Three-section synergistic deformation high-bionic wing

Abstract

The invention belongs to the field of bionic deformation wing design, and relates to a three-section collaborative deformation high bionic wing. The bionic deformation wing is mainly composed of a driving assembly, an upper arm section, a front arm section and a hand wing section. The whole mechanism only has one degree of freedom and is driven by a servo motor, a deformation mechanism composed of three parallelogram fence type structures and a wingtip fan-shaped structure is pulled through a gear and a rack, and cooperative deformation of the three bionic wing sections is achieved. Cooperative movement of three joints of the shoulder, the elbow and the wrist of the bird wing is simulated, the wing is stretched and folded like the bird wing, the wing area change is large, transverse control over the unmanned aerial vehicle can be carried out instead of an aileron, and the overall bionic degree is high.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic deformable wing design, and relates to a highly biomimetic wing with three sections that deform collaboratively. Specifically, it is a wing mechanism design that mimics the upper arm section, forearm section, and hand wing section of medium to large soaring birds, mainly involving the mechanical structure design of the biomimetic deformable wing to achieve biomimetic collaborative wing deformation. Background Technology

[0002] Bionic morphing drones are an important direction in aircraft research. Their highly biomimetic forms can be applied to agricultural bird control and other applications. Furthermore, the wingspan of these morphing drones changes significantly between folded and unfolded states, while requiring less storage space when folded.

[0003] Currently, most biomimetic transforming drones focus on the flapping-wing flight mode of birds, neglecting the soaring flight mode of medium and large birds. Soaring flight mode refers to the non-flapping flight state achieved by medium and large birds such as eagles, hawks, and vultures, which alternates between gliding descent and ascending by hovering in air currents to achieve prolonged flight or long-distance migration. In soaring flight mode, in most cases, the bird's wings are similar to fixed wings, with a generally extended wing area and a large lift-to-drag ratio. During turns and dives, the wings undergo asymmetrical deformation or fold completely, changing the wing area and altering the forces to complete the flight maneuver. Compared to flapping-wing flight mode, soaring flight mode has significant advantages in terms of longer endurance and higher payload capacity.

[0004] Bird wings in flight typically consist of an upper arm, forearm, and hand wing segment, connected by shoulder, elbow, and wrist joints. The main deformation patterns are a swept-back upper arm, a swept-forward forearm, and a swept-back hand wing. Current biomimetic wing research on non-flapping bird wings focuses primarily on small birds, often involving single-joint swept-back deformation of the hand wing segment and a few double-joint deformations of the forearm and hand wing segments. It fails to fully mimic the three-joint deformation of the shoulder, elbow, and wrist, resulting in poor biomimicry. This invention, targeting large soaring birds, simulates the skeletal deformation of the three joints of a bird's wing, achieving coordinated deformation of the upper arm, forearm, and hand wing segments. This results in a greater rate of change in wingspan and wing area, demonstrating higher biomimicry. Summary of the Invention

[0005] Objective of this invention: This invention proposes a biomimetic deformable wing for biomimetic aircraft, which mimics the three joints of the shoulder, elbow and wrist of a medium to large soaring bird wing to achieve coordinated deformation of the upper arm section, forearm section and hand wing section of the wing.

[0006] The technical solution of this invention: A highly biomimetic wing with three-segment coordinated deformation, the biomimetic deformable wing mainly consists of four parts: a drive assembly, an upper arm segment, a forearm segment, and a hand wing segment; the drive assembly includes a mounting plate 1, a guide rail 2, a drive motor 3, a motor mounting bracket 12, a gear 13, and a rack and pinion rod 14; the guide rail 2 is fixedly mounted in the middle of the mounting plate 1, and the rack and pinion rod 14 is installed inside the guide rail 2 and slides relative to the guide rail 2; the mounting plate 1 has a T-shaped structure, with one side of the head... The upper arm segment front beam 15 is connected to the upper arm segment, and a motor mounting bracket 12 is installed on the upper surface of the other side. The drive motor 3 is fixedly connected to the mounting plate 1 through the motor mounting bracket 12. The gear 13 is fixedly connected to the shaft of the drive motor 3 and meshes with the rack and pinion rod 14. The other end of the upper arm segment front beam 15 is connected to the forearm segment front beam 16, and the other end of the forearm segment front beam 16 is connected to the hand wing segment front beam 17. One end of the upper arm segment rear beam 18 is connected to the middle of the head of the mounting plate 1, and the other end is connected to... The forearm section rear beam 19 and forearm section cooperating link 21 are connected together. The other end of the forearm section rear beam 19 is connected to the hand wing section rear beam 20. The other end of the hand wing section rear beam 20 is connected to the outer link 23-2 of the hand wing section. The other end of the outer link 23-2 of the hand wing section is connected to the middle of the hand wing section front beam 17. One end of the inner link 23-1 of the hand wing section is connected to the forearm section front beam 16, and the other end is connected to the forearm section rear beam 19. The two ends of the forearm section rear beam 19 are respectively connected to the upper arm section. The rear beam 18 and the hand wing section rear beam 20 are connected at the bend. The two ends of the forearm section cooperating link 21 are connected to the outer ends of the bends of the upper arm section rear beam 18 and the hand wing section rear beam 20, respectively. One end of the upper arm section elbow joint link 22 is connected to the connecting shaft between the upper arm section front beam 15 and the forearm section front beam 16, and the other end is connected to the connecting shaft between the upper arm section rear beam 18 and the forearm section rear beam 19. The forearm section rear beam 19 has a mounting hole in the middle, which is connected to the outer end of the rack link 14 of the drive assembly.

[0007] The upper arm segment includes a front beam 15, a rear beam 18, an elbow joint connecting rod 22, two wing ribs 25, one wing rib 3 26, one wing rib 4 27, five inner bionic feathers 11, and an upper arm skin 4. The front beam 15, rear beam 18, elbow joint connecting rod 22, and mounting plate 1 are connected by end shafts to form a parallelogram mechanism. Each of the wing ribs 25, 3 26, and 4 27 has two through holes at the front and rear. The mounting hole at the front end of the wing rib passes through the hollow column distributed along the spanwise direction of the lower layer 15-2 of the front beam of the upper arm segment, and the mounting hole at the rear end of the wing rib passes through the hollow column distributed along the spanwise direction of the lower layer 18-2 of the rear beam of the upper arm segment. The inner bionic feathers 11 are carbon fiber composite sheets that are inserted into the cylindrical slot at the rear end of the wing rib and fixedly connected to it. The upper arm skin 4 is a flexible skin that is fixedly connected to the edge of the vertical sheet structure of the wing rib in the in-surface area.

[0008] The upper arm front beam 15 is a rod-shaped structure, including an upper upper arm front beam 15-1 and a lower upper arm front beam 15-2. The upper upper arm front beam 15-1 and the lower upper arm front beam 15-2 are symmetrical plate-shaped structures with mounting holes at both ends. Multiple cylinders are evenly distributed on the lower surface of the upper upper arm front beam 15-1, and multiple hollow columns are evenly distributed on the upper surface of the lower upper arm front beam 15-2. The cylinders of the upper upper arm front beam 15-1 are inserted into the hollow columns of the lower upper arm front beam 15-2.

[0009] The upper arm rear beam 18 is a bent component, divided into a straight section and a bent section, with a ratio of 3:1 between the straight section and the bent section, and a bending angle of 125°. One end has a connection hole for mounting plate 1, and the other end has a connection hole for the forearm rear beam 19. A connection hole for the forearm connecting rod 21 is located at the bend. The upper arm rear beam 18 includes an upper layer 18-1 and a lower layer 18-2. Both upper and lower layers 18-1 and 18-2 are symmetrical plate structures. Multiple cylinders are evenly distributed on the lower plane of the straight section of the upper layer 18-1, and multiple hollow columns are evenly distributed on the upper plane of the straight section of the lower layer 18-2. The cylinders of the upper layer 18-1 are inserted into the hollow columns of the lower layer 18-2.

[0010] The forearm segment includes a forearm segment front beam 16, a forearm segment rear beam 19, a forearm segment coordinating link 21, seven wing ribs 1 24, two wing ribs 25, one wing rib 3 26, one wing rib 4 27, twelve inner segment bionic feathers 11, and a forearm segment skin 5. The forearm segment skin 5 is a flexible skin, with its inner edge connected to the outer edge of the upper arm segment skin 4, and its surface fixed to the edge of the vertical surface of the wing ribs. The elbow joint link 22, the forearm segment front beam 16, the forearm segment rear beam 19, and the inner link 23-1 of the hand wing segment are connected by a shaft to form a parallel structure. The quadrilateral mechanism, consisting of the forearm section cooperating link 21, the forearm section rear beam 19, the upper arm section rear beam 18, and the bent portions of the hand wing section rear beam 20 connected by shafts, also forms a parallelogram mechanism. Wing ribs 1 (24), 2 (25), 3 (26), and 4 (27) each have two through holes at the front and rear, respectively, and mounting holes at the front and rear ends. The front mounting hole passes through a hollow column distributed longitudinally along the lower layer 16-2 of the forearm section front beam, and the rear mounting hole passes through a hollow column distributed longitudinally along the lower layer 19-2 of the forearm section rear beam. The inner section biomimetic feather 11 is inserted into the slit of the cylindrical rear end of the wing rib and fixedly connected to it.

[0011] The forearm section front beam 16, forearm section rear beam 19, and forearm section cooperating link 21 are all rod-shaped structures. The forearm section front beam 16 includes an upper layer 16-1 and a lower layer 16-2, which are symmetrical to each other. Hollow columns distributed along the spanwise direction of the lower layer 16-2 pass through the through holes at the front end of the ribs to form a shaft connection. The cylindrical columns distributed along the spanwise direction of the upper layer 16-1 are inserted into the corresponding hollow columns of the lower layer 16-2. The forearm section rear beam 19... 9 includes an upper layer 19-1 and a lower layer 19-2 of the forearm section rear beam, which are symmetrical to each other. Hollow columns distributed along the longitudinal direction of the lower layer 19-2 of the forearm section rear beam pass through the rear end holes of the ribs to form a shaft connection. Cylinders distributed along the longitudinal direction of the upper layer 19-1 of the forearm section rear beam are inserted into the corresponding hollow columns of the lower layer 19-2 of the forearm section rear beam. The forearm section cooperating link 21 includes an upper layer 21-1 and a lower layer 21-2 of the forearm section cooperating link, which are symmetrical to each other.

[0012] The hand wing segment includes a front spar 17, a rear spar 20, an inner connecting rod 23-1, an outer connecting rod 23-2, three wing ribs 1 24, one wing rib 3 26, seven wing ribs 5 28, one wingtip leading edge bionic feather 9, five wingtip bionic feathers 10, six inner section bionic feathers 11, an elastic connecting rope 29, an inner section skin 6, a wingtip leading edge skin 7, and a wingtip skin 8; the hand wing segment can be divided into an inner section and a wingtip. The inner section skin 6 is a flexible skin, with its inner edge connected to the outer edge of the forearm section skin 5, and its surface fixed to the edge of the wing rib vertical surface; the wingtip leading edge skin 7 of the hand wing section is a rigid skin, and its surface is fixed to the leading edge vertical surface of the wingtip portion of the upper layer 17-1 of the hand wing section front sparsity; the wingtip skin 8 of the hand wing section is a flexible skin, with its edges connected to the outer edge of the inner section skin 6 of the hand wing section and the edge of the wingtip leading edge skin 7 of the hand wing section respectively; the inner section bionic feather 11 is inserted into the cylindrical slit at the rear end of the wing rib and fixed to the wing rib. During the wingtip assembly, wing rib 5a28-1 is fixedly connected to the front beam 17 of the hand wing section and is in the same direction. The front and rear ends of the innermost wing rib 5b28-2 are connected to the hollow column shaft of the lower layer of the front and rear beams of the hand wing section. The front through holes of the remaining wing ribs 5b28-2 pass through the hollow column of the lower layer 17-2 of the hand wing section to form a shaft connection. The rear through holes of wing rib 5b28 are connected by elastic connecting rope 29. The wingtip leading edge bionic feather 9, wingtip bionic feather 10 and inner section bionic feather 11 are inserted into the cylindrical slot at the rear end of the wing rib and fixedly connected to the wing rib.

[0013] The hand wing segment front beam 17 is a rod-shaped structure, including an upper layer 17-1 and a lower layer 17-2, which are symmetrical to each other. Hollow columns distributed along the span of the lower layer 17-2 pass through the through holes at the front end of the wing ribs to form a shaft connection. The cylindrical columns distributed along the span of the inner section of the upper layer 17-1 are inserted into the corresponding hollow columns of the lower layer 17-2.

[0014] The hand wing section rear beam 20 is a bent component, divided into a straight section and a bent section, with a ratio of 4:1 and a bending angle of 55°. The bent portion of the hand wing section rear beam 20, the outer end of the forearm section rear beam 19, and the rear end of the inner connecting rod 23-1 of the hand wing section are axially connected. The outer end of the bent portion of the hand wing section rear beam 20 is axially connected to the outer end of the forearm section cooperating connecting rod 21. The hand wing section rear beam 20 includes an upper layer 20-1 and a lower layer 20-2, which are symmetrically structured. Hollow columns distributed longitudinally in the lower layer 20-2 pass through through holes at the rear ends of the wing ribs to form axial connections. Cylindrical columns distributed longitudinally in the upper layer 20-1 are inserted into corresponding hollow columns in the lower layer 20-2.

[0015] The inner connecting rod 23-1 and outer connecting rod 23-2 of the hand wing segment are integral rods. The front end has a plate-like structure shaped like the leading edge of an airfoil, and the middle part has a plate-like structure shaped like the middle section of an airfoil. Vertical mounting holes are present at the front and rear notches for mounting the wing spars. Circular notches exist on the plate-like structures for weight reduction. A chordal cylinder with slits is located at the rear end for securing biomimetic feathers.

[0016] The described three-segment coordinated deformation biomimetic wing operation method involves the following: When the wing folds down from its extended state, the drive motor 3 rotates, causing the gear 13 to rotate. Since the gear 13 meshes with the rack and pinion 14, the rack and pinion 14 slides inward along the guide rail 2. The rack and pinion 14 is axially connected to the through hole in the middle of the upper layer 19-1 of the forearm section rear beam. The rack and pinion 14, the forearm section rear beam 19, and the straight section of the upper arm section rear beam 18 form a triangle. Under the pull of the rack and pinion 14, the triangle... The structure contracts, causing rotation at the connection between the straight section of the upper arm rear beam 18 and the shaft of the forearm rear beam 19, resulting in a smaller included angle. This causes the parallelogram of the upper arm section to undergo backward deformation, and the parallelogram of the forearm section to undergo forward deformation. The smaller included angle at the connection between the straight section of the upper arm rear beam 18 and the shaft of the forearm rear beam 19 simultaneously increases the angle between the extended bent portion of the upper arm rear beam 18 and the forearm rear beam 19. This causes the forearm rear beam 19, the forearm cooperating link 21, the upper arm rear beam 18, and the hand wing rear beam 20 to... The parallelogram formed by the bent portion deforms, causing the angle between the bent portion of the hand wing section rear beam 20 and the forearm section rear beam 19 to decrease, and the angle between the inner connecting rod 23-1 of the hand wing section and the straight rod portion of the hand wing section rear beam 20 to increase, resulting in a sweep-back deformation of the parallelogram of the hand wing section. Under the drive of the motor, the rack and pinion rod 14 pulls the wing structure to complete the coordinated biomimetic deformation of the three parallelogram mechanisms. The wing rib five a28-1 is fixedly connected to the hand wing section front beam 17, and the innermost wing rib five b28-2 The parallelogram of the wing section moves with the hand wing segment and is always in the chord direction. When the wing extends, the angle between wing rib 5a28-1 and the innermost wing rib 5b28-2 is large, which puts the elastic connecting rope 29 in a stretched state, and the five middle wing ribs 5b28-2 are in an unfolded fan shape. When the wing retracts, wing rib 5a28-1 sweeps back with the front sparsity of the hand wing segment, and the angle between it and the innermost wing rib 5b28-2 becomes smaller. The elastic connecting rope 29 contracts, causing the five middle wing ribs 5b28-2 to fold into a retracted fan shape.

[0017] The advantages and effects of this invention are as follows: (1) The deformation mechanism provided by the present invention can realize the deformation of medium and large-sized soaring bird wings and has a large range of wingspan and wing area variation. When the wings are folded, they occupy little space and can increase the number of items carried in a limited space; when the wings are extended, the wing area is large and has good endurance performance. (2) The biomimetic deformable wing provided by the present invention can replace the aileron for lateral control of the UAV by changing the asymmetric wing area. One wing extends and the other wing folds down. The wing areas on both sides are different, which will cause a difference in lift between the two wings and realize the aileron function. (3) The deformation of the mechanism provided by the present invention is highly similar to the deformation of bird wings. It can realize the three-segment deformation of the upper arm segment, the forearm segment and the hand wing segment, simulate the different bird wing shapes in the non-flapping state of birds, and have the morphological characteristics of bird wing feathers and wingtip slits, and has a high degree of biomimicry. (4) The biomimetic deformation mechanism provided by the present invention can achieve coordinated deformation of the upper arm segment, forearm segment and hand wing segment with only one driving degree of freedom. The upper arm segment sweeps backward, the forearm segment sweeps forward and the hand wing segment sweeps backward by driving the gear rack by the motor and the rack and pinion linkage pull mechanism. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall appearance of the biomimetic deformable wing in its extended state provided by the present invention; Figure 2 This is a schematic diagram of the overall appearance of the biomimetic deformable wing in its retracted state provided by the present invention; Figure 3 This is a diagram of the internal structure of a biomimetic deformable wing in its extended state; Figure 4 This is a diagram of the internal structure of a biomimetic deformable wing in its retracted state. Figure 5 It is a diagram of the extended state of a biomimetic deformable wing; Figure 6 This is a diagram of the internal structure of a biomimetic deformable wing in its extended state; Figure 7 This is a schematic diagram of the main mechanism of a biomimetic deformable wing in its extended state; Figure 8 This is a schematic diagram of the main mechanism of the biomimetic deformable wing in its retracted state; Figures 9-13 Here are the installation diagrams for the five types of ribs; Figure 14 This is a diagram of the wingtip structure in its extended state; Figure 15 This is a diagram of the wingtip structure in its retracted state.

[0019] In the diagram: 1. Mounting plate; 2. Guide rail; 3. Drive motor; 4. Upper arm section skin; 5. Forearm section skin; 6. Inner section skin of the hand wing section; 7. Leading edge skin of the hand wing section wingtip; 8. Wingtip skin of the hand wing section; 9. Bionic feathers on the leading edge of the wingtip; 10. Bionic feathers on the wingtip; 11. Inner section bionic feathers; 12. Motor mounting bracket; 13. Gear; 14. Rack and pinion rod; 15. Front beam of the upper arm section; 15-1. Upper layer of the front beam of the upper arm section; 15-2. Lower layer of the front beam of the upper arm section; 16. Upper layer of the front beam of the forearm section; 16-1. Upper layer of the front beam of the forearm section; 16-2. Lower layer of the front beam of the forearm section; 17. Front beam of the hand wing section; 17-1. Upper layer of the front beam of the hand wing section, 17-2. Lower layer of the front beam of the hand wing section; 18. Rear beam of the upper arm section; 1 8-1. Upper arm segment rear beam upper layer; 18-2. Upper arm segment rear beam lower layer; 19. Forearm segment rear beam; 19-1. Forearm segment rear beam upper layer, 19-2. Forearm segment rear beam lower layer; 20. Hand wing segment rear beam; 20-1. Hand wing segment rear beam upper layer; 20-2. Hand wing segment rear beam lower layer; 21. Forearm segment coordinating link; 21-1. Forearm segment coordinating link upper layer; 21-2. Forearm segment coordinating link lower layer; 22. Elbow joint link; 23. Hand wing segment link; 23-1. Hand wing segment inner link, 23-2. Hand wing segment outer link; 24. Wing rib one; 25. Wing rib two; 26. Wing rib three; 27. Wing rib four; 28. Wing rib five; 28-1. Wing rib five a; 28-2. Wing rib five b; 29. ​​Elastic connecting rope. Detailed Implementation

[0020] The biomimetic deformable wing proposed in this invention will be described in detail below with reference to the accompanying drawings.

[0021] This invention provides a biomimetic deformable wing mechanism that can achieve folding and unfolding movements like a bird's wing, with the overall shape in both extended and retracted states resembling... Figure 1 and Figure 2 The deformation mechanism extends and retracts as follows: Figure 3 and Figure 4 .

[0022] The biomimetic deformable wing mainly consists of four parts: the drive assembly, the upper arm section, the forearm section, and the hand wing section. The main skeletal structure of these four parts and their assembly relationships are as follows: The main skeletal structure of the deformable wing is as follows Figure 7As shown, the drive assembly mainly includes a mounting plate 1, a guide rail 2, a drive motor 3, a motor mounting bracket 12, a gear 13, and a rack and pinion rod 14; the upper arm section's main mechanism includes the upper layer 15-1 of the upper arm section front beam, the lower layer 15-2 of the upper arm section front beam, the upper layer 18-1 of the upper arm section rear beam, the lower layer 18-2 of the upper arm section rear beam, and an elbow joint connecting rod 22; the forearm section's main mechanism includes the upper layer 16-1 of the forearm section front beam, the lower layer 16-2 of the forearm section front beam, and the forearm... The forearm section consists of the following components: upper rear beam 19-1, lower forearm section rear beam 19-2, upper forearm section coordinating link 21-1, lower forearm section coordinating link 21-2, elbow joint link 22, and inner hand wing section link 23-1. The main mechanism of the hand wing section includes the upper front beam 17-1, lower front beam 17-2, upper rear beam 20-1, lower rear beam 20-2, inner hand wing section link 23-1, and outer hand wing section link 23-2.

[0023] The drive assembly is fixed to the machine body via the mounting plate 1. The outer end of the rack tie rod 14 in the drive assembly is axially connected to the through hole in the middle of the upper layer 19-1 of the rear beam of the forearm section. The upper arm section is connected to the drive assembly via the upper arm section front beam 15 and the upper arm section rear beam 18. The inner ends (the ends near the wing heel) of the upper arm section front beam 15 and the upper arm section rear beam 18 are axially connected to two mounting holes on the edge of the fixed mounting plate 1. The upper arm section can rotate relative to the drive assembly, which is equivalent to the shoulder joint of a bird wing. The forearm and upper arm segments share an elbow joint link 22. The forearm segment is connected to the upper arm segment's front beam 15 and rear beam 18 via the forearm segment front beam 16, forearm segment rear beam 19, and forearm segment cooperating link 21. The inner end of the forearm segment front beam 16, the outer end of the upper arm segment front beam 15, and the front end of the elbow joint link 22 are axially connected. The upper arm segment rear beam 18 is a bent component, consisting of a longer straight section and a shorter bent section, with a straight section to bent section ratio of 3:1 and a bending angle of 125°. The inner end of the forearm segment rear beam 19, the bent section of the upper arm segment rear beam 18, and the rear end of the elbow joint link 22 are axially connected. The inner end of the forearm segment cooperating link 21 is axially connected to the outer end of the bent section of the upper arm segment rear beam 18. The upper layer 19-1 of the forearm segment rear beam has a mounting hole in the middle, which is axially connected to the outer end of the rack link 14 of the drive assembly. The forearm segment can rotate relative to the upper arm segment, which is equivalent to the elbow joint of a bird's wing; The hand wing segment and forearm segment share the inner connecting rod 23-1 of the hand wing segment. The hand wing segment is connected to the forearm segment's front beam 16, rear beam 19, and cooperating connecting rod 21 via the hand wing segment's front beam 17, rear beam 20, and inner connecting rod 21. The inner end of the hand wing segment's front beam 17, the outer end of the forearm segment's front beam 16, and the front end of the inner connecting rod 23-1 are connected by an axle. The hand wing segment's rear beam 20 is a bent component, consisting of a longer straight section and a shorter bent section, with a 4:1 ratio and a bending angle of 55°. The bent section of the hand wing segment's rear beam 20, the outer end of the forearm segment's rear beam 19, and the rear end of the inner connecting rod 23-1 are connected by an axle. The outer end of the bent section of the hand wing segment's rear beam 20 is connected by an axle to the outer end of the cooperating connecting rod 21. The hand wing segment can rotate relative to the forearm segment, similar to the wrist joint of a bird's wing.

[0024] The detailed composition and assembly relationship of each part are as follows: The drive assembly consists of a mounting plate 1, a guide rail 2, a drive motor 3, a motor mounting bracket 12, a gear 13, and a rack and pinion rod 14. The guide rail 2 is mounted on the mounting plate 1, and the rack and pinion rod 14 slides relative to the guide rail 2 within it. The motor mounting bracket 12 is mounted on the mounting plate 1, and the drive motor 3 is fixedly connected to the mounting plate 1 via the motor mounting bracket 12. The gear 13 is fixedly connected to the shaft of the drive motor 3 and meshes with the rack and pinion rod 14.

[0025] The upper arm segment consists of an upper front beam (upper layer 15-1), a lower front front beam (15-2), a rear rear beam (upper layer 18-1), a lower rear rear beam (18-2), an elbow joint connecting rod (22), two wing ribs (25), one wing rib (3) (26), one wing rib (4) (27), five inner bionic feathers (11), and an upper arm skin (4). The upper arm skin (4) is a flexible skin, fixedly connected to the edge of the wing rib's vertical surface. The upper arm front beam (15), upper arm rear beam (18), elbow joint connecting rod (22), and mounting plate (1) are connected by end shafts, forming a parallelogram mechanism. The assembly of the upper arm segment's upper and lower wing beams and wing ribs is as follows... Figures 10-12 As shown. Ribs 25, 36, and 47 each have two through holes at the front and rear. Hollow columns distributed longitudinally along the lower layer 15-2 of the upper arm section's front beam pass through the through holes at the front of the ribs to form a shaft connection. Cylindrical columns distributed longitudinally along the upper layer 15-1 of the upper arm section's front beam are inserted into the corresponding hollow columns of the lower layer 15-2. The upper arm section's rear beam 18 has the same assembly method. Hollow columns distributed longitudinally along the lower layer 18-2 of the upper arm section's rear beam pass through the through holes at the rear end of the ribs to form a shaft connection. Cylindrical columns distributed longitudinally along the upper layer 18-1 of the upper arm section's rear beam are inserted into the corresponding hollow columns of the lower layer 18-2. The inner section's biomimetic feather 11 is a carbon fiber composite material sheet, inserted into the slit of the rear cylindrical section of the rib and fixedly connected to the rib.

[0026] The forearm segment consists of the upper forearm beam 16-1, the lower forearm beam 16-2, the upper forearm beam 19-1, the lower forearm beam 19-2, the upper forearm link 21-1, the lower forearm link 21-2, the inner link 23-1, seven wing ribs 24, two wing ribs 25, one wing rib 26, one wing rib 27, twelve inner bionic feathers 11, and the forearm skin 5. The forearm skin 5 is a flexible skin, with its inner edge connected to the outer edge of the upper arm skin 4, and its surface fixed to the vertical edge of the wing ribs. The elbow joint link 22, the forearm beam 16, the forearm beam 19, and the inner link 23-1 are connected by a shaft, forming a parallelogram mechanism. The forearm section cooperating link 21, the forearm section rear beam 19, the upper arm section rear beam 18, and the hand wing section rear beam 20 are connected by a shaft, forming a parallelogram mechanism that connects the three wing sections, achieving coordinated deformation of several parallelogram mechanisms. The assembly of the upper and lower layers of the forearm section wing beam and the wing ribs is as follows: Figure 9 As shown. Similar to the upper arm section, rib 1 (24), rib 2 (25), rib 3 (26), and rib 4 (27) each have two through holes at the front and rear, as well as mounting holes at the front and rear ends of the ribs; the mounting positions are as follows. Figure 9 The mounting holes at the front end of the wing rib pass through the hollow columns distributed longitudinally along the lower layer 16-2 of the forearm section front beam, and the mounting holes at the rear end of the wing rib pass through the hollow columns distributed longitudinally along the lower layer 19-2 of the forearm section rear beam. The hollow columns distributed longitudinally along the lower layer 16-2 of the forearm section front beam pass through the through holes at the front end of the wing rib to form a shaft connection, and the cylindrical columns distributed longitudinally along the upper layer 16-1 of the forearm section front beam are inserted into the corresponding hollow columns of the lower layer 16-2. The assembly method of the forearm section rear beam 19 is the same. The hollow columns distributed longitudinally along the lower layer 19-2 of the forearm section rear beam pass through the through holes at the rear end of the wing rib to form a shaft connection, and the cylindrical columns distributed longitudinally along the upper layer 19-1 of the forearm section rear beam are inserted into the corresponding hollow columns of the lower layer 19-2. The inner section bionic feather 11 is inserted into the slot of the cylindrical column at the rear end of the wing rib and fixedly connected to the wing rib.

[0027] The wing rib 24 is a rod-like structure with a leading-edge airfoil-shaped plate at the front, a mid-section airfoil-shaped plate at the middle, and a trailing-edge airfoil-shaped plate at the rear, along with a chordally oriented cylinder. The rear cylinder has a slit for securing biomimetic feathers. Circular holes on the front and mid-section plate structures are used for weight reduction, and a notch on the rear plate structure prevents interference with the upper arm connecting rod 21 during deformation. Vertical mounting holes are present at the front and rear notches of the wing rib for mounting wing spars.

[0028] The second wing rib 25 is a rod-like structure with a leading-edge airfoil-shaped plate at the front end, a mid-section airfoil-shaped plate at the middle, and a chordally oriented cylinder at the rear end. The rear cylinder has a slit for securing biomimetic feathers. The circular holes on the front plate are for weight reduction, and the notches on the mid-section plate prevent interference with the rack and pinion rod 14 during structural deformation. The front and rear notches of the wing rib have vertical mounting holes for mounting wing spars.

[0029] The wing rib 3.26 is a rod-like structure with a leading-edge airfoil-shaped plate at the front and a chordally oriented cylinder at the rear. The rear cylinder has a slit for attaching biomimetic feathers. The circular holes on the front plate and the notch in the middle of the rod are used for weight reduction. Vertical mounting holes are located at the front and rear of the wing rib for mounting wing spars.

[0030] The hand wing segment consists of the upper layer 17-1 of the front spar, the lower layer 17-2 of the front spar, the upper layer 20-1 of the rear spar, the lower layer 20-2 of the rear spar, the outer connecting rod 23-2, three wing ribs 1 24, one wing rib 3 26, seven wing ribs 5 28, one wingtip leading edge bionic feather 9, five wingtip bionic feathers 10, six inner section bionic feathers 11, an elastic connecting rope 29, the inner section skin 6, the wingtip leading edge skin 7, and the wingtip skin 8. The hand wing segment can be divided into two parts: the inner section and the wingtip. The inner section skin 6 is a flexible skin, with its inner edge connected to the outer edge of the forearm section skin 5, and its surface fixed to the edge of the wing rib vertical surface. The leading edge skin 7 of the hand wing segment is a rigid skin, rigidly connected to the spanwise leading edge vertical edge of the upper layer 17-1 of the hand wing segment's front spars. The wing tip skin 8 of the hand wing segment is a flexible skin, with its edges connected to the outer edge of the inner layer skin 6 of the hand wing segment and the edge of the leading edge skin 7 of the hand wing segment, respectively. The assembly of the upper and lower spars and ribs of the hand wing segment is as follows: Figure 13 As shown. Similar to the forearm section, the inner section of the hand wing segment has hollow columns distributed longitudinally along the lower layer 17-2 of the hand wing segment's front beam, which pass through the through holes at the front of the wing ribs to form a shaft connection. The cylindrical columns distributed longitudinally along the inner section of the upper layer 17-1 of the hand wing segment's front beam are inserted into the corresponding hollow columns of the lower layer 17-2. The assembly method of the rear beam 20 of the hand wing segment is the same as that of the front beam. Hollow columns distributed longitudinally along the lower layer 20-2 of the rear beam of the hand wing segment pass through the through holes at the rear end of the wing ribs to form a shaft connection. The cylindrical columns distributed longitudinally along the upper layer 20-1 of the rear beam of the hand wing segment are inserted into the corresponding hollow columns of the lower layer 20-2. The inner section biomimetic feather 11 is inserted into the slit of the cylindrical column at the rear end of the wing rib and fixedly connected to the wing rib. During the assembly of the wingtip section, the wing rib 5a8-1 is fixedly connected to the front beam 17 of the hand wing segment in the same direction. The innermost wing rib 5b8-2 is connected to the hollow column shaft of the lower layer of the front and rear beams of the hand wing section at both ends. The front through holes of the remaining wing ribs 5b8-2 pass through the hollow column of the lower layer 17-2 of the front beam of the hand wing section to form a shaft connection. The rear through holes of wing rib 528 are connected by elastic connecting rope 29. Three kinds of bionic feathers 9, 10 and 11 are inserted into the opening of the cylindrical rear end of the wing rib and fixed to the wing rib. Figure 14When the wings are extended, the elastic connecting rope 29 is taut. Figure 15 When the wing is folded up, the elastic connecting rope 29 is in a slack state.

[0031] The above provides a detailed explanation of the assembly structure of the biomimetic morphing wing. The following section details the working principle and operational process of the biomimetic morphing wing: The biomimetic deformable wing provided by this invention ( Figures 1-4 The wing, highly similar to that of a soaring bird, is divided into an upper arm, forearm, and hand-wing section. It mimics the three joint deformations of a bird's shoulder, elbow, and wrist, and features biomimetic feathers distributed along its entire trailing edge, mimicking the serrated trailing edge and wingtip slits formed by bird flight feathers. When the wing extends... Figure 1 and Figure 3 As shown, in this state, the distance from the wingtip (the tip of the bionic feather 9 at the leading edge of the wingtip) to the wing root (the edge of the mounting plate 1) is approximately 1050 mm; the wing's maximum retracted state is as follows: Figure 2 and Figure 4 As shown, at this point, the distance from the wingtip (the tip of the bionic feather 9 at the leading edge of the wingtip) to the wing root (the edge of the mounting plate 1) is approximately 466 mm, and the change in wingspan from fully extended to maximum retracted is approximately 56%. When the wing is extended, the wing area is large, approximately 0.28 m². 2 It has a high lift-to-drag ratio, making it suitable for drone cruise operations; when the wings are folded, the wing area is small, approximately 0.128m². 2 The change in wing area from full extension to maximum retraction is approximately 54%. Each wing is independently driven by motor 3. In UAVs, the two wings can deform asymmetrically, replacing ailerons for lateral control. When the wings retract asymmetrically, the different wing areas on both sides generate different lift and drag, resulting in a larger rolling moment and a certain yaw moment.

[0032] The main mechanisms of biomimetic deformation are as follows Figure 7 and Figure 8As shown, when the wing retracts from its extended state, the drive motor 3 rotates, causing the gear 13 to rotate. Since the gear 13 meshes with the rack and pinion 14, it causes the rack and pinion 14 to slide inward along the guide rail 2. The rack and pinion 14 is axially connected to the through hole in the middle of the upper layer 19-1 of the forearm section rear beam. The rack and pinion 14, the forearm section rear beam 19, and the straight part of the upper arm section rear beam 18 form a triangle. Under the pull of the rack and pinion 14, the triangular structure contracts, and the straight part of the upper arm section rear beam 18 and the shaft connection of the forearm section rear beam 19 rotate, and the included angle becomes smaller. This causes the parallelogram of the upper arm section to undergo backward deformation, and the parallelogram of the forearm section to undergo forward deformation. The angle between the straight section of the upper arm rear beam 18 and the shaft connection of the forearm rear beam 19 decreases, while the angle between the bent section of the upper arm rear beam 18 and the forearm rear beam 19 increases. This causes the parallelogram formed by the forearm rear beam 19, the forearm cooperating link 21, the upper arm rear beam 18, and the bent section of the hand wing rear beam 20 to deform. This causes the angle between the bent section of the hand wing rear beam 20 and the forearm rear beam 19 to decrease, while the angle between the inner link 23-1 of the hand wing and the straight section of the hand wing rear beam 20 increases, resulting in a sweepback deformation of the hand wing parallelogram. Driven by a motor, the rack and pinion tie rod 14 pulls the wing structure to complete the coordinated biomimetic deformation of the three parallelogram mechanisms.

[0033] Wingtip fan-shaped structure deformation as Figure 14 and Figure 15 As shown. Because wing rib 5a8-1 is fixedly connected to the front spars 17 of the hand wing section, the innermost wing rib 5b8-2 moves with the parallelogram of the hand wing section and is always in the chord direction. When the wing extends ( Figure 14 The angle between wing rib 5a8-1 and the innermost wing rib 5b8-2 is large, causing the elastic connecting rope 29 to be in a stretched state, while the five middle wing ribs 5b8-2 are in an unfolded fan-shaped state; when the wing is retracted ( Figure 15 As the wing section front sparsity sweeps back, the angle between wing rib 5a8-1 and the innermost wing rib 5b8-2 decreases, the elastic connecting rope 29 contracts, causing the five middle wing ribs 5b8-2 to fold into a fan shape.

[0034] In summary, driven by motor 3, the rack and pinion tie rod 14 pulls the wing structure to achieve coordinated biomimetic deformation of the three parallelogram mechanisms and the wingtip fan-shaped mechanism. Within each wing segment, the spanwise distributed wing ribs and the front and rear spars constitute a fence-like deformation mechanism, while the wingtip distributed wing ribs form a fan-shaped deformation mechanism, deforming along with the main mechanism. The overall deformation is as follows: Figure 3 and Figure 4 As shown.

Claims

1. A biomimetic wing with three-segment cooperative deformation, characterized in that, The biomimetic deformable wing mainly consists of four parts: a drive assembly, an upper arm section, a forearm section, and a hand wing section; the drive assembly includes a mounting plate (1), a guide rail (2), a drive motor (3), a motor mounting bracket (12), a gear (13), and a rack and pinion rod (14); the mounting plate (1) has a guide rail (2) fixedly mounted in the middle, and the rack and pinion rod (14) is installed inside the guide rail (2) and slides relative to the guide rail (2); the mounting plate (1) has a T-shaped structure, with one side of the head connected to the front beam 15 of the upper arm section of the upper arm section, and the other side is connected to the upper arm section front beam 15. A surface-mounted motor mounting bracket (12) is used to fix the drive motor (3) to the mounting plate (1) via the motor mounting bracket (12); a gear (13) is fixed to the shaft of the drive motor (3) and meshes with the rack and pinion (14); the other end of the upper arm section front beam (15) is connected to the forearm section front beam (16), and the other end of the forearm section front beam (16) is connected to the hand wing section front beam (17); one end of the upper arm section rear beam (18) is connected to the middle of the head of the mounting plate (1), and the other end is connected to the forearm section rear beam (17) of the forearm section. 19) and the forearm section coordinating link (21) are connected. The other end of the forearm section rear beam (19) is connected to the hand wing section rear beam (20). The other end of the hand wing section rear beam (20) is connected to the hand wing section outer link (23-2). The other end of the hand wing section outer link (23-2) is connected to the middle of the hand wing section front beam (17). One end of the hand wing section inner link (23-1) is connected to the forearm section front beam (16), and the other end is connected to the forearm section rear beam (19). The two ends of the forearm section rear beam (19) are respectively connected to the upper arm section rear beam (18). The forearm section connecting rod (21) is connected to the bend of the hand wing section rear beam (20) at the bend. The two ends of the forearm section connecting rod (21) are connected to the outer ends of the bends of the upper arm section rear beam (18) and the hand wing section rear beam (20), respectively. One end of the upper arm section elbow joint connecting rod (22) is connected to the connecting shaft between the upper arm section front beam (15) and the forearm section front beam (16), and the other end is connected to the connecting shaft between the upper arm section rear beam (18) and the forearm section rear beam (19). The forearm section rear beam (19) has a mounting hole in the middle, which is connected to the outer end of the rack connecting rod (14) of the drive assembly section.

2. The biomimetic wing with three-segment coordinated deformation according to claim 1, characterized in that, The upper arm segment includes a front beam (15), a rear beam (18), an elbow joint connecting rod (22), two wing ribs (25), one wing rib (26), one wing rib (27), five inner bionic feathers (11), and an upper arm skin (4). The front beam (15), rear beam (18), elbow joint connecting rod (22), and mounting plate (1) are connected by end shafts to form a parallelogram mechanism. The wing ribs (25), wing ribs (26), and wing rib (27) are connected by end shafts to form a parallelogram mechanism. (26) The four wing ribs (27) have two through holes at the front and back. The mounting hole at the front end of the wing rib passes through the hollow column distributed along the span of the lower layer (15-2) of the upper arm section front beam. The mounting hole at the rear end of the wing rib passes through the hollow column distributed along the span of the lower layer (18-2) of the upper arm section rear beam. The inner section bionic feather (11) is a carbon fiber composite sheet, which is inserted into the cylindrical slot at the rear end of the wing rib and fixed to the wing rib. The upper arm section skin (4) is a flexible skin, which is fixed to the edge of the vertical sheet structure of the wing rib in the in-surface.

3. The biomimetic wing with three-segment coordinated deformation according to claim 2, characterized in that, The upper arm front beam (15) is a rod-shaped structure, including an upper upper arm front beam (15-1) and a lower upper arm front beam (15-2). The upper upper arm front beam (15-1) and the lower upper arm front beam (15-2) are symmetrical plate-shaped structures with mounting holes at both ends. Multiple cylinders are evenly distributed on the lower plane of the upper upper arm front beam (15-1), and multiple hollow columns are evenly distributed on the upper plane of the lower upper arm front beam (15-2). The cylinders of the upper upper arm front beam (15-1) are inserted into the hollow columns of the lower upper arm front beam (15-2).

4. The biomimetic wing with three-segment coordinated deformation according to claim 2, characterized in that, The upper arm section rear beam (18) is a bent part, divided into a straight part and a bent part. The ratio of the straight part to the bent part is 3:1, and the bending angle is 125°. One end is provided with a connection hole for mounting and fixing plate (1), and the other end is provided with a connection hole for front arm section rear beam (19). A connection hole for front arm section cooperating link (21) is provided at the bend. The upper arm section rear beam (18) includes upper upper arm section rear beam (18-1) and lower upper arm section rear beam (18-2). The upper upper arm section rear beam (18-1) and the lower upper arm section rear beam (18-2) are symmetrical plate structures. Multiple cylindrical columns are evenly distributed on the lower plane of the straight rod section of the upper arm rear beam (18-1), and multiple hollow columns are evenly distributed on the upper plane of the straight rod section of the lower arm rear beam (18-2). The cylindrical columns of the upper arm rear beam (18-1) are inserted into the hollow columns of the lower arm rear beam (18-2).

5. The biomimetic wing with three-segment coordinated deformation according to claim 1, characterized in that, The forearm segment includes a forearm segment front beam (16), a forearm segment rear beam (19), a forearm segment coordinating link (21), 7 wing ribs one (24), 2 wing ribs two (25), 1 wing rib three (26), 1 wing rib four (27), 12 inner segment bionic feathers (11), and a forearm segment skin (5); the forearm segment skin (5) is a flexible skin, with its inner edge connected to the outer edge of the upper arm segment skin (4), and its surface fixed to the edge of the vertical surface of the wing ribs; the elbow joint link (22), the forearm segment front beam (16), the forearm segment rear beam (19), and the inner link (23-1) of the hand wing segment are connected by a shaft. The forearm section cooperating link (21), the forearm section rear beam (19), the upper arm section rear beam (18), and the hand wing section rear beam (20) are connected by a shaft, which also constitutes a parallelogram mechanism. Wing rib one (24), wing rib two (25), wing rib three (26), and wing rib four (27) each have two through holes at the front and rear, a mounting hole at the front end of the wing rib, and a mounting hole at the rear end of the wing rib. The mounting hole at the front end of the wing rib passes through the hollow column distributed along the span of the lower layer (16-2) of the forearm section front beam, and the mounting hole at the rear end of the wing rib passes through the hollow column distributed along the span of the lower layer (19-2) of the forearm section rear beam. The inner section bionic feather (11) is inserted into the slit of the cylindrical rear end of the wing rib and fixedly connected to the wing rib.

6. The biomimetic wing with three-segment coordinated deformation according to claim 5, characterized in that, The forearm segment front beam (16), forearm segment rear beam (19), and forearm segment cooperating link (21) are all rod-shaped structures. The forearm segment front beam (16) includes an upper layer (16-1) and a lower layer (16-2) of the forearm segment front beam, which are symmetrical to each other. The hollow columns distributed along the span of the lower layer (16-2) of the forearm segment front beam pass through the through holes at the front end of the ribs to form a shaft connection. The cylindrical columns distributed along the span of the upper layer (16-1) of the forearm segment front beam are inserted into the corresponding hollow columns of the lower layer (16-2) of the forearm segment front beam. The forearm segment rear beam ( 19) includes the upper layer (19-1) and the lower layer (19-2) of the forearm section rear beam, which are symmetrical structures. The hollow columns distributed along the longitudinal direction of the lower layer (19-2) of the forearm section rear beam pass through the through holes at the rear end of the wing rib to form a shaft connection. The cylindrical columns distributed along the longitudinal direction of the upper layer (19-1) of the forearm section rear beam are inserted into the corresponding hollow columns of the lower layer (19-2) of the forearm section rear beam. The forearm section cooperating link (21) includes the upper layer (21-1) and the lower layer (21-2) of the forearm section cooperating link, which are symmetrical structures.

7. The biomimetic wing with three-segment coordinated deformation according to claim 1, characterized in that, The hand wing segment includes a front spar (17), a rear spar (20), an inner connecting rod (23-1), an outer connecting rod (23-2), three wing ribs (24), one wing rib (26), seven wing ribs (28), one wingtip leading edge bionic feather (9), five wingtip bionic feathers (10), six inner section bionic feathers (11), an elastic connecting rope (29), an inner section skin (6), a wingtip leading edge skin (7), and a wingtip skin (8); the hand wing segment can be divided into an inner section and a wingtip. Partial; the inner section skin (6) of the hand wing segment is a flexible skin, with its inner edge connected to the outer edge of the forearm section skin (5), and its surface is fixed to the edge of the vertical surface of the wing rib; the leading edge skin (7) of the hand wing segment is a hard skin, and its surface is fixed to the leading edge vertical surface of the upper layer (17-1) of the hand wing segment front sparsity distributed in the spanwise direction; the wingtip skin (8) of the hand wing segment is a flexible skin, with its edges connected to the outer edge of the inner section skin (6) of the hand wing segment and the edge of the leading edge skin (7) of the hand wing segment respectively; the inner section bionic feather (11) is inserted into the cylindrical slit at the rear end of the wing rib and fixed to the wing rib. During the assembly of the wingtip section, wing rib 5a (28-1) is fixedly connected to the front beam (17) of the hand wing section and is in the same direction. The front and rear ends of the innermost wing rib 5b (28-2) are connected to the hollow column shaft of the lower layer of the front and rear beams of the hand wing section. The front through holes of the remaining wing ribs 5b (28-2) pass through the hollow column of the lower layer (17-2) of the hand wing section to form a shaft connection. The rear through holes of wing rib 5 (28) are connected by elastic connecting rope (29). The wingtip leading edge bionic feather (9), wingtip bionic feather (10) and inner section bionic feather (11) are inserted into the slit of the rear cylindrical part of the wing rib and fixedly connected to the wing rib.

8. The biomimetic wing with three-segment coordinated deformation according to claim 7, characterized in that, The front beam (17) of the hand wing section is a rod-shaped structure, including the upper layer (17-1) and the lower layer (17-2) of the front beam, which are symmetrical to each other. The hollow columns distributed along the span of the lower layer (17-2) of the front beam pass through the through holes at the front end of the wing rib to form a shaft connection. The cylindrical columns distributed along the span of the inner section of the upper layer (17-1) of the front beam are inserted into the corresponding hollow columns of the lower layer (17-2) of the front beam.

9. The biomimetic wing with three segments co-deformable as described in claim 7, characterized in that, The rear beam (20) of the hand wing section is a bent part, divided into a straight part and a bent part. The ratio of the straight part to the bent part is 4:1, and the bending angle is 55°. The bent part of the rear beam (20), the outer end of the forearm section rear beam (19), and the rear end of the inner connecting rod (23-1) of the hand wing section are axially connected. The outer end of the bent part of the rear beam (20) of the hand wing section is axially connected to the outer end of the cooperating connecting rod (21) of the forearm section. The rear beam (20) of the hand wing section includes an upper layer (20-1) and a lower layer (20-2) of the rear beam, which are symmetrical to each other. The hollow columns distributed along the span of the lower layer (20-2) of the hand wing section pass through the through holes at the rear end of the wing rib to form an axial connection. The cylindrical columns distributed along the span of the upper layer (20-1) of the hand wing section are inserted into the corresponding hollow columns of the lower layer (20-2) of the hand wing section.

10. The biomimetic wing with three-segment coordinated deformation according to claim 7, characterized in that, The inner connecting rod (23-1) and outer connecting rod (23-2) of the hand wing segment are integral rods. The front end has a plate-like structure shaped like the leading edge of an airfoil, and the middle part has a plate-like structure shaped like the middle section of an airfoil. Vertical mounting holes are present at the front and rear notches for mounting the wing spars. Circular notches exist on the plate-like structures to reduce weight. A chordal cylinder with slits is located at the rear end for securing the biomimetic feathers.

11. The working method of the three-segment cooperatively deformable biomimetic wing according to any one of claims 1-10, characterized in that, When the wing retracts from its extended state, the drive motor (3) rotates, causing the gear (13) to rotate. Since the gear (13) meshes with the rack and pinion (14), the rack and pinion (14) slides inward along the guide rail (2). The rack and pinion (14) is axially connected to the through hole in the middle of the upper layer (19-1) of the forearm section rear beam. The rack and pinion (14), the forearm section rear beam (19), and the straight rod part of the upper arm section rear beam (18) form a triangle. Under the pull of the rack and pinion (14), the triangular structure contracts, and the upper arm section rear beam... (18) Rotation occurs at the connection between the straight rod section and the rear beam (19) of the forearm section, and the included angle decreases, causing the parallelogram of the upper arm section to undergo backward deformation and the parallelogram of the forearm section to undergo forward deformation; the included angle at the connection between the straight rod section of the rear beam (18) of the upper arm section and the rear beam (19) of the forearm section decreases, and at the same time, the included angle between the bent part of the extended rear beam (18) of the upper arm section and the rear beam (19) of the forearm section increases, causing the bent parts of the rear beam (19) of the forearm section, the cooperating link (21) of the forearm section, the rear beam (18) of the upper arm section and the rear beam (20) of the hand wing section to bend. The parallelogram formed by the segments deforms, causing the angle between the bent part of the hand wing segment rear beam (20) and the forearm segment rear beam (19) to decrease, and the angle between the inner connecting rod (23-1) of the hand wing segment and the straight part of the hand wing segment rear beam (20) to increase, resulting in a sweeping deformation of the parallelogram of the hand wing segment; under the drive of the motor, the wing structure is pulled by the rack and pinion rod (14) to complete the coordinated biomimetic deformation of the three parallelogram mechanisms; the wing rib five a (28-1) is fixedly connected to the hand wing segment front beam (17), and the innermost wing rib five b (28-2) is connected to the hand wing segment front beam (17). The parallelogram-shaped wing section moves with the chord direction at all times. When the wing extends, the angle between wing rib 5a (28-1) and the innermost wing rib 5b (28-2) is large, causing the elastic connecting rope (29) to be in a stretched state, and the five wing ribs 5b (28-2) in the middle to be in an unfolded fan-shaped state. When the wing retracts, wing rib 5a (28-1) sweeps back with the front spars of the wing section, and the angle between it and the innermost wing rib 5b (28-2) becomes smaller. The elastic connecting rope (29) contracts, causing the five wing ribs 5b (28-2) in the middle to be in a retracted fan-shaped state.

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