134results about "Ornithopters" patented technology

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 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 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 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.

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.

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.

The invention discloses a wing of a bionic flapping-wing aircraft capable of inhabiting in a manner of being perpendicular to a wall surface. The wing comprises a connecting component, a supporting framework and a wing membrane, the connecting component is of a four-fork branch supporting arm structure of a forked structure, the tail end of each supporting arm is provided with a long hole used for fixing the supporting framework, and the center boss is provided with a rudder arm connecting hole used for being connected with a driving component. The supporting framework comprises a main force bearing beam, sub-components distributed in a radial mode, transverse fixing wing ribs and rear wing supporting wing ribs distributed in an annular mode. The wing film is adhered to the surface of the supporting framework to form a front wing area and a rear wing area of the wing; wherein the outer contour of the front wing area is constructed to have the curvature radius which is continuously reduced from the wing root to the wing tip, and a variable curvature radius layout is formed; and the hip angle curvature radius of the rear wing area is 50mm. Through structural innovation, the aerodynamic efficiency, the structural stability and the collaboration with inhabiting components of the wing are effectively improved, and the wing is particularly suitable for a bionic flapping-wing aircraft needing to inhabit on a vertical wall surface.

The utility model discloses a kind of steering control structures of bionic flapping-wing aircraft, including rudder on the aircraft fuselage tail portion of being installed, the rotating shaft of rudder is along the vertical direction of the aircraft is arranged, and with the longitudinal axis of the aircraft fuselage is orthogonal;The rotating shaft of rudder is fixedly connected with the deflection bar extending to the rear of the aircraft, and the axis of deflection bar intersects with the axis of the rotating shaft of rudder;Wherein, rudder is deflected towards the lateral direction of the aircraft by driving deflection bar, to realize steering.It also discloses a kind of bionic flapping-wing aircraft, including aircraft body, and the tail portion of aircraft body is installed with steering control structure.The utility model steering structure is flexible and reliable, in the case where almost no influence is caused to lift, by the transformation of deflection bar posture, aircraft can be rapidly adjusted flight direction, can be lightly turned and circled, this high degree of mobility makes aircraft can adapt to complex environment.

The application discloses a multi-degree-of-freedom tail wing for a flapping-wing aircraft, which comprises a body frame, a yaw-elevation rudder machine, a yaw-elevation rudder arm, a central caudal bone imitating piece, a roll rudder machine, a terminal caudal bone imitating piece, a tail feather folding and unfolding rudder machine, a tail feather folding and unfolding rudder arm and tail feathers; wherein the yaw-elevation rudder machine is installed on the body frame and connected with the tail wing as a whole through a yaw-elevation connecting rod; the roll rudder machine is installed on the central caudal bone imitating piece and drives the torsion of the tail wing surface by adding a circular rudder arm and cooperating with a roll connecting piece; the tail feather folding and unfolding rudder machine is installed on the terminal caudal bone imitating piece and drives the outward unfolding or inward folding of the tail feathers at the outer sides of both ends through a tail feather folding and unfolding connecting rod, and drives the movement of the remaining tail feathers except the central tail feather through a tail feather linkage. The application can not only adjust and control the longitudinal, lateral and heading movements of the body, but also adapt the folding and unfolding of the tail feathers to the requirements of the aircraft on different maneuverability.

The invention provides a lightweight controllable battery putting device of an ornithopter and the ornithopter, and relates to the technical field of ornithopters. The top of the throwing frame is connected with an ornithopter body, a steering engine is installed on the lower portion of the throwing frame, a throwing control shaft and a battery baffle rotating shaft are rotatably installed at the bottom of the throwing frame, a plurality of arc-shaped check blocks are installed on the throwing control shaft and have different radians, and elastic check rings are installed on the portions, located on the two sides of the arc-shaped check blocks, of the throwing control shaft. An output shaft of the steering engine is connected with one end of a steering engine rocker arm, a throwing control shaft is connected with one end of a throwing control shaft rocker arm, and the other end of the steering engine rocker arm and the other end of the throwing control shaft rocker arm are rotationally connected with two ends of a connecting rod; the battery baffle rotating shaft is rotationally connected with one end of the battery baffle, the other end of the battery baffle is matched with the arc-shaped check block, and the battery is placed on the battery baffle. The ornithopter is simple in structure and light in weight, battery putting is achieved, useless loads of the ornithopter are reduced, and the cruising ability of the ornithopter is improved.

The application provides a multi-mode ornithopter to solve the problem of low aerodynamic efficiency of the ornithopter, and the wing has good flexibility, the electromagnetic driving mechanism changes the magnetic field direction through an electromagnetic coil to realize the speed difference when the wing flaps up and flaps down, has better flexibility, the variable attack angle gear mechanism is controlled by two motors respectively, can provide different angles of attack angles for two wings, and more accurately simulates the flapping motion of the migratory beetle.

The application provides a piezoelectric driving type land-air amphibious device based on variable frequency variable modal adjustment, which comprises a body, crawling foot parts and flight wing parts connected with the body, and a control module arranged in the body, the crawling foot parts and the flight wing parts are at least provided with a pair and symmetrically distributed on both sides of the body; wherein: the flight transmission hinge converts the amplitude of the flight vibration wafer into the swing of the wing and further provides the body with flight power; the horizontal vibration wafer and the vertical vibration wafer respectively conduct the front-back or up-down swing to the sarrus hinge actuator through the walking transmission hinge, and further provide the body with walking power; the application adopts piezoelectric wafer driving, changes the traditional motor driving mode, and designs the flight transmission hinge and the walking transmission hinge, in addition, the variable frequency design of the vibration wafer can prevent the driver from resonating, increase the end amplitude of the wafer as much as possible, realize the miniaturization and light weight of the device, and improve the driving capacity of the driver.

The application belongs to the technical field of special flapping-wing aircraft, and discloses a three-axis tailless flapping-wing aircraft with ground-air multi-mode and same drive, which comprises a carbon rod framework, flapping-wing movement assemblies, vibration amplification assemblies and control sensing assemblies; three groups of the flapping-wing movement assemblies are symmetrically installed around the carbon rod framework in a ring shape; the vibration amplification assemblies are fixedly installed at the bottom of the carbon rod framework; and the control sensing assemblies are fixedly installed in the middle of the carbon rod framework, which are used for controlling the flapping of the flapping-wing movement assemblies in the air and the pacing and jumping of the vibration amplification assemblies on the ground, so as to realize the flight in the air and the movement on the ground of the three-axis tailless flapping-wing aircraft. The flexible wings used in the application ensure the low-noise concealment, flight safety and control stability in the flight process, and the passive pacing and jumping mechanism of the chassis effectively ensures the ground movement ability with lower power consumption, so that the application has great potential in the inspection, reconnaissance and exploration applications in complex ground-air scenes such as jungles, pipelines and indoor environments.

An albatross-inspired three-segment asynchronous cooperative flapping-wing aircraft is disclosed. It comprises a fuselage frame, cabin, two wings, tail, main drive system, two sets of angle adjustment components, a differential yaw steering system, and a control system. The invention employs a three-segment wing topology. By delaying the flapping phase of the middle wing relative to the inner wing, an "aerodynamic vortex relay" effect is created, thus slowing airflow separation. Combined with the asymmetric trajectory of the outer wing, the overall lift-to-drag ratio is increased by more than 156% compared to a traditional two-segment wing. It features a dual energy-saving mechanism of "active flapping + passive gliding." The segmented independent drive system allows the aircraft to actively capture natural wind gradients for gliding, reducing energy loss per cycle and increasing endurance by more than double with the same battery capacity. With its large biomimetic wingspan and asynchronous cooperative flapping of the three segments, it highly replicates the raptor's posture, triggering the instinctive fear of birds and effectively solving the problem of "learned adaptation."

A wing mechanism includes a first actuator, a second actuator, and a third actuator that all extend from a substrate and connect to the upper junction member. The wing is connected to the upper junction member. The wing has a wing base with a main spar mounted to the wing base. The wing base has a middle spar mounted to the wing base behind the main spar. The wing base has a trailing edge member mounted to the wing base behind the middle spar. The wing base has a backer spar mounted to the wing base behind the main spar.

The application relates to a bionic folding flapping-wing robot with foldable and coupled wing movement, comprising a fuselage, wings for generating lift during flight, the wings comprising a first wing and a second wing symmetrically arranged on both sides of the fuselage, a wing folding assembly for switching the wings between a folded state and an unfolded state, comprising a first wing folding assembly and a second wing folding assembly symmetrically arranged on both sides of the fuselage, and a power assembly for driving the wings to perform periodic flapping movement. The application introduces a multi-modal flight mode combining unilateral wing folding turning and flapping, significantly improving the flight capability of the aircraft in narrow space; the foldable flapping-wing structure enables the aircraft to have different aerodynamic shapes in different flight stages, improves flight efficiency and reduces energy consumption; the flight mode combining flapping and gliding reduces the requirement for continuous high-frequency flapping, effectively prolongs the endurance time.

The invention discloses a bionic flapping wing aircraft driven by double steering engines, and relates to the technical field of aircrafts, the aircraft comprises an aircraft overall framework and a double steering engine driving device arranged on the aircraft overall framework; the overall framework of the aircraft comprises a fuselage, and wings and empennages which are arranged on the fuselage; the machine body is a carbon plate with a hollow structure; a battery mounting hole is formed in the machine body; the double-steering-engine driving device comprises an integrated control module, a battery module, a first servo steering engine and a second servo steering engine; the first servo steering engine and the second servo steering engine are installed on the two sides of the fuselage in a penetrating mode. The battery module is arranged at the battery mounting hole; and the battery module and the integrated control module are oppositely mounted on two sides of the body. The hollow structure is arranged, the integrated control module, the battery module, the first servo steering engine and the second servo steering engine are oppositely installed, lightweight design of the bionic flapping-wing aircraft is completed, and then the aircraft performance of the bionic flapping-wing aircraft is improved.

The invention relates to a flexible foldable bionic wing panel, in particular to a flexible foldable bionic wing panel based on driving of an electrohydrodynamic pump, belongs to the field of bionic technology coupling, and aims to solve the problem that the existing bionic technology depends on a micro motor and a complex mechanical transmission mechanism to realize wing panel unfolding and folding; in order to solve the problems that in the prior art, a system is complex in structure and high in manufacturing cost, and obstacles are formed in scenes with severe spatial constraint or high lightweight requirements, folding bionic fins are installed on a pipeline integration module, the pipeline integration module is connected with pipelines of the folding bionic fins, and a liquid storage device is connected with an electric fluid pump and provides dielectric liquid; the power supply equipment is connected with the electric fluid pump and provides voltage, the electric fluid pump is connected with the pipeline integration module and controls the dielectric liquid to flow in pipelines of the pipeline integration module and the folding bionic fins, and the dielectric liquid flows in the pipelines of the folding bionic fins to control folding and unfolding of the folding bionic fins.

A wing mechanism includes a first actuator, a second actuator, and a third actuator that all extend from a substrate and connect to the upper junction member. The wing is connected to the upper junction member. The wing has a wing base with a main spar mounted to the wing base. The wing base has a middle spar mounted to the wing base behind the main spar. The wing base has a trailing edge member mounted to the wing base behind the middle spar. The wing base has a backer spar mounted to the wing base behind the main spar.

The invention relates to the technical field of robots, and provides a flapping-wing air vehicle to solve the problem that an existing bionic flapping-wing flying robot cannot be adjusted and controlled according to wind power and cannot fly by means of the wind power, and the flapping-wing air vehicle comprises a flapping-wing air vehicle body; the wings are arranged above the ornithopter body and are connected with the ornithopter body; and the flexible pressure sensing films are arranged on the outer surfaces of the wings and are used for sensing the magnitude and direction of wind power.