Bionic deformable wing aircraft

Abstract

The invention provides a bionic deformable wing aircraft which comprises a deformable wing, and the deformable wing comprises a front beam, a three-section type rear beam, distributed wing ribs and a folding and unfolding driving mechanism; the three-section type rear beam comprises a rear beam inner rod, a rear beam middle rod and a rear beam outer rod which are connected end to end through a revolute pair; the inner end of the rear beam inner rod is connected with a rear connecting point through a spherical hinge; the outer end of the rear beam outer rod is connected with the outer end of the front beam through a revolute pair; the distributed wing ribs comprise inner rib rods, middle rib rods, outer rib rods, middle rib supporting rods and outer rib supporting rods. The front ends of the inner rib rods, the front ends of the middle rib rods and the front ends of the outer rib rods are connected with the front connecting points through rotating pairs. The rear part of the inner rib rod is connected with a rear beam middle rod through a revolute pair; the two ends of the middle rib supporting rod are connected with the middle rib rod and the rear beam outer rod through rotating pairs. The two ends of the outer rib supporting rods are connected with the outer rib rods and the rear beam outer rods through rotating pairs. The connecting point of the middle rib supporting rod and the middle rib rod is positioned behind the three-section type rear beam; the folding and unfolding driving mechanism is a rocker sliding block mechanism and comprises a folding and unfolding sliding block and a driving rod.

Description

Technical Field

[0001] The invention relates to a bionic deformable-wing aircraft. Background Art

[0002] Bionic aircraft imitate the flapping of wings of living organisms to fly. Due to their light weight, small size and low noise, they are bionic, stealthy and portable. They can be used in many fields such as covert reconnaissance in local complex environments, emergency rescue information acquisition and field biological scientific research.

[0003] Insect-like aircraft are tiny in size, which puts greater pressure on the driving method and power source. Current research on insect-like aircraft tends to reduce the weight of the aircraft and improve its driving method to achieve better flight performance.

[0004] The bat-like aircraft is medium-sized and, by mimicking the bat's body structure, utilizes a folding wing design to achieve steering control, thus achieving a tailless design. This requires not only flapping motion but also independent wing folding drive to achieve asymmetrical wing folding, making the aircraft more difficult to control.

[0005] The shortcomings of existing technologies include:

[0006] 1. Difficulty in structural design. To improve aerodynamic performance, morphing-wing aircraft typically require a large wingspan to provide sufficient lift. However, considering the overall weight of the aircraft, the structural design needs to use lightweight materials and an optimized structure. However, during takeoff, landing, and high-speed flight, the morphing-wing aircraft needs to ensure structural stability to prevent excessive vibration or distortion of the wings. This requires a lightweight structure with high rigidity, which increases the design difficulty.

[0007] 2. Complex dynamic models and control. The motion of a morphing-wing aircraft involves a complex physical process involving the interaction of fluid mechanics and rigid-body dynamics. Therefore, accurately establishing a dynamic model for a morphing-wing aircraft is a challenge. Factors such as wing shape, elastic deformation, excitation force, force distribution, and the impact of the amorphous environment on the aircraft need to be considered. Due to the periodic flapping and vibration of the wings, the motion of a morphing-wing aircraft is unstable and nonlinear, which makes the design of control algorithms and stability analysis difficult, and requires overcoming the nonlinearity and instability of the system.

[0008] 3. Powertrain technology bottlenecks. Morphing-wing aircraft require a high-energy-density energy source to provide sustained propulsion. However, currently available battery technology is still limited in energy density and cannot meet the requirements of long-duration flight. Furthermore, the input energy must be converted into wing movement. Current power conversion systems suffer from significant energy losses, impacting the efficiency and endurance of the aircraft.

[0009] Therefore, providing a bionic deformable wing aircraft with simple structure, simple control and high energy utilization efficiency has become a problem that needs to be solved in the industry. Summary of the Invention

[0010] In order to solve the deficiencies in the prior art, the main purpose of the present invention is to provide a bionic deformable wing aircraft, which can switch the wing state according to mission requirements, realize cruising wing spread and diving wing folding, improve the maneuverability of the deformable wing aircraft, and be more energy-efficient.

[0011] In order to achieve the above main objectives, the present invention provides a bionic morphing wing aircraft, which includes a body and two left and right morphing wings, wherein the body is provided with a front connection point, a rear connection point, and a slide rail; the morphing wings include:

[0012] a front beam, the inner end of which is connected to the front connection point via a revolute joint;

[0013] The three-section rear beam comprises an inner rear beam rod, a middle rear beam rod, and an outer rear beam rod, which are connected end to end and connected by a revolute joint. The inner end of the inner rear beam rod is connected to the rear connection point by a ball joint; the outer end of the outer rear beam rod is connected to the outer end of the front beam by a revolute joint.

[0014] The distributed wing ribs include inner rib bars, middle rib bars, outer rib bars, middle rib support bars, and outer rib support bars. The front ends of the inner rib bars, middle rib bars, and outer rib support bars are all connected to the front connection point through a revolute joint; the rear end of the inner rib bar is connected to the middle bar of the rear beam through a revolute joint; the two ends of the middle rib support bar are connected to the middle rib bar and the outer bar of the rear beam through a revolute joint; the two ends of the outer rib support bar are connected to the outer rib bar and the outer bar of the rear beam through a revolute joint; the connection point between the middle rib support bar and the middle rib bar is located behind the three-section rear beam, and the connection point between the outer rib support bar and the outer rib bar is located behind the three-section rear beam;

[0015] The folding and unfolding drive mechanism is a rocker slider mechanism, which includes a folding and unfolding slider and a driving rod. The folding and unfolding slider is slidably set on the slide rail. The inner end of the driving rod is connected to the folding and unfolding slider through a rotating pair, and the outer end of the driving tube is connected to the rear beam middle rod through a rotating pair.

[0016] The present invention's bionic morphing-wing aircraft is primarily inspired by locusts. The advantages of locust wings, such as foldability, rapid deployment, high maneuverability, and flexible and efficient flight, make them highly effective for flight and survival applications. The present invention's morphing wing design is based on the fan-like morphology of locust wings. The dimensions of the locust wings were measured, which served as reference data for subsequent morphing wing designs.

[0017] In the present invention, the deformable wing is an umbrella-shaped folding and unfolding mechanism, which enables the deformable wing to have a large telescopic ratio. The mechanism design has the ability to deform in multiple stages. At the same time, the design can meet the rigidity of the wing frame, so that the wing has a certain flapping ability.

[0018] In the present invention, the three-section rear beam has a Z-shaped bending state and a long rod state, corresponding to the folding state and the unfolding state of the deformable wing. The folding slider slides back and forth on the slide rail. When the folding slider is located at the sliding starting point (front end point), the deformable wing is completely folded; when the folding slider is located at the sliding end point (rear end point), the deformable wing is completely unfolded. In the process of the folding slider sliding from the sliding starting point to the sliding end point, the driving rod pushes the middle rod of the rear beam to move outward and backward, while the middle rib support rod and the outer rib support rod push the outer rod of the rear beam to move outward. In this process, the angle between the middle rod of the rear beam and the inner rod of the rear beam, and the angle between the middle rod of the rear beam and the outer rod of the rear beam become larger and larger, until the inner rod of the rear beam, the middle rod of the rear beam, and the outer rod of the rear beam become one long rod, realizing the full unfolding of the deformable wing.

[0019] In the present invention, by providing distributed wing ribs, the wing can maintain efficient and stable performance in various flight modes.

[0020] According to another specific embodiment of the present invention, the lengths of the inner ribs, the middle ribs and the outer ribs gradually increase.

[0021] According to another embodiment of the present invention, the morphing wing further includes an auxiliary reset mechanism, which is a coil spring comprising a housing and a coil spring band. The housing is mounted on the outer rod of the rear beam, and the free end of the coil spring band is fixedly connected to the middle rod of the rear beam. The coil spring assists in contraction. When the morphing wing is deployed, the coil spring is stretched. Because there is a certain resistance when returning from the extended rod state to the Z-shaped folded rod state, the stretched coil spring provides elastic force to overcome this resistance, thereby assisting in contraction.

[0022] According to another specific embodiment of the present invention, it further includes a motor, which is installed at the head position of the machine body, and its motor shaft extends backward; the motor shaft is parallel to the slide rail; the motor shaft includes a flapping drive section and a telescopic drive section; the flapping drive section is provided with a motor shaft gear.

[0023] According to another specific embodiment of the present invention, it further includes a segmented telescopic mechanism; the segmented telescopic mechanism includes a fixed end at the front end and a movable end at the rear end, the fixed end is fixedly arranged on the telescopic drive section, and the movable end is slidably arranged on the telescopic drive section; the folding slider is fixedly connected to the movable end.

[0024] According to another specific embodiment of the present invention, the segmented telescopic mechanism is a multi-stage rotary centrifugal telescopic mechanism.

[0025] According to another specific embodiment of the present invention, the segmented telescopic mechanism includes n metamorphic units, where n≥2;

[0026] The metamorphic unit includes: a telescopic slider, two annular elastic members, and m planar connecting rod subunits, where m≥2;

[0027] The telescopic slider is slidably arranged on the motor shaft;

[0028] The planar connecting rod subunit is a four-bar structure connected end to end, which includes a front fixed rod, a rear fixed rod, a front hinged rod, and a rear hinged rod; one end of the front fixed rod is fixedly connected to the motor shaft, and the other end is hinged to the front hinged rod; one end of the rear fixed rod is fixedly connected to the telescopic slider, and the other end is hinged to the rear hinged rod; the front fixed rod and the rear fixed rod are parallel; the front hinged rod and the rear hinged rod are hinged;

[0029] m front fixed rods are coplanar; m rear fixed rods are coplanar; the middle portions of the front hinge rod and the rear hinge rod are each provided with a groove, namely a front groove and a rear groove; an annular elastic member is sleeved over the m front grooves; another annular elastic member is sleeved over the m rear grooves;

[0030] N metamorphic units are connected end to end, with n telescopic sliders slidingly mounted on the motor shaft and arranged in a sequential order. In two adjacent metamorphic units, the rear fixed rod of the preceding metamorphic unit and the front fixed rod of the succeeding metamorphic unit are combined into a single rod. The elastic force of the annular elastic member varies for different metamorphic units. For example, if the annular elastic member is a rubber band, the elastic force can be adjusted by increasing or decreasing the number of rubber bands. For any metamorphic unit, the basis for determining whether the unit is folded or expanded is:

[0031] Connecting rod centrifugal force > maximum tension of annular elastic member

[0032] As the motor speed increases, the n metamorphic units unfold one by one, achieving a step-by-step deployment of the morphing wing. For example, when n = 3, each annular elastic member in the three metamorphic units is equivalent to one rubber band, two rubber bands, and three rubber bands, respectively. At different motor speeds, the metamorphic units unfold one, two, and three at different speeds. Together with the state of zero motor speed (all three metamorphic units folded), there are four states in total, corresponding to the morphing wing's deployment ranges of 22.5°, 45°, 67.5°, and 90°, respectively.

[0033] The segmented telescopic mechanism is introduced in detail in the applicant's other invention 202510011724.4 (rigid-flexible coupling metamorphic unit and rigid-flexible coupling metamorphic mechanism). The segmented telescopic mechanism of the present invention is the rigid-flexible coupling metamorphic mechanism in invention 202510011724.4, which will not be repeated here.

[0034] According to another specific embodiment of the present invention, the invention further includes a wing-flapping mechanism located on the body and below the deformable wings; the wing-flapping mechanism includes two mutually meshing left and right crank gears, two left and right rockers, and a reduction gear system; the reduction gear system includes an input gear and an output gear, the motor shaft gear meshing with the input gear, and the output gear meshing with a crank gear;

[0035] One end of the left rocker is hinged to the left crank gear, and the other end of the left rocker is hinged to the bottom of the left deformable wing; one end of the right rocker is hinged to the right crank gear, and the other end of the right rocker is hinged to the bottom of the right deformable wing.

[0036] In this solution, the same motor drives the wing-flapping mechanism and the segmented telescopic mechanism, which can realize folding and flapping of the wings at the same time. In addition, the amplitude (angle) of the deformation wing can be controlled by adjusting the motor speed.

[0037] According to another specific embodiment of the present invention, a synchronous connecting piece is fixedly arranged on the mobile end, and a motor shaft hole and a slide rail hole are provided on the synchronous connecting piece. The motor shaft passes through the motor shaft hole, and the slide rail passes through the slide rail hole; the folding slider is arranged on the synchronous connecting piece (or in other words, the synchronous connecting piece is equivalent to the folding slider).

[0038] According to another specific embodiment of the present invention, it further includes a tail wing, which includes a pitch servo, a steering servo, an airfoil and a vertical tail; the steering servo is installed on the output shaft of the pitch servo, the front end of the airfoil is installed on the output shaft of the steering servo, and the vertical tail is vertically arranged on the left and right center lines of the airfoil.

[0039] The present invention has the following beneficial effects:

[0040] 1. Foldable: The deformable wings have two states: folded and unfolded.

[0041] 2. Multi-stage deformation: From 22.5 degrees to 90 degrees, the deformable wing has 3-4 deformation ranges, achieving a wide range of wingspan changes.

[0042] 3. Flapping wings: The wings can flap during flight to continuously provide lift and forward momentum.

[0043] 4. High energy efficiency: The same motor drives the wing-flapping mechanism and the segmented telescopic mechanism, which can achieve folding and unfolding while flapping the wings.

[0044] In summary, the deformable wing of the present invention can achieve a deformation range from 22.5 degrees to 90 degrees, realize a large range of wingspan changes, improve the maneuverability and flight performance of the aircraft in different flight states, and enhance its obstacle avoidance capability; help the aircraft to respond more flexibly to different flight conditions when performing missions, and improve overall flight efficiency and safety; provide a broader application prospect for flapping-wing aircraft, not only optimize the aerodynamic performance, but also enhance the adaptability of the aircraft in various flight missions, and significantly improve the overall performance of the aircraft.

[0045] In order to more clearly illustrate the purpose, technical solutions and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 1 is a schematic diagram of the overall structure of the bionic deformable wing aircraft of Example 1;

[0047] Figure 2 is a simplified structural diagram of the morphing wing in the bionic morphing wing aircraft of Example 1;

[0048] Figure 3 is another overall structural schematic diagram of the bionic deformable wing aircraft of Example 1;

[0049] Figure 4 is a partial structural diagram of the bionic deformable wing aircraft of Example 1;

[0050] Figure 5 is a schematic diagram of another part of the structure of the bionic deformable wing aircraft of Example 1;

[0051] Figure 6 1 is a schematic structural diagram of the metamorphic unit in the bionic deformable wing aircraft of Example 1 (in the expanded state);

[0052] Figure 7 1 is a schematic structural diagram of the metamorphic unit in the bionic deformable wing aircraft of Example 1 (folded state);

[0053] Figure 8 These are all the configurations of the segmented telescopic mechanism in the bionic deformable wing aircraft of Example 1;

[0054] Figure 9 It is the flapping data of locust wings;

[0055] Figure 10 This is a simplified structural diagram of the wing-flapping mechanism in the bionic deformable-wing aircraft of Example 1;

[0056] Figure 11 1 is a schematic structural diagram of the wing-flapping mechanism in the bionic deformable-wing aircraft of Example 1;

[0057] Figure 12 This is a structural block diagram of the aircraft control system in the bionic deformable wing aircraft of Example 1;

[0058] Figure 13 Schematic diagram of different wingspans of the bionic deformable wing aircraft of Example 2. DETAILED DESCRIPTION

[0059] In the following description, many specific details are set forth in conjunction with the embodiments to facilitate a full understanding of the present invention. However, it should be understood that the following embodiments and detailed descriptions are only for illustrative purposes and do not limit the scope of protection of the present invention.

[0060] Example 1 (three-stage folding)

[0061] like Figures 1-12 As shown, this embodiment provides a bionic deformable wing aircraft, which includes a body 1, a motor 2, two left and right deformable wings 3, a segmented telescopic mechanism 4, a wing flapping mechanism 5, and a tail 6.

[0062] The machine body 1 is provided with a front connection point A, a rear connection point F, and a slide rail 103 .

[0063] The morphing wing 3 comprises a front beam 31, a three-section rear beam 32, distributed ribs 33, a folding and unfolding drive mechanism 34, and an auxiliary reset mechanism 35. The inner end of the front beam 31 is connected to the front connection point A via a revolute joint. The three-section rear beam comprises an inner rear beam rod 321 (rod EF), a middle rear beam rod 322 (rod CE), and an outer rear beam rod 323 (rod BC), all connected end to end and connected via a revolute joint. The inner end of the inner rear beam rod 321 is connected to the rear connection point F via a ball joint, while the outer end of the outer rear beam rod 323 is connected to the outer end of the front beam 31 via a revolute joint. The distributed ribs 33 comprise inner rib rods 331, middle rib rods 332, outer rib rods 333, middle rib support rods 334 (rod IJ), and outer rib support rods 335 (rod GH). The front ends of the inner rib rods 331, middle rib rods 332, and outer rib rods 333 are all connected to the front connection point A via revolute joints. The lengths of the inner ribs 331, middle ribs 332, and outer ribs 333 gradually increase. The rear portion of the inner rib 331 is connected to the rear beam middle bar 322 via a revolving pair. The ends of the middle rib support bars 334 connect the middle rib 332 and the rear beam outer bars 323 via a revolving pair. The ends of the outer rib support bars 335 connect the outer rib 333 and the rear beam outer bars 323 via a revolving pair. The connection point between the middle rib support bars 334 and the middle rib 332 is located behind the three-section rear beam 32, while the connection point between the outer rib support bars 335 and the outer rib 333 is located behind the three-section rear beam 32. The folding drive mechanism 34 is a rocker slider mechanism, comprising a folding slider 342 and a drive rod 341. The folding slider 342 is slidably disposed on the slide rail 103. The inner end of the drive rod 341 is connected to the folding slider 342 via a revolving pair, while the outer end of the drive rod 341 is connected to the rear beam middle bar 322 via a revolving pair. The parameters of the deformable wing rods are shown in Tables 1 and 2.

[0064] Table 1 Parameter diagram of deformable wing mechanism

[0065]

[0066]

[0067] Table 2 Deformed wing rib parameter diagram

[0068]

[0069] Carbon square tubes are the primary support material for the morphing wing's skeleton (front and rear beams, and ribs). Their lightweight yet strong properties allow flapping-wing aircraft to significantly reduce weight while maintaining sufficient mechanical strength, significantly improving flight efficiency and payload capacity. The morphing wing primarily utilizes carbon square tubes with a 3mm inner diameter and a 2mm outer diameter.

[0070] Miniature thrust ball bearings are selected as spherical bearings, which are small in size and have high load capacity, so as to reduce the overall size and weight of the deformable wing and ensure the stable deformation of the deformable wing.

[0071] Countersunk-cut carbon plates are used to securely support the bearings. Their lightweight, high-strength, and smooth surface effectively reduce friction during deformation. Thin nuts secure the bearings, and threadlockers are used for reinforcement, ensuring a stable and durable joint structure.

[0072] The entire deformable wing is constructed with 13 independent joints in the single-sided deformable wing design. These joints connect the front and rear beams with the wing rib rods, the wing rib rods with the support rods, and the support rods with the rear beams, forming a complex and stable structure.

[0073] Nylon fabric was chosen as the skin material due to its light weight and good wear resistance. The skin of the morphing wing covers the exterior of the morphing wing framework (such as the front and rear spars, ribs, etc.). The fabric has a silicone coating and is reinforced with a gridded warp and weft pattern within the internal structure, enabling it to withstand high wind forces and pressure. The nylon fabric is cut into appropriate shapes on an acrylic model, and holes are punched in the skin to secure it to the morphing wing framework.

[0074] The deformable wing of this embodiment has three deformation ranges from 22.5 degrees to 90 degrees, which fully meets the deformation requirements.

[0075] The auxiliary return mechanism 35 is a coil spring comprising a housing 351 and a coil spring band 352. The housing 351 is mounted on the rear beam outer rod 323, while the free end of the coil spring band 352 is fixedly connected to the rear beam middle rod 322. The coil spring assists in retraction. When the deformable wings deploy, the coil spring is stretched. Because there is a certain amount of resistance when returning from the extended rod state to the Z-shaped folded rod state, the stretched coil spring provides a force that overcomes this resistance, thereby assisting retraction.

[0076] The motor 2 is installed at the head of the machine body 1, and its motor shaft 21 extends backward; the motor shaft 21 is parallel to the slide rail 103; the motor shaft 21 includes a flapping drive section and a telescopic drive section; the flapping drive section is sleeved with a motor shaft gear 22.

[0077] The segmented telescopic mechanism 4 includes a fixed end at the front and a movable end at the rear. The fixed end is fixedly mounted on the telescopic drive section, while the movable end slides within the telescopic drive section. A folding slider is fixedly connected to the movable end. A synchronous connector 7 is fixedly mounted on the movable end. This connector has a motor shaft hole and a slide rail hole. The motor shaft 21 passes through the motor shaft hole, and the slide rail 103 passes through the slide rail hole. The folding slider 342 is mounted on the synchronous connector 7.

[0078] The segmented telescopic mechanism 4 is a multi-stage rotary centrifugal telescopic mechanism and includes two metamorphic cells 41 .

[0079] The cell unit 41 includes: a telescopic slider 42, two annular elastic members (such as rubber bands 4301 and 4302), and four planar connecting rod sub-units 441, 442, 443, and 444. The telescopic slider 42 is slidably set on the motor shaft 21. The planar connecting rod sub-unit 441 is a four-bar structure connected end to end, which includes a front fixed rod 4411, a rear fixed rod 4412, a front hinged rod 4413, and a rear hinged rod 4414; one end of the front fixed rod 4411 is fixedly connected to the motor shaft 21, and the other end is hinged to the front hinged rod 4413; one end of the rear fixed rod 4412 is fixedly connected to the telescopic slider 42, and the other end is hinged to the rear hinged rod 4414; the front fixed rod 4411 and the rear fixed rod 4412 are parallel; the front hinged rod 4413 and the rear hinged rod 4414 are hinged;

[0080] The four front fixed rods are coplanar; the four rear fixed rods are coplanar; grooves are provided in the middle of the front hinged rod and the rear hinged rod, namely the front groove 4501 and the rear groove 4502; an annular elastic member 4301 is sleeved on the four front grooves 4501; another annular elastic member 4302 is sleeved on the four rear grooves 4502.

[0081] Two metamorphic units 41 are connected end to end, and two telescopic sliders 42 are slidably mounted on the motor shaft 21 and arranged in a sequential manner. In two adjacent metamorphic units, the rear fixed rod of the preceding metamorphic unit and the front fixed rod of the succeeding metamorphic unit are combined into a single rod. Different metamorphic units have different elastic forces of the annular elastic member. The annular elastic member is a rubber band, and the elastic force is adjusted by increasing or decreasing the number of rubber bands. In any metamorphic unit, the basis for determining whether the metamorphic unit is folded or expanded is:

[0082] Connecting rod centrifugal force > maximum tension of annular elastic member

[0083] As the motor speed increases, the two metamorphic units are unfolded one by one, thus realizing the step-by-step unfolding of the deformable wing. In the two metamorphic units, each annular elastic member is equivalent to one rubber band or two rubber bands respectively. At different motor speeds, the metamorphic units are unfolded one by one or two by two (e.g. Figure 8 As shown in the figure), plus the state where the motor speed is 0 (both metamorphic units are folded), there are three states in total, which can correspond to the expansion range of the deformable wing of 22.5°, 57°, and 90° respectively.

[0084] Depend on Figure 9 It can be seen that the locust's downward angle during flight is about -15°, and the upward angle is about 40°. There is a significant difference between the upward and downward time, that is, the downward time is significantly longer than the upward time. The ratio of the upward time (0.4s) to the downward time (0.6s) is about 2:3. Therefore, a crank rocker mechanism is used to achieve this motion. Substituting k = 3 / 2 into the formula, the extreme angle is calculated.

[0085]

[0086] Determine if Figure 10 The parameters of the connecting rod structure are shown. Using a flapping frequency of 3 Hz and a motor of approximately 8100 rpm, which translates to a transmission ratio of approximately 45, the reduction gear train for the flapping mechanism was designed accordingly.

[0087] The flapping mechanism achieves symmetrical rocker swing through the symmetrical arrangement of two eccentric hollow gears, improving the even distribution of lift on both sides of the aircraft. The connecting rod is manufactured using carbon plate cutting, and the rocker is manufactured using 3D printing technology. Two types of ball bearings are used in the hinges: thrust ball bearings are mainly used in the flapping mechanism, while deep groove ball bearings are used in the reduction gear train.

[0088] In the design of the reduction gear system, the first stage is a combination of a 12-tooth gear and a 36-tooth gear, with a transmission ratio of 3. The second stage is also a combination of a 12-tooth gear and a 36-tooth gear, also with a transmission ratio of 3. The 12-tooth gear and the 36-tooth gear of the previous stage form a double gear, realizing the transmission between the stages. The final stage is a combination of a 12-tooth gear and a 60-tooth gear, with the 12-tooth gear and the 36-tooth gear of the previous stage forming a double gear. The 60-tooth gear is connected to the swing lever, with a transmission ratio of 5. The final transmission ratio of the entire reduction gear system is 3 x 3 x 5 = 45.

[0089] Specifically, the wing-flapping mechanism 5 is located on the body 1 and below the deformable wing 3; the wing-flapping mechanism 5 includes two mutually meshing left and right crank gears 51, two left and right rockers 52, and a reduction gear system 53; the reduction gear system includes an input gear 531 and an output gear 532, the motor shaft gear 22 is meshed with the input gear 531, and the output gear 532 is meshed with a crank gear 51; one end of the left rocker 52 is hinged to the left crank gear 51, and the other end of the left rocker 52 is hinged to the bottom of the left deformable wing 3; one end of the right rocker 52 is hinged to the right crank gear 51, and the other end of the right rocker 52 is hinged to the bottom of the right deformable wing 3.

[0090] The motor shaft gear 22 is a 12-tooth gear. The reduction gear train 53 includes a first double-layer gear and a second double-layer gear, both with 12-36 teeth. The input gear 531 is a 36-tooth gear from the first double-layer gear, and the output gear 532 is a 12-tooth gear from the second double-layer gear. The crank gear 51 is a 60-tooth gear.

[0091] The tail 6 includes a pitch servo 61, a steering servo 62, an airfoil 63 and a vertical tail 64; the steering servo 62 is installed on the output shaft of the pitch servo 61, the front end of the airfoil 63 is installed on the output shaft of the steering servo 62, and the vertical tail 64 is vertically arranged on the left and right center lines of the airfoil 63.

[0092] The control system framework of the bionic deformable wing aircraft in this embodiment is as follows: Figure 11 The aircraft's control system is primarily divided into two parts: the remote control and the onboard control. When the aircraft is ready to take off, a signal is sent via the remote control. The onboard receiver receives the signal, controlling the motors to start rotating. The aircraft is then launched manually, allowing it to take flight. Furthermore, to ensure the aircraft's stability in the air, the flight control system is also incorporated. When the aircraft's wings are folded, it is prone to tipping over. This intervention helps maintain stability and allows the wings to be deployed and retracted.

[0093] The flight control unit has three main functions: connecting to the remote controller's receiver to receive signals, connecting to the brushless electronic speed controller to control the motor speed, and finally connecting to the tail's pitch and yaw servos to adjust the aircraft's steering. In addition to manual steering via signals from the remote controller, the flight control unit's gyroscope also monitors the aircraft's attitude in real time, automatically compensating for the two tail servos.

[0094] Example 2 (Four-stage folding)

[0095] The difference between this embodiment and embodiment 1 is that the segmented telescopic mechanism includes three metamorphic units. In the three metamorphic units, each annular elastic member is equivalent to one rubber band, two rubber bands, and three rubber bands respectively. Under different motor speeds, the metamorphic units are respectively unfolded into one, two, and three. Together with the state where the motor speed is 0 (all three metamorphic units are folded), there are a total of four states, which can correspond to the unfolding ranges of the deformable wings of 22.5°, 45°, 67.5°, and 90° (such as Figure 13 shown).

[0096] Although the present invention has been described above through embodiments, the above embodiments are only used to exemplify the possible implementation schemes of the present invention and are not used to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. A bionic deformable wing aircraft, characterized in that: It includes a body and two deformable wings on the left and right. The body is provided with a front connection point, a rear connection point, and a slide rail. The deformable wings include: a front beam, the inner end of which is connected to the front connection point via a revolute joint; The three-section rear beam comprises an inner rear beam rod, a middle rear beam rod, and an outer rear beam rod, which are connected end to end and connected by a revolute joint; the inner end of the inner rear beam rod is connected to the rear connection point by a ball joint; the outer end of the outer rear beam rod is connected to the outer end of the front beam by a revolute joint; A distributed wing rib, comprising an inner rib rod, a middle rib rod, an outer rib rod, a middle rib support rod, and an outer rib support rod. The front ends of the inner rib rod, the middle rib rod, and the outer rib rod are all connected to the front connection point via a revolute pair; the rear end of the inner rib rod is connected to the rear beam middle rod via a revolute pair; the two ends of the middle rib support rod are connected to the middle rib rod and the rear beam outer rod via a revolute pair; the two ends of the outer rib support rod are connected to the outer rib rod and the rear beam outer rod via a revolute pair; the connection point between the middle rib support rod and the middle rib rod is located behind the three-section rear beam, and the connection point between the outer rib support rod and the outer rib rod is located behind the three-section rear beam; The folding and unfolding drive mechanism is a rocker slider mechanism, which includes a folding and unfolding slider and a driving rod. The folding and unfolding slider is slidably set on the slide rail. The inner end of the driving rod is connected to the folding and unfolding slider through a rotating pair, and the outer end of the driving tube is connected to the rear beam middle rod through a rotating pair.

2. The bionic deformable wing aircraft according to claim 1, characterized in that: The lengths of the inner ribs, the middle ribs and the outer ribs gradually increase.

3. The bionic deformable wing aircraft according to claim 1, characterized in that: The deformable wing further includes an auxiliary reset mechanism, which is a coil spring, including a shell and a coil spring strip. The shell is arranged on the outer rod of the rear beam, and the free end of the coil spring strip is fixedly connected to the middle rod of the rear beam.

4. The bionic deformable wing aircraft according to claim 1, characterized in that: It further includes a motor, which is installed at the head position of the machine body, and its motor shaft extends backward; the motor shaft is parallel to the slide rail; the motor shaft includes a flapping drive section and a telescopic drive section; the flapping drive section is provided with a motor shaft gear.

5. The bionic deformable wing aircraft according to claim 4, characterized in that: It further includes a segmented telescopic mechanism; the segmented telescopic mechanism includes a fixed end at the front end and a movable end at the rear end, the fixed end is fixedly arranged on the telescopic drive section, and the movable end is slidably arranged on the telescopic drive section; the folding slider is fixedly connected to the movable end.

6. The bionic deformable wing aircraft according to claim 5, characterized in that: The segmented telescopic mechanism is a multi-segment rotary centrifugal telescopic mechanism.

7. The bionic deformable wing aircraft according to claim 6, characterized in that: The segmented telescopic mechanism includes n metamorphic units, where n≥2; The metamorphic unit comprises: a telescopic slider, two annular elastic members, and m planar connecting rod subunits, where m≥2; The telescopic slider is slidably arranged on the motor shaft; The planar connecting rod subunit is a four-bar structure connected end to end, which includes a front fixed rod, a rear fixed rod, a front hinged rod, and a rear hinged rod; one end of the front fixed rod is fixedly connected to the motor shaft, and the other end is hinged to the front hinged rod; one end of the rear fixed rod is fixedly connected to the telescopic slider, and the other end is hinged to the rear hinged rod; the front fixed rod and the rear fixed rod are parallel; the front hinged rod and the rear hinged rod are hinged; The m front fixing rods are coplanar; the m rear fixing rods are coplanar; the middle parts of the front hinge rod and the rear hinge rod are each provided with a groove, namely a front groove and a rear groove; one annular elastic member is sleeved on the m front grooves; another annular elastic member is sleeved on the m rear grooves; The n metamorphic units are connected end to end, and the n telescopic sliders are all slidably disposed on the motor shaft and arranged in sequence front to back; in two adjacent metamorphic units, the rear fixed rod of the preceding metamorphic unit and the front fixed rod of the succeeding metamorphic unit are combined into one rod; Different metamorphic cells have different elastic forces of the annular elastic member.

8. The bionic deformable wing aircraft according to claim 7, characterized in that: The invention further comprises a wing-flapping mechanism located on the body and below the deformable wings; the wing-flapping mechanism comprises two mutually meshing left and right crank gears, two left and right rockers, and a reduction gear system; the reduction gear system comprises an input gear and an output gear, the motor shaft gear meshes with the input gear, and the output gear meshes with one of the crank gears; One end of the rocker on the left is hinged to the crank gear on the left, and the other end of the rocker on the left is hinged to the bottom of the deformable wing on the left; one end of the rocker on the right is hinged to the crank gear on the right, and the other end of the rocker on the right is hinged to the bottom of the deformable wing on the right.

9. The bionic deformable wing aircraft according to claim 5, characterized in that: A synchronous connecting piece is fixedly arranged on the mobile end. The synchronous connecting piece is provided with a motor shaft hole and a slide rail hole. The motor shaft passes through the motor shaft hole, and the slide rail passes through the slide rail hole. The folding slider is arranged on the synchronous connecting piece.

10. The bionic deformable wing aircraft according to any one of claims 1 to 9, characterized in that: It further includes a tail wing, which includes a pitch servo, a steering servo, an airfoil and a vertical tail; the steering servo is installed on the output shaft of the pitch servo, the front end of the airfoil is installed on the output shaft of the steering servo, and the vertical tail is vertically arranged on the left and right center lines of the airfoil.

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