Water-air compatible bionic foldable wing

Abstract

The invention provides a water-air compatible bionic foldable wing, which belongs to the technical field of aircraft design and comprises a wing attitude adjusting assembly, a folding and unfolding screw rod device, a folding and unfolding connecting rod mechanism, a bionic wing type framework, a waterproof film and bionic feathers. The wing posture adjusting assembly is achieved through a pitching motor and a flapping motor, and folding and unfolding movement of the wings is achieved through a folding and unfolding lead screw device and a folding and unfolding connecting rod mechanism. The bionic airfoil framework simulates the structure of a real bird wing, and can rotate relatively along with the connecting rod in the folding and unfolding process through being hinged with the folding and unfolding connecting rod. The folding and unfolding movement of the wings restores the movement of the wings of the birds to a higher extent, and the skins of the wings enable the wings to be compatible with an air medium and a water medium. The multi-degree-of-freedom motion of the wings enables the wings to realize various motions similar to birds, including unfolding the wings in the upward flapping process, folding the wings in the downward flapping process, keeping a constant wing folding and unfolding angle in the upward flapping and downward flapping processes and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft design, and particularly relates to a water-air compatible bionic foldable wing. BACKGROUND

[0002] Birds constantly adjust the shape and posture of their wings during flight according to wind speed, wind direction and flight purpose. The sea bird, particularly the guillemot, is unique in that it can move in both air and water. The most important change in its wings is that they are unfolded in the air and folded in the water.

[0003] The design of bionic aircraft aims to simulate biological mechanisms to achieve optimal adaptability and propulsion efficiency. In order to enable the aircraft to smoothly transition and continuously navigate in two environments with different properties, air and water, the wings of the aircraft must have high flexibility and adaptability. It is particularly important to provide multiple degrees of freedom for the movement of the wings in this context.

[0004] The foldable wing design can improve the aerodynamic efficiency and maneuverability of the aircraft in the air, and can be completely folded underwater to reduce the drag of the aircraft. In addition, similar to the multi-degree-of-freedom movement of bird wings, the stealth of the aircraft is also improved, which has high military application value, and is not easy to interfere with the biology when monitoring the environment and studying animals.

[0005] Through the search of the prior art documents, it is found that:

[0006] Chinese Patent Publication No. CN206734623U, published on December 12, 2017, entitled "Bionic Wing Driving Mechanism, Bionic Wing and Bionic Aircraft", discloses a bionic wing driving mechanism composed of a multi-four-bar mechanism, which relies on the telescopic deformation of the four-bar mechanism to change the size of the wing area. However, the corresponding wing skeleton structure is not given, and the ball joint introduced by the link movement has high requirements for processing and assembly precision.

[0007] Chinese Patent Publication No. CN117885887B, published on May 14, 2024, entitled "Fold and Twist Coupled Bionic Wing and Bionic Aircraft", discloses a bionic wing that couples folding motion and twisting motion, which realizes the design of the wing by three-section space quadrilaterals, girders and wing ribs fixed on the main skeleton of the wing, and can use an abutting piece to increase the wind resistance of the folded wing. However, the change in attack angle relies on the twisting motion, and the twisting motion is coupled with the folding motion, so that the attack angle cannot be controlled autonomously.

[0008] Chinese patent publication No. CN108482627A, published on September 4, 2018, entitled "An underwater flapping wing propulsion device imitating manta ray". This patent discloses a flapping wing for underwater propulsion, which can be used for sliding in water. It selects NACA airfoil as its wing spar, and sets up two degrees of freedom of flapping and pitching at the root of the wing. It is driven by imitating the movement of paired pectoral fins of fish, and has the characteristics of low noise and high propulsion efficiency. However, the wing cannot be folded, which limits its application range and flexibility, and no specific underwater skin mode of the wing is proposed, and the wing cannot be applied to aerial vehicles.

[0009] Chinese patent publication No. CN108945431A, published on December 7, 2018, entitled "Foldable wings of flapping wing vehicle imitating birds and bats". This patent discloses a foldable wing of flapping wing vehicle, which produces folding in the spanwise plane during flapping up and down. The disadvantage is that the wing cannot maintain the unfolded state for flapping, and the complete folding flapping cannot be automatically realized. SUMMARY

[0010] On the basis of analyzing the existing cross-medium aircraft and single-medium aircraft, the present application designs a water-air compatible bionic foldable wing. By decoupling the degrees of freedom of the wing's own movement, the problem of single wing movement control and the inability to effectively cope with complex scenes can be effectively solved.

[0011] To achieve the above-mentioned target function, the present application adopts the following technical scheme: a water-air compatible bionic foldable wing decouples the two degrees of freedom of flapping and folding, comprising:

[0012] A wing attitude adjustment assembly is installed on both sides of the fuselage. The attack angle of the wing during movement is controlled by the pitch motor, thereby changing the lift and thrust of the wing. The flapping motor generates flight power;

[0013] A folding lead screw device is installed on the wing attitude adjustment assembly. The wing folding movement is realized by the lead screw drive motor;

[0014] A folding linkage mechanism is connected with the folding lead screw device. The folding linkage mechanism includes three regional linkages, which imitate the humerus, wrist bone and hand bone of bird wings, and are divided into first regional linkage, second regional linkage and third regional linkage. A parallelogram linkage mechanism is used in each region. The first regional linkage is connected with the folding lead screw device, the second regional linkage is connected with the first regional linkage, and the third regional linkage is connected with the second regional linkage. The complete unfolding and folding movement of the wing is realized;

[0015] A bionic airfoil skeleton is installed on the folding linkage mechanism and moves under the driving of the folding linkage mechanism.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] (1) The folding and unfolding mechanism designed in the present application adopts a parallelogram linkage mechanism, which can realize passive movement of the wing skeleton with the movement of the parallelogram mechanism, so that the bionic wing skeleton can maintain a suitable angle to ensure the generation of lift.

[0018] (2) The present application decouples the flapping and folding two degrees of freedom through the design of the flapping motor and the screw rod driving motor, and can realize flexible control of the wing movement, including unfolding the wing at the end of the up-flapping stroke or the beginning of the down-flapping stroke, folding the wing at the end of the down-flapping stroke or the beginning of the up-flapping stroke, increasing the wing area during down-flapping to increase the generated lift and reducing the negative lift caused by the large wing area during up-flapping, and maintaining a constant wing folding angle during the up-flapping and down-flapping processes.

[0019] (3) The present application introduces the pitch degree of freedom through the pitch motor by imitating the movement of birds, which can actively control the angle of attack of the wing during the movement to generate the required appropriate lift to cope with different flight or navigation scenarios. For example, it can realize the wing flapping of a guillemot underwater: the wing is completely folded, and the flapping and pitching movements are sinusoidal movements with the same frequency and amplitude but different phases. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the present application.

[0021] Figure 2 is a schematic diagram of the wing posture adjusting assembly;

[0022] Figure 3 is a schematic diagram of the folding and unfolding screw rod device;

[0023] Figure 4 is a schematic diagram of the folding and unfolding linkage mechanism, wherein (a) is a schematic diagram of the principle of the folding and unfolding movement of the mechanism; (b) is a schematic diagram of the folding and unfolding linkage mechanism; (c) is a schematic diagram of the comparison between the guillemot wing skeleton and the folding and unfolding mechanism;

[0024] Figure 5 is a schematic diagram of the bionic wing skeleton, (a) is a diagram of the wing in a fully unfolded state; (b) is a diagram of the wing in a fully folded state;

[0025] Figure 6 is a schematic diagram of the skeleton and linkage connection installation;

[0026] Figure 7 is a schematic diagram of the wing film.

[0027] Figure mark name: 1. Wing posture adjustment assembly, 2. Folding screw device, 3. Wing, 4. Bionic feather, 1-1. Base, 1-2. Pitch motor, 1-3. Motor connecting plate, 1-4. Flapping motor, 1-5. Motor rudder, 1-6. Screw fixed connection support, 1-7. Tenon, 2-1. Connecting rod fixed support, 2-2. Screw nut, 2-3. Connecting rod sliding support, 2-4. Screw rod, 2-5. Screw rod fixed seat, 2-6. Coupling, 2-7. Screw rod drive motor, 2-8. Screw rod drive motor fixed support, 2-9. Screw rod fixing frame, 3-1. First area No. 1 connecting rod, 3-2. First area No. 2 connecting rod, 3-3. Second area No. 1 connecting rod, 3-4. Second area No. 2 connecting rod, 3-5. Third area No. 1 connecting rod, 3-6. Third area No. 2 connecting rod, 3-7. Auxiliary connecting rod, 3-8. Third area No. 3 connecting rod, 3-9. Second area No. 3 connecting rod, 3-10. First area No. 4 connecting rod, 3-11. First area No. 1 wing skeleton, 3-12. First area No. 2 wing skeleton, 3-13. First area No. 3 wing skeleton, 3-14. Second area No. 1 wing skeleton, 3-15. Second area No. 2 wing skeleton, 3-16. Second area No. 3 wing skeleton, 3-17. Second area No. 4 wing skeleton, 3-18. Second area No. 5 wing skeleton, 3-19. Third area No. 1 wing skeleton, 3-20. Third area No. 2 wing skeleton, 3-21. Third area No. 3 wing skeleton, 3-22. Third area No. 4 wing skeleton, 3-23. Third area No. 5 wing skeleton, 3-24. Bionic wing skeleton, 3-24A. Hinge fixed seat, 3-24B. Hinge fixed seat, 3-26. Waterproof film. DETAILED DESCRIPTION

[0028] The application will be further described below in conjunction with the drawings and examples.

[0029] As Figure 1 shown, a water-air compatible bionic foldable wing includes: a wing posture adjustment assembly 1, a folding screw device 2, a folding connecting rod mechanism 3-25, a bionic wing skeleton 3-24, a waterproof film 3-26, and a bionic feather 4.

[0030] As Figure 2As shown, the wing posture adjusting assembly 1 includes a pitch motor 1-2, a flapping motor 1-4 and a connecting member; the connecting member includes a motor connecting plate 1-3, a motor rudder 1-5, a screw rod fixed connecting support 1-6 and a tenon 1-7; the pitch motor 1-2 and the flapping motor 1-4 are connected through the threaded holes of the motors themselves with the help of the motor connecting plate 1-3, the base 1-1 is provided with the pitch motor 1-2, the output shaft of the pitch motor 1-2 is fixedly connected with the motor connecting plate 1-3, the motor connecting plate 1-3 is fixedly provided with the flapping motor 1-4, the output shaft of the flapping motor 1-4 is fixedly connected with the motor rudder 1-5; the screw rod fixed connecting support 1-6 and the motor rudder 1-5 are fixedly connected through the mortise and tenon connection, that is, the screw rod fixed connecting support 1-6 is first inserted into the hole of the motor rudder 1-5, and then the tenon 1-7 is inserted into the mortise eye of the screw rod fixed connecting support 1-6. The screw rod fixed connecting support 1-6 and the screw rod fixed frame 2-9 are fixedly connected through bolts. The pitch motor 1-2 and the flapping motor 1-4 are both waterproof motors. Through the pitch motor, the pitch degree of freedom is introduced, the attack angle of the wing in the movement process can be actively controlled, and the required appropriate lift and thrust can be generated to cope with different flight or navigation scenes.

[0031] As shown in Figure 3 , the folding and unfolding screw rod device 2 includes a screw rod 2-4, a screw rod nut 2-2, a screw rod fixed frame 2-9, a screw rod drive motor 2-7, a screw rod drive motor fixed support 2-8, a connecting rod fixed support 2-1 and a connecting rod sliding support 2-3. The two connecting rod fixed supports 2-1, the screw rod fixed seat 2-5 and the screw rod drive motor fixed support 2-8 are fixedly connected to the screw rod fixed frame 2-9 through bolts, thereby supporting the screw rod 2-4 and the screw rod drive motor 2-7. The screw rod drive motor 2-7 is fixed on the screw rod drive motor fixed support 2-8, the output shaft of the screw rod drive motor 2-7 is fixedly connected with the screw rod 2-4, and the two ends of the screw rod 2-4 are rotatably connected with the screw rod fixed seat 2-5 and the connecting rod fixed support 2-1 respectively; the screw rod nut 2-2 cooperates with the screw rod 2-4, and the screw rod nut 2-2 and the connecting rod sliding support 2-3 are connected through bolts. The connecting rod sliding support 2-3 is slidingly installed in the slot on the screw rod fixed frame 2-9. The motor shaft of the screw rod drive motor 2-7 rotates, power is transmitted to the screw rod 2-4 through the coupling 2-6, thereby driving the screw rod nut 2-2 and the connecting rod sliding support 2-3 on the screw rod to move.

[0032] As shown in Figure 4As shown in (b), the folding linkage mechanism 3-25 consists of three regions of links, mimicking the humerus, carpal bones, and hand bones of a bird's wing. These are divided into three regions: Region 1 Link 3-1, Region 1 Link 3-2, Region 1 Link 3-9, Region 1 Link 3-10; Region 2 Link 1 Link 3-3, Region 2 Link 3-4, Region 2 Link 3-8; Region 3 1 Link 3-5, Region 3 2 Link 3-6; and auxiliary link 3-7. Auxiliary link 3-7 is only used to illustrate the linkage's motion principle; in this example, it is replaced by hinge seats 3-24A and 3-24B of a biomimetic airfoil frame. Each region's links are constructed in two layers to improve the stiffness of the wing 3 and prevent interference with the airfoil frame 3-24.

[0033] Link 3-1 of the first region and link 3-2 of the first region are respectively hinged to two link fixed supports 2-1. One end of link 3-10 of the first region is hinged to link sliding seat 2-3, and the other end of link 3-10 of the first region is hinged to link 3-2 of the first region. Link 3-10 of the first region moves with the sliding seat 2-3 of the link and transmits the motion to the entire linkage device, realizing the unfolding of the linkage mechanism. One end of the first link 3-3 in the second region is hinged to the first link 3-1 in the first region, and the other end of the first link 3-3 in the second region is hinged to the first link 3-5 in the third region; one end of the second link 3-4 in the second region is hinged to the second link 3-2 in the first region, and the other end of the second link 3-4 in the second region is hinged to one end of the second link 3-6 in the third region; one end of the third link 3-9 in the first region is hinged to the middle of the fourth link 3-10 in the first region, and the other end of the third link 3-9 in the first region is hinged to one end of the third link 3-8 in the second region, the end of the second link 3-2 in the first region is hinged to the middle of the third link 3-8 in the second region, and the other end of the third link 3-8 in the second region is hinged to the second link 3-6 in the third region. The hinge points of the first link 3-1 in the first region and the first link 3-3 in the second region, and the hinge points of the second link 3-2 in the first region and the second link 3-4 in the second region, are hinged together by the auxiliary link 3-7; the hinge points of the first link 3-3 in the second region and the first link 3-5 in the third region, and the hinge points of the second link 3-4 in the second region and the second link 3-6 in the third region, are hinged together by the auxiliary link 3-7; the hinge points of the third link 3-8 in the second region and the second link 3-6 in the third region, and the first link 3-5 in the third region, are hinged together by the auxiliary link 3-7. Links 3-1 (first zone), 3-2 (second zone), 3-9 (third zone), 3-5 (first zone), and 3-6 (second zone) are parallel to each other during movement; Link 3-10 (fourth zone), 3-3 (first zone), 3-4 (second zone), and 3-8 (third zone) are parallel to each other during movement.

[0034] Figure 4 (a) shows the kinematic diagram of the folding and unfolding linkage 3-25. The lengths of the links 3-1, 3-3, 3-6 are defined as , the distance of the link 3-2 from the base to the first joint is , the distance of the link 3-10 from the joint with the link 3-9 to the joint with the link 3-2 is , the actual length of the link region, the length of the fully folded state and the length of the fully unfolded state are defined as , the ratio measuring the folding and unfolding degree of the mechanism can be obtained as .

[0035] (1);

[0036] As shown in (a) of FIG. 9, Figure 4 , d is the distance between the fixed support 2-1 and the link sliding support 2-3.

[0037] Figure 4 (c) shows the comparison of the albatross wing skeleton and the designed folding and unfolding mechanism. The three-region links used correspond to the humerus, ulna and hand bones of the albatross wing, and the actual link sizes (corresponding to links 3-1, 3-3, 3-5) and the biological bone sizes are also kept close to each other, to imitate the albatross wing form with high fidelity.

[0038] As shown in FIG. 10, Figure 6 , the bionic airfoil skeleton 3-24 uses a low Reynolds number airfoil, specifically a CLARK YM18 airfoil, which conforms to the actual bird wing situation, and each bionic airfoil skeleton 3-24 includes an airfoil skeleton and fixed hinge seats 3-24A and 3-24B fixed thereon. And the bionic airfoil skeleton 3-24 is also provided with corresponding three regions according to the division of the link region, which are three first region airfoil skeletons, five second region airfoil skeletons, and five third region airfoil skeletons. Specifically, the first region airfoil skeletons are No. 1 first region airfoil skeleton 3-11, No. 2 first region airfoil skeleton 3-12, and No. 3 first region airfoil skeleton 3-13; the second region airfoil skeletons are No. 1 second region airfoil skeleton 3-14, No. 2 second region airfoil skeleton 3-15, No. 3 second region airfoil skeleton 3-16, No. 4 second region airfoil skeleton 3-17, and No. 5 second region airfoil skeleton 3-18; and the third region airfoil skeletons are No. 1 third region airfoil skeleton 3-19, No. 2 third region airfoil skeleton 3-20, No. 3 third region airfoil skeleton 3-21, No. 4 third region airfoil skeleton 3-22, and No. 5 third region airfoil skeleton 3-23.

[0039] The link of the folding and unfolding linkage mechanism 3-25 is provided with a small hole or a sliding slot, and each bionic airfoil skeleton 3-24 is hingedly connected to the link of the folding and unfolding linkage mechanism 3-25 through a hinge fixing seat one 3-24A and a hinge fixing seat two 3-24B. During the movement of the folding and unfolding linkage mechanism 3-25, the bionic airfoil skeleton 3-24 also moves.

[0040] The movement mode of the bionic airfoil skeleton along with the link can be adjusted by adjusting the relative sizes of the two hinge fixing seats on the bionic airfoil skeleton. In order to simulate the movement of an actual bird, the relative sizes of the two hinge fixing seats increase with the increase of the distance between the airfoil skeleton and the wing root.

[0041] 1) The relative sizes of the first and second regions and the hole distance of the link 3-7 hinge hole are consistent, so that the bionic airfoil skeletons of the first and second regions always remain parallel to the screw fixed frame 2-9 during the movement of the link. The first region link and the second region link of the folding and unfolding linkage mechanism 3-25 are provided with small holes.

[0042] 2) The relative sizes of the two hinge fixing seats of the third region bionic airfoil skeleton are greater than the hole distance of the link 3-7 hinge hole, and the sizes increase with the increase of the distance between the airfoil skeleton and the wing root. This design can make the third region bionic airfoil skeleton rotate relative to the screw fixed frame 2-9 during the movement of the link, thereby simulating the actual folding and unfolding movement of the bird's wing, and the feathers also synchronously complete folding and unfolding with the skeleton. The third region No. 1 link 3-5 is provided with a small hole, and the airfoil skeleton rotates around the hole during the folding and unfolding of the wing. The third region No. 2 link 3-6 is provided with a sliding slot, which can limit the rotation range of the airfoil skeleton within the sliding slot, as shown in Figure 5 (a) and Figure 5 (b).

[0043] The bionic airfoil skeleton 3-24 is also provided with a waterproof film 3-26. The waterproof film 3-26 is made of silicone according to the size of the fully unfolded wing 3. During use, the waterproof film 3-26 is directly sleeved on the wing 3, and the opening of the waterproof film 3-26 is closed by waterproof glue. During the folding process, the silicone itself has good ductility, which will not bring too much resistance and will not cause the rupture of the skin. At the same time, the thickness of the silicone used is extremely thin, which will not bring much load.

[0044] The water-air compatible bionic foldable wing can be applied to various movement modes. By folding one wing and unfolding the other wing, the aircraft can be quickly turned without additional rudders. When used as a flapping wing, the wing can simulate the movement of a sea gull in different media, such as water, where the angle of the pitch motor relative to the base can be adjusted to 135°, and in the air, the angle of the pitch motor 1-2 relative to the base 1-1 can be adjusted to 45°. The bionic foldable wing designed in the application can meet the requirements of the sea gull's wing flapping underwater: completely folded wings, flapping and pitching movements are sinusoidal movements with the same frequency and amplitude but different phases.

[0045] The bionic feathers are made by PS plates based on the size of real biological feathers. When installed, the bionic feathers 4 are attached to the surface of the waterproof film 3-26. The number of bionic feathers is consistent with the number of wing type skeletons, and each bionic feather corresponds to one wing type skeleton. The bionic feathers 4 are attached to the waterproof film 3-26 above the corresponding wing type skeleton to ensure that the movement of the bionic feathers is consistent with the movement of the wing type skeleton.

[0046] The water-air compatible bionic foldable wing has a larger lift coefficient when unfolded and a smaller drag coefficient when folded through simulation and experimental analysis.

[0047] The water-air compatible bionic foldable wing can be applied to various aircraft. When the flapping motor is not used or removed directly, it can be applied to fixed-wing aircraft, fixed-wing vehicles, and fixed-wing trans-media aircraft. By changing the angle of the pitch motor and the wing folding, the direction of the aircraft can be adjusted, but an additional actuator is needed to provide flight power. When the flapping motor is used, it can be applied to flapping-wing aircraft, flapping-wing vehicles, and flapping-wing trans-media aircraft. The flapping motor is used to generate flight power, and the angle of the pitch motor and the wing folding are changed to adjust the direction of the aircraft and improve the propulsion efficiency.

[0048] The technical solutions of the application are not limited to the above specific embodiments, and any technical variations made according to the technical solutions of the application fall within the scope of protection of the application.

Claims

1. A biomimetic foldable wing compatible with both water and air, characterized in that, It decouples the flapping and folding degrees of freedom, including: The wing attitude adjustment assembly (1) is installed on both sides of the fuselage. The pitch motor (1-2) controls the angle of attack of the wing during the movement, thereby changing the lift thrust of the wing. The flapping motor (1-4) generates flight power. The folding and unfolding screw device (2) is installed on the wing attitude adjustment assembly (1) and realizes the wing folding and unfolding movement by driving the motor (2-7) through the screw. The folding linkage mechanism (3-25) is connected to the folding screw device (2). The folding linkage mechanism (3-25) includes three-area linkages, which imitate the humerus, carpal bones, and hand bones of a bird's wing. They are divided into a first-area linkage, a second-area linkage, and a third-area linkage. Each area uses a parallelogram linkage mechanism. The first-area linkage is connected to the folding screw device (2), the second-area linkage is connected to the first-area linkage, and the third-area linkage is connected to the second-area linkage. This enables the wing to fully unfold and fully fold. The biomimetic airfoil frame (3-24) is mounted on the folding linkage mechanism (3-25) and moves under the drive of the folding linkage mechanism (3-25).

2. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The length of the link in the first region is: The second region link is The third region link is The actual length of the link region is defined as Length of fully folded And the length of the fully unfolded part is This yields a ratio that measures the degree of institutional expansion. : ； d is the distance between the fixed support (2-1) and the sliding support (2-3) of the connecting rod in the folding screw device (2).

3. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The wing attitude adjustment assembly (1) includes a pitch motor (1-2), a flapping motor (1-4), and connecting components; the connecting components include: a motor connecting plate (1-3), a motor rudder disk (1-5), and a lead screw fixed connection support (1-6); a pitch motor (1-2) is installed on a base (1-1), the output shaft of the pitch motor (1-2) is fixedly connected to the motor connecting plate (1-3), a flapping motor (1-4) is fixedly installed on the motor connecting plate (1-3), and the output shaft of the flapping motor (1-4) is fixedly connected to the motor rudder disk (1-5); the lead screw fixed connection support (1-6) is fixed to the motor rudder disk (1-5), and the lead screw fixed connection support (1-6) is used to install the folding lead screw device (2).

4. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The folding and unfolding lead screw device (2) includes a lead screw (2-4), a lead screw nut (2-2), a lead screw fixing frame (2-9), a lead screw drive motor (2-7), a lead screw drive motor fixing support (2-8), a connecting rod fixing support (2-1), and a connecting rod sliding support (2-3); the two connecting rod fixing supports (2-1), the lead screw fixing support (2-5), and the lead screw drive motor fixing support (2-8) are all fixed on the lead screw fixing frame (2-9), thereby supporting the lead screw (2-4) and the lead screw drive motor (2-7); the lead screw drive motor (2-7) is fixed on the lead screw drive motor fixing support (2-8), and the lead screw drive motor... The output shaft of the machine (2-7) is fixedly connected to the lead screw (2-4). The two ends of the lead screw (2-4) are rotatably connected to the lead screw fixing seat (2-5) and the connecting rod fixing support (2-1) respectively. The lead screw nut (2-2) is engaged with the lead screw (2-4). The lead screw nut (2-2) is fixedly connected to the connecting rod sliding support (2-3). The connecting rod sliding support (2-3) is slidably installed on the slotted part of the lead screw fixing frame (2-9). The motor shaft of the lead screw drive motor (2-7) rotates and transmits power to the lead screw (2-4) through the coupling (2-6), thereby driving the lead screw nut (2-2) and the connecting rod sliding support (2-3) on the lead screw to move.

5. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The three-zone linkage consists of Zone 1 Link 1 (3-1), Zone 1 Link 2 (3-2), Zone 1 Link 3 (3-9), Zone 1 Link 4 (3-10), Zone 2 Link 1 (3-3), Zone 2 Link 2 (3-4), Zone 2 Link 3 (3-8), Zone 3 Link 1 (3-5), Zone 3 Link 2 (3-6), and Auxiliary Link (3-7). Zone 1 Link 1 (3-1) and Zone 1 Link 2 (3-2) are hinged to two link fixed supports (2-1) respectively. One end of Zone 1 Link 4 (3-10) is hinged to the link sliding seat (2-3), and the other end of Zone 1 Link 4 (3-10) is hinged to... In the first region, link 2 (3-2) is hinged, and link 4 (3-10) in the first region moves with the sliding seat (2-3) of the link and transmits the motion to the entire linkage mechanism, realizing the unfolding of the linkage mechanism; one end of link 1 (3-3) in the second region is hinged to link 1 (3-1) in the first region, and the other end of link 1 (3-3) in the second region is hinged to link 1 (3-5) in the third region; one end of link 2 (3-4) in the second region is hinged to link 2 (3-2) in the first region, and the other end of link 2 (3-4) in the second region is hinged to one end of link 2 (3-6) in the third region; one end of link 3 (3-9) in the first region is connected to link 4 (3-10) in the first region. The middle section is hinged. The other end of the third link (3-9) in the first region is hinged to one end of the third link (3-8) in the second region. The end of the second link (3-2) in the first region is hinged to the third link (3-8) in the second region. The other end of the third link (3-8) in the second region is hinged to the second link (3-6) in the third region. The hinge point between the first link (3-1) in the first region and the first link (3-3) in the second region, and the hinge point between the second link (3-2) in the first region and the second link (3-4) in the second region, are hinged together by an auxiliary link (3-7). The hinge point between the first link (3-3) in the second region and the first link (3-5) in the third region, and the hinge point between the second link (3-4) in the second region and the third link (3-5) in the third region, are hinged together by an auxiliary link (3-7). The hinge points of the second link (3-6) in the third region are hinged together by the auxiliary link (3-7); the hinge points of the third link (3-8) in the second region and the second link (3-6) in the third region are hinged together with the first link (3-5) in the third region by the auxiliary link (3-7); the first link (3-1), the second link (3-2), the third link (3-9), the first link (3-5), and the second link (3-6) in the first region are parallel to each other during movement; the fourth link (3-10) in the first region, the first link (3-3), the second link (3-4), and the third link (3-8) in the second region are parallel to each other during movement.

6. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The bionic airfoil frame (3-24) is a low Reynolds number airfoil. Each bionic airfoil frame (3-24) is connected to the folding linkage mechanism (3-25) through hinge fixing seat one (3-24A) and hinge fixing seat two (3-24B). During the movement of the folding linkage mechanism (3-25), the bionic airfoil frame (3-24) will also move accordingly. The bionic airfoil frame (3-24) includes 3 first-region airfoil frames, 5 second-region airfoil frames, and 5 third-region airfoil frames.

7. The water- and air-compatible biomimetic deployable wing according to claim 5, characterized in that, In order to mimic the movement of actual birds, the relative dimensions between hinge fixing seat one (3-24A) and hinge fixing seat two (3-24B) increase with the increase of the distance between the bionic airfoil frame (3-24) and the root of the wing; 1) The relative dimensions between the first and second region hinge fixing seats 1 (3-24A) and the second region hinge fixing seat 2 (3-24B) and the hole spacing of the hinge holes of the auxiliary connecting rod (3-7) are consistent, so that the bionic airfoil skeleton of the first and second regions always remains parallel to the lead screw fixing frame (2-9) during the movement of the connecting rod. Holes are provided on the first and second region connecting rods of the folding connecting rod mechanism (3-25); 2) The relative dimensions of the two hinge fixing seats of the third region bionic airfoil skeleton must be larger than the hinge hole spacing of the connecting rod (3-7), and this dimension will increase as the distance between the airfoil skeleton and the root of the wing increases; so that the third region bionic airfoil skeleton rotates relative to the lead screw fixing frame (2-9) when the connecting rod moves, thereby imitating the actual folding and unfolding movement of bird wings.

8. The water- and air-compatible biomimetic deployable wing according to claim 7, characterized in that, The first link (3-5) in the third region has a hole, and the bionic airfoil skeleton rotates around the hole during the wing folding process; the second link (3-6) in the third region has a groove, which restricts the rotation range of the bionic airfoil skeleton within the groove.

9. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The bionic foldable wing also includes a waterproof membrane (3-26); the waterproof membrane (3-26) is made of silicone according to the size of the fully unfolded wing (3), and the waterproof membrane (3-26) is directly put on the wing when in use; the bionic foldable wing also includes bionic feathers (4), the raw feathers are made proportionally based on the size of real animal feathers using PS plates, and the bionic feathers (4) are attached to the surface of the waterproof membrane (3-26) when installed.

10. The water- and air-compatible biomimetic deployable wing according to claim 1, characterized in that, The movement modes of an aircraft wing include: In the air, the wings are deployed at the end of the upward flight or the beginning of the downward flight; the wings are folded at the end of the downward flight or the beginning of the upward flight; this increases the wing area during the downward flight, thereby increasing the lift thrust generated, and reduces the negative lift thrust generated by the large wing area during the upward flight; a constant wing folding angle is maintained during the upward and downward flight. In water, with the wings fully folded, the flapping and pitching motions maintain the same frequency and amplitude as sinusoidal motions, but with different phases. One wing is folded while the other is unfolded, which is used to enable the aircraft to turn.

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