CN114435045A

CN114435045A - Variable body hollow wing mechanism for water-air cross-medium aircraft

Info

Publication number: CN114435045A
Application number: CN202210109642.XA
Authority: CN
Inventors: 段慧玲; 李宏源; 司博文; 吕鹏宇
Original assignee: Peking University; Qingdao National Laboratory for Marine Science and Technology Development Center
Current assignee: Peking University; Qingdao National Laboratory for Marine Science and Technology Development Center
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2022-05-06

Abstract

The utility model relates to an empty medium navigation ware technical field of striding of water and air provides a variable body sky wing mechanism for empty medium navigation ware of striding of water and air, includes: a barrel-shaped supporting framework; the main wing piece telescopic mechanism is connected with the barrel-shaped supporting framework and is provided with two expandable or contractible main wing pieces which are bilaterally symmetrical about the axis of the barrel-shaped supporting framework; and the auxiliary wing piece telescopic mechanism is connected with the main wing piece telescopic mechanism and is provided with two expandable or contractible auxiliary wing pieces which are bilaterally symmetrical about the axis of the barrel-shaped supporting framework. Compared with the prior art, the variable body air wing mechanism for the water-air cross-medium aircraft has the advantage of high automation, can be used independently, can also be used as a functional module, is integrated in related automatic equipment, particularly in the water-air cross-medium aircraft, enables the water-air cross-medium aircraft to have good environmental adaptability and concealment, and can be widely applied to various military and civil operation scenes.

Description

Variable body hollow wing mechanism for water-air cross-medium aircraft

Technical Field

The disclosure relates to the technical field of water-air cross-medium aircrafts, in particular to a variable-body air-wing mechanism for the water-air cross-medium aircrafts.

Background

China's ocean safety faces the threat of opening underwater national portal, and the establishment of a complete sea, land, air and space integrated stereo observation system is urgent. The traditional ocean stereo observation system needs to depend on underwater observation equipment such as AUV, UUV, underwater glider, submerged buoy and the like to a great extent, or water surface observation equipment such as unmanned ship, wave energy glider, buoy and the like, and aerial observation equipment such as unmanned aerial vehicle, satellite and the like, however, the traditional ocean stereo observation system has the defects of high cost, limited observation range, complex arrangement process and untimely arrangement.

The water-air cross-medium aircraft has the advantages of AUV, unmanned ship and unmanned aerial vehicle, can realize three-dimensional dynamic detection under water, on water and in air in a mode of crossing different media, and has important significance for maintaining national ocean safety. The construction of the water-air cross-medium aircraft is an emerging industry for cultivating and strengthening aviation and oceans, realizes green low-carbon development, serves strong support for construction of aviation strong countries and oceans strong countries, and researches on cross-medium aircraft suitable for multi-medium environments become an important development direction of the oceans strong countries and the military strong countries.

However, for the design of the water-air crossing medium craft, the hydrodynamic design and the aerodynamic design are in conflict, because the air wing is necessary to provide the lift force when navigating in the air, and the air wing is not needed to pursue lower resistance and faster navigation speed when diving in the water.

Therefore, the retractable variable-body hollow wing mechanism is necessary to be applied to the water-air cross-medium vehicle.

Disclosure of Invention

Technical problem to be solved

In view of the above, the main object of the present disclosure is to provide a variable body flap mechanism for an underwater air cross-medium vehicle, which can be fully deployed when in operation and fully retracted when not in operation.

(II) technical scheme

In order to achieve the above purpose, the technical solution adopted by the present disclosure is as follows:

a variable volume flyer mechanism for an aqueous-air cross-medium vehicle, comprising: a barrel-shaped supporting framework 1; the main wing piece telescopic mechanism 2 is connected with the barrel-shaped supporting framework 1 and is provided with two main wing pieces 7 which can be unfolded or contracted and are bilaterally symmetrical about the axis of the barrel-shaped supporting framework 1; and a sub-fin extending and retracting mechanism 3 connected to the main-fin extending and retracting mechanism 2 and having two extendable or retractable sub-fins 12 which are bilaterally symmetric with respect to the axis of the barrel-shaped support frame 1.

In the above scheme, the main wing piece telescopic machanism 2 further comprises an upper skeleton connecting clamp 4, a lower skeleton connecting clamp 5, two main wing piece pull rods 6, two supporting wing pieces 8 and two first synchronous belt pulleys 9, wherein: the upper framework connecting clamp 4 and the lower framework connecting clamp 5 are arranged in the barrel-shaped supporting framework 1 and can move along the direction parallel to the axis of the barrel-shaped supporting framework 1; the first ends of the two main wings 7 are respectively and rotatably connected with the upper framework connecting clamp 4 through a main wing pull rod 6, and the second ends of the two main wings 7 are respectively connected with an auxiliary wing 12; the first ends of the two supporting fins 8 are respectively connected with the lower framework connecting clamp 5, and the second ends of the two supporting fins 8 are respectively connected with a main fin 7 through a first synchronous belt pulley 9; the two first synchronous pulleys 9 are respectively arranged on the two main wings 7 and close to the first ends of the two main wings 7.

In the above scheme, when the upper frame connecting clamp 4 and the lower frame connecting clamp 5 move at the same speed, the upper frame connecting clamp 4 will make the main wing piece pull rod 6 rotate around the upper frame connecting clamp, and the lower frame connecting clamp 5 will make the supporting wing piece 8 rotate around the lower frame connecting clamp, so that the main wing piece 7 fixed on the main wing piece pull rod 6 is contracted or expanded. When the upper framework connecting clamp 4 and the lower framework connecting clamp 5 move oppositely at the same speed, the main wing 7 is unfolded. When the upper frame connecting clip 4 and the lower frame connecting clip 5 move reversely at the same speed, the main wing 7 contracts.

In the above scheme, the aileron tab telescoping mechanism 3 further includes two second synchronous pulleys 10 and two aileron tab shaft ends 11, wherein: the second synchronous pulley 10 is fixed at the second end of the main wing 7; the secondary wing 12 is connected to the second timing pulley 10 through the secondary wing shaft end 11, so that the secondary wing 12 is connected to the primary wing 7.

In the above scheme, when the auxiliary vane telescopic mechanism 3 works, when the supporting vane 8 rotates by a certain angle relative to the main vane 7, the supporting vane 8 drives the first synchronous pulley 9 connected thereto to rotate by the same angle, and further drives the second synchronous pulley 10 to rotate by the same angle, so that the auxiliary vane 12 connected to the second synchronous pulley 10 through the auxiliary vane shaft end 11 also rotates by the same angle. During the rotation, the secondary wing 12 and the supporting wing 8 are always kept in parallel.

In the above scheme, the variable-body hollow-wing mechanism has two working states of hollow-wing expansion and hollow-wing contraction, and can be freely switched between the two working states, wherein: when the upper framework connecting clamp 4 and the lower framework connecting clamp 5 move oppositely at the same speed, the main wing piece telescopic mechanism 2 is triggered to work, so that the main wing piece 7 is unfolded, and the auxiliary wing piece telescopic mechanism 3 is triggered to work, so that the auxiliary wing piece 12 is unfolded, and the whole working process of unfolding the empty wing is completed; go up skeleton connecting clamp 4 with when the reverse motion of skeleton connecting clamp 5 with the same speed down, trigger main wing piece telescopic machanism 2 works, make main wing piece 7 shrink, also trigger vice wing piece telescopic machanism 3 simultaneously and work, make vice wing piece 12 shrink, accomplish the work flow of whole empty wing shrink.

(III) advantageous effects

The variable body air wing mechanism for the water-air cross-medium aircraft has the following beneficial effects:

1. the variable body free wing mechanism for the water-air cross-medium aircraft is designed based on a folding and unfolding mechanism theory aiming at different navigation requirements under three different working conditions of underwater, water surface and air, has two working states of free wing unfolding and free wing contraction, and can be freely switched between the two working states, so that the water-air cross-medium aircraft can meet the requirements of high-speed running in different media of underwater, water surface and air under different working conditions.

2. According to the variable body hollow wing mechanism for the water-air crossing medium aircraft, when an upper framework connecting clamp 4 and a lower framework connecting clamp 5 move oppositely at the same speed, a main wing piece telescopic mechanism 2 is triggered to work, so that a main wing piece 7 is unfolded, and an auxiliary wing piece telescopic mechanism 3 is triggered to work, so that an auxiliary wing piece 12 is unfolded, and the whole working process of unfolding the hollow wing is completed; when the upper framework connecting clamp 4 and the lower framework connecting clamp 5 move reversely at the same speed, the main wing piece telescopic mechanism 2 is triggered to work, the main wing piece 7 is contracted, the auxiliary wing piece telescopic mechanism 3 is also triggered to work, the auxiliary wing piece 12 is contracted, the whole working process of the contraction of the free wing is completed, the variable body free wing mechanism can be freely switched between two working states of expansion and contraction, and the rapid flight and underwater safe stealth of the water-air cross-medium aircraft in the air can be effectively realized.

3. The variable body free wing mechanism for the water-air cross-medium aircraft provided by the disclosure has the advantages that when the upper framework connecting clamp 4 and the lower framework connecting clamp 5 move at the same speed, the upper framework connecting clamp 4 enables the main wing piece pull rod 6 to rotate around the upper framework connecting clamp, the lower framework connecting clamp 5 enables the supporting wing piece 8 to rotate around the lower framework connecting clamp, and further the main wing piece 7 fixed on the main wing piece pull rod 6 is contracted or expanded, so that the variable body free wing mechanism can be freely switched between the expansion working state and the contraction working state, and the water-air cross-medium aircraft can effectively fly quickly in the air and safely hide underwater.

4. The variable body empty wing mechanism for the water-air cross-medium aircraft comprises a main wing piece 7, a first synchronous belt wheel 9, a second synchronous belt wheel 10, a first synchronous belt wheel shaft end 11, a second synchronous belt wheel 12, a variable body empty wing piece telescopic mechanism 3, a second synchronous belt wheel shaft end 11, a second synchronous belt wheel shaft end 9, a second synchronous belt wheel shaft end 11, a second synchronous belt wheel shaft end 12, a second synchronous belt wheel shaft end 11, a second synchronous belt wheel shaft end and a second synchronous belt.

5. Compared with the prior art, the variable body air wing mechanism for the water-air cross-medium aircraft has the advantage of high automation, can be used independently and also can be used as a functional module, is integrated in related automatic equipment, particularly in the water-air cross-medium aircraft, ensures that the water-air cross-medium aircraft has good environmental adaptability and concealment on the basis of ensuring the whole lightweight, can be widely applied to various military and civil operation scenes, and can be used for simultaneously detecting the environments of underwater, water surface and air, thereby improving the three-dimensional monitoring and detecting level of the marine environment in China, and also can be applied to emergency search and rescue at sea or in air.

Drawings

The above and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a variable-volume air-foil mechanism for an aerial cross-media vehicle according to an embodiment of the disclosure after deployment;

FIG. 2 is a schematic structural diagram of a variable-volume air-foil mechanism for an aerial cross-media vehicle according to an embodiment of the disclosure in operation;

FIG. 3 is a schematic structural diagram of a variable-volume wing-in-air mechanism for an aerial cross-media vehicle according to an embodiment of the disclosure after contraction;

FIG. 4 is a schematic structural diagram of a main wing piece telescoping mechanism in a variable body air wing mechanism for an aerial cross-media vehicle according to an embodiment of the disclosure;

FIG. 5 is a bottom view of a main wing telescoping mechanism of a variable-volume air foil mechanism for an aerial cross-media vehicle according to an embodiment of the disclosure after deployment;

FIG. 6 is a bottom view of a main wing telescoping mechanism of a variable-volume air foil mechanism for an aerial cross-media vehicle according to an embodiment of the disclosure in operation;

FIG. 7 is a bottom view of a main wing telescoping mechanism of a variable-volume aerial wing mechanism for an aerial cross-media craft according to an embodiment of the disclosure after retraction;

FIG. 8 is a cross-sectional view of a main wing of a variable volume aerial wing mechanism for an aerospace vehicle with an aileron telescoping mechanism operating in accordance with an embodiment of the present disclosure;

FIG. 9 is a cross-sectional view of a main wing of the variable volume aerial wing mechanism for an aerial cross-media vehicle after deployment of the aileron telescoping mechanism, in accordance with an embodiment of the present disclosure;

FIG. 10 is a schematic illustration of an aerospace vehicle equipped with a variable-volume flyer mechanism, after deployment of the flyers, in accordance with an embodiment of the disclosure;

FIG. 11 is a schematic view of an aerospace vehicle equipped with a variable-volume flyer mechanism, with flyers in operation, in accordance with an embodiment of the disclosure;

fig. 12 is a schematic diagram of an aerospace vehicle equipped with a variable air foil mechanism, after air foil retraction, in accordance with an embodiment of the disclosure.

Reference numerals: 1-barrel-shaped supporting framework, 2-main wing piece shrinking mechanism, 3-auxiliary wing piece shrinking mechanism, 4-upper framework connecting clamp, 5-lower framework connecting clamp, 6-main wing piece pull rod, 7-main wing piece, 8-supporting wing piece, 9-first synchronous belt pulley, 10-second synchronous belt pulley, 11-auxiliary wing piece shaft end and 12-auxiliary wing piece.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of illustrating the present disclosure and should not be construed as limiting the same.

In the description of the present disclosure, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the description of the present disclosure, unless otherwise expressly specified or limited, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Aiming at different sailing requirements under three different working conditions of underwater, water and air, and based on a folding and unfolding mechanism theory, the disclosed embodiment provides a variable body empty wing mechanism for an underwater-air cross-medium vehicle, as shown in fig. 1, 2 and 3, fig. 1 is a schematic structural diagram of the variable body empty wing mechanism for the underwater-air cross-medium vehicle according to the disclosed embodiment after being unfolded, fig. 2 is a schematic structural diagram of the variable body empty wing mechanism for the underwater-air cross-medium vehicle according to the disclosed embodiment during operation, and fig. 3 is a schematic structural diagram of the variable body empty wing mechanism for the underwater-air cross-medium vehicle according to the disclosed embodiment after being contracted.

The variable-body air wing mechanism for the water-air cross-medium aircraft provided by the embodiment of the disclosure comprises: the barrel-shaped supporting framework 1 can perfectly adapt to the design of the water-air crossing medium aircraft; the main wing piece telescopic mechanism 2 is connected with the barrel-shaped supporting framework 1 and is provided with two main wing pieces 7 which can be unfolded or contracted and are bilaterally symmetrical about the axis of the barrel-shaped supporting framework 1; and a sub-fin extending and retracting mechanism 3 connected to the main-fin extending and retracting mechanism 2 and having two extendable or retractable sub-fins 12 which are bilaterally symmetric with respect to the axis of the barrel-shaped support frame 1.

As shown in fig. 4, 5, 6 and 7, fig. 4 is a schematic structural diagram of a main wing piece telescopic mechanism in a variable body empty wing mechanism for an underwater-air cross-medium vehicle according to an embodiment of the disclosure when in operation, fig. 5 is a bottom view of the variable body empty wing mechanism for the underwater-air cross-medium vehicle according to an embodiment of the disclosure after the main wing piece telescopic mechanism is unfolded, fig. 6 is a bottom view of the variable body empty wing mechanism for the underwater-air cross-medium vehicle according to an embodiment of the disclosure when in operation, and fig. 7 is a bottom view of the variable body empty wing mechanism for the underwater-air cross-medium vehicle according to an embodiment of the disclosure after the main wing piece telescopic mechanism is retracted. In the variable-body wing-in-air mechanism for the water-air crossing medium vehicle, provided by the embodiment of the disclosure, the main wing piece telescopic mechanism 2 comprises an upper skeleton connecting clamp 4, a lower skeleton connecting clamp 5, two main wing piece pull rods 6, two supporting wing pieces 8 and two first synchronous belt pulleys 9 besides two main wing pieces 7 which can be unfolded or folded.

As shown in fig. 4 and 6, the upper frame connecting clip 4 and the lower frame connecting clip 5 are disposed inside the barrel-shaped support frame 1 and are movable in a direction parallel to the axis of the barrel-shaped support frame 1. The first ends of the two main wings 7 are rotatably connected to the upper framework connecting clamp 4 through a main wing pull rod 6 respectively, and the second ends of the two main wings 7 are connected to an auxiliary wing 12 respectively. The first ends of the two supporting fins 8 are respectively connected to the lower framework connecting clamp 5, the second ends of the two supporting fins 8 are respectively connected to one main fin 7 through one first synchronous pulley 9, wherein the first synchronous pulley 9 is shown in fig. 8, and the two first synchronous pulleys 9 are respectively arranged on the two main fins 7 and close to the first ends of the two main fins 7.

According to the embodiment of the present disclosure, when the upper frame connecting clip 4 and the lower frame connecting clip 5 move at the same speed, the upper frame connecting clip 4 will make the main wing pull rod 6 rotate around it, and the lower frame connecting clip 5 will make the supporting wing 8 rotate around it, so that the main wing 7 fixed on the main wing pull rod 6 is contracted or expanded.

According to the embodiment of the present disclosure, when the upper frame connecting clip 4 and the lower frame connecting clip 5 move toward each other at the same speed, the main wings 7 are unfolded as shown in fig. 5. When the upper frame connecting clip 4 and the lower frame connecting clip 5 move in opposite directions at the same speed, the main wing 7 contracts, as shown in fig. 7.

As shown in fig. 8 and 9, the sub-vane retracting mechanism 3 includes two second timing pulleys 10 and two sub-vane shaft ends 11 in addition to two extendable or retractable sub-vanes 12, wherein: the second synchronous pulley 10 is fixed at the second end of the main wing 7; the secondary wing 12 is connected to the second timing pulley 10 through the secondary wing shaft end 11, so that the secondary wing 12 is connected to the primary wing 7.

According to the embodiment of the present disclosure, when the auxiliary vane extending and retracting mechanism 3 works, when the supporting vane 8 rotates a certain angle relative to the main vane 7, the supporting vane 8 drives the first synchronous pulley 9 connected thereto to rotate by the same angle, and further drives the second synchronous pulley 10 to rotate by the same angle, so that the auxiliary vane 12 connected to the second synchronous pulley 10 through the auxiliary vane shaft end 11 also rotates by the same angle. During the rotation, the secondary wing 12 and the supporting wing 8 are always kept in parallel.

According to the embodiment of the disclosure, the variable-body air wing mechanism has two working states of air wing unfolding and air wing contraction, and can be freely switched between the two working states, as shown in fig. 10 to 12, and fig. 10 to 12 respectively show schematic diagrams of the water-air cross-medium vehicle equipped with the variable-body air wing mechanism according to the embodiment of the disclosure after the air wing unfolding, when the air wing works and after the air wing contraction. When the upper framework connecting clamp 4 and the lower framework connecting clamp 5 move oppositely at the same speed, the main wing piece telescopic mechanism 2 is triggered to work, so that the main wing piece 7 is unfolded, and meanwhile, the auxiliary wing piece telescopic mechanism 3 is triggered to work, so that the auxiliary wing piece 12 is unfolded, and the whole working process of unfolding the empty wing is completed, as shown in fig. 10. When the upper framework connecting clamp 4 and the lower framework connecting clamp 5 move reversely at the same speed, the main wing piece telescopic mechanism 2 is triggered to work, so that the main wing piece 7 is contracted, and meanwhile, the auxiliary wing piece telescopic mechanism 3 is triggered to work, so that the auxiliary wing piece 12 is contracted, and the whole work flow of the contraction of the hollow wing is completed, as shown in fig. 11 and 12.

Compared with the prior art, the variable body air wing mechanism for the water-air cross-medium aircraft has the advantage of high automation, can be used independently, can be used as a functional module, is integrated in related automatic equipment, and particularly in the water-air cross-medium aircraft, so that the water-air cross-medium aircraft has good environmental adaptability and concealment on the basis of ensuring the whole lightweight, can be widely applied to various military and civil operation scenes, can perform underwater, water surface and aerial environmental detection at the same time, improves the three-dimensional marine environment monitoring and detection level in China, and can also be applied to emergency search and rescue at sea or in the air.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A variable-volume aerodynamic wing mechanism for an underwater-air cross-medium vehicle, comprising:

a barrel-shaped supporting framework (1);

the main wing piece telescopic mechanism (2) is connected to the barrel-shaped supporting framework (1) and is provided with two expandable or contractible main wing pieces (7) which are bilaterally symmetrical about the axis of the barrel-shaped supporting framework (1);

and the auxiliary wing piece telescopic mechanism (3) is connected with the main wing piece telescopic mechanism (2) and is provided with two expandable or contractible auxiliary wing pieces (12) which are bilaterally symmetrical about the axis of the barrel-shaped supporting framework (1).

2. The variable-volume empennage mechanism for the water-air cross-medium vehicle according to claim 1, characterized in that the main wing telescoping mechanism (2) further comprises an upper skeleton connecting clip (4), a lower skeleton connecting clip (5), two main wing pull rods (6), two support wings (8) and two first synchronous pulleys (9), wherein:

the upper framework connecting clamp (4) and the lower framework connecting clamp (5) are arranged in the barrel-shaped supporting framework (1) and can move along the direction parallel to the axis of the barrel-shaped supporting framework (1);

the first ends of the two main wings (7) are respectively and rotatably connected with the upper framework connecting clamp (4) through a main wing pull rod (6), and the second ends of the two main wings (7) are respectively connected with an auxiliary wing (12);

the first ends of the two supporting wing pieces (8) are respectively connected to the lower framework connecting clamp (5), and the second ends of the two supporting wing pieces (8) are respectively connected to a main wing piece (7) through a first synchronous belt wheel (9);

the two first synchronous pulleys (9) are respectively arranged on the two main wings (7) and close to the first ends of the two main wings (7).

3. The variable body free wing mechanism for the water-air crossing medium vehicle according to claim 2, characterized in that when the upper skeleton connecting clip (4) and the lower skeleton connecting clip (5) move at the same speed, the upper skeleton connecting clip (4) will rotate the main wing pull rod (6) around it, and the lower skeleton connecting clip (5) will rotate the supporting wing (8) around it, so that the main wing (7) fixed on the main wing pull rod (6) can be contracted or expanded.

4. The variable body-free wing mechanism for the water-air crossing medium vehicle according to claim 3 is characterized in that when the upper framework connecting clip (4) and the lower framework connecting clip (5) move towards each other at the same speed, the main wing (7) is unfolded.

5. The variable body-free wing mechanism for the water-air crossing medium vehicle according to claim 3, characterized in that the main wing (7) is contracted when the upper skeleton connecting clip (4) and the lower skeleton connecting clip (5) move reversely at the same speed.

6. The variable-volume wing-in-air mechanism for water-air crossing medium craft according to claim 3, characterized in that said secondary wing telescoping mechanism (3) further comprises two secondary synchronous pulleys (10) and two secondary wing shaft ends (11), wherein:

the second synchronous pulley (10) is fixed at the second end of the main wing (7);

the auxiliary wing (12) is connected to the second synchronous pulley (10) through the auxiliary wing shaft end (11), and then the auxiliary wing (12) is connected with the main wing (7).

7. The variable body free wing mechanism for the water-air cross-medium vehicle according to claim 6 is characterized in that when the secondary wing telescoping mechanism (3) works, when the supporting wing (8) rotates a certain angle relative to the primary wing (7), the supporting wing (8) drives the first synchronous pulley (9) connected with the supporting wing to rotate the same angle, and further drives the second synchronous pulley (10) to rotate the same angle, so that the secondary wing (12) connected with the second synchronous pulley (10) through the secondary wing shaft end (11) also rotates the same angle.

8. The variable body free wing mechanism for the water-air cross-medium vehicle according to claim 7 is characterized in that the secondary wing (12) and the supporting wing (8) are always kept in a parallel state in the rotation process.

9. The variable-volume wing-in-air mechanism for the water-air cross-medium vehicle according to claim 2 or 3, characterized in that the variable-volume wing-in-air mechanism has two working states of wing-in-air expansion and wing-in-air contraction, and can be freely switched between the two working states, wherein:

when the upper framework connecting clamp (4) and the lower framework connecting clamp (5) move oppositely at the same speed, the main wing piece telescopic mechanism (2) is triggered to work, so that the main wing piece (7) is unfolded, and meanwhile, the auxiliary wing piece telescopic mechanism (3) is triggered to work, so that the auxiliary wing piece (12) is unfolded, and the whole working process of unfolding the empty wing is completed;

go up skeleton joint clamp (4) with when skeleton joint clamp (5) with the same speed reverse motion down, trigger main wing piece telescopic machanism (2) work makes main wing piece (7) shrink, also triggers vice wing piece telescopic machanism (3) work simultaneously, makes vice wing piece (12) shrink, accomplishes the work flow of whole empty wing shrink.