Biomimetic flapping-wing aircraft

Abstract

The application discloses a bionic flapping-wing aircraft. The bionic flapping-wing aircraft comprises a fuselage, wings, a flapping mechanism, an extension mechanism and a power source. The wings are rotatably installed on the two sides of the fuselage, the flapping mechanism is installed on the fuselage and is in transmission connection with the wings, the flapping mechanism is used for driving the wings to flap, the extension mechanism is installed on the fuselage and is in transmission connection with the wings, the extension mechanism is used for driving the wings to extend and retract, and the power source is used for simultaneously providing power to the flapping mechanism and the extension mechanism. The bionic flapping-wing aircraft adopts a single power source to simultaneously drive the flapping mechanism and the extension mechanism, so that the flapping and the extension of the wings can be simultaneously performed, the coupling of the flapping and the extension is improved, the flapping mechanism and the extension mechanism are independent of each other and are directly connected to the power source, and the two do not need to be assembled with each other, so that the structural complexity of the aircraft is reduced.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically, it relates to a biomimetic flapping-wing aircraft. Background Technology

[0002] The reason why flying creatures in nature have superb flight capabilities, high aerodynamic efficiency, and low energy consumption is mainly due to the ability of their wings to contract and deform. They can adjust different wing attitudes according to different flight missions and unfold when swooping down and retract when swooping up.

[0003] Micro flapping-wing aircraft are a novel concept in aircraft that mimics biological flight. They possess advantages such as high biomimicry, high efficiency, and good maneuverability. If equipped with micro-sensors, miniature cameras, and flight control systems, they can form biomimetic unmanned platforms with vast application prospects. In light of this, researchers worldwide have conducted extensive research and achieved some results, primarily categorized into single-degree-of-freedom (DOF) and multi-DOF flapping-wing aircraft. Single-DOF flapping-wing aircraft can only achieve reciprocating motion in a single degree of freedom, exhibiting low biomimicry. While multi-DOF flapping-wing aircraft are closer to flying organisms in their flight movements and have a higher degree of biomimicry, they mostly rely on complex flapping-wing drive mechanisms. These mechanisms use one or more power sources to drive the flapping and retraction of the wings, inevitably increasing weight, structural complexity, and reducing overall reliability, while also hindering miniaturization and weight reduction.

[0004] Current flapping-wing aircraft mainly employ either single-power-source or multi-power-source solutions. Single-power-source solutions, such as those described in patent CN108945432A, use a single motor drive, achieving both flapping and retraction of the wing simultaneously through a complex mechanical transmission structure. The main problem with this approach is its overly complex structure, making miniaturization difficult. Multi-power-source solutions, such as those described in patent CN201354146Y, use two separate actuators driving two sets of mechanical transmission structures to achieve the combined flapping and retraction motions of the wing. The main problem with this approach is its overly complex result and low coupling. Summary of the Invention

[0005] The technical problem solved by this invention is: how to improve the coupling degree of flapping and extension motion of flapping-wing aircraft and reduce the structural complexity of flapping-wing aircraft.

[0006] This application provides a biomimetic flapping-wing aircraft, the biomimetic flapping-wing aircraft comprising:

[0007] body;

[0008] Wings, which are rotatably mounted on both sides of the fuselage;

[0009] A flapping mechanism is installed on the fuselage and is connected to the wing via a transmission. The flapping mechanism is used to drive the wing to flap.

[0010] A telescopic mechanism is installed on the fuselage and is connected to the wing via a transmission mechanism, and the telescopic mechanism is used to drive the wing to extend and retract;

[0011] A power source is provided to simultaneously power the flapping mechanism and the telescopic mechanism.

[0012] Optionally, the wing includes an inner wing and an outer wing that are sequentially located away from the fuselage. The outer wing is rotatably connected to the inner wing, and the inner wing is rotatably connected to the fuselage. The flapping mechanism and the telescopic mechanism are respectively drivenly connected to the inner wing.

[0013] Optionally, the inner wing includes a shoulder component and a humeral link, the shoulder component being rotatably connected to the fuselage, the humeral link being rotatably connected to the shoulder component, the flapping mechanism being driven to the shoulder component to drive the shoulder component and the humeral link to rotate about a first axis of rotation, and the telescopic mechanism being driven to the humeral link to drive the humeral link to rotate about a second axis of rotation, wherein the first axis of rotation and the second axis of rotation are perpendicular to each other.

[0014] Optionally, the power source is a servo motor, and the rocker arm of the servo motor is connected to the flapping mechanism and the telescopic mechanism respectively to provide power to the flapping mechanism and the telescopic mechanism simultaneously.

[0015] Optionally, the flapping mechanism includes a flapping link, the two ends of which are rotatably connected to the shoulder component and the rocker arm, respectively, and the rotation axis direction of the rocker arm is parallel to the first rotation axis direction.

[0016] Optionally, the telescopic mechanism includes a first ball joint link, an L-shaped link, and a second ball joint link. The two ends of the first ball joint link are rotatably connected to the rocker arm and the L-shaped link, respectively. The two ends of the second ball joint link are rotatably connected to the L-shaped link and the humeral link, respectively. The middle part of the L-shaped link is rotatably connected to the body.

[0017] Optionally, the outer wing includes a radial link and a phalanx member sequentially located away from the fuselage. The radial link is rotatably connected to the humeral link, and the phalanx member is rotatably connected to the radial link. The rotation axes of the radial link and the phalanx member are both parallel to the second rotation axis direction.

[0018] Optionally, the biomimetic flapping-wing aircraft further includes a drive mechanism for driving the radial link to rotate, thereby causing the outer wing to extend and retract.

[0019] Optionally, the drive mechanism includes a retractable servo, a pull rope, and an elastic element. The retractable servo is mounted on the fuselage. The two ends of the pull rope are respectively connected to the rocker arm of the retractable servo and the radial connecting rod. The two ends of the elastic element are connected to the radial connecting rod and the humeral connecting rod, and the pull rope and the elastic element are respectively located on both sides of the humeral connecting rod.

[0020] Optionally, the outer wing further includes a torsion spring, which is installed at the connection between the radial link and the phalanx, with one end of the torsion spring passing through the interior of the radial link and the other end passing through the interior of the phalanx.

[0021] The biomimetic flapping-wing aircraft disclosed in this invention has the following technical effects:

[0022] This biomimetic flapping-wing aircraft uses a single power source to drive both the flapping mechanism and the telescopic mechanism simultaneously, allowing the flapping and telescopic movements of the wings to occur at the same time. This improves the coupling between flapping and telescopic movements. The flapping mechanism and the telescopic mechanism are independent structures and are both directly connected to the power source. They do not need to be assembled together, which reduces the structural complexity of the aircraft. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the biomimetic flapping-wing aircraft according to Embodiment 1 of the present invention;

[0024] Figure 2 Another schematic diagram of the overall structure of the biomimetic flapping-wing aircraft according to Embodiment 1 of the present invention;

[0025] Figure 3 This is a partial structural schematic diagram of the biomimetic flapping-wing aircraft according to Embodiment 1 of the present invention;

[0026] Figure 4 for Figure 3 A structural decomposition diagram;

[0027] Figure 5 This is a schematic diagram of the fuselage structure of the biomimetic flapping-wing aircraft according to Embodiment 1 of the present invention;

[0028] Figure 6 This is a side view of the biomimetic flapping-wing aircraft according to Embodiment 1 of the present invention;

[0029] Figure 7 This is an exploded view of the wing structure of the biomimetic flapping-wing aircraft according to Embodiment 1 of the present invention.

[0030] The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0031] 10-Fuselage, 11-Shoulder support, 12-Servo support, 13-Linkage support, 14-Roll support, 15-Pitch support, 20-Wing, 21-Shoulder component, 21a-First lug, 22-Humeral link, 22a-Second lug, 22b-First positioning hole, 23-Radial link, 23a-Insertion hole, 23b-Second positioning hole, 23c-Third positioning hole, 24-Finger bone component, 24a-Slot, 30-Flapping mechanism, 31-Servo, 31a-Positioning part, 32-Servo rocker arm 33-Output shaft, 40-Telescopic mechanism, 41-First ball joint link, 42-L-shaped link, 43-Second ball joint link, 50-Power source, 51-Rocker arm, 60-Drive mechanism, 61-Retractable servo, 61a-Retractable rocker arm, 62-Pull rope, 63-Elastic element, 70-Roll tail fin, 71-Roll servo, 71a-Roll servo arm, 72-Transmission component, 73-Roll rod, 74-Elastic element, 80-Pitch tail fin, 81-Pitch servo, 81a-Pitch servo arm, 82-Linkage, 83-Pitch rod. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] Before describing the various embodiments of this application in detail, the technical concept of this application is first briefly described: Current flapping-wing aircraft suffer from complex structures and poor coupling between flapping and extension / retraction movements. Therefore, the biomimetic flapping-wing aircraft provided by this application uses a single power source to simultaneously drive the flapping mechanism and the extension / retraction mechanism, allowing the flapping and extension of the wings to occur simultaneously, improving the coupling between flapping and extension. The flapping mechanism and the extension / retraction mechanism are independent structures and both are directly connected to the power source, eliminating the need for mutual assembly and reducing the structural complexity of the aircraft. The specific structure of the biomimetic flapping-wing aircraft of this application will be described below with reference to more embodiments.

[0034] Specifically, such as Figure 1 , Figure 2As shown, the biomimetic flapping-wing aircraft of this embodiment includes a fuselage 10, wings 20, a flapping mechanism 30, a telescopic mechanism 40, and a power source 50. The fuselage 10 extends longitudinally along the biomimetic flapping-wing aircraft. The wings are rotatably mounted on both sides of the fuselage 10. The flapping mechanism 30 is mounted on the fuselage 10 and is driven to the wings. The flapping mechanism 30 is used to drive the wings 20 to flap. The telescopic mechanism 40 is mounted on the fuselage 10 and is driven to the wings 20. The telescopic mechanism 40 is used to drive the wings 20 to extend and retract. The power source 50 is used to provide power to both the flapping mechanism 30 and the telescopic mechanism 40 simultaneously. A wing membrane is mounted on the wing 20. The flapping and extension of the wing 20 will drive the wing membrane to flap and extend, thereby generating flight propulsion.

[0035] For example, there are two wings 20, two flapping mechanisms 30, and two telescopic mechanisms 40. The two wings 20 are symmetrically installed on the left and right sides of the fuselage 10. Each flapping mechanism 30 is connected to one wing 20 and drives the flapping action of the wing 20. Each telescopic mechanism 40 is connected to one wing 20 and drives the telescopic action of the wing 20.

[0036] Specifically, the wing 20 includes an inner wing and an outer wing that are sequentially located away from the fuselage 10. The outer wing is rotatably connected to the inner wing, and the inner wing is rotatably connected to the fuselage 10. The flapping mechanism 30 and the telescopic mechanism 40 are respectively connected to the inner wing via transmission. The flapping mechanism 30 drives the inner wing to rotate in a certain direction, thereby causing the wing 20 to rotate around the fuselage, thus realizing the up-and-down flapping of the wing 20. The telescopic mechanism 40 drives the inner wing to rotate in another direction, causing the inner wing to move away from or closer to the fuselage, thus realizing the horizontal extension and retraction of the wing 20. Taking the horizontal flight of the biomimetic flapping-wing aircraft as an example, when the wing 20 flaps downward, it needs to extend to generate greater power; when the wing 20 flaps upward, it needs to retract to reduce the drag on the wing 20. In this embodiment, the same power source drives the flapping mechanism 30 and the telescopic mechanism 40 simultaneously, which can enhance the synchronization between the two, thereby improving the coupling degree of the flapping and extension of the wing 20.

[0037] Furthermore, such as Figure 3 and Figure 4As shown, the inner wing includes a shoulder component 21 and a humeral link 22. The shoulder component 21 is rotatably connected to the fuselage 10, and the humeral link 22 is rotatably connected to the shoulder component 21. A flapping mechanism 30 is driven by the shoulder component 21 to drive the shoulder component 21 and the humeral link 22 to rotate around a first axis of rotation O1. A telescopic mechanism 40 is driven by the humeral link 22 to drive the humeral link 22 to rotate around a second axis of rotation O2. The first axis of rotation O1 and the second axis of rotation O2 are perpendicular to each other. For example, the first axis of rotation O1 is parallel to the flight direction of the bionic flapping wing aircraft. For example, when the bionic flapping wing aircraft flies horizontally, the first axis of rotation O1 is horizontal and the second axis of rotation O2 is vertical. Driven by the flapping mechanism 30, the shoulder component 21 and the humeral link 22 rotate around the horizontal direction, which realizes the up-and-down flapping of the wing 20. At the same time, the humeral link 22 rotates around the vertical direction, which realizes the left-and-right extension and retraction of the wing. The body 10 has shoulder support seats 11 on both the left and right sides. The shoulder component 21 is rotatably mounted on the shoulder support seat 11. The humeral connecting rod 22 and the shoulder component 21 can be rotatably connected by a pin.

[0038] Furthermore, the power source 50 is a servo motor, and the servo motor's rocker arm 51 is connected to the flapping mechanism 30 and the telescopic mechanism 40 respectively, so as to provide power to the flapping mechanism 30 and the telescopic mechanism 40 simultaneously. Compared with using an electric motor as a power source, the servo motor's rocker arm 51 can directly connect to and drive the flapping mechanism 30 and the telescopic mechanism 40, improving energy utilization efficiency and reducing structural complexity. The electric motor, on the other hand, needs to be connected to the flapping mechanism 30 and the telescopic mechanism 40 through a transmission mechanism, which causes energy loss and increases the complexity of the aircraft. For example, Figure 5 As shown, a servo support 12 is provided on the fuselage 10, and the servo is installed in the servo support 12.

[0039] Exemplarily, the flapping mechanism 30 is a flapping link, with its two ends rotatably connected to the shoulder component 21 and the rocker arm 51, respectively. The rotation axis of the rocker arm 51 is parallel to the first rotation axis direction O1. The flapping link is connected to the side of the shoulder component 21 closest to the fuselage 10. For example, a first lug 21a is provided on the side of the shoulder component 21 closest to the fuselage, and the flapping link is connected to the lug 21a. In one embodiment, the rocker arm 51 is located below the shoulder component 21, and the flapping link is located between the rocker arm 51 and the shoulder component 21. Taking a biomimetic flapping-wing aircraft flying horizontally as an example, when the rocker arm 51 swings downward, it causes the flapping link to move downward, the lug 21a moves downward, the shoulder component 21 rotates, and the humeral link 22 flaps upward; when the rocker arm 51 swings upward, it causes the flapping link to move upward, the first lug 21a moves upward, the shoulder component 21 rotates, and the humeral link 22 flaps downward. Therefore, by swinging the rocker arm 51 in the vertical direction, the flapping mechanism 30 is driven to move in the vertical direction, thereby causing the wings 20 to flap up and down.

[0040] Furthermore, the telescopic mechanism 40 includes a first ball-end link 41, an L-shaped link 42, and a second ball-end link 43. The two ends of the first ball-end link 41 are rotatably connected to the rocker arm 51 and the L-shaped link 42, respectively. The two ends of the second ball-end link 43 are rotatably connected to the L-shaped link 42 and the humeral link 22, respectively. The middle part of the L-shaped link 42 is rotatably connected to the machine body. The telescopic mechanism 40 converts the driving force generated by the swinging of the rocker arm 51 into a pushing force on the humeral link 22. The humeral link 22 may be provided with a second lug 22a, and one end of the second ball-end link 43 is rotatably connected to the second lug 22a. For example, a first ball joint connecting rod 41 passes vertically through the body 10. The upper end of the first ball joint connecting rod 41 is rotatably connected to the rocker arm 51, and the lower end of the first ball joint connecting rod 41 is also rotatably connected to the rocker arm 51. An L-shaped connecting rod 42 passes through the body 10, and the middle part of the L-shaped connecting rod 42 is rotatably connected to the bottom of the body 10. A second ball joint connecting rod 43 is located above the body 10 and is arranged horizontally. When the rocker arm 51 swings vertically up and down, it causes the first ball joint connecting rod 41 to move vertically up and down, causing the L-shaped connecting rod 42 to rotate vertically, thereby driving the second ball joint connecting rod 43 to move horizontally, ultimately causing the humeral connecting rod 22 to rotate horizontally. Wherein, as... Figure 6 As shown, a connecting rod support seat 13 is provided at the bottom of the fuselage 10, and the middle part of the L-shaped connecting rod 42 is rotatably connected to the connecting rod support seat 13. The second ball joint connecting rod 43 is rotatably connected to the humeral connecting rod 22 through a pin.

[0041] Furthermore, such as Figure 7As shown, the outer wing includes a radial link 23 and a phalanx member 24, which are sequentially located away from the fuselage. The radial link 23 is rotatably connected to the humeral link 23, and the phalanx member 24 is rotatably connected to the radial link 23. The rotation axes of both the radial link 23 and the phalanx member 24 are parallel to the second rotation axis direction O2. The radial link 23 and the phalanx member 24 are rotatably connected via a revolute joint.

[0042] Furthermore, the outer wing also includes a torsion spring 25, which is installed at the connection between the radial link 23 and the phalanx member 25. One end of the torsion spring 25 passes through the interior of the radial link 23, and the other end passes through the interior of the phalanx member 25. The torsion spring 25 limits the range of rotation angle between the radial link 23 and the phalanx member 25. For example, in the natural state, the included angle between the two ends of the torsion spring 25 is 120 degrees. The radial link 23 has a recess 23a inside, and one end of the torsion spring 25 is inserted into the recess 23a. The phalanx member 24 has a slot 24a, and the other end of the torsion spring 25 is inserted into the slot 24a.

[0043] Furthermore, in order to achieve a greater range of extension and retraction of the wings 20, the biomimetic flapping-wing aircraft also includes a drive mechanism 60, which is used to drive the radius link 23 to rotate, thereby driving the outer wing to extend and retract, in conjunction with the extension and retraction of the inner wing, thereby increasing the degree of extension and retraction of the wings 20.

[0044] For example, the drive mechanism 60 includes a retractable servo 61, a pull rope 62, and an elastic element 63. The retractable servo 61 is mounted on the fuselage 10. The two ends of the pull rope 62 are respectively connected to the retractable rocker arm 61a of the retractable servo 61 and the radial link 23. The two ends of the elastic element 63 are connected to the radial link 23 and the humeral link 22. The pull rope 62 and the elastic element 63 are located on both sides of the humeral link 22. Therefore, the elastic force of the elastic element 63 can be used to drive the radial link 23 to rotate in a direction away from the fuselage 10 to achieve the extension of the outer wing. The pull rope 62 can be used to drive the radial link 23 to rotate in a direction close to the fuselage 10 to achieve the retraction of the outer wing.

[0045] Specifically, a first positioning hole 22b is provided in the middle of the humeral link 22, and a second positioning hole 23b is provided on the end of the radial link 23 that connects to the humeral link 22. The two ends of the elastic element 63 are respectively connected to the first positioning hole 22b and the second positioning hole 23b. For example, the elastic element 63 can be an elastic rope or an elastic band. A third positioning hole 23c is provided in the middle of the radial link 23, and the two ends of the pull rope 62 are respectively connected to the third positioning hole 23c and the retraction rocker arm 61a. When the retraction rocker arm 61 rotates, the pull rope 62 drives the humeral link 22 to rotate and move closer to the fuselage 10, thus retracting the outer wing. When the retraction rocker arm 61a rotates in the opposite direction, the pull rope 62 is released, and under the rebound force of the elastic element 63, the humeral link 22 rotates and moves away from the fuselage 10, thus extending the outer wing. Furthermore, by controlling the rotation process of the retraction rocker arm 61a and the rocker arm 51, the synchronous extension and retraction of the inner and outer wings can be achieved.

[0046] Furthermore, the biomimetic flapping-wing aircraft also includes a roll tail 70 and a pitch tail 80. There are two roll tails 70, located behind the wing 20 and mounted on the left and right sides of the fuselage 10 respectively, used to achieve right and left roll maneuvers for the biomimetic flapping-wing aircraft. The pitch tail 80 is mounted at the tail of the fuselage 10 and used to achieve pitch maneuvers for the fuselage.

[0047] Specifically, the roll tail fin 70 includes a roll servo 71, a transmission component 72, a roll rod 73, and a spring component 74. The roll servo 71 is mounted on the fuselage 10, and a roll support base 14 is provided on the fuselage 10. The roll rod 73 is rotatably mounted on the roll support base 14. The two ends of the transmission component 72 are respectively connected to the roll servo arm 71a of the roll servo 71 and the roll rod 73. The two ends of the spring component 74 are respectively connected to the fuselage 10 and the roll rod 73. The spring component 74 and the transmission component 72 are located on both sides of the roll support base 14, and the two together are used to drive the roll rod 73 to rotate. Taking right roll as an example, after the roll servo 71 is started, the roll servo arm 71a drives the transmission component 72 to move downward, which in turn drives the right roll rod 73 to rotate around the fuselage 10, thereby tightening the elastic component 74. When the roll servo arm 71a returns to the initial position, the elastic component 74 returns to its original length under the action of the elastic force, and the right roll rod 73 is kept in a horizontal position under the action of the roll support seat 14, thus completing the right roll action.

[0048] Specifically, the pitch tail fin 80 includes a pitch servo 81, a connecting rod 82, and a pitch stick 83. The pitch servo 81 is mounted on the fuselage 10, and a pitch support 15 is provided on the fuselage 10. The pitch stick 83 is rotatably mounted on the pitch support 15. The two ends of the connecting rod 82 are respectively connected to the pitch control arm 81a of the pitch servo 81 and the connecting rod 82. The pitch servo 81 controls the pitch control arm 81a to rotate forward or backward, driving the connecting rod 82 to move, thereby driving the pitch stick 83 to rotate up and down around the fuselage to complete the pitch action.

[0049] It should be noted that, as is understood, a complete biomimetic flapping-wing aircraft should also have other necessary basic components, but these other components are not the focus of this embodiment, and therefore are not shown in the figures or described in detail in the specification. Moreover, these components are well-known technologies to those skilled in the art.

[0050] The specific embodiments of the present invention have been described in detail above. Although some embodiments have been shown and described, those skilled in the art should understand that modifications and improvements can be made to these embodiments without departing from the principles and spirit of the present invention as defined by the claims and their equivalents, and such modifications and improvements should also be within the protection scope of the present invention.

Claims

1. A biomimetic flapping-wing aircraft, characterized in that, The biomimetic flapping-wing aircraft includes: body; Wings, which are rotatably mounted on both sides of the fuselage; A flapping mechanism is installed on the fuselage and is connected to the wing via a transmission. The flapping mechanism is used to drive the wing to flap. A telescopic mechanism is installed on the fuselage and is connected to the wing via a transmission mechanism, and the telescopic mechanism is used to drive the wing to extend and retract; A power source, which provides power to both the flapping mechanism and the telescopic mechanism simultaneously; The wing includes an inner wing and an outer wing that are sequentially located away from the fuselage. The outer wing is rotatably connected to the inner wing, and the inner wing is rotatably connected to the fuselage. The flapping mechanism and the telescopic mechanism are respectively drivenly connected to the inner wing. The inner wing includes a shoulder component and a humeral link. The shoulder component is rotatably connected to the fuselage, and the humeral link is rotatably connected to the shoulder component. The flapping mechanism is driven to the shoulder component to drive the shoulder component and the humeral link to rotate around a first axis of rotation. The telescopic mechanism is driven to the humeral link to drive the humeral link to rotate around a second axis of rotation. The first axis of rotation and the second axis of rotation are perpendicular to each other. The power source is a servo motor, and the rocker arm of the servo motor is connected to the flapping mechanism and the telescopic mechanism respectively, so as to provide power to the flapping mechanism and the telescopic mechanism simultaneously. The flapping mechanism includes a flapping link, the two ends of which are rotatably connected to the shoulder component and the rocker arm, respectively, and the rotation axis of the rocker arm is parallel to the first rotation axis direction; The telescopic mechanism includes a first ball joint, an L-shaped link, and a second ball joint. The two ends of the first ball joint are rotatably connected to the rocker arm and the L-shaped link, respectively. The two ends of the second ball joint are rotatably connected to the L-shaped link and the humeral link, respectively. The middle part of the L-shaped link is rotatably connected to the body.

2. The biomimetic flapping-wing aircraft according to claim 1, characterized in that, The outer wing includes a radial link and a phalanx component sequentially located away from the fuselage. The radial link is rotatably connected to the humeral link, and the phalanx component is rotatably connected to the radial link. The rotation axes of the radial link and the phalanx component are both parallel to the second rotation axis direction.

3. The biomimetic flapping-wing aircraft according to claim 2, characterized in that, The biomimetic flapping-wing aircraft also includes a drive mechanism for driving the radial link to rotate, thereby causing the outer wing to extend and retract.

4. The biomimetic flapping-wing aircraft according to claim 3, characterized in that, The drive mechanism includes a retractable servo, a pull rope, and an elastic element. The retractable servo is mounted on the fuselage. The two ends of the pull rope are respectively connected to the rocker arm of the retractable servo and the radial connecting rod. The two ends of the elastic element are connected to the radial connecting rod and the humeral connecting rod, and the pull rope and the elastic element are respectively located on both sides of the humeral connecting rod.

5. The biomimetic flapping-wing aircraft according to claim 2, characterized in that, The outer wing also includes a torsion spring, which is installed at the connection between the radial link and the phalanx, with one end of the torsion spring passing through the interior of the radial link and the other end passing through the interior of the phalanx.

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