Multi-modal bionic wing unit and aircraft

Abstract

The invention belongs to the field of bionic wings, and discloses a multi-mode bionic wing unit, which can simulate the convergence or stretching action of a humerus-like and radius-like connection structure of a bird towards a bird body, so that a wing section in flight is correspondingly subjected to smaller wind resistance or larger wind resistance, and comprises a foldable main wing, the foldable main wing comprises at least three main wing rib frames and lever connecting rods, all the main wing rib frames are arranged in parallel at intervals, the three main wing rib frames which are continuously adjacent in sequence serve as main wing folding sets, the number of the lever connecting rods corresponds to that of the main wing folding sets, and when the number of the lever connecting rods is larger than one, the lever connecting rods are connected with the main wing folding sets. All the lever connecting rods are parallel to one another, the two ends and the middle of each lever connecting rod are hinged to three main wing rib frames of the main wing folding set respectively, and when the lever connecting rods rotate in a lever mode, the main wing folding set is correspondingly folded or expanded. The invention further discloses a multi-mode bionic aircraft based on the bionic wing unit.

Description

Technical Field

[0001] The invention belongs to the field of bionic wings, and in particular relates to a multi-modal bionic wing unit and an aircraft. Background Art

[0002] The field of flapping-wing aircraft technology covers multiple disciplines such as bionics, aerodynamics, materials science, mechanical engineering, and electronic control. These disciplines play a vital role in the design, manufacture, testing, and optimization of flapping-wing aircraft. With the continuous development of related technologies, flapping-wing aircraft will be used in more fields and bring more convenience and value to mankind. In the civilian field, flapping-wing aircraft can be used in environmental monitoring, biochemical detection, disaster relief and other fields. In the field of national defense, flapping-wing aircraft can be used for battlefield reconnaissance, patrols, raids, and signal jamming. Due to its moderate size, easy to carry, flexible flight, and good concealment, flapping-wing aircraft can accomplish many tasks that other aircraft cannot perform.

[0003] At present, flapping-wing aircraft imitate birds to flap their wings as a whole, thereby generating lift, and changing the direction of the wind resistance of the wings by appropriately bending the edges of the local wings, thereby achieving directional flight. A Chinese invention patent (authorization announcement number: CN114735211B) discloses a deformable flexible deformable-wing aircraft, including a base frame, a lifting mechanism and a steering mechanism. The lifting mechanism includes a lifting drive unit and two relatively arranged lifting wing units, the lifting drive unit is arranged on the base frame, and the lifting wing unit is arranged on the lifting drive unit; the steering mechanism includes a steering drive unit and a steering wing, the steering drive unit is arranged on the base frame, and the steering wing is arranged on the steering drive unit; the lifting wing unit includes a lifting main wing and a deformable sub-wing that are movably connected to each other, the deformable sub-wing includes a rib twisting assembly and a deformable wing rib, the deformable wing rib includes an in-hole linkage rod, and the rib twisting assembly is used to drive the in-hole linkage rod to swing up and down relative to the lifting main wing, so that the deformable sub-wing produces a change in angle of attack, that is, the above-mentioned imitation of the flapping wings of birds and the appropriate bending of the edges of the local wings.

[0004] However, the shortcoming of the above implementation is that the flight mode of the flapping-wing aircraft only includes flapping and local wing bending, which means that the flapping-wing aircraft is still subject to greater wind resistance than birds during flight, resulting in relatively high energy consumption of the overall mechanism. Summary of the invention

[0005] In view of the deficiencies in the prior art, the inventors have conducted in-depth research and found that the wings of birds have multiple bone connections similar to those of human arms, that is, they have connection structures similar to the humerus and radius. In addition to flapping (the humerus and radius swing relative to the bird's body as a whole) and appropriate bending of the local wings (bending of the flight feathers on the edge of the radius), in order to further reduce wind resistance during flight, birds will also achieve changes in the wind-receiving area of ​​the airfoil surface by converging the humerus and radius connection structures toward the bird's body as a whole, and the relative bending between the humerus and radius. As a result, birds can adopt more coordinated and linked airfoil changes according to the actual flight state and wind resistance conditions to achieve less energy loss. For example, when power is needed, a larger wind resistance is often required in order to obtain a reaction force for driving, or when power is not needed, wind resistance needs to be reduced as much as possible to reduce energy consumption.

[0006] The present invention provides a multi-modal bionic wing unit and an aircraft, which can well simulate and coordinate the above-mentioned multiple bird wing modes, thereby significantly reducing energy consumption in the flight state.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A multi-modal bionic wing unit has a span direction, characterized in that it includes: a foldable main wing, including a main wing rib frame and a lever connecting rod, wherein the number of the main wing rib frames is at least three, all the main wing rib frames are spaced and arranged in parallel along the span direction, and three main wing rib frames that are consecutively adjacent in sequence are used as a main wing folding group, the number of the lever connecting rods corresponds to the main wing folding group, and when the number of the lever connecting rods is greater than one, all the lever connecting rods are parallel to each other, and the two ends and the middle of the lever connecting rod are respectively hinged to the three main wing rib frames of the main wing folding group, so that when the lever connecting rod is rotated, the two main wing rib frames at the edge of the main wing folding group move toward or away from the middle main wing rib frame at the same time, so that the main wing folding group folds or expands accordingly.

[0009] Preferably, the present invention also includes an upper wing root setting rod and a lower wing root setting rod parallel to each other, the end of the foldable main wing is hingedly set on the lower wing root setting rod along the wingspan direction, a flapping drive lever member is set on the upper wing root setting rod and can be rotated by a lever, and the end of the flapping drive lever member facing the foldable main wing has a linkage member extending along the wingspan direction, and the linkage member is coupled to the foldable main wing, so that when the flapping drive lever member rotates, the flapping drive lever member drives the linkage member, driving the foldable main wing to swing with the wing root setting rod as the axis rod.

[0010] Furthermore, the present invention also includes a twistable auxiliary wing, which is elastically and resettably hinged along the span direction and the end of the foldable main wing, and a rod is set at the wing root farther away from the foldable main wing, and the hinge axis is parallel to the rod set at the wing root, and the direction perpendicular to the span direction is taken as the wing width direction. A main wing rib is hingedly provided with a coupling cylinder, and the hinge axis is parallel to the wing width direction. The linkage part has a linkage rod segment and a linkage cable segment that are continuous along the span direction. The linkage rod segment is inserted and matched with the coupling cylinder, and the free end of the linkage cable segment is fixedly connected to the movable auxiliary wing, so that when the foldable main wing is folded and the flapping drive lever member is rotated, the twistable auxiliary wing is hingedly rotated relative to the foldable main wing.

[0011] Furthermore, the twistable auxiliary wing includes an auxiliary wing rib frame, a twisting motor, a twisting gear pair and a twisting rod. The number of the auxiliary wing rib frames is at least three, all the auxiliary wing rib frames are spaced and parallel in the wingspan direction, the twisting rod extends in the wingspan direction, and the twisting rod is fixedly connected to all the auxiliary wing rib frames. The twisting motor is arranged on an auxiliary wing rib frame and has an output shaft extending in the wingspan direction. The twisting gear pair is coaxially arranged on the output shaft of the twisting motor and the twisting rod, respectively, so that when the twisting motor is activated, the twistable auxiliary wing can be twisted with the axis of the twisting rod as the twisting axis.

[0012] Furthermore, the auxiliary wing rib frame includes a rigid section and a flexible section continuous along the wing width direction, the torsion rod is fixedly connected to the flexible section, and the ratio of the rigid section to the flexible section is used as the torsion ratio, and the torsion ratio changes monotonically along the wingspan direction.

[0013] Furthermore, both the main wing rib frame and the auxiliary wing rib frame have a convex arc shape, and the surfaces of the main wing rib frame and the auxiliary wing rib frame are formed into a complete airfoil through skinning.

[0014] The multimodal bionic aircraft is characterized in that it includes: a base frame having two opposite lower wing root setting rods; two multimodal bionic wing units, which are correspondingly hinged on the two lower wing root setting rods along the wingspan direction through their ends; and a bionic wing driving unit, which is arranged on the base frame and is used to drive the foldable main wing and the twistable auxiliary wing to move.

[0015] Preferably, the bionic wing drive unit also includes a bionic wing drive motor, a coupling assembly and a compound drive assembly. The compound drive assembly has a driving cam, a connecting straight rod and a movable sleeve. The driving cam has a cam end face facing the wing root setting rod, and the cam end face protrudes toward the wing root setting rod to form a crank driving protrusion. The movable sleeve is sleeved on the lower wing root setting rod. The two ends of the connecting straight rod are respectively connected to the crank driving protrusion and the movable sleeve ball joint, so that the driving cam, the connecting straight rod and the movable sleeve form a linearly movable offset crank slider mechanism on the lower wing root setting rod. The movable sleeve is formed with a protruding folding drive protrusion. When the driving cam rotates, it drives the movable sleeve to move, thereby driving the folding drive lever to rotate, so that the main wing folding group folds or expands accordingly.

[0016] Furthermore, the base frame also has two opposite upper wing root setting rods, and the upper wing root setting rods are parallel to the lower wing root setting rods. The composite drive assembly also includes a folding drive lever and a flapping drive lever member. The cam end face is also formed with an end face cam groove. When the drive cam rotates, the distance between the end face cam groove and the rotation axis of the drive cam changes periodically. The flapping drive lever member is sleeved on the upper wing root setting rod and can be rotated by a lever. One end of the flapping drive lever member is inserted and matched with the end face cam groove, and the other end faces the foldable main wing. The other end is used as a linkage end. A linkage member extending along the wingspan direction is formed on the linkage end. The linkage member is coupled to the foldable main wing. The folding drive lever is respectively hinged to two consecutive main wing ribs, and a movable waist hole is formed on the surface to be inserted and matched with the folding drive protrusion. When the main wing folding group is folded or expanded accordingly, the end face cam groove drives the flapping drive lever member to rotate. The foldable main wing is rotated relative to the base frame through the linkage rod section, and the torsional auxiliary wing is hinged and rotated relative to the foldable main wing through the linkage cable section.

[0017] Preferably, the present invention also includes a tail wing panel and a tail wing drive assembly both of which are arranged on the base frame, the tail wing panel is arranged on the base frame, the tail wing panel includes a spoke wheel frame and a tail wing piece fixed to the spoke wheel frame, the tail wing drive assembly includes a tail wing drive motor and a rotary drive member driven to rotate by the tail wing drive motor, the opposite sides of the spoke wheel frame are respectively connected to the rotary drive member by flexible cables, when the tail wing drive motor rotates the spoke wheel frame through the flexible cable, thereby causing the tail wing piece to rotate, when the multimodal bionic aircraft is flying, the tail wing piece changes the flight direction of the multimodal bionic aircraft by reciprocating rotation.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Because the multi-modal bionic wing unit of the present invention includes a foldable main wing, the foldable main wing includes a main wing rib frame and a lever connecting rod, the number of the main wing rib frames is at least three, all the main wing rib frames are arranged in intervals and in parallel, and three main wing rib frames that are consecutively adjacent in sequence are used as a main wing folding group, the number of the lever connecting rods corresponds to the main wing folding group, and when the number of the lever connecting rods is greater than one, all the lever connecting rods are parallel to each other, and the two ends and the middle of the lever connecting rod are respectively hinged to the three main wing rib frames of the main wing folding group, so that when the lever connecting rod is rotated, the main wing is folded. The two main wing ribs at the edge of the group move toward or away from the main wing rib in the middle at the same time, so that the main wing folding group folds or expands accordingly, and the two adjacent main wing folding groups share one main wing rib, so that when one main wing folding group is folded or expanded, it can drive all the main wing ribs to fold or expand, that is, the folding of the foldable main wing is realized. Therefore, the present invention can bionic the convergence or extension action of the humerus-radius connecting structure of birds as a whole toward the bird's body, so that the airfoil in flight is subjected to less wind resistance or greater wind resistance accordingly.

[0020] 2. Because the present invention also includes an upper wing root setting rod and a lower wing root setting rod parallel to each other, the end of the foldable main wing is hingedly set on the lower wing root setting rod along the wingspan direction, and a flapping drive lever member is set on the upper wing root setting rod and can be rotated by a lever, and the end of the flapping drive lever member facing the foldable main wing has a linkage member extending along the wingspan direction, and the linkage member is coupled to the foldable main wing, so that when the flapping drive lever member rotates, the flapping drive lever member drives the linkage member to drive the foldable main wing to swing with the wing root setting rod as the axis rod. Therefore, the present invention can simultaneously realize the flapping wing bionics of the foldable main wing and the convergence or extension action of the foldable main wing to the bird's body of the whole connection structure of the humerus and radius of the bird.

[0021] 3. Because the present invention also includes a twistable auxiliary wing, and the end of the foldable main wing is elastically resettably hinged, and a rod is arranged farther away from the wing root than the foldable main wing, a main wing rib frame is hingedly provided with a coupling cylinder, and the linkage member has a continuous linkage rod section and a linkage cable section, the linkage rod section is inserted and matched with the coupling cylinder, and the free end of the linkage cable section is fixedly connected to the movable auxiliary wing, so that when the foldable main wing is folded and the flapping drive lever member is rotated, the twistable auxiliary wing is hinged and rotated relative to the foldable main wing. Therefore, the present invention realizes the foldable main wing by rotating the flapping drive lever member and using the rod and cable of the linkage member. While folding, the torsion auxiliary wing performs coordinated hinged movement, that is, when smaller wind resistance is needed, not only the foldable main wing is folded to reduce the wind receiving area, but also the controllable foldable main wing and the torsion auxiliary wing are bent towards each other, so that the wind receiving area is further reduced; conversely, when greater wind resistance is needed, not only the foldable main wing is expanded to increase the wind receiving area, but also the controllable foldable main wing and the torsion auxiliary wing are bent away from each other, so that the wind receiving area is further increased, and because the torsion auxiliary wing and the foldable main wing are resettably hinged, and the linkage cable segment controls the driving of the hinge by traction, the controllability of the mechanism action is stronger.

[0022] 4. Because the auxiliary wing rib frame of the present invention includes a rigid section and a flexible section that are continuous along the wing width direction, the torsion rod is fixedly connected to the flexible section, and the ratio of the rigid section to the flexible section is used as a torsion ratio, and the torsion ratio changes monotonically along the wingspan direction, therefore, the present invention enables the local appropriate bending of the airfoil to have higher precision through the torsion ratio.

[0023] 5. Because the multi-modal bionic aircraft bionic wing drive unit of the present invention also includes a bionic wing drive motor, a coupling assembly and a composite drive assembly, the composite drive assembly has a driving cam, a connecting straight rod and a moving sleeve, the driving cam has a cam end face facing the wing root setting rod, the cam end face protrudes toward the wing root setting rod to form a crank driving convex block, the moving sleeve is sleeved on the lower wing root setting rod, and the two ends of the connecting straight rod are respectively connected to the crank driving convex block and the moving sleeve with a ball joint, so that the driving cam, the connecting straight rod and the moving sleeve form a crank slider mechanism that can be linearly moved on the lower wing root setting rod, and the moving sleeve The sleeve is formed with a protruding folding driving protrusion. When the driving cam rotates, the movable sleeve is driven to move, thereby driving the folding driving lever to rotate, so that the main wing folding group folds or expands accordingly. Therefore, the present invention drives the offset crank slider of the cam, and the bionic flapping action of the foldable main wing has a quick return characteristic, that is, the foldable main wing can be unfolded to obtain a larger wind resistance and the foldable main wing can be retracted to obtain a smaller wind resistance. The cycle is different, thereby being able to specifically reduce the resistance effect of wind resistance on the airfoil, thereby increasing the time for the airfoil to obtain power from the wind resistance, thereby further reducing the power demand of the flying wing.

[0024] 6. Because the base frame of the present invention also has two opposite upper wing root setting rods, and the upper wing root setting rod is parallel to the lower wing root setting rod, the composite drive assembly also includes a folding drive lever and a flapping drive lever member, and the cam end face is also formed with an end face cam groove. When the driving cam rotates, the distance between the end face cam groove and the rotation axis of the driving cam changes periodically. The flapping drive lever member is sleeved on the upper wing root setting rod and can be rotated by lever. One end of the flapping drive lever member is inserted into and matched with the end face cam groove, and the other end faces the foldable main wing. The other end is used as a linkage end, and a linkage member extending along the wingspan direction is formed on the linkage end. The linkage member is coupled to the foldable main wing. The folding drive lever is respectively hinged to two consecutive main wing ribs, and the surface is formed with a protruding insertion match for the folding drive. The movable waist hole is combined, and when the main wing folding group is folded or expanded accordingly, the end cam groove drives the flapping driving lever to rotate, and the foldable main wing is rotated relative to the base frame through the linkage rod section, and the twistable auxiliary wing is hingedly rotated relative to the foldable main wing through the linkage cable section. Therefore, the present invention can simultaneously implement the bionics of bird flapping flight, the bionics of the overall convergence of the connecting structure of the humerus and radius of birds toward the bird body, and the bionics of the relative bending of the humerus and radius of birds to achieve the change of the wind-receiving area of ​​the airfoil surface through the rotation of the flapping driving lever and the use of the rod and cable of the linkage. Moreover, since the related movements are all participated by the driving cam, the three movements can be coordinated and linked with each other according to predetermined requirements, thereby achieving smaller energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a multi-modal bionic aircraft according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a foldable main wing according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of a coupling cylinder according to an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of a guide roller according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of a twistable auxiliary wing according to an embodiment of the present invention;

[0030] Figure 6 It is a schematic diagram of the coordination of the base frame, the bionic wing drive unit and the tail wing drive assembly of an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the coordination of the upper wing root setting rod, the lower wing root setting rod and the bionic wing drive unit in an embodiment of the present invention;

[0032] Figure 8 for Figure 7 Stereoscopic image of

[0033] Fig. 9 It is a schematic diagram of the cooperation between the movable sleeve and the lower wing root setting rod of an embodiment of the present invention;

[0034] Fig.10 A diagram showing the coordination of a multi-modal bionic wing unit and a multi-modal bionic wing unit according to an embodiment of the present invention;

[0035] Fig.11 It is a schematic diagram of the coordination of the base frame, the tail wing drive assembly and the tail wing panel according to an embodiment of the present invention.

[0036] In the figure: 100, multi-modal bionic aircraft, 10, base frame, 11, upper wing root setting rod, 12, lower wing root setting rod, 13, tail wing fixing rod, 20, multi-modal bionic wing unit, D1, wingspan direction, D2, wing width direction, 21, foldable main wing, 211, main wing rib frame, 211A, main wing folding group, 2111, coupling cylinder, 2111a, cylinder seat, 2111b, cylinder body, 2112, guide roller, 21 12a, wheel seat, 2112b, wheel body, 212, lever connecting rod, 213, rotatable joint plate, 21A, hinge entity, T, reset torsion spring, 22, torsion auxiliary wing, 221, auxiliary wing rib, 2211, rigid section, 2212, flexible section, 22121, fixed rod, 222, torsion motor, 223, torsion gear pair, 224, torsion rod, 225, edge joint cable, 30, bionic wing drive unit, 31 , Bionic wing drive motor, 31A, output gear pair, 32A, coupling helical gear pair, 33, compound drive assembly, 331, drive cam, 331A, linkage shaft system, 331a, cam end face, 331b, end face cam groove, 331c, crank drive convex block, 332, connecting straight rod, 333, moving sleeve, 3331, bearing sleeve, 3332, ball joint sleeve, 3333, wing sleeve, 3333a, folding Driving protrusion, 334, folding driving lever, 334a, movable waist hole, 335, flapping driving lever member, 335a, near cam waist hole, 335b, linkage end, 336, linkage member, 336a, linkage rod segment, 336b, linkage cable segment, 337, cam groove coupling entity, 40, tail wing driving assembly, 41, rotary driving member, 42, flexible cable, 50, tail wing plate, 51, spoke wheel frame, 52, tail wing piece. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate the multimodal bionic aircraft of the present invention. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0038] like Figure 1 As shown, the multimodal bionic aircraft 100 in this embodiment includes a base frame 10, a multimodal bionic wing unit 20, a bionic wing drive unit 30, a tail wing drive assembly 40 and a tail wing panel 50. Specifically, the multimodal bionic aircraft 100 has four bionic wing modes. For the sake of convenience, the four bionic wing modes are respectively referred to as flapping mode, twisting mode, swinging mode and folding mode. Among them, the flapping mode corresponds to the reciprocating rotation of the humerus and radius of the bird's wing as a whole relative to the bird's body; the twisting mode corresponds to the long feathers on the local edge of the bird's wing appropriately bending toward the humerus and / or radius of the bird's wing; the swinging mode corresponds to the relative bending of the large surface of the wing of the humerus part of the bird's wing and the large surface of the wing of the radius part; the folding mode corresponds to the convergent folding of the bird's wing toward the bird's body. These four modes can increase or decrease the windward surface of the bird's wing, thereby correspondingly obtaining a large wind resistance or a small wind resistance.

[0039] The base frame 10 has two opposite upper wing root setting rods 11 and two lower wing root setting rods 12, and the upper wing root setting rods 11 are parallel to the lower wing root setting rods 12. Specifically, one upper wing root setting rod 11 and one lower wing root setting rod 12 are located on the same side of the base frame 10. The base frame 10 also has a tail fixing rod 13 for assembling the tail wing panel 50. In the present embodiment, the base frame 10 is a cylindrical frame, and the upper wing root setting rod 11 and the two lower wing root setting rods 12 are respectively located on opposite sides of the circumference of the base frame 10. The tail fixing rod 13 is perpendicular to the end surface of the base frame 10 and has a free end extending out of the outside of the base frame 10.

[0040] The number of multi-modal bionic wing units 20 is a pair, with mutually perpendicular span direction D1 and wing width direction D2. Specifically, a pair of multi-modal bionic wing units 20 are arranged on opposite sides of the base frame 10 along the span direction D1, and one modal bionic wing unit 20 is coupled with the upper wing root setting rod 11 and the lower wing root setting rod 12 on the same side, and the tail wing fixing rod 13 is parallel to the wing width direction D2.

[0041] The multi-modal bionic wing unit 20 includes a foldable main wing 21 and a twistable auxiliary wing 22 .

[0042] The foldable main wing 21 and the twistable auxiliary wing 22 are hinged in an elastic and resettable manner through the ends along the wingspan direction D1, and the twistable auxiliary wing 22 is farther away from the base frame 10 than the foldable main wing 21, and the axis of the end hinge is parallel to the wing width direction D2.

[0043] Specifically, the foldable main wing 21 and the twistable auxiliary wing 22 are hingedly connected through a hinged entity 21A with an axis, and an elastically rotatable return torsion spring T is provided on the axis of the hinged entity 21A. When the twistable auxiliary wing 22 bends relative to the foldable main wing 21 under the traction of an external force, the airfoil is in a flapping mode.

[0044] like Figure 2 As shown, the foldable main wing 21 includes a main wing rib frame 211 and a lever connecting rod 212. Specifically, the end of the foldable main wing 21 also has a rotatable connecting plate 213 rotatably arranged on the lower wing root setting rod 12, and the rotation axis is parallel to the wing width direction D2.

[0045] The number of main wing ribs 211 is at least three, all main wing ribs 211 are arranged at intervals and in parallel along the wingspan direction D1, and three main wing ribs 211 that are adjacent to each other in sequence are used as a main wing folding group 211A. The two multimodal bionic wing units 20 are correspondingly hingedly arranged on the two lower wing root setting rods 12 along the wingspan direction D1 through the main wing ribs 211 at the ends through the rotatable combining plate 213, so that when the multimodal bionic wing unit 20 rotates relative to the base frame 10, the airfoil is a flapping wing mode. In this embodiment, the number of main wing ribs 211 of a foldable main wing 21 is four, the number of main wing folding groups 211A is two, and the rotatable combining plate 213 has a plurality of combining holes (not shown in the drawings). The main wing ribs 211 cooperate with different combining holes to achieve the change of the relative position of the foldable main wing 21 and the base frame 10.

[0046] The number of the lever links 212 corresponds to the main wing folding group 211A, and when the number of the lever links 212 is greater than one, all the lever links 212 are parallel to each other. In this embodiment, the number of the lever links 212 is two, and they are inclined relative to the main wing ribs 211.

[0047] The two ends and the middle of the lever link 212 are respectively hinged to the three main wing ribs 211 of the main wing folding group 211A, so that when the lever link 212 is rotated, the two main wing ribs at the edge of the main wing folding group 211A move toward or away from the middle main wing rib 211 at the same time, so that the main wing folding group 211A is folded or expanded accordingly, that is, the airfoil is in a folding mode. In this embodiment, the folding ratio of the foldable main wing 21 along the span direction D1 is 3:5.

[0048] A main wing rib frame 211 is hingedly provided with a coupling cylinder 2111, and the hinge axis is parallel to the wing width direction D1. Specifically, the coupling cylinder 2111 is located on the main wing rib frame 211 closest to the base frame 10. Figure 3 As shown, the coupling cylinder 2111 comprises a cylinder seat 2111a fixedly mounted on the main wing rib frame 211 and a cylinder body 2111b rotatably mounted on the cylinder seat 2111a. The cylinder body 2111b is hollow, and the circumference of the cylinder body 2111b is rotatably mounted on the cylinder seat 2111a. Figure 4As shown, a guide roller 2112 is also provided on the main wing rib frame 211 closest to the twistable auxiliary wing 22. The guide roller 2112 has a wheel seat 2112a fixed to the main wing rib frame 211 and a wheel body 2112b rotatably provided on the wheel seat 2112a. The wheel body 2112b has a continuous closed groove around its circumference, and the rotation direction of the wheel 2112b relative to the wheel seat 2112a is parallel to the wing width direction D2.

[0049] like Figure 5 As shown, the twistable auxiliary wing 22 includes an auxiliary wing rib frame 221 , a twisting motor 222 , a twisting gear pair 223 and a twisting rod 224 .

[0050] The number of the auxiliary wing ribs 221 is at least three, and all the auxiliary wing ribs 221 are spaced apart and arranged in parallel along the wingspan direction. The main wing ribs 211 and the auxiliary wing ribs 221 both have a convex arc shape, and the surfaces of the main wing ribs 211 and the auxiliary wing ribs 221 form a complete airfoil through the skin. Specifically, the convex arc shape has relative convex arc ends and flat arc ends, the coupling tube 2111 and the guide roller 2112 are both arranged at the convex arc end of the main wing rib 211, and the lever connecting rods 212 are hinged to the flat arc end of the main wing rib 211.

[0051] All auxiliary wing ribs 221 are connected together at both ends in the wing width direction D2 by two edge connecting cables 225 respectively.

[0052] The auxiliary wing rib 221 includes a rigid section 2211 and a flexible section 2212 which are continuous along the wing width direction D2. Specifically, the rigid section 2211 is a straight rod with good rigidity, the flexible section 2212 is a convex arc frame which is easy to deform, and the middle part of the flexible section 2212 has a fixed rod portion 22121 for internally supporting the convex arc.

[0053] The ratio of the rigid section 2211 and the flexible section 2212 is taken as the torsion ratio, and the torsion ratio changes monotonically along the wingspan direction D1. In the present embodiment, the torsion ratio of the auxiliary wing rib 221 farthest from the foldable main wing 21 is the largest, and in the wing width direction D2 of the auxiliary wing rib 221, the extension length of the rigid section 2211 is the longest, and the extension length of the flexible section 2212 is the shortest.

[0054] The torsion motor 222 is arranged on an auxiliary wing rib frame 221, and has an output shaft extending along the span direction D1. The torsion rod 224 extends along the span direction D1, and the torsion rod 224 is fixedly connected to the flexible sections 2212 of all auxiliary wing rib frames 221. The torsion gear pair 223 is coaxially arranged on the output shaft of the torsion motor 222 and the torsion rod 223, respectively. Therefore, when the torsion motor 222 is actuated, the edge corresponding to the end of the flexible section 2212 of the torsion auxiliary wing 22 can be twisted with the axis of the torsion rod 223 as the torsion axis, that is, the airfoil is in a torsion mode. Specifically, the torsion rod 224 is fixedly arranged on the auxiliary wing rib frame 221 through the fixed rod portion 22121, and is located at the flat arc end.

[0055] like Figures 6 to 8 As shown, the bionic wing driving unit 30 is disposed on the base frame 10 and is used to drive the two multi-modal bionic wing units 20 to move synchronously. Specifically, the bionic wing driving unit 30 is located in the middle of the two multi-modal bionic wing units 20 along the wingspan direction D1.

[0056] The bionic wing driving unit 30 includes a bionic wing driving motor 31 , a coupling component and a composite driving component 33 .

[0057] Specifically, the bionic wing drive motor 31 is disposed inside the base frame 10 via a fixing rod. In this embodiment, the output end of the bionic wing drive motor 31 is rotationally coupled with the coupling assembly via an output gear pair 31A and a related supporting shaft system.

[0058] Specifically, the coupling assembly is a coupling bevel gear pair 32A. In the present embodiment, the speed ratio of the coupling bevel gear pair 32A is 18:13.

[0059] The compound drive assembly 33 includes a drive cam 331, a connecting straight rod 332, a movable sleeve 333, a folding drive lever 334, a flapping drive lever member 335 and a linkage member 336. Specifically, there are two compound drive assemblies 33, which respectively drive two multimodal bionic wing units 20, and the two drive cams 331 are coaxially coupled through a linkage shaft system 331A.

[0060] The driving cam 331 has a cam end surface 331 a , an end surface cam groove 331 b , and a crank driving protrusion 331 c .

[0061] The cam end face 331a is provided with a rod toward the upper and lower wing roots, and the end face cam groove 331b and the crank drive protrusion 331c are both formed on the cam end face 331a. When the driving cam 331 rotates, the distances between the end face cam groove 331b and the crank drive protrusion 331c and the rotation axis of the driving cam 331 respectively change periodically. In the present embodiment, the end face cam groove 331b is a continuous closed elliptical annular groove surrounding the rotation axis of the driving cam 331, and the crank drive protrusion 331c is located near the near-range point of the driving cam 331.

[0062] The movable sleeve 333 is sleeved on the lower wing root setting rod 12, and the two ends of the connecting straight rod 332 are respectively connected to the crank drive protrusion 331c and the movable sleeve 333 by ball joints, so as to drive the cam 331, the connecting straight rod 332 and the movable sleeve 333 to form an offset crank slider mechanism that can move linearly on the lower wing root setting rod 12, so that when the driving cam 331 rotates, it drives the movable sleeve 333 to perform reciprocating linear movement with a quick return characteristic.

[0063] like Fig. 9 As shown, the movable sleeve 333 is formed with a protruding folding drive protrusion 3333a. In this embodiment, the movable sleeve 333 includes a bearing sleeve 3331, a ball joint sleeve 3332 and a wing sleeve 3333. The bearing sleeve 3331 is sleeved on the lower wing root setting rod 12, and both ends of the bearing sleeve 3331 have detachable stop flanges (not shown in the drawings). The ball joint sleeve 3332 and the wing sleeve 3333 are both detachably sleeved on the bearing sleeve 3331 and positioned between the two stop flanges. The ball joint sleeve 3332 is coupled to the crank drive protrusion 331c by connecting the straight rod 332, and the folding drive protrusion 3333a is formed on the surface of the wing sleeve 3333.

[0064] like Fig.10 As shown, the folding drive lever 334 is hinged to two consecutive main wing ribs 211 closest to the base frame 10 at the same time, and a movable waist hole 334a is formed on the surface to be inserted and matched with the folding drive protrusion 3333a, so that when the movable sleeve 333 moves linearly, the folding drive lever 334 is driven to rotate, so that the foldable main wing 21 can be folded or expanded accordingly. Specifically, the folding drive lever 334 is hinged to the flat arc end of the main wing rib 211.

[0065] The flapping drive lever 335 is sleeved on the upper wing root setting rod 11 and can be rotated by a lever. One end of the flapping drive lever 335 is inserted into and matched with the end face cam groove 331b, and the other end faces the foldable main wing 21, and the other end is used as a linkage end. In this embodiment, one end of the flapping drive lever 335 that cooperates with the end face cam groove 331b is formed with a near cam waist hole 335a, and the cam waist hole 335a is inserted into and matched with the end face cam groove 331b through the cam groove coupling entity 337. The wheel groove coupling entity 337 has a relative mating end and an insertion end. The mating end is movably mounted on the proximal cam waist hole 335a, and the insertion end has a protruding cylindrical portion (not shown in the accompanying drawings) inserted and mated in the cam groove 331b. When the driving cam 331 rotates, the cam groove coupling entity 337 drives one end of the flapping driving lever member 335 to perform a one-dimensional reciprocating movement along the radial direction of the driving cam 331, so that the flapping driving lever member 335 rotates with the rod 11 set at the upper wing root as the axis lever.

[0066] The linkage member 336 is formed with a linkage end and extends along the wingspan direction D1 , and the linkage member 336 is coupled to the foldable main wing 21 .

[0067] The linkage member 336 has a linkage rod section 336a and a linkage cable section 336b which are continuous along the wingspan direction D1. The linkage rod section 336a is inserted and matched with the coupling cylinder 2111. The free end of the linkage cable section 336b is fixedly connected to the movable auxiliary wing 22. Therefore, when the foldable main wing 21 is folded and the flapping driving lever member 335 is rotated, the torsional auxiliary wing 22 is hingedly rotated relative to the foldable main wing 21. Specifically, the linkage cable section 336b is sleeved over the guide roller 2112, and the free end of the linkage cable section 336b is fixedly arranged at the position closest to the foldable main wing 21. The convex arc end of the auxiliary wing rib 221 of the main wing 21, when the foldable main wing 21 is folded or expanded accordingly, the driving cam 331 drives the flapping driving lever 335 to rotate, and the foldable main wing 21 is rotated relative to the base frame 10 through the linkage rod segment 336a, and the torsional auxiliary wing 22 is hingedly rotated relative to the foldable main wing 21 through the linkage cable segment 336b. In this embodiment, the material of the linkage cable segment 336b is common materials such as nylon or polyester, and its fatigue strength range is greater than 23 to 35MPa.

[0068] When the driving cam 331 rotates, it can simultaneously coordinate the flapping mode, swinging mode and folding mode of the multi-modal bionic wing unit 20, and cooperate with the torsion mode realized by the torsion rod 224. According to the implemented scene adjustment control, a greater wind resistance is obtained to obtain power, or a smaller wind resistance is obtained to reduce resistance, so as to achieve minimum energy consumption. In this embodiment, the quick return characteristic of the mechanism makes the speed ratio of the reciprocating flapping wing of the foldable main wing be 5:4.

[0069] The tail drive assembly 40 and the tail wing panel 50 are both disposed on the base frame 10 . Specifically, the tail drive assembly 40 is disposed inside the base frame 10 through a support column, and the tail wing panel 50 is disposed on the free end of the tail fixing rod 13 outside the base frame 10 .

[0070] like Fig.11 As shown, the tail wing drive assembly 40 includes a tail wing drive motor (not shown in the drawings) and a rotary drive member 41 driven to rotate by the tail wing drive motor. Specifically, there are two rotary drive members 41, each of which is connected to the tail wing panel 50 through a flexible cable 52. The rotary drive member 41 forms traction on the tail wing panel 50 by rotating.

[0071] The tail wing plate 50 includes a spoke wheel frame 51 and a tail wing piece 52 fixed on the spoke wheel frame 51 .

[0072] The opposite sides of the spoke wheel frame 51 are respectively connected to the rotary drive member 41 by traction through the flexible cables 42 . Specifically, the rotary drive member 41 generates a driving torque on the spoke wheel frame 51 through the flexible cables 42 .

[0073] When the tail driving motor rotates the spoke wheel frame 51 through the flexible cable 42 , the tail piece 52 is rotated. When the multi-modal bionic aircraft 100 flies, the tail piece 52 changes the flight direction of the multi-modal bionic aircraft 100 by reciprocating rotation.

[0074] The above-mentioned implementation modes are preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by ordinary technicians in this field without creative work within the scope of the attached claims are still within the protection scope of this patent.

Claims

1. A multi-modal bionic wing unit having a spanwise direction, characterized in that: include: Foldable main wing, including main wing ribs and lever connecting rods, The number of the main wing ribs is at least three, all of the main wing ribs are arranged in parallel and at intervals along the wingspan direction, and three consecutively adjacent main wing ribs are used as a main wing folding group. The number of the lever links corresponds to the main wing folding group, and when the number of the lever links is greater than one, all the lever links are parallel to each other. The two ends and the middle part of the lever connecting rod are respectively hinged to the three main wing ribs of the main wing folding group, so that when the lever connecting rod is rotated, the two main wing ribs at the edges of the main wing folding group move toward or away from the main wing rib in the middle at the same time, so that the main wing folding group is folded or expanded accordingly.

2. The multi-modal bionic wing unit according to claim 1, characterized in that: Also includes: The upper wing root setting rod and the lower wing root setting rod are parallel to each other. The end of the foldable main wing is hingedly arranged on the lower wing root setting rod along the wingspan direction. A flapping drive lever member is arranged on the upper wing root setting rod and can be rotated by a lever, and the end of the flapping drive lever member facing the foldable main wing has a linkage member extending along the wingspan direction, and the linkage member is coupled to the foldable main wing, so that when the flapping drive lever member is rotated, the flapping drive lever member drives the linkage member to drive the foldable main wing to swing with the wing root setting rod as the axis rod.

3. The multi-modal bionic wing unit according to claim 2, characterized in that: Also includes: The twistable auxiliary wing is elastically and resettably hinged to the end of the foldable main wing along the wingspan direction and is farther from the wing root setting rod than the foldable main wing, and the hinge axis is parallel to the wing root setting rod, The direction perpendicular to the wingspan direction is taken as the wing width direction, One of the main wing ribs is hingedly provided with a coupling cylinder, and the hinge axis is parallel to the wing width direction, The linkage member comprises a linkage rod segment and a linkage cable segment which are continuous along the wingspan direction, the linkage rod segment is inserted and matched with the coupling tube, and the free end of the linkage cable segment is fixedly connected to the movable auxiliary wing, so that when the foldable main wing is folded and the flapping drive lever member is rotated, the twistable auxiliary wing is hingedly rotated relative to the foldable main wing.

4. The multi-modal bionic wing unit according to claim 3, characterized in that: in, The twistable auxiliary wing includes an auxiliary wing rib frame, a twisting motor, a twisting gear pair and a twisting rod. The number of the auxiliary wing ribs is at least three, all of the auxiliary wing ribs are spaced and arranged in parallel along the wingspan direction, the torsion rod extends along the wingspan direction, and the torsion rod is fixedly connected to all of the auxiliary wing ribs, The torsion motor is arranged on one of the auxiliary wing ribs and has an output shaft extending in the wingspan direction. The torsion gear pair is coaxially arranged on the output shaft of the torsion motor and the torsion rod, so that when the twisting motor is activated, the twistable auxiliary wing is twisted with the axis of the torsion rod as the torsion axis.

5. The multi-modal bionic wing unit according to claim 4, characterized in that: in, The auxiliary wing rib frame includes a rigid section and a flexible section which are continuous along the wing width direction, the torsion rod is fixedly connected to the flexible section, and the ratio of the rigid section to the flexible section is used as a torsion ratio, which changes monotonically along the wingspan direction.

6. The multi-modal bionic wing unit according to claim 4 or 5, characterized in that: in, The main wing rib frame and the auxiliary wing rib frame both have a convex arc shape, and the surfaces of the main wing rib frame and the auxiliary wing rib frame are formed into a complete airfoil through skinning.

7. A multi-modal bionic aircraft, characterized in that: include: a base frame having two opposing lower wing root setting rods; Two multi-modal bionic wing units according to any one of claims 3 to 6 are hingedly arranged on the two lower wing root setting rods along the wingspan direction through their ends, The bionic wing driving unit is arranged on the base frame and is used for driving the foldable main wing and the twistable auxiliary wing to move.

8. The multi-modal bionic aircraft according to claim 7, characterized in that: in, The bionic wing drive unit also includes a bionic wing drive motor, a coupling component and a composite drive component. The composite drive assembly comprises a drive cam, a connecting straight rod and a moving sleeve. The driving cam has a cam end surface facing the wing root setting rod, and the cam end surface protrudes toward the wing root setting rod to form a crank driving lug. The movable sleeve is sleeved on the lower wing root setting rod, and the two ends of the connecting straight rod are respectively connected to the crank driving protrusion and the movable sleeve with a ball joint, so that the driving cam, the connecting straight rod and the movable sleeve form an offset crank slider mechanism that can be linearly moved on the lower wing root setting rod. The movable sleeve is formed with a folding driving protrusion. When the driving cam rotates, the movable sleeve is driven to move, thereby driving the folding driving lever to rotate, so that the main wing folding group is folded or expanded accordingly.

9. The multi-modal bionic aircraft according to claim 8, characterized in that: in, The base frame also has two upper wing root setting rods opposite to each other, and the upper wing root setting rods are parallel to the lower wing root setting rods. The composite drive assembly also includes a folding drive lever and a flapping drive lever member, The cam end surface is also formed with an end surface cam groove. When the driving cam rotates, the distance between the end surface cam groove and the rotation axis of the driving cam changes periodically. The flapping drive lever is sleeved on the upper wing root setting rod and can be rotated by a lever. One end of the flapping drive lever is inserted into and matched with the end face cam groove, and the other end faces the foldable main wing. The other end is used as a linkage end, and the linkage end is formed with the linkage member extending along the wingspan direction. The linkage member is coupled with the foldable main wing. The folding drive lever is respectively hinged to two consecutive main wing ribs, and a movable waist hole is formed on the surface to be inserted and matched with the folding drive protrusion. When the main wing folding group is folded or expanded accordingly, the end face cam groove drives the flapping drive lever to rotate, and the foldable main wing is rotated relative to the base frame through the linkage rod segment, while the twistable auxiliary wing is hingedly rotated relative to the foldable main wing through the linkage cable segment.

10. The multi-modal bionic aircraft according to claim 7, characterized in that: Also includes: The tail wing panel and the tail wing drive assembly are both arranged on the base frame, The tail wing plate is arranged on the base frame, and the tail wing plate comprises a spoke wheel frame and a tail wing piece fixed on the spoke wheel frame. The tail drive assembly includes a tail drive motor and a rotary drive member driven to rotate by the tail drive motor, and opposite sides of the spoke wheel frame are traction-connected to the rotary drive member through flexible cables. When the tail wing driving motor rotates the spoke wheel frame through the flexible cable, the tail wing piece rotates. When the multi-modal bionic aircraft is flying, the tail fin changes the flying direction of the multi-modal bionic aircraft by reciprocating rotation.

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