A biomimetic flapping-wing robot that achieves flapping-torsion coupling

Abstract

This invention relates to the field of biomimetic flapping-wing robot technology, and more particularly to a biomimetic flapping-wing robot that achieves flapping-torsional coupling, comprising a frame, a drive unit, a transmission rod assembly, and a wing; the transmission rod assembly includes a first crank, a second crank, a torsion rocker, and a flapping rocker, the torsion rocker being arranged along a first direction, the middle of the torsion rocker being hinged to the frame, one end of the flapping rocker being hinged to the torsion rocker, and the wing being fixedly connected to both the torsion rocker and the flapping rocker; by arranging the torsion rocker along the first direction extending from the frame, and arranging the flapping rocker along a direction perpendicular to the torsion rocker, the wing is ensured to be close to the frame and tangentially arranged along the extension direction of the frame, thereby improving the energy utilization rate of the flapping-wing robot; simultaneously, the drive unit fixed within the frame drives the wing to perform coupled motion, optimizing the structure of the flapping-wing robot and solving the technical problems of complex drive structures in existing flapping-wing robots, leading to high manipulation difficulty and poor stability.

Description

Technical Field

[0001] This invention relates to the technical field of biomimetic flapping-wing robots, and more particularly to a biomimetic flapping-wing robot that achieves flapping-torsion coupling. Background Technology

[0002] In recent years, the global demand for flexible and maneuverable flying robots has been increasing. Traditional rigid-winged flying robots are often limited by confined spaces or obstacles, making it difficult to achieve effective flight and maneuverability. Flapping-wing robots, with their unique design features, can perform tasks in complex and ever-changing environments, possessing excellent maneuverability and flexibility. Their soft materials and deformable structures enable them to adapt to various complex spatial and airflow conditions, achieving efficient flight.

[0003] Conventional flapping-wing robots suffer from limited modes and low energy efficiency, restricting their endurance and flight time. To increase flight modes and improve flight stability and control, patent CN115610650A, a flapping-wing aircraft with flapping-gliding conversion and differential deployment functions, proposes a flapping-wing aircraft that solves the problems of limited modes and low energy efficiency in flapping-wing robots. Patent CN115214882A, a flexible folding and deformable flapping-wing aircraft, proposes a deformable flexible flapping wing including a fuselage frame with a wing flapping mechanism mounted at the front end of the frame, solving the problems of poor flight stability and insufficient control in traditional flapping-wing robots.

[0004] However, existing flapping-wing robots typically address the issues of limited flight modes and low energy efficiency by adding drive units or introducing complex mechanical structures. This results in high load and weight for flapping-wing robots, increasing energy consumption. At the same time, the complex mechanical systems also lead to greater difficulty in operation, higher system failure rates, and poor stability. Summary of the Invention

[0005] The purpose of this invention is to provide a biomimetic flapping-wing robot that can achieve flapping-torsion coupling, so as to solve the technical problems of complex drive structure, low energy utilization, high difficulty of operation, high failure rate and poor stability of flapping-wing robots in the prior art.

[0006] The present invention provides a flapping-torsion coupled flapping-wing robot, comprising a frame, a drive unit, a transmission rod assembly, and a wing;

[0007] The frame has a frame structure and extends along a first direction, with the two wings symmetrically arranged on both sides of the frame;

[0008] The transmission rod assembly includes a first crank and a second crank, a torsion rocker, and a flapping rocker. The torsion rocker is arranged along the first direction and its middle part is hinged to the frame so that the torsion rocker can rotate in a vertical plane. One end of the flapping rocker is hinged to the torsion rocker so that the flapping rocker can rotate around the torsion rocker. One end of the first crank is connected to the drive device, and the other end of the first crank is connected to the flapping rocker. One end of the second crank is connected to the drive device, and the other end of the second crank is connected to the torsion rocker. The first crank and the second crank can move simultaneously. The wing is fixedly connected to the torsion rocker and the flapping rocker, respectively.

[0009] The first direction is any horizontal direction;

[0010] The transmission rod assembly also includes a torsion link;

[0011] One end of the torsion link is hinged to the first crank, and the other end of the torsion link is hinged to the torsion rocker.

[0012] The transmission rod assembly also includes a flapping connecting rod;

[0013] One end of the flapping connecting rod is movably connected to the second crank, and the other end of the flapping connecting rod is movably connected to the flapping rocker arm. The first crank, the second crank, the torsion rocker arm, the torsion connecting rod, the flapping connecting rod, and the flapping rocker arm form a spatial four-bar linkage.

[0014] The flapping linkage includes an upper linkage, a lower linkage, and a telescopic rod;

[0015] One end of the upper connecting rod is movably connected to the rocker arm, the other end of the upper connecting rod is telescopically connected to one end of the telescopic rod, the other end of the telescopic rod is movably connected to one end of the lower connecting rod, and the other end of the lower connecting rod is movably connected to the crank.

[0016] Furthermore, the frame includes a mounting plate and support beams;

[0017] The two mounting plates are arranged parallel to each other along the first direction, and a plurality of the support beams are arranged perpendicularly between the two mounting plates, and the driving device is arranged between the mounting plates.

[0018] Furthermore, the driving device includes a drive motor and transmission gears;

[0019] The drive motor is fixedly mounted on the mounting plate, and the two transmission gears are meshed along the first direction. Each of the transmission gears is connected to the drive motor, and the transmission gears are connected to the crank in a one-to-one correspondence.

[0020] Furthermore, the wing includes a wingplate, a first support rod, a second support rod, and a third support rod;

[0021] The first support rod is arranged along the first direction and connected to the torsion rocker. The second support rod is arranged perpendicular to the first direction and connected to the flapping rocker. The two ends of the third support rod are respectively connected to the first support rod and the first support rod. The first support rod, the second support rod and the third support rod form a triangular structure. The wing plate is fixed to the first support rod, the second support rod and the third support rod.

[0022] Furthermore, the wing also includes wing ribs;

[0023] One end of the wing rib is fixed to the first support rod, and a plurality of the wing ribs are evenly spaced along the extension direction of the first support rod and are respectively connected to the third support rod;

[0024] Alternatively, one end of the wing rib is fixed to the second support rod, and several wing ribs and second support rods are evenly spaced along their extension directions and are respectively connected to the third support rod.

[0025] Furthermore, the flapping-torsion coupled flapping-wing robot also includes a tail wing plate and a tail wing mounting rod;

[0026] One end of the tail fin mounting rod is connected to the frame, and the other end of the tail fin mounting rod is connected to the tail fin plate. The extension direction of the tail fin mounting rod is coplanar with the first direction.

[0027] Furthermore, the flapping-torsion coupled flapping-wing robot also includes a torsion servo motor;

[0028] The torsion servo is fixed to the end of the tail fin mounting rod away from the frame. The tail fin plate is connected to the output shaft of the torsion servo. The torsion servo can drive the tail fin plate to rotate around the extension direction of the tail fin mounting rod.

[0029] Compared with the prior art, the flapping-wing robot provided by the present invention improves the energy utilization rate of the flapping-wing robot by setting the torsion rocker along the first direction of the frame extension and setting the flapping rocker in a direction perpendicular to the torsion rocker; ensuring that the wing can be close to the frame and set along the frame extension direction; at the same time, the drive device fixed in the frame drives the crank to drive the torsion rocker and the flapping rocker to couple the movement, thereby driving the wing to couple the movement. This optimizes the structure of the flapping-wing robot and solves the technical problems of complex drive structure of flapping-wing robots in the prior art, which leads to high operation difficulty, high failure rate and poor stability. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the flapping-torsion coupled flapping-wing robot provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the transmission rod assembly in the flapping-torsion coupled flapping-wing robot provided in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the drive mechanism and frame in the flapping-torsion coupled flapping-wing robot provided in an embodiment of the present invention.

[0034] Figure label:

[0035] 100. Frame; 110. Mounting plate; 120. Support beam;

[0036] 200. Drive unit; 210. Drive motor; 220. Transmission gear;

[0037] 300. Drive rod assembly; 311. First crank; 312. Second crank; 320. Torsional rocker arm; 330. Flutter rocker arm; 340. Torsional connecting rod;

[0038] 350. Pounce linkage; 351. Upper linkage; 352. Lower linkage; 353. Telescopic rod;

[0039] 400. Wing; 410. Wing plate; 420. First support rod; 430. Second support rod; 440. Third support rod; 450. Wing rib;

[0040] 510. Tail fin plate; 520. Tail fin mounting rod; 530. Twist servo. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0046] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0048] like Figures 1 to 3As shown, an embodiment of the present invention provides a flapping-torsional coupled flapping-wing robot, including a frame 100, a drive unit 200, a transmission rod assembly 300, and wings 400; the frame 100 has a frame structure and extends along a first direction, with two wings 400 symmetrically arranged on both sides of the frame 100; the transmission rod assembly 300 includes a first crank 311 and a second crank 312, a torsion rocker 320, and a flapping rocker 330, the torsion rocker 320 being arranged along the first direction, and the middle part of the torsion rocker 320 being hinged to the frame 100, so that the torsion rocker 320 can... Rotating in a vertical plane, one end of the flapping rocker 330 is hinged to the torsion rocker 320 so that the flapping rocker 330 can rotate around the torsion rocker 320. One end of the first crank 311 is connected to the drive device 200, and the other end of the first crank 311 is connected to the flapping rocker 330. One end of the second crank 312 is connected to the drive device 200, and the other end of the second crank 312 is connected to the torsion rocker 320. The first crank 311 and the second crank 312 can move simultaneously. The wing 400 is fixedly connected to the torsion rocker 320 and the flapping rocker 330 respectively.

[0049] That is, the flapping-wing robot provided in this embodiment of the invention improves the energy utilization rate of the flapping-wing robot by setting the torsion rocker 320 along the first direction extending from the frame 100 and setting the flapping rocker 330 in a direction perpendicular to the torsion rocker 320; ensuring that the wing 400 can be close to the frame 100 and set along the extension direction of the frame 100; at the same time, the drive device 200 fixed in the frame 100 drives the first crank 311 and the second crank 312 to rotate, thereby driving the torsion rocker 320 and the flapping rocker 330 to couple, and then driving the wing 400 to couple. This optimizes the structure of the flapping-wing robot and solves the technical problems of complex drive structure of flapping-wing robots in the prior art, which leads to high difficulty in operation, high failure rate and poor stability.

[0050] Specifically, in this embodiment, the frame 100 is generally spindle-shaped, with its length direction being horizontal. Therefore, the first direction is any horizontal direction. The drive device 200 is fixed inside the frame 100 by a mounting bracket and bolts, while two wings 400 are respectively arranged in a wing-like shape on both sides of the frame 100. They are connected to the drive device 200 through two transmission rod assemblies 300, allowing the drive device 200 to drive the wings 400 to move, thus realizing the flight of the flapping-torsional coupled flapping-wing robot. The transmission rod assembly 300 is mainly made of metal rods. A mounting hole is provided in the middle of the torsion rocker 320, and a mounting shaft is provided on the frame 100 along a horizontal direction perpendicular to the first direction. This allows the torsion rocker 320 to be rotatably mounted on both sides of the frame 100 via the mounting shaft, thereby realizing the rotation of the torsion rocker 320 in the vertical plane. Each transmission rod assembly 300 is provided with two cranks, arranged along the first direction on one side of the frame 100. One end of the first crank 311 is connected to the torsion rocker 320, while the other end is connected to the drive device 200. The drive device 200 can drive the first crank 311 to rotate around its connection end with the drive device 200, thereby causing the torsion rocker 320 to swing. One end of the flapping rocker 330 is fitted onto the torsion rocker 320. The flapping rocker 330 is driveably connected to the second crank 312, so that the drive device 200 can drive the second crank 312 to rotate, thereby causing the flapping rocker 330 to move with the torsion rocker 320 while simultaneously rotating around the torsion rocker 320. This achieves coupled movement of the flapping rocker 330 and the torsion rocker 320 in two directions. The wing 400 is fixed to the flapping rocker 330 and the torsion rocker 320, and thus completes the flapping-torsional coupled movement of the wing 400 through their coupled movement. This optimizes the drive transmission structure of the flapping-wing robot and improves its stability. Since both the torsion joystick 320 and the frame 100 are set along the first direction, the extension direction of the frame 100 is the same as the flight direction, which reduces the overall wind resistance of the flapping-wing robot and improves the energy utilization rate of the flapping-wing robot.

[0051] Furthermore, the transmission rod assembly 300 also includes a torsion link 340; one end of the torsion link 340 is hinged to the first crank 311, and the other end of the torsion link 340 is hinged to the torsion rocker 320.

[0052] Specifically, the torsion link 340 is generally elongated, with its two ends hinged to the first crank 311 and the torsion link 340 respectively via connecting pins, so that the torsion link 340 and the torsion rocker 320, together with the first crank 311, form a crank-rocker mechanism. Thus, when the first crank 311 rotates, the torsion link 340 will move accordingly, thereby driving the torsion rocker 320 to swing, thereby realizing the reciprocating motion of the wing 400.

[0053] Furthermore, the transmission rod assembly 300 also includes a flapping link 350; one end of the flapping link 350 is movably connected to the second crank 312, and the other end of the flapping link 350 is movably connected to the flapping rocker arm 330. The first crank 311, the second crank 312, the torsion rocker arm 320, the torsion link 340, the flapping link 350, and the flapping rocker arm 330 are arranged to form a spatial four-bar linkage.

[0054] Specifically, one end of the flapping link 350 is connected to the second crank 312 via a universal joint, while the other end is connected to the flapping rocker 330 via a universal joint. This forms a crank-rocker mechanism with the second crank 312, flapping link 350, and flapping rocker 330. Therefore, when the second crank 312 rotates, the flapping link 350 moves accordingly, causing the flapping rocker 330 to swing, thus achieving the reciprocating flapping motion of the wing 400. Furthermore, when the first crank 311 and the second crank 312 rotate simultaneously, the wing 400, while flapping, is driven by the first crank 311, torsion link 340, and torsion rocker 320, causing the rotation center to reciprocate and change, thus forming a coupled torsional flapping motion.

[0055] Preferably, the flapping linkage 350 includes an upper linkage 351, a lower linkage 352, and a telescopic rod 353; one end of the upper linkage 351 is movably connected to the flapping rocker 330, the other end of the upper linkage 351 is telescopically connected to one end of the telescopic rod 353, the other end of the telescopic rod 353 is movably connected to one end of the lower linkage 352, and the other end of the lower linkage 352 is movably connected to the second crank 312.

[0056] Specifically, in this embodiment, the telescopic rod 353 is provided with a threaded rod. The top of the upper connecting rod 351 is provided with a spherical groove, and a corresponding ball joint is provided on the flapping rocker 330 for connection with the upper connecting rod 351. A threaded hole is provided at the bottom of the upper connecting rod 351, and the telescopic rod 353 is threaded into the threaded hole. The lower connecting rod 352 has the same structure as the upper connecting rod 351, and the same ball joint is also provided on the second crank 312 for connection with the lower connecting rod 352. Thus, by rotating the threaded rod, the distance between the upper connecting rod 351 and the lower connecting rod 352 can be adjusted, thereby adjusting the length of the flapping connecting rod 350 to facilitate the adjustment of the flapping position of the wing 400 and the installation of the transmission rod assembly 300.

[0057] Furthermore, the frame 100 includes mounting plates 110 and support beams 120; the two mounting plates 110 are arranged parallel to each other along a first direction, and a plurality of support beams 120 are arranged vertically between the two mounting plates 110, and the drive device 200 is arranged between the mounting plates 110.

[0058] Specifically, the mounting plate 110 is flat and streamlined in shape. Two mounting plates 110 are arranged in parallel, and multiple support beams 120 are evenly distributed along the periphery of the mounting plates 110. The support beams 120 can be connected to the mounting plates 110 with bolts. The drive unit 200 is positioned between the two mounting plates 110 to reduce the size of the frame 100 perpendicular to the flight direction and lower the overall wind resistance of the frame 100 and the drive unit 200.

[0059] Preferably, the drive device 200 includes a drive motor 210 and a transmission gear 220; the drive motor 210 is fixedly mounted on the mounting plate 110, and the two transmission gears 220 are meshed along a first direction, with any one of the transmission gears 220 being connected to the drive motor 210 in a transmission connection, and the transmission gear 220 being connected to the first crank 311 and the second crank 312 in a one-to-one correspondence.

[0060] Specifically, the drive motor 210 can be a brushless motor, fixed between the two mounting plates 110 by a mounting bracket and bolts. The drive motor 210 is connected to the transmission gear 220 via a reduction gear set. The transmission gear 220 is fixed by a mounting shaft passing through the two mounting plates 110. The mounting shaft is connected to a crank key passing through the mounting plates 110 to drive the crank to rotate around the mounting shaft. The two transmission gears 220 are arranged along a first direction and mesh in the first direction. This ensures that the gear surface of the transmission gear 220 is perpendicular to the flight direction, thereby reducing the size of the frame 100 perpendicular to the flight direction and reducing the overall wind resistance of the frame 100 and the drive unit 200.

[0061] Furthermore, the wing 400 includes a wing plate 410, a first support rod 420, a second support rod 430, and a third support rod 440; the first support rod 420 is arranged along a first direction and connected to a torsion rocker 320, the second support rod 430 is arranged perpendicular to a direction and connected to a flapping rocker 330, and the two ends of the third support rod 440 are respectively connected to the first support rod 420 and the first support rod 420. The first support rod 420, the second support rod 430, and the third support rod 440 form a triangular structure, and the wing plate 410 is fixed to the first support rod 420, the second support rod 430, and the third support rod 440.

[0062] Specifically, both the first support rod 420 and the second support rod 430 are circular metal rods. They can be hollow to reduce weight. The torsion rocker 320 has slots along its extension direction to allow the first support rod 420 to be inserted into the slots. Similarly, the flapping rocker 330 also has slots along its extension direction to allow the second support rod 430 to be inserted into the slots. This achieves a vertical arrangement of the first and second support rods 420 and 430. The two ends of the third support rod 440 are fixed to the distal ends of the first and second support rods 420 and 430, respectively. The first, second, and third support rods 420 and 430 form a triangular structure, ensuring sufficient strength for the wing 400 and improving its stability.

[0063] Preferably, the wing 400 further includes wing ribs 450; one end of the wing rib 450 is fixed to the first support rod 420, and a plurality of wing ribs 450 are evenly spaced along the extension direction of the first support rod 420 and are respectively connected to the third support rod 440; or, one end of the wing rib 450 is fixed to the second support rod 430, and a plurality of wing ribs 450 are evenly spaced along the extension direction of the second support rod 430 and are respectively connected to the third support rod 440.

[0064] Specifically, in this embodiment, the wing ribs 450 are evenly spaced along the extending direction of the first support rod 420. One end of each wing rib 450 is fixedly connected to the first support rod 420. The third support rod 440 is sequentially connected to each of the wing ribs 450. Thus, by providing wing ribs 450 on the wing 400, the strength of the entire wing 400 can be further improved, ensuring the stability of the entire flapping-torsion coupled flapping-wing robot.

[0065] Furthermore, the flapping-torsion coupled flapping-wing robot also includes a tail wing plate 510 and a tail wing mounting rod 520; one end of the tail wing mounting rod 520 is connected to the frame 100, and the other end of the tail wing mounting rod 520 is connected to the tail wing plate 510, and the extension direction of the tail wing mounting rod 520 is coplanar with the first direction.

[0066] Specifically, the tail fin mounting rod 520 is generally cylindrical, with one end fixed to the frame 100 by mounting bracket bolts, and the other end connected to the tail fin plate 510. The tail fin plate 510 includes a plate body and a support frame, and the extension direction of the tail fin mounting rod 520 is coplanar with the first direction. This allows the tail fin plate 510 to improve the balance of the flapping-torsional coupled flapping-wing robot.

[0067] Preferably, the flapping-torsion coupled flapping-wing robot also includes a torsion servo motor 530; the torsion servo motor 530 is fixed to the end of the tail wing mounting rod 520 away from the frame 100, the tail wing plate 510) is connected to the output shaft of the torsion servo motor 530, and the torsion servo motor 530 can drive the tail wing plate 510) to rotate around the extension direction of the tail wing mounting rod 520.

[0068] Specifically, the torsion servo 530 is bolted to the end of the tail fin mounting rod 520 away from the frame 100. The tail fin plate 510 is connected to the output shaft of the torsion servo 530, enabling the torsion servo 530 to drive the tail fin plate 510 to rotate around the extension direction of the tail fin mounting rod 520. By driving the rotation of the tail fin plate 510 through the torsion servo 530, the tail fin plate 510) is deflected, thereby adjusting the flight direction of the flapping-torsion coupled flapping-wing robot and ensuring the turning flexibility of the flapping-torsion coupled flapping-wing robot.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flapping-wing robot coupled with a flip, characterized in that, It includes a frame (100), a drive unit (200), a transmission rod assembly (300), and a wing (400); The frame (100) has a frame structure and extends along a first direction. The two wings (400) are symmetrically arranged on both sides of the frame (100), and the two transmission rod groups (300) are arranged in a one-to-one correspondence with the wings (400). The transmission rod assembly (300) includes a first crank (311) and a second crank (312), a torsion rocker (320), and a flapping rocker (330). The torsion rocker (320) is arranged along the first direction, and its middle portion is hinged to the frame (100) so that the torsion rocker (320) can rotate in a vertical plane. One end of the flapping rocker (330) is hinged to the torsion rocker (320) so that the flapping rocker (330) can rotate around the torsion rocker (320). One end of the first crank (311) is connected to the drive device (200), and the other end of the first crank (311) is connected to the flapping rocker (330). One end of the second crank (312) is connected to the drive device (200), and the other end of the second crank (312) is connected to the torsion rocker (320). The first crank (311) and the second crank (312) can move simultaneously. The wing (400) is fixedly connected to the torsion rocker (320) and the flapping rocker (330) respectively. The first direction is any horizontal direction; The transmission rod assembly (300) also includes a torsion link (340); One end of the torsion link (340) is hinged to the first crank (311), and the other end of the torsion link (340) is hinged to the torsion rocker (320); The transmission rod assembly (300) also includes a flapping connecting rod (350); One end of the flapping link (350) is movably connected to the second crank (312), and the other end of the flapping link (350) is movably connected to the flapping rocker (330). The first crank (311), the second crank (312), the torsion rocker (320), the torsion link (340), the flapping link (350), and the flapping rocker (330) form a spatial four-bar linkage. The flapping linkage (350) includes an upper linkage (351), a lower linkage (352), and a telescopic linkage (353); One end of the upper connecting rod (351) is movably connected to the rocker arm (330), the other end of the upper connecting rod (351) is telescopically connected to one end of the telescopic rod (353), the other end of the telescopic rod (353) is movably connected to one end of the lower connecting rod (352), and the other end of the lower connecting rod (352) is movably connected to the second crank (312).

2. The flapping-torsion coupled flapping-wing robot according to claim 1, characterized in that, The frame (100) includes a mounting plate (110) and a support beam (120); The two mounting plates (110) are arranged parallel to each other along the first direction, and a plurality of support beams (120) are arranged vertically between the two mounting plates (110), and the driving device (200) is arranged between the two mounting plates (110).

3. The flapping-torsion coupled flapping-wing robot according to claim 2, characterized in that, The drive device (200) is fixedly installed inside the frame (100), and the drive device (200) includes a drive motor (210) and a transmission gear (220); The drive motor (210) is fixedly mounted on the mounting plate (110), and the two transmission gears (220) are meshed along the first direction. Each of the transmission gears (220) is connected to the drive motor (210) in a transmission manner, and the transmission gears (220) are respectively connected to the first crank (311) and the second crank (312).

4. The flapping-torsion coupled flapping-wing robot according to claim 1, characterized in that, The wing (400) includes a wing plate (410), a first support rod (420), a second support rod (430) and a third support rod (440); The first support rod (420) is arranged along the first direction and connected to the torsion rocker (320). The second support rod (430) is arranged perpendicular to the first direction and connected to the flapping rocker (330). The two ends of the third support rod (440) are respectively connected to the first support rod (420) and the second support rod (430). The first support rod (420), the second support rod (430) and the third support rod (440) form a triangular structure. The wing plate (410) is fixed to the first support rod (420), the second support rod (430) and the third support rod (440).

5. The flapping-torsion coupled flapping-wing robot according to claim 4, characterized in that, The wing (400) also includes wing ribs (450); One end of the wing rib (450) is fixed to the first support rod (420), and a plurality of the wing ribs (450) are evenly spaced along the extension direction of the first support rod (420) and are respectively connected to the third support rod (440); Alternatively, one end of the wing rib (450) is fixed to the second support rod (430), and a plurality of the wing ribs (450) are evenly spaced along the extension direction of the second support rod (430) and are respectively connected to the third support rod (440).

6. The flapping-torsional coupled flapping-wing robot according to claim 1, characterized in that, The flapping-torsion coupled flapping-wing robot also includes a tail wing plate (510) and a tail wing mounting rod (520); One end of the tail fin mounting rod (520) is connected to the frame (100), and the other end of the tail fin mounting rod (520) is connected to the tail fin plate (510). The extension direction of the tail fin mounting rod (520) is coplanar with the first direction.

7. The flapping-torsion coupled flapping-wing robot according to claim 6, characterized in that, The flapping-torsion coupled flapping-wing robot also includes a torsion servo motor (530); The torsion servo (530) is fixed to one end of the tail fin mounting rod (520) away from the frame (100). The tail fin plate (510) is connected to the output shaft of the torsion servo (530). The torsion servo (530) can drive the tail fin plate (510) to rotate around the extension direction of the tail fin mounting rod (520).

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