414results about "Ornithopters" patented technology

The invention discloses a real-time electronic image stabilization system for a flapping-wing flying robot, which effectively solves the problems of image dithering and blurring of a flapping-wing flying robot in a complex flying environment by combining flying attitude monitoring and a real-time image stabilization algorithm. The system comprises an image acquisition module, an electronic image stabilization module, a flight attitude monitoring module and a control system, the image acquisition module acquires image data in real time, and the electronic image stabilization module performs real-time stabilization processing on an image based on attitude change of an aircraft. The flight attitude monitoring module collects attitude data of the aircraft through a three-axis gyroscope, an accelerometer and a magnetometer, and calculates an accurate flight attitude matrix through a sensor fusion algorithm. The control system dynamically adjusts parameters of the electronic image stabilization module according to the flight attitude data to ensure image stability. Compared with the prior art, the method has high real-time performance and response speed, image stability parameters can be adjusted in real time in the flight process, and the image quality is remarkably improved.

The invention discloses a bionic dragonfly flapping wing aircraft with a rope-driven flapping mechanism, which belongs to the technical field of aircrafts and comprises a support framework, a front flapping wing, a rear flapping wing, a transmission mechanism, the rope-driven flapping mechanism and a sloping bench sweeping steering mechanism. The transmission mechanism comprises a front transmission mechanism and a rear transmission mechanism which have the same structure and are symmetrically arranged on the front and rear sides of the supporting framework; the root of each flapping wing is provided with a rope flapping mechanism and a sloping bench sweeping steering mechanism which are the same in structure, and the front transmission mechanism drives a sliding groove piece to reciprocate up and down through a driving motor; the upper connecting rope and the lower connecting rope drive the wing root fixing disc and the wing root rotating shaft to rotate in a reciprocating mode so as to drive the flapping wings to flap, and the front pair of flapping wings and the rear pair of flapping wings can flap differentially; circumferential rotation of a turnover inclined table of the inclined table sweeping steering mechanism can drive a coaxial reciprocating inclined table with the edge connected with the turnover inclined table to reciprocate front and back, the wing root connecting piece is pushed or pulled to rotate front and back, and then the flapping wings are driven to conduct sweeping motion in space.

The invention discloses an ornithopter with foldable wings, and belongs to the technical field of ornithopters. The device comprises a driving assembly which is symmetrically connected with a swing mechanism, the swing mechanism is connected with a flapping transmission rod, the flapping transmission rod is provided with a second inner wing connecting piece, one end of the first inner wing connecting piece is connected with the first inner wing connecting piece, and the other end of the first inner wing connecting piece is connected with the second inner wing connecting piece; the direction control assembly is connected with an output crank, and the output crank is connected with one end of an inner wing connecting piece connected to the second inner wing connecting piece. The outer wing connecting piece is connected with the outer end part of the inner wing connecting piece; the front-end main frame is connected with the rear-end main frame connecting rod; the power module is used for supplying power to the aircraft; according to the invention, the extension degrees of the wings are respectively and accurately controlled, and the flight attitude is adjusted, so that the flight is more stable, and excellent bionic performance is shown.

The present invention discloses a flapping-wing aircraft capable of catapult takeoff and having a sweep-torsion mechanism, belonging to the field of aircraft technology. The aircraft comprises: a fuselage frame, left and right flapping wings, a passive torsion mechanism, a sweep mechanism, a catapult takeoff mechanism, a transmission flapping mechanism, and a tail rudder, wherein: a passive torsion mechanism and a sweep mechanism are provided at the roots of the left and right flapping wings, the catapult takeoff mechanism is provided in the middle of the fuselage, and a hip joint, thigh, ankle joint, calf, foot, and toe joint are provided from top to bottom, the inner and outer sides of the hip joint are controlled by a servo motor for relative rotation, the ankle joint and toe joint are provided with elastic energy storage torsion springs, a synchronous pulley and its drive mechanism are provided between the outer side of the hip joint and the outer side of the ankle joint to control the relative rotation between the thigh and the calf, and perform energy storage for catapult takeoff. In summary, the aircraft can perform catapult takeoff flight, and can perform passive torsion and sweeping motions during the flapping of the wings, which helps to increase the flapping wing lift and the overall payload of the aircraft.

The invention discloses a variable-amplitude steering adjusting mechanism, which relates to the technical field of aircrafts, and comprises a rack, two flapping wing rods, a swing driving assembly, a swing driving assembly and a swing amplitude adjusting assembly, the two flapping wing rods are movably arranged relative to the rack, and the two flapping wing rods are used for being connected with the two bionic flapping wings respectively; the swing driving assembly is arranged on the rack and connected with the two flapping wing rods, and the swing driving assembly is used for driving the two flapping wing rods to swing; the steering adjusting assembly is arranged on the rack and can adjust the flapping wing angles of the two flapping wing rods; the swing amplitude adjusting assembly is arranged on the rack and connected with the two flapping wing rods, and the swing amplitude adjusting assembly can adjust the swing amplitudes of the two flapping wing rods respectively. The variable-amplitude steering adjusting mechanism provided by the invention can improve the flexibility of the aircraft. The invention further provides a bionic flapping wing aircraft comprising the amplitude-variable steering adjusting mechanism.

The present invention discloses a bionic hummingbird flapping-wing aircraft with an ultralight structure and a control system, comprising a frame and a wing system fixed on the frame, a power transmission system, a pitch servo control system, a roll servo control system and a micro-integrated flexible folding circuit board system; the frame comprises an upper frame and a lower frame, wherein the upper frame comprises an upper bottom plate pulley frame, a bottom plate connecting member and a lower bottom plate pulley frame; the lower frame comprises a suspension, a front support frame, a rear support frame and a base; the suspension is fixed to the lower surface of the lower bottom plate pulley frame through a first hanging ear; the wing system consists of a pair of left and right wings, each wing comprises a wing pulley, a wing rod and a wing root rod, a wing membrane is fixed on the wing rod and the wing root rod, and the wing membrane is provided with a wing membrane hole at the wing root; the power transmission system realizes the flapping motion of a pair of wings by driving the reciprocating rotation of the wing pulley. By using the present invention, flapping-wing flight can be realized without an external power cord and only relying on battery power supply.

A three degrees-of freedom robotic flapper includes a fuselage, the fuselage housing motors and driving trains, a left wing attached to the fuselage, and a right wing attached to the fuselage, the left wing and the right wing configured to perform a wing flapping motion, a wing twisting motion and a wing folding motion.

The intelligent bionic ornithopter with the body and the self-adaptive attack angle adjusting joints comprises an ornithopter body, wings and an empennage, the wings and the empennage are arranged on the ornithopter body, driving motors are symmetrically arranged on the flapping portions of the wings, and each driving motor is provided with a limiting joint; the limiting joint comprises an outer ring, an inner ring and an elastic cushion block, the outer ring is composed of a plane end and first protruding parts, the plane end and the driving motor are connected and rotate synchronously, the first protruding parts are located on the two sides of the plane end and provided with penetrating holes, the inner ring is a cylinder, and the inner ring is arranged between the first protruding parts and swings with the middle of the plane end as the center. The inner ring and the penetrating hole are matched and jointly sleeved and fixedly connected with the edge of the wing, a second protruding part is arranged on the inner ring, and elastic cushion blocks are arranged at the upper end and the lower end of the second protruding part. The invention aims to provide the bionic ornithopter which can fully simulate flapping wing flapping actions of flying organisms and can adaptively adjust the attack angle in the flapping process so as to improve the flapping lift force and reduce the resistance.

The utility model discloses a flapping wing aircraft adopting bionic feathers as flapping wings. The flapping wing aircraft comprises a main beam assembly, a power assembly, a wing assembly and an empennage assembly, the power assembly is connected with one end of the main beam assembly, the empennage assembly is connected with the other end of the main beam assembly, and the wing assemblies are connected with the two sides of the power assembly in a mirror image mode and are in spherical hinge joint with the main beam assembly. The wing assembly comprises a wing main rod, a plurality of feather shafts and a plurality of feather pieces, one end of the wing main rod is connected with the power assembly, the feather shafts are connected to the wing main rod at intervals, and the feather pieces are rotationally connected to the feather shafts respectively; with the feather pieces and the rotating point of the feather shaft as a boundary, the feather pieces on the two sides of the rotating point are bent towards the two sides in opposite directions, and the adjacent feather pieces are in lap joint. The utility model has the beneficial effects that the flapping resistance of the wings is small, and the wings have the capability of flying in rainy days.

The invention provides a wing type biological hybrid flapping wing aircraft with deformable wings. The wing type biological hybrid flapping wing aircraft comprises a flapping mechanism, a wing deformation mechanism, bird feather type wings, an aircraft body, an empennage deformation mechanism and a bird feather type empennage, the flapping mechanism and the empennage deformation mechanism are mounted on the fuselage; the flapping mechanism drives the wing deformation mechanism to do wing flapping motion; the bird feather type wings are arranged on the wing deformation mechanism; the empennage deformation mechanism comprises an empennage joint and a plurality of steering engines, the steering engines drive the empennage joint to do four-degree-of-freedom motion, and the bird feather type empennage is installed on the empennage joint. The multi-degree-of-freedom cooperative connecting rod transmission mechanism is adopted, high-fidelity reproduction of bird flapping wing motion is efficiently achieved, and independent and accurate regulation and control of the torsion angle, the torsion rate and the torsion direction of the empennage are achieved based on hierarchical steering engine control and the decoupling characteristic of the double-layer motion frame.

A mechanical system includes a curved beam and a motor coupled to the curved beam. The curved beam is configured to buckle at two different locations along the positive and negative portions of its load / displacement curve, corresponding to opposite and equal sense bending directions. The motor is configured to impart a flapping motion to the curved beam.

The invention discloses a bionic butterfly aircraft and a design method thereof, and relates to the technical field of bionic aircrafts, the bionic butterfly aircraft comprises a driving system, wings, a control system and a power supply, the driving system is located at the head position of a bionic butterfly, the wings are arranged on the two sides of the driving system and are in transmission connection with the driving system, and the control system is electrically connected with the driving system; the control system and the driving system are both electrically connected with the power source, the wings comprise wing membranes and a plurality of wing veins, the wing veins are arranged on the wing membranes in a divergent mode, the gathering ends, close to each other, of the wing veins are arranged close to the driving system, and the gathering ends of the wing veins are in transmission connection with the driving system; the structure of the wings is simplified, the weight of the structure is reduced, the aerodynamic efficiency can be improved, the flight energy consumption is reduced, the endurance time is prolonged, and the flight flexibility is improved, so that the aircraft can be applied to the fields of military reconnaissance, environment monitoring and the like, and the application range of the bionic flapping-wing aircraft is expanded.

The invention discloses a hovering four-wing flapping-wing aircraft, and relates to the technical field of aircrafts, the hovering four-wing flapping-wing aircraft comprises a fixed rack, a power source and a gear set located in the middle of the fixed rack, two pairs of wings arranged at the two ends of the fixed rack, a connecting gear set and a connecting rod mechanism of the two pairs of wings, and an attitude control structure movably connected with the two pairs of wings respectively; one end, far away from the transmission shaft, of the crank is hinged to a connecting rod, one end, far away from the crank, of the connecting rod is hinged to a rocker, the middle of the rocker is bent and rotates on the outer side of the fixed rack, one end of the rocker is connected with the connecting rod, the other end of the rocker is movably connected with a flapping wing rod, and the tail end of the flapping wing rod is fixedly connected with a wing; the connecting rod mechanism is a five-connecting-rod mechanism composed of a crank, a connecting rod, a rocker, a fixed rack and a flapping wing rod. The performance is improved by simplifying a transmission system and an attitude control structure of an existing ornithopter and optimizing a connecting rod mechanism, better attitude control and bionic flight effects are achieved, and the performance of the ornithopter is greatly improved.

The utility model discloses an ornithopter with wings and an empennage capable of actively deforming. The ornithopter comprises a fuselage, a driving mechanism, the empennage and a wing folding mechanism, the driving mechanism is mounted on the machine body; the wing folding mechanisms are symmetrically installed on the two sides of the fuselage, and vertical flapping and folding movement of wings are achieved through steering engines and crank and rocker mechanisms in the driving mechanisms. The empennage is installed at the tail of the fuselage, deflection of the empennage in the horizontal direction and the vertical direction is achieved through the two small steering engines, and empennage attitude adjustment in the flying process is achieved. According to the ornithopter with the wings and the empennage capable of being actively transformed, the wings can be actively unfolded and folded in the flying process, the aerodynamic characteristics of the wings can be changed, efficient flying is achieved, and the wings and the empennage can be adjusted by adjusting the empennage. The flapping-wing air vehicle is more stable in flight attitude under the working conditions of taking off, landing, turning, gliding, hovering and the like, and the defects that an existing flapping-wing air vehicle is few in foldable wings, uncontrollable in folding, unstable in flight and the like are overcome.

The utility model discloses a structure of a bionic butterfly, and relates to the technical field of bionic butterflies. The bionic butterfly structure comprises a main body shell, a motor base and an extension plate, and wings are arranged on the two sides of the main body shell; a motor base is fixedly installed at the bottom of the body shell, a driving motor is fixedly installed at the bottom of the motor base, and a differential mechanism is fixedly installed on the rear side of the motor base. According to the structure of the bionic butterfly, through the differential structure of the eccentric curved bar and the differential mechanism, the trippppery natural posture of the butterfly is accurately simulated, the flight stability and maneuverability of the butterfly robot are remarkably improved, remarkable effects are achieved in the aspects of energy conservation and consumption reduction, mechanical abrasion is greatly reduced, and therefore the service life of the robot is prolonged; meanwhile, by selecting light-weight materials, the overall weight of the robot is successfully reduced, and the flight performance of the robot is improved.

The application relates to a high-efficiency lift flapping wing, a dragonfly-imitating aircraft and an aircraft flight posture control method. The high-efficiency lift flapping wing comprises a flapping wing body and a plurality of one-way air door blades; a plurality of air vents are arranged on the flapping wing body, each one-way air door blade covers the air vent, and the one-way air door blade is used for allowing airflow to pass through the air vent in one direction. The high-efficiency lift flapping wing, the dragonfly-imitating aircraft and the aircraft flight posture control method have the advantages of high lift efficiency, reduced flapping wing burden, improved aircraft service life and stability.

The invention provides an ornithopter with multi-degree-of-freedom empennage collaborative movement and a control method.The ornithopter comprises a rack, empennage bodies and an empennage driving mechanism, each empennage body comprises an empennage support, a plurality of tail feather bodies, a traction rope guide wheel and a tail feather elastic rope, and one end of each tail feather body is sequentially hinged to one end of the empennage support; the number of the traction rope guide wheels is two, the traction rope guide wheels are arranged in the middle of the empennage support side by side, the tail feather elastic rope is sequentially connected to the multiple tail feather bodies, and the two tail feather bodies on the outermost side are each provided with a connecting part extending towards the other side of the hinged end. The empennage driving mechanism comprises an empennage connecting pipe assembly, a traction steering engine, a winding roll, a traction rope, an empennage torsion steering engine, an empennage deflection steering engine and an empennage pitching steering engine. According to the empennage structure, independent control or combined control of torsion, pitching, deflection and opening and closing actions can be achieved, and the problems that an existing ornithopter empennage mechanism is insufficient in motion freedom degree and lacks an efficient wing-empennage cooperative motion system are solved.

The present invention provides a flapping-wing mechanism based on incomplete gear transmission, including a skeleton support structure, a reduction gear structure, a flapping-wing rod structure, a transmission gear structure, a transmission main shaft structure and a motor structure; the motor structure, the reduction gear structure, the transmission main shaft structure, the transmission gear structure and the flapping-wing rod structure are sequentially connected in transmission. A motor output shaft gear is arranged on the output shaft of the motor. The reduction gear structure includes a first reduction gear and a double-layer gear; the transmission gear structure includes a first incomplete gear, a second incomplete gear and a third incomplete gear; in the present invention, the transmission gear structure is used to cooperate with the flapping-wing rod structure to convert the rotational motion of the main shaft structure driven by the motor into the flapping motion of the flapping-wing rod structure through a plurality of incomplete gears, without a quick return characteristic and with uniform speed changes. And through the mutual meshing between the gears, the technical effects of high flapping synchronization and stable and consistent transmission ratio can be achieved.

The invention discloses a bionic butterfly based on a flapping wing structure, and belongs to the field of flapping wing type aircrafts, a butterfly main body comprises a rack, two motors assembled with speed reduction groups, two couplings, two wings and two wing connecting pieces; the wing connecting piece comprises connecting parts and a transmission shaft which are connected with each other, and the two wings are respectively fixed on the two connecting parts; the rack is T-shaped, longitudinal mounting holes matched with a transmission shaft in shape are formed in the two ends of the transverse part of the rack, and semicircular fixing grooves matched with a motor in shape are formed in the two sides of the tail end of the longitudinal part of the rack; the two transmission shafts are respectively mounted in the two mounting holes; the two motors are respectively bonded in the two fixing grooves; one ends of the two couplings are connected with the output ends of the two speed reduction sets respectively, and the other ends of the two couplings are connected with the two transmission shafts respectively. The flapping wing type bionic butterfly provided by the invention is small in size and light in weight, and more efficient flapping wing driving and more stable flight control can be realized.

A turbofan engine defining an axial direction and a longitudinal centerline along the axial direction is provided. The turbofan engine includes: a fan section having a fan, the fan comprising a plurality of fan blades; a turbomachine drivingly coupled to the fan, the turbomachine comprising a compressor section with a low pressure compressor, a turbine section with a low pressure turbine, a reduction gearbox, and an outer casing, the low pressure turbine drivingly coupled to the low pressure compressor across the reduction gearbox; an outer nacelle surrounding the fan and at least a portion of the turbomachine; an outlet guide vane extending between the turbomachine and the outer nacelle at a location downstream of the plurality of fan blades, the outlet guide vane defining a base and a tip and being forward swept from the base to the tip.

The invention relates to the technical field of aircrafts, in particular to a variable-attack-angle double-section flapping-wing aircraft which comprises an aircraft body, a power source and driving system, a double-section-wing flapping system left wing, a double-section-wing flapping system right wing, an attack angle adjusting driving system and an empennage adjusting driving system. Wherein the fuselage serves as a main body structure of the aircraft and is used for supporting and fixing other functional modules; the power source and the driving system are mounted on the fuselage and are used for providing power for the flapping wing to move; a left wing and a right wing of the double-section wing flapping system are mounted on the power source and the driving system.According to the variable-attack-angle double-section flapping-wing aircraft, in the flapping-wing flight process, by adjusting the attack angles of the wings in real time, the lift force and resistance distribution of the aircraft in different flight states can be optimized, and therefore the flight efficiency and stability are improved; the variable attack angle design enables the aircraft to better cope with a complex airflow environment.

The invention discloses an ornithopter capable of ejection take-off and provided with a sweeping-torsion mechanism, and belongs to the technical field of aircrafts, the ornithopter comprises a fuselage skeleton, a left flapping wing, a right flapping wing, a passive torsion mechanism, a sweeping mechanism, an ejection take-off mechanism, a transmission flapping mechanism and a tail vane, the catapult take-off mechanism is arranged in the middle of the robot body and sequentially provided with a hip joint, a thigh, an ankle joint, a shank, a foot and a toe joint from top to bottom, the inner side and the outer side of the hip joint are controlled by a servo motor to rotate relatively, and elastic energy storage torsion springs are arranged at the ankle joint and the toe joint correspondingly. Synchronous pulleys and driving mechanisms thereof are arranged between the outer sides of the hip joints and the outer sides of the ankle joints to control relative rotation between the thighs and the shanks, and energy storage of ejection take-off is carried out. In conclusion, the aircraft can perform ejection take-off flight, and the flapping wings can perform passive torsion and sweeping movement in the flapping process, so that the improvement of the flapping wing lift force and the overall effective load of the aircraft is facilitated.

The invention provides a high-maneuverability control method of a bird-imitating flapping-wing aircraft, and belongs to the field of flapping-wing aircrafts, and the method comprises the following steps: adjusting and driving by regulating the raising angles of wings of the bird-imitating flapping-wing aircraft to complete a normal flight switching gliding mode or a normal flight switching diving mode; the flapping frequency of wings on the two sides of the bird-imitating flapping-wing aircraft is instantly increased, and the gravity center position of the bird-imitating flapping-wing aircraft is adjusted, so that normal flight is completed, and a backward somersault mode is switched. According to the control method, high maneuvering actions such as gliding, diving and backward somersault are realized by independently controlling and changing flight parameters such as flapping frequency of the steering engine and raising and turning-down angles of the wings, analysis is carried out by combining a motion capture experiment, and the effectiveness and the accuracy of the method are improved.

The invention discloses a bionic butterfly ornithopter based on an abdominal vibration and compliant mechanism. The bionic butterfly ornithopter comprises a fuselage module and a wing module, the machine body module comprises a carbon tube, a head support frame, a chest support frame and a swing rod; a swing flexible hinge is embedded in the chest supporting frame, one end of the swing rod is connected with the head supporting frame through a flexible quadrilateral joint, the other end of the swing rod penetrates out of the swing flexible hinge and extends outwards, and a balancing weight is arranged at the tail of the swing rod. The wing modules are connected with the head supporting frame and the chest supporting frame through flexible joints. The flexible joint is adopted to improve the impact resistance and the self-adjusting capacity, the structural design is simpler and planarized, and the adjustability of mechanism parameters is optimized.

The multi-degree-of-freedom bionic bird flapping-wing aircraft comprises a flight assembly and a fuselage, and a driving assembly and a direction control assembly are arranged on the fuselage; a motor of the driving assembly drives a rotating shaft through a gear transmission mechanism. The flying assembly comprises wing modules which are symmetrically arranged and a linkage driving mechanism, and the linkage driving mechanism converts the rotating motion of the rotating shaft into vertical flapping of the wing modules and different folding angles of the wing modules; the direction control assembly comprises an empennage connected with the fuselage, an empennage steering device, an empennage lifting device and a wing twisting device; the empennage steering device drives the empennage to deflect around the vertical axis of the fuselage to adjust the flight direction of the aircraft; the empennage lifting device drives the empennage to deflect around the transverse axis of the fuselage to adjust the flight height of the aircraft; the wing twisting device drives the wing module to rotate around the longitudinal axis of the wing to adjust the pitch angle of the wing module. According to the invention, flapping folding and twisting can be realized, and a flying function which is extremely similar to that of a real bird is provided.

The invention discloses an ornithopter capable of sweeping double crankshafts to control double-wing flapping, and belongs to the technical field of aircrafts, the ornithopter comprises a body frame, a double-crankshaft transmission flapping mechanism, a disc cam variable sweep angle mechanism, a left flapping wing, a right flapping wing and a tail vane, the double crankshafts of the double-crankshaft transmission flapping mechanism are driven by a driving motor to rotate; the double-crankshaft is in an S shape and comprises a front crankshaft section and a rear crankshaft section, the two sections are connected with the inner ends of a left bent rocker piece and a right bent rocker piece which are coupled to the left side and the right side of the machine body frame through a left connecting rod and a right connecting rod respectively, and the outer ends of the left bent rocker piece and the right bent rocker piece are connected with wing root connecting pieces and flapping wings in sequence; the disc cam variable sweep angle mechanism comprises a disc cam, a sliding piece, an elastic reset piece and a sweep connecting rod, the sliding piece can slide front and back and makes contact with the outer contour of the disc cam through the elastic reset piece, and the disc cam rotates to drive the sliding piece to slide front and back in a reciprocating mode. And the sweeping connecting rods on the two sides drive the wing root connecting pieces and the flapping wings to perform front-and-back sweeping flapping motion.

The invention relates to the technical field of bionic flapping wings, and particularly discloses a double-motor bionic butterfly flapping wing device which comprises a rack and flapping wing mechanisms symmetrically arranged on the two sides of the rack. The flapping wing mechanism comprises a driving motor, a self-eccentric crank sliding block assembly and a flapping wing; the driving motor is fixed to the end of the rack, the lower end of the flapping wing is hinged to the lower end of the rack, one end of the self-eccentric slider-crank assembly is connected with the power output end of the driving motor, and the other end of the self-eccentric slider-crank assembly is slidably connected with the flapping wing and pushes the flapping wing to rotate. A dual-motor driving structure based on a self-eccentric quick-return mechanism is adopted, and the eccentric sliding block and the sliding groove are introduced for guiding, so that asymmetric rhythm control of'fast upward and slow downward 'is realized, an asymmetric flapping mode in butterfly flight is more truly restored, and the bionic authenticity and the motion coordination of the mechanism are remarkably enhanced.

The invention discloses a bionic mechanical clamping jaw for an aircraft. The bionic mechanical clamping jaw comprises a base, a driving assembly, a collecting mechanism, a leg mechanism and a jaw mechanism. A driving assembly and a collecting mechanism are arranged on the base; leg mechanisms are symmetrically arranged at the left and right ends of the bottom of the base, and claw mechanisms are installed at the bottoms of the leg mechanisms. The base is used for connecting the ornithopter and the leg mechanism; the driving assembly is used for driving the claw mechanism to move; the collecting mechanism is used for collecting the claw part mechanism through a collecting steering engine on the collecting mechanism; the leg mechanism is used for a middle carrier and a core buffer component for force transmission in the grabbing process. And the claw mechanism completes object grabbing and object loosening through tensioning and loosening movement. According to the invention, the adaptability and operation capability of the flapping-wing air vehicle for executing grabbing and carrying tasks in a complex environment can be further improved.

The invention relates to an ornithopter, which comprises: a fuselage base; the wings are symmetrically arranged on two opposite sides above the plate surface of the fuselage base 1; the at least two groups of connecting assemblies are arranged on the fuselage base and are connected with the fuselage base and the wings; the first driving assemblies are arranged on the fuselage base and drive the wings to rotate around the axis parallel to the first direction; the second driving assemblies are arranged on the fuselage base and drive the wings to swing around the axis parallel to the second direction; the control assembly is arranged on the machine body base and electrically connected with the first driving assembly and the second driving assembly. According to the ornithopter, vertical flapping and inclined rotation relative to the horizontal plane of the wings are controlled through the first driving assembly and the second driving assembly respectively, air resistance borne by the wings during vertical flapping is changed, and therefore lift force, forward force and / or steering force are provided for the ornithopter; therefore, the flapping-wing air vehicle realizes flexible turning motion.

The utility model relates to the technical field of aircrafts, in particular to a bionic butterfly based on a flapping wing structure. The bionic butterfly based on the flapping wing structure comprises butterfly wing-shaped carbon fiber frameworks, kite cloth, a driving assembly, a small lithium battery and a remote controller, the driving assembly is wirelessly and remotely controlled through the remote controller, and the driving assembly is fixedly connected with the two butterfly wing-shaped carbon fiber frameworks wrapped with the kite cloth. The remote controller is operated to control the two butterfly wing-shaped carbon fiber skeletons to move, so that the whole bionic butterfly is driven to fly, and the technical problems that in the prior art, a bionic butterfly is not small enough, the thrust-weight ratio is small, and the control difficulty is large are solved. The purposes of optimizing the wing shape of the bionic butterfly, reducing the overall weight of the bionic butterfly and conveniently adjusting the motion posture of the bionic butterfly are achieved.