331results about "Ornithopters" patented technology

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.

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 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.

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 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.

The invention provides a battery putting system and method for a flapping-wing flying robot based on a cantilever beam, and belongs to the technical field of flapping-wing flying bionic robots. In the flight process, the electric quantity of the battery pack is automatically monitored, battery switching is carried out, separated use of the battery pack is achieved through the cantilever beam battery putting module, exhausted batteries are safely separated, the overall power consumption is reduced, and the cruising ability and task efficiency of the flapping-wing flight robot are remarkably improved; secondly, the lightweight index is improved in the aspects of structural design and product modeling design, and the cruising ability of the robot is improved; and then, manual intervention is avoided, the continuity of tasks is ensured, the labor cost is reduced, finally, the energy utilization efficiency is optimized, and the continuous operation capability is improved, so that the application potential of the flapping-wing flying robot in various tasks is expanded.

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 invention discloses an anti-drag foldable flapping-wing micro-aircraft, and relates to the technical field of aircrafts. Comprising a fuselage with an oval head, and an empennage is mounted at one end of the fuselage; the power structure is arranged in the fuselage, and the power structure is used for adjusting the folding wings; the folding mechanisms are arranged on the two sides of the power structure, and the folding mechanisms are used for folding the folding wings; a plurality of mounting holes are formed in the top end of the body, solar panels are mounted in the mounting holes, a mobile power supply is mounted on one side of the inner wall of the body, and a notch is formed in the inner wall of the bottom end of the body. According to the aircraft, the head of the aircraft body is arranged to be oval, air resistance can be reduced, the flight efficiency can be improved, airflow can be effectively smoothed, the air resistance encountered by the aircraft in the flight process is reduced, the stability of the aircraft in the air is better, airflow interference is reduced, and the flight stability is improved; the heat of the power structure can be effectively dissipated when the aircraft flies.

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 flapping-angle-variable flapping-wing air vehicle comprises a main body rack, and transmission racks are fixed to the two sides of the front portion and the two sides of the rear portion of the main body rack correspondingly; the clamping plate is arranged in a groove of the bent sliding way in a penetrating mode through a first plug pin, and the clamping plate is driven to do circular motion through rotation of the driven rotating shaft. The circular motion of the clamping plate is converted into transverse swing and longitudinal swing of the U-shaped connecting plate, the longitudinal swing drives the wings to flap, and the amplitude change of the circular motion of the clamping plate is converted into the swing amplitude change of the U-shaped connecting plate, so that the flapping amplitude adjustment of the wings is realized; and the turning of the main body rack is realized by adjusting the flapping amplitude of the two wings positioned on one side. The simulated dragonfly flapping wing aircraft integrates flapping and turning control, and realizes simulated dragonfly flapping wing flight of maneuvering turning flight by adjusting wings on the left side and the right side instead of the tail.

The utility model provides a compact type bionic rescue robot, which relates to the technical field of rescue robots and comprises a robot body, the robot body comprises a bionic head, the bionic head is arranged on a robot frame, a driving box is mounted on the robot frame, wings are mounted on the surface of the robot frame, and the driving box is arranged on the robot frame. Main supporting rods and auxiliary supporting rods are arranged in the wings, universal seats are installed on the surfaces of the main supporting rods and the auxiliary supporting rods, folding rods are movably installed between the universal seats, the multiple folding rods are connected through folding and unfolding films, a rotating motor is installed on the robot rack, and a collecting disc is arranged at the output end of the rotating motor. A traction rope is wound on the surface of the collecting disc, the other end of the traction rope is connected with an auxiliary supporting rod, a supporting spring is arranged on the portion, located on the outer side of the traction rope, of the surface of the auxiliary supporting rod, and the robot body is of a mosquito-shaped structure, so that mosquito flying can be simulated, and rescue actions can be carried out.

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.

A bionic flight wing skeleton disclosed by the present invention comprises a back frame, two wing vein frames and two transmission assemblies, the back frame comprises a plurality of rib rods arranged in parallel, a ridge rod vertically connected in series with the middle parts of the rib rods, and two connecting rods symmetrically arranged at the two ends of the rib rods, and the end parts of the rib rods vertically sleeve the corresponding connecting rods; the connecting rods are made of carbon fiber materials, the two wing vein frames are symmetrically arranged on the two sides of the back frame, the roots of the wing vein frames are hinged to the corresponding connecting rods through the knuckle bearings, the connecting rods are made of the carbon fiber materials, lift force can be stably transmitted to the rib rods, and the rib rods are made of tough plastic materials, so that the lift force can be stably transmitted. The stress of the hinged end of the connecting rod can be buffered through certain deformation, so that the load of the hinged end of the back frame and the wing vein frame is effectively dispersed, the local stress of the hinged part is prevented from being too large, and the hinged part is prevented from being broken.

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.