239results about "Ornithopters" patented technology

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.

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 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 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.

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.

The invention discloses a multi-degree-of-freedom bionic ornithopter which comprises a main fuselage, a left / right wing skeleton and a tail vane. And a flapping wing transmission mechanism and a wing active folding mechanism are arranged in the main fuselage. And the flapping wing transmission mechanism drives the wing framework to periodically flap through a swinging guide rod and a gear set, and is provided with an amplitude adjusting unit. The active wing folding mechanism comprises a synchronous driving unit and an independent driving unit, the synchronous unit is in linkage with the flapping wings for transmission to achieve synchronous folding of the double wings, and the independent unit achieves independent folding of the single wing through a steering engine and a magnetic attraction sliding block. The wing framework is of a bionic multi-connecting-rod structure and comprises a wing arm, a wrist joint torsion mechanism and a wing finger part, flapping is converted into torsion through a wrist joint, and coordinated bending of the wing fingers is achieved through a connecting rod system. The compound motion of flapping, folding and twisting is realized, the batwing flight is highly simulated, and the bionic degree and maneuverability of the aircraft are improved.

The utility model discloses a bionic aircraft side wing, and belongs to the technical field of bionic equipment. The aircraft mainly comprises an aircraft framework and side wing parts arranged on the two sides of the aircraft framework, a fixing frame and a driving component installed on the fixing frame and used for driving the side wing parts to move are arranged at the front end of the aircraft framework, a battery pack and a microcontroller are arranged on the aircraft framework, and each side wing part comprises a front wing, a rear wing and a connecting block. The bionic aircraft side wing is composed of the front wing body, the rear wing body and the connecting block, the front wing body and the rear wing body are connected through the connecting block and provided with the outer contour frames and the wing faces, and the cross structures are arranged in the outer contour frames, so that the rigidity, stability and overall strength of the side wing can be effectively enhanced, and the excellent performance of an aircraft in high-speed flight or complex airflow is guaranteed; meanwhile, the airfoil is made of a thin film material with high tensile strength and elasticity, so that the structural weight is reduced, the aerodynamic performance is optimized, and the efficiency and reliability of the aircraft are improved.

The bionic butterfly flapping wing aircraft comprises a fuselage mechanism, and wing mechanisms are installed on the two sides of the fuselage mechanism correspondingly. The wing mechanism comprises a flexible front wing part and a flexible rear wing part; each of the front wing part and the rear wing part comprises a wing skeleton part; the machine body mechanism comprises a machine body. A driving assembly is installed at the end of the machine body. The driving assembly comprises a support fixed to the fuselage, rocker structures for driving the wing mechanisms on the two sides respectively are installed on the support, wing base structures are fixedly installed at the roots of the wing skeleton parts and fixedly installed on the hinge structures, and the rocker structures drive the hinge structures to carry the wing mechanisms to swing. A gear transmission structure; and the steering assembly is mounted at the tail of the fuselage. The invention also discloses a flight method of the aircraft. The invention discloses an anti-butterfly aircraft with a brand new power structure and a yaw structure. The aircraft has the advantages of light weight, small size, high flight maneuverability, high maneuverability, high secrecy and the like.

The utility model discloses a bionic machine framework, and belongs to the technical field of bionic equipment. The device mainly comprises a main rod and a bionic flight mechanism arranged on the main rod, the main rod is rectangular, and a first fixing frame, a controller mounting frame and a battery mounting frame are sequentially arranged on the main rod in the length direction of the main rod. According to the bionic machine framework, the use of redundant materials is reduced through the rectangular and tubular main rods, the overall weight is reduced through reasonable arrangement of the weight reduction grooves and the weight reduction holes, and secondly, unnecessary material consumption is effectively reduced through the distributed weight reduction grooves in the structural design of the controller mounting frame and the battery mounting frame, so that the cost is reduced. Especially, the battery mounting frame is distributed through symmetrical second weight reduction grooves, the weight is reduced, the overall stability of the framework is improved, through the optimized design, it is ensured that the bionic machine is light in weight, meanwhile, the bionic machine still has enough stability and strength, and the advantages of bionic design can be brought into full play.

The utility model belongs to the field of unmanned aerial vehicles, and discloses a bionic dragonfly unmanned aerial vehicle which comprises a vehicle body, the vehicle body extends upwards in the vertical direction, the plane where the vehicle body extends completely serves as the upper surface of the vehicle body, four rotating and swinging mechanisms are movably installed on the upper surface of the vehicle body, and each rotating and swinging mechanism is movably connected with a wing. And each wing is movably connected with the upper surface of the aircraft body. According to the rotary swing mechanism, each wing swings relative to the aircraft body, the first front wing and the second front wing symmetrically swing by taking the reference surface as the reference, and the first rear wing and the second rear wing symmetrically swing by taking the reference surface as the reference; the symmetrical swing action is similar to the flapping process of wings when the dragonfly flies, so that the unmanned aerial vehicle can fly in a narrow area and can adapt to complex terrains in the narrow area compared with a fixed-wing aircraft, and the adaptability of the unmanned aerial vehicle is improved.

The application discloses a flapping-wing aircraft adaptive design analysis method and system, and relates to the technical field of adaptive design analysis. The method comprises the following steps: obtaining a flight task of a flapping-wing aircraft, and extracting flight environment information according to the flight task; extracting biological distribution information according to the flight environment information; performing biological adaptability design analysis on the flapping-wing aircraft according to the biological distribution information, obtaining an adaptability result, and judging whether to optimize the flapping-wing aircraft according to the adaptability result; if the flapping-wing aircraft is optimized, a biological optimization scheme of the flapping-wing aircraft is generated; performing environmental adaptability analysis on the flapping-wing aircraft, obtaining an environmental optimization scheme, adjusting the flapping-wing aircraft in combination with the biological optimization scheme, and updating a design scheme of the flapping-wing aircraft. The application improves the comprehensiveness of the adaptability design analysis of the flapping-wing aircraft.

The invention provides a dual-motor-driven ornithopter, and belongs to the technical field of aircrafts, the dual-motor-driven ornithopter comprises a dihedral angle control mechanism, a wing root angle control mechanism is arranged at the bottom of the dihedral angle control mechanism, and flapping wing mechanisms are symmetrically distributed at the top of the dihedral angle control mechanism; the flapping wing mechanism comprises a fixing frame, a driving assembly and a transmission assembly, and the transmission assembly can drive the first wing and the second wing to symmetrically move under the driving of the driving assembly. According to the scheme, the flapping-wing air vehicle driven by the double motors adopts an X wing type, the lift force is larger than that of a traditional flapping-wing air vehicle, and the energy utilization rate is higher; through cooperation of the dihedral angle control mechanism, the wing root angle control mechanism and the double motors, many high-maneuverability actions can be achieved.

This invention relates to a biomimetic flapping-wing aircraft with variable fuselage attitude, comprising a frame, a motor fixed to the frame, and wings symmetrically arranged on the left and right sides of the frame. The wings include a crank-rocker mechanism hinged to the frame, a four-bar linkage movably passing through the frame, and a flapping rod. The motor drives the crank-rocker mechanism to rotate; the crank-rocker mechanism is connected to the four-bar linkage to drive it in a reciprocating oscillating motion; the flapping rod is fixed to the outside of the four-bar linkage. The wing employs a two-segment flapping mechanism, which helps reduce drag from upward flapping while ensuring lift from downward flapping, improving the overall energy utilization rate. The biomimetic flapping-wing aircraft uses a segmented structure with variable fuselage attitude, making it more agile and biomimetic. It can mimic various basic bird movements, enabling flapping flight, high-altitude emergency stops, and turning maneuvers.

The invention discloses a retractable flapping wing mechanism based on a miniature flapping wing air vehicle, which simulates the flapping wing folding and unfolding motion of ladybirds at wing roots, replaces a common rigid connection form with a compliant mechanism, and realizes the folding and unfolding motion of a flapping wing leading edge beam of the miniature air vehicle by utilizing the deformation of a strip-shaped spring. According to the mechanism, the flapping wings are folded to the two sides of the aircraft body through bending deformation of the strip-shaped springs, the spanwise size of the aircraft during storage can be effectively reduced, and the portability is improved; before the aircraft takes off, the flapping wings can be automatically unfolded by releasing the strain energy of the strip-shaped spring. According to the design, the occupied space of the aircraft is reduced, the launching distance of the unmanned aerial vehicle is increased, the task execution radius is increased, and the application scene is expanded.

The invention discloses an air-water bimodal efficient conversion bionic flapping-wing air vehicle and a control method thereof, and relates to the technical field of bionic flapping-wing air vehicles, the air-water bimodal efficient conversion bionic flapping-wing air vehicle comprises an air vehicle body, a mounting column is arranged in a storage groove, a fourth servo motor is fixedly connected to the upper surface in the mounting column, and an electric push rod is connected to the upper surface of a first support. Compared with the prior art, the wing folding device has the advantages that an electric push rod is started to pull a clamping block to be separated from a first clamping groove, a first servo motor drives a second support to rotate, a fourth servo motor drives a first support to rotate, wing folding storage is achieved, conversion of the wing form between an underwater streamline form and an air efficient flight form is achieved, and the space requirement for compact storage is met; a second servo motor can be started to drive a rotating disc to rotate, a protective cover rotates along with the rotating disc, an opening in a mounting column is blocked through the protective cover, the underwater streamline wing form is achieved, and the resistance of the device advancing in water can be reduced.

The application provides a solar energy drag reduction and energy storage aircraft wing and a drag reduction and energy storage method, and relates to the technical field of aircrafts.The wing body is internally provided with an angle control system and multiple solar panels.The angle control system comprises a control rod, a connecting rod and a control shaft, the middle part of each solar panel is provided with the control shaft, the two adjacent solar panels are hingedly connected through the connecting rod to form a whole solar panel, and the bottom of the solar panel at the head and tail is provided with the control rod.The control rod is used for adjusting the overall inclination angle of the whole solar panel, and the control shaft is used for adjusting the inclination angle of each solar panel.The multiple solar panels are connected to form a whole solar panel, the overall inclination angle adjustment and the accurate inclination angle adjustment are combined when the angle is adjusted, the solar energy is maximally absorbed, and good economic benefits are achieved, and a reflective coating is designed to reduce the flight resistance.

The invention relates to the technical field of bionic aircrafts, and provides a butterfly-imitating aircraft which comprises a fuselage base, at least two pairs of wings, at least four groups of driving mechanisms and a flight controller. According to the butterfly-like aircraft provided by the invention, a driving mechanism is arranged and comprises a connecting assembly, a rotary driving assembly and a flapping driving assembly, the connecting assembly comprises a connecting frame and a connecting seat, the connecting seat is fixed to a fuselage base, the connecting frame is hinged to the connecting seat, and a wing shaft is rotationally connected to the connecting frame; the rotating motor is directly and fixedly arranged on the connecting frame and drives the wings to rotate, the wings can rotate without a cross universal coupling, the structure is simpler, a driving mechanism is simpler, the power transmission loss is smaller, and the energy utilization rate is higher; the flapping driving assembly is in driving connection with the connecting frame and drives the connecting frame to swing, and the flight controller is electrically connected with the rotating driving assembly and the flapping driving assembly so as to control rotation and swing of the wings, so that the butterfly-imitating aircraft flies more stably and flexibly.

[Problem] To provide a flapping flying robot that is compact and is capable of performing flight with high mobility.[Solution] A flapping device 1 has blades 2, 2 and a drive unit 3, and the drive unit 3 includes: a drive source 30; a driven part 10 rotated around a first rotation axial line by the drive source 30; a first vibration excitation member 40 biasing the driven part 10 in a direction opposite to a rotation direction of the driven part 10; and a control unit 60. The blade 2 has: a first blade shaft 20 extending in a predetermined axial line direction and being connected to the driven part 10 on a one end side and connected to be rotatable in a second rotation axial line surrounding direction intersecting the first rotation axial line; a second blade shaft 21 extending in a direction intersecting the first blade shaft 20 and being directly or indirectly connected to the driven part 10 on a one end side and connected to be rotatable in the first rotation axial line surrounding direction; and a blade main body 22 disposed over the first blade shaft 20 and the second blade shaft 21.

The application discloses a flapping angle adjustable flapping wing mechanism driven by a single shaft, which comprises a ring-shaped frame, an arch-shaped frame, a driving motor, an input shaft driving assembly, a flapping wing movement assembly and a flapping angle adjusting mechanism, the arch-shaped frame is fixedly connected to the top of the ring-shaped frame, the driving motor is fixed to the front end of the ring-shaped frame, the flapping wing movement assembly is arranged on the ring-shaped frame and is driven by the input shaft driving assembly, the flapping angle adjusting mechanism is installed on the arch-shaped frame, a rudder is fixedly installed above the arch-shaped frame, and the flapping angle adjusting mechanism is driven by the rudder. By controlling the rotation of the output shaft of the rudder, the crank is driven to rotate, thereby the connecting rod A and the connecting rod D are respectively driven to move along their own axes in a synchronous and reverse direction by the connecting rod B and the connecting rod C, so that the included angle between the inclined shaft and the input shaft is changed, the flapping angle amplitude of the left wing shaft and the right wing shaft is changed, and finally the dynamic adjustment of the lift size of the flapping wing is realized without changing the flapping frequency.

The unmanned aerial vehicle comprises a fuselage, a flapping wing and a first driving assembly, the flapping wing is rotationally connected with the fuselage, the flapping wing comprises a supporting rod, the first driving assembly comprises a first power device and a first transmission assembly, the first transmission assembly is connected with the first power device and the supporting rod, and the first transmission assembly comprises a rotating disc and a rotating shaft; the rotating shaft drives the supporting rod to rotate, so that the flapping wings are driven to rotate. The unmanned aerial vehicle is provided with the first driving assembly, the first driving assembly drives the flapping wing to rotate through the rotating disc and the rotating shaft, rotating connection between the flapping wing and the vehicle body is achieved, the flapping wing can stably flap, the transmission stability and the flapping effect of the flapping wing are improved, and therefore the flight stability of the unmanned aerial vehicle is improved.

The application discloses a dynamic variable-wing bionic aircraft, which comprises a fuselage assembly, a speed reduction mechanism, a wing assembly, a wing vein driving assembly, a tail wing assembly, a receiver and a battery, the fuselage assembly comprises a nose and a fuselage plate, the nose is connected with the fuselage plate to form a nose cavity, and the fuselage plate is provided with a fuselage cavity, a first groove and a second groove; the wing assembly is arranged on the fuselage plate; the speed reduction mechanism is arranged in the nose cavity and is used for driving the wing assembly to flap up and down; the wing vein driving assembly is arranged in the first groove of the fuselage plate and is used for driving the wing assembly to move horizontally and longitudinally; the tail wing assembly is arranged at the tail of the fuselage plate and can flip up and down; the receiver is arranged in the fuselage cavity of the fuselage plate; and the battery is arranged in the second groove of the fuselage plate. The dynamic variable-wing bionic aircraft can adjust the structural state of the wing in the process of flight, and can adjust the shape of the wing in real time to achieve the best flight state.

The application provides a flapping mechanism with independently controllable flapping start position, comprising a wing rod, a connecting rod A, a connecting rod linear servo, a motor gear, a connecting rod B, a transmission wheel A, a transmission wheel B, a swing rod connecting piece, a rocker connecting piece, a micro linear servo, a speed reduction motor, a fuselage support and a swing rod linear servo. The application generates active yawing torque by flapping difference of two sides of the wing surface, fundamentally solves the problem that the vertical tail fails in the case of low flow velocity, and also solves the problems of poor disturbance resistance and poor maneuverability of the flapping wing aircraft in the low speed case. In addition, in the gliding stage, the upwash angle of the two sides of the wing surface and the tail can be controlled respectively, so that more bionic, flexible and efficient gliding flight is realized. The sub-aircraft has the characteristics of flight attitude bionics, strong visual confusion, low flight noise and high efficiency, and can be used in outdoor close-range reconnaissance, high-altitude long-endurance surveillance reconnaissance, wild animal close-range video shooting and other task scenes, and has important significance and value in the future.

The invention relates to the field of ornithopters, in particular to a multi-mode self-adaptive ornithopter which comprises a fuselage, a driving assembly, a wing assembly and an empennage assembly. The driving assembly is mounted at the front end of the fuselage, and the core of the fuselage is that two sets of independent steering engine systems, namely a longitudinal flapping steering engine and a transverse flapping steering engine, are integrated; the longitudinal flapping steering engine is responsible for driving the double wings to flap up and down and providing core lift force and thrust for flight; the transverse flapping steering engine is independently arranged, and an output shaft of the transverse flapping steering engine is coaxially connected with the wing fixing frame through a first rocker arm and a wedge mechanism. During normal flapping, the transverse mechanism is in a free state and does not interfere with longitudinal flapping; when the flight mode needs to be changed, the transverse flapping steering engine is started to drive the whole wing surface to rotate around the axis to a vertical or specific angle, and transverse flapping is performed by taking the new attitude as a balance point, so that mode conversion such as hovering and decelerating landing is realized. A heavy longitudinal flapping steering engine does not need to be driven in the process, and inertia and energy consumption are greatly reduced.

The disclosure pertains to a battery-powered personal flying apparatus comprising a body structure adapted to support and detachably couple user thereto, and a pair of wings rotationally coupled to opposite sides of the body structure. The wings preferably comprise at least a humerus portion and radius portion. The radius portion is configured to rotate relative to the humerus and, during use, the wings mimic the motion of bird flight. The disclosure further pertains to a method of facilitating human flight using the personal flying apparatus comprising the steps of maintaining the user's torso and legs in an inline and generally horizontal position, moving a pair of wings having a humerus rotatably coupled to a radius simultaneously through a wing flight pattern, and repeating the wing fight pattern to maintain flight of the user.

This invention provides a torsion-inspired bionic flapping-wing micro-aircraft. By recording the flight process of a beetle using a high-speed camera, it was discovered that the beetle's hindwings generate an active torsional motion during flapping. This flapping method optimizes aerodynamic characteristics and reduces energy consumption. The invention consists of a drive mechanism comprised of a motor and a two-stage reduction gear transmission. The torsion mechanism achieves wing torsion through the height difference of the connecting rod in a crank-rocker mechanism, thus realizing the flapping-torsional coupled motion of the aircraft. This invention achieves the flapping-torsional coupled motion of the bionic aircraft through a single drive mechanism, resulting in a sophisticated structure that more closely resembles the flight mechanism of insects.