Flexible airfoil type bionic variant water-air cross-medium aircraft and working method thereof

Abstract

The invention provides a flexible airfoil type bionic variant water-air cross-medium aircraft and a working method thereof. The aircraft comprises a fuselage, and foldable arm vector rotor mechanisms are mounted on the two sides of the fuselage; the foldable arm vector rotor mechanism is sequentially composed of a folding driving mechanism, an arm and a vector rotor mechanism from the inner side to the outer side; foldable flexible wing surface mechanisms are mounted on the two sides of the fuselage and located on the lower sides of the foldable arm vector rotor wing mechanisms; and a single vector underwater propeller and a wing surface attack angle control mechanism are mounted at the tail part of the fuselage. Flexible airfoils are arranged on the two sides of the aircraft at the same time, folding and unfolding of the airfoils are achieved through a folding driving mechanism and a foldable flexible airfoil mechanism, airfoil attack angle change is achieved in cooperation with an airfoil attack angle control mechanism, and a controllable falling track and a predictable falling point location of the aircraft in-water movement are achieved. And finally, stable and flexible motion control of multi-mode motion modes such as air flight, gliding water entry, water entry variants, underwater gliding and the like is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft design, in particular to a flexible wing-type bionic variant water-air cross-medium aircraft and a working method thereof. Background Art

[0002] Water-air cross-medium vehicles possess both single-medium and cross-medium capabilities, enabling them to flexibly navigate between water and air and complete complex tasks in multi-medium environments. This technology holds significant significance for intelligent operations and maintenance, maritime transportation, military reconnaissance, and other fields. In civilian applications, offshore wind turbine inspections are complex and time-consuming, involving the inspection of key components such as turbine blades, towers, and foundations. Wind turbine towers typically span both water and air, and due to these differences, inspection robots designed for a single medium are unable to cover the diverse tasks encountered in these environments. Water-air cross-medium vehicles can perform cross-medium inspections of offshore wind turbine blades and foundations, significantly improving the efficiency of inspection, maintenance, and emergency response. In terms of military defense, my country, with its long and narrow coastline and vast territorial waters, faces an ever-increasing demand for maritime defense. Water-air cross-medium vehicles combine aerial reconnaissance, underwater detection, and rapid multi-medium response capabilities to enrich and enhance combat capabilities.

[0003] However, the water-entry maneuverability and underwater navigation capabilities of existing water-air trans-medium aircraft still need to be improved, especially in terms of controllability during the water-entry phase. The horizontally arranged vectored twin rotors inherently possess vector control and can be further developed into a water-entry variant configuration. Therefore, flexible wing-based biomimetic variant water-air trans-medium aircraft could provide a new approach to multimodal locomotion for water-air trans-medium aircraft. Summary of the Invention

[0004] The purpose of the present invention is to provide a flexible wing-type bionic variant water-air cross-medium aircraft and a working method thereof that can adapt to various operating tasks in both water and air media.

[0005] A flexible wing type bionic variant water-air cross-medium aircraft comprises a fuselage, with foldable arm vector rotor mechanisms installed on both sides of the fuselage; the foldable arm vector rotor mechanism is composed of a folding drive mechanism, an arm, and a vector rotor mechanism in sequence from the inside to the outside; foldable flexible wing mechanisms are installed on both sides of the fuselage below the foldable arm vector rotor mechanism; and a single vector underwater propeller and a wing surface angle of attack control mechanism are installed at the tail of the fuselage.

[0006] The fuselage is streamlined as a whole, and the folding drive mechanism and the foldable flexible wing mechanism are both located at the center of gravity of the aircraft as a whole.

[0007] The folding drive mechanism of the foldable arm vector rotor mechanism includes a chute chassis, a chute upper plate, a steering wheel, a fixed base and a tilting servo; the chute chassis is fixed to the fuselage, the chute upper plate is fixedly installed on the chute chassis, a steering wheel mounting cavity is provided between the chute upper plate and the chute chassis, and a center hole is provided on the chute upper plate; the steering wheel is installed in the steering wheel mounting cavity and fixedly connected to the chute upper plate and / or the chute chassis; the tilting servo is located above the chute upper plate, the tilting servo cooperates with the steering wheel, one end of the fixed base is fixedly connected to the tilting servo, and the other end is fixedly connected to the aircraft arm.

[0008] The upper plate of the chute is provided with an upper plate guide groove, and the chute bottom plate is provided with a lower plate guide groove or a lower plate guide blind groove corresponding to the upper plate guide groove; a plurality of guide columns are fixed on the tilting servo and pass through the upper plate guide groove and extend into the lower plate guide groove or the lower plate guide blind groove.

[0009] The vector rotor mechanism of the foldable arm vector rotor mechanism includes a motor base, a vector servo, a coupling disk, a brushless motor, and rotor blades; the motor base is installed at one end of the arm and can rotate relatively around the arm axis; the rotor blades are installed on the brushless motor, the brushless motor is fixedly installed on the motor base, and the brushless motor axis is perpendicular to the arm axis; the vector servo is fixedly installed at one end of the motor base, and the vector servo axis coincides with the arm axis; the vector steering disk is installed in conjunction with the vector servo, and the vector steering disk is relatively fixed to the end of the arm through the coupling disk.

[0010] The foldable flexible wing mechanism includes a torsion spring hinge, a first fixing plate, a second fixing plate, a first support rod, a second support rod, an electromagnet, and a permanent magnet; the first fixing plate is fixed to the first lobe of the torsion spring hinge, and the second fixing plate is fixed to the second lobe of the torsion spring hinge; the first support rod is mounted on the first fixing plate, and the second support rod is mounted on the second fixing plate; the first fixing plate is fixed to the fuselage; the electromagnet is mounted on the first fixing plate, and the position of the electromagnet is at the rear side of the second fixing plate or the second support rod after the torsion spring hinge is unfolded; the permanent magnet is mounted on the second fixing plate or the second support rod at a position corresponding to the electromagnet; one side of the flexible wing is mounted on the first support rod, and the other side is mounted on the second support rod; A second support rod limiting block is provided on the front side of the machine arm.

[0011] A single vector underwater propeller and wing angle of attack control mechanism includes a left angle of attack down pressure plate, a right angle of attack down pressure plate, a motor pitch base, a tail servo, a tail servo fixing piece, an underwater brushless motor, and a single vector underwater propeller; the tail servo is fixed to the tail frame through the tail servo fixing piece, and the tail frame is installed on the fuselage; the motor pitch base is installed in conjunction with the tail servo, and the left angle of attack down pressure plate and the right angle of attack down pressure plate are respectively installed on both sides of the motor pitch base; the left angle of attack down pressure plate and the right angle of attack down pressure plate are respectively connected to the ends of the first support rods of the left and right arm vector rotor mechanisms.

[0012] A single vector underwater propeller is mounted on an underwater brushless motor, and the underwater brushless motor is mounted on a motor pitch base.

[0013] The operating method of the flexible wing type bionic variant water-air cross-medium aircraft is characterized by including the following states: flying in the air, gliding into the water, transforming into the water, and gliding underwater: In the aerial flight mode, the vector rotor mechanisms on both sides of the fuselage are driven by brushless motors to rotate the rotor blades, providing the lift and rolling torque required by the aircraft; the vector servos provide pitch and yaw moment changes, the single vector underwater propeller at the tail is in a horizontal fixed state, and the electromagnet of the foldable flexible wing mechanism generates suction to make the second fixed plate close to the first fixed plate, that is, the flexible wing is close to the sides of the fuselage, and the flexible wing is in an unfolded state; In the gliding water entry mode, the brushless motor of the vector rotor mechanism is turned off, and the vector servo makes the rotor tilt angle become a horizontal fixed state. The aircraft fuselage transitions from a horizontal attitude to a vertical attitude, the electromagnet reduces the magnetic force and is lower than the force value provided by the torsion spring hinge, and the flexible wing surface pops out to the second support rod limit block set on the front side of the arm, and the aircraft enters the gliding water entry state. The wing surface angle of attack control mechanism drives the left and right wing surface downpressure plates to be pressed down and lifted up through the tilt of the tail servo, thereby realizing the change of the flexible wing surface angle of attack and generating changes in rolling and pitching moments; when the left or right wing surface of the aircraft is pressed down, the aircraft will generate a rolling moment to the right or left, causing the aircraft's falling trajectory to deviate to the right or left side of the nose direction, thereby changing the aircraft's entry point into the water; In the water entry variant mode, when the head of the aircraft touches the water surface, the aircraft generates a sudden acceleration change, and the tilt servo in the folding drive mechanism rotates rapidly, driving the arm to retract and fit tightly against the inside of the fuselage. When the arm retracts, the flexible wing below the arm will follow the arm to retract and return to the unfolded state under the action of the second support rod limit block on the front side of the arm, thereby increasing the suction force of the electromagnet to make it greater than the suction force generated by the permanent magnet, so that the permanent magnet on the second fixed plate or the second support rod is stably adsorbed with the electromagnet; the landing point of contact with the water surface is controlled by the wing surface angle of attack control mechanism, and the rightward or leftward rolling torque generated by the change of the flexible wing surface angle of attack is used to achieve the selection of the landing point within a certain range; In the underwater gliding mode, after the aircraft completes the water entry variation movement, the flexible wing surface and the fuselage arm unfold, the brushless motor of the vector rotor mechanism is turned off, and the tail vector underwater propeller is driven by the underwater brushless motor to generate thrust; based on the wing surface angle of attack control mechanism, the flexible wing surface produces a change in the wing surface angle of attack under the tilting movement of the tail servo. When the left or right wing surface is pressed down and lifted up by the left wing surface down pressure plate or the right wing surface down pressure plate of the wing surface angle of attack control mechanism, the aircraft generates an offset torque to the right or left, driving the aircraft to glide left or right underwater.

[0014] The beneficial effects of the present invention are: The aircraft described in the present invention has a good streamlined shape, which reduces the resistance of the aircraft when entering the water, flying in the air, and navigating underwater. The vector rotors on both sides of the fuselage serve as a lift system. While providing lift, they change the thrust direction in real time according to the required flight motion angle, thereby maintaining the flexible movement capability of the aircraft when flying in the air. Flexible wing surfaces are arranged on both sides of the aircraft. The folding and unfolding of the wing surfaces are achieved by using a folding drive mechanism and a foldable flexible wing surface mechanism. During the process of entering the water, the wing surface angle of attack is changed in coordination with the wing surface angle of attack control mechanism, thereby changing the torque applied to the aircraft and achieving effective attitude control during the falling process. A single vector underwater propeller is installed at the tail of the aircraft, which can cooperate with the flexible wing surface to achieve the gliding movement capability of the aircraft underwater, enhance the underwater movement capability of the cross-medium aircraft, and enrich the movement mode of the aircraft, and has a wide range of application scenarios.

[0015] The aircraft described in this invention uses a folding drive mechanism to control the folding and deployment of its arms. The arm's rotation angle is directly mapped to the steering gear's rotation angle, improving rotation accuracy and speed. This simple and easy-to-maintain mechanism enables the arms to be maneuverably folded during water entry. Furthermore, the aircraft uses a wing angle-of-attack control mechanism to control its descent into the water. This mechanism utilizes a foldable, flexible wing mechanism to maneuver the wing's deployment, making it simple and easy to operate. Furthermore, the flexible wing further enhances its underwater navigation capabilities, enabling the aircraft to glide underwater and adapt to complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the aerial flight mode of the aircraft of the present invention; Figure 2 This is a schematic diagram of the aircraft gliding into water mode according to the present invention; Figure 3 This is a schematic diagram of the change in the angle of attack of the wing surface of the aircraft of the present invention when entering water; Figure 4 Schematic diagram of the water entry variant mode of the aircraft according to the present invention; Figure 5 This is a schematic diagram of the vector rotor mechanism of the aircraft according to the present invention; Figure 6 This is a schematic diagram of the folding drive mechanism of the aircraft according to the present invention; Figure 7 This is a schematic diagram of the foldable flexible wing mechanism of the aircraft according to the present invention; Figure 8 This is a schematic diagram of the wing angle of attack control mechanism of the present invention; In the figure: 1-second support rod limit block; 2-machine arm; 3-upper side fixing ring; 4-fuselage; 5-tail fixing ring; 6-folding drive mechanism; 7-underwater propeller; 8-rotor blade; 9-brushless motor; 10-vector rotor mechanism; 11-sealing cover; 12-lower side fixing ring; 13-first fixing plate; 14-foldable flexible wing mechanism; 15-threading stud; 16-wing angle of attack control mechanism; 1 7-Tail frame plate; 18-Underwater brushless motor; 19-Flexible wing; 601-Fixed upper plate bolt; 602-M4 nut; 603-Tilt servo; 604-M4 fixing screw; 605-Fixed base; 606-M4 guide column; 607-Slide upper plate; 608-Steering plate; 609-M3 short screw; 610-M4 round washer; 611-Slide base; 612-M3 screw; 613-M3 guide column; 614-M3 round washer; 615-bottom nut; 1001-motor base; 1002-connecting nut; 1003-vector steering plate; 1004-round head cross slot short bolt; 1005-fixing bolt; 1006-coupling plate; 1007-screw; 1008-tilt servo; 1401-torsion spring hinge; 1402-short aluminum column; 1403-pipe clamp; 14 04-electromagnet; 1405-second support rod; 1406-pin; 1407-second fixing plate; 1408-second fixing plate screw; 1409-permanent magnet; 1410-first support rod; 1601-tail servo fixing piece; 1602-motor pitch base; 1603-right angle of attack pressure plate; 1604-tail servo; 1605-tail steering wheel; 1606-left angle of attack pressure plate. DETAILED DESCRIPTION

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0018] In the description of the present invention, it should be understood that the terms "horizontal", "vertical", "left", "right", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and cannot be understood as limiting the present invention; the terms "installation", "connection", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0019] like Figure 1As shown, the flexible wing type bionic variant water-air cross-medium aircraft described in the present invention includes a fuselage 4, and foldable arm vector rotor mechanisms are installed on both sides of the fuselage 4; the foldable arm vector rotor mechanism is composed of a folding drive mechanism 6, an arm 2, and a vector rotor mechanism 10 from the inside to the outside; foldable flexible wing mechanisms 14 are installed on both sides of the fuselage 4 at the lower side of the foldable arm vector rotor mechanism; a single vector underwater propeller 7 and a wing angle of attack control mechanism 16 are installed at the tail of the fuselage.

[0020] like Figure 1 、 2 As shown, the fuselage 4 of the flexible wing type bionic variant water-air cross-medium aircraft is streamlined as a whole, and the folding drive mechanism 6 and the foldable flexible wing mechanism 14 are both located at the center of gravity of the aircraft as a whole, meeting the low center of gravity configuration requirements and being able to better control the output torque.

[0021] like Figure 1 、 6 The folding drive mechanism 6 of the foldable arm vector rotor mechanism includes a chute chassis 611, a chute upper plate 607, a steering wheel 608, a fixed base 605 and a tilting servo 603; the chute chassis 611 is fixed to the fuselage 4, the chute upper plate 607 is fixed to the chute chassis 611 by fixing the upper plate bolt 601, a steering wheel mounting cavity is provided between the chute upper plate 607 and the chute chassis 611, an M4 circular gasket 610 is installed in the steering wheel mounting cavity, and the chute upper plate 607 is fixed to the chute chassis 611. 07 is provided with a center hole; the steering wheel 608 is installed in the steering wheel installation cavity and is fixedly connected to the chute upper plate 607 and / or the chute bottom plate 611; the tilting servo 603 is located above the chute upper plate 607, and the tilting servo 603 cooperates with the steering wheel 608. One end of the tilting servo 603 is fixedly connected to the M4 guide column 606, and the other end is fixedly connected to the fixed base 605. One end of the fixed base 605 is fixedly connected to the tilting servo 603, and the other end is fixedly connected to the machine arm 2; The upper plate 607 of the chute is provided with an upper plate guide slot, and the bottom plate 611 of the chute is provided with a lower plate guide slot or a lower plate guide blind slot corresponding to the upper plate guide slot. The M4 guide post 606 is fixed to the tilt servo 603 and extends through the upper plate guide slot into the lower plate guide slot or the lower plate guide blind slot. The M3 guide post 613 is fixed to both sides of the base 605 and extends through the upper plate guide slot into the lower plate guide slot or the lower plate guide blind slot. like Figure 1 、 5As shown, the vector rotor mechanism 10 of the foldable arm vector rotor mechanism includes a motor base 1001, a vector servo 1008, a coupling disk 1006, a brushless motor 9, and a rotor blade 8; the motor base 1001 is installed at one end of the arm 2 and can rotate relatively around the axis of the arm; the coupling disk 1006 is fixedly installed on the arm 2 by a fixing bolt 1005, the rotor blade 8 is installed on the brushless motor 9, the brushless motor 9 is fixedly installed on the motor base 1001, and the axis of the brushless motor 9 is perpendicular to the axis of the arm; the vector servo 1008 is fixedly installed at one end of the motor base 1001 by a round head cross slot short bolt 1004, and the axis of the vector servo 1008 coincides with the axis of the arm 2; the vector steering plate 1003 is installed in conjunction with the vector servo 1008, and the vector steering plate 1003 is relatively fixed to the end of the arm 4 through the coupling disk 1006.

[0022] like Figure 2 、 7 As shown, the foldable flexible wing mechanism 14 includes a torsion spring hinge 1401, a first fixing plate 13, a second fixing plate 1407, a first support rod 1410, a second support rod 1405, an electromagnet 1404, and a permanent magnet 1409; the first fixing plate 13 is fixed to the first petal of the torsion spring hinge 1401, and the second fixing plate 1407 is fixed to the second petal of the torsion spring hinge 1401; the first support rod 1410 is installed on the first fixing plate 13, and the second support rod 1405 is installed on the second fixing plate 1 407; the first fixing plate 13 is fixed to the fuselage 4; the electromagnet 1404 is mounted on the first fixing plate 13, and the position of the electromagnet 1404 is located behind the second fixing plate 1407 or the second support rod 1405 after the torsion spring hinge 1401 is unfolded; the permanent magnet 1409 is mounted on the second fixing plate 1407 or the second support rod at a position corresponding to the electromagnet 1404; one side of the flexible wing 19 is mounted on the first support rod 1410, and the other side is mounted on the second support rod 1405; A second support rod limiting block 1 is provided on the front side of the arm 2 .

[0023] like Figure 2 、 8As shown, the single vector underwater propeller 7 and the wing surface angle of attack control mechanism 16 include a left angle of attack pressure plate 1606, a right angle of attack pressure plate 1603, a motor pitch base 1602, a tail servo 1604, a tail servo fixing member 1601, an underwater brushless motor 18, and a single vector underwater propeller 7; the tail servo 1604 is fixed to the tail frame 17 through the tail servo fixing member 1601, and the tail frame 17 is mounted on the fuselage 4; the motor pitch base 1602 is installed in conjunction with the tail servo 1604, and the left angle of attack pressure plate 1606 and the right angle of attack pressure plate 1603 are respectively installed on both sides of the motor pitch base 1602; the left angle of attack pressure plate 1606 and the right angle of attack pressure plate 1603 are respectively connected to the ends of the first support rods 1410 of the left and right arm vector rotor mechanisms; The single vector underwater propeller 7 is mounted on the underwater brushless motor 18 , and the underwater brushless motor 18 is mounted on the motor pitch base 1602 .

[0024] The operating method of the flexible wing type bionic variant water-air cross-medium aircraft is characterized by including the following states: flying in the air, gliding into the water, transforming into the water, and gliding underwater: like Figure 1 As shown, in the aerial flight mode, the vector rotor mechanisms on both sides of the fuselage are driven by brushless motors to rotate the rotor blades, providing the lift and rolling torque required by the aircraft; the vector servos provide pitch and yaw moment changes, the single vector underwater propeller at the tail is in a horizontal fixed state, and the electromagnet of the foldable flexible wing mechanism generates suction to make the second fixed plate close to the first fixed plate, that is, the flexible wing is closely attached to both sides of the fuselage, and the flexible wing is in an unfolded state; like Figure 2 As shown, in the gliding water entry mode, the brushless motor of the vector rotor mechanism is turned off, and the vector servo makes the rotor tilt angle become a horizontal fixed state, the aircraft fuselage transitions from a horizontal attitude to a vertical attitude, the electromagnet reduces the magnetic force and is lower than the force value provided by the torsion spring hinge, the flexible wing surface pops out to the second support rod limit block set on the front side of the arm, and the aircraft enters a gliding water entry state, and the wing surface attack angle control mechanism drives the left wing surface downpressure plate and the right wing surface downpressure plate to be pressed down and lifted by the tilting of the tail servo, so as to realize the change of the flexible wing surface attack angle and generate the change of the rolling and pitching moment; when the left or right wing surface of the aircraft is pressed down, the aircraft will generate a rolling moment to the right or left, so that the aircraft's falling trajectory deviates to the right or left side of the direction of the nose, thereby changing the aircraft's entry into the water; like Figure 4As shown, in the water entry variant mode, when the head of the aircraft touches the water surface, the aircraft generates a sudden acceleration, and the tilting servo in the folding drive mechanism rotates rapidly, driving the aircraft arm to retract and close to the inside of the fuselage. When the aircraft arm retracts, the flexible wing below the aircraft arm will follow the aircraft arm to retract and return to the unfolded state under the action of the second support rod limit block on the front side of the aircraft arm, thereby increasing the suction force of the electromagnet to make it greater than the suction force generated by the permanent magnet, so that the permanent magnet on the second fixing plate or the second support rod is stably adsorbed with the electromagnet; the landing point of contact with the water surface is controlled by the wing surface angle of attack control mechanism, and the rightward or leftward rolling torque generated by the change of the flexible wing surface angle of attack is used to achieve the selection of the landing point within a certain range; like Figure 3 As shown, in the underwater gliding mode, after the aircraft completes the water entry variation movement, the flexible wing surface and the aircraft arm are unfolded, the brushless motor of the vector rotor mechanism is turned off, and the tail vector underwater propeller is driven by the underwater brushless motor to generate thrust; based on the wing surface angle of attack control mechanism, the flexible wing surface produces a change in the wing surface angle of attack under the tilting movement of the tail servo. When the left or right wing surface is pressed down or lifted up by the left wing surface down pressure plate or the right wing surface down pressure plate of the wing surface angle of attack control mechanism, the aircraft generates a rightward or leftward offset torque, driving the aircraft to glide left or right underwater.

[0025] The embodiments described are preferred implementations of the present invention, but the present invention is not limited to the above implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the scope of protection of the present invention.

Claims

1. A flexible wing-type bionic variant water-air cross-medium aircraft, characterized by: The invention comprises a fuselage (4), foldable arm vector rotor mechanisms are installed on both sides of the fuselage (4); the foldable arm vector rotor mechanism is composed of a folding drive mechanism (6), an arm (2), and a vector rotor mechanism (10) from the inside to the outside; foldable flexible wing mechanisms (14) are installed on both sides of the fuselage (4) below the foldable arm vector rotor mechanism; and a single vector underwater propeller (7) and a wing angle of attack control mechanism (16) are installed at the tail of the fuselage.

2. The flexible wing-type bionic variant water-air cross-medium aircraft according to claim 1, characterized in that: The fuselage (4) is streamlined as a whole, and the folding drive mechanism (6) and the foldable flexible wing mechanism (14) are both located at the center of gravity of the entire aircraft.

3. The flexible wing-type bionic variant water-air cross-medium aircraft according to claim 1, characterized in that: The folding drive mechanism (6) of the foldable arm vector rotor mechanism comprises a chute chassis (611), a chute upper plate (607), a steering wheel (608), a fixed base (605) and a tilting servo (603); the chute chassis (611) is fixed to the fuselage (4), the chute upper plate (607) is fixedly mounted on the chute chassis (611), and a steering wheel mounting plate is provided between the chute upper plate (607) and the chute chassis (611). A cavity is provided, and a center hole is provided on the chute upper plate (607); a steering wheel (608) is installed in the steering wheel installation cavity and is fixedly connected to the chute upper plate (607) or / and the chute bottom plate (611); a tilting servo (603) is located above the chute upper plate (607), the tilting servo (603) cooperates with the steering wheel (608), one end of the fixed base (605) is fixedly connected to the tilting servo (603), and the other end is fixedly connected to the machine arm (2); The chute upper plate (607) is provided with an upper plate guide slot, and the chute bottom plate (611) is provided with a lower plate guide slot or a lower plate guide blind slot corresponding to the upper plate guide slot; a plurality of guide posts are fixed to the tilting servo (603) and extend through the upper plate guide slot into the lower plate guide slot or the lower plate guide blind slot; The vector rotor mechanism (10) of the foldable arm vector rotor mechanism comprises a motor base (1001), a vector steering gear (1008), a coupling disc (1006), a brushless motor (9), and a rotor blade (8); the motor base (1001) is mounted on one end of the arm (2) and can rotate relative to the arm axis; the rotor blade (8) is mounted on the brushless motor (9), the brushless motor (9) is fixedly mounted on the motor base (1001), and the axis of the brushless motor (9) is perpendicular to the axis of the arm; the vector steering gear (1008) is fixedly mounted on one end of the motor base (1001), and the axis of the vector steering gear (1008) coincides with the axis of the arm (2); the vector steering disc (1003) is mounted in conjunction with the vector steering gear (1008), and the vector steering disc (1003) is relatively fixed to the end of the arm (4) via the coupling disc (1006).

4. The flexible wing-type bionic variant water-air cross-medium aircraft according to claim 3, characterized in that: The foldable flexible wing mechanism (14) includes a torsion spring hinge (1401), a first fixed plate (13), a second fixed plate (1407), a first support rod (1410), a second support rod (1405), an electromagnet (1404), and a permanent magnet (1409); the first fixed plate (13) is fixed to the first petal of the torsion spring hinge (1401), and the second fixed plate (1407) is fixed to the second petal of the torsion spring hinge (1401); the first support rod (1410) is installed on the first fixed plate (13), and the second support rod (1405) is installed on the second fixed plate ( 1407); the first fixing plate (13) is fixed to the fuselage (4); the electromagnet (1404) is mounted on the first fixing plate (13), and the position of the electromagnet (1404) is located at the rear side of the second fixing plate (1407) or the second support rod (1405) after the torsion spring hinge (1401) is unfolded; the permanent magnet (1409) is mounted on the second fixing plate (1407) or the second support rod at a position corresponding to the electromagnet (1404); one side of the flexible wing surface (19) is mounted on the first support rod (1410), and the other side is mounted on the second support rod (1405); A second support rod limiting block (1) is provided on the front side of the machine arm (2).

5. The flexible wing-type bionic variant water-air cross-medium aircraft according to claim 4, characterized in that: The single vector underwater propeller (7) and the wing angle of attack control mechanism (16) include a left angle of attack downward pressure plate (1606), a right angle of attack downward pressure plate (1603), a motor pitch base (1602), a tail servo (1604), a tail servo fixing member (1601), an underwater brushless motor (18), and a single vector underwater propeller (7); the tail servo (1604) is fixed to the tail frame (17) via the tail servo fixing member (1601). ), the tail frame (17) is installed on the fuselage (4); the motor pitch base (1602) is installed in conjunction with the tail servo (1604), and the left angle of attack lower pressure plate (1606) and the right angle of attack lower pressure plate (1603) are respectively installed on both sides of the motor pitch base (1602); the left angle of attack lower pressure plate (1606) and the right angle of attack lower pressure plate (1603) are respectively connected to the ends of the first support rods (1410) of the left and right arm vector rotor mechanisms; A single vector underwater propeller (7) is mounted on an underwater brushless motor (18), and the underwater brushless motor (18) is mounted on a motor pitch base (1602).

6. The operating method of the flexible wing type bionic variant water-air cross-medium aircraft according to claim 5 is characterized in that Including flying in the air, gliding into the water, water entry variant, underwater gliding state: In the aerial flight mode, the vector rotor mechanisms (10) on both sides of the fuselage (4) are driven by brushless motors (9) to rotate the rotor blades (10), providing the lift and rolling moment required by the aircraft; the vector servo (1008) provides pitch and yaw moment changes, the single vector underwater propeller (7) at the tail is in a horizontal fixed state, and the electromagnet (1404) of the foldable flexible wing mechanism (14) generates suction to make the second fixed plate (1407) close to the first fixed plate (13), that is, the flexible wing (19) is close to both sides of the fuselage, and the flexible wing (19) is in an unfolded state; In the gliding water entry mode, the brushless motor (9) of the vector rotor mechanism (10) is turned off, the vector servo (1008) makes the rotor tilt angle become a horizontal fixed state, the aircraft fuselage (4) transitions from a horizontal attitude to a vertical attitude, the electromagnet (1404) reduces the magnetic force and is lower than the force value provided by the torsion spring hinge (1401), the flexible wing surface (19) pops up to the second support rod limit block (1) set on the front side of the arm (2), and the aircraft enters the gliding water entry state. The wing surface angle of attack control mechanism (14) drives the left wing surface downward pressure plate (1606) and the right wing surface downward pressure plate (1603) to press down and lift up through the tilt of the tail servo (1604), thereby achieving a change in the angle of attack of the flexible wing surface (19) and generating a change in the rolling and pitching moment; when the left wing surface or the right wing surface (19) of the aircraft is pressed down, the aircraft will generate a rolling moment to the right or left, causing the aircraft's falling trajectory to deviate to the right or left side of the direction of the aircraft nose, thereby changing the aircraft's entry point into the water; In the water entry variant mode, when the aircraft head contacts the water surface, the aircraft generates a sudden acceleration change, and the tilting servo (603) in the folding drive mechanism (6) rotates rapidly, driving the machine arm (2) to contract and close to the inner side of the fuselage (4). When the machine arm (2) contracts, the flexible wing surface (19) located below the machine arm will follow the machine arm (2) to contract and return to the unfolded state under the action of the second support rod limit block (1) on the front side of the machine arm (2), thereby increasing the suction force of the electromagnet (1404) to be greater than the suction force generated by the permanent magnet (1409), so that the permanent magnet (1409) on the second fixed plate (1407) or the second support rod (1405) and the electromagnet (1404) are stably adsorbed; the landing point contacting the water surface is controlled by the wing surface attack angle control mechanism (16), and the rightward or leftward rolling torque generated by the change of the attack angle of the flexible wing surface (19) is used to achieve the selection of the landing point within a certain range; In the underwater gliding mode, after the aircraft completes the water entry variant movement, the flexible wing surface (19) and the machine arm (2) are unfolded, the brushless motor (9) of the vector rotor mechanism (10) is turned off, and the tail vector underwater propeller (7) is driven by the underwater brushless motor (18) to generate thrust; based on the wing surface attack angle control mechanism (16), the flexible wing surface (19) generates a wing surface attack angle change under the tilting movement of the tail servo (1604), and when the left or right wing surface (19) is pressed down or lifted up by the left wing surface down pressure plate (1606) or the right wing surface down pressure plate (1603) of the wing surface attack angle control mechanism (16), the aircraft generates a rightward or leftward offset torque, driving the aircraft to glide leftward or rightward underwater.

Images