A biomimetic flapping wing vehicle with foldable wings

Abstract

The application relates to the field of aircraft technology and discloses a bionic flapping-wing aircraft with foldable wings, which has a folded-wing state and an unfolded-wing state and comprises a fuselage, flapping-wing assemblies, a driving assembly, a wing folding assembly, a spherical pair of links I and a spherical pair of links II. The number of the flapping-wing assemblies is two, and the flapping-wing assemblies are symmetrically arranged on the two sides of the fuselage. The flapping-wing assembly has a first link and a second link, the first link and the second link are hinged, the flapping-wing assembly performs flapping-wing action through the cooperation and movement of the first link and the second link, the driving assembly is fixed to the fuselage, the driving assembly is in transmission connection with the flapping-wing assembly, and the driving assembly is used for driving the flapping-wing assembly to perform reciprocating movement. The bionic flapping-wing aircraft with foldable wings has the characteristics of realizing instantaneous folding and unfolding of wings, good maneuverability, few driving elements and high bionics, and is suitable for target indication, communication relay, disaster rescue, biochemical environment detection and battlefield detection and other civil and military fields.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a biomimetic flapping-wing aircraft with foldable wings. Background Technology

[0002] Ornithopter aircraft are a novel concept aircraft designed across multiple disciplines, characterized by excellent flight flexibility, high efficiency, and good stability. Unlike existing fixed-wing and rotary-wing aircraft, they generate upward or forward propulsion through the flapping of their wings. They have great application prospects in numerous fields and are currently among the most promising aircraft types.

[0003] The pursuit of higher biomimicry and more powerful performance in flapping-wing aircraft has been a major research topic both domestically and internationally. One flapping-wing aircraft, with publication number CN114013648A, controls the sliding resistance of a mounting slider by adjusting the compression of springs on both sides of the slider via a servo motor. This, in turn, controls the swing capability of the movable hinge point between the aileron and the main wing, enabling aileron controllability without adding a power motor, simply by adding a small adjustment motor. However, this design does not allow for folding or unfolding of the wing, making it inconvenient to carry, space-consuming, and prone to damage. Furthermore, most current research focuses on non-folding or inefficient folding wings. Therefore, inconvenience in carrying, large space requirements, and poor maneuverability remain drawbacks of flapping-wing aircraft. Summary of the Invention

[0004] In view of this, the present invention proposes a biomimetic flapping-wing aircraft with foldable wings, which can realize the transient folding and flapping of the wings and the flapping of the three-segment wings, greatly improving maneuverability, facilitating the carrying of the aircraft, and having a higher degree of biomimicry.

[0005] The technical solution of this invention is implemented as follows: This invention provides a biomimetic flapping-wing aircraft with foldable wings, having a folded wing state and a spread wing state, comprising a fuselage, a flapping wing assembly, a drive assembly, a folding wing assembly, a ball joint link one, and a ball joint link two, wherein...

[0006] There are two flapping wing assemblies, which are symmetrically arranged on both sides of the fuselage. Each flapping wing assembly has a first link and a second link, which are hinged together. The flapping wing assembly performs flapping action through the coordinated movement of the first link and the second link.

[0007] The drive assembly is fixed to the fuselage and is connected to the flapping wing assembly for driving the flapping wing assembly to perform reciprocating motion.

[0008] There are two folding wing assemblies, both mounted on the fuselage and connected to two flapping wing assemblies respectively. These assemblies are used to switch the aircraft from a spread-wing to a folding-wing configuration. Each assembly includes a tilting linkage and a folding linkage.

[0009] The flip link is hinged to the end of the first link near the fuselage, allowing the flapping wing assembly to rotate relative to the fuselage;

[0010] The folding link is hinged to the end of the first link near the fuselage and is drivenly connected to the flip link, so that the flapping wing assembly can fold to the outside of the fuselage while rotating relative to the fuselage;

[0011] Both ends of the ball joint link one are respectively mounted on the fuselage and the second link via ball joints, which are used to support the second link when the wings are extended;

[0012] Both ends of the ball joint link two are respectively mounted on the drive assembly and the first link via ball joints, which are used to drive the drive assembly and the first link in the wing-spreading state.

[0013] Based on the above technical solutions, preferably, the drive assembly includes a drive unit, a drive gear, and two driven gears, wherein,

[0014] The drive unit is fixed to the machine body and has a rotating end;

[0015] The drive gear is fixed to the rotating end of the drive unit;

[0016] Two driven gears are rotatably mounted on the machine body and mesh with each other. One of the driven gears meshes with the drive gear, and the ball joint connecting rod is connected to the driven gear through a ball joint.

[0017] Based on the above technical solutions, preferably, a reset component is also included. The reset component is disposed on the fuselage and is connected to the wing-folding component for transmission, and is used to push the wing-folding component to reset, so that the aircraft switches from the wing-folding state to the wing-spreading state.

[0018] More preferably, the reset assembly includes a slider and an elastic element, wherein,

[0019] The slider is slidably mounted on the machine body and is connected to the folding linkage for transmission.

[0020] The elastic element is installed on the fuselage. When the aircraft is in the folded-wing state, the elastic element applies a thrust to the slider, causing the aircraft to tend to switch to the extended-wing state.

[0021] More preferably, the reset assembly further includes a connecting seat and a longitudinal rod, wherein,

[0022] The connecting seat is hinged to the machine body;

[0023] The longitudinal rod is fixed on the connecting seat, the slider is slidably mounted on the longitudinal rod, and the elastic element is sleeved on the longitudinal rod, with both ends fixed to the connecting seat and the slider respectively.

[0024] More preferably, the reset assembly further includes a reset rod and a connecting rod, wherein,

[0025] One end of the reset rod is hinged to the slider;

[0026] One end of the connecting rod is hinged to the other end of the reset rod, and the other end is fixed to the folding connecting rod.

[0027] Based on the above technical solutions, preferably, the folding wing assembly further includes a transmission rod, the two ends of which are respectively hinged to the flipping link and the folding link.

[0028] Based on the above technical solutions, preferably, it also includes a horizontal adjustment device and a vertical adjustment device, both of which are fixedly mounted on the fuselage. The horizontal adjustment device includes a horizontal tail fin that is hinged to the fuselage, and the vertical adjustment device includes a vertical tail fin that is hinged to the fuselage. The horizontal tail fin and the vertical tail fin are used to change the pitch attitude and direction of the aircraft during flight, respectively.

[0029] More preferably, the leveling device further includes a leveling servo and a leveling linkage, wherein,

[0030] The horizontal servo is fixed to the fuselage;

[0031] The horizontal adjustment linkage is located on the output end of the horizontal servo and is connected to the horizontal tail fin via a ball joint, which is used to drive the horizontal tail fin to the horizontal servo.

[0032] More preferably, the vertical adjustment device further includes a vertical servo and a vertical adjustment linkage, wherein,

[0033] The vertical servo is fixed to the fuselage;

[0034] The vertical adjustment linkage is located on the output end of the vertical servo and is hinged to the vertical tail fin, used to connect the vertical tail fin with the vertical servo drive.

[0035] The biomimetic flapping-wing aircraft with foldable wings of the present invention has the following advantages over the prior art:

[0036] (1) By setting up a folding wing assembly, ball joint link one and ball joint link two, the aircraft can switch back and forth between the wing-spreading state and the folding wing state. When it is in the wing-spreading state, it can perform flight operations. Conversely, when the aircraft is in the folding wing state, the flapping wing assemblies on both sides can be rotated and folded to the sides of the fuselage, which greatly improves the maneuverability of the aircraft. Compared with the currently researched bionic flapping wing aircraft with foldable wings, it has the characteristics of instantaneous wing folding and unfolding, good maneuverability, fewer drive components, and high degree of bionics. It is suitable for civilian and military fields such as target indication, communication relay, disaster relief, biochemical environment detection and battlefield reconnaissance.

[0037] (2) A reset component is set up, which combines the slider linkage mechanism and the ball linkage mechanism to realize the folding and unfolding of the wings in space and the flapping and folding motion of the three-segment wings. It has a high degree of biomimicry and is easy to carry and recover the aircraft. The combination of slider and elastic element realizes the function of wing folding and unfolding. At the same time, the aircraft can be quickly converted from the folded wing state to the unfolded wing state directly through the reset component without the need for manual setting of the flapping wing component. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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.

[0039] Figure 1 This is a schematic diagram of the wing-spreading structure of the biomimetic flapping-wing aircraft with foldable wings according to the present invention;

[0040] Figure 2 for Figure 1 Enlarged schematic diagram of the structure at point A in the diagram;

[0041] Figure 3 This is a schematic diagram of the folded-wing structure of the biomimetic flapping-wing aircraft with foldable wings according to the present invention;

[0042] Figure 4 This is a perspective view of the flapping wing assembly of the biomimetic flapping-wing aircraft with foldable wings according to the present invention;

[0043] Figure 5 This is a perspective view of the fuselage of the biomimetic flapping-wing aircraft with foldable wings according to the present invention;

[0044] Figure 6 This is a perspective view of the drive assembly of the biomimetic flapping-wing aircraft with foldable wings according to the present invention;

[0045] Figure 7This is a schematic diagram of the folding wing assembly and the resetting assembly of the biomimetic flapping-wing aircraft with foldable wings of the present invention;

[0046] Figure 8 This is a schematic diagram of the horizontal and vertical adjustment devices of the biomimetic flapping-wing aircraft with foldable wings of the present invention.

[0047] Figure 9 for Figure 8 Enlarged schematic diagram of the structure at point B in the diagram. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0049] like Figure 1-9 As shown, the biomimetic flapping-wing aircraft of the present invention has a flapping wing state and a flapping wing state. It includes a fuselage 1, a flapping wing assembly 2, a drive assembly 3, a flapping wing assembly 4, a ball joint link 1 5 and a ball joint link 2 6. For ease of description, the end closer to the head of the aircraft is referred to as the front, the end closer to the tail of the aircraft is referred to as the rear, the side with a relatively higher horizontal altitude when the aircraft is in use is referred to as the upper, and the side with a relatively lower horizontal altitude is referred to as the lower.

[0050] The fuselage 1 includes a main frame, a front elliptical frame 1, a front elliptical frame 2, a rear elliptical frame 1, a rear elliptical frame 2, a right frame connecting rod 1, a left frame connecting rod 1, a right frame connecting rod 2, a left frame connecting rod 2, a motor frame, a first gear mounting shaft, a second gear mounting shaft, and a control device frame plate. The front elliptical frame 1 and the front elliptical frame 2 are placed parallel to each other and perpendicular to the main frame. They are fixed to the main frame with bolts at the top and bottom. The tops of the front elliptical frame 1 and the front elliptical frame 2 are fixed together by the right frame connecting rod 1 and the left frame connecting rod 1. The two frames are connected, with the middle section fixedly connected by the second connecting rod of the right frame and the second connecting rod of the left frame. The left ends of the first gear mounting shaft and the second gear mounting shaft are symmetrically fixedly connected to the lower part of the first elliptical frame. The motor frame is connected to the middle of one side of the first elliptical frame by two bolts. The first and second elliptical frames of the rear section are placed parallel to each other behind the main frame. The two frames are perpendicular to the main frame and are fixedly connected to the main frame at the top and bottom by bolts. The rectangular control device frame plate is placed between the first and second elliptical frames of the rear section and is fixedly connected to each of them at the four corners.

[0051] The number of the flapping wing assemblies 2 is two, and they are symmetrically arranged on both sides of the fuselage 1. The flapping wing assembly 2 has a first connecting rod 21 and a second connecting rod 22. The first connecting rod 21 and the second connecting rod 22 are hinged. Through the cooperative movement of the first connecting rod 21 and the second connecting rod 22, the flapping wing assembly 2 performs a flapping wing action.

[0052] Specifically, the flapping wing assembly 2 further includes a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a plurality of wing surface support rods. Two-thirds of the first connecting rod 21 is hinged to the left end of the third connecting rod, and its right end is hinged to the left end of the second connecting rod 22. The upper and lower ends of the fourth connecting rod are respectively hinged to the second connecting rod 22 and the right end of the third connecting rod. The left ends of the fifth connecting rod and the sixth connecting rod are respectively hinged to the upper and lower ends of the fourth connecting rod, and the right ends of the fifth connecting rod and the sixth connecting rod are hinged to each other. A plurality of wing surface support rods are fixedly installed on the first connecting rod 21, the second connecting rod 22 and the fifth connecting rod in a uniform distribution from left to right. All the wing surface support rods on the flapping wing assembly 2 are connected by a skin to form a wing. It should be noted that the lengths of the plurality of wing surface support rods gradually decrease from the side close to the fuselage 1 to the side far from the fuselage 1 to improve the bionic effect of the aircraft.

[0053] All six wing surface support rods are streamlined with an upward convex and downward concave shape, and the lengths of the wing surface support rods gradually decrease from the inner wing to the outer wing, so that the airfoil shape formed by the connection of the wing surface support rods and the skin is an upward convex and downward concave shape. Among them, the skin arranged on the wing surface support rods can be made of polyester film.

[0054] The front elliptical frame one and the front elliptical frame two are both approximately in the shape of a horizontally placed "eye" character structure. In addition to improving the stability and anti-deformation ability of the frame itself, it also provides a place for some structural components of the fuselage to be installed inside.

[0055] The driving component 3 is fixed to the fuselage 1. The driving component 3 is传动连接 with the flapping wing assembly 2 and is used to drive the flapping wing assembly 2 to perform reciprocating motion. Specifically, since the flapping wing assemblies 2 are symmetrically arranged on both sides of the fuselage 1, the driving component 3 needs to drive the two flapping wing assemblies 2 to perform synchronous actions so that the aircraft can fly through the synchronous actions of the two flapping wing assemblies 2.

[0056] The number of the folding wing assemblies 4 is two, and they are both arranged on the fuselage 1 and are respectively传动连接 with the two flapping wing assemblies 2. Through the folding wing assembly 4, the user can manually fold the flapping wing assembly 2, and then switch the aircraft from the wing-spread state to the wing-folded state.

[0057] Specifically, the flapping wing assembly 4 includes a flipping link 41 and a folding link 42. The flipping link 41 is hinged to the end of the first link 21 near the fuselage 1, allowing the flapping wing assembly 2 to rotate relative to the fuselage 1. The folding link 42 is hinged to the end of the first link 21 near the fuselage 1 and is connected to the flipping link 41 for transmission, so that the flapping wing assembly 2 can fold to the outside of the fuselage 1 while rotating relative to the fuselage 1.

[0058] Both ends of ball joint link 5 are respectively mounted on fuselage 1 and second link 22 via ball joints, and are used to support second link 22 when the wing is extended. Specifically, the right end of ball joint link 5 is connected to the left third of the second link 22 via a ball joint, and its left end is connected to the right side of fuselage 1 via a ball joint. Both ends of ball joint link 6 are respectively mounted on drive assembly 3 and first link 21 via ball joints, and are used to drive assembly 3 and first link 21 in the wing-extended state. Specifically, the left end of ball joint link 6 is connected to the eccentric part of driven gear 33 via a spherical joint, and its right end is connected to the first link 21 at one-third of the distance via a ball joint.

[0059] During the movement of the flapping wing assembly 2, the first link 21 is driven by the drive assembly 3 through the ball joint link 6, causing the first link 21 to reciprocate. The first link 21, the second link 22, the ball joint link 5, and the fuselage 1 cooperate to form a quadrilateral. The reciprocating motion of the first link 21 causes the second link 22 and the ball joint link 5 to reciprocate together. Simultaneously, the first link 21, the second link 22, the third link, and the fourth link combine to form a quadrilateral. This formed quadrilateral also... The first link 21 will drive the reciprocating motion, while the fourth, fifth and sixth links form a triangle. The movement of the fourth link will drive the movement of the fifth and sixth links. Multiple wing support rods are fixed to the first link 21, the second link 22 and the fifth link respectively. In other words, the movement of the first link 21, the second link 22 and the fifth link can realize the reciprocating flapping motion of the aircraft's three-fold wing. Of course, this action can only be performed when the aircraft's wings are spread.

[0060] In this embodiment, the drive assembly 3 includes a drive unit 31, a drive gear 32, and two driven gears 33. The drive unit 31 is fixed to the fuselage 1 and has a rotating end. The drive unit 31 can be an electric motor and is fixed to the motor frame by bolts. The drive gear 32 is fixed to the rotating end of the drive unit 31. The two driven gears 33 are rotatably mounted on the fuselage 1 and mesh with each other. One of the driven gears 33 meshes with the drive gear 32. The ball joint connecting rod 6 is connected to the driven gear 33 through a ball joint. The output shaft of the drive unit 31 is connected to the drive gear 32 through a key. The two driven gears 33 mesh with each other and are mounted on the second gear mounting shaft of the fuselage 1 through a pin. The drive unit 31 drives the drive gear 32 to rotate, thereby driving the two driven gears 33 to rotate synchronously in opposite directions, so that the flapping wing assemblies 2 on both sides of the fuselage 1 flap synchronously, providing power for the flight of the aircraft. Using a single drive unit 31 for power output can improve the consistency of the movement of the flapping wing assemblies 2 on both sides and reduce the overall weight of the aircraft.

[0061] In a preferred embodiment, a reset component 7 is also included. The reset component 7 is disposed on the fuselage 1 and is connected to the wing-flaring component 4 for transmission. It is used to push the wing-flaring component 4 to reset, so that the aircraft switches from the wing-flaring state to the wing-spreading state. The wing-flaring component 4 will generate structural activity according to the state of the aircraft. That is to say, the two states of the aircraft are also the states of the wing-flaring component 4. When the wing-flaring component 4 switches from the wing state to the wing-flaring state, the reset component 7 can be pushed to store energy. This process is performed manually. When the aircraft needs to perform the wing-spreading action, it is only necessary to release the restraint on the flapping wing component 2, and the reset component 7 can push the wing-flaring component 4 to reset, thereby completing the switch between the wing-flaring state and the wing-spreading state of the aircraft.

[0062] Specifically, the reset assembly 7 includes a slider 71 and an elastic element 72. The slider 71 is slidably mounted on the fuselage 1 and is connected to the folding linkage 42. The elastic element 72 is mounted on the fuselage 1. When the aircraft is in a folded-wing state, the elastic element 72 applies a thrust to the slider 7, causing the aircraft to tend to switch to a wing-out state. Conversely, when the aircraft changes from a wing-out state to a folded-wing state, the slider 71 pushes the elastic element 72 to store energy through deformation, so that when the aircraft switches to a wing-out state, the energy stored in the elastic element 72 drives the change to the wing-out state.

[0063] In this embodiment, the reset assembly 7 further includes a connecting seat 73 and a longitudinal rod 74. The connecting seat 73 is hinged to the fuselage 1, and the longitudinal rod 74 is fixed to the connecting seat 73. The slider 71 is slidably disposed on the longitudinal rod 74. The elastic element 72 is sleeved on the longitudinal rod 74, and its two ends are respectively fixed to the connecting seat 73 and the slider 71. The connecting seats 73 on the two reset assemblies 7 are respectively installed on the right frame connecting rod 2 and the left frame connecting rod 2 of the fuselage 1. Hinging the connecting seats 73 to the fuselage 1 allows the flapping wing assembly 2 to rotate adaptively during flapping wing movements. It can also adaptively deflect during the flapping process. The longitudinal rod 74 can guide the slider 71 to move in only one direction, thereby releasing the thrust provided by the elastic element 72 or the pressure applied to the elastic element 72 in one direction, improving the stability of the structure. In addition, the elastic element 72 can be directly selected as a spring. It should be noted that when the elastic element 72 is in the flapping state, it squeezes the slider 71 until it is released from the connecting seat 73. At this time, a certain pressure will still be applied to the slider 71 to avoid unstable swaying when the flapping wing assembly 2 flaps.

[0064] The entire folding wing assembly 4 is fixed on the connecting seat 73.

[0065] In addition, in order to enable the slider 71 to drive the folding wing assembly 4, the reset assembly 7 also includes a reset rod 75 and a connecting rod 76. One end of the reset rod 75 is hinged to the slider 71, and one end of the connecting rod 76 is hinged to the other end of the reset rod 75, and the other end is fixed to the folding connecting rod 42. That is to say, when the slider 71 is pushed to reset by the elastic element 72, it will pull the reset rod 75 to perform synchronous action. The reset rod 75 drives the connecting rod 76 to rotate through displacement and rotation, so that the folding connecting rod 42 rotates to reset. At the same time, the folding connecting rod 42 is connected to the flipping connecting rod 41 through transmission, so that the flipping connecting rod 41 can be driven to reset together, so that the flapping wing assembly 2 can be put into the unfolded state. Conversely, through this linkage, when the flapping wing assembly 2 is folded, the slider 71 can also be driven to slide, so that the elastic element 72 will deform.

[0066] In this embodiment, to synchronize the folding link 42 and the flipping link 41, the rotation and folding of the flapping wing assembly 2 are synchronized to form a single action. The folding wing assembly 4 also includes a transmission rod 43 and a fixed base. The two ends of the transmission rod 43 are respectively hinged to the flipping link 41 and the folding link 42, and fixed to the first link 21. The fixed base is fixed on the connecting base 73 and is arranged in a C-shape. The folding link 42, the flipping link 41, and the transmission rod 43 are all arranged in an arc shape, and all are arcs with a central angle of 90 degrees. The folding link 42 and the flipping link 41 are both hinged to the fixed base. The folding link 42 is fixed to the connecting rod 76 at the same time as it is hinged to the fixed base. Through this folding wing assembly 4, the flapping wing assembly 2 can be folded into place in one step. At the same time, the reset component 7 can make it unfold instantly.

[0067] In this embodiment, the aircraft also has a horizontal adjustment device 8 and a vertical adjustment device 9. Both the horizontal adjustment device 8 and the vertical adjustment device 9 are fixedly mounted on the fuselage 1. The horizontal adjustment device 8 includes a horizontal tail 81, which is hinged to the fuselage 1. The vertical adjustment device 9 includes a vertical tail 91, which is hinged to the fuselage 1. The horizontal tail 81 and the vertical tail 91 are used to change the pitch attitude and direction of the aircraft during flight, respectively. There are two horizontal tail 81s, which are symmetrically arranged at the tail of the fuselage 1. The vertical tail 91 is arranged perpendicular to the horizontal plane between the two horizontal tail 81s.

[0068] Specifically, the horizontal adjustment device 8 further includes a horizontal servo 82 and a horizontal adjustment link 83. The horizontal servo 82 is fixed on the fuselage 1, and the horizontal adjustment link 83 is located on the output end of the horizontal servo 82 and connected to the horizontal tail 81 through a ball joint. This is used to drive the horizontal tail 81 and the horizontal servo 82. The horizontal adjustment link 83 includes a connecting bracket and two ball joint links. The connecting bracket is located on the output end of the horizontal servo 82, and the two ball joint links are connected to the connecting bracket through ball joints. At the same time, the other end is connected to the two horizontal tail 81 through ball joints. The horizontal servo 82 drives the connecting bracket to rotate, and the two ball joint links drive the two horizontal tail 81 to rotate synchronously, realizing rotation relative to the fuselage 1, thereby changing the pitch attitude of the aircraft during flight.

[0069] In addition, the vertical adjustment device 9 also includes a vertical servo 92 and a vertical adjustment link 93. The vertical servo 92 is fixed on the fuselage 1, and the vertical adjustment link 93 is set on the output end of the vertical servo 92 and hinged to the vertical tail fin 91 for transmission connection between the vertical tail fin 91 and the vertical servo 92. The vertical adjustment link 93 is a two-link structure.

[0070] It should be noted that, due to the aircraft's light weight, the two servos should be positioned along the length of the fuselage 1 to avoid weight imbalance affecting the aircraft's overall flight maneuvers.

[0071] 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, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic ornithopter having a foldable wing, characterized in that: The wing folding state and the wing unfolding state include a fuselage (1), a flapping wing assembly (2), a driving assembly (3), a wing folding assembly (4), a spherical pair connecting rod one (5) and a spherical pair connecting rod two (6), wherein, The number of the flapping wing assembly (2) is two, and the flapping wing assembly (2) is symmetrically arranged on both sides of the fuselage (1), the flapping wing assembly (2) has a first connecting rod (21) and a second connecting rod (22), the first connecting rod (21) and the second connecting rod (22) are hinged, and the flapping wing assembly (2) performs flapping action through the cooperation of the first connecting rod (21) and the second connecting rod (22); The driving assembly (3) is fixed on the fuselage (1), and the driving assembly (3) is in transmission connection with the flapping wing assembly (2) for driving the flapping wing assembly (2) to perform reciprocating motion; The number of the wing folding assembly (4) is two, and the wing folding assembly (4) is arranged on the fuselage (1) and is in transmission connection with the two flapping wing assemblies (2) respectively for switching the aircraft from the wing unfolding state to the wing folding state, the wing folding assembly (4) includes a turnover connecting rod (41) and a folding connecting rod (42), wherein, The turnover connecting rod (41) is hinged to one end of the first connecting rod (21) close to the fuselage (1), so that the flapping wing assembly (2) can rotate relative to the fuselage (1); The folding connecting rod (42) is hinged to one end of the first connecting rod (21) close to the fuselage (1) and is in transmission connection with the turnover connecting rod (41), so that the flapping wing assembly (2) is folded to the outside of the fuselage (1) while rotating relative to the fuselage (1); Both ends of the spherical pair connecting rod one (5) are arranged on the fuselage (1) and the second connecting rod (22) through spherical pairs respectively for supporting the second connecting rod (22) in the wing unfolding state; Both ends of the spherical pair connecting rod two (6) are arranged on the driving assembly (3) and the first connecting rod (21) through spherical pairs respectively for making the driving assembly (3) and the first connecting rod (21) in transmission connection in the wing unfolding state.

2. The biomimetic ornithopter having a foldable wing of claim 1, wherein: The driving assembly (3) includes a driving part (31), a driving gear (32) and two driven gears (33), wherein, The driving part (31) is fixed on the fuselage (1) and has a rotating end; The driving gear (32) is fixed on the rotating end of the driving part (31); The two driven gears (33) are rotatably arranged on the fuselage (1) and are in meshing with each other, one of the driven gears (33) is in meshing with the driving gear (32), and the spherical pair connecting rod two (6) is connected with the driven gear (33) through a spherical pair.

3. The biomimetic ornithopter having a foldable wing of claim 1, wherein: A reset assembly (7) is further included, the reset assembly (7) is arranged on the fuselage (1) and is in transmission connection with the wing folding assembly (4) for pushing the wing folding assembly (4) to reset and switching the aircraft from the wing folding state to the wing unfolding state.

4. The biomimetic ornithopter having a foldable wing of claim 3, wherein: The reset assembly (7) includes a sliding block (71) and an elastic member (72), wherein, The sliding block (71) is slidingly arranged on the fuselage (1) and is in transmission connection with the folding connecting rod (42); The elastic member (72) is arranged on the fuselage (1), and when the aircraft is in the wing folding state, the elastic member (72) applies a pushing force to the sliding block (71), so that the aircraft has a tendency to switch to the wing unfolding state.

5. The biomimetic ornithopter having a foldable wing of claim 4, wherein: The reset assembly (7) further includes a connecting seat (73) and a vertical rod (74), wherein, The connecting seat (73) is hinged on the fuselage (1); The longitudinal rod (74) is fixed on the connecting seat (73), the sliding block (71) is slidingly arranged on the longitudinal rod (74), and the elastic member (72) is sleeved on the longitudinal rod (74) and fixed at both ends with the connecting seat (73) and the sliding block (71) respectively.

6. The biomimetic ornithopter having a foldable wing of claim 4, wherein: The reset assembly (7) further comprises a reset rod (75) and a connecting rod (76), wherein, One end of the reset rod (75) is hinged with the sliding block (71); One end of the connecting rod (76) is hinged with the other end of the reset rod (75), and the other end is fixed with the folding connecting rod (42).

7. The biomimetic ornithopter having a foldable wing of claim 1, wherein: The folding wing assembly (4) further comprises a transmission rod (43), both ends of the transmission rod (43) are hinged with the turnover connecting rod (41) and the folding connecting rod (42) respectively.

8. The biomimetic ornithopter having a foldable wing of claim 1, wherein: Further comprising horizontal adjustment device (8) and vertical adjustment device (9), the horizontal adjustment device (8) and the vertical adjustment device (9) are fixedly arranged on the fuselage (1), the horizontal adjustment device (8) comprises a horizontal tail (81), the horizontal tail (81) is hinged with the fuselage (1), the vertical adjustment device (9) comprises a vertical tail (91), the vertical tail (91) is hinged with the fuselage (1), the horizontal tail (81) and the vertical tail (91) are used for changing the pitch attitude and direction during the flight of the aircraft respectively.

9. The biomimetic ornithopter having a foldable wing of claim 8, wherein: The horizontal adjustment device (8) further comprises a horizontal rudder mechanism (82) and a horizontal adjustment connecting rod (83), wherein, The horizontal rudder mechanism (82) is fixed on the fuselage (1); The horizontal adjustment connecting rod (83) is arranged on the output end of the horizontal rudder mechanism (82) and connected with the horizontal tail (81) through a spherical joint, for driving connection between the horizontal tail (81) and the horizontal rudder mechanism (82).

10. The biomimetic ornithopter having a foldable wing of claim 8, wherein: The vertical adjustment device (9) further comprises a vertical rudder mechanism (92) and a vertical adjustment connecting rod (93), wherein, The vertical rudder mechanism (92) is fixed on the fuselage (1); The vertical adjustment connecting rod (93) is arranged on the output end of the vertical rudder mechanism (92) and hinged with the vertical tail (91), for driving connection between the vertical tail (91) and the vertical rudder mechanism (92).

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