Wing folding device driven by bionic wriggling mechanism

Abstract

The invention relates to a flapping-wing flying robot, in particular to a wing folding device driven by a bionic wriggling mechanism. Comprising an elytra, a back wing structure, an elytra driving mechanism and a bionic flexible abdomen structure, the elytra and the elytra driving mechanism are arranged at the front end of the bionic flexible abdomen structure, the elytra is connected with the elytra driving mechanism, and the elytra driving mechanism is used for driving the elytra to be unfolded or folded; the rear wing structure is arranged in the middle of the bionic flexible belly structure, the rear wing structure flies through flapping, and the bionic flexible belly structure enables the folded rear wing structure to be stored on the inner side of the elytra through wriggling. A beetle is taken as a bionic object, a folding storage mode of bionic wriggling abdomen is combined, and the wings can be compactly folded and stored in the fuselage or in a specific position close to the fuselage in a non-flight state through a folding mechanism and a storage structure in the fuselage which are reasonably designed, so that the automation of folding and storage is realized.

Description

Technical Field

[0001] The invention relates to a flapping-wing flying robot, in particular to a wing folding device driven by a bionic creeping mechanism. Background Art

[0002] Flapping-wing aircraft are widely used in aerospace, micro-robotics and other fields. As a bionic aircraft, flapping-wing aircraft is based on the principle of biological flight and has the characteristics of high flexibility and excellent flight efficiency. However, there is a key problem with current flapping-wing aircraft, that is, the wings are large in size when not in flight, making them difficult to fold and store. Since the wings in existing designs usually cannot be effectively folded or reduced, the wings occupy most of the space of the aircraft, making it inconvenient to carry and store. In addition, since the wings are exposed, they are easily damaged by the outside world, especially during transportation, which reduces the service life and reliability of the entire aircraft.

[0003] Beetles in nature (especially Coleopteran beetles) provide an efficient wing storage solution. The beetle's hind wings can be folded and stored under the elytra when not in use. This folding method not only significantly reduces the volume, but also provides effective protection for the hind wings through the elytra, preventing damage to the hind wings by environmental factors. In contrast, the current bionic design of flapping-wing aircraft mainly draws on the wing folding method of birds, that is, the wings are folded to the sides of the fuselage by folding the leading edge. This folding method is complex to design, especially for small flapping-wing aircraft, and the structural redundancy affects its performance. After folding, the wings are still located outside the fuselage, and the overall size cannot be effectively reduced, so there are still deficiencies in portability and protection. In addition, the bionic folding design of birds has high requirements on the precision of the folding mechanism, which makes the overall structure complex and the reliability is low. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a wing folding device driven by a bionic creeping mechanism to solve the problem that the bionic folding design of birds has high requirements on the precision of the folding mechanism, making the overall structure complex and the reliability low.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a wing folding device driven by a bionic peristaltic mechanism, comprising elytra, a hind wing structure, an elytra driving mechanism and a bionic flexible abdominal structure, wherein the elytra and the elytra driving mechanism are arranged at the front end of the bionic flexible abdominal structure, and the elytra are connected to the elytra driving mechanism, and the elytra driving mechanism is used to drive the elytra to unfold or close; the hind wing structure is arranged in the middle of the bionic flexible abdominal structure, the hind wing structure realizes flight by flapping, and the bionic flexible abdominal structure causes the folded hind wing structure to be stored inside the elytra by peristalsis.

[0007] The bionic flexible abdominal structure includes a flexible abdomen, an abdominal support and a bionic peristaltic mechanism, wherein the bionic peristaltic mechanism is arranged on the abdominal support, the flexible abdomen is connected to the rear of the abdominal support and wrapped around the outside of the bionic peristaltic mechanism, and the bionic peristaltic mechanism is used to drive the flexible abdomen to peristalsis.

[0008] The bionic peristaltic mechanism includes a bionic peristaltic drive motor, a bionic peristaltic roller, a bionic peristaltic bracket, a peristaltic transmission assembly, a central axis and a peristaltic mechanism bracket, wherein the peristaltic mechanism bracket is connected to the abdominal bracket, and the peristaltic mechanism bracket is accommodated inside the flexible abdomen; the bionic peristaltic drive motor and the central axis are both arranged on the peristaltic mechanism bracket, and the central axis can rotate, the output end of the bionic peristaltic drive motor is connected to the central axis through the peristaltic transmission assembly, and the two ends of the central axis are respectively connected to two bionic peristaltic brackets arranged in parallel, and a plurality of bionic peristaltic rollers distributed along the circumferential direction are rotatably connected between the two bionic peristaltic brackets, and the radial distances between the axes of the plurality of bionic peristaltic rollers and the central axis are alternately arranged in high and low directions.

[0009] The bionic peristaltic roller is an elliptical structure; a controller is provided at the end of the peristaltic mechanism bracket.

[0010] The elytra include a left elytra and a right elytra, the left elytra and the right elytra are symmetrically hinged to the front end of the bionic flexible abdominal structure, and both the left elytra and the right elytra are connected to the elytra driving mechanism.

[0011] The left elytra and the right elytra are hard thin-walled shell structures. When the left elytra and the right elytra are closed, they cover the outer side of the folded hind wing structure to play a protective role.

[0012] The elytra driving mechanism includes an elytra driving motor, an elytra driving connecting rod I, an elytra driving connecting rod II and a crank, wherein the elytra driving motor is arranged on the bionic flexible abdominal structure, and the output end is fixedly connected to one end of the crank, the other end of the crank is hinged to one end of the elytra driving connecting rod I and the elytra driving connecting rod II, and the other ends of the elytra driving connecting rod I and the elytra driving connecting rod II are respectively hinged to the left elytra and the right elytra; the elytra driving motor provides power for the opening or closing of the left elytra and the right elytra.

[0013] The hind wing structure includes a left hind wing, a right hind wing, a hind wing root, a hind wing central axis, a hind wing flapping mechanism bracket and a hind wing flapping mechanism, wherein the hind wing flapping mechanism bracket is connected to the bionic flexible abdominal structure, the hind wing central axis and the hind wing flapping mechanism are arranged on the hind wing flapping mechanism bracket up and down, two hind wing roots are rotatably installed on both sides of the hind wing central axis, the two hind wing roots are fixedly connected to the left hind wing and the right hind wing respectively, the hind wing flapping mechanism is connected to the two hind wing roots, and the hind wing flapping mechanism provides power for the left hind wing and the right hind wing to swing up and down.

[0014] The left hind wing and the right hind wing have the same structure, both including a hind wing membrane, a leading edge of the hind wing, a hind wing vein and a latex contraction rope, wherein the leading edge of the hind wing is bonded to the leading edge of the hind wing membrane, the hind wing vein is bonded to the part of the hind wing membrane near the end, there are two latex contraction ropes, one end of the two latex contraction ropes are connected to the leading edge of the hind wing near the central axis of the hind wing, and the other ends of the two latex contraction ropes are respectively connected to the hind wing vein and the central axis of the hind wing.

[0015] The hind wing flapping mechanism includes a hind wing drive motor, a hind wing drive gear I, a hind wing drive gear II, a hind wing drive gear III, a hind wing drive gear IV and a hind wing drive connecting rod, wherein the output end of the hind wing drive motor is connected to the hind wing drive gear I; the hind wing drive gear II is a double gear structure including a large gear and a small gear installed coaxially, wherein the large gear is meshed with the hind wing drive gear I, the small gear is meshed with the hind wing drive gear IV, and the hind wing drive gear III is meshed with the hind wing drive gear IV; the hind wing drive gear III and the hind wing drive gear IV are respectively hinged to the two hind wing roots through two hind wing drive connecting rods.

[0016] The advantages and beneficial effects of the present invention are as follows: the present invention provides a wing folding device driven by a bionic peristaltic mechanism, which takes the abdominal peristaltic storage mode of a beetle as a bionic object, and adopts an active folding and storage design to achieve the effect of simply folding and storing the wing structure into the fuselage. This design can effectively reduce the volume of the aircraft in a non-flying state, which is not only convenient for carrying and storage, but also improves the protection of the wing. The solution of the present invention is simpler in design, reduces structural complexity, improves reliability, and is suitable for practical applications of small flapping-wing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is one of the isometric views of a wing folding device driven by a bionic creeping mechanism according to the present invention;

[0018] Figure 2 This is the second isometric view of a wing folding device driven by a bionic creeping mechanism according to the present invention;

[0019] Figure 3 is an axonometric view of the hind wing structure of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the hind wing in the present invention;

[0021] Figure 5 It is a schematic diagram of the state in which the hind wings are passively opened in the flapping state in the present invention;

[0022] Figure 6 It is a schematic diagram of the contracted and folded state of the hind wings in the non-flapping state under the action of the latex contraction rope in the present invention;

[0023] Figure 7 It is a schematic diagram of the connection between the elytra structure and the bionic flexible abdomen structure in the present invention;

[0024] Figure 8 is an axonometric view of the elytra structure of the present invention;

[0025] Fig. 9 It is a structural schematic diagram of the bionic peristaltic mechanism in the present invention;

[0026] Fig.10 This is a schematic diagram of the bionic abdominal peristalsis movement in the present invention;

[0027] Fig.11 Schematic diagram of the complete folding process of the wings of the present invention: (a) flying state: the wings are passively opened; (b) stopped state: the wings are folded backwards under the action of the pulling force; (c) the elytra are folded; (d) the abdomen wriggles and the rear wings are completely folded.

[0028] In the figure: 1 is elytra, 1-1 is left elytra, 1-2 is right elytra;

[0029] 2 is the hind wing structure, 2-1 is the hind wing membrane, 2-2 is the hind wing leading edge, 2-3 is the hind wing vein, 2-4 is the latex contraction rope, 2-5 is the hind wing drive motor, 2-6 is the hind wing drive gear I, 2-7 is the hind wing drive gear II, 2-8 is the hind wing drive gear III, 2-9 is the hind wing drive gear IV, 2-10 is the hind wing flapping mechanism bracket, 2-11 is the hind wing drive connecting rod, 2-12 is the hind wing root, 2-13 is the hind wing central axis, 2-21 is the left hind wing, 2-22 is the right hind wing, and 2-23 is the hind wing flapping mechanism;

[0030] 3 is an elytra driving mechanism, 3-1 is an elytra driving motor, 3-2 is an elytra driving connecting rod I, 3-3 is an elytra driving connecting rod II, and 3-4 is a crank;

[0031] 4 is a bionic flexible abdominal structure, 4-1 is a flexible abdomen, 4-2 is an abdominal support, 4-3 is a bionic peristaltic drive motor, 4-4 is a bionic peristaltic roller, 4-5 is a bionic peristaltic support, 4-6 is a peristaltic transmission wheel I, 4-7 is a peristaltic transmission wheel II, 4-8 is a peristaltic transmission belt, 4-9 is a bearing, 4-10 is a controller, 4-11 is a central axis, 4-12 is a peristaltic mechanism support, and 4-21 is a bionic peristaltic mechanism. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] See also Figure 1As shown, the present invention provides a wing folding device driven by a bionic peristaltic mechanism, comprising an elytra 1, a hind wing structure 2, an elytra driving mechanism 3 and a bionic flexible abdominal structure 4, wherein the elytra 1 and the elytra driving mechanism 3 are arranged at the front end of the bionic flexible abdominal structure 4, and the elytra 1 is connected to the elytra driving mechanism 3, and the elytra driving mechanism 3 is used to drive the elytra 1 to unfold or close; the hind wing structure 2 is arranged in the middle of the bionic flexible abdominal structure 4, the hind wing structure 2 realizes flight by flapping, and the bionic flexible abdominal structure 4 causes the folded hind wing structure 2 to be stored inside the elytra 1 by peristalsis.

[0034] See also Figure 2 , Figure 7 As shown, in an embodiment of the present invention, the bionic flexible abdominal structure 4 includes a flexible abdomen 4-1, an abdominal support 4-2 and a bionic peristaltic mechanism 4-21, wherein the bionic peristaltic mechanism 4-21 is arranged on the abdominal support 4-2, the flexible abdomen 4-1 is connected to the rear part of the abdominal support 4-2 and wrapped around the outside of the bionic peristaltic mechanism 4-21, and the bionic peristaltic mechanism 4-21 is used to drive the flexible abdomen 4-1 to peristalsis.

[0035] See also Figures 8 to 10 As shown, in the embodiment of the present invention, the bionic peristaltic mechanism 4-21 includes a bionic peristaltic drive motor 4-3, a bionic peristaltic roller 4-4, a bionic peristaltic support 4-5, a peristaltic transmission assembly, a central shaft 4-11 and a peristaltic mechanism support 4-12, wherein the peristaltic mechanism support 4-12 is connected to the abdomen support 4-2, and the peristaltic mechanism support 4-12 is accommodated inside the flexible abdomen 4-1; the bionic peristaltic drive motor 4-3 and the central shaft 4-11 are both arranged on the peristaltic mechanism support 4-12, and the central shaft 4-11 is supported by the bearing 4-9 and can rotate; the output end of the bionic peristaltic drive motor 4-3 is connected to the central shaft through the peristaltic transmission assembly. 4-11 is connected, and both ends of the central axis 4-11 are respectively connected to two parallel bionic peristaltic brackets 4-5, and a plurality of bionic peristaltic rollers 4-4 distributed along the circumferential direction are rotatably connected between the two bionic peristaltic brackets 4-5. The radial distances between the axes of the plurality of bionic peristaltic rollers 4-4 and the central axis 4-11 are alternately arranged in high and low directions. The bionic peristaltic drive motor 4-3 drives the central axis 4-11 to rotate, and the central axis 4-11 drives the plurality of bionic peristaltic rollers 4-4 to move in the circumferential direction, and the bionic peristaltic rollers 4-4 rotated to the upper side are in contact with the flexible abdomen 4-1, and the peristalsis of the flexible abdomen 4-1 is realized by the bionic peristaltic rollers 4-4 arranged in high and low directions.

[0036] Further, the bionic peristaltic roller 4-4 is an elliptical structure, a controller 4-10 is provided at the end of the peristaltic mechanism bracket 4-12, and the bionic peristaltic bracket 4-5 has a plurality of arms arranged in a radial shape, the plurality of arms are arranged alternately in length, and the end of the arm is rotatably mounted with the bionic peristaltic roller 4-4.

[0037] In an embodiment of the present invention, the peristaltic transmission assembly includes a peristaltic transmission wheel I4-6, a peristaltic transmission wheel II4-7 and a peristaltic transmission belt 4-8, wherein the peristaltic transmission wheel I4-6 is arranged at the end of the central axis 4-11, the peristaltic transmission wheel II4-7 is arranged at the output end of the bionic peristaltic drive motor 4-3, and the peristaltic transmission wheel I4-6 and the peristaltic transmission wheel II4-7 are connected through the peristaltic transmission belt 4-8.

[0038] Specifically, the abdominal bracket 4-2 and the flexible abdomen 4-1 are integrally bonded and formed, the abdominal bracket 4-2 is a hard resin or PC plastic, and the flexible abdomen 4-1 is a flexible silicone material. The abdominal bracket 4-2 is fixedly connected to the peristaltic mechanism bracket 4-12 by screws, the peristaltic mechanism bracket 4-12 is located inside the flexible abdomen 4-1, the bionic peristaltic drive motor 4-3 is installed below the peristaltic mechanism bracket 4-12, and the two bionic peristaltic brackets 4-5 are coaxially connected to the central axis 4-11, so that the rotation of the bionic peristaltic drive motor 4-3 drives the two bionic peristaltic brackets 4-5 to rotate. The bionic peristaltic roller 4-4 can revolve and can rotate freely around its own rotation axis. The controller 4-10 is located in front of the peristaltic mechanism bracket 4-12 and is connected by screws. The bionic peristaltic bracket 4-5 adopts a support arm shape with high and low staggered arrangements, which forms a peristaltic effect after rotation, see Fig.10 (a)-(b).

[0039] See also Figure 2 As shown, in an embodiment of the present invention, the elytra 1 includes a left elytra 1-1 and a right elytra 1-2, and the left elytra 1-1 and the right elytra 1-2 are symmetrically hinged on the inclined hinge at the front end of the abdominal support 4-2, and can rotate around the hinge axis, and the left elytra 1-1 and the right elytra 1-2 are both connected to the elytra driving mechanism 3.

[0040] Furthermore, the left elytra 1-1 and the right elytra 1-2 are hard thin-walled shell structures, similar to the shell of a beetle, and the left elytra 1-1 and the right elytra 1-2 can be made of resin or PC plastic. The elytra driving mechanism 3 drives the left elytra 1-1 and the right elytra 1-2 to close and cover the outer side of the folded hind wing structure 2 to play a protective role.

[0041] See also Figure 7As shown, in an embodiment of the present invention, the elytra driving mechanism 3 includes an elytra driving motor 3-1, an elytra driving connecting rod I 3-2, an elytra driving connecting rod II 3-3 and a crank 3-4, wherein the elytra driving motor 3-1 is arranged above the front of the abdominal support 4-2 of the bionic flexible abdominal structure 4, the output end of the elytra driving motor 3-1 is fixedly connected to one end of the crank 3-4, the other end of the crank 3-4 is hinged to one end of the elytra driving connecting rod I 3-2 and the elytra driving connecting rod II 3-3, the other ends of the elytra driving connecting rod I 3-2 and the elytra driving connecting rod II 3-3 are respectively hinged to the left elytra 1-1 and the right elytra 1-2; the elytra driving motor 3-1 provides power for the opening and closing of the left elytra 1-1 and the right elytra 1-2.

[0042] See also Figure 3 , Figure 5 and Figure 7 As shown, in an embodiment of the present invention, the hind wing structure 2 includes a left hind wing 2-21, a right hind wing 2-22, a hind wing root 2-12, a hind wing central axis 2-13, a hind wing flapping mechanism bracket 2-10 and a hind wing flapping mechanism 2-23, wherein the hind wing flapping mechanism bracket 2-10 is connected to the abdominal bracket 4-2 of the bionic flexible abdominal structure 4, the hind wing central axis 2-13 and the hind wing flapping mechanism 2-23 are arranged on the hind wing flapping mechanism bracket 2-10 up and down, two hind wing roots 2-12 are rotatably installed on both sides of the hind wing central axis 2-13, the two hind wing roots 2-12 are fixedly connected to the left hind wing 2-21 and the right hind wing 2-22 respectively, the hind wing flapping mechanism 2-23 is connected to the two hind wing roots 2-12, and the hind wing flapping mechanism 2-23 provides power for the left hind wing 2-21 and the right hind wing 2-22 to swing up and down.

[0043] See also Figure 3 , Figure 4 As shown, in the embodiment of the present invention, the left hind wing 2-21 and the right hind wing 2-22 have the same structure, both of which include a hind wing membrane 2-1, a hind wing leading edge 2-2, a hind wing vein 2-3 and a latex contraction rope 2-4, wherein the hind wing leading edge 2-2 is bonded to the leading edge of the hind wing membrane 2-1, the hind wing vein 2-3 is bonded to the part of the hind wing membrane 2-1 near the end, there are two latex contraction ropes 2-4, one end of the two latex contraction ropes 2-4 are connected to the hind wing leading edge 2-2 near the hind wing central axis 2-13, and the other ends of the two latex contraction ropes 2-4 are respectively connected to the hind wing vein 2-3 and the hind wing central axis 2-13.

[0044] See also Figure 3As shown, in an embodiment of the present invention, the hind wing flapping mechanism 2-23 includes a hind wing drive motor 2-5, a hind wing drive gear I2-6, a hind wing drive gear II2-7, a hind wing drive gear III2-8, a hind wing drive gear IV2-9 and a hind wing drive connecting rod 2-11, wherein the output end of the hind wing drive motor 2-5 is connected to the hind wing drive gear I2-6; the hind wing drive gear II2-7 is a double gear structure comprising a coaxially mounted large gear and a small gear, wherein the large gear is meshed with the hind wing drive gear I2-6, the small gear is meshed with the hind wing drive gear IV2-9, and the hind wing drive gear III2-8 is meshed with the hind wing drive gear IV2-9; the hind wing drive gear III2-8 and the hind wing drive gear IV2-9 are respectively hinged to the two hind wing roots 2-12 through two hind wing drive connecting rods 2-11 to form a crank rocker mechanism. The hind wing driving motor 2-5 drives the hind wing driving gear I 2-6 to rotate, and then drives the hind wing driving gear III 2-8 and the hind wing driving gear IV 2-9 to rotate in the opposite direction through the hind wing driving gear II 2-7, thereby driving the left hind wing 2-21 and the right hind wing 2-22 to rotate around the hind wing central axis 2-13 and swing up and down. In other words, the hind wing structure 2 is a flexible wing located below the elytra 1, and the hind wing flapping mechanism 2-23 is used to achieve the up and down flapping of the wing, generate aerodynamic force, and achieve flight.

[0045] Specifically, the material of the hind wing membrane 2-1 is a PET film with a thickness of 10um, the hind wing leading edge 2-2 is bonded to the leading edge of the hind wing membrane 2-1 by glue, the hind wing leading edge 2-2 is a nickel-titanium alloy with a rectangular cross-section, and the hind wing vein 2-3 is also attached to the hind wing membrane 2-1 and intersects and bonds with the hind wing leading edge 2-2. The root of the hind wing leading edge 2-2 is fixedly connected to the hind wing root 2-12, and flutters up and down with the movement of the hind wing root 2-12.

[0046] See also Fig.11 As shown, the present invention provides a wing folding device driven by a bionic creeping mechanism, and its working principle is:

[0047] (1) Hind wing flapping

[0048] Flapping motion: The flapping motion of the hind wings is achieved by the rotation of the hind wing drive motor 2-5, which is driven by gears and a crank rocker mechanism to achieve the flapping motion of the left hind wing 2-21 and the right hind wing 2-22. The flapping range can achieve a flapping angle of 50°. The flapping of the hind wings generates lift and thrust to overcome its own gravity and air resistance to achieve flight. Fig.11 (a) shown.

[0049] Passive deformation of the hind wing: The leading edge 2-2 of the hind wing is a nickel-titanium alloy with a rectangular cross-section. It has superelasticity and can have a smaller stiffness along the direction of the thin section. It can produce a larger deformation under a smaller force. The latex contraction rope 2-4 is a silicone rubber elastic rope with great elasticity, which can produce a large pulling force after stretching. The hind wing membrane 2-1 is a PET film with a thickness of 10um, which is easy to fold and bend and has high toughness. Through the joint action of the hind wing membrane 2-1, the leading edge 2-2 of the hind wing, the hind wing vein 2-3 and the latex contraction rope 2-4, when the hind wing is not flapping, the hind wing is passively deformed under the tension of the latex contraction rope 2-4 and folded toward the rear side of the fuselage.

[0050] Passive centrifugal force wing unfolding: When the hind wing is driven by the hind wing drive motor 2-5, it can realize flapping motion, rotating and flapping around the hind wing central axis 2-13. Due to the inertia force and centrifugal force of the hind wing, the hind wing can be deformed from passive folding to unfolding, and the wing can be unfolded to a larger angle, thereby generating greater lift. The faster the flapping speed, the greater the centrifugal force, and the smoother the hind wing unfolds. After the flapping stops, under the action of the latex contraction rope 2-4, the hind wing returns to the folded state behind the fuselage, see Fig.11 (b) as shown.

[0051] (2) Elytra expand and close

[0052] The left elytra 1-1 and the right elytra 1-2 can be driven by the elytra driving motor 3-1 to realize the expansion and folding of the elytra. When flapping, the left elytra 1-1 and the right elytra 1-2 are expanded to avoid interference between the elytra and the hind wing. When flapping stops, the left elytra 1-1 and the right elytra 1-2 are folded to protect the wings (left hind wing 2-21 and right hind wing 2-22). Fig.11 (c) as shown.

[0053] (3) Wing folding by abdominal peristalsis

[0054] The left hind wing 2-21 and the right hind wing 2-22 have a certain elastic deformation ability. In a non-moving state, they can be folded back to the rear of the fuselage, but usually they cannot be completely folded. Subsequent complete folding needs to rely on the creeping of the bionic flexible abdominal structure 4. Beetles in nature cannot completely fold their wings during the folding process. When the wings are folded to a certain extent, they use the creeping of the abdomen to rely on the interaction between the elytra and the abdomen to continue to retract the wings completely into the elytra in a licking-like manner, see Fig.11 (d) as shown.

[0055] Bionic abdominal peristaltic motion: The bionic peristaltic support 4-5 is rotated to drive the bionic peristaltic roller 4-4 to move circumferentially. Since the bionic peristaltic roller 4-4 is arranged alternately in high and low positions, the flexible abdomen 4-1 can be driven to deform flexibly during the rotation process to form a peristaltic motion.

[0056] The process of complete wing folding: In flight, the flapping hind wings are passively swung away for normal flight. After stopping flying, the left and right hind wings fold backwards under the action of pulling force, controlling the left and right elytra to fold inward to cover the left and right hind wings. At this time, part of the hind wings are still outside the elytra, and the abdominal peristalsis is activated. Under the action of peristalsis, the left and right hind wings that have not been fully folded can be further fully folded, thereby achieving complete protection of the hind wings by the elytra.

[0057] The present invention provides a wing folding device driven by a bionic peristaltic mechanism, and the overall size of the device is miniaturized after the wings are folded. The wing folding device of the present invention takes the beetle as a bionic object, combines the folding and storage mode of the bionic peristaltic abdomen, and through a reasonably designed folding mechanism and an internal storage structure of the fuselage, the wings of the flapping-wing aircraft can be compactly folded and stored inside the fuselage or in a specific position close to the fuselage in a non-flying state. Compared with the design of traditional flapping-wing aircraft in which the wings are exposed or simply folded to both sides of the fuselage, the present invention greatly reduces the overall size of the aircraft. The miniaturized design improves the portability and storage efficiency of the aircraft, and is particularly suitable for scenarios that require multiple deployments or convenient transportation, such as post-disaster rescue missions and environmental detection.

[0058] The present invention has a significant effect on protecting the wings after folding. In the design of traditional flapping-wing aircraft, the wings are usually exposed to the external environment when not in flight, and are easily affected by factors such as mechanical impact, rain corrosion, and dust coverage, resulting in damage or performance degradation. The present invention folds the wings into the fuselage or the protection range of the covering structure when not in operation by folding and storing the wings of a bionic beetle. This design effectively reduces the risk of damage to the wings by the external environment and extends the service life of the wings and the aircraft as a whole. At the same time, by optimizing the design of the folding path and the storage space, friction and damage during the folding process are also avoided, providing a guarantee for long-term stable use.

[0059] The folding structure of the present invention is simpler and more reliable than that of birds. Compared with the wing folding method of traditional flapping-wing aircraft using birds as bionic models, the design of the present invention significantly simplifies the folding structure. Bird bionic folding mostly adopts a folding mode with multiple joints on the leading edge, which requires a complex multi-link mechanism or a high-precision drive system, which is not only difficult to design and manufacture, but also easily increases the failure rate. The present invention uses the folding principle of the bionic beetle's abdomen peristalsis, with fewer moving parts and optimized mechanical paths, to achieve the automation of folding and storage. The entire device has a simple structure, light weight, and small size, and is particularly suitable for the actual needs of small flapping-wing aircraft. This design not only reduces the possibility of mechanical failure, but also reduces manufacturing and maintenance costs, providing technical guarantees for the promotion and application of miniaturized, low-cost flapping-wing aircraft.

[0060] The present invention improves the aerodynamic performance of the aircraft. In a non-flying state, a conventional flapping-wing aircraft is easily disturbed in an environment with high wind speeds due to its exposed wings, which may cause unnecessary shaking or stability problems. The wing folding device of the present invention can completely store or partially hide the wings inside the fuselage, effectively reducing the wind resistance of the aircraft in a stationary state. This not only improves the stability of the aircraft in extreme environments, but also further optimizes the aerodynamic performance of the aircraft and reduces potential risks caused by structural exposure.

[0061] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A wing folding device driven by a bionic creeping mechanism, characterized in that: The invention comprises elytra (1), a hind wing structure (2), an elytra driving mechanism (3) and a bionic flexible abdominal structure (4), wherein the elytra (1) and the elytra driving mechanism (3) are arranged at the front end of the bionic flexible abdominal structure (4), and the elytra (1) is connected to the elytra driving mechanism (3), and the elytra driving mechanism (3) is used to drive the elytra (1) to unfold or close; the hind wing structure (2) is arranged at the middle part of the bionic flexible abdominal structure (4), the hind wing structure (2) realizes flight by flapping, and the bionic flexible abdominal structure (4) causes the folded hind wing structure (2) to be stored inside the elytra (1) by creeping.

2. The wing folding device driven by the bionic creeping mechanism according to claim 1, characterized in that: The bionic flexible abdominal structure (4) comprises a flexible abdomen (4-1), an abdominal support (4-2) and a bionic peristaltic mechanism (4-21), wherein the bionic peristaltic mechanism (4-21) is arranged on the abdominal support (4-2), the flexible abdomen (4-1) is connected to the rear of the abdominal support (4-2) and wrapped around the outside of the bionic peristaltic mechanism (4-21), and the bionic peristaltic mechanism (4-21) is used to drive the flexible abdomen (4-1) to peristalsis.

3. The wing folding device driven by the bionic creeping mechanism according to claim 2, characterized in that: The bionic peristaltic mechanism (4-21) comprises a bionic peristaltic drive motor (4-3), a bionic peristaltic roller (4-4), a bionic peristaltic support (4-5), a peristaltic transmission assembly, a central shaft (4-11) and a peristaltic mechanism support (4-12), wherein the peristaltic mechanism support (4-12) is connected to the abdomen support (4-2), and the peristaltic mechanism support (4-12) is accommodated inside the flexible abdomen (4-1); the bionic peristaltic drive motor (4-3) and the central shaft (4-11) are both arranged on the peristaltic mechanism support The bionic peristaltic support (4-12) is mounted on a support (4-12), and the central axis (4-11) is rotatable. The output end of the bionic peristaltic drive motor (4-3) is connected to the central axis (4-11) through a peristaltic transmission assembly. The two ends of the central axis (4-11) are respectively connected to two bionic peristaltic support brackets (4-5) arranged in parallel. A plurality of bionic peristaltic rollers (4-4) distributed along the circumferential direction are rotatably connected between the two bionic peristaltic support brackets (4-5). The radial distances between the axes of the plurality of bionic peristaltic rollers (4-4) and the central axis (4-11) are alternately arranged in high and low directions.

4. The wing folding device driven by the bionic creeping mechanism according to claim 3, characterized in that: The bionic peristaltic roller (4-4) is an elliptical structure; a controller (4-10) is provided at the end of the peristaltic mechanism bracket (4-12).

5. The wing folding device driven by the bionic creeping mechanism according to claim 1, characterized in that: The elytra (1) comprises a left elytra (1-1) and a right elytra (1-2), the left elytra (1-1) and the right elytra (1-2) being symmetrically hinged at the front end of the bionic flexible abdominal structure (4), and the left elytra (1-1) and the right elytra (1-2) being connected to the elytra driving mechanism (3).

6. The wing folding device driven by the bionic creeping mechanism according to claim 5, characterized in that: The left elytra (1-1) and the right elytra (1-2) are hard thin-walled shell structures. When the left elytra (1-1) and the right elytra (1-2) are closed, they cover the outer side of the folded hind wing structure (2) to play a protective role.

7. The wing folding device driven by the bionic creeping mechanism according to claim 5, characterized in that: The elytra driving mechanism (3) comprises an elytra driving motor (3-1), an elytra driving connecting rod I (3-2), an elytra driving connecting rod II (3-3) and a crank (3-4), wherein the elytra driving motor (3-1) is arranged on the bionic flexible abdominal structure (4), and the output end is fixedly connected to one end of the crank (3-4), the other end of the crank (3-4) is hinged to one end of the elytra driving connecting rod I (3-2) and the elytra driving connecting rod II (3-3), and the other ends of the elytra driving connecting rod I (3-2) and the elytra driving connecting rod II (3-3) are respectively hinged to the left elytra (1-1) and the right elytra (1-2); the elytra driving motor (3-1) provides power for the opening or closing of the left elytra (1-1) and the right elytra (1-2).

8. The wing folding device driven by the bionic creeping mechanism according to claim 1, characterized in that: The hind wing structure (2) comprises a left hind wing (2-21), a right hind wing (2-22), a hind wing root (2-12), a hind wing central axis (2-13), a hind wing flapping mechanism bracket (2-10) and a hind wing flapping mechanism (2-23), wherein the hind wing flapping mechanism bracket (2-10) is connected to the bionic flexible abdominal structure (4), and the hind wing central axis (2-13) and the hind wing flapping mechanism (2-23) are arranged on the hind wing flapping mechanism bracket (2-10) up and down. -10), two hind wing roots (2-12) are rotatably mounted on both sides of the hind wing central axis (2-13), the two hind wing roots (2-12) are respectively fixedly connected to the left hind wing (2-21) and the right hind wing (2-22), a hind wing flapping mechanism (2-23) is connected to the two hind wing roots (2-12), and the hind wing flapping mechanism (2-23) provides power for the left hind wing (2-21) and the right hind wing (2-22) to swing up and down.

9. The wing folding device driven by the bionic creeping mechanism according to claim 8, characterized in that: The left hind wing (2-21) and the right hind wing (2-22) have the same structure, and both include a hind wing membrane (2-1), a hind wing leading edge (2-2), a hind wing vein (2-3) and a latex contraction rope (2-4), wherein the hind wing leading edge (2-2) is bonded to the leading edge of the hind wing membrane (2-1), the hind wing vein (2-3) is bonded to the part of the hind wing membrane (2-1) near the end, and there are two latex contraction ropes (2-4), one end of each of the two latex contraction ropes (2-4) is connected to the hind wing leading edge (2-2) near the hind wing central axis (2-13), and the other ends of the two latex contraction ropes (2-4) are respectively connected to the hind wing vein (2-3) and the hind wing central axis (2-13).

10. The wing folding device driven by the bionic creeping mechanism according to claim 8, characterized in that: The hind wing flapping mechanism (2-23) comprises a hind wing driving motor (2-5), a hind wing driving gear I (2-6), a hind wing driving gear II (2-7), a hind wing driving gear III (2-8), a hind wing driving gear IV (2-9) and a hind wing driving connecting rod (2-11), wherein the output end of the hind wing driving motor (2-5) is connected to the hind wing driving gear I (2-6); the hind wing driving gear II (2-7) is a double gear structure comprising a large gear and a small gear installed coaxially, wherein the large gear is meshed with the hind wing driving gear I (2-6), the small gear is meshed with the hind wing driving gear IV (2-9), and the hind wing driving gear III (2-8) is meshed with the hind wing driving gear IV (2-9); the hind wing driving gear III (2-8) and the hind wing driving gear IV (2-9) are respectively hinged to the two hind wing roots (2-12) through two hind wing driving connecting rods (2-11).

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