Winged biohybrid morphing wing structure

Abstract

The application provides a winged biological mixed variable wing structure, which comprises a first four-bar linkage mechanism, a second four-bar linkage mechanism, a third four-bar linkage mechanism, a crank slider mechanism, a gear and rack transmission system, primary flight feathers and secondary flight feathers; the gear and rack transmission system is connected with and drives the crank slider mechanism to move, the crank slider mechanism is connected with and drives the first four-bar linkage mechanism, the second four-bar linkage mechanism and the third four-bar linkage mechanism to move in turn; the second four-bar linkage mechanism is provided with the secondary flight feathers, and the third four-bar linkage mechanism is provided with the primary flight feathers. The application solves the dynamic physical matching problem of the primary flight feathers, the secondary flight feathers and the framework from the bottom logic of kinematics by using single-degree-of-freedom complex truss combined with "boundary condition" underdrive control.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft and biomimetic robot structural design, specifically to a feather-like bio-hybrid deformable wing structure. Background Technology

[0002] Birds in nature exhibit remarkable flight maneuverability and aerodynamic efficiency, primarily due to their highly complex skeletal-feather coupled deformation system. To mimic this characteristic, biomimetic flapping-wing aircraft have become a research hotspot in recent years. However, existing flapping-wing aircraft still face significant limitations in wing and tail deformation control. On one hand, many flapping-wing aircraft use flexible membranes as wing surfaces, which are prone to out-of-plane wrinkling during large flapping or deformation, leading to a significant decrease in aerodynamic efficiency. On the other hand, mechanically replicating the real bird feather system is extremely difficult. The bird skeletal-feather system is a typical underactuated system, relying on an elastic rear wing membrane to achieve coordinated feather expansion and contraction. Existing technologies often struggle to accurately replicate this multi-degree-of-freedom natural dynamic coupling process through mechanical structures within limited mass and space. Simultaneously, tail control often faces nonlinear errors caused by multi-degree-of-freedom motion coupling, making high-precision attitude control difficult. Therefore, there is an urgent need for a structural design that can faithfully reproduce the coordinated and smooth deformation of real bird wings while achieving a high degree of decoupling of tail control. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a feather-like bio-hybrid deformable wing structure.

[0004] According to the present invention, a feather-type bio-hybrid deformable wing structure includes: a first four-bar linkage, a second four-bar linkage, a third four-bar linkage, a crank-slider mechanism, a gear and rack transmission system, primary flight feathers, and secondary flight feathers. The gear and rack transmission system connects to and drives the crank-slider mechanism to move. The crank-slider mechanism sequentially connects to and drives the first four-bar linkage, the second four-bar linkage, and the third four-bar linkage to move. The second four-bar linkage is provided with secondary flight feathers, and the third four-bar linkage is provided with primary flight feathers.

[0005] Preferably, the crank-slider mechanism includes: a second connecting rod, a fixed connecting rod, a first connecting rod, and an active slider; The fixed connecting rod is fixedly installed on the main body. One end of the fixed connecting rod is rotatably connected to one end of the second connecting rod. One end of the first connecting rod is rotatably connected between the two ends of the second connecting rod. The other end of the first connecting rod is rotatably connected to the active slider.

[0006] Preferably, the first four-bar linkage includes: a third connecting rod, a second connecting rod, a bionic humerus, and a first connecting rod; The end of the second connecting rod away from the fixed connecting rod is rotatably connected between the two ends of the third connecting rod, one end of the third connecting rod is rotatably connected between the two ends of the bionic humerus, and one end of the bionic humerus is rotatably connected between the two ends of the first connecting rod.

[0007] Preferably, the second four-bar linkage structure includes: a bionic metacarpal bone, a third connecting rod, a bionic ulna, and a bionic humerus; One end of the bionic metacarpal and carpal bones is rotatably connected between the two ends of the third connecting rod, one end of the bionic ulna is rotatably connected between the two ends of the bionic metacarpal and carpal bones, and the other end of the bionic ulna is rotatably connected to one end of the bionic humerus.

[0008] Preferably, the third and fourth linkage structure includes: a bionic metacarpal and carpal bone, a third connecting rod, a fifth connecting rod, and a fourth connecting rod; One end of the third connecting rod is rotatably connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is rotatably connected to one end of the fifth connecting rod, and one end of the bionic metacarpal and carpal bones is rotatably connected to the fifth connecting rod.

[0009] Preferably, the gear and rack transmission system includes: a rack, a gear, and a metal gear digital servo motor; The metal gear digital servo motor is connected to and drives the gear to rotate. The gear meshes with the rack and drives the rack to move linearly. The rack drives the active slider to move linearly along the guide rail on the main body.

[0010] Preferably, the fifth connecting rod connects to the bionic second phalanx; The primary flight feathers consist of a first primary flight feather, a middle primary flight feather, and a rear primary flight feather arranged in sequence. The first primary flight feather is fixedly supported on the bionic metacarpal and carpal bones, the middle primary flight feather is hinged to the bionic metacarpal and carpal bones, and the posterior primary flight feather is fixedly supported on the bionic second phalanx. The intermediate primary flight feathers and the rear primary flight feathers are provided with multiple feathers; The secondary flight feathers are hinged to the bionic ulna.

[0011] Preferably, the primary flight feather four-bar structure includes: a bionic metacarpal and carpal bone, a bionic ulna, the first secondary flight feather in the secondary flight feather, and a linkage. One end of the linkage is hinged to the bionic metacarpal and carpal bones, and the other end of the linkage is hinged to the first secondary flight feather or to the feather connector of the first secondary flight feather. The first secondary flight feather or the feather connector of the first secondary flight feather is hinged to the bionic ulna.

[0012] Preferably, the intermediate primary flight feathers and the secondary flight feathers of the primary flight feathers are hinged together by feather connectors, and adjacent feather connectors are connected by rubber rings. One end of the feather connector is provided with a round hole for inserting a pin to form a rotating pair with the bionic metacarpal or carpal bone or the bionic ulna. The other end of the feather connector is a receiving tube with an opening for inserting the feather tail tube. The feather tail tube and the receiving tube are covered with heat shrink tubing.

[0013] Preferably, the first four-bar linkage, the second four-bar linkage, and the third four-bar linkage are formed by cutting and hollowing out carbon fiber plates using an ultraviolet laser marking machine; The feather connector is formed by photosensitive resin material and photocuring 3D printing.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This application solves the dynamic physical matching problem between primary flight feathers, secondary flight feathers and the skeleton from the underlying kinematic logic by combining a single-degree-of-freedom complex truss with "boundary condition" underactuated control. During the large-scale folding and deformation of the wing from 85° to 135°, the discrete feather surfaces can always remain flat and overlapping according to the laws of mechanics, completely avoiding the out-of-plane wrinkles and aerodynamic surface collapse that are unavoidable in traditional flexible membrane wing structures during large deformations, and greatly improving the lift-to-drag ratio and aerodynamic efficiency during variant flight.

[0015] 2. This application ingeniously integrates the skeleton deformation control with the feather cooperative deformation system. The drive system adopts a precision-designed gear and rack transmission chain, which converts the high-frequency circular motion of the digital servo into the linear displacement of the active slider of the wing. With the specific four-bar linkage (HMNP) and crank-slider (FEQ) coupling mechanism, only a single power input (controlling one degree of freedom) is needed to achieve a precise geometric mapping of more than 20 real flight feathers. This design significantly reduces the complexity of the flapping-wing aircraft control system, ensuring shape-locking stiffness and microsecond-level response speed when facing complex aerodynamic loads.

[0016] 3. The "open tube + heat shrink tubing" dedicated feather connector designed in this application, combined with a dental rubber ring rigorously calculated and selected using a two-dimensional torque balance model, provides a biomimetic connection scheme with rigid-flexible coupling. This elastic network not only perfectly simulates the adaptive adjustment characteristics of the hindwing membrane of real birds, but also allows users to quickly fine-tune the direction of a single feather with a hot air gun without damaging the core wing skeleton, or optimize the underactuated synergistic effect by replacing rubber rings with different K values, greatly reducing the later maintenance, replacement and debugging costs.

[0017] 4. In response to the different stress characteristics, this application uses a multi-process composite manufacturing method for the wing. By combining complex node parts printed by photopolymer 3D, carbon fiber load-bearing frame cut by ultraviolet laser, and aluminum alloy sliders carved by CNC precision, and with magnesium-aluminum alloy gear digital servo, the entire wing achieves extreme lightweighting while meeting the requirements of high-frequency flapping (≥5Hz) and large-range folding stiffness, which significantly optimizes the thrust-to-weight ratio and range of the entire aircraft. Attached Figure Description

[0018] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of a feather-like bio-hybrid deformable wing structure; Figure 2 This is a truss model diagram of a single-degree-of-freedom skeletal deformable wing mechanism; Figure 3 This is a truss model diagram of a single-degree-of-freedom skeleton-feather coupled underactuated joint mechanism; Figure 4 Two-dimensional design drawings for wing skin; As shown in the figure: Detailed Implementation

[0019] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0020] Example 1 like Figures 1-4As shown, this embodiment includes: a first four-bar linkage, a second four-bar linkage, a third four-bar linkage, a crank-slider mechanism, a gear and rack transmission system, a primary fly feather, and a secondary fly feather; the gear and rack transmission system connects to and drives the crank-slider mechanism to move, and the crank-slider mechanism sequentially connects to and drives the first four-bar linkage, the second four-bar linkage, and the third four-bar linkage to move; the second four-bar linkage is provided with a secondary fly feather, and the third four-bar linkage is provided with a primary fly feather.

[0021] The first four-bar linkage includes: a third connecting rod 3, a second connecting rod 5, a bionic humerus 6, and a first connecting rod 8; the end of the second connecting rod 5 away from the fixed connecting rod 7 is rotatably connected between the two ends of the third connecting rod 3, one end of the third connecting rod 3 is rotatably connected between the two ends of the bionic humerus 6, and one end of the bionic humerus 6 is rotatably connected between the two ends of the first connecting rod 8.

[0022] The second four-bar linkage structure includes: a bionic metacarpal and carpal bone 2, a third connecting rod 3, a bionic ulna 4, and a bionic humerus 6; one end of the bionic metacarpal and carpal bone 2 is rotatably connected between the two ends of the third connecting rod 3, one end of the bionic ulna 4 is rotatably connected between the two ends of the bionic metacarpal and carpal bone 2, and the other end of the bionic ulna 4 is rotatably connected to one end of the bionic humerus 6.

[0023] The third and fourth linkage structure includes: a bionic metacarpal and carpal bone 2, a third connecting rod 3, a fifth connecting rod 9, and a fourth connecting rod 10; one end of the third connecting rod 3 is rotatably connected to one end of the fourth connecting rod 10, the other end of the fourth connecting rod 10 is rotatably connected to one end of the fifth connecting rod 9, and one end of the bionic metacarpal and carpal bone 2 is rotatably connected to the fifth connecting rod 9.

[0024] The crank-slider mechanism includes: a second connecting rod 5, a fixed connecting rod 7, a first connecting rod 8, and an active slider 14; the fixed connecting rod 7 is fixedly installed on the main body, one end of the fixed connecting rod 7 is rotatably connected to one end of the second connecting rod 5, one end of the first connecting rod 8 is rotatably connected between the two ends of the second connecting rod 5, and the other end of the first connecting rod 8 is rotatably connected to the active slider 14.

[0025] The gear and rack transmission system includes: rack 12, gear 13 and metal gear digital servo 17; the metal gear digital servo 17 is connected to and drives gear 13 to rotate, gear 13 meshes with rack 12 and drives rack 12 to move linearly, rack 12 drives active slider 14 to move linearly along the guide rail on the main body.

[0026] The fifth connecting rod 9 connects to the bionic second phalanx 1; the primary flight feather consists of a first primary flight feather, a middle primary flight feather, and a posterior primary flight feather arranged sequentially; the first primary flight feather is fixedly supported on the bionic metacarpal and carpal bones 2, the middle primary flight feather is hinged to the bionic metacarpal and carpal bones 2, and the posterior primary flight feather is fixedly supported on the bionic second phalanx 1; in this embodiment, multiple middle and posterior primary flight feathers are provided. The secondary flight feathers are hinged to the bionic ulna 4.

[0027] The intermediate primary flight feathers and secondary flight feathers of the primary flight feathers are hinged together by feather connectors, and adjacent feather connectors are connected by rubber rings; one end of the feather connector has a round hole for inserting a pin to form a rotating pair with the bionic metacarpal or carpal bone 2 or the bionic ulna 4; the other end of the feather connector is a receiving tube with an opening for inserting the feather tail tube, and the feather tail tube and the receiving tube are covered with heat shrink tubing.

[0028] The primary flight feather four-bar structure includes: a bionic metacarpal and carpal bone 2, a bionic ulna 4, the first secondary flight feather 15 in the secondary flight feathers, and a linkage 18; one end of the linkage 18 is hinged to the bionic metacarpal and carpal bone 2, and the other end of the linkage 18 is hinged to the first secondary flight feather 15 or to the feather connector of the first secondary flight feather 15; the first secondary flight feather 15 or the feather connector of the first secondary flight feather 15 is hinged to the bionic ulna 4, thereby forming a closed four-bar structure.

[0029] During wing deformation, the shapes of the second to sixth primary flight feathers are determined by the relative positions of the first and seventh primary flight feathers fixed on both sides; the shapes of the second to ninth secondary flight feathers are determined by the relative positions of the first and tenth secondary flight feathers 15 and 11 at both ends. The bionic carpal metacarpal 2 serves as the active link in the four-bar linkage of the primary flight feathers, fixed to the first primary flight feather at a certain angle; the first secondary flight feather 15 or its feather connector serves as the driven link in the four-bar linkage of the primary flight feathers, and the driven link determines the direction of the first secondary flight feather 15. The feather connector of the tenth secondary flight feather 11 is provided with a groove, which can serve as a connecting rod in a crank-slider structure. The pin or slider at the end of the third connecting rod 3 slides in conjunction with the groove or guide. The bionic humerus 6 serves as the frame of the crank-slider mechanism, and this crank-slider structure determines the direction of the tenth secondary flight feather 11.

[0030] In one embodiment, the first four-bar linkage, the second four-bar linkage, and the third four-bar linkage are formed by cutting and hollowing out carbon fiber plates using an ultraviolet laser marking machine; the feather connector is formed by photosensitive resin material through photocuring 3D printing.

[0031] Example 2 Example 2 is a preferred example of Example 1.

[0032] This embodiment provides a feather-like bio-hybrid deformable wing structure, including: a single-degree-of-freedom skeleton drive assembly, a feather boundary underactuated coupling assembly, a biomimetic feather adapter assembly, an elastic network constraint assembly, and a load-bearing skeleton formed by multiple processes. The single-degree-of-freedom skeleton drive assembly and the feather boundary underactuated coupling assembly include: a foldable wing skeleton mechanism constructed based on a bird skeleton, comprising three interconnected closed four-bar linkages and a crank-slider mechanism; a feather-skeleton motion coupling mechanism is formed by using a skeleton-based four-bar linkage and a crank-slider mechanism; by controlling the boundary conditions of the feather displacement, underactuated motion coupling between the wing skeleton and the primary and secondary flight feathers is achieved, and the entire structure can achieve continuous folding and unfolding of the wing with an arm angle range of 85°-135° through a single power input. The biomimetic feather adapter and elastic network constraint component includes: discretely distributed real feathers are hinged to a skeleton via specially designed feather connectors; adjacent feather connectors are connected by dental rubber bands of specific stiffness; the relative stiffness of each level of nodes is calculated based on a two-dimensional truss moment balance model to distribute dental rubber bands of different specifications to reproduce the elastic adaptive adjustment effect of the biological rear wing membrane; the parameters of the elastic network constraint component are determined based on the two-dimensional truss moment balance model: each flight feather and its feather connector are equivalent to a planar rigid body rotating about the skeleton hinge point, and adjacent dental rubber bands are equivalent to linear elastic elements with equivalent elastic stiffness K; under a given wing wrist angle, with each flight feather hinge point as the moment center, the restoring torque generated by adjacent rubber bands is balanced with the torque required for the target attitude of the flight feathers, and different specifications of rubber bands and their installation positions are selected accordingly to keep the middle flight feathers flat and overlapping under the constraint of the flight feathers at both ends. The load-bearing frame formed by multiple processes includes: complex connectors with tiny hinge holes manufactured by photopolymerization 3D printing, planar load-bearing frame manufactured by laser cutting carbon fiber plates, and wear-resistant active sliders manufactured by CNC precision milling.

[0033] Specifically: The specific method for achieving underactuated motion coupling by controlling the boundary conditions of the feather displacement is as follows: In the primary flight feathers, the first primary flight feather is fixed to the bionic metacarpal and carpal bones 2, the seventh to tenth primary flight feathers are fixed to the bionic second phalanx 1, and the second to sixth primary flight feathers are hinged to the bionic metacarpal and carpal bones 2; the secondary flight feathers are all hinged to the bionic ulna 4.

[0034] like Figures 2-4As shown, in the feather-skeleton motion coupling mechanism, the bionic metacarpal and carpal bones 2, the bionic ulna 4, the first secondary flight feather 15, and the linkage 18 constitute the primary flight feather four-bar linkage mechanism. The direction of the active rod of the primary flight feather four-bar linkage mechanism is consistent with that of the first primary flight feather, and its linkage determines the direction of the first secondary flight feather 15. The third connecting rod 3, the bionic humerus 6, and the tenth secondary flight feather 11 constitute the crank-slider structure. The feather connector of the tenth secondary flight feather 11 is provided with a groove, which can serve as a connecting rod in the crank-slider structure. The pin or slider at the end of the third connecting rod 3 slides in cooperation with the groove or guide. The bionic humerus 6 serves as the frame of the crank-slider mechanism, and its slide rail determines the direction of the tenth secondary flight feather 11.

[0035] When the wing deforms, the shape of the second to sixth primary flight feathers is determined by the relative position of the first and seventh primary flight feathers fixed on both sides; the shape of the second to ninth secondary flight feathers is determined by the relative position of the first secondary flight feather 15 and the tenth secondary flight feather 11 at both ends.

[0036] In this embodiment, a specially designed feather connector has a round hole at one end for inserting a pin to form a rotating pair with the bionic metacarpal and carpal bones 2 and the bionic ulna 4; the other end of the feather connector is a receiving tube with an opening for inserting the feather tail tube and generating a primary clamping force by utilizing structural deformation; a heat shrink tube is externally fitted to thermally cover and lock the feather tail tube and the receiving tube.

[0037] In one embodiment, the inner diameter of the accommodating tube with an opening is set to 2.8 mm; an auxiliary support pin is provided on the feather connector at a specific distance from the pivot pin hole, and a dental rubber ring is fitted between the auxiliary support pins of two adjacent feather connectors.

[0038] In one embodiment, the single power input adopts a gear and rack transmission system; the drive source adopts a metal gear digital servo 17, whose output shaft is connected to a gear 13, which drives the rack 12 to perform linear reciprocating motion through meshing; the rack 12 is connected to the active slider 14 in the foldable wing frame mechanism, and the active slider 14 is mounted on an aluminum alloy guide rail and slides, so that a single degree of freedom determines the shape of the entire wing.

[0039] In one embodiment, the main long struts of the wing are all cut and hollowed out on a 1mm thick carbon fiber plate using an ultraviolet laser marking machine; the specially made feather connectors are formed by photosensitive resin material using photocuring 3D printing, with the printing layer height set to 0.05mm.

[0040] Example 3 The deformable wing frame system in this embodiment equates the humerus, ulna, metacarpals, carpal bones, and phalanges of a real pigeon to a linkage structure. It includes three interconnected closed four-bar linkages: two convex quadrilaterals, one concave quadrilateral, and a core crank-slider mechanism. By solving the closed-loop vector equations using a nonlinear optimization function, the wrist angle is guaranteed to be 135° in the extended state and 85° in the retracted state.

[0041] To control feather deformation, the system introduces boundary condition control logic. Of all the primary flight feathers, the first primary flight feather is fixed to the bionic metacarpal and carpal bones 2, the seventh to tenth primary flight feathers are fixed to the bionic second phalanx 1, and the second to sixth primary flight feathers are hinged to the bionic metacarpal and carpal bones 2; the ten secondary flight feathers are hinged to the bionic ulna 4.

[0042] In one embodiment, the power input end uses a rack 12 with a module of 0.5 and a metal gear 13 with 20 teeth, driven by a metal gear digital servo 17 with a mass of only 7.9g. The circular motion of the metal gear digital servo 17 is converted into linear motion to push and pull the active slider of the crank-slider mechanism, thereby determining the shape of the entire wing with a single degree of freedom.

[0043] This embodiment uses real primary and secondary flight feathers of a rock pigeon. The base of the feather is inserted into the open tube (2.8mm inner diameter) at the tail of the feather connector, which is prepared by a photopolymer 3D printer. The deformation of the opening generates a primary clamping force, and a heat-shrink tubing is then inserted on the outside for heat shrinkage and locking. The head of the feather connector is hinged to the carbon fiber wing frame by a 1mm diameter pin, forming a freely rotatable rotating pair.

[0044] An auxiliary support pin is installed 12mm from the hinge axis of the feather connector, and an orthodontic dental rubber band is inserted between the auxiliary pins of two adjacent feathers. In order to accurately reproduce the biological rear wing membrane effect, a two-dimensional truss moment balance equation is established to calculate the relative stiffness (K value) of the spring required under different wrist angle states. Based on the K value model, dental rubber bands of different specifications are selected to construct a flexible constraint network for the wing.

[0045] To balance the lightweight design and structural rigidity of the deformable wing, the entire wing system employs a multi-process integrated manufacturing method: Fabrication of load-bearing structures: The main long rods and load-bearing links in the wing frame are precisely cut and hollowed out on a 1mm thick carbon fiber plate using a 5W ultraviolet laser marking machine to ensure tensile and bending stiffness.

[0046] Complex 3D structure processing: This includes complex-shaped parts such as feather tail tube connectors and spatial hinges, which contain tiny holes (such as 1mm pin holes). These parts are manufactured using a stereolithography (SLA) 3D printer with standard black photosensitive resin material and a printing layer height of 0.025mm to ensure the accuracy of the hinge holes and the surface finish.

[0047] Wear-resistant load-bearing component processing: The active slider 14, which is used to connect the digital servo drive system and the wing frame, needs to withstand high-frequency sliding friction on a guide rail with an outer diameter of 4mm. This component is made of aluminum alloy and is precision milled by a three-axis CNC machine tool, and threaded holes are tapped on it to install the shaft screw.

[0048] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0049] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A feather-like bio-hybrid deformable wing structure, characterized in that, include: The first four-bar linkage, the second four-bar linkage, the third four-bar linkage, the crank-slider mechanism, the gear and rack transmission system, the primary fly feather, and the secondary fly feather; The gear and rack transmission system connects to and drives the crank-slider mechanism to move. The crank-slider mechanism sequentially connects to and drives the first four-bar linkage, the second four-bar linkage, and the third four-bar linkage to move. The second four-bar linkage is provided with secondary flight feathers, and the third four-bar linkage is provided with primary flight feathers.

2. The feather-like bio-hybrid deformable wing structure according to claim 1, characterized in that, The crank-slider mechanism includes: a second connecting rod (5), a fixed connecting rod (7), a first connecting rod (8), and an active slider (14). The fixed connecting rod (7) is fixedly installed on the main body. One end of the fixed connecting rod (7) is rotatably connected to one end of the second connecting rod (5). One end of the first connecting rod (8) is rotatably connected between the two ends of the second connecting rod (5). The other end of the first connecting rod (8) is rotatably connected to the active slider (14).

3. The feather-like bio-hybrid deformable wing structure according to claim 2, characterized in that, The first four-bar linkage includes: a third connecting rod (3), a second connecting rod (5), a bionic humerus (6), and a first connecting rod (8); The end of the second connecting rod (5) away from the fixed connecting rod (7) is rotatably connected between the two ends of the third connecting rod (3), one end of the third connecting rod (3) is rotatably connected between the two ends of the bionic humerus (6), and one end of the bionic humerus (6) is rotatably connected between the two ends of the first connecting rod (8).

4. The feather-like bio-hybrid deformable wing structure according to claim 3, characterized in that, The second four-bar linkage structure includes: a bionic metacarpal and carpal bone (2), a third connecting rod (3), a bionic ulna (4), and a bionic humerus (6); One end of the bionic metacarpal and carpal bones (2) is rotatably connected between the two ends of the third connecting rod (3), one end of the bionic ulna (4) is rotatably connected between the two ends of the bionic metacarpal and carpal bones (2), and the other end of the bionic ulna (4) is rotatably connected to one end of the bionic humerus (6).

5. The feather-like bio-hybrid deformable wing structure according to claim 4, characterized in that, The third and fourth link structure includes: a bionic metacarpal and carpal bone (2), a third connecting rod (3), a fifth connecting rod (9), and a fourth connecting rod (10); One end of the third connecting rod (3) is rotatably connected to one end of the fourth connecting rod (10), the other end of the fourth connecting rod (10) is rotatably connected to one end of the fifth connecting rod (9), and one end of the bionic metacarpal carpal bone (2) is rotatably connected to the fifth connecting rod (9).

6. The feather-like bio-hybrid deformable wing structure according to claim 2, characterized in that, The gear and rack transmission system includes: rack (12), gear (13) and metal gear digital servo (17). The metal gear digital servo (17) is connected to and drives the gear (13) to rotate. The gear (13) meshes with the rack (12) and drives the rack (12) to move linearly. The rack (12) drives the active slider (14) to move linearly along the guide rail on the main body.

7. The feather-like bio-hybrid deformable wing structure according to claim 5, characterized in that: The fifth connecting rod (9) connects to the bionic second phalanx (1); The primary flight feathers consist of a first primary flight feather, a middle primary flight feather, and a rear primary flight feather arranged in sequence. The first primary flight feather is fixedly supported on the bionic metacarpal and carpal bones (2), the middle primary flight feather is hinged on the bionic metacarpal and carpal bones (2), and the posterior primary flight feather is fixedly supported on the bionic second phalanx (1). The intermediate primary flight feathers and the rear primary flight feathers are provided with multiple feathers; The secondary flight feathers are hinged to the bionic ulna (4).

8. The feather-like bio-hybrid deformable wing structure according to claim 7, characterized in that, The primary flight feather four-link structure includes: bionic metacarpal and carpal bones (2), bionic ulna (4), the first secondary flight feather in the secondary flight feather (15), and the linkage (18). One end of the linkage (18) is hinged to the bionic metacarpal and carpal bones (2), and the other end of the linkage (18) is hinged to the first secondary flight feather (15) or to the feather connector of the first secondary flight feather (15). The first secondary flight feather (15) or the feather connector of the first secondary flight feather (15) is hinged to the bionic ulna (4).

9. The feather-like bio-hybrid deformable wing structure according to claim 7, characterized in that: The intermediate primary flight feathers and the secondary flight feathers are hinged together by feather connectors, and adjacent feather connectors are connected by rubber bands. One end of the feather connector is provided with a round hole for inserting a pin to form a rotating pair with the bionic metacarpal or carpal bone (2) or the bionic ulna (4); The other end of the feather connector is a receiving tube with an opening for inserting the feather tail tube. The feather tail tube and the receiving tube are covered with heat shrink tubing.

10. The feather-like bio-hybrid deformable wing structure according to claim 9, characterized in that: The first four-bar linkage, the second four-bar linkage, and the third four-bar linkage are formed by cutting and hollowing out carbon fiber plates using an ultraviolet laser marking machine. The feather connector is made of photosensitive resin material and is formed by photocuring 3D printing.

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