Variable rear wing biomimetic flapping mechanism

Abstract

The application provides a variable rear wing bionic flapping mechanism, which comprises a shell, a front wing driving assembly, a rear wing driving assembly, a linkage assembly, a front wing and a rear wing; the front wing driving assembly comprises a driving rod, a driving gear, a driving bevel gear, a left rotating gear and a right rotating gear; the linkage assembly comprises a gear set, a driven bevel gear and a driving cam; the rear wing driving assembly comprises a first movable rod, a connecting rod and a rear wing driving rod; the driving cam is used for driving the first movable rod to move transversely, and then driving the rear wing driving rod to move transversely, so that the rear wing moves towards or away from the front wing; the front wing and the rear wing are partially overlapped or unfolded by the flapping of the front wing, the area of the flapping wing during flight can be adjusted correspondingly, and the flight lift can be reciprocatingly adjusted, so that the flight endurance of the flapping mechanism is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of flapping-wing aircraft, specifically relating to a biomimetic flapping-wing mechanism with a variable rear wing. Background Technology

[0002] With the development of technology, drones are also developing rapidly. Currently, drones are generally divided into fixed-wing drones and multi-rotor drones. However, fixed-wing drones and multi-rotor drones have the disadvantages of high noise and poor stealth. Based on the above reasons, there is a biomimetic butterfly drone to solve the above problems. Specifically, the biomimetic butterfly drone is a flapping-wing aircraft.

[0003] In existing technologies, the flapping area of ​​the wings of biomimetic butterfly aircraft remains constant during flight, thus making it impossible to adjust the lift of the aircraft during flight, resulting in poor endurance and an inability to achieve long-term flight. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a variable rear wing bionic flapping wing mechanism to solve the technical problems mentioned in the background section.

[0005] The invention provides the following technical solution: a variable rear wing bionic flapping wing mechanism, including a housing, a front wing drive assembly disposed within the housing, a rear wing drive assembly disposed within the housing, a linkage assembly disposed between the front wing drive assembly and the rear wing drive assembly, a front wing disposed on the front wing drive assembly, and a rear wing disposed on the rear wing drive assembly.

[0006] The forewing drive assembly is used to drive the forewing to flap back and forth. The forewing drive assembly includes a drive rod rotatably mounted on the outer shell, a drive gear coaxially fixed to one end of the drive rod, a drive bevel gear coaxially fixed to one side of the drive gear, and a left rotating gear and a right rotating gear symmetrically meshing on both sides of the drive gear. A left connecting rod is eccentrically rotatably connected to the left rotating gear, and a right connecting rod is eccentrically rotatably connected to the right rotating gear. A right forewing drive rod is rotatably connected to one end of the left connecting rod, and a left forewing drive rod is rotatably connected to one end of the right connecting rod. A sleeve is provided on one side of the right forewing drive rod, and the right forewing drive rod and the left forewing drive rod are rotatably mounted together at one end of the sleeve. The forewing is fixedly mounted on the left forewing drive rod and the right forewing drive rod, respectively.

[0007] The linkage component includes a gear set, a driven bevel gear rotatably mounted on the gear set, and a drive cam mounted on the gear set, wherein the driven bevel gear meshes with the driving bevel gear;

[0008] The rear wing drive assembly is used to drive the rear wing to move toward or away from the front wing. The rear wing drive assembly includes a first movable rod disposed on one side of the drive cam, a connecting rod fixedly disposed on one end of the first movable rod, and a rear wing drive rod fixedly disposed on one end of the connecting rod. The drive cam is used to drive the first movable rod to move laterally, thereby driving the rear wing drive rod to move laterally, so that the rear wing moves toward or away from the front wing.

[0009] Compared with the prior art, the beneficial effects of this application are as follows: This application drives the front wing drive assembly to operate through a drive rod, thereby driving the front wing to flap. The flapping of the front wing realizes the flight process of the flapping wing mechanism. At the same time, the front wing drive assembly and the linkage assembly drive the rear wing drive assembly to move, thereby driving the rear wing to move towards or away from the front wing. In this way, during actual flight, the flapping of the front wing causes the front wing and the rear wing to partially overlap or unfold, and the flapping area of ​​the flight wing can be adjusted accordingly. During actual flight, the aircraft can repeatedly adjust the lift, thereby improving the flight endurance of the flapping wing mechanism.

[0010] Preferably, the right front wing drive rod includes a right front wing connecting part and a right front wing drive part, the left front wing drive rod includes a left front wing connecting part and a left front wing drive part, the sleeve is rotatably disposed between the right front wing connecting part and the right front wing drive part, and between the left front wing connecting part and the left front wing drive part, the front wings are respectively fixed on the right front wing connecting part and the left front wing connecting part, the right connecting rod is fixed to one end of the left front wing drive part, and the left connecting rod is fixed to one end of the right front wing drive part.

[0011] Preferably, the length ratio between the right front wing connecting part and the right front wing driving part, and the length ratio between the left front wing connecting part and the left front wing driving part are both 4:1 to 6:1.

[0012] Preferably, the gear set includes a first gear, a second gear, a third gear, and a fourth gear, all of which are rotatably mounted on the inner wall of the housing. The first gear meshes with the second gear, and the third gear meshes with the fourth gear.

[0013] Preferably, the driven bevel gear is coaxially fixed between the first gear and the third gear, and the driving cam is coaxially fixed between the second gear and the fourth gear.

[0014] Preferably, the drive cam has cam grooves on both sides, a crank is movably mounted in the cam groove, a center-of-gravity slider is rotatably mounted at the end of the crank away from the drive cam, a track is fixedly mounted at the bottom of the housing, and the center-of-gravity slider is slidably mounted in the track.

[0015] Preferably, a second movable rod is fixedly provided on one side of the rear wing drive rod, the second movable rod is slidably disposed inside the sleeve, and a first fixed bracket is fixedly provided on the outer shell, the first fixed bracket being fixed to one end of the sleeve.

[0016] Preferably, a return spring is provided between the first fixed bracket and the connecting rod.

[0017] Preferably, a second fixed bracket is fixedly provided at the bottom of the outer shell, the first movable rod is movably disposed on the second fixed bracket, and a connecting block is fixedly provided between the first movable rod and the connecting rod. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A perspective view of the variable rear wing biomimetic flapping wing mechanism provided in an embodiment of the present invention;

[0020] Figure 2 A perspective view of the variable rear wing biomimetic flapping wing mechanism provided for an embodiment of the present invention;

[0021] Figure 3 A perspective view of the outer casing provided in an embodiment of the present invention;

[0022] Figure 4 An internal structural diagram of the outer casing provided in an embodiment of the present invention;

[0023] Figure 5 A perspective view of the forewing drive assembly and the rearwing drive assembly provided in an embodiment of the present invention;

[0024] Figure 6 A perspective view of the forewing drive assembly and the rear wing drive assembly from another angle provided in an embodiment of the present invention;

[0025] Figure 7 A perspective view of the gear set provided in an embodiment of the present invention;

[0026] Figure 8 A perspective view of the drive gear provided in an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028]

[0029] The present invention will be further described below with reference to the accompanying drawings and description. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain embodiments of the present invention, and should not be construed as limiting the present invention.

[0031] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0034] In embodiments of the present invention, such as Figure 1 , Figure 2 , Figure 3 As shown, a variable rear wing bionic flapping wing mechanism includes a housing 3, a front wing drive assembly 5 disposed within the housing 3, a rear wing drive assembly 6 disposed within the housing 3, a linkage assembly 7 disposed between the front wing drive assembly 5 and the rear wing drive assembly 6, a front wing 1 disposed on the front wing drive assembly 5, and a rear wing 2 disposed on the rear wing drive assembly 6.

[0035] like Figure 4, Figure 5 , Figure 6 As shown, the front wing drive assembly 5 is used to drive the front wing 1 to flap back and forth. The front wing drive assembly 5 includes a drive rod 4 rotatably mounted on the outer shell 3, a drive gear 510 coaxially fixed to one end of the drive rod 4, an active bevel gear 57 coaxially fixed to one side of the drive gear 510, and a left rotating gear 51 and a right rotating gear 53 symmetrically meshing on both sides of the drive gear 510. A left connecting rod 52 is eccentrically rotatably connected to the left rotating gear 51, and a right connecting rod 54 is eccentrically rotatably connected to the right rotating gear 53. A right front wing drive rod 55 is rotatably connected to one end of the left connecting rod 52, and a left front wing drive rod 56 is rotatably connected to one end of the right connecting rod 54. A sleeve 58 is provided on one side of the right front wing drive rod 55. The right front wing drive rod 55 and the left front wing drive rod 56 are rotatably mounted on one end of the sleeve 58. The front wing 1 is fixedly mounted on the left front wing drive rod 56 and the right front wing drive rod 55 respectively.

[0036] Specifically, the forewing drive assembly 5 is used to control the reciprocating flapping motion of the forewing 1 to mimic the flapping motion of a butterfly in flight. The forewing drive assembly 5 includes a drive rod 4, which drives the entire biomimetic flapping wing mechanism. A drive device, such as a drive motor, is connected to one end of the drive rod 4. The drive motor drives the drive rod 4 to rotate, which in turn drives the drive gear 510. The rotation of the drive gear 510 drives the left rotating gear 51 and the right rotating gear 53 meshing with it on both sides. When the left rotating gear 51 rotates, it drives the left connecting rod 52 to rotate. The eccentrically positioned left connecting rod 52 and the left rotating gear 51 form a crank. The rocker mechanism drives the left connecting rod 52 to swing, which in turn drives the right front wing drive rod 55 connected to the left connecting rod 52 to flap up and down, which in turn drives the right front wing 1 to flap up and down. Correspondingly, when the right rotating gear 53 rotates, it can drive the right connecting rod 54 to rotate. The right connecting rod 54 and the right rotating gear 53, which are eccentrically set, form a crank-rocker mechanism, which drives the right connecting rod 54 to swing, which in turn drives the left front wing drive rod 56 connected to the right connecting rod 54 to flap up and down, which in turn drives the left front wing 1 to flap up and down. Therefore, by rotating the drive rod 4, the left and right front wings 1 are driven to flap up and down, thereby realizing the flight of the bionic flapping wing mechanism.

[0037] like Figure 7 As shown, the linkage component 7 includes a gear set, a driven bevel gear 75 rotatably mounted on the gear set, and a drive cam 76 mounted on the gear set. The driven bevel gear 75 meshes with the driving bevel gear 57.

[0038] Specifically, the linkage component 7 is used to link the front wing drive component 5 and the rear wing drive component 6, so that the movement of the front wing drive component 5 drives the movement of the rear wing drive component 6. Specifically, the front wing drive component 5 drives the active bevel gear 57 to rotate, which in turn drives the driven bevel gear 75 that meshes with it to rotate. The driven bevel gear 75 can drive the gear set to rotate, and the rotation of the gear set drives the drive cam 76 to rotate. The drive cam 76 can serve as the drive source for the rear wing drive component 6.

[0039] The rear wing drive assembly 6 is used to drive the rear wing 2 to move toward or away from the front wing 1. The rear wing drive assembly 6 includes a first movable rod 61 disposed on one side of the drive cam 76, a connecting rod 64 fixedly disposed on one end of the first movable rod 61, and a rear wing drive rod 65 fixedly disposed on one end of the connecting rod 64. The drive cam 76 is used to drive the first movable rod 61 to move laterally, thereby driving the rear wing drive rod 65 to move laterally, so that the rear wing 2 moves toward or away from the front wing 1.

[0040] Specifically, the rear wing drive assembly 6 is used to drive the rear wing 2 to move toward or away from the front wing 1, so that the flapping of the front wing 1 causes the front wing 1 to partially overlap or unfold with the rear wing 2. In this way, the flapping area of ​​the flight wing can be adjusted during actual flight, so that the aircraft can adjust the lift back and forth during actual flight to achieve the optimal lift and improve the endurance of the flapping wing mechanism.

[0041] The drive cam 76 in the linkage component 7 rotates, thereby driving the first movable rod 61 located on one side of the drive cam 76 to move laterally. The lateral movement of the first movable rod 61 can drive the connecting rod 64 connected to it to move, which in turn can drive the rear wing drive rod 65 to move laterally. This can drive the rear wing 2 to move toward or away from the front wing 1, causing the front wing 1 and the rear wing 2 to partially overlap or unfold, adjusting the lift of the flapping wing mechanism during flight, and improving the endurance.

[0042] In this embodiment, the right front wing drive rod 55 includes a right front wing connecting part and a right front wing drive part, the left front wing drive rod 56 includes a left front wing connecting part and a left front wing drive part, the sleeve is rotatably disposed between the right front wing connecting part and the right front wing drive part, and between the left front wing connecting part and the left front wing drive part, the front wing 1 is fixed on the right front wing connecting part and the left front wing connecting part respectively, the right connecting rod 54 is fixed to one end of the left front wing drive part, and the left connecting rod 52 is fixed to one end of the right front wing drive part;

[0043] Specifically, the right front wing drive rod 55 and the left front wing drive rod 56 are arranged in an intersecting manner. Therefore, the right front wing drive rod 55 and the left front wing drive rod 56 can be segmented through the intersection point between them. In the right front wing drive rod 55, the left side of the intersection is the right front wing drive part, and the right side is the right front wing connecting part. In the left front wing drive rod 56, the left side of the intersection is the left front wing connecting part, and the right side is the left front wing drive part. The left front wing is connected to the left front wing connecting part, and the right front wing is connected to the right front wing connecting part. The left connecting rod 52 is connected to the end of the right front wing drive part away from the right front wing connecting part, and the right connecting rod 54 is connected to the end of the left front wing drive part away from the left front wing connecting part.

[0044] In this embodiment, the length ratio between the right front wing connecting part and the right front wing driving part, and the length ratio between the left front wing connecting part and the left front wing driving part are both 4:1 to 6:1;

[0045] Specifically, the flapping amplitude of the forewing 1 is related to the lengths of the right forewing drive unit and the left forewing drive unit, as well as the swing amplitudes of the left connecting rod 52 and the right connecting rod 54. Therefore, by controlling the length ratio between the right forewing connecting part and the right forewing drive unit, and the length ratio between the left forewing connecting part and the left forewing drive unit to be 4:1 to 6:1, the forewing 1 can have a better flapping amplitude while ensuring the optimal size of the forewing 1. The preferred length ratio between the right forewing connecting part and the right forewing drive unit, and the length ratio between the left forewing connecting part and the left forewing drive unit is 5:1.

[0046] In this embodiment, the gear set includes a first gear 71, a second gear 72, a third gear 73, and a fourth gear 74. The first gear 71, the second gear 72, the third gear 73, and the fourth gear 74 are all rotatably mounted on the inner wall of the outer casing 3. The first gear 71 meshes with the second gear 72, and the third gear 73 meshes with the fourth gear 74.

[0047] Specifically, the first gear 71, the second gear 72, the third gear 73 and the fourth gear 74 are arranged symmetrically in pairs. The first gear 71 and the third gear 73 are coaxially and fixedly connected, the second gear 72 and the fourth gear 74 are coaxially and fixedly connected, and the first gear 71 meshes with the second gear 72, and the third gear 73 meshes with the fourth gear 74.

[0048] In this embodiment, the driven bevel gear 75 is coaxially fixed between the first gear 71 and the third gear 73, and the drive cam 76 is coaxially fixed between the second gear 72 and the fourth gear 74;

[0049] Specifically, the driven bevel gear 75 is fixed on a fixed shaft between the first gear 71 and the third gear 73, and the drive cam 76 is fixed on a fixed shaft between the second gear 72 and the fourth gear 74. Therefore, when the driving bevel gear 57 rotates, it can drive the driven bevel gear 75 to rotate, which in turn drives the first gear 71 and the third gear 73 to rotate, which in turn drives the second gear 72 and the fourth gear 74 to rotate. Thus, it can drive the drive cam 76 to rotate, which in turn drives the rear wing drive assembly 6 to move.

[0050] like Figure 8 As shown, in this embodiment, the drive cam 76 is provided with cam grooves 710 on both sides, and a crank 77 is movably provided in the cam grooves 710. A center-of-gravity slider 78 is rotatably provided at the end of the crank 77 away from the drive cam 76. A track 79 is fixedly provided at the bottom of the housing 3, and the center-of-gravity slider 78 is slidably provided in the track 79.

[0051] Specifically, when the drive cam 76 rotates to drive the rear wing 2, the rotation of the drive cam 76 will also drive the crank 77 set in the cam groove 710 to swing. The crank 77 and the center of gravity slider 78 form a crank-slider mechanism, so that during the movement of the front wing 1 and the rear wing 2, the center of gravity slider 78 always slides in the track 79. This allows the center of gravity of the flapping wing mechanism to be adjusted repeatedly, so as to ensure that the position of the center of gravity of the flapping wing mechanism changes periodically within a flight cycle, which can achieve a specific flight attitude. At the same time, by adjusting the parameters of the periodic change of the center of gravity, different flight attitudes can be freely switched.

[0052] In this embodiment, a second movable rod 66 is fixedly provided on one side of the rear wing drive rod 65. The second movable rod 66 is slidably disposed inside the sleeve 58. A first fixed bracket 59 is fixedly provided on the outer shell 3. The first fixed bracket 59 is fixed to one end of the sleeve 58.

[0053] Specifically, when the position of the rear wing 2 changes, the movement direction of the rear wing 2 can be limited by the cooperation of the second movable rod 66 and the sleeve 58, and the first fixed bracket 59 can be used to fix the sleeve 58 to the outer shell 3.

[0054] In this embodiment, a return spring 67 is provided between the first fixed bracket 59 and the connecting rod 64;

[0055] Specifically, during the movement of the rear wing 2, the drive cam 76 first pushes the first movable rod 61 open, thereby moving the rear wing 2 away from the front wing 1. Then, under the elastic force of the return spring 67, the rear wing 2 rebounds and moves closer to the front wing 1, thereby realizing the reciprocating motion of the rear wing 2 and also realizing the reciprocating motion of the center of gravity slider 78.

[0056] In this embodiment, a second fixed bracket 62 is fixedly provided at the bottom of the outer shell 3, the first movable rod 61 is movably disposed on the second fixed bracket 62, and a connecting block 63 is fixedly provided between the first movable rod 61 and the connecting rod 64;

[0057] Specifically, the second fixed bracket 62 can limit the movement direction of the first movable rod 61, and the connecting block 63 can stabilize the structure between the first movable rod 61 and the connecting rod 64.

[0058] In summary, the variable rear wing bionic flapping wing mechanism provided in this embodiment uses a drive rod 4 to drive the front wing drive assembly 5, which in turn drives the front wing 1 to flap. The flapping of the front wing 1 enables the flapping wing mechanism to fly. At the same time, the front wing drive assembly 5 and the linkage assembly 7 drive the rear wing drive assembly 6 to move, which in turn drives the rear wing 2 to move toward or away from the front wing 1. In this way, during actual flight, the flapping of the front wing 1 causes the front wing 1 and the rear wing 2 to partially overlap or unfold, and the flapping area of ​​the wing can be adjusted accordingly. During actual flight, the aircraft can repeatedly adjust the lift, thereby improving the flight endurance of the flapping wing mechanism.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A variable rear wing biomimetic flapping wing mechanism, characterized in that, It includes an outer shell, a front wing drive assembly disposed within the outer shell, a rear wing drive assembly disposed within the outer shell, a linkage assembly disposed between the front wing drive assembly and the rear wing drive assembly, a front wing disposed on the front wing drive assembly, and a rear wing disposed on the rear wing drive assembly; The forewing drive assembly is used to drive the forewing to flap back and forth. The forewing drive assembly includes a drive rod rotatably mounted on the outer shell, a drive gear coaxially fixed to one end of the drive rod, a drive bevel gear coaxially fixed to one side of the drive gear, and a left rotating gear and a right rotating gear symmetrically meshing on both sides of the drive gear. A left connecting rod is eccentrically rotatably connected to the left rotating gear, and a right connecting rod is eccentrically rotatably connected to the right rotating gear. A right forewing drive rod is rotatably connected to one end of the left connecting rod, and a left forewing drive rod is rotatably connected to one end of the right connecting rod. A sleeve is provided on one side of the right forewing drive rod, and the right forewing drive rod and the left forewing drive rod are rotatably mounted together at one end of the sleeve. The forewing is fixedly mounted on the left forewing drive rod and the right forewing drive rod, respectively. The linkage component includes a gear set, a driven bevel gear rotatably mounted on the gear set, and a drive cam mounted on the gear set, wherein the driven bevel gear meshes with the driving bevel gear; The rear wing drive assembly is used to drive the rear wing to move toward or away from the front wing. The rear wing drive assembly includes a first movable rod disposed on one side of the drive cam, a connecting rod fixedly disposed on one end of the first movable rod, and a rear wing drive rod fixedly disposed on one end of the connecting rod. The drive cam is used to drive the first movable rod to move laterally, thereby driving the rear wing drive rod to move laterally, so that the rear wing moves toward or away from the front wing. The drive cam has cam grooves on both sides, and a crank is movably mounted in the cam groove. A center-of-gravity slider is rotatably mounted at the end of the crank away from the drive cam. A track is fixedly mounted at the bottom of the housing, and the center-of-gravity slider is slidably mounted in the track.

2. The variable rear wing bionic flapping wing mechanism according to claim 1, characterized in that, Both the left rotating gear and the right rotating gear are rotatably located on one side of the outer casing.

3. The variable rear wing bionic flapping wing mechanism according to claim 1, characterized in that, The right front wing drive rod includes a right front wing connecting part and a right front wing drive part, and the left front wing drive rod includes a left front wing connecting part and a left front wing drive part. The sleeve is rotatably disposed between the right front wing connecting part and the right front wing drive part, and between the left front wing connecting part and the left front wing drive part. The front wings are respectively fixed on the right front wing connecting part and the left front wing connecting part. The right connecting rod is fixed to one end of the left front wing drive part, and the left connecting rod is fixed to one end of the right front wing drive part.

4. The variable rear wing bionic flapping wing mechanism according to claim 3, characterized in that, The length ratio between the right front wing connecting part and the right front wing driving part, and the length ratio between the left front wing connecting part and the left front wing driving part are both 4:1 to 6:

1.

5. The variable rear wing bionic flapping wing mechanism according to claim 1, characterized in that, The gear set includes a first gear, a second gear, a third gear, and a fourth gear. The first gear, the second gear, the third gear, and the fourth gear are all rotatably mounted on the inner wall of the housing. The first gear meshes with the second gear, and the third gear meshes with the fourth gear.

6. The variable rear wing bionic flapping wing mechanism according to claim 5, characterized in that, The driven bevel gear is coaxially fixed between the first gear and the third gear, and the driving cam is coaxially fixed between the second gear and the fourth gear.

7. The variable rear wing bionic flapping wing mechanism according to claim 1, characterized in that, A second movable rod is fixedly provided on one side of the rear wing drive rod. The second movable rod is slidably disposed inside the sleeve. A first fixed bracket is fixedly provided on the outer shell. The first fixed bracket is fixed to one end of the sleeve.

8. The variable rear wing bionic flapping wing mechanism according to claim 7, characterized in that, A return spring is provided between the first fixed bracket and the connecting rod.

9. The variable rear wing bionic flapping wing mechanism according to claim 1, characterized in that, The bottom of the outer shell is fixedly provided with a second fixed bracket, the first movable rod is movably disposed on the second fixed bracket, and a connecting block is fixedly provided between the first movable rod and the connecting rod.

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