Foldable bionic flapping-wing aircraft

Abstract

The present invention discloses a foldable bionic flapping-wing aircraft, including a fuselage and wings, and also includes a telescopic member, and wing-folding mechanisms are symmetrically arranged on both sides of the telescopic member; the wing-folding mechanism includes a connecting rod, one end of the connecting rod is connected to a transmission rod, and the end of the transmission rod away from the connecting rod is fixedly connected to a support column, and also includes a guide column, the transmission rod is movably sleeved on the guide column, and the upper end of the support column is provided with a accommodating chamber, and a circular ring is slidably connected in the accommodating chamber, and a rotating shaft is connected on the inner wall of the circular ring, and the wing is movably sleeved on the rotating shaft; and also includes a wing-folding mechanism, the wing-folding mechanism includes a four-bar mechanism formed by an input rod, a first connecting rod, an output rod and a second connecting rod, and also includes a cross rod, and a sliding blind hole is provided at the upper end of the cross rod, and an adjusting rod is slidably connected in the sliding blind hole. This solution can effectively fold the wings onto the fuselage, thereby protecting the wings from wear and damage by external factors and improving the utilization rate of storage space.

Description

Technical Field

[0001] The invention relates to the technical field of micro air vehicles, and in particular to a foldable bionic flapping-wing aircraft. Background Art

[0002] Since the end of the last century, aircraft have developed rapidly, especially the common fixed-wing aircraft and rotary-wing aircraft technology has become more and more mature and started to develop towards civilian use, which has triggered a boom in the use of aircraft in recent years. At the same time, due to the fact that traditional aircraft have too many scene restrictions and functional defects, flapping-wing aircraft have also begun to develop rapidly.

[0003] Flapping wings are an important structure of a new type of aircraft designed and manufactured based on the principles of bionics, imitating the flight of birds and insects. If this type of aircraft is successfully developed, it will have unique advantages compared to fixed-wing and rotary-wing flights: such as taking off from a stationary or small field, excellent flight maneuverability and hovering performance in the air, and low flight costs. It integrates lifting, hovering and propulsion functions into a flapping wing system, and can fly long distances with very little energy. Therefore, it is more suitable for performing tasks under long-term no energy replenishment and long-distance conditions.

[0004] Bionic flapping-wing aircraft usually have the characteristics of moderate size, easy to carry, flexible flight, good concealment, etc., so they have very important and extensive applications in the fields of civil and national defense, and can complete many tasks that other aircraft cannot perform. It can carry out biochemical detection and environmental monitoring, enter biochemical restricted areas to perform tasks; it can carry out real-time monitoring of ecological environments such as fires, insect plagues and air pollution in forests, grasslands and farmlands; it can enter areas that are difficult for people to enter, such as battlefields with dangerous terrain, buildings that have caught fire or accidents, etc.; especially in the military, bionic flapping-wing aircraft can be used for battlefield reconnaissance, patrols, raids, signal interference and urban warfare.

[0005] However, compared with fixed-wing and rotorcraft, traditional flapping-wing aircraft have made great progress in flexibility and maneuverability, but they are still unable to approach the flying posture of real creatures. Traditional flapping-wing aircraft have no way to adjust their wings in the air to perform dives, sideways flights, and other flight postures, and their sensitivity needs to be improved. At the same time, flapping-wing aircraft mainly include a fuselage and wings. If the direction of the fuselage is regarded as the longitudinal space, then the direction of the wings is the lateral space. Due to the needs of flight, the wings occupy a larger space span in the lateral direction, and the wings are relatively fragile. When in a non-working flight state, the wings are easily worn and damaged by external unpredictable factors. At the same time, during storage and transportation, the utilization rate of the storage space is low and the wings are also easily damaged. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a foldable bionic flapping-wing aircraft that can unfold wings during flight and effectively fold the wings onto the fuselage when in a non-working flight state, thereby reducing the span of the wings in the lateral space when in a non-working flight state, thereby protecting the wings from wear and damage caused by external factors and improving the utilization rate of storage space.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A foldable bionic flapping-wing aircraft comprises a fuselage and wings, and also comprises a telescopic member located in the middle of the fuselage and arranged along the longitudinal direction of the fuselage, wherein the fixed end of the telescopic member is fixed to the fuselage, the telescopic end of the telescopic member can be extended or shortened along the longitudinal direction of the fuselage, and the telescopic member is symmetrically provided with wing-retracting mechanisms on both sides along the transverse direction of the fuselage;

[0009] The wing-retracting mechanism comprises a connecting rod, one end of which is rotatably connected to the telescopic end of the telescopic member, and the other end of which faces the outside of the fuselage and is rotatably connected to a transmission rod. When the telescopic end of the telescopic member is in a retracted state, the connecting rod and the transmission rod are in a bent connection state. The two connecting rods are symmetrically arranged along the axis direction of the telescopic member, and the connecting rod is obliquely arranged away from the end thereof connected to the telescopic member toward the fixed end of the telescopic member. The transmission rod is away from the end thereof connected to the connecting rod and faces the inside of the fuselage and is fixedly connected to a vertically arranged support column. A guide column is provided at a corresponding position where the transmission rod and the support column are fixedly connected. The guide column is fixed to the fuselage, and the transmission rod is movably sleeved on the guide column. A transverse cylindrical accommodating chamber penetrating the support column is provided at the upper end of the support column, and a circular ring is slidably connected in the accommodating chamber. Two mounting seats are provided on the inner wall of the circular ring in a direction perpendicular to the axis of the circular ring. A rotating shaft is connected between the two mounting seats, and the end of the wing facing the inside of the fuselage extends into the circular ring and is movably sleeved on the rotating shaft.

[0010] The telescopic member is also symmetrically provided with folding wing mechanisms on both sides along the transverse direction of the fuselage, and the folding wing mechanism includes a four-bar linkage, which includes an input rod, a first connecting rod, an output rod and a second connecting rod that are rotatably connected in sequence, the input rod is rotatably connected to an end away from the input rod connected to the first connecting rod and an end away from the second connecting rod connected to the output rod, the middle part of the output rod is fixedly connected to the ring, the input rod is located below the output rod, the middle part of the input rod is rotatably connected to the support column, and also includes a cross rod member, the two ends of the cross rod member in the transverse direction are rotatably connected to the fuselage, the upper end of the cross rod member in the vertical direction is provided with a sliding blind hole, an adjusting rod is slidably connected in the sliding blind hole, the upper end of the adjusting rod protrudes from the sliding blind hole and is fixedly connected to a mounting base, and the mounting base is fixedly connected to an end of the input rod away from the telescopic member.

[0011] In this scheme, the longitudinal direction of the fuselage is the direction of movement of the fuselage during flight, the lateral direction of the fuselage is the direction perpendicular to the longitudinal direction of the fuselage on the same plane, and the vertical direction is the direction perpendicular to both the longitudinal direction and the lateral direction of the fuselage. At the same time, the positional relationship of each structure in this scheme is the positional relationship when the wings are in the unfolded state and no flapping operation is performed.

[0012] The working principle of the present invention is as follows: when the wings need to be folded onto the fuselage in a non-working flight state, the telescopic end of the telescopic member extends along the longitudinal direction of the fuselage. Since the two connecting rods are symmetrically arranged along the axial direction of the telescopic member, and the connecting rod is arranged obliquely toward the fixed end of the telescopic member away from the end thereof connected to the telescopic member, when the telescopic end of the telescopic member extends, the telescopic end of the telescopic member drives the connecting rods on both sides to rotate toward the fixed end of the telescopic member. At this time, the transmission rod connected to the connecting rod rotates toward the direction close to the telescopic member, and the rotation of the transmission rod drives the support column to rotate around the guide column. While the support column rotates, on the one hand, the output rod is driven to rotate through the circular ring, and the rotation of the output rod drives the input rod to rotate through the four-bar linkage. Since the cross rod is a rigid member, when the input rod rotates, it will drive the adjusting rod to move upward and extend along the sliding blind hole through the mounting base. On the other hand, the rotation of the support column will also drive the wing connected to the circular ring to rotate toward the inner side of the fuselage. When the support column rotates to make the adjusting rod extend to the maximum value, the support column The continuous rotation is driven by the transmission rod. At this time, the adjusting rod will drive the corresponding end of the input rod to tilt downward through the mounting base. The downward tilting of one end of the input rod will drive the corresponding end of the output rod to tilt downward through the action of the first connecting rod and the second connecting rod. Since the output rod is fixedly connected to the ring, and the wing is installed on the rotating shaft between the mounting seats on the inner wall of the ring, the rotation of the output rod will further drive the wing to rotate further through the ring, so that the wing will present an inclined state as a whole. In this way, the continuous extension of the telescopic part will eventually cause the wings on both sides to be folded onto the fuselage in an inclined manner through the rotation of the support column and the rotation of the ring. On the one hand, the rotation and folding of the wings onto the fuselage can reduce the lateral space occupied by the wings. On the other hand, by further adjusting the wings to an inclined state for folding, the space occupied by the wings can be further reduced compared with the direct horizontal folding method. Therefore, the combined action of the wing folding mechanism and the wing folding mechanism can minimize the lateral space occupied by the wings and achieve the best folding effect.

[0013] When the wings on both sides need to be spread out for flight, the telescopic end of the telescopic part is shortened, and the connecting rods on both sides rotate away from the fixed end of the telescopic part, and drive the transmission rod on the corresponding side to rotate away from the telescopic part. The rotation of the transmission rod in turn drives the rotation of the support column. The rotation of the support column drives the four-bar mechanism to rotate through the circular ring on the one hand, and drives the wings to rotate toward the outside of the fuselage on the other hand. When the circular ring drives the four-bar mechanism to rotate to a certain position, the support column continues to rotate, and the input rod will drive the adjusting rod to move downward and shorten along the sliding blind hole through the mounting base, until the wings on both sides are spread out on both sides of the fuselage, thereby achieving the purpose of spreading the wings on both sides of the fuselage and ensuring the normal flight of the aircraft.

[0014] The beneficial effects of the present invention are as follows: the present invention utilizes the extension and shortening of the telescopic member to enable the wing folding mechanism and the wing retracting mechanism to drive the wings on both sides to be folded or unfolded; when the aircraft is in a non-flying state, the telescopic member is extended, and the wing retracting mechanism and the wing folding mechanism work together to ultimately achieve the purpose of folding the wings on both sides onto the fuselage in an inclined manner; when the aircraft needs to fly, the telescopic member is shortened, and the reverse motion of the wing retracting mechanism and the wing folding mechanism is utilized to achieve the purpose of unfolding the wings on both sides of the fuselage and ultimately achieving the purpose of flying; therefore, the bionic flapping-wing aircraft of the present invention can unfold its wings during flight, and can effectively fold the wings onto the fuselage in a non-working flight state, thereby reducing the span of the wings in the lateral space in the non-working flight state, thereby protecting the wings from wear and damage by external factors and improving the utilization rate of storage space.

[0015] Preferably, it also includes a flapping-wing mechanism, which includes a piezoelectric dual chip arranged along the longitudinal direction of the fuselage, and a flapping-wing assembly symmetrically distributed on both sides of the piezoelectric dual chip along the transverse direction of the fuselage, the fixed end of the piezoelectric dual chip is fixed to the fuselage, and the free ends of the piezoelectric dual chip extend along both sides of the transverse direction of the fuselage to form a connecting portion, and the extended end of the connecting portion is provided with a flapping-wing rod arranged along the transverse direction of the fuselage, and the flapping-wing assembly includes a connecting clip arranged along the longitudinal direction of the fuselage and a steering rod fixedly connected to the connecting clip and inclined upward, the cross-section of the connecting clip is a U-shaped structure, the flapping-wing rod can extend into or out of the U-shaped structure of the connecting clip at a corresponding position and can drive the connecting clip to move vertically, the steering rod is rotatably connected to a steering block at one end of the steering rod away from the connecting clip, and a rotating blind hole is provided at one end of the steering block away from the connecting rod, and a wing rod is also provided at one end of the wing extending into the ring, and the wing rod extends into the rotating blind hole of the steering block away from the end of the wing connecting the wing and is rotatably connected to the steering block.

[0016] When voltage is input to the piezoelectric bimorph, the free end of the piezoelectric bimorph can change its position according to the applied voltage.

[0017] In this way, when flapping operation is needed, the flapping-wing rod is extended into the U-shaped structure of the connecting clip, and voltage is applied to the piezoelectric dual chip, so that the flapping-wing rods at the connecting parts on both sides of the free end of the piezoelectric dual chip move upward. The flapping-wing rod moves upward and will drive the steering rod to move upward through the connecting clip. The steering rod moves upward and then drives the steering block to move upward. The steering block moves upward and then drives the corresponding end of the wing rod to move upward. The upward movement of the wing rod further drives the wing at the corresponding position to move upward. Since the wing is loosely mounted on the rotating shaft, the other side of the wing connected to the wing rod will rotate downward around the rotating shaft; similarly, if the voltage applied to the piezoelectric dual chip is changed, so that the flapping-wing rods at the connecting parts on both sides of the free end of the piezoelectric dual chip move downward, the flapping-wing rod drives the steering rod to move downward through the connecting clip, the steering rod moves downward and then drives the wing rod to move downward through the steering block. At this time, the other end of the wing connected to the wing rod will rotate upward around the rotating shaft, and so on. By changing the voltage applied to the piezoelectric dual chip, the up and down rotation of the wings on both sides can be easily realized to complete the flapping action.

[0018] At the same time, the connecting clip is designed to be a U-shaped structure, and the flapping-wing rod can extend into or withdraw from the U-shaped structure of the connecting clip at the corresponding position. When the wings are folded, the steering rod and the connecting clip can rotate together with the wings. When the connecting clip rotates, since the piezoelectric dual chip is fixed to the fuselage as a whole, the flapping-wing rods on both sides slide relative to the U-shaped structure of the connecting clip and finally withdraw from the connecting clip from the opening of the U-shaped structure, thereby preventing the flapping-wing rod from interfering with the rotation of the connecting clip when the wings are folded.

[0019] Preferably, the folding wing mechanism also includes a limit block fixedly connected to the upper end of the cross rod in the vertical direction, a limit hole is provided on the limit block, the diameter of the limit hole is adapted to the diameter of the corresponding position of the adjusting rod and is smaller than the diameter of the sliding blind hole, and a limit protrusion is provided at one end of the adjusting rod extending into the sliding blind hole, the diameter of the limit protrusion is adapted to the diameter of the sliding blind hole and is larger than the diameter of the part of the adjusting rod extending into the sliding blind hole.

[0020] In this way, by setting the limit block, when the support column drives the adjusting rod to move upward along the sliding blind hole through the four-bar linkage, when the adjusting rod is extended to the maximum value, the limit protrusion on the adjusting rod will resist the limit block, preventing the adjusting rod from further extending and moving out of the sliding blind hole, thereby limiting the length adjustment of the adjusting rod; at the same time, by setting the limit block, the connection and cooperation between the adjusting rod and the cross rod member is also facilitated.

[0021] Preferably, the connecting clip includes an upper connecting clip, a lower connecting clip and an arc-shaped connecting clip, and the two ends of the arc-shaped connecting clip are respectively connected to the upper connecting clip and the lower connecting clip, and the upper connecting clip, the lower connecting clip and the arc-shaped connecting clip together form a U-shaped connecting clip which is arranged in a longitudinal manner along the fuselage and has an opening toward the fixed end of the piezoelectric dual chip, and the upper connecting clip is also provided with an upper connecting oblique plate obliquely upward at the end away from the end where it is connected to the arc-shaped connecting clip, and the lower connecting clip is also provided with a lower connecting oblique plate obliquely downward at the end where it is connected to the connecting clip.

[0022] In this way, by providing an upper connecting inclined piece inclined upward on the upper connecting clip and a lower connecting inclined piece inclined downward on the lower connecting clip, the width of the opening of the U-shaped connecting clip is gradually increased. When the wings are folded onto the fuselage, the flapping-wing rod needs to withdraw from the U-shaped structure of the connecting clip, and when the wings are flapping during normal flight, the flapping-wing rod needs to be re-extended into the U-shaped structure of the connecting clip. Therefore, by increasing the width of the opening of the connecting clip, the flapping-wing rod can be more conveniently extended into the U-shaped structure of the connecting clip.

[0023] Preferably, the end of the support column facing the steering rod is further provided with a guide seat facing the direction of the steering rod, and the guide seat is provided with a vertical guide hole, and the steering rod passes through the guide hole and can slide along the guide hole.

[0024] In this way, when flapping the wings, the flapping-wing rod drives the steering rod at the corresponding end to move up and down through the connecting clip. At this time, the movement of the steering rod is limited within the range of the guide hole, thereby limiting the movement of the steering rod and ensuring that the steering rod always moves along a predetermined route.

[0025] Preferably, a guide hole is provided on the vertical lower end surface at the corresponding position of the transmission rod and the guide column, and the guide column is slidably connected to the guide hole. A connecting protrusion is provided on the vertical upper end surface at the connection position of the transmission rod and the support column, and a connecting groove is provided at the corresponding position of the support column, and the connecting protrusion extends into the connecting groove and is fixedly connected by connecting screws.

[0026] In this way, a fixed connection between the support column and the transmission rod, and a movable connection between the transmission rod and the guide column are achieved.

[0027] Preferably, a steering limit circular block is also provided at one end of the steering block facing the wing, and the steering limit circular block is composed of two limit semicircular blocks. A limit circular hole is formed between the two limit semicircular blocks. The diameter of the limit circular hole is smaller than the diameter of the rotating blind hole. The diameter of the part of the wing rod extending into the rotating blind hole is adapted to the diameter of the rotating blind hole, and the diameter of the corresponding position of the wing rod and the limit circular hole is adapted to the diameter of the limit circular hole.

[0028] In this way, by setting a steering limit circular block and designing the steering limit circular block as a structure of two limit semicircular blocks, after the wing rod is extended into the rotating blind hole, the two limit semicircular blocks are fixedly connected to the steering block. Since the diameter of the limit circular hole is smaller than the diameter of the rotating blind hole, that is, smaller than the diameter of the part of the wing rod extending into the rotating blind hole, the part of the wing rod extending into the rotating blind hole will not slip out of the limit circular hole, so that the wing rod can rotate in the rotating blind hole without slipping out.

[0029] Preferably, the support column includes a support and a top cover, a transverse cylindrical accommodating chamber is formed between the support and the top cover, the ring is slidably connected in the accommodating chamber, the support and the top cover are both in contact with the outer surface of the ring, a limiting groove is provided on the outer surface of the ring, and positions corresponding to the limiting groove on the support and the top cover are respectively provided with a first limiting protrusion and a second limiting protrusion adapted to the size of the limiting groove, the limiting groove respectively cooperates with the first limiting protrusion and the second limiting protrusion to achieve position limitation between the ring and the support and the top cover, and the support and the top cover are fixedly connected.

[0030] In this way, the support column is designed as a combination of a support and a top cover, which facilitates the entire installation and disassembly. At the same time, the ring is installed in the cavity formed by the support and the top cover, and the support and the top cover are fixedly connected, thereby achieving the purpose of sliding the arc in the accommodating space formed by the support and the top cover and connecting the support and the top cover as a whole.

[0031] At the same time, when the support, top cover and ring are installed in coordination, it is only necessary to install the first limiting protrusion and the second limiting protrusion in the limiting groove of the ring respectively, which facilitates the positioning and installation between the support, top cover and ring.

[0032] Preferably, a vertical first pin hole is provided at the telescopic end of the telescopic member, the connecting rods on both sides of the telescopic member are vertically overlapped and arranged on the upper end surface of the telescopic member, and the rotational connection between the telescopic member and the connecting rod is realized through the first pin at the first pin hole, the connecting rod includes a first connecting part and a second connecting part, the first connecting part is rotationally connected to the transmission rod, and the second connecting part is rotationally connected to the telescopic member, wherein the lower end surface of the second connecting part of the connecting rod that abuts against the upper end surface of the telescopic member is flush with the lower end surface of the first connecting part, and the upper end surface of the second connecting part of the other connecting rod is flush with the upper end surface of the first connecting part, and the vertical height of the second connecting part is half of the vertical height of the first connecting part.

[0033] In this way, since the connecting rods on both sides of the telescopic member are vertically overlapped, the second connecting part of the connecting rod is connected to the telescopic member, wherein the lower end face of the second connecting part of the connecting rod that is against the upper end face of the telescopic member is flush with the lower end face of the first connecting part, and the upper end face of the second connecting part of the other connecting rod is flush with the upper end face of the first connecting part. At the same time, the vertical height of the second connecting part is half of the vertical height of the first connecting part. In this way, the height of the two second connecting parts at the cooperation with the telescopic member is exactly the height of one first connecting part, thereby making the first connecting parts of the connecting rods on both sides at the same horizontal height, and then making the wing retracting mechanism and the wing folding mechanism on both sides always at the same horizontal height, avoiding the influence of the different horizontal heights of the wings on both sides on the flight.

[0034] Preferably, the telescopic member is an electrostrictor.

[0035] In this way, the electrostrictor has spontaneously formed molecular groups, so-called electric domains. When an external electric field is applied, the electric domains will rotate, so that their polarization direction is as consistent as possible with the direction of the external electric field. Therefore, the length of the material along the direction of the external electric field will change. Driven by the electric field, the electrostrictor moves back and forth along the longitudinal direction of the fuselage, and then drives the movement of the four-bar linkage through the connecting rod, and finally achieves the purpose of folding the wingspan onto the fuselage or unfolding it. At the same time, the electrostrictor can be easily extended or shortened by simply changing the direction of the external electric field, which is easy to use and simple to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of one viewing angle in a specific implementation mode of the present invention;

[0037] Figure 2 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0038] Figure 3 It is a structural schematic diagram of another viewing angle in a specific implementation mode of the present invention;

[0039] Figure 4 for Figure 3 The enlarged schematic diagram of point B in the middle;

[0040] Figure 5 It is a structural schematic diagram of another viewing angle in a specific implementation mode of the present invention;

[0041] Figure 6 for Figure 5 The enlarged schematic diagram of the center C;

[0042] Figure 7 It is an exploded schematic diagram of the connection between the wing rod, the steering limit circle and the steering block in a specific embodiment of the present invention;

[0043] Figure 8 It is an exploded schematic diagram of the connection between the adjusting rod, the limiting block and the cross rod in a specific embodiment of the present invention;

[0044] Fig. 9 It is an exploded schematic diagram of the connection between the top cover, the support, the ring and the output rod in a specific embodiment of the present invention;

[0045] Fig.10 It is a schematic diagram of the structure of the connecting clip in a specific implementation manner of the present invention.

[0046] Explanation of the accompanying drawings: fuselage 1, wing 2, telescopic part 3, connecting rod 4, first connecting part 41, second connecting part 42, piezoelectric dual chip 5, transmission rod 6, support column 7, top cover 71, support 72, input rod 8, first connecting rod 9, output rod 10, second connecting rod 11, steering rod 12, guide seat 13, connecting clip 14, upper connecting clip 141, lower connecting clip 142, arc-shaped connecting clip 143, upper connecting oblique piece 144, lower connecting oblique piece 145, connecting part 51, mounting base 15, cross rod 16, steering block 17, wing rod 18, mounting seat 19, rotating shaft 20, steering limit circle block 21, adjusting rod 22, limit protrusion 221, limit block 23, ring 24, flapping wing rod 25. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0048] As attached Figure 1 To the attached Fig. 9 As shown, the foldable bionic flapping-wing aircraft comprises a fuselage 1 and wings 2, and also comprises a telescopic member 3 located in the middle of the fuselage 1 and arranged along the longitudinal direction of the fuselage, the fixed end of the telescopic member 3 is fixed on the fuselage 1, the telescopic end of the telescopic member 3 can be extended or shortened along the longitudinal direction of the fuselage, and the telescopic member 3 is symmetrically provided with wing retracting mechanisms on both sides along the transverse direction of the fuselage;

[0049] The wing-retracting mechanism includes a connecting rod 4, one end of which is rotatably connected to the telescopic end of the telescopic member 3, and the other end of the connecting rod 4 faces the outside of the fuselage 1 and is rotatably connected to a transmission rod 6. When the telescopic end of the telescopic member 3 is in a retracted state, the connecting rod 4 and the transmission rod 6 are in a bent connection state. The two connecting rods 4 are symmetrically arranged along the axis direction of the telescopic member 3, and the end of the connecting rod 4 away from the end thereof connected to the telescopic member 3 is obliquely arranged toward the fixed end of the telescopic member 3, and the end of the transmission rod 6 away from the end thereof connected to the connecting rod 4 faces the inside of the fuselage 1 and is fixedly connected to a vertically arranged A guide column is provided at the corresponding position where the support column 7 is fixedly connected with the transmission rod 6 and the support column 7. The guide column is fixed on the fuselage 1. The transmission rod 6 is movably sleeved on the guide column. A transverse cylindrical accommodating chamber that penetrates the support column 7 is provided at the upper end of the support column 7. A circular ring 24 is slidably connected in the accommodating chamber. Two mounting seats 19 are provided on the inner wall of the circular ring 24 in a direction perpendicular to the axis of the circular ring 24. A rotating shaft 20 is connected between the two mounting seats 19. One end of the wing 2 facing the inner side of the fuselage 1 extends into the circular ring 24 and is movably sleeved on the rotating shaft 20.

[0050] The telescopic member 3 is also symmetrically provided with folding mechanisms on both sides along the transverse direction of the fuselage. The folding mechanism includes a four-bar linkage, which includes an input rod 8, a first connecting rod 9, an output rod 10 and a second connecting rod 11 that are rotatably connected in sequence. The end of the input rod 8 away from its connection with the first connecting rod 9 is rotatably connected to the end of the second connecting rod 11 away from its connection with the output rod 10. The middle part of the output rod 10 is fixedly connected to the ring 24. The input rod 8 is located below the output rod 10. The middle part of the input rod 8 is rotatably connected to the support column 7. It also includes a cross rod 16. The two ends of the cross rod 16 in the transverse direction are rotatably connected to the fuselage 1. A sliding blind hole is opened at the upper end of the cross rod 16 in the vertical direction. An adjusting rod 22 is slidably connected in the sliding blind hole. The upper end of the adjusting rod 22 protrudes from the sliding blind hole and is fixedly connected to a mounting base 15. The mounting base 15 is fixedly connected to the end of the input rod 8 away from the telescopic member 3.

[0051] In this scheme, the longitudinal direction of the fuselage is the direction in which the fuselage 1 moves during flight, the lateral direction of the fuselage is the direction perpendicular to the longitudinal direction of the fuselage on the same plane, and the vertical direction is the direction perpendicular to both the longitudinal direction and the lateral direction of the fuselage. At the same time, the positional relationship of each structure in this scheme is the positional relationship when the wings are in the unfolded state and no flapping operation is performed.

[0052] The working principle of the present invention is as follows: when the wings 2 need to be folded onto the fuselage 1 in a non-working flight state, the telescopic end of the telescopic member 3 extends along the longitudinal direction of the fuselage. Since the two connecting rods 4 are symmetrically arranged along the axial direction of the telescopic member 3, and the connecting rod 4 is arranged obliquely toward the fixed end of the telescopic member 3 away from the end thereof connected to the telescopic member 3, when the telescopic end of the telescopic member 3 extends, the telescopic end of the telescopic member 3 drives the connecting rods 4 on both sides to rotate toward the fixed end of the telescopic member 3. At this time, the transmission rod 6 connected to the connecting rod 4 rotates toward the direction close to the telescopic member 3, and the transmission rod 6 rotates. The rotation of the support column 7 drives the support column 7 to rotate around the guide column. When the support column 7 rotates, on the one hand, the output rod 10 is driven to rotate through the ring 24. The rotation of the output rod 10 drives the input rod 8 to rotate through the four-bar linkage. Since the cross rod 16 is a rigid part, when the input rod 8 rotates, it will drive the adjusting rod 22 to move upward and extend along the sliding blind hole through the mounting base 15. On the other hand, the rotation of the support column 7 will also drive the wing 2 connected to the ring 24 to rotate in the direction close to the inner side of the fuselage 1. When the support column 7 rotates to make the adjusting rod 22 extend to the maximum value, the support column 7 The transmission rod 6 is driven to rotate continuously. At this time, the adjustment rod 22 will drive the corresponding end of the input rod 8 to tilt downward through the mounting base 15. The downward tilt of one end of the input rod 8 will drive the corresponding end of the output rod 10 to tilt downward through the action of the first connecting rod 9 and the second connecting rod 11. Since the output rod 10 is fixedly connected to the ring 24, and the wing 2 is mounted on the rotating shaft 20 between the mounting seats 19 on the inner wall of the ring 24, the rotation of the output rod 10 will further drive the further rotation of the wing 2 through the ring 24, so that the wing 2 will present an overall tilt. In this way, the continuous extension of the telescopic member 3 will eventually cause the wings 2 on both sides to be folded on the fuselage 1 in an inclined manner through the rotation of the support column 7 and the rotation of the ring 24. On the one hand, the wings 2 are rotated and folded on the fuselage 1 to reduce the lateral space occupied by the wings 2. On the other hand, by further adjusting the wings 2 to an inclined state for folding, the space occupied by the wings 2 can be further reduced compared with the direct horizontal folding method. Therefore, the joint action of the wing folding mechanism and the wing folding mechanism can minimize the lateral space occupied by the wings 2 and achieve the best folding effect.

[0053] When the wings 2 on both sides need to be unfolded for flight, the telescopic ends of the telescopic parts 3 are shortened, and the connecting rods 4 on both sides rotate away from the fixed ends of the telescopic parts 3, and drive the transmission rods 6 on the corresponding sides to rotate away from the telescopic parts 3. The rotation of the transmission rods 6 drives the rotation of the support columns 7. The rotation of the support columns 7 drives the four-bar mechanism to rotate through the circular ring 24 on the one hand, and drives the wings 2 to rotate toward the outside of the fuselage 1 on the other hand. When the circular ring 24 drives the four-bar mechanism to rotate to a certain position, the support columns 7 continue to rotate, and the input rod 8 will drive the adjusting rod 22 to move downward and shorten along the sliding blind hole through the mounting base 15, until the wings 2 on both sides are unfolded on both sides of the fuselage 1, thereby achieving the purpose of unfolding the wings 2 on both sides of the fuselage 1 and ensuring the normal flight of the aircraft.

[0054] The beneficial effects of the present invention are as follows: the present scheme utilizes the extension and contraction of the telescopic member 3 to enable the wing folding mechanism and the wing retracting mechanism to drive the wings 2 on both sides to be folded or unfolded. When the aircraft is in a non-flying state, the telescopic member 3 is extended, and the wing retracting mechanism and the wing folding mechanism are utilized to jointly achieve the purpose of folding the wings 2 on both sides onto the fuselage 1 in an inclined manner. When the aircraft needs to fly, the telescopic member 3 is shortened, and the reverse movement of the wing retracting mechanism and the wing folding mechanism is utilized to achieve the purpose of unfolding the wings 2 on both sides of the fuselage 1 and finally achieving the purpose of flying. Therefore, the bionic flapping-wing aircraft of the present scheme can unfold the wings 2 when flying, and can effectively fold the wings 2 onto the fuselage 1 when in a non-working flight state, thereby reducing the span of the wings 2 in the lateral space when in a non-working flight state, thereby protecting the wings 2 from wear and damage by external factors and improving the utilization rate of storage space.

[0055] In the present embodiment, a flapping-wing mechanism is also included, which includes a piezoelectric dual chip 5 arranged along the longitudinal direction of the fuselage 1, and flapping-wing components symmetrically distributed on both sides of the piezoelectric dual chip 5 along the transverse direction of the fuselage 1, the fixed end of the piezoelectric dual chip 5 is fixed to the fuselage 1, and the free ends of the piezoelectric dual chip 5 extend along both sides of the transverse direction of the fuselage 1 to form a connecting portion 51, and the extended end of the connecting portion 51 is provided with a flapping-wing rod 25 arranged along the transverse direction of the fuselage 1, and the flapping-wing component includes a connecting clip 14 arranged along the longitudinal direction of the fuselage and a connecting clip 14 fixedly connected to the connecting clip 14 and extending upward. The inclined steering rod 12 and the connecting clip 14 have a U-shaped cross-section. The flapping-wing rod 25 can extend into or out of the U-shaped structure of the connecting clip 14 at the corresponding position and can drive the connecting clip 14 to move vertically. The steering rod 12 is rotatably connected to a steering block 17 at one end away from the connecting clip 14. The steering block 17 is provided with a rotating blind hole at one end away from the connecting steering rod 12. A wing rod 18 is also provided at one end of the wing 2 extending into the ring 24. The wing rod 18 is extended into the rotating blind hole of the steering block 17 at one end away from the connecting wing 2 and is rotatably connected to the steering block 17.

[0056] When voltage is input to the piezoelectric bimorph 5, the free end thereof can change position according to the applied voltage.

[0057] In this way, when flapping operation is needed, the flapping rod 25 extends into the U-shaped structure of the connecting clip 14, and a voltage is applied to the piezoelectric dual chip 5, so that the flapping rod 25 at the connecting parts 51 on both sides of the free end of the piezoelectric dual chip 5 moves upward. The flapping rod 25 moves upward and drives the steering rod 12 to move upward through the connecting clip 14. The steering rod 12 moves upward and then drives the steering block 17 to move upward. The steering block 17 moves upward and then drives the corresponding end of the wing rod 18 to move upward. The wing rod 18 moves upward and further drives the wing 2 at the corresponding position to move upward. Since the wing 2 is looped on the rotating shaft 20, the wing 2 and the wing rod The other side connected with 18 will rotate downward around the rotation axis 20; similarly, if the voltage applied to the piezoelectric dual chip 5 is changed, the flapping-wing rod 25 at the connecting part 51 on both sides of the free end of the piezoelectric dual chip 5 will move downward. At this time, the flapping-wing rod 25 drives the steering rod 12 to move downward through the connecting clip 14, and the steering rod 12 moves downward and then drives the wing rod 18 to move downward through the steering block 17. At this time, the other end of the wing 2 connected to the wing rod 18 will rotate upward around the rotation axis 20, and so on. By changing the voltage applied to the piezoelectric dual chip 5, the up and down rotation of the wings 2 on both sides can be easily realized to complete the flapping action.

[0058] At the same time, the connecting clip 14 is designed to be a U-shaped structure, and the flapping-wing rod 25 can extend into or withdraw from the U-shaped structure of the connecting clip 14 at the corresponding position. When the wing 2 is folded, the steering rod 12 and the connecting clip 14 can rotate together with the wing 2. When the connecting clip 14 rotates, since the piezoelectric dual chip 5 is fixed on the fuselage 1 as a whole, the flapping-wing rods 25 on both sides slide relative to the U-shaped structure of the connecting clip 14 and finally withdraw from the connecting clip 14 from the opening of the U-shaped structure, thereby preventing the flapping-wing rod 25 from interfering with the rotation of the connecting clip 14 when the wings are folded.

[0059] In this embodiment, the folding wing mechanism also includes a limit block 23 fixedly connected to the upper end of the cross rod 16 in the vertical direction, and a limit hole is provided on the limit block 23. The diameter of the limit hole is adapted to the diameter of the corresponding position of the adjusting rod 22 and is smaller than the diameter of the sliding blind hole. A limit protrusion 221 is provided at one end of the adjusting rod 22 extending into the sliding blind hole. The diameter of the limit protrusion 221 is adapted to the diameter of the sliding blind hole and is larger than the diameter of the part of the adjusting rod 22 extending into the sliding blind hole.

[0060] In this way, by setting the limit block 23, when the support column 7 drives the adjusting rod 22 to move upward along the sliding blind hole through the four-link 4 mechanism, when the adjusting rod 22 is extended to the maximum value, the limit protrusion 221 on the adjusting rod 22 will abut against the limit block 23, preventing the adjusting rod 22 from further extending and moving out of the sliding blind hole, thereby limiting the length adjustment of the adjusting rod 22; at the same time, by setting the limit block 23, the connection and cooperation between the adjusting rod 22 and the cross rod 16 are also facilitated.

[0061] As attached Fig.10 As shown, in this embodiment, the connecting clip 14 includes an upper connecting clip 141, a lower connecting clip 142 and an arc-shaped connecting clip 143, and the two ends of the arc-shaped connecting clip 143 are respectively connected to the upper connecting clip 141 and the lower connecting clip 142, and the upper connecting clip 141, the lower connecting clip 142 and the arc-shaped connecting clip 143 together form a U-shaped connecting clip 14 which is arranged in the longitudinal direction of the fuselage and has an opening toward the fixed end of the piezoelectric dual chip 5, and the upper connecting clip 141 is also provided with an upper connecting oblique piece 144 obliquely upward at the end thereof away from the arc-shaped connecting clip 143, and the lower connecting clip 142 is also provided with a lower connecting oblique piece 145 obliquely downward at the end thereof away from the connecting clip 14.

[0062] In this way, by providing an upper connecting bevel 144 inclined upward on the upper connecting clip 141 and a lower connecting bevel 145 inclined downward on the lower connecting clip 142, the width of the opening of the U-shaped connecting clip 14 is gradually increased. Since the flapping-wing rod 25 needs to withdraw from the U-shaped structure of the connecting clip 14 when the wing 2 is folded onto the fuselage 1, and the flapping-wing rod 25 needs to be re-extended into the U-shaped structure of the connecting clip 14 during normal flapping flight, therefore, by increasing the width of the opening of the connecting clip 14, the flapping-wing rod 25 can be more conveniently extended into the U-shaped structure of the connecting clip 14.

[0063] In this embodiment, one end of the support column 7 facing the steering rod 12 is further provided with a guide seat 13 facing the steering rod 12 , and a vertical guide hole is opened on the guide seat 13 , and the steering rod 12 passes through the guide hole and can slide along the guide hole.

[0064] In this way, when flapping, the flapping rod 25 drives the steering rod 12 at the corresponding end to move up and down through the connecting clip 14. At this time, the movement of the steering rod 12 is limited within the range of the guide hole, thereby limiting the movement of the steering rod 12 and ensuring that the steering rod 12 always moves along a predetermined route.

[0065] In this embodiment, a guide hole is provided on the vertical lower end surface at the corresponding position of the transmission rod 6 and the guide column, and the guide column is slidably connected at the guide hole. A connecting protrusion is provided on the vertical upper end surface at the connection position of the transmission rod 6 and the support column 7, and a connecting groove is provided at the corresponding position of the support column 7. The connecting protrusion extends into the connecting groove and is fixedly connected by connecting screws.

[0066] In this way, a fixed connection between the support column 7 and the transmission rod 6 and a movable connection between the transmission rod 6 and the guide column are achieved.

[0067] In this embodiment, a steering limit circular block 21 is also provided at one end of the steering block 17 facing the wing 2. The steering limit circular block 21 is composed of two limiting semicircular blocks. A limiting circular hole is formed between the two limiting semicircular blocks. The diameter of the limiting circular hole is smaller than the diameter of the rotating blind hole. The diameter of the part of the wing rod 18 extending into the rotating blind hole is adapted to the diameter of the rotating blind hole, and the diameter of the corresponding position of the wing rod 18 and the limiting circular hole is adapted to the diameter of the limiting circular hole.

[0068] In this way, by setting the steering limit circular block 21 and designing the steering limit circular block 21 as a structure of two limit semicircular blocks, after the wing rod 18 is inserted into the rotating blind hole, the two limit semicircular blocks are fixedly connected to the steering block 17. Since the diameter of the limit circular hole is smaller than the diameter of the rotating blind hole, that is, smaller than the diameter of the part of the wing rod 18 extending into the rotating blind hole, the part of the wing rod 18 extending into the rotating blind hole will not slip out of the limit circular hole, so that the wing rod 18 can rotate in the rotating blind hole without slipping out.

[0069] In this embodiment, the support column 7 includes a support 72 and a top cover 71, and a transverse cylindrical accommodating chamber is formed between the support 72 and the top cover 71. The ring 24 is slidably connected in the accommodating chamber. The support 72 and the top cover 71 are both in contact with the outer surface of the ring 24. A limiting groove is provided on the outer surface of the ring 24. The positions corresponding to the limiting groove on the support 72 and the top cover 71 are respectively provided with a first limiting protrusion and a second limiting protrusion adapted to the size of the limiting groove. The limiting grooves respectively cooperate with the first limiting protrusion and the second limiting protrusion to realize the position limitation between the ring 24 and the support 72 and the top cover 71, and the support 72 and the top cover 71 are fixedly connected.

[0070] In this way, the support column 7 is designed to be a combination of a support 72 and a top cover 71, which facilitates the entire installation and disassembly. At the same time, the ring 24 is installed in the chamber formed by the support 72 and the top cover 71, and the support 72 and the top cover 71 are fixedly connected, thereby achieving the purpose of sliding the arc in the accommodating space formed by the support 72 and the top cover 71 and connecting the support 72 and the top cover 71 as a whole.

[0071] At the same time, when the support 72, the top cover 71 and the ring 24 are installed in coordination, it is only necessary to install the first limiting protrusion and the second limiting protrusion in the limiting groove of the ring 24 respectively, which facilitates the positioning and installation between the support 72, the top cover 71 and the ring 24.

[0072] In this embodiment, a vertical first pin hole is opened at the telescopic end of the telescopic member 3, and the connecting rods 4 on both sides of the telescopic member 3 are vertically overlapped and arranged on the upper end surface of the telescopic member 3, and the rotational connection between the telescopic member 3 and the connecting rod 4 is realized through the first pin at the first pin hole, and the connecting rod 4 includes a first connecting portion 41 and a second connecting portion 42, the first connecting portion 41 is rotationally connected to the transmission rod 6, and the second connecting portion 42 is rotationally connected to the telescopic member 3, wherein the lower end surface of the second connecting portion 42 of the connecting rod 4 that abuts against the upper end surface of the telescopic member 3 is flush with the lower end surface of the first connecting portion 41, and the upper end surface of the second connecting portion 42 of the other connecting rod 4 is flush with the upper end surface of the first connecting portion 41, and the vertical height of the second connecting portion 42 is half of the vertical height of the first connecting portion 41.

[0073] In this way, since the connecting rods 4 on both sides of the telescopic member 3 are vertically overlapped, the second connecting part 42 of the connecting rod 4 is connected to the telescopic member 3, wherein the lower end face of the second connecting part 42 of the connecting rod 4 that is against the upper end face of the telescopic member 3 is flush with the lower end face of the first connecting part 41, and the upper end face of the second connecting part 42 of the other connecting rod 4 is flush with the upper end face of the first connecting part 41, and the vertical height of the second connecting part 42 is half of the vertical height of the first connecting part 41. In this way, the height of the two second connecting parts 42 at the cooperation with the telescopic member 3 is exactly the height of one first connecting part 41, thereby making the first connecting parts 41 of the connecting rods 4 on both sides at the same horizontal height, and then making the wing retracting mechanism and the wing folding mechanism on both sides always at the same horizontal height, avoiding the influence of the different horizontal heights of the wings 2 on both sides on the flight.

[0074] In this embodiment, the telescopic member 3 is an electrostrictor.

[0075] In this way, the electrostrictor has spontaneously formed molecular groups, so-called electric domains. When an external electric field is applied, the electric domains will rotate, so that their polarization direction is as consistent as possible with the direction of the external electric field. Therefore, the length of the material along the direction of the external electric field will change. Driven by the electric field, the electrostrictor moves back and forth along the longitudinal direction of the fuselage, and then drives the movement of the four-bar linkage through the connecting rod, and finally achieves the purpose of folding the wingspan onto the fuselage or unfolding it. At the same time, the electrostrictor can be easily extended or shortened by simply changing the direction of the external electric field, which is easy to use and simple to control.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Those skilled in the art should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A foldable bionic flapping-wing aircraft, comprising a fuselage and wings, characterized in that: It also includes a telescopic member located in the middle of the fuselage and arranged along the longitudinal direction of the fuselage, wherein the fixed end of the telescopic member is fixed to the fuselage, the telescopic end of the telescopic member can be extended or shortened along the longitudinal direction of the fuselage, and the telescopic member is symmetrically provided with wing retracting mechanisms on both sides along the transverse direction of the fuselage; The wing-retracting mechanism comprises a connecting rod, one end of which is rotatably connected to the telescopic end of the telescopic member, and the other end of which faces the outside of the fuselage and is rotatably connected to a transmission rod. When the telescopic end of the telescopic member is in a retracted state, the connecting rod and the transmission rod are in a bent connection state. The two connecting rods are symmetrically arranged along the axis direction of the telescopic member, and the connecting rod is obliquely arranged away from the end thereof connected to the telescopic member toward the fixed end of the telescopic member. The transmission rod is away from the end thereof connected to the connecting rod and faces the inside of the fuselage and is fixedly connected to a vertically arranged support column. A guide column is provided at a corresponding position where the transmission rod and the support column are fixedly connected. The guide column is fixed to the fuselage, and the transmission rod is movably sleeved on the guide column. A transverse cylindrical accommodating chamber penetrating the support column is provided at the upper end of the support column, and a circular ring is slidably connected in the accommodating chamber. Two mounting seats are provided on the inner wall of the circular ring in a direction perpendicular to the axis of the circular ring. A rotating shaft is connected between the two mounting seats, and the end of the wing facing the inside of the fuselage extends into the circular ring and is movably sleeved on the rotating shaft. The telescopic member is also symmetrically provided with folding wing mechanisms on both sides along the transverse direction of the fuselage, and the folding wing mechanism includes a four-bar linkage, the four-bar linkage includes an input rod, a first connecting rod, an output rod and a second connecting rod that are rotatably connected in sequence, the input rod is rotatably connected to an end of the input rod away from the first connecting rod and an end of the second connecting rod away from the output rod, the middle part of the output rod is fixedly connected to the ring, the input rod is located below the output rod, the middle part of the input rod is rotatably connected to the support column, and also includes a cross rod, the two ends of the cross rod in the transverse direction are rotatably connected to the fuselage, the upper end of the cross rod in the vertical direction is provided with a sliding blind hole, an adjusting rod is slidably connected in the sliding blind hole, the upper end of the adjusting rod protrudes from the sliding blind hole and is fixedly connected to a mounting base, and the mounting base is fixedly connected to an end of the input rod away from the telescopic member; It also includes a flapping-wing mechanism, which includes a piezoelectric dual chip arranged along the longitudinal direction of the fuselage, and a flapping-wing assembly symmetrically distributed on both sides of the piezoelectric dual chip along the transverse direction of the fuselage, the fixed end of the piezoelectric dual chip is fixed to the fuselage, and the free ends of the piezoelectric dual chip extend along both sides of the transverse direction of the fuselage to form a connecting portion, and the extended end of the connecting portion is provided with a flapping-wing rod arranged along the transverse direction of the fuselage, and the flapping-wing assembly includes a connecting clip arranged along the longitudinal direction of the fuselage and a steering rod fixedly connected to the connecting clip and inclined upward, the cross-section of the connecting clip is a U-shaped structure, the flapping-wing rod can extend into or withdraw from the U-shaped structure of the connecting clip at a corresponding position and can drive the connecting clip to move vertically, the steering rod is rotatably connected to a steering block at one end of the steering rod away from the connecting clip, and a rotating blind hole is provided at one end of the steering block away from the connecting rod, and a wing rod is also provided at one end of the wing extending into the ring, and the wing rod extends into the rotating blind hole of the steering block at one end of the wing away from the connecting wing and is rotatably connected to the steering block; The folding wing mechanism also includes a limit block fixedly connected to the upper end of the cross rod in the vertical direction, and a limit hole is provided on the limit block. The diameter of the limit hole is adapted to the diameter of the corresponding position of the adjusting rod and is smaller than the diameter of the sliding blind hole. A limit protrusion is provided at one end of the adjusting rod extending into the sliding blind hole. The diameter of the limit protrusion is adapted to the diameter of the sliding blind hole and is larger than the diameter of the part of the adjusting rod extending into the sliding blind hole.

2. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: The connecting clip includes an upper connecting clip, a lower connecting clip and an arc-shaped connecting clip, the two ends of the arc-shaped connecting clip are respectively connected to the upper connecting clip and the lower connecting clip, the upper connecting clip, the lower connecting clip and the arc-shaped connecting clip together form a U-shaped connecting clip arranged in the longitudinal direction of the fuselage and opening toward the fixed end of the piezoelectric dual chip, the upper connecting clip is also provided with an upper connecting oblique plate obliquely upward at the end away from the end where it is connected to the arc-shaped connecting clip, and the lower connecting clip is also provided with a lower connecting oblique plate obliquely downward at the end where it is connected to the connecting clip.

3. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: One end of the support column facing the steering rod is also provided with a guide seat facing the steering rod, and a vertical guide hole is opened on the guide seat. The steering rod passes through the guide hole and can slide along the guide hole.

4. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: A guide hole is provided on the vertical lower end surface at the corresponding position of the transmission rod and the guide column, and the guide column is slidably connected to the guide hole. A connecting protrusion is provided on the vertical upper end surface at the connection position of the transmission rod and the support column, and a connecting groove is provided at the corresponding position of the support column. The connecting protrusion extends into the connecting groove and is fixedly connected by connecting screws.

5. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: A steering limit circular block is also provided at one end of the steering block facing the wing, and the steering limit circular block is composed of two limit semicircular blocks. A limit circular hole is formed between the two limit semicircular blocks. The diameter of the limit circular hole is smaller than the diameter of the rotating blind hole. The diameter of the part of the wing rod extending into the rotating blind hole is adapted to the diameter of the rotating blind hole, and the diameter of the corresponding position of the wing rod and the limit circular hole is adapted to the diameter of the limit circular hole.

6. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: The support column includes a support and a top cover, a transverse cylindrical accommodating chamber is formed between the support and the top cover, the circular ring is slidably connected in the accommodating chamber, the support and the top cover are both in contact with the outer surface of the circular ring, a limiting groove is provided on the outer surface of the circular ring, and positions corresponding to the limiting groove on the support and the top cover are respectively provided with a first limiting protrusion and a second limiting protrusion adapted to the size of the limiting groove, the limiting groove respectively cooperates with the first limiting protrusion and the second limiting protrusion to realize the position limitation between the circular ring and the support and the top cover, and the support and the top cover are fixedly connected.

7. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: A vertical first pin hole is provided at the telescopic end of the telescopic member, the connecting rods on both sides of the telescopic member are vertically overlapped and arranged on the upper end surface of the telescopic member, and the rotational connection between the telescopic member and the connecting rod is realized through the first pin at the first pin hole, the connecting rod includes a first connecting part and a second connecting part, the first connecting part is rotationally connected to the transmission rod, and the second connecting part is rotationally connected to the telescopic member, wherein the lower end surface of the second connecting part of the connecting rod that abuts against the upper end surface of the telescopic member is flush with the lower end surface of the first connecting part, and the upper end surface of the second connecting part of the other connecting rod is flush with the upper end surface of the first connecting part, and the vertical height of the second connecting part is half of the vertical height of the first connecting part.

8. The foldable bionic flapping-wing aircraft according to claim 1, characterized in that: The telescopic element is an electrostrictor.

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