A multi-mode repeatable switchable wing deployment mechanism

Abstract

This invention, designed for cross-medium unmanned aerial vehicles, proposes a multi-modal, repeatably switchable wing deployment mechanism. This mechanism can meet the cross-medium vehicle's need for rapid and controllable aerodynamic configuration switching under varying operating conditions, while also improving the vehicle's lift-to-drag ratio while meeting dimensional constraints. Through extensive research, this invention further addresses the complex workflow and load and flight vibration conditions often associated with switchable lift mechanisms, providing a solid foundation for future design work.

Description

Technical Field

[0001] The present invention belongs to the field of cross-media UAV applications, and specifically relates to a multi-modal, repeatedly switchable wing deployment mechanism, which follows the modular design principle and can be used as a separate module to complete mechanical and electrical connections with the aircraft body. Background Art

[0002] Over the past decade, drones have developed rapidly and are playing an increasingly important role in a wide range of fields. Military underwater reconnaissance operations, as well as civilian underwater exploration and archaeology, increasingly require UAVs capable of cross-media operations. A dual-use UAV capable of air and water missions across multiple domains can significantly improve work efficiency, reduce the amount of equipment required, and further lower the costs of equipment production, procurement, and maintenance.

[0003] However, while cross-medium drones offer significant advantages, they also present numerous technical challenges. For example, cross-medium drones operate in diverse environments across different media, requiring multiple aerodynamic configurations to meet these requirements, while also requiring the ability to switch between these configurations quickly, controllably, and repeatably. To address this need, other designers have devised and implemented various wing deformation or folding / deployment mechanisms. However, these mechanisms present numerous inherent challenges, including complex workflows, complex aerodynamic loads and flight vibration conditions, and the conflict between the high power of the reciprocating actuator and its compact size.

[0004] On the other hand, in order to improve the lift-to-drag ratio of trans-medium aircraft flying in the air while meeting size constraints, a variety of retractable wing mechanisms have emerged. However, these mechanisms also have problems such as compact design space, coupling influence of large aspect ratio retractable wing surface stiffness and retractable mechanism design, and difficulty in resolving extension time constraints.

[0005] In order to solve the above problems, a multi-modal and repeatedly switchable wing deployment mechanism is proposed for cross-medium UAVs to meet the convenient switching needs of cross-medium UAVs for various aerodynamic configurations. Summary of the Invention

[0006] The present invention addresses the diverse demands of cross-medium UAVs for aerodynamic configurations, and aims to resolve numerous problems encountered by such aircraft when switching between various aerodynamic configurations, such as the complex workflow of the folding mechanism, the complex aerodynamic load and flight vibration conditions, the contradiction between the high power and compact size constraints of the reciprocating actuator, the coupling influence between the stiffness of the large-aspect-ratio telescopic wing surface and the design of the telescopic mechanism, and the time constraints for wing extension and retraction.

[0007] In order to solve these problems, the present invention has proposed the following technical solutions after extensive research:

[0008] A multi-mode repeatable switchable wing deployment mechanism, which is special in that it includes a control module, a mounting base, a left wing, a right wing, a repeatable controllable deployment and folding module (called A), and two sets of repeatable controllable retractable wing modules (called B);

[0009] The left wing and the right wing each include an inner wing and an outer wing, wherein the inner wing and the outer wing are connected by a sliding assembly. Under the action of the telescopic wing module, the inner wing can be retracted into the inner cavity of the outer wing or extended out of the outer wing. A connecting ring is provided at the root of the inner wing, and the connecting ring is triangular in shape.

[0010] The repeatedly controllable unfolding and folding module is used to control the synchronous unfolding and folding of the left wing and the right wing, and includes a push rod motor, a wing rotation shaft and two connecting rods;

[0011] The push rod motor and the wing rotation axis are both arranged on the mounting base; the wing roots of the left wing and the right wing are sequentially mounted on the wing rotation axis along the axial direction of the wing rotation axis (therefore, they are in an upper and lower superimposed state after folding); one end of the two connecting rods is connected to the push rod of the push rod motor through the same vertical rod (that is, the two connecting rods and the push rod are mounted on the vertical rod from top to bottom, and the push rod is located between the two), and the other end is respectively connected to the outer wing root plate surfaces of the left wing and the right wing to form a crank structure; when the wings are folded or unfolded, upon receiving an unfolding or folding command, the push rod motor is started to drive the push rod, which drives the outer wings of the left wing and the right wing to rotate synchronously in opposite directions around the wing rotation axis through the connecting rod, thereby realizing synchronous unfolding or synchronous folding, and at the same time, the push rod position is locked by utilizing the self-locking characteristic of the push rod motor;

[0012] The two sets of repeatedly controllable retractable wing modules are used to control the retraction and extension of the inner wings of the left and right wings respectively (i.e., the extension and retraction of the inner wings);

[0013] Each set of reusable and controllable retractable wing modules includes a recovery motor, tension spring, wire rope, pulley and electromagnetic locking assembly;

[0014] Each set of repeatedly controllable telescopic wing modules includes a recovery motor, a first steel wire rope, a second steel wire rope, a pulley, a tension spring, and an electromagnetic locking assembly; the recovery motor is arranged on a mounting base; one end of the pulley and the tension spring are mounted on the inner wall of the outer wing of the wing controlled by the telescopic wing module and are located on the same side, wherein the tension spring is located inside the outer wing near the trailing edge, and the distance between it and the pulley is greater than its maximum tensile length; one end of the first steel wire rope is connected to the output shaft of the recovery motor, and the other end passes around the wing rotation axis and is connected to the middle of the connecting ring on the inner wing; one end of the second steel wire rope is connected to the side of the connecting ring near the pulley, and the other end passes around the pulley and is connected to the free end of the tension spring;

[0015] The electromagnetic locking assembly is used to lock the position between the inner wing and the outer wing;

[0016] In this module, the recovery motor is used in the process of retracting the inner wing. When the command is received, the electromagnetic locking component is released, and the recovery motor pulls the wire rope, changing the direction of movement through the pulley force transmission, pulling the inner wing back. At the same time, the tension spring is gradually tightened and is in a stretched state. After it is retracted into place, the electromagnetic locking component is activated to lock the relative position of the inner and outer wings. When the inner wing is in the retracted state, the extension command is received, the electromagnetic locking component is released, and the tension spring returns to its original state (i.e., free state) from the stretched state, generating tension to quickly pop the inner wing into place. Then the electromagnetic locking component is activated to lock the relative position of the inner and outer wings.

[0017] The control module is used to issue action instructions to the repeatedly controllable unfolding and folding module and the two sets of repeatedly controllable telescopic wing modules, and control their actions.

[0018] As can be seen, the functionality of the aforementioned multi-modal, repeatably switchable wing deployment mechanism primarily relies on two components: a repeatably controllable deployment and folding module A and a repeatably controllable retractable wing module B. Modules A and B can operate independently or sequentially to switch wing modes, allowing the aircraft to be positioned between fully folded, partially deployed, and fully deployed states, depending on the operating environment and requirements. The fully folded state, in which the left and right wings are stacked, the inner wing is fully retracted within the outer wing cavity, and the tension spring is tensioned, occupies a small space and is easy to carry, store, and transport. The partially deployed state, in which the left and right wings are fully deployed, the inner wing remains fully retracted within the outer wing cavity, and the tension spring remains tensioned, reduces the aircraft's wingspan and makes it suitable for underwater gliding. The fully deployed state, in which the left and right wings are fully deployed and the inner wing is fully extended, and the tension spring is relaxed, maximizes the aircraft's aspect ratio and lift-to-drag ratio, making it suitable for aerial cruising.

[0019] In practice, modules A and B typically operate in a specific sequence. Generally, in the fully folded configuration, module A receives the command to begin operating first, driving the left and right wings to fully unfold, placing the aircraft in a semi-folded state. Subsequently, if operational conditions dictate, module B receives the command to begin operating, fully extending the inner wings to fully unfold the aircraft. Conversely, in the fully unfolded configuration, module B operates first to retract the inner wings, followed by module A to fold the left and right wings. This workflow minimizes the wingspan and moment of inertia during wing rotation, ensuring safety and efficiency.

[0020] Furthermore, the repeatedly controllable unfolding and folding module further includes a limiting component;

[0021] The limit assembly is arranged on the mounting base to assist the push rod in performing linear motion, thereby further ensuring safety;

[0022] The limiting assembly can be two limiting blocks arranged along the movement direction of the push rod.

[0023] Furthermore, in order to prevent the wings from being damaged due to excessive rotation or affecting the aircraft's mission execution, the repeatedly controllable unfolding and folding module also includes an auxiliary locking component (an existing auxiliary locking component can be used) for assisting the push rod motor to lock the push rod position.

[0024] Furthermore, in order to support and reduce the friction coefficient during the rotation of the wing rotating shaft and ensure the rotation accuracy, the wing rotating shaft is installed on the mounting base through a plane thrust needle roller bearing.

[0025] Furthermore, the sliding assembly includes a slide rail and a slider (which may also be a slide bar);

[0026] The slide rail is arranged in the middle of the lower wing surface of the inner cavity of the outer wing along the length direction of the outer wing; the slider is correspondingly arranged in the middle of the lower wing surface of the inner wing;

[0027] or,

[0028] The slide rail is arranged in the middle of the lower wing surface of the inner wing along the length direction of the inner wing; the slider is correspondingly arranged in the middle of the lower wing surface of the inner cavity of the outer wing;

[0029] Regardless of which of the above is used, it is necessary to ensure that the slider is compatible with the slide rail and slides smoothly.

[0030] Furthermore, in order to make the overall layout more reasonable and occupy less space, the recovery motors of the two sets of repeatedly controllable telescopic wing modules are respectively arranged on both sides of the push rod motor.

[0031] At the same time, the present invention also provides a deployment method of the above-mentioned multi-modal repeatedly switchable wing deployment mechanism, which is special in that it includes the following steps:

[0032] 1) From fully folded to half-folded

[0033] The repeatedly controllable unfolding and folding module receives the command, starts the push rod motor, pushes the push rod to move linearly, and drives the wing rotation axis to rotate through the connecting rod, thereby driving the left and right wings to rotate outward synchronously around the wing rotation axis to unfold. After unfolding to the full extent, the push rod motor self-locks and reaches the semi-expanded state;

[0034] 2) From semi-expanded state to fully expanded state

[0035] The reusable and controllable retractable wing module receives the command, the electromagnetic locking assembly releases the locking state, the tension spring constraint force disappears, and it begins to restore to its original state. At the same time, the wire rope is pulled to transmit force through the pulley to change the direction of movement, so that the inner wing pops out quickly from the cavity of the outer wing; after the inner wing pops into place, the electromagnetic locking assembly starts to lock the inner wing and the outer wing to reach the fully deployed state.

[0036] The folding method of the multi-mode repeatedly switchable wing deployment mechanism is special in that it includes the following steps:

[0037] S1. From fully expanded state to semi-expanded state

[0038] The retractable wing module receives the command, the electromagnetic locking assembly unlocks, the recovery motor starts, and the force is transmitted through the wire rope and pulley mechanism, pulling the inner wing inward. At the same time, the tension spring is gradually tightened under the force transmitted by the wire rope and pulley, providing power for the next inner wing pop-up action; when the inner wing is fully retracted into the cavity of the outer wing, the electromagnetic locking assembly locks the inner and outer wings, and the inner wing is completely retracted and reaches a semi-expanded state;

[0039] S2. From half-expanded state to fully folded state

[0040] The repeatedly controllable unfolding and folding module receives the command, the push rod motor starts, and pushes the push rod to move linearly. The force is transmitted through the connecting rod to drive the wing rotation axis to rotate, thereby driving the left and right wings to rotate inward synchronously around the wing rotation axis and start folding. After folding into place, the push rod motor self-locks to reach the fully folded state.

[0041] In addition, the present invention provides an aircraft, which is special in that: the above-mentioned multi-modal repeatedly switchable wing deployment mechanism is installed thereon.

[0042] The advantages of the present invention are:

[0043] The repetitively controllable deployment and folding module designed in this invention adheres to modular design principles. It can be used as a standalone module to complete mechanical and electrical connections with the aircraft body, controlling the deployment and folding of the left and right wings. It features rapid, controllable, and repeatable switching between various aerodynamic configurations, meeting the diverse requirements of trans-medium aircraft for low-drag flight in water and high lift-to-drag ratio flight in the air. It addresses the challenges of complex workflows, complex aerodynamic loads and flight vibration conditions, and the conflict between the high power of the reciprocating actuator and the compact size constraints of such mechanisms. Overall, it improves the assembly processability, testability, and maintainability of the mechanism. Furthermore, based on the principle of a slider-crank mechanism, the module exhibits excellent deployment consistency and technological maturity. Considering the need for a highly controllable mechanism, a pushrod motor is used as the power device for wing deployment and folding. A connecting rod drives the wing shaft, which in turn drives the wings to deploy or fold. The pushrod motor's self-locking properties enable the mechanism to be locked in place once in place. This provides high controllability and self-locking properties, ensuring complete locking of the mechanism once in place.

[0044] 2. The repetitively controllable retractable wing module designed in this invention controls the extension and retraction of the inner wing, improving the lift-to-drag ratio of a trans-medium aircraft while meeting the overall dimensional constraints of the folded lift mechanism. This solves the challenges of compact design space for the repetitively controllable retractable wing mechanism and the coupling effect of the stiffness of the high-aspect-ratio retractable wing surface and the retractable mechanism design. The use of a tension spring as the power source for the inner wing's ejection allows for extremely quick extension, meeting stringent extension time constraints. The pulley and wire rope ensure both operational requirements and maximum space savings.

[0045] 3. The left and right wings of the present invention are stacked up and down when in the folded state to resolve the contradiction between the large chord length of the airfoil and the small width of the fuselage. Each wing includes an inner wing and an outer wing. When in the retracted state, the inner wing is completely retracted in the internal cavity of the outer wing and is connected to the outer wing through a sliding assembly. In order to meet the time requirement for wing extension, a built-in tension spring is designed in the outer wing cavity as an extension power device, and the tension is transmitted through a wire rope and a pulley to quickly extend the inner wing; since the space inside the wing is small, the recovery motor used as the retraction power device is installed on the mounting base located inside the fuselage when in use, and it transmits the retraction force through a wire rope and a pulley; at the same time, the inner wing and the outer wing are locked by an electromagnetic locking assembly to prevent excessive movement of the mechanism.

[0046] 4. In the workflow designed by the present invention, the rotational inertia of the wings is minimized when they are rotated, unfolded, or folded, which makes it easy to ensure that the mechanism and various components operate safely and efficiently.

[0047] 5. The multi-modal, reversibly switchable wing deployment mechanism designed in this invention can meet the needs of trans-medium aircraft for rapid and controllable aerodynamic configuration switching under different operating environments, while also improving the lift-to-drag ratio while meeting size constraints. Through extensive research, this invention further addresses the complex workflow and load and flight vibration conditions often associated with switchable lift mechanisms, providing a solid foundation for future design work. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Schematic diagram of a repeatable and controllable expansion and folding module;

[0049] Figure 2 Schematic diagram of a unilateral repetitively controllable telescopic wing module;

[0050] Figure 3 Schematic diagram of fully folded state;

[0051] Figure 4 Schematic diagram of semi-expanded state;

[0052] Figure 5 Schematic diagram of the fully expanded state;

[0053] Figure 6 Detailed diagram of the repeatable and controllable expansion and folding module;

[0054] Figure 7 Detailed diagram of the repeatable controllable retractable wing mechanism.

[0055] In the picture:

[0056] 1-base; 2-push rod motor; 3-push rod; 4-connecting rod; 5-wing rotation axis; 6-left wing; 7-right wing; 8-recovery motor; 9-first wire rope; 10-outer wing; 11-inner wing; 12-pulley; 13-tension spring; 14-second wire rope; 15-connecting ring. Specific implementation plan

[0057] The present invention will be described in further detail below with reference to the accompanying drawings:

[0058] like Figure 1 、 2 As shown, a multi-modal, repeatable wing deployment mechanism includes a control module, a mounting base, a left wing, a right wing, a repeatable, controllable deployment and folding module A, and two sets of repeatable, controllable retractable wing modules B. The repeatable, controllable deployment and folding module A and the repeatable, controllable retractable wing modules B can operate independently or sequentially to complete wing mode switching, allowing the aircraft to be in fully folded, semi-deployed, or fully deployed states according to different operating environments and requirements.

[0059] Both the left wing and the right wing include an inner wing and an outer wing, wherein the inner wing and the outer wing are connected by a sliding assembly. Under the action of the telescopic wing module, the inner wing can be retracted in the internal cavity of the outer wing or extended out of the outer wing. A connecting ring 15 is provided at the root of the inner wing, and the connecting ring is triangular; the sliding assembly includes a slide rail and a slider; the slide rail is arranged in the middle of the lower wing surface of the inner cavity of the outer wing along the length direction of the outer wing; the slider is correspondingly arranged in the middle of the lower wing surface of the inner wing.

[0060] like Figure 6 As shown, the repeatedly controllable unfolding and folding module includes a push rod motor 2, two connecting rods 4, a wing rotating shaft 5 and a planar thrust needle bearing, wherein the push rod motor 2, the push rod 3, the connecting rod 4 and the wing rotating shaft 5 are the main transmission components of module A. The push rod motor is arranged on a mounting base, and the wing rotation axis is arranged on the mounting base through a planar thrust needle bearing; the wing roots of the left wing and the right wing are installed on the wing rotation axis in sequence along the axial direction of the wing rotation axis; one end of the two connecting rods is connected to the push rod of the push rod motor through the same vertical rod (that is, the two connecting rods and the push rod are installed on the vertical rod from top to bottom, and the push rod is located between the two), and the other end is connected to the outer wing root plate surface of the left wing and the right wing respectively to form a crank structure; when the wings are folded or unfolded, when an unfolding or folding command is received, the push rod motor starts and drives the push rod, which drives the outer wings of the left wing and the right wing to rotate synchronously in opposite directions around the wing rotation axis through the connecting rod, thereby realizing synchronous unfolding or synchronous folding, and at the same time, the self-locking characteristics of the push rod motor are used to lock the push rod position.

[0061] The repeatedly controllable expansion and folding module also includes a limit component and an auxiliary locking component; the limit component is arranged on the mounting base to assist the push rod in linear motion, and can be two limit blocks arranged along the direction of movement of the push rod; the auxiliary locking component selects the best existing component to assist the push rod motor in locking the push rod position.

[0062] like Figure 7 As shown, two sets of reusable telescopic wing modules are used to control the extension and retraction of the inner wings of the left and right wings, respectively. Each set of reusable telescopic wing modules includes a recovery motor 8, a tension spring 13, a first steel wire rope 9, a second steel wire rope 14, a pulley 12, and an electromagnetic locking assembly (a conventional assembly based on an electromagnet). The recovery motor 8, the first steel wire rope 9, the second steel wire rope 14, the pulley 12, and the tension spring 13 are the main transmission components of module B.

[0063] The recovery motor is arranged on the mounting base (the two recovery motors are respectively installed on the left and right sides of the push rod motor); the pulley and one end of the tension spring are installed on the inner wall of the outer wing of the wing controlled by the telescopic wing module, and are located on the same side, wherein the tension spring is located inside the outer wing near the trailing edge, and the distance between it and the pulley is greater than its maximum tensile length; one end of the first steel wire rope is connected to the output shaft of the recovery motor, and the other end bypasses the wing rotation axis and is connected to the middle part of the connecting ring on the inner wing; one end of the second steel wire rope is connected to the side of the connecting ring close to the pulley, and the other end bypasses the pulley and is connected to the free end of the tension spring; the electromagnetic locking assembly is used to lock the position between the inner wing and the outer wing.

[0064] The control module is used to issue motion instructions to the repeatedly controllable unfolding and folding modules and the two sets of repeatedly controllable retractable wing modules, and control their movements.

[0065] Note that in the present invention, the tension spring, pulley and recovery motor all appear in pairs on the left and right sides, and only one side is shown in the accompanying drawings for convenience.

[0066] When the aircraft is in a fully folded state (such as Figure 3 ) When receiving the instruction to start unfolding, the push rod motor 2 of module A is started first, and the push rod 3 moves linearly between the limit blocks, and transmits force through the connecting rod 4 to drive the wing rotation axis 5 to rotate. The principle of this process is based on the crank slider mechanism. The linear motion of the push rod 3 is converted into the rotational motion of the wing rotation axis 5, driving the left wing 6 and the right wing 7 (the inner and outer wings are regarded as a whole at this time) to rotate outward around the wing rotation axis 5 and unfold synchronously. When unfolded in place, the self-locking function of the push rod motor and the auxiliary locking component play a role, locking the mechanism to prevent the wings from rotating and folding due to accidents. At this time, the aircraft is in a semi-expanded state, such as Figure 4 shown.

[0067] During the above-mentioned deployment process, the mechanism has a high degree of opening consistency, ensuring that the left and right wings remain symmetrical throughout the entire process and in the final deployed state.

[0068] When the aircraft in the semi-deployed state receives an instruction to further deploy, module B starts to work. First, the electromagnetic locking assembly between the inner wing and the outer wing of the two wings is released, the constraint on the tension spring 13 disappears, and it begins to return to its original state. At the same time, the wire rope 9 is pulled, and the force is transmitted through the pulley 12 to change the direction of movement, so that the inner wing 11 pops out of the cavity of the outer wing 10 at a faster speed; after the inner wing 11 pops into place, the electromagnetic locking assembly will start again to complete the locking between the inner wing and the outer wing.

[0069] During the above-mentioned extension process, the tension spring 13 in a tight state provides power, making the entire process fast and stable, and meeting the strict time constraints of the wing extension process. After completing the action process, the aircraft will be in a fully extended state, such as Figure 5 In this state, the aircraft has a large aspect ratio and lift-to-drag ratio, making it suitable for air cruising missions.

[0070] When the aircraft is folded after completing its mission, the following work sequence should be followed to ensure the safety and efficiency of the mechanism.

[0071] When the fully deployed aircraft receives a fold command, module B activates first, releasing the electromagnetic locking assembly between the inner and outer wings. Retraction motor 8 activates, transmitting force through wire rope 9 and pulley 12, pulling inner wing 11 inward. Simultaneously, tension spring 13, acting under the force transmitted by wire rope 9 and pulley 12, gradually tightens, providing power for the next inner wing to pop out. Once inner wing 11 is fully retracted into the cavity of outer wing 10, the electromagnetic locking assembly activates, locking the inner wing, and retraction is complete.

[0072] Module A then activates, releasing the auxiliary locking assembly and activating push rod motor 2. This, through connecting rod 4, drives wing axis 5, causing left and right wings 6 and 7 to rotate synchronously and begin folding. Once left and right wings 6 and 7 are completely aligned, push rod motor 2 stops, and the auxiliary locking assembly, in conjunction with the push rod motor's self-locking function, locks the aircraft. The aircraft is now fully folded.

[0073] Throughout the entire mechanism's workflow, it should be clear that before module A operates to unfold or fold the left or right wings, it must confirm that the inner wings are in the retracted state. This reduces the moment of inertia of the left and right wings during rotation, reduces the load on the push rod motor, and ensures the safety and efficiency of the mechanism.

Claims

1. A wing deployment mechanism with multi-mode repeatable switching across media, characterized by: It includes a control module, a mounting base, a left wing, a right wing, a repeatable and controllable unfolding and folding module, and two sets of repeatable and controllable retractable wing modules; The left wing and the right wing each include an inner wing and an outer wing, wherein the inner wing and the outer wing are connected by a sliding assembly. Under the action of the telescopic wing module, the inner wing can be retracted into the inner cavity of the outer wing or extended out of the outer wing. A connecting ring is provided at the root of the inner wing; The repeatedly controllable unfolding and folding module includes a push rod motor, a wing rotation shaft and two connecting rods; The push rod motor and the wing rotation shaft are both arranged on the mounting base; the wing roots of the left wing and the right wing are sequentially mounted on the wing rotation shaft along the axial direction of the wing rotation shaft; one end of the two connecting rods is connected to the push rod of the push rod motor through the same vertical rod, and the other end is respectively connected to the outer wing root plate surface of the left wing and the right wing to form a crank structure; the push rod of the push rod motor drives the left wing and the right wing to rotate synchronously in opposite directions around the wing rotation shaft through the connecting rod, and the self-locking characteristic of the push rod motor is used to lock the push rod position; The two sets of repeatedly controllable telescopic wing modules are used to control the extension and retraction of the inner wings of the left wing and the right wing respectively; Each set of repeatedly controllable telescopic wing modules includes a recovery motor, a first steel wire rope, a second steel wire rope, a pulley, a tension spring, and an electromagnetic locking assembly; the recovery motor is arranged on a mounting base; one end of the pulley and the tension spring are mounted on the inner wall of the outer wing of the wing controlled by the telescopic wing module and are located on the same side, wherein the tension spring is located inside the outer wing near the trailing edge; one end of the first steel wire rope is connected to the output shaft of the recovery motor, and the other end passes around the wing rotation axis and is connected to the middle of the connecting ring on the inner wing; one end of the second steel wire rope is connected to the side of the connecting ring near the pulley, and the other end passes around the pulley and is connected to the free end of the tension spring; The electromagnetic locking assembly is used to lock the position between the inner wing and the outer wing; The control module is used to issue motion instructions to the repeatedly controllable unfolding and folding modules and the two sets of repeatedly controllable retractable wing modules, and control their motions; The unfolding process of the wing unfolding mechanism is first from the fully folded state to the semi-folded state, and then from the semi-folded state to the fully unfolded state, specifically: The repeatedly controllable unfolding and folding module receives the command, starts the push rod motor, and drives the wing rotation axis to rotate through the connecting rod force transmission, thereby driving the left wing and the right wing to rotate synchronously outward around the wing rotation axis to unfold. After unfolding into place, the push rod motor self-locks and reaches a semi-expanded state; the repeatedly controllable telescopic wing module receives the command, the electromagnetic locking assembly unlocks the lock state, the tension spring constraint force disappears, and begins to restore the original state. At the same time, the wire rope is pulled, and the force is transmitted through the pulley to change the movement direction, so that the inner wing pops out of the cavity of the outer wing; after the inner wing pops into place, the electromagnetic locking assembly locks the inner wing and the outer wing to achieve a fully unfolded state; The folding process of the wing deployment mechanism is first from the fully deployed state to the semi-deployed state, and then from the semi-deployed state to the fully folded state, specifically: The repeatedly controllable retractable wing module receives the command, the electromagnetic locking assembly unlocks the state, the recovery motor starts, and the force is transmitted through the wire rope and pulley to pull the inner wing inward. When the inner wing is completely retracted into the cavity of the outer wing, the electromagnetic locking assembly locks the inner wing and the outer wing to reach a semi-expanded state; the repeatedly controllable expansion and folding module receives the command, the push rod motor starts, and the force is transmitted through the connecting rod to drive the wing rotation axis to rotate, thereby driving the left and right wings to rotate inward synchronously around the wing rotation axis and start folding. After folding into place, the push rod motor self-locks to reach a fully folded state.

2. The cross-medium multi-modal repeatable switchable wing deployment mechanism according to claim 1, characterized in that: The repeatedly controllable unfolding and folding module further includes a limiting component; The limiting assembly is arranged on the mounting base and is used to assist the push rod in performing linear motion.

3. The cross-medium multi-modal repeatable switchable wing deployment mechanism according to claim 1 or 2, characterized in that: The repeatedly controllable unfolding and folding module further includes an auxiliary locking assembly for assisting the push rod motor in locking the push rod position.

4. The cross-medium multi-modal repeatable switchable wing deployment mechanism according to claim 1, characterized in that: The wing rotation shaft is mounted on the mounting base via a plane thrust needle roller bearing.

5. The cross-medium multi-modal repeatable switchable wing deployment mechanism according to claim 1, characterized in that: The sliding assembly includes a slide rail and a slider; The slide rail is arranged in the middle of the lower wing surface of the inner cavity of the outer wing along the length direction of the outer wing; the slider is correspondingly arranged in the middle of the lower wing surface of the inner wing; or, The slide rail is arranged at the middle of the lower wing surface of the inner wing along the length direction of the inner wing; the slider is correspondingly arranged at the middle of the lower wing surface of the inner cavity of the outer wing.

6. The cross-medium multi-modal repeatable switchable wing deployment mechanism according to claim 1, characterized in that: The recovery motors of the two sets of repeatedly controllable telescopic wing modules are respectively arranged on both sides of the push rod motor.

7. A cross-medium aircraft, characterized by: A cross-medium multi-modal and repeatably switchable wing deployment mechanism as described in any one of claims 1-6 is installed thereon.

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