A wing deformation mechanism for a water-air cross-medium flapping wing aircraft

Abstract

The present invention discloses a wing deformation mechanism for a water-air cross-medium flapping-wing aircraft, comprising: a fuselage; a first front swing rod rotatably connected to the front side of the fuselage, the first front swing rod being capable of swinging up and down relative to the fuselage; a flapping-wing drive mechanism provided on the fuselage, the flapping-wing drive mechanism being used to drive the first front swing rod to swing up and down; a wing surface, the first side of the wing surface being connected to the fuselage, and the second side of the wing surface being rotatably connected to the first front swing rod; a deformation drive mechanism for driving the wing surface to rotate backward relative to the first front swing rod and driving the wing surface to deform; applying the above mechanism can improve the flight performance of the aircraft under different working conditions.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and particularly to a wing deformation mechanism for a water-air cross-medium flapping-wing aircraft. Background Art

[0002] With the development of science and technology, flapping-wing aircraft have extensive application scenarios both in the military field and in the civilian field; in the military field, flapping-wing aircraft can conduct camouflage reconnaissance, target tracking, close-range electronic interference, etc. in special environments; in the civilian field, flapping-wing aircraft can conduct rescue in narrow spaces, forest wild animal detection, aerial video shooting, etc.; at present, many countries and research institutions have carried out special research, attempting to develop flapping-wing aircraft that can be used in special environments.

[0003] Existing flapping-wing aircraft generally use drive mechanisms such as motors to drive the fixed-shaped wings to flap up and down to drive the flight of the entire aircraft; however, for water-air cross-medium flapping-wing aircraft, the requirements for the wing shape of the wings are inconsistent in different media. Therefore, the fixed-shaped wings cannot fully take into account different working conditions and can only exhibit good aerodynamic performance within a small operation adjustment range. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides a wing deformation mechanism for a water-air cross-medium flapping-wing aircraft, which can improve the flight performance of the aircraft under different working conditions.

[0005] The wing deformation mechanism for a water-air cross-medium flapping-wing aircraft of the present invention includes: a fuselage; a first front swing rod rotatably connected to the front side of the fuselage, and the first front swing rod can swing up and down relative to the fuselage; a flapping drive mechanism provided on the fuselage, and the flapping drive mechanism is used to drive the first front swing rod to swing up and down; a wing surface, the first side of the wing surface is connected to the fuselage, and the second side of the wing surface is rotatably connected to the first front swing rod; a deformation drive mechanism for driving the wing surface to rotate backward relative to the first front swing rod and driving the wing surface to deform.

[0006] According to some embodiments of the present invention, the deformation drive mechanism includes: a main rod, one end of the main rod is rotatably connected to the first front swing rod, and the main rod can rotate back and forth relative to the first front swing rod, and the second side of the wing surface is connected to the main rod; a slider provided on the fuselage, and the slider can slide back and forth relative to the fuselage; a first connecting rod, the head end of the first connecting rod is rotatably connected to the middle position of the main rod, and the tail end of the first connecting rod is rotatably connected to the slider; a translation mechanism provided on the fuselage, and the translation mechanism is used to drive the slider to slide back and forth.

[0007] According to some embodiments of the present invention, the translation mechanism includes: a driving lead screw, rotatably arranged on the machine body, the driving lead screw extending in the front-rear direction, and the driving lead screw being in threaded cooperation with the slider; a driving motor, arranged on the machine body, the driving motor being used to drive the driving lead screw to rotate.

[0008] According to some embodiments of the present invention, the translation mechanism further includes a slide rail arranged on the machine body, the slide rail extending in the front-rear direction, and the slide rail being in sliding cooperation with the slider.

[0009] According to some embodiments of the present invention, there are two slide rails, and the two slide rails are respectively located on the left and right sides of the driving lead screw.

[0010] According to some embodiments of the present invention, the deformation driving mechanism further includes a first transfer link, both ends of the first transfer link being rotatably connected to the first link and the slider respectively, the first link being able to rotate back and forth relative to the first transfer link, and the first transfer link being able to rotate up and down relative to the slider.

[0011] According to some embodiments of the present invention, the deformation driving mechanism further includes a rear link portion, one end of the rear link portion being rotatably connected to the main rod, the other end of the rear link portion being rotatably connected to the machine body, and the rear link portion being telescopically arranged.

[0012] According to some embodiments of the present invention, the rear link portion can be bent.

[0013] According to some embodiments of the present invention, the rear link portion includes: a first rear swing rod, the first end of the first rear swing rod being rotatably connected to the main rod, and a limiting chute being provided at the second end of the first rear swing rod; a second rear swing rod, the first end of the second rear swing rod being rotatably connected to the machine body, and the second end of the second rear swing rod being rotatably and slidably engaged with the limiting chute.

[0014] According to some embodiments of the present invention, the first end of the second rear swing rod is connected to the machine body through a ball hinge.

[0015] Applying the above wing deformation mechanism for the water-air cross-medium flapping-wing aircraft, its operating power is generated by the flapping-wing drive mechanism driving the first front swing rod to swing up and down, driving the wing surface to flap up and down. The principle of power generation is similar to the flapping flight of birds. Before the aircraft enters the water, the deformation drive mechanism can drive the wing surface to move backward relative to the first front swing rod, causing the wing surface to fold inward and deform, minimizing the water entry area of the aircraft when it enters the water, reducing the impact force during water entry as much as possible. At the same time, the resistance received by the wing folding inward in the water is greatly reduced, effectively reducing the resistance received by the aircraft during underwater navigation. When flying in the air, when a larger lift is required, the deformation drive mechanism can control the wing surface to rotate forward relative to the first front swing rod and unfold the wing surface, increasing the wingspan area of the entire wing and effectively improving the lift obtained by the wing. Through the adjustment of the deformation drive mechanism, the aircraft can achieve high flight performance under different working conditions in water and air.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 is the top view of the flapping-wing aircraft according to the first aspect of the embodiment of the present invention;

[0019] Figure 2 is Figure 1 the enlarged view of part A in

[0020] Figure 3 is Figure 1 the enlarged view of part C in

[0021] Figure 4 is Figure 1 the enlarged view of part B in

[0022] Figure 5 is Figure 1 the enlarged view of part D in

[0023] Figure 6 is the axonometric view of the flapping-wing aircraft according to the first aspect of the embodiment of the present invention;

[0024] Figure 7 is Figure 6 the enlarged view of part E in

[0025] Figure 8 is the top view of the flapping-wing aircraft according to the second aspect of the embodiment of the present invention;

[0026] Figure 9 is Figure 8 the axonometric drawing of the skeleton part of the flapping-wing flying robot in

[0027] Figure 10 is Figure 9 the enlarged drawing at position IV in

[0028] Figure 11 is Figure 9 the enlarged drawing at position V in

[0029] Figure 12 is Figure 9 the enlarged drawing at position VI in

[0030] The above-mentioned drawings include the following drawing reference numerals.

[0031] Label Name Label Name Label Name 100 Main body rod 250 Drive motor 421 First servo 101 Main mounting plate 310 First front swing rod 422 Second servo 102 Side mounting plate 320 First adapter 431 First rear connecting rod 103 Support column 330 Main rod 432 Second rear connecting rod 104 Power supply mounting plate 340 First connecting rod 441 Horizontal tail 1041 Mounting groove 351 First rear swing rod 442 Vertical tail 105 Rear mounting part 3511 Limit sliding groove 510 Flapping wing motor 106 Rear bracket 352 Second rear swing rod 520 Transmission gear set 210 Bracket 353 Ball head connecting rod 530 Flapping wing connecting rod 220 Slide rail 354 Rear support 540 Flapping wing crank 230 Drive lead screw 360 Front support 600 Power supply assembly 240 Slider 370 Wing surface 241 First adapter connecting rod 410 Hinge bracket Detailed implementation manners

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0033] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0034] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0035] In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0036] As Figures 1 to 6As shown in the figure, the wing deformation mechanism for a water-air cross-medium flapping-wing aircraft in this embodiment includes: a fuselage; a first front swing rod 310 rotatably connected to the front side of the fuselage, and the first front swing rod 310 can swing up and down relative to the fuselage; a flapping-wing drive mechanism arranged on the fuselage, and the flapping-wing drive mechanism is used to drive the first front swing rod 310 to swing up and down; a wing surface 370, with the first side of the wing surface 370 connected to the fuselage and the second side of the wing surface 370 rotatably connected to the first front swing rod 310; a deformation drive mechanism for driving the wing surface 370 to rotate backward relative to the first front swing rod 310 and driving the wing surface 370 to deform.

[0037] Applying the above wing deformation mechanism for a water-air cross-medium flapping-wing aircraft, its operating power is generated by the flapping-wing drive mechanism driving the first front swing rod 310 to swing up and down to drive the wing surface 370 to flap up and down, and the principle of power generation is similar to the flapping flight of birds; before the aircraft enters the water for operation, the deformation drive mechanism can drive the wing surface 370 to move backward relative to the first front swing rod 310, so that the wing surface 370 folds inward and deforms, minimizing the water entry area of the aircraft when it enters the water as much as possible, reducing the impact force when entering the water as much as possible, and at the same time, the resistance received by the wing folding inward in the water is greatly reduced, effectively reducing the resistance received by the aircraft during underwater navigation; when flying in the air, when a larger lift is required, the deformation drive mechanism can control the wing surface 370 to rotate forward relative to the first front swing rod 310 and unfold the wing surface 370. This increases the wingspan area of the entire wing, effectively improving the lift obtained by the wing; through the adjustment of the deformation drive mechanism, the aircraft can achieve high flight performance under different working conditions in water and air; in the air, when high-speed cruising is required, the wing surface 370 can also be folded to reduce flight resistance and obtain better high-speed cruising performance.

[0038] Here, the wing surface 370 can be realized by using soft materials such as canvas and plastic film in cooperation with a framework. The inner side of the wing surface 370 is connected to the fuselage, and the front side of the wing surface 370 is rotatably connected to the outer end of the first front swing rod 310; when the flapping-wing drive mechanism drives the first front swing rod 310 to swing up and down, the entire wing surface 370 can generate up and down flapping to provide lift and power for the entire aircraft; when the wing surface 370 rotates backward relative to the first front swing rod 310, the soft wing surface 370 can fold inward, thereby reducing the wingspan area.

[0039] It should be noted that for the convenience of illustration, Figures 1 to 7 the wing surface 370 is not shown, nor is the wing part on the right side shown, only the wing part on the left side is shown.

[0040] It can be understood that the flapping wing drive mechanism can drive the first front swing rod 310 to swing up and down in various ways. For example, a drive source such as a motor drives a transmission mechanism to convert rotational motion into reciprocating motion to drive the first front swing rod 310 to swing up and down, or a linear motion module can directly drive the first front swing rod 310 to move up and down. On the other hand, the deformation drive mechanism can also drive the part of the wing surface 370 rotatably connected to the first front swing rod 310 to rotate backward in various ways, causing the wing surface 370 to fold. For example, the skeleton rotatably connected to the first front swing rod 310 on the front side of the wing surface 370 is driven to rotate backward by means of rope traction, or the skeleton is driven to rotate backward by a servo motor, etc.

[0041] Specifically, as Figure 1 , Figure 4 shown, the deformation drive mechanism includes: a main rod 330, one end of the main rod 330 is rotatably connected to the first front swing rod 310, the main rod 330 can rotate back and forth relative to the first front swing rod 310, and the second side of the wing surface 370 is connected to the main rod 330; a slider 240, arranged on the fuselage, and the slider 240 can slide back and forth relative to the fuselage; a first connecting rod 340, the head end of the first connecting rod 340 is rotatably connected to the middle position of the main rod 330, and the tail end of the first connecting rod 340 is rotatably connected to the slider 240; a translation mechanism, arranged on the fuselage, and the translation mechanism is used to drive the slider 240 to slide back and forth. At this time, the main rod 330 plays the role of supporting the skeleton of the wing surface 370. During flight, the first front swing rod 310 drives the main rod 330 to swing up and down, driving the wing surface 370 to flap up and down to provide forward power and lift. When it is necessary to retract the wing surface 370, only need to control the slider 240 to move backward. The slider 240 drives the main rod 330 to rotate backward relative to the first front swing rod 310 through the first connecting rod 340 to retract the wing surface 370. When it is necessary to deploy the wing surface 370, only need to control the slider 240 to slide forward, driving the main rod 330 to rotate forward relative to the first front swing rod 310, and the wing surface 370 can be deployed.

[0042] As Figure 4 shown, the translation mechanism includes: a driving lead screw 230, rotatably arranged on the fuselage, the driving lead screw 230 extends in the front-back direction, and the driving lead screw 230 is in threaded cooperation with the slider 240; a driving motor 250, arranged on the fuselage, and the driving motor 250 is used to drive the driving lead screw 230 to rotate. Among them, a bracket 210 for installing the driving lead screw 230 and the driving motor 250 is arranged on the fuselage. The driving motor 250 controls the slider 240 to slide forward or backward by controlling the driving lead screw 230 to rotate forward or backward. Since the transmission ratio of the lead screw transmission mechanism is relatively large, the slider 240 can be more accurately controlled in its front-back position by driving the slider 240 to move back and forth by the lead screw. At the same time, due to the reverse self-locking performance of the lead screw nut mechanism, the slider 240 can better maintain its current sliding position when the lead screw stops rotating, ensuring the stability of the wing surface 370.

[0043] Specifically, the translation mechanism further includes a slide rail 220 disposed on the fuselage. The slide rail 220 extends in the front-rear direction and is slidably engaged with the slider 240. Among them, there are two slide rails 220, and the two slide rails 220 are respectively located on the left and right sides of the driving lead screw 230. Both of the two slide rails 220 are fixedly connected to the bracket 210, which can play a role in limiting the front-rear movement of the slider 240 and ensure the stability of the front-rear movement of the slider 240.

[0044] Such as Figure 1 、 Figure 3 As shown in the figure, a front support 360 is provided on the front side of the fuselage. The inner end of the first front swing rod 310 is rotatably connected to the front support 360, the outer end of the first front swing rod 310 is rotatably connected to the first connecting member, and the first connecting member is fixedly connected to the main rod 330.

[0045] Such as Figure 3 As shown in the figure, the deformation driving mechanism further includes a first transfer link 241. The two ends of the first transfer link 241 are respectively rotatably connected to the first link 340 and the slider 240. The first link 340 can rotate back and forth relative to the first transfer link 241, and the first transfer link 241 can rotate up and down relative to the slider 240. When the first front swing rod 310 swings up and down, the main rod 330 together with the first link 340 and the first transfer link 241 swing up and down relative to the slider 240 together, ensuring the smooth operation of the flapping wings. And when the slider 240 slides back and forth, the first link 340 can rotate back and forth relative to the first transfer link 241, that is, the first link 340 is connected to the slider 240 through a universal joint mechanism, ensuring the independence of the rotation in two directions and preventing the flapping wing movement and the wing surface 370 adjustment movement from interfering with each other.

[0046] Such as Figure 1 、 Figure 2 、 Figure 5 As shown in the figure, the deformation driving mechanism further includes a rear link part. One end of the rear link part is rotatably connected to the main rod 330, and the other end of the rear link part is rotatably connected to the fuselage. The rear link part is telescopically arranged. Among them, the rear link part is connected to the position of the main rod 330 close to the outside, playing a role in supporting the main rod 330 and ensuring the stability of the wing. When the slider 240 moves backward and the wing surface 370 is retracted, the rear link part can contract to avoid the situation that the rear link part jams the main rod 330 and causes the main rod 330 to be unable to rotate back and forth.

[0047] Specifically, the rear link part can be bent; that is, the entire rear link part can be bent and contracted, that is, during the retraction process of the wing surface 370, the rear link part can automatically contract and fold, improving the compactness of the structure after the wing surface 370 is retracted.

[0048] Among them, Figure 2As shown in the figure, the rear link part includes: a first rear swing rod 351, the first end of the first rear swing rod 351 is rotatably connected to the main rod 330, and a limit chute 3511 is provided at the second end of the first rear swing rod 351; a second rear swing rod 352, the first end of the second rear swing rod 352 is rotatably connected to the fuselage, and the second end of the second rear swing rod 352 is rotatably and slidably engaged with the limit chute 3511; here, the limit chute 3511 can limit the second rear swing rod 352, so that the second end of the second rear swing rod 352 can only slide along the limit chute 3511 or rotate in the limit chute 3511; during the flapping process, the first front swing rod 310 drives the main rod 330 and the entire rear link part to swing up and down together; and during the folding process of the wing surface 370, the second end of the second rear swing rod 352 can slide in the limit chute 3511, making the length of the entire rear link part smaller and facilitating folding. At the same time, the second end of the second rear swing rod 352 rotates in the chute, causing the first rear swing rod 351 and the second rear swing rod 352 to be folded relative to each other.

[0049] As Figure 5 shown in the figure, the first end of the second rear swing rod 352 is connected to the fuselage through a ball head link 353, so that the first end of the second rear swing rod 352 can rotate relative to the rear support 354 in the up and down directions and the left and right directions; specifically, a rear support 354 is provided at the rear side of the fuselage, and the second end of the second rear swing rod 352 is connected to the rear support 354 through a ball joint. At this time, the second rear swing rod 352 can rotate forward and backward relative to the rear support 354 and can also rotate up and down relative to the rear support 354; ensuring the independence of the two processes of folding and flapping of the wing surface 370.

[0050] This embodiment also provides a flapping-wing aircraft, including the above-mentioned wing deformation mechanism, which can not only adapt to different working conditions during water-air cross-medium operation, but also has good adaptability during high-speed cruise and medium-low speed maneuvering flight.

[0051] Among them, the flapping-wing flying robot, that is, the above-mentioned flapping-wing aircraft, can also adopt the following lightweight fuselage for the flapping-wing flying robot.

[0052] As Figures 8 to 12 shown in the figure, the lightweight fuselage for the flapping-wing flying robot in this embodiment includes: a fuselage main rod 100, the fuselage main rod 100 extends in the front-rear direction, and a cavity is provided in the fuselage main rod 100; a drive installation frame, arranged at the front end of the fuselage main rod 100, and the drive installation frame is used to install the flapping-wing drive mechanism; a power supply installation plate 104, arranged in the middle of the fuselage main rod 100, and the power supply installation plate 104 is used to install the power supply component 600; a tail wing installation frame, arranged at the rear end of the fuselage main rod 100, and the tail wing installation frame is used to install the tail wing component.

[0053] Applying the lightweight fuselage for the flapping-wing flying robot described above, during the assembly process of the aircraft, a main rod 330 connects the drive mechanism, power supply, wings, and tail of the flapping-wing flying robot together. Compared with existing aircraft, the structure is more compact and the windward area is smaller. At the same time, since the main rod 330 is provided with a cavity, on the premise of ensuring the structural strength required for the flapping-wing flying robot, the body weight is lighter, which can effectively reduce flight energy consumption and improve the load capacity and endurance of the flapping-wing flying robot.

[0054] Among them, the fuselage main rod 100 is actually a square tube extending along the front-back direction of the fuselage. It has a cavity that runs through from front to back, and it serves as the main skeleton of the fuselage part of the entire flapping-wing aircraft.

[0055] As Figure 10 shown, the drive mounting frame includes: a main mounting plate 101, arranged on the front side of the fuselage main rod 100, and the main mounting plate 101 is provided with a hollow; a side mounting plate 102, arranged on the front side of the fuselage main rod 100, and the side mounting plate 102 is provided with a hollow; there is an installation space between the main mounting plate 101 and the side mounting plate 102 for installing drive components; among them, as Figure 7 、 Figure 10 shown, the flapping-wing motor 510 is installed on the left side of the main mounting plate 101, the reduction gear meshing with the output gear of the flapping-wing motor 510 is installed in the above installation space, and the second-stage reduction large gear is installed on the left side of the bead mounting plate. The second-stage reduction large gear drives the flapping-wing crank 540 to rotate, and the flapping-wing crank 540 drives the first front swing rod 310 to swing up and down through the flapping-wing connecting rod 530; that is, the installation space can be used to accommodate some of the gears in the transmission gear set 520. While ensuring the structural strength of the fuselage, it can also make the structure more compact and lightweight.

[0056] Specifically, in order to ensure the stability of the main mounting plate 101 and the side mounting plate 102, the drive mounting frame further includes multiple support columns 103. The support columns 103 connect the main mounting plate 101 and the side mounting plate 102, and the support rods are located in the installation space; among them, the support rods can support the two mounting plates, so that the main mounting plate 101 and the side mounting plate 102 maintain the stability of the relative position.

[0057] Specifically, as Figure 10 shown, the drive mounting frame further includes a positioning sleeve. The two ends of the positioning sleeve respectively abut against the side mounting plate 102 and the fuselage main rod 100; specifically, screws pass through the fuselage main rod 100 to fix the side mounting plate 102 and the main mounting plate 101 on both sides of the fuselage main rod 100. The positioning sleeve is sleeved on the screws and spaces the interval between the fuselage main rod 100 and the side mounting plate 102, ensuring that the interval between the side mounting plate 102 and the main mounting plate 101 meets the requirements while enabling the stable installation of the side mounting plate 102.

[0058] As Figure 8 , Figure 11 shown, multiple mounting grooves 1041 are provided on the power supply mounting plate 104, and the mounting grooves 1041 are used to fix the power supply assembly 600; among them, the power supply assembly 600 can be fixed on the power supply mounting plate 104 by passing a binding wire through the mounting groove 1041 or by using fasteners such as screws to ensure the stable installation of the power supply assembly 600.

[0059] As Figure 10 shown, a front support 360 is provided at the upper end of the front side of the main body rod 100 of the fuselage. The front support 360 is fixed to the main body rod 100 of the fuselage by screws, and the first front swing rod 310 is rotatably connected to the front support 360 through a bearing.

[0060] Specifically, in order to reduce the weight of the power supply mounting plate 104, a hollowed-out portion is provided on the power supply mounting plate 104.

[0061] As Figure 12 shown, the tail wing mounting frame includes: a vertical mounting plate provided at the rear end of the rear side of the main body rod 100 of the fuselage; a horizontal mounting plate provided at the lower end of the vertical mounting plate, and the horizontal mounting plate is used to mount the tail wing assembly; two motor mounting portions are provided on the horizontal mounting plate, and the two motor mounting portions are respectively located on the left and right sides of the vertical mounting plate; among them, the first steering gear 421 is mounted on the motor mounting portion on the left side, and the second steering gear 422 is mounted on the motor mounting portion on the right side.

[0062] Specifically, as Figures 1 to 12 shown, the flapping-wing flying robot includes: a fuselage, which is the lightweight fuselage for the flapping-wing flying robot described above; a first front swing rod 310 rotatably connected to the front side of the fuselage, and the first front swing rod 310 can swing up and down relative to the fuselage; a flapping-wing driving mechanism provided on the driving mounting frame, and the flapping-wing driving mechanism is used to drive the first front swing rod 310 to swing up and down; a wing surface 370 connected to the first front swing rod 310; a power supply assembly 600 provided on the power supply mounting plate 104; and a tail wing assembly provided on the tail wing mounting frame.

[0063] As Figure 5 , Figure 12As shown, the fin assembly includes an integral fin, which is rotatably connected to the fin mounting bracket. The integral fin includes a horizontally disposed fin 441 and a vertically disposed fin 442 that are integrally formed. Among them, the cranks of the first servo 421 and the second servo 422 are respectively connected to the upper ends of the horizontally disposed fins 441 on both sides through the first rear link 431 and the second rear link 432. The entire integral fin has two rotational degrees of freedom relative to the fin mounting bracket, that is, the entire integral fin can rotate up and down and left and right. When the two motors rotate in opposite directions by the same angle, the pitching angles of the horizontally disposed fins 441 on both sides are the same, that is, by controlling the equal-angle reverse rotation of the first motor, the pitching angle of the horizontally disposed fin 441 can be controlled. When the rotation angles of the first servo 421 and the second servo 422 are different, the entire fin assembly deflects left and right relative to the fuselage, causing the deflection angle of the vertically disposed fin 442 to change. At this time, by controlling the rotation states of the first servo 421 and the second servo 422, the pitching and yaw states of the entire aircraft can be controlled.

[0064] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A wing deformation mechanism for a water-air cross-medium flapping wing aircraft, characterized in that Comprising: Airframe; A first front swing rod (310) rotatably connected to the front side of the airframe, the first front swing rod (310) being capable of swinging up and down relative to the airframe; A flapping wing drive mechanism provided on the airframe, the flapping wing drive mechanism being used to drive the first front swing rod (310) to swing up and down; A wing surface (370), a first side of the wing surface (370) being connected to the airframe, and a second side of the wing surface (370) being rotatably connected to the first front swing rod (310); A deformation drive mechanism for driving the wing surface (370) to rotate backward relative to the first front swing rod (310) and driving the wing surface (370) to deform; The deformation drive mechanism includes: A main rod (330), one end of the main rod (330) being rotatably connected to the first front swing rod (310), the main rod (330) being capable of rotating back and forth relative to the first front swing rod (310), and the second side of the wing surface (370) being connected to the main rod (330); A slider (240) provided on the airframe, the slider (240) being capable of sliding back and forth relative to the airframe; A first connecting rod (340), a first end of the first connecting rod (340) being rotatably connected to an intermediate position of the main rod (330), and a second end of the first connecting rod (340) being rotatably connected to the slider (240); A translation mechanism provided on the airframe, the translation mechanism being used to drive the slider (240) to slide back and forth; A rear connecting rod portion, one end of the rear connecting rod portion being rotatably connected to the main rod (330), and the other end of the rear connecting rod portion being rotatably connected to the airframe, the rear connecting rod portion being telescopically provided.

2. The wing deformation mechanism for the water-air cross-medium flapping-wing aircraft according to claim 1, characterized in that, The translation mechanism includes: a driving lead screw (230) rotatably provided on the airframe, the driving lead screw (230) extending in the front-rear direction, and the driving lead screw (230) being in threaded cooperation with the slider (240); A driving motor (250) provided on the airframe, the driving motor (250) being used to drive the driving lead screw (230) to rotate.

3. The wing deformation mechanism of the water-air cross-medium flapping wing aircraft according to claim 2, characterized in that The translation mechanism further includes a slide rail (220) provided on the airframe, the slide rail (220) extending in the front-rear direction, and the slide rail (220) being in sliding cooperation with the slider (240).

4. The wing deformation mechanism of the water-air cross-medium flapping wing aircraft according to claim 3, characterized in that, There are two slide rails (220), and the two slide rails (220) are respectively located on the left and right sides of the driving lead screw (230).

5. The wing deformation mechanism for the water-air cross-medium flapping wing aircraft according to claim 1, characterized in that, The deformation drive mechanism further includes a first transfer connecting rod (241), two ends of the first transfer connecting rod (241) being respectively rotatably connected to the first connecting rod (340) and the slider (240), the first connecting rod (340) being capable of rotating back and forth relative to the first transfer connecting rod (241), and the first transfer connecting rod (241) being capable of rotating up and down relative to the slider (240).

6. The wing deformation mechanism for the water-air cross-medium flapping wing aircraft according to claim 1, characterized in that, The rear connecting rod portion can be bent.

7. The wing deformation mechanism for the water-air cross-medium flapping wing aircraft according to claim 6, characterized in that, The rear connecting rod portion includes: a first rear swing rod (351), a first end of the first rear swing rod (351) being rotatably connected to the main rod (330), and a limiting chute (3511) being provided at a second end of the first rear swing rod (351); The second rear swing rod (352), a first end of the second rear swing rod (352) is rotatably connected to the fuselage, and a second end of the second rear swing rod (352) is rotatably and slidably engaged with the limit sliding groove (3511).

8. The wing deformation mechanism for the water-air cross-medium flapping wing aircraft according to claim 7, characterized in that, The first end of the second rear swing rod (352) is connected to the fuselage through a ball hinge.

Images