A five-winged biomimetic flapping-wing aircraft

Abstract

This invention provides a five-winged bionic flapping-wing aircraft, comprising a fuselage frame on which wing units, a control unit, leg units, and a tail unit are sequentially mounted. The wing unit includes a wing flapping mechanism fixedly mounted at the front end of the fuselage frame and a folding drive mechanism fixedly mounted in the middle of the fuselage frame. Forelimb deformation mechanisms are hinged to both sides of the wing flapping mechanism and the folding drive mechanism, and are symmetrically arranged. A feather mechanism is rotatably connected to each forelimb deformation mechanism, and an elastic energy storage mechanism is hinged to each feather mechanism. The leg unit includes a leg deformation drive mechanism symmetrically fixed to the rear of the fuselage frame. A bionic leg mechanism is rotatably connected to each leg deformation drive mechanism, and feathers are hinged to each bionic leg mechanism. The wing flapping mechanism, the folding drive mechanism, the leg deformation drive mechanism, and the tail unit are electrically connected to the control unit.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a five-winged bionic flapping-wing aircraft. Background Technology

[0002] Unlike traditional fixed-wing and rotary-wing aircraft, biomimetic flapping-wing aircraft are aircraft based on biomimetic principles. They complete flight by mimicking the flapping of birds' wings and have advantages such as small size, light weight, strong stealth, and high flexibility, with broad application prospects.

[0003] Traditional flapping-wing aircraft mostly employ a double-crank rocker flapping mechanism based on a planar linkage, resulting in poor flight stability. Their wing designs often utilize a membrane-like planar structure, which cannot be folded or unfolded, and its physiological and structural characteristics differ significantly from those of real bird wings, leading to aerodynamic performance far inferior to that of real organisms. Traditional tail fins mainly include T-tails, V-tails, and single-piece tails. While these are relatively easy to manufacture, they lack maneuverability and directional control stability, making the aircraft prone to tipping. This invention aims to overcome the shortcomings of existing flapping-wing aircraft by employing a flapping mechanism based on a spatial crank rocker mechanism, ensuring consistent movement of both wings. By designing a novel feather-like wing to replace the traditional membrane-like wing structure, the aerodynamic performance of the wing is significantly improved. By combining legs and a tail fin to control flight attitude, the aircraft's maneuverability is enhanced, and its adaptability to the external environment is strengthened. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes a five-winged biomimetic flapping-wing aircraft.

[0005] To achieve the above objectives, the present invention provides a five-winged biomimetic flapping-wing aircraft, comprising a fuselage frame on which wing units, a control unit, leg units, and a tail fin unit are sequentially mounted.

[0006] The wing unit includes a wing flapping mechanism fixedly installed at the front end of the fuselage frame and a folding drive mechanism fixedly installed in the middle of the fuselage frame. The wing flapping mechanism and the folding drive mechanism are respectively hinged to forelimb deformation mechanisms on both sides. The forelimb deformation mechanisms are symmetrically arranged. A feather mechanism is rotatably connected to the forelimb deformation mechanism. An elastic energy storage mechanism is hinged to the feather mechanism.

[0007] The leg unit includes a leg deformation drive mechanism symmetrically fixed to the tail of the fuselage frame, a bionic leg mechanism rotatably connected to the leg deformation drive mechanism, and a feather plate hinged to the bionic leg mechanism.

[0008] The wing flapping mechanism, the folding drive mechanism, the leg deformation drive mechanism, and the tail fin unit are all electrically connected to the control unit.

[0009] Preferably, the wing flapping mechanism includes a brushless motor fixed to the front end of the fuselage frame. The output shaft of the brushless motor is driven by a first gear. A second gear is coaxially connected to the inner side of the first gear. The second gear meshes with a third gear. The first gear and the third gear are rotatably connected to the fuselage frame via gear shafts. A crank is fixed to the gear shaft rotatably connected to the third gear. The crank is away from the fuselage frame. The end of the crank away from the gear shaft is connected to a first connecting rod via a spherical hinge. The end of the first connecting rod away from the crank is connected to a rocker arm via a spherical hinge. The rocker arm is rotatably connected to the fuselage frame. The forelimb deformation mechanism is hinged to the rocker arm. The brushless motor is electrically connected to the control unit.

[0010] Preferably, the folding drive mechanism includes a linear guide rail fixed to the fuselage frame, a slider slidably connected to the linear guide rail, a second connecting rod hinged to the rear end of the slider, a fourth servo fixed to the top end of the fuselage frame, a first servo arm fixedly connected to the output shaft of the fourth servo, a rotatable connection between the end of the first servo arm away from the fourth servo and the end of the second connecting rod away from the slider, the forelimb deformation mechanism hinged to both ends of the slider, and the fourth servo electrically connected to the control unit.

[0011] Preferably, the forelimb deformation mechanism includes a first rotating rod hinged to the rocker arm, a third rotating rod hinged to the end of the first rotating rod away from the rocker arm, an end of a fourth rotating rod hinged to the end of the third rotating rod away from the first rotating rod, a second rotating rod hinged to the fourth rotating rod, and the end of the second rotating rod away from the third rotating rod hinged to the slider. The feather mechanism is respectively hinged to the first rotating rod, the second rotating rod, the third rotating rod, and the fourth rotating rod.

[0012] Preferably, the feather mechanism includes a primary feather and a secondary feather, the primary feather being hinged to the first, second, and third rotating rods, the secondary feather being hinged to the fourth rotating rod, and the secondary feather being hinged to the elastic energy storage mechanism.

[0013] Preferably, the elastic energy storage mechanism includes two connecting columns, one of which is fixedly installed on the third rotating rod near the fourth rotating rod, and the other connecting column is fixedly connected to the fourth rotating rod. An elastic rope is provided between the two connecting columns, and the elastic rope is hinged to the primary feather.

[0014] Preferably, the leg deformation drive mechanism includes a first servo mount symmetrically fixed to the tail of the fuselage frame, a first servo fixedly mounted on the first servo mount, a second servo mount fixedly connected to the output shaft of the first servo, a second servo fixedly mounted on the second servo mount, the output shafts of the first servo and the second servo being orthogonal to each other, a second servo arm rotatably connected to the output shafts of the first servo and the second servo, a bionic leg mechanism rotatably connected to the second servo arm, the first servo being rotatably connected to the bionic leg mechanism, and the first servo and the second servo being electrically connected to the control unit respectively.

[0015] Preferably, the bionic leg mechanism includes a thigh support rod rotatably connected to one end of the second rudder arm, a first servo motor rotatably connected to the thigh support rod, a thigh rod rotatably connected to the other end of the second rudder arm, a lower leg rod hinged to the end of the thigh support rod away from the second rudder arm and the end of the thigh rod away from the second rudder arm, feathers hinged to the thigh support rod and the lower leg rod, and a bionic claw fixed to the bottom end of the lower leg rod.

[0016] Preferably, the tail fin unit includes a third servo fixed to the tail of the fuselage frame, the output shaft of the third servo is rotatably connected to a third link, the end of the third link away from the third servo is hinged to a tail fin, and the third servo is electrically connected to the control unit.

[0017] Preferably, the control unit includes a battery holder fixed to the middle of the fuselage frame, a lithium battery is installed on the battery holder, the lithium battery is electrically connected to a receiver, a microcontroller and an ESC, and the lithium battery is electrically connected to the brushless motor, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor.

[0018] Compared with the prior art, the present invention has the following advantages and technical effects:

[0019] The forelimb deformable mechanism is used to realize the folding and unfolding of the skeletal structure of the aircraft's forelimbs; the elastic energy storage mechanism is used to assist the layered folding and unfolding of the feather mechanism; the wing flapping mechanism is used to realize the aircraft's up-and-down flapping motion; the folding drive mechanism is used to provide the driving force required for the wing folding and unfolding process; the leg deformable drive mechanism is used to realize the aircraft's left-and-right turning motion; and the tail unit is used to realize the aircraft's up-and-down pitching motion.

[0020] This invention employs scientific methods to design the mechanical structure, resulting in a simple structure, low mass, and good stability during flapping-wing flight. Simultaneously, it incorporates active degrees of freedom, accurately mimicking bird flight movements through a forelimb deformation mechanism, enabling wing folding during upward flapping and wing unfolding during downward flapping. A folding drive mechanism achieves a cyclical process of wing folding and unfolding, while a leg deformation drive mechanism dynamically adjusts the flapping-wing aircraft's turning motion, and a tail unit adjusts its pitch attitude. By combining leg and tail components to adjust the aircraft's flight attitude, its flexibility and adaptability to the external environment are improved. The wings utilize bird feathers instead of traditional membrane materials, enhancing the aircraft's aerodynamic performance. This invention is a five-winged biomimetic flapping-wing aircraft with a simple and compact structure, high biomimicry, and seven degrees of freedom. It can mimic the basic movements of bird flight, performing flapping flight, wing folding and unfolding, turning and yaw, and climb and dive maneuvers. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is a top view of the present invention;

[0023] Figure 2 This is an isometric view of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the wing of the present invention in the deployed state;

[0025] Figure 4 This is a schematic diagram of the structure of the wing of the present invention in the folded state;

[0026] Figure 5 This is a top view of the wing of the present invention;

[0027] Figure 6 This is a schematic diagram of the leg unit of the present invention;

[0028] Figure 7 This is a schematic diagram of the tail fin unit of the present invention;

[0029] Figure 8 This is a schematic diagram of the folding drive mechanism of the present invention;

[0030] Figure 9 This is a schematic diagram of the structure of the control unit of the present invention;

[0031] Figure 10 This is a schematic diagram of the wing flapping mechanism of the present invention.

[0032] In the diagram: 1. Fuselage frame; 2. Skin; 3. Feather blades; 101. Brushless motor; 102. First gear; 103. Second gear; 104. Third gear; 105. Crank; 106. First connecting rod; 107. Rocker arm; 108. Gear shaft; 201. Linear guide rail; 202. Slider; 203. Second connecting rod; 204. Fourth servo; 205. First servo arm; 301. First rotary rod; 302. Second rotary rod; 303. Third rotary rod; 304. Fourth rotary rod; 401. Primary feather... Feather piece; 402, Secondary feather piece; 501, Connecting post; 502, Elastic rope; 601, First servo mount; 602, First servo; 603, Second servo mount; 604, Second servo; 605, Second servo arm; 701, Thigh support rod; 702, Thigh rod; 703, Lower leg rod; 704, Bionic claw; 801, Third servo; 802, Third connecting rod; 803, Tail fin; 901, Battery holder; 902, Lithium battery; 903, Receiver; 904, Microcontroller; 905, Electronic speed controller. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Reference Figure 1-10 As shown, the present invention provides a five-winged bionic flapping-wing aircraft, including a fuselage frame 1, on which a wing unit, a control unit, a leg unit and a tail fin unit are sequentially mounted.

[0036] The wing unit includes a wing flapping mechanism fixedly installed at the front end of the fuselage frame 1 and a folding drive mechanism fixedly installed in the middle of the fuselage frame 1. The wing flapping mechanism and the folding drive mechanism are respectively hinged to the forelimb deformation mechanism on both sides. The forelimb deformation mechanisms are symmetrically arranged. The forelimb deformation mechanism is rotatably connected to the forelimb deformation mechanism. The feather mechanism is hinged to the feather mechanism and has an elastic energy storage mechanism.

[0037] The leg unit includes a leg deformation drive mechanism symmetrically fixed to the tail of the fuselage frame 1, a bionic leg mechanism rotatably connected to the leg deformation drive mechanism, and a feather plate 3 hinged to the bionic leg mechanism.

[0038] The wing flapping mechanism, folding drive mechanism, leg deformation drive mechanism, and tail fin unit are electrically connected to the control unit.

[0039] The forelimb deformable mechanism is used to realize the folding and unfolding of the skeletal structure of the aircraft's forelimbs; the elastic energy storage mechanism is used to assist the layered folding and unfolding of the feather mechanism; the wing flapping mechanism is used to realize the aircraft's up-and-down flapping motion; the folding drive mechanism is used to provide the driving force required for the wing folding and unfolding process; the leg deformable drive mechanism is used to realize the aircraft's left-and-right turning motion; and the tail unit is used to realize the aircraft's up-and-down pitching motion.

[0040] Furthermore, a skin 2 is installed on the forelimb deformation mechanism. The skin 2 is used to make the leading edge surface of the wing. The material is 30 times the foam, and the purpose is to make the wing shape streamlined and reduce flight drag.

[0041] Further optimization of the scheme: the wing flapping mechanism includes a brushless motor 101 fixed to the front end of the fuselage frame 1. The output shaft of the brushless motor 101 is driven by a first gear 102. The inner side of the first gear 102 is coaxially connected to a second gear 103. The second gear 103 meshes with a third gear 104. The first gear 102 and the third gear 104 are rotatably connected to the fuselage frame 1 through gear shafts 108. A crank 105 is fixed to the gear shaft 108 rotatably connected to the third gear 104. The crank 105 is away from the fuselage frame 1. The end of the crank 105 away from the gear shaft 108 is connected to a first connecting rod 106 through a ball hinge. The end of the first connecting rod 106 away from the crank 105 is connected to a rocker arm 107 through a ball hinge. The rocker arm 107 is rotatably connected to the fuselage frame 1. A forelimb deformation mechanism is hinged to the rocker arm 107. The brushless motor 101 is electrically connected to the control unit. The brushless motor 101 rotates, driving the transmission gears to rotate. These gears sequentially drive the first gear 102, the second gear 103, and the third gear 104 to rotate, which in turn drives the crank 105 to rotate. The rotation of the crank 105 causes the first connecting rod 106, which is rotatably connected to the crank 105, to translate in a vertical plane, thereby causing the rocker arm 107 to oscillate up and down. The brushless motor 101 drives the rocker arm 107 in periodic motion, which in turn drives the forelimb deformation mechanism to periodically flap up and down.

[0042] Further optimizing the design, the folding drive mechanism includes a linear guide rail 201 fixed to the fuselage frame 1, a slider 202 slidably connected to the linear guide rail 201, a second connecting rod 203 hinged to the rear end of the slider 202, a fourth servo motor 204 fixed to the top of the fuselage frame 1, a first servo arm 205 fixedly connected to the output shaft of the fourth servo motor 204, and a rotatably connected end of the first servo arm 205 away from the fourth servo motor 204 to the end of the second connecting rod 203 away from the slider 202. Forelimb deformation mechanisms are hinged to both ends of the slider 202. The fourth servo motor 204 and the control... The control unit is electrically connected; the forelimb deformation mechanism includes a first rotating rod 301 hinged to the rocker arm 107, a third rotating rod 303 hinged to the end of the first rotating rod 301 away from the rocker arm 107, a fourth rotating rod 304 hinged to the end of the third rotating rod 303 away from the first rotating rod 301, a second rotating rod 302 hinged to the fourth rotating rod 304, and a slider 202 hinged to the end of the second rotating rod 302 away from the third rotating rod 303. Feather mechanisms are respectively hinged to the first rotating rod 301, the second rotating rod 302, the third rotating rod 303 and the fourth rotating rod 304.

[0043] Wing folding process:

[0044] The fourth servo motor 204 rotates, causing the first servo arm 205 to rotate. The first servo arm 205, through the second connecting rod 203, pulls the slider 202 to perform periodic reciprocating motion on the linear guide rail 201. The slider 202, in turn, pulls the second rotating rod 302, increasing the angle between the second rotating rod 302 and the first rotating rod 301. The first rotating rod 301 pulls the third rotating rod 303, which, through the third rotating rod 303 and the second rotating rod 302, pulls the fourth rotating rod 304, causing the fourth rotating rod 304 to rotate around the second rotating rod 302 and retract towards the third rotating rod 303. Because the elastic rope 502 is pre-stretched, the load provided by the fourth servo motor 204 is relatively small during wing folding.

[0045] Wing deployment process:

[0046] The fourth servo motor 204 rotates, causing the first servo arm 205 to rotate. The first servo arm 205, through the second connecting rod 203, pulls the slider 202 to perform periodic reciprocating motion on the linear guide rail 201. The slider 202 pulls the second rotating rod 302, making the angle between the second rotating rod 302 and the first rotating rod 301 smaller. The first rotating rod 301 pulls the third rotating rod 303, which, through the third rotating rod 303 and the second rotating rod 302, pulls the fourth rotating rod 304, causing the fourth rotating rod 304 to rotate around the second rotating rod 302 and unfold away from the third rotating rod 303. During wing deployment, the fourth servo motor 204 needs to overcome the spring force of the elastic rope 502 and aerodynamic forces, providing a relatively large load.

[0047] The first rotating rod 301 simulates the humerus of a bird's wing, the second rotating rod 302 simulates the humerus, the third rotating rod 303 simulates the ulna, and the fourth rotating rod 304 simulates the digits of a bird. The second rotating rod 302 is divided into two ends, second rotating rod 302(A) and second rotating rod 302(B), at a 2:1 ratio. The first rotating rod 301 is divided into first rotating rod (301)A and first rotating rod (301)B at a 1:3 ratio. The dividing point is the hinge point between the first rotating rod 301 and the second rotating rod 302. The end of the rod closer to the fuselage is designated as the proximal end, and the end farther from the fuselage as the distal end. The proximal end of the first rotating rod (301)A is hinged to the rocker arm 107, and the proximal end of the second rotating rod (302)A is hinged to the slider 202. The distal ends of the second rotating rod 302 and the third rotating rod 303 are respectively hinged to the fourth rotating rod 304.

[0048] Furthermore, mounting holes are pre-drilled on the first rotating rod 301, the second rotating rod 302, the third rotating rod 303, and the fourth rotating rod 304, and they are all rotatably connected by pins.

[0049] The design is further optimized so that the feather mechanism includes a primary feather plate 401 and a secondary feather plate 402. The primary feather plate 401 is hinged to the first rotating rod 301, the second rotating rod 302, and the third rotating rod 303. The secondary feather plate 402 is hinged to the fourth rotating rod 304 and the elastic energy storage mechanism. Following the distribution of bird feathers, the primary feather plate 401 is located on the inner side of the wing, primarily providing lift; the secondary feather plate 402 is located on the outer side of the wing, primarily providing both thrust and lift.

[0050] Furthermore, the primary feather 401, secondary feather 402, and feather 3 are made of real bird feathers, possessing excellent toughness and tensile strength, and also having self-healing capabilities.

[0051] Further optimization of the design includes a flexible energy storage mechanism comprising two connecting posts 501. One connecting post 501 is fixedly installed on the third rotor 303 near the fourth rotor 304, and the other connecting post 501 is fixedly connected to the fourth rotor 304. An elastic rope 502 is provided between the two connecting posts 501, and the elastic rope 502 is hinged to the primary feather vane 401. The two ends of the elastic rope 502 are respectively fixed to the two corresponding connecting posts 501, and the elastic rope 502 is glued to the side wall of the root of each secondary feather vane 402. The elastic rope 502 is made of TPU material and has a diameter of 0.3-0.9mm. The flexible energy storage mechanism uses a hinged connection for secure installation, is easy to maintain and replace, and effectively ensures the unconditional symmetry of the flapping of the two flapping wings, thus contributing to flight stability.

[0052] The further optimized design includes a leg deformation drive mechanism comprising a first servo mount 601 symmetrically fixed to the tail of the fuselage frame 1, a first servo 602 fixedly mounted on the first servo mount 601, a second servo mount 603 fixedly connected to the output shaft of the first servo 602, a second servo 604 fixedly mounted on the second servo mount 603, the output shafts of the first servo 602 and the second servo 604 being orthogonal to each other, a second servo arm 605 rotatably connected to the output shafts of the first servo 602 and the second servo 604, a bionic leg mechanism rotatably connected to the second servo arm 605, and the first servo 602 rotatably connected to the bionic leg mechanism. The first servo 602 and the second servo 604 are electrically connected to the control unit respectively.

[0053] The first servo motor 602 provides power for the mid-to-side swing of the bionic leg mechanism, while the second servo motor 604 provides power for the belly-to-back swing of the bionic leg mechanism. Each bionic leg mechanism of the ornithopter has two active swing degrees of freedom, which are independent of each other. In the initial state, the angle between the leg swing plane and the fuselage central axis symmetry plane is set to 30°, which is close to the shape of a dinosaur leg. When the two bionic leg mechanisms move asymmetrically, a yaw moment will be generated, causing the ornithopter to turn left or right.

[0054] Further optimizing the design, the bionic leg mechanism includes a thigh support rod 701 rotatably connected to one end of the second rudder arm 605. A first servo motor 602 is rotatably connected to the thigh support rod 701. The other end of the second rudder arm 605 is rotatably connected to the thigh rod 702. A lower leg rod 703 is hinged to the end of the thigh support rod 701 away from the second rudder arm 605 and the end of the thigh rod 702 away from the second rudder arm 605. Feather pieces 3 are hinged to the thigh support rod 701 and the lower leg rod 703. A bionic claw 704 is fixedly connected to the bottom end of the lower leg rod 703. The thigh support rod 701 is fixedly connected to the second servo motor base 603. When the second rudder arm 605 rotates counterclockwise, the lower leg rod 703 is raised under the action of the four-bar linkage; when the second rudder arm 605 rotates clockwise, the lower leg rod 703 is lowered under the action of the four-bar linkage.

[0055] A further optimized design includes a tail unit comprising a third servo 801 fixed to the rear of the fuselage frame 1. The output shaft of the third servo 801 is rotatably connected to a third link 802. A tail fin 803 is hinged to the end of the third link 802 furthest from the third servo 801. The third servo 801 is electrically connected to a control unit. By controlling the oscillation of the third servo 801, the tail fin 803 rotates around an axis perpendicular to the fuselage, thereby generating a pitching moment to adjust the pitch angle of the flapping-wing aircraft.

[0056] A further optimized design includes a control unit comprising a battery holder 901 fixed to the middle of the fuselage frame 1. A lithium battery 902 is mounted on the battery holder 901. The lithium battery 902 is electrically connected to a receiver 903, a microcontroller 904, and an electronic speed controller 905. The lithium battery 902 is also electrically connected to a brushless motor 101, a first servo motor 602, a second servo motor 604, a third servo motor 801, and a fourth servo motor 204. The lithium battery 902 powers the aircraft. The aircraft's deformation motion causes a wing area change of up to 40%.

[0057] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0058] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A five-winged biomimetic flapping-wing aircraft, characterized in that: It includes a fuselage frame (1), on which a wing unit, a control unit, a leg unit and a tail fin unit are installed in sequence; The wing unit includes a wing flapping mechanism fixedly installed at the front end of the fuselage frame (1) and a folding drive mechanism fixedly installed in the middle of the fuselage frame (1). The wing flapping mechanism and the folding drive mechanism are respectively hinged to the two sides of the forelimb deformation mechanism. The forelimb deformation mechanisms are symmetrically arranged. The forelimb deformation mechanism is rotatably connected to the feather mechanism. The feather mechanism is hinged to the elastic energy storage mechanism. The leg unit includes a leg deformation drive mechanism symmetrically fixed to the tail of the fuselage frame (1), a bionic leg mechanism is rotatably connected to the leg deformation drive mechanism, and a feather plate (3) is hinged to the bionic leg mechanism. The wing flapping mechanism, the folding drive mechanism, the leg deformation drive mechanism, and the tail fin unit are all electrically connected to the control unit. The wing flapping mechanism includes a brushless motor (101) fixed to the front end of the fuselage frame (1). The output shaft of the brushless motor (101) is driven by a first gear (102). A second gear (103) is coaxially connected to the inner side of the first gear (102). The second gear (103) meshes with a third gear (104). The first gear (102) and the third gear (104) are rotatably connected to the fuselage frame (1) via gear shafts (108). The gear shaft rotatably connected to the third gear (104) is... A crank (105) is fixedly connected to the gear shaft (108). The crank (105) is away from the fuselage frame (1). The end of the crank (105) away from the gear shaft (108) is connected to a first connecting rod (106) via a ball hinge. The end of the first connecting rod (106) away from the crank (105) is connected to a rocker arm (107) via a ball hinge. The rocker arm (107) is rotatably connected to the fuselage frame (1). The forelimb deformation mechanism is hinged to the rocker arm (107). The brushless motor (101) is electrically connected to the control unit. The folding drive mechanism includes a linear guide rail (201) fixed to the fuselage frame (1), a slider (202) slidably connected to the linear guide rail (201), a second connecting rod (203) hinged to the rear end of the slider (202), a fourth servo motor (204) fixed to the top end of the fuselage frame (1), a first servo arm (205) fixedly connected to the output shaft of the fourth servo motor (204), a first servo arm (205) rotatably connected to the end of the first servo arm (205) away from the fourth servo motor (204), and a second connecting rod (203) away from the slider (202). The forelimb deformation mechanism is hinged to both ends of the slider (202), and the fourth servo motor (204) is electrically connected to the control unit. The forelimb deformation mechanism includes a first rotating rod (301) hinged to the rocker arm (107), a third rotating rod (303) hinged to the end of the first rotating rod (301) away from the rocker arm (107), and the end of the third rotating rod (303) away from the first rotating rod (301) hinged to the end of a fourth rotating rod (304). A second rotating rod (302) is hinged to the fourth rotating rod (304), and the end of the second rotating rod (302) away from the third rotating rod (303) is hinged to the slider (202). The feather mechanism is respectively hinged to the first rotating rod (301), the second rotating rod (302), the third rotating rod (303), and the fourth rotating rod (304). The feather mechanism includes a primary feather (401) and a secondary feather (402). The primary feather (401) is hinged to the first rotating rod (301), the second rotating rod (302), and the third rotating rod (303). The secondary feather (402) is hinged to the fourth rotating rod (304) and the elastic energy storage mechanism.

2. The five-winged bionic flapping-wing aircraft according to claim 1, characterized in that: The elastic energy storage mechanism includes two connecting columns (501), one of which is fixedly installed on the third rotating rod (303) near the fourth rotating rod (304), and the other connecting column (501) is fixedly connected to the fourth rotating rod (304). An elastic rope (502) is provided between the two connecting columns (501), and the elastic rope (502) is hinged to the primary feather (401).

3. The five-winged bionic flapping-wing aircraft according to claim 1, characterized in that: The leg deformation drive mechanism includes a first servo mount (601) symmetrically fixed to the tail of the fuselage frame (1), a first servo (602) fixedly mounted on the first servo mount (601), a second servo mount (603) fixedly connected to the output shaft of the first servo, a second servo (604) fixedly mounted on the second servo mount (603), the output shaft of the first servo (602) and the output shaft of the second servo (604) being orthogonal to each other, a second servo arm (605) rotatably connected to the output shaft of the first servo (602) and the output shaft of the second servo (604), the second servo arm (605) rotatably connected to the bionic leg mechanism, the first servo (602) rotatably connected to the bionic leg mechanism, and the first servo (602) and the second servo (604) being electrically connected to the control unit respectively.

4. The five-winged bionic flapping-wing aircraft according to claim 3, characterized in that: The bionic leg mechanism includes a thigh support rod (701) rotatably connected to one end of the second rudder arm (605), a first servo motor (602) rotatably connected to the thigh support rod (701), a thigh rod (702) rotatably connected to the other end of the second rudder arm (605), a lower leg rod (703) hinged to the end of the thigh support rod (701) away from the second rudder arm (605) and the end of the thigh rod (702) away from the second rudder arm (605), feathers (3) hinged to the thigh support rod (701) and the lower leg rod (703), and a bionic claw (704) fixed to the bottom end of the lower leg rod (703).

5. The five-winged bionic flapping-wing aircraft according to claim 3, characterized in that: The tail unit includes a third servo (801) fixed to the tail of the fuselage frame (1). The output shaft of the third servo (801) is rotatably connected to a third link (802). A tail fin (803) is hinged to the end of the third link (802) away from the third servo (801). The third servo (801) is electrically connected to the control unit.

6. The five-winged bionic flapping-wing aircraft according to claim 5, characterized in that: The control unit includes a battery holder (901) fixed in the middle of the fuselage frame (1). A lithium battery (902) is installed on the battery holder (901). The lithium battery (902) is electrically connected to a receiver (903), a microcontroller (904), and an electronic speed controller (905). The lithium battery (902) is electrically connected to the brushless motor (101), the first servo motor (602), the second servo motor (604), the third servo motor (801), and the fourth servo motor (204).

Images