The present invention provides a
flapping-gliding switching mechanism, method and
system of a
flapping-wing flying
robot, and relates to the technical field of unmanned aerial vehicles. The mechanism includes: a main beam, a mounting frame, a motor, a gear
assembly and a
crank-connecting rod
assembly, wherein the mounting frame is mounted on the main beam and arranged below the main beam; the gear
assembly is mounted on the mounting frame, and the motor drives the gear assembly to rotate; two
crank-
rocker arm structures are respectively mounted on both sides of the gear assembly and are symmetrically arranged, one end of the
crank-connecting rod assembly is connected to the output shaft of the gear assembly, and the other end of the crank-connecting rod assembly is rotatably mounted on a
fixed frame, and the
fixed frame is mounted on the mounting frame; when the
flapping mode is switched to the gliding mode, the motor drives the crank-
rocker arm assembly to rotate so that the wing hovers at the target flapping angle, which solves the problems of
failure rate and difficulty in changing the wing flapping angle during gliding under the traditional mechanical solution.