing in the overall structure of the wing, it realizes the combination of rigidity and softness of the wing and the complex variable configuration function of the wing. The cross-media aircraft can use the active movement of the wing when flying in the air. The variable configuration and passive deformation of feathers adapt to different working conditions. The wings are folded backward before entering the water to reduce the resistance of the cross-media aircraft during the water entry process, while improving the attitude stability during the water entry process. When sailing in the water, the wings are behind The folded state can reduce navigation resistance and avoid redundant lift.

One side of the wing includes a wing mounting platform, a wing root, a wing center and a wing tip. The structure of the left and right sides of the wing is completely symmetrical.

The wing root is mainly composed of the front part of the wing root, the rear part of the wing root, the wing root shear deformation drive device, the wing root mid-wing connection device and the mid-wing rotary motion drive device; the front part of the wing root adopts a rigid parallelogram mechanism. To achieve shear deformation, the surface adopts a flexible skin that adapts to the shear deformation of a rigid parallelogram mechanism; the rigid parallelogram mechanism includes multiple rigid parallelogram mechanism units, and each unit shares two front and rear connecting rods; the front wing root The bottom is equipped with a feather insert for placing feathers. The rear part of the wing root is mainly composed of feathers and a wing root feather transmission device; the feathers are flexible feathers; the rigid parallelogram mechanism in the front part of the wing root can generate active force driven by the wing root shear deformation driving device. The rigid shear deformation drives the feathers to rotate through the wing root feather transmission device, so that the direction of each feather remains unchanged, thereby changing the sweep angle of the wing root. At the same time, the rear part of the wing root The feathers can undergo passive flexible deformation under the action of aerodynamic forces. The wing roots adapt to various working conditions by actively changing the sweep angle and passive deformation of the feathers, greatly improving the flight performance of the cross-media aircraft.

The wing center is mainly composed of a front center portion of the wing, a rear center portion of the wing, a center wing shear deformation drive device, a center wing tip connection device and a wing tip rotation drive device; the front center portion of the wing adopts a rigid parallelogram mechanism To achieve shear deformation, the surface adopts a flexible skin that adapts to the shear deformation of a rigid parallelogram mechanism; the rigid parallelogram mechanism includes a plurality of rigid parallelogram mechanism units, and each unit shares two front and rear connecting rods; the front and center of the wing The bottom is equipped with a feather insert for placing feathers. The middle and rear portion of the wing is mainly composed of feathers and a center-wing feather transmission device; the feathers are flexible feathers; the rigid parallelogram mechanism in the front portion of the wing can generate active motion driven by the shear deformation driving device in the wing. The rigid shear deformation drives the feathers to rotate through the feather transmission device in the wing, so that the direction of each feather remains unchanged, thereby changing the sweep angle in the wing, and at the same time, the center and rear part of the wing The feathers can undergo passive flexible deformation under the action of aerodynamic forces. The wing can adapt to various working conditions by actively changing the sweep angle and passive deformation of the feathers, greatly improving the flight performance of the cross-media aircraft.

The wing root center connection device is located outside the wing root, and the wing center is connected to the wing root through the wing root center connection device; the wing center is capable of rotating in the wing driving device Driven by, it rotates around the connection point with the wing root in the vertical plane to realize the change of the dihedral angle in the wing; the dihedral angle of the wing tip and the wing is always the same, and the dihedral angle of the wing tip is always the same. The angle changes along with the dihedral angle in the wing. The wing center and the wing tip actively change the dihedral angle, greatly improving the flight performance of the cross-media aircraft.

The wing tip mainly includes an airfoil thin shell, a feather insert, feathers and a wing tip feather transmission device; the cross section of the airfoil thin shell is an airfoil shape, and there are openings on both sides and the rear of the airfoil thin shell. ; The feather inserting plate is embedded in the airfoil thin shell, the feathers are inserted on the feather inserting plate, and the feathers protrude from the openings at the rear and outside of the airfoil thin shell. The wing tip connecting device is located on the outside of the wing, and the feather insert extends from the opening on the inside of the airfoil thin shell, and is connected to the outside of the wing through the wing tip connecting device. connected, and capable of rotating in the horizontal plane around the connection point with the center of the wing driven by the wing tip rotation driving device, and then driving the feathers to rotate through the wing tip feather transmission device, thereby achieving the above The wingtips expand and retract, and the feathers can undergo passive flexible deformation under the action of aerodynamic forces. The wingtips adapt to various working conditions through active expansion and retraction and passive deformation of the feathers, greatly improving the flight performance of cross-media aircraft. . In addition, by controlling the wingtip rotational motion driving devices on both sides of the wing, the wingtips on both sides are retracted or unfolded to different degrees, that is, the wingtip differential on both sides is controlled to achieve similar results. On the control effect of aileron.

The wing installation platform includes a wing root installation platform and a wing root installation platform rotational motion driving device; the wing root is installed on the wing root installation platform, and the wing root can be sheared and deformed by the wing root driving device Shear deformation occurs relative to the wing root mounting platform under the driving of , rotating around the connection point with the fuselage in the horizontal plane, thereby driving one side of the wing to rotate around the connection point with the fuselage in the horizontal plane, further improving the ability of the wing to change the sweep angle.

Before the cross-medium aircraft enters the water, the wing roots on both sides of the wing and the center of the wing are subjected to maximum rearward shear deformation, and the wing tips on both sides of the wing are retracted to the maximum extent; The wing root mounting platforms on both sides of the wing can rotate backward to the maximum extent to realize the maximum folding of the wing, thereby reducing the resistance of the cross-media aircraft during the water entry process and improving the attitude stability during the water entry process. The folded-back state of the wings after entering the water can reduce sailing resistance and avoid redundant lift.

The underwater propeller is an electric ducted propeller propeller, and the duct is located inside the fuselage; the wing is not sealed and waterproof except for key electrical equipment, that is, the internal space of the wing is separated from the outside world. Connected; by arranging the duct of the underwater propeller inside the fuselage and connecting the internal space of the wing with the outside world, after the cross-media aircraft enters the water, the duct and the wing The internal space is quickly filled with water, making it simple and convenient to quickly change the average density of the aircraft itself, adapting to the requirements for its own average density for underwater navigation of cross-medium aircraft.

Preferably, the wing root mounting platform includes a main shaft and two secondary shafts; the main shaft is provided with a secondary shaft mounting plate fixedly connected to the main shaft, and the two secondary shafts are installed on the main shaft. The secondary shaft is mounted on the plate and can rotate with its own axis as the axis of rotation; the axis of the main shaft and the axes of the two secondary shafts are in the vertical direction; the two front and rear rigid parallelogram mechanisms at the front of the wing root The connecting rods are respectively fixedly connected to the two secondary shafts, and the rigid parallelogram mechanism at the front of the wing root can be sheared and deformed relative to the wing root installation platform; the main shaft is connected to the fuselage through a rolling bearing, and the wing root The installation platform can rotate in the horizontal plane with the axis of the main shaft as the axis of rotation; the rotary motion driving device of the wing root installation platform includes a steering gear, a steering gear pull rod and a steering gear pull rod connecting plate; the steering gear is installed on the machine Inside the body, the steering gear lever connection plate is fixedly connected to the main shaft, the steering gear lever is hinged to the steering gear rocker arm and the steering gear lever connection plate; the steering gear rocker arm can rotate The wing root mounting platform is driven to rotate in the horizontal plane with the axis of the main shaft as the rotation axis, and then one side of the wing is driven to rotate in the horizontal plane with the axis of the main shaft as the rotation axis. By arranging the main shaft, the secondary shaft, the steering gear, the steering gear pull rod and the steering gear pull rod connecting plate, the installation of the wing root and the rotation of the wing installation platform around the connection point with the fuselage are realized.

Preferably, the wing root shear deformation driving device is a plurality of shape memory alloy springs; the shape memory alloy springs are arranged at two diagonal corners of each rigid parallelogram mechanism unit in the front part of the wing root. On one of the lines, a shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; there are only two directions of the diagonal line where the shape memory alloy spring is located, which are the first direction and the second direction; adjacent The diagonal directions of the shape memory alloy springs in the rigid parallelogram mechanism unit are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units separated by one rigid parallelogram mechanism unit are the same; The shape memory alloy spring whose diagonal direction is the first direction is energized and contracts, which will drive the rigid parallelogram mechanism to shear and deform in a certain direction, and at the same time stretch the shape memory alloy spring whose diagonal direction is the second direction; The shape memory alloy spring whose diagonal direction is the second direction is energized and contracts, which will drive the rigid parallelogram mechanism to shear and deform in the other direction, and at the same time stretch the shape memory alloy spring whose diagonal direction is the first direction. This realizes the driving of the shear deformation of the rigid parallelogram mechanism, and then the driving of the shear deformation of the wing root; by arranging the shape memory alloy spring on the diagonal of the rigid parallelogram mechanism unit, the shape memory alloy spring is energized and contracts. The rigid parallelogram mechanism shear deforms to achieve the wing root shear deformation. At the same time, the use of shape memory alloy springs as the wing root shear deformation drive device can reduce the complexity of the drive system and reduce the volume and weight of the drive system. The above-mentioned wing configuration provides convenience.

Preferably, the shear deformation driving device in the wing is a plurality of shape memory alloy springs; the shape memory alloy springs are arranged at two diagonal corners of each rigid parallelogram mechanism unit in the front part of the wing. On one of the lines, a shape memory alloy spring is arranged in each rigid parallelogram mechanism unit; there are only two directions of the diagonal line where the shape memory alloy spring is located, which are the first direction and the second direction; adjacent The diagonal directions of the shape memory alloy springs in the rigid parallelogram mechanism unit are different; the diagonal directions of the shape memory alloy springs in the two rigid parallelogram mechanism units separated by one rigid parallelogram mechanism unit are the same; The shape memory alloy spring whose diagonal direction is the first direction is energized and contracts, which will drive the rigid parallelogram mechanism to shear and deform in a certain direction, and at the same time stretch the shape memory alloy spring whose diagonal direction is the second direction; The shape memory alloy spring whose diagonal direction is the second direction is energized and contracts, which will drive the rigid parallelogram mechanism to shear and deform in the other direction, and at the same time stretch the shape memory alloy spring whose diagonal direction is the first direction. This realizes the driving of the shear deformation of the rigid parallelogram mechanism, and then the driving of the shear deformation of the wing; by arranging the shape memory alloy spring on the diagonal of the rigid parallelogram mechanism unit, the shape memory alloy spring is energized and contracts. The rigid parallelogram mechanism shear deforms to realize the shear deformation in the wing. At the same time, using a shape memory alloy spring as the shear deformation driving device in the wing can reduce the complexity of the drive system and reduce the volume and weight of the drive system. The above-mentioned wing configuration provides convenience.

Preferably, the wing root center connection device is two flexible hinges, and the wing center rotary motion driving device is a plurality of shape memory alloy springs, which are arranged on the upper edge and the connection point between the wing root and the wing center. Lower edge; the shape memory alloy spring located at the upper edge is energized and contracts to drive the center of the wing to deflect upward, while stretching the shape memory alloy spring at the lower edge; the shape memory alloy spring located at the lower edge is energized and contracts to drive the center of the wing to deflect upward. downward deflection, while stretching the shape memory alloy spring on the upper edge, thereby realizing the driving of the rotary motion in the wing; by arranging shape memory alloy springs on the upper and lower edges of the connection between the wing root and the wing center, the shape The memory alloy spring is energized and shrinks to drive the rotation of the wing, realizing the change of the reverse angle in the wing. At the same time, using the shape memory alloy spring as the rotational motion driving device in the wing can reduce the complexity of the drive system, reduce the volume and size of the drive system The weight facilitates the changing configuration of the wing.

Preferably, the wing tip connection device is a wing tip mounting platform, and the wing tip mounting platform is a column hinge fixed on the outside of the wing, and the feather insert plate of the wing tip is removed from the airfoil thin shell. The inner opening protrudes and is hinged to the middle and outer sides of the wing through the wingtip mounting platform; the wingtip rotational motion driving device includes a telescopic rod, a telescopic rod mounting platform, a shape memory alloy spring and an ordinary Spring; the telescopic rod specifically includes a first-grade telescopic rod and a second-grade telescopic rod. The outer diameter of the second-grade telescopic rod is the same as the inner diameter of the first-grade telescopic rod. The second-grade telescopic rod is inserted into In the telescopic rod first-level rod; the telescopic rod first-level rod is installed on the telescopic rod installation platform, the telescopic rod installation platform is installed on the middle and outer side of the wing, and the telescopic rod first-level rod passes through the telescopic rod first-level rod. The installation platform of the telescopic rod is hinged with the middle and outer sides of the wing; the secondary rod of the telescopic rod is hinged with the feather insert plate of the wing tip; the ordinary spring is placed inside the first rod of the telescopic rod and is always in a compressed state, capable of compressing the The effect of exerting force by the telescopic rod's secondary rod; the shape memory alloy spring is placed outside the telescopic rod, and its two ends are respectively fixed on the telescopic rod's primary rod and the telescopic rod's secondary rod; the shape memory alloy spring Electrical contraction will drive the telescopic rod to shrink, and the telescopic rod will drive the feather insert plate of the wing tip to rotate inward, and then drive the feathers of the wing tip to converge inward through the wing tip feather transmission device; the shape memory alloy spring After the power is turned off, the force is lost. Under the action of the ordinary spring, the shape memory alloy spring returns to its original length. The telescopic rod extends and drives the feather insert plate of the wing tip to rotate outward, and then passes through the The wing tip feather transmission device drives the wing tip feathers to expand outward, thereby realizing the driving of the wing tip rotational motion; by arranging ordinary springs and shape memory alloy springs inside and outside the telescopic rod, the shape memory alloy spring is controlled Turn the power on and off to realize the retracting and unfolding of the wing tips.

Preferably, the wing root feather transmission device is an elastic rope, and the two ends of the elastic rope are respectively fixed on the left and right connecting rods of the rigid parallelogram mechanism at the front of the wing root; the elastic rope connects the wing root The roots of each feather are connected in series; the shear deformation of the rigid parallelogram mechanism will drive the feathers to rotate around the hinge with the feather inserting plate through the elastic rope, so that the direction of each feather at the wing root remains unchanged, thus achieving Transmission from the shear deformation of the rigid parallelogram mechanism at the front of the wing root to the rotation of the feathers; the transmission from the rigid parallelogram mechanism at the front of the wing root to the feathers of the wing root is achieved by arranging elastic ropes.

Preferably, the feather transmission device in the wing is an elastic rope, and the two ends of the elastic rope are respectively fixed on the left and right connecting rods of the rigid parallelogram mechanism in the front part of the wing; the elastic rope connects the center wing The roots of each feather are connected in series; the shear deformation of the rigid parallelogram mechanism will drive the feathers to rotate around the hinge with the feather inserting plate through the elastic rope, so that the direction of each feather in the wing remains unchanged, thus achieving Transmission from the shear deformation of the rigid parallelogram mechanism in the front part of the wing to the rotation of the feathers; the transmission from the rigid parallelogram mechanism in the middle front part of the wing to the feathers in the wing is achieved by arranging elastic ropes.

Preferably, the wing tip feather transmission device is an elastic rope, and the two ends of the elastic rope are respectively fixed on the outer side of the wing and the root of the outermost feather of the wing tip, and the outermost feather of the wing tip is connected to the outermost feather of the wing tip. The feather insert plate of the wing tip is fixedly connected, and the remaining inner feathers can rotate around the hinge with the feather insert plate of the wing tip; the elastic rope connects the roots of each feather of the wing tip in series; the wing tip The rotation of the feather insert plate will drive the feathers to rotate around the hinge with the feather insert plate through the elastic rope, causing the feathers on the wing tips to converge or expand, thereby realizing the transmission from the rotation of the feather insert plates on the wing tips to the rotation of the feathers; The transmission from the feather insert plate of the wing tip to the wing tip feathers is achieved by arranging elastic ropes.

Preferably, the duct inlet and outlet of the underwater propeller are located at the neck and tail of the fuselage respectively; a baffle is provided at the duct inlet, and the baffle is closed when the cross-media aircraft flies in the air , to avoid the influence of the duct on the aerodynamic shape; after entering the water, the baffle automatically opens under the action of water pressure; by arranging the duct of the underwater propeller inside the fuselage and making the inside of the wing The space is connected to the outside world. After the cross-media aircraft enters the water, the internal space of the duct and the wing is quickly filled with water, which simply and conveniently realizes the rapid change of the average density of the aircraft itself and adapts to the impact of the underwater navigation of the cross-media aircraft on itself. average density requirements.

Preferably, the shape of the fuselage is composed of the head of a kingfisher and the body of a dragon louse in a certain proportion.

Preferably, the tail wing is a fully moving V-shaped tail wing.

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

Preferably, the auxiliary take-off device includes a high-pressure gas bottle and an air bag. The high-pressure gas bottle is located inside the fuselage. The air bags are attached to both sides of the abdomen of the fuselage. The rear part of the air bag is provided with an air outlet. ; The high-pressure gas bottle is used to inflate the airbag; the airbag can blow air backward through the air outlet.

The working method of a cross-media aircraft based on a bionic variant wing disclosed by the present invention is: 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. Obtain better flight performance; before entering the water, fold the wings backward to the maximum extent to reduce the resistance of the cross-media aircraft during the water entry process, while improving the attitude stability during the water entry process; during the water entry process, the underwater propeller The internal space of the duct and the wing can be quickly filled with water, achieving a rapid change in the average density of the aircraft itself, adapting to the requirements of the average density of the cross-medium aircraft for underwater navigation; after entering the water, the air propellers stop working, and the underwater propellers Start working; when sailing in the water, keep the wings folded back to reduce sailing resistance and avoid redundant lift; when taking off on the water, the aircraft floats to the water surface, and the aerial propeller and the underwater propeller work at the same time. The high-pressure gas cylinder inflates the air bag, and the air bag acts as a buoy after being inflated, providing additional buoyancy, reducing draft, promoting body drainage, reducing taxiing resistance, and improving stability during takeoff. The jet at the tail of the air bag The mouth continuously blows air backwards to provide additional thrust, while balancing the nose-down moment caused by the eccentric thrust of the air propeller, allowing it to glide and take off.

Beneficial effects:

1. The present invention discloses a cross-media aircraft based on a bionic variant wing. It takes a bird wing as a bionic object and imitates a bird wing in the overall structure of the wing. Through the combination of rigidity and softness, it can perform bionic transformation of complex configurations. The body wing enables the cross-media aircraft to adapt to different working conditions through the active configuration change of the wings and the passive deformation of the feathers when flying in the air. The wings are folded backward before entering the water to reduce the risk of the cross-media aircraft entering the water. resistance, and at the same time improve the attitude stability during water entry. When sailing in the water, the folded-back state of the wings can reduce navigation resistance and avoid lift redundancy. That is, the invention has strong deformation ability and can not only meet the requirements of folded-back wings before entering the water. According to demand, when flying in the air, it can also adapt to a variety of operating conditions through the active deformation of the wings and the passive deformation of feathers, greatly improving flight performance; by using shape memory alloy springs to drive the changing configuration of the wings, the complexity of the drive system is reduced. It reduces the size and weight of the drive system and facilitates wing configuration changes.

2. The invention discloses a cross-media aircraft based on a bionic variant wing. By arranging airbags on both sides of the belly that act as pontoons and can blow air backwards, the difficulty of taking off on the water is greatly reduced.

3. The present invention discloses a cross-media aircraft based on a bionic variant wing. The wing is not sealed and waterproof except for key electrical equipment; the duct of the underwater propeller is located inside the fuselage; by propelling the underwater propeller The duct of the underwater propeller is set inside the fuselage and connects the internal space of the wing to the outside world. After the cross-medium aircraft enters the water, the duct of the underwater propeller and the internal space of the wing are quickly filled with water, which is simple and convenient. The rapid change of the aircraft's own average density adapts to the requirements of the cross-medium aircraft's underwater navigation for its own average density.

Description of drawings

Figure 1 is a schematic diagram of a cross-media aircraft based on a bionic variant wing.

Figure 2 is another schematic diagram of a cross-media aircraft based on a bionic variant wing.

Figure 3 is a schematic diagram of the state of the wings and the state of the air propeller propeller when entering the water and sailing underwater.

Figure 4 is a schematic diagram of the air bag after it is inflated.

Figure 5 is a top view of the single-side wing layout.

Figure 6 is a schematic top view of the layout of the single-sided wing after changing configuration.

Figure 7 is a schematic structural diagram of the wing mounting platform.

Figure 8 is a schematic structural diagram of the wing root.

Figure 9 is a schematic structural diagram of the connection between the wing root and the wing center.

Figure 10 is a schematic structural diagram of the wing tip and the connection between the wing tip and the center of the wing.

Among them, 1-wing, 2-fuselage, 3-tail, 4-motor propeller, 5-duct inlet, 6-duct outlet, 7-air bag, 8-jet port, 11-wing installation platform , 12—wing root, 13—wing center, 14—wing tip, 111—main shaft, 112—secondary shaft, 113—servo rod, 121—wing root leading edge, 122—wing root main beam, 123—wing root Wing ribs, 124—wing root outer ribs, 125—wing root stringers, 126—wing root trailing edge stringers, 127—wing root trailing edge stringer connectors, 128—wing root feather inserts, 129—wing root Feathers, 1210—wing root elastic rope, 1211—wing root shape memory alloy spring, 1212—flexible hinge, 1213—flexible hinge connecting plate, 1214—flexible hinge safety pin, 1215—wing root center connection shape memory alloy spring, 131 —Inside wing rib, 132—Outside wing rib, 133—Wing tip mounting platform, 134—Wing tip safety pin, 135—Telescopic rod installation platform, 136—Telescopic rod first-level rod, 137—Telescopic rod second-level rod , 138-ordinary spring, 139-telescopic rod shape memory alloy spring, 141-wing-tip feather insert plate, 142-wing-shaped thin shell, 143-wing-tip feathers, 144-wing-tip elastic rope.

Detailed ways

In order to make the objectives, technical solutions and advantages of the implementation of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the drawings in the embodiments of the present invention. In the drawings, the same or similar reference numbers throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present invention. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. The 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", The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply. The devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of the invention.

As shown in Figures 1 and 2, the structure of this embodiment is consistent with the description of the invention, including a wing 1, a fuselage 2, a tail 3, an air propeller, an underwater propeller and an auxiliary take-off device. Among them, the tail 3 is a fully moving V-shaped tail, the aerial propeller is a motor propeller propeller 4, the underwater propeller is an electric ducted propeller propeller, the motor and duct are located inside the fuselage, and the auxiliary take-off device includes a high-voltage Gas cylinder and two air bags 7, the high-pressure gas cylinder is located inside the fuselage, and the air bags 7 are attached to both sides of the belly of the fuselage.

Referring to FIG. 5 , one side of the wing 1 includes a wing mounting platform 11 , a wing root 12 , a wing center 13 and a wing tip 14 . The structure of the left and right sides of wing 1 is completely symmetrical.

In this embodiment, the wing root 12 includes a wing root front part, a wing root rear part, a wing root shear deformation driving device, a wing root mid-wing connecting device and a wing mid-wing rotary motion driving device. Referring to Figure 8, the front part of the wing root specifically includes a wing root leading edge 121, a wing root main beam 122, three wing root ribs 123, a wing root stringer 125, a wing root trailing edge stringer 126, and a wing root trailing edge stringer. Connector 127 and wing root feather insert plate 128. The wing root outer rib 124 is the outermost one among the three wing root ribs 123 of the wing root 12 . The rear part of the wing root specifically includes wing root feathers 129 and a wing root feather transmission device, and the wing root feather transmission device is a wing root elastic rope 1210. The wing root main beam 122, the wing root stringers 125 and the wing root feather inserts 128 are hingedly connected to the wing root ribs 123. Two wing root main beams 122, two wing root stringers 125, wing root feather inserts 128 and three wing root ribs 123 constitute a rigid parallelogram mechanism at the front of the wing root 12. A quadrilateral mechanism has two rigid parallelogram mechanism units. The wing root leading edge 121 is fixedly connected to the forward wing root main beam 122. A plurality of wing root feathers 129 are hingedly connected to the wing root feather insert plate 128. The wing root feathers 129 are connected with wing root elastic ropes 1210, and both ends of the wing root elastic ropes 1210 are fixed on adjacent wing root ribs 123. Two wing root trailing edge stringers 126 are respectively placed on the upper end and lower end of the tail of the wing root rib 123. The two wing root trailing edge stringers 126 are connected by a plurality of wing root trailing edge stringer connectors 127. The wing root trailing edge The stringers 126 are fixedly connected to the wing root trailing edge stringer connectors 127 . The wing root trailing edge stringers 126 are in frictional contact with the wing root ribs 123 and the wing root outer ribs 124 . The wing root leading edge 121, wing root stringers 125, wing root trailing edge stringers 126, and wing root ribs 123 jointly support the flexible skin. The tension of the flexible skin can ensure that the wing root trailing edge stringers 126 will not loosen. For simplicity, only one wing root feather 129 is drawn in Figure 8 . The wing root shear deformation driving device is two wing root shape memory alloy springs 1211. Each wing root shape memory alloy spring 1211 is located at two pairs of the quadrilateral formed by the two wing root main beams 122 and the two wing root ribs 123. On one of the diagonal lines, the adjacent wing root shape memory alloy springs 1211 are located in different directions on the diagonal line. Both ends of the wing root shape memory alloy spring 1211 are fixed on the wing root main beam 122 . The electrical contraction of a certain wing root shape memory alloy spring 1211 will drive the rigid parallelogram mechanism to shear and deform in a certain direction, and at the same time stretch the adjacent wing root shape memory alloy spring 1211, and the adjacent wing root shape memory alloy The energized contraction of the spring 1211 will drive the rigid parallelogram mechanism to shear and deform in the opposite direction, and at the same time stretch the wing root shape memory alloy spring 1211, thereby realizing the drive of the rigid parallelogram mechanism to shear and deform. Due to the action of the wing root elastic rope 1210, the wing root feathers 129 will rotate around the hinge with the wing root feather insert plate 128 along with the shear deformation of the rigid parallelogram mechanism, so that the direction of each wing root feather 129 is on the wing root feather insert plate. 128 remains unchanged when rotating, so the rear portion of the wing root 12 will also undergo shear-like deformation. By causing the entire wing root 12 to undergo shear deformation, the sweep angle is changed. Referring to Figure 9, the wing root center connection device specifically includes a flexible hinge 1212, a flexible hinge connecting plate 1213 and a flexible hinge safety pin 1214. The specific components connected at both ends of the flexible hinge 1212 are the wing root outer rib 124 and the wing center inner rib 131. The flexible hinge 1212 is specifically connected to the wing root outer rib 124 and the wing inner rib 131 through a flexible hinge connecting plate 1213 and a flexible hinge safety pin 1214. The driving device for the rotary motion in the wing is eight wing root center connection shape memory alloy springs 1215. The upper and lower edges of the wing root outer rib 124 and the wing center inner rib 131 are each fixed with four wing root center connection shape memory springs. Alloy spring 1215. The wing root center connection shape memory alloy spring 1215 on the upper edge of the wing root outer rib 124 and the wing center inner rib 131 is energized and contracts to drive the wing center 13 to deflect upward, while simultaneously stretching the wing root outer rib 124 and the wing center inner wing. A shape memory alloy spring 1215 is connected to the wing root at the lower edge of the rib 131 . The shape memory alloy spring 1215 connected to the lower edge of the wing root outer rib 124 and the wing center inner rib 131 is energized and shrinks to drive the wing center 13 to deflect downward, and at the same time stretches the wing root outer rib 124 and the wing center inner rib. A shape memory alloy spring 1215 is connected to the wing root center of the upper edge of the side wing rib 131, thereby realizing the driving of the dihedral angle change of the wing center 13. When the wing center 13 changes the dihedral angle, the wing tip 14 changes the dihedral angle together with the wing center 13 .

In this embodiment, the center wing 13 includes a front center portion of the wing, a rear center portion of the wing, a center wing shear deformation drive device, a center wing tip connection device, and a wing tip rotational motion drive device. The structures of the wing center front, wing center rear and wing center shear deformation driving devices are similar to those of the wing root front, wing root rear and wing root shear deformation driving devices respectively. The difference is that the wing center 13 has four rigid parallel Quadrilateral mechanism unit. The principle of shear deformation of wing center 13 is the same as that of wing root 12. Wing center 13 can also achieve shear deformation as a whole to achieve changes in sweep angle.

Referring to Figure 10, in this embodiment, the wing tip 14 includes an airfoil thin shell 142, a wing tip feather insert plate 141, eleven wing tip feathers 143 and a wing tip feather transmission device. The wing tip feather transmission device is a wing tip elastic device. Rope 144. For simplicity, only the outermost wing tip feathers 143 are drawn in Figure 10. The wingtip feathers 143 are installed on the wingtip feather inserting plate 141 , and the wingtip feather inserting plate 141 is embedded in the airfoil thin shell 142 . The airfoil shell 142 is used to maintain the aerodynamic shape of the wing tip 14 . The wing tip feathers 143 are connected with wing tip elastic ropes 144. The wingtip feathers 143 shown in Figure 10 are fixed relative to the wingtip feather inserting plate 141. The other inner wingtip feathers 143 (not shown) can rotate around the hinge with the wingtip feather inserting plate 141, and one end of the wingtip elastic rope 144 is connected. On the wing tip feather 143 shown in Figure 10, one end is fixed on the middle and outer ribs 132 of the wing. The mid-wing wing tip connection device includes a wing tip mounting platform 133 and a wing tip safety pin 134. The wing tip mounting platform 133 is fixed on the mid-wing outer rib 132 through the wing tip safety pin 134. The wing tip feather inserting plate 141 is hingedly connected to the wing middle and outer ribs 132 through the wing tip mounting platform 133 . The wing tip rotation motion driving device includes a telescopic rod, a telescopic rod mounting platform 135 , a telescopic rod shape memory alloy spring 139 and an ordinary spring 138 . The telescopic rod specifically includes a first-level telescopic rod 136 and a second-level telescopic rod 137. The outer diameter of the second-level telescopic rod 137 is the same as the inner diameter of the first-level telescopic rod 136. The second-level telescopic rod 137 is inserted in the first-level telescopic rod. Shot 136. The telescopic rod first level rod 136 is installed on the telescopic rod installation platform 135, and the telescopic rod installation platform 135 is installed on the middle and outer wing ribs 132 of the wing. The telescopic rod secondary rod 137 is hingedly connected to the wing tip feather inserting plate 141. The ordinary spring 138 is placed inside the first-level telescopic rod 136 and is always in a compressed state, capable of exerting force on the second-level telescopic rod 137 . The telescopic rod shape memory alloy spring 139 is placed outside the telescopic rod, and its two ends are respectively fixed on the telescopic rod primary rod 136 and the telescopic rod secondary rod 137. The telescopic rod shape memory alloy spring 139 is energized and contracts, which will drive the telescopic rod to shrink. The telescopic rod then drives the wingtip feather insert plate 141 and the wingtip feathers 143 shown in Figure 10 to rotate inward, and then drives the remaining ten feathers through the wingtip elastic rope 144. The wing tip feathers 143 converge inward. The telescopic rod shape memory alloy spring 139 loses its force after the power is cut off. Under the action of the ordinary spring 138, the telescopic rod shape memory alloy spring 139 returns to its original length. The telescopic rod stretches and drives the wing tip feather insert plate 141 and the ones shown in Figure 10 The wing tip feathers 143 are shown to rotate outward, and then drive the remaining ten wing tip feathers 143 to unfold outward through the wing tip elastic ropes 144, thereby realizing the retracting and unfolding of the wing tips 14. By controlling the wingtip rotational motion driving devices on both sides of the wing 1, the wingtips 14 on both sides are retracted or expanded to different degrees, that is, the wingtips 14 on both sides are differentially controlled, thereby achieving a control effect similar to that of ailerons.

Referring to Figure 7, in this embodiment, the wing mounting platform 11 includes a wing root mounting platform and a wing root mounting platform rotational motion driving device. The wing root mounting platform includes one main shaft 111 and two secondary shafts 112. The main shaft 111 is provided with a secondary shaft mounting plate fixedly connected to the main shaft 111. The two secondary shafts 112 are installed on the secondary shaft mounting plate, and It can rotate with its own axis as the axis of rotation; 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 to the two secondary shafts 112. The wing root main beam 122 can be driven by the wing root shape memory alloy spring 1211 to rotate around the wing root installation platform with the secondary shaft 112 as the axis. This causes the wing root 12 to undergo shear deformation relative to the wing root installation platform. The main shaft 111 is connected to the fuselage 2 through rolling bearings. The wing root mounting platform rotational motion driving device includes a steering gear, a steering gear pull rod 113 and a steering gear pull rod connecting plate. The steering gear is installed inside the fuselage 2, the steering gear rod connecting plate is fixedly connected to the main shaft, and the steering gear rod 113 is hinged with the steering gear rod connecting plate and the rocker arm of the steering gear. The wing root mounting platform can be driven by the steering gear and rotate around the fuselage 2 with the main axis 111 as the axis of rotation.

Figure 6 shows the layout of the wing 1 when the wing root 12 changes to a 45-degree sweep angle, the wing center 13 changes to a 45-degree sweep angle, and the wing tip 14 rotates 45 degrees inward.

Referring to the wing 1 in Figure 3, in this embodiment, before the cross-media aircraft based on the bionic variant wing enters the water, the wing 1 is folded backward to the maximum extent and attached to both sides of the fuselage 2. The specific scheme is: The installation platform 11 rotates backward around the connection point with the fuselage 2. At the same time, the wing root 12 and the wing center 13 are sheared and deformed backward, and the wing tip 14 rotates inward. This deformation scheme can reduce the hydrodynamic drag of a cross-media aircraft based on a bionic morphing wing and avoid the adverse effects caused by an excessively large lifting surface.

In this embodiment, the front part of the fuselage 2 is shaped like a kingfisher's head, and the rear part is shaped like a dragon louse's body. Using this shape design can improve the resistance characteristics and attitude stability of the cross-media aircraft based on the bionic variant wing during the air-water crossing process and underwater navigation.

Referring to Figure 2, in this embodiment, the duct inlet 5 and the duct outlet 6 are located at the neck and tail of the fuselage 2 respectively. There are baffles at the duct entrance 5. When the cross-media aircraft based on the bionic variant wing flies in the air, the baffles are closed to avoid the influence of the duct on the aerodynamic shape. After entering the water, the baffle automatically opens under the action of water pressure, and the underwater propeller starts working.

In this embodiment, the wing 1 is not sealed and waterproof except for key electrical equipment. When the cross-media aircraft based on the bionic variant wing enters the water, the internal space of the wing root 12 and the center wing 13 and the duct of the underwater propeller are quickly filled with water, and the average density of the aircraft itself changes rapidly to ensure that the aircraft can enter the water smoothly. and dive.

In this embodiment, the propeller of the motor propeller propeller 4 can be folded, and the state of the folded blades is as shown in the motor propeller propeller 4 in Figure 3 . When the cross-media aircraft based on the bionic variant wing sails underwater, the aerial thrusters stop working and the blades fold back under the action of the water flow, thereby reducing navigation resistance.

Referring to Figures 2 and 4, in this embodiment, the airbag 7 is located on both sides of the abdomen of the fuselage 2, and the air outlet 8 is located at the tail of the airbag 7. The airbag 7 shown in Figure 2 is in an uninflated state. The airbag 7 is close to the fuselage 2 and does not affect the hydrodynamic shape of the cross-media aircraft based on the bionic variant wing. The airbag 7 shown in Figure 4 is in an inflated state. While the high-pressure gas cylinder is inflating the airbag 7, the airbag 7 is also continuously ejecting air backward through the air outlet 8. When the cross-media aircraft based on the bionic variant wing takes off from the water, the auxiliary take-off device starts to work, and the high-pressure gas bottle inflates the air bag 7. After the air bag 7 is inflated, it can act as a buoy, providing additional buoyancy, reducing the draft, and promoting drainage of the body. At the same time, the taxiing resistance is reduced and the stability during takeoff is improved. While inflating, the air bag 7 continuously injects air backward through the air outlet 8, which not only provides additional thrust, but also balances the bowing moment caused by the eccentric thrust of the air propeller engine. 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 air outlet 8, and the air bag 7 returns to the uninflated state.

Finally, it should be pointed out that the above specific description further explains the purpose, technical solutions and beneficial effects of the invention in detail. It should be understood that the above is only a specific embodiment of the invention and is used for explanation. The present invention is not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (9)

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;

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.

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.