Wing folding device driven by bionic peristalsis mechanism

Abstract

The present application relates to flapping wing robot, especially to a wing folding device driven by a bionic peristalsis mechanism, comprising a sheath wing, a rear wing structure, a sheath wing driving mechanism and a bionic flexible abdomen structure, wherein the sheath wing and the sheath wing driving mechanism are arranged at the front end of the bionic flexible abdomen structure, the sheath wing is connected with the sheath wing driving mechanism, and the sheath wing driving mechanism is used for driving the sheath wing to unfold or close; the rear wing structure is arranged at the middle part of the bionic flexible abdomen structure, the rear wing structure realizes flight through flapping, and the bionic flexible abdomen structure makes the folded rear wing structure be stored inside the sheath wing through peristalsis. The present application takes a beetle as a bionic object, combines the folding storage mode of a bionic peristalsis abdomen, and through a reasonably designed folding mechanism and an internal storage structure of the fuselage, the wing can be compactly folded and stored in the fuselage or a specific position close to the fuselage in a non-flight state, so that the automation of folding and storage is realized.

Description

Technical Field

[0001] This invention relates to flapping-wing flying robots, and more particularly to a wing folding device driven by a biomimetic peristalsis mechanism. Background Technology

[0002] Ornithoptering aircraft have wide applications in aerospace, microrobotics, and other fields. As a type of biomimetic aircraft, ornithoptering aircraft are based on the principles of biological flight and are characterized by high flexibility and excellent flight efficiency. However, current ornithoptering aircraft have a key problem: the wings are relatively large in non-flight states, making storage and folding difficult. Because the wings in existing designs cannot be effectively folded or reduced in size, they occupy most of the aircraft's space, leading to inconvenience in carrying and storing. Furthermore, the exposed wings, especially during transportation, are susceptible to external damage, reducing the overall lifespan and reliability of the aircraft.

[0003] Beetles in nature (especially Coleoptera beetles) offer an efficient wing-folding solution. When not in use, their hindwings fold and tuck under their elytra. This folding method not only significantly reduces volume but also provides effective protection for the hindwings through the elytra, preventing damage from environmental factors. In contrast, current biomimetic designs for flapping-wing aircraft primarily borrow from bird wing folding mechanisms, folding the leading edge to bring the wings together to the sides of the fuselage. This folding design is complex, especially for small flapping-wing aircraft, where structural redundancy impacts performance. Even after folding, the wings remain on the outside of the fuselage, failing to effectively reduce overall size, thus remaining insufficient in terms of portability and protection. Furthermore, bird-inspired folding designs require high precision in the folding mechanism, resulting in a complex overall structure and lower reliability. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a wing folding device driven by a biomimetic peristaltic mechanism, thereby solving the problem that the biomimetic folding design of birds requires high precision in the folding mechanism, resulting in a complex overall structure and low reliability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a wing folding device driven by a biomimetic peristaltic mechanism, comprising an elytra, a hindwing structure, an elytra drive mechanism, and a biomimetic flexible abdominal structure. The elytra and the elytra drive mechanism are located at the front end of the biomimetic flexible abdominal structure, and the elytra are connected to the elytra drive mechanism. The elytra drive mechanism is used to drive the elytra to unfold or close. The hindwing structure is located in the middle of the biomimetic flexible abdominal structure. The hindwing structure achieves flight by flapping, and the biomimetic flexible abdominal structure retracts the folded hindwing structure into the inside of the elytra by peristalsis.

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

[0008] The biomimetic peristaltic mechanism includes a biomimetic peristaltic drive motor, biomimetic peristaltic rollers, a biomimetic peristaltic support, a peristaltic transmission assembly, a central shaft, and a peristaltic mechanism support. The peristaltic mechanism support is connected to the abdominal support and is housed inside the flexible abdomen. The biomimetic peristaltic drive motor and the central shaft are both mounted on the peristaltic mechanism support, and the central shaft is rotatable. The output end of the biomimetic peristaltic drive motor is connected to the central shaft through the peristaltic transmission assembly. The two ends of the central shaft are respectively connected to two parallel biomimetic peristaltic supports. Multiple biomimetic peristaltic rollers distributed circumferentially are rotatably connected between the two biomimetic peristaltic supports. The axes of the multiple biomimetic peristaltic rollers are arranged at varying heights relative to the radial distance of the central shaft.

[0009] The biomimetic peristaltic roller has an elliptical structure; the end of the peristaltic mechanism support is equipped with a controller.

[0010] The elytra include a left elytra and a right elytra, which are symmetrically hinged to the front end of the biomimetic flexible abdominal structure. Both the left and right elytra are connected to the elytra drive mechanism.

[0011] The left and right elytra are rigid, thin-walled shell structures. When closed, the left and right elytra cover the outside of the folded hindwing structure, providing protection.

[0012] The elytra drive mechanism includes an elytra drive motor, an elytra drive linkage I, an elytra drive linkage II, and a crank. The elytra drive motor is mounted on the biomimetic flexible abdominal structure, and its 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 drive linkage I and the elytra drive linkage II. The other ends of the elytra drive linkage I and the elytra drive linkage II are respectively hinged to the left elytra and the right elytra. The elytra drive motor provides power for the opening or closing of the left elytra and the right elytra.

[0013] The hindwing structure includes a left hindwing, a right hindwing, hindwing wing roots, a hindwing central axis, a hindwing flapping mechanism support, and a hindwing flapping mechanism. The hindwing flapping mechanism support is connected to the biomimetic flexible abdominal structure. The hindwing central axis and the hindwing flapping mechanism are mounted vertically on the hindwing flapping mechanism support. Two hindwing wing roots are rotatably mounted on both sides of the hindwing central axis. The two hindwing wing roots are fixedly connected to the left hindwing and the right hindwing, respectively. The hindwing flapping mechanism is connected to the two hindwing wing roots and provides power for the left and right hindwings to swing up and down.

[0014] The left and right hindwings have the same structure, both including a hindwing membrane, a leading edge, a hindwing vein, and latex shrink ropes. The leading edge of the hindwing is attached to the leading edge of the hindwing membrane, and the hindwing vein is attached to the part of the hindwing membrane near the end. There are two latex shrink ropes, one end of which is connected to the side of the leading edge of the hindwing near the central axis of the hindwing, and the other end of which is connected to the hindwing vein and the central axis of the hindwing, respectively.

[0015] The hindwing flapping mechanism includes a hindwing drive motor, hindwing drive gear I, hindwing drive gear II, hindwing drive gear III, hindwing drive gear IV, and hindwing drive linkages. The output end of the hindwing drive motor is connected to hindwing drive gear I. Hindwing drive gear II is a double-gear structure containing a large gear and a small gear mounted coaxially. The large gear meshes with hindwing drive gear I, and the small gear meshes with hindwing drive gear IV. Hindwing drive gear III meshes with hindwing drive gear IV. Hindwing drive gear III and hindwing drive gear IV are hinged to the two hindwing roots respectively through two hindwing drive linkages.

[0016] The advantages and beneficial effects of this invention are as follows: This invention provides a wing folding device driven by a biomimetic peristaltic mechanism. Taking the peristaltic folding pattern of a beetle's abdomen as a biomimetic model, it employs an active folding and storage design, achieving the effect of simply folding and storing the wing structure inside the fuselage. This design effectively reduces the volume of the aircraft in its non-flying state, not only facilitating carrying and storage but also improving the protection of the wing. The solution of this invention is more simplified in design, reduces structural complexity, improves reliability, and is suitable for practical applications in small flapping-wing aircraft. Attached Figure Description

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

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

[0019] Figure 3 This is an isometric view of the hindwing structure in this invention;

[0020] Figure 4 This is a schematic diagram of the hindwing structure in this invention;

[0021] Figure 5 This is a schematic diagram of the passive flapping state of the hindwings in the flapping state of the present invention;

[0022] Figure 6 This is a schematic diagram of the retracted and folded state of the hindwings in the non-flapping state under the action of the latex shrink rope in this invention;

[0023] Figure 7 This is a schematic diagram showing the connection between the elytra structure and the biomimetic flexible abdominal structure in this invention;

[0024] Figure 8 This is an axonometric view of the elytra structure in this invention;

[0025] Figure 9 This is a schematic diagram of the biomimetic peristaltic mechanism in this invention;

[0026] Figure 10 This is a schematic diagram of the biomimetic abdominal peristaltic movement in this invention;

[0027] Figure 11 The complete folding wing process of the present invention is shown in the following diagram: (a) Flight state: the wings are passively spread open; (b) Stop state: the wings fold backward under the action of the pull force; (c) the elytra retract; (d) the abdomen moves and the rear wings are completely retracted.

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

[0029] 2 is the hindwing structure, 2-1 is the hindwing membrane, 2-2 is the leading edge of the hindwing, 2-3 is the hindwing vein, 2-4 is the latex shrink rope, 2-5 is the hindwing drive motor, 2-6 is the hindwing drive gear I, 2-7 is the hindwing drive gear II, 2-8 is the hindwing drive gear III, 2-9 is the hindwing drive gear IV, 2-10 is the hindwing flapping mechanism support, 2-11 is the hindwing drive linkage, 2-12 is the hindwing root, 2-13 is the hindwing central shaft, 2-21 is the left hindwing, 2-22 is the right hindwing, and 2-23 is the hindwing flapping mechanism;

[0030] 3 is the elytra drive mechanism, 3-1 is the elytra drive motor, 3-2 is the elytra drive linkage I, 3-3 is the elytra drive linkage II, and 3-4 is the crank.

[0031] 4 is the biomimetic flexible abdominal structure, 4-1 is the flexible abdomen, 4-2 is the abdominal support, 4-3 is the biomimetic peristaltic drive motor, 4-4 is the biomimetic peristaltic roller, 4-5 is the biomimetic peristaltic support, 4-6 is the peristaltic transmission wheel I, 4-7 is the peristaltic transmission wheel II, 4-8 is the peristaltic transmission belt, 4-9 is the bearing, 4-10 is the controller, 4-11 is the central shaft, 4-12 is the peristaltic mechanism support, and 4-21 is the biomimetic peristaltic mechanism. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] See Figure 1As shown, the present invention provides a wing folding device driven by a biomimetic peristaltic mechanism, including an elytra 1, a hindwing structure 2, an elytra drive mechanism 3, and a biomimetic flexible abdominal structure 4. The elytra 1 and the elytra drive mechanism 3 are located at the front end of the biomimetic flexible abdominal structure 4, and the elytra 1 is connected to the elytra drive mechanism 3. The elytra drive mechanism 3 is used to drive the elytra 1 to unfold or close. The hindwing structure 2 is located in the middle of the biomimetic flexible abdominal structure 4. The hindwing structure 2 achieves flight by flapping, and the biomimetic flexible abdominal structure 4 retracts the folded hindwing structure 2 into the inside of the elytra 1 by peristalsis.

[0034] See Figure 2 , Figure 7 As shown, in an embodiment of the present invention, the biomimetic flexible abdominal structure 4 includes a flexible abdomen 4-1, an abdominal support 4-2, and a biomimetic peristaltic mechanism 4-21. The biomimetic peristaltic mechanism 4-21 is disposed on the abdominal support 4-2, the flexible abdomen 4-1 is connected to the rear part of the abdominal support 4-2 and wraps around the outside of the biomimetic peristaltic mechanism 4-21, and the biomimetic peristaltic mechanism 4-21 is used to drive the flexible abdomen 4-1 to peristalse.

[0035] See Figures 8 to 10 As shown, in an embodiment of the present invention, the biomimetic peristaltic mechanism 4-21 includes a biomimetic peristaltic drive motor 4-3, a biomimetic peristaltic roller 4-4, a biomimetic peristaltic support 4-5, a peristaltic transmission assembly, a central shaft 4-11, and a peristaltic mechanism support 4-12. The peristaltic mechanism support 4-12 is connected to the abdominal support 4-2 and is housed within the flexible abdomen 4-1. Both the biomimetic peristaltic drive motor 4-3 and the central shaft 4-11 are mounted on the peristaltic mechanism support 4-12. The central shaft 4-11 is supported by a bearing 4-9 and is rotatable. The output end of the biomimetic peristaltic drive motor 4-3 is connected to the central shaft via the peristaltic transmission assembly. The central shaft 4-11 is connected to two parallel bionic peristaltic supports 4-5 at both ends. Multiple bionic peristaltic rollers 4-4 are rotatably connected between the two bionic peristaltic supports 4-5. The axes of the multiple bionic peristaltic rollers 4-4 are arranged at different heights relative to the radial distance of the central shaft 4-11. The bionic peristaltic drive motor 4-3 drives the central shaft 4-11 to rotate. The central shaft 4-11 drives the multiple bionic peristaltic rollers 4-4 to move circumferentially. When the upper bionic peristaltic roller 4-4 rotates, it contacts the flexible abdomen 4-1. The peristalsis of the flexible abdomen 4-1 is achieved by the bionic peristaltic rollers 4-4 arranged at different heights.

[0036] Furthermore, the biomimetic peristaltic roller 4-4 has an elliptical structure; the end of the peristaltic mechanism support 4-12 is equipped with a controller 4-10. The biomimetic peristaltic support 4-5 has multiple radial arms, which are arranged in alternating lengths, and the biomimetic peristaltic roller 4-4 is rotatably mounted at the end of each arm.

[0037] In embodiments of the present invention, the peristaltic transmission assembly includes a peristaltic transmission wheel I 4-6, a peristaltic transmission wheel II 4-7, and a peristaltic transmission belt 4-8. The peristaltic transmission wheel I 4-6 is disposed at the end of the central shaft 4-11, the peristaltic transmission wheel II 4-7 is disposed at the output end of the biomimetic peristaltic drive motor 4-3, and the peristaltic transmission wheel I 4-6 and the peristaltic transmission wheel II 4-7 are connected by the peristaltic transmission belt 4-8.

[0038] Specifically, the abdominal support 4-2 and the flexible abdomen 4-1 are integrally bonded together. The abdominal support 4-2 is made of rigid resin or PC plastic, while the flexible abdomen 4-1 is made of flexible silicone. The abdominal support 4-2 and the peristaltic mechanism support 4-12 are fixedly connected by screws. The peristaltic mechanism support 4-12 is located inside the flexible abdomen 4-1. The biomimetic peristaltic drive motor 4-3 is installed below the peristaltic mechanism support 4-12. Two biomimetic peristaltic supports 4-5 are coaxially connected to the central shaft 4-11, enabling the biomimetic peristaltic drive motor 4-3 to rotate, thereby driving the two biomimetic peristaltic supports 4-5 to rotate. The biomimetic peristaltic roller 4-4 can revolve around a central axis and can also rotate freely around its own axis of rotation. The controller 4-10 is located in front of the peristaltic mechanism support 4-12 and is connected by screws. The biomimetic peristaltic supports 4-5 adopt a staggered arm shape, which creates a peristaltic effect after rotation. (See [reference]). Figure 10 (a)-(b).

[0039] See 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. 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. Both the left elytra 1-1 and the right elytra 1-2 are connected to the elytra drive mechanism 3.

[0040] Furthermore, the left elytra 1-1 and right elytra 1-2 are hard, thin-walled shell structures, similar to the shells of beetles. The left elytra 1-1 and right elytra 1-2 can be made of materials such as resin or PC plastic. After the elytra drive mechanism 3 drives the left elytra 1-1 and right elytra 1-2 to close, they cover the outside of the folded hindwing structure 2, providing protection.

[0041] See Figure 7As shown, in an embodiment of the present invention, the elytra drive mechanism 3 includes an elytra drive motor 3-1, an elytra drive linkage I 3-2, an elytra drive linkage II 3-3, and a crank 3-4. The elytra drive motor 3-1 is located above the front of the abdominal support 4-2 of the biomimetic flexible abdominal structure 4. The output end of the elytra drive 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 drive linkage I 3-2 and the elytra drive linkage II 3-3. The other ends of the elytra drive linkage I 3-2 and the elytra drive linkage II 3-3 are respectively hinged to the left elytra 1-1 and the right elytra 1-2. The elytra drive motor 3-1 provides power for the opening and closing of the left elytra 1-1 and the right elytra 1-2.

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

[0043] See Figure 3 , Figure 4 As shown in the embodiment of the present invention, the left hindwing 2-21 and the right hindwing 2-22 have the same structure, both including a hindwing membrane 2-1, a hindwing leading edge 2-2, a hindwing vein 2-3, and a latex shrink rope 2-4. The hindwing leading edge 2-2 is attached to the leading edge of the hindwing membrane 2-1, and the hindwing vein 2-3 is attached to the part of the hindwing membrane 2-1 near the end. There are two latex shrink ropes 2-4. One end of each latex shrink rope 2-4 is connected to the side of the hindwing leading edge 2-2 near the hindwing central axis 2-13, and the other end of each latex shrink rope 2-4 is connected to the hindwing vein 2-3 and the hindwing central axis 2-13, respectively.

[0044] See Figure 3As shown, in an embodiment of the present invention, the hindwing flapping mechanism 2-23 includes a hindwing drive motor 2-5, a hindwing drive gear I 2-6, a hindwing drive gear II 2-7, a hindwing drive gear III 2-8, a hindwing drive gear IV 2-9, and a hindwing drive connecting rod 2-11. The output end of the hindwing drive motor 2-5 is connected to the hindwing drive gear I 2-6. The hindwing drive gear II 2-7 is a double-gear structure containing a large gear and a small gear mounted coaxially. The large gear meshes with the hindwing drive gear I 2-6, and the small gear meshes with the hindwing drive gear IV 2-9. The hindwing drive gear III 2-8 meshes with the hindwing drive gear IV 2-9. The hindwing drive gear III 2-8 and the hindwing drive gear IV 2-9 are hinged to the two hindwing roots 2-12 respectively through the two hindwing drive connecting rods 2-11, forming a crank-rocker mechanism. The rear wing drive motor 2-5 drives the rear wing drive gear I 2-6 to rotate, which in turn drives the rear wing drive gears III 2-8 and IV 2-9 to rotate in opposite directions via the rear wing drive gear II 2-7. This causes the left rear wing 2-21 and right rear wing 2-22 to rotate around the rear wing central axis 2-13, resulting in up-and-down flapping. In other words, the rear wing structure 2 is a flexible wing located below the elytra 1. The flapping mechanism 2-23 enables the wings to flap up and down, generating aerodynamics and achieving flight.

[0045] Specifically, the hindwing membrane 2-1 is made of a 10µm thick PET film. The leading edge 2-2 of the hindwing is glued to the leading edge of the hindwing membrane 2-1. The leading edge 2-2 is a nickel-titanium alloy with a rectangular cross-section. The hindwing veins 2-3 are also glued to the hindwing membrane 2-1 and intersect with the leading edge 2-2. The root of the leading edge 2-2 is fixedly connected to the hindwing wing root 2-12 and flaps up and down with the movement of the hindwing wing root 2-12.

[0046] See Figure 11 As shown, the present invention provides a wing folding device driven by a biomimetic peristalsis mechanism, the working principle of which is as follows:

[0047] (1) Flapping of hindwings

[0048] Flapping motion: The flapping motion of the hindwings is achieved by rotating the hindwing drive motor 2-5, which, through gear transmission and a crank-rocker mechanism, causes the left hindwing 2-21 and right hindwing 2-22 to flap. The flapping range can achieve a 50° flapping angle. The hindwing flapping generates lift and thrust, overcoming its own weight and air resistance to achieve flight. See also... Figure 11 As shown in (a).

[0049] Passive deformation of the hindwing: The leading edge 2-2 of the hindwing is a nickel-titanium alloy with a rectangular cross-section. It is highly elastic, exhibiting low stiffness along its thinner section, allowing for significant deformation under relatively small forces. The latex shrink rope 2-4 is a highly elastic silicone rubber rope that can generate considerable tensile force when stretched. The hindwing membrane 2-1 is a 10µm thick PET film, easily folded and bent, and possesses high toughness. Through the combined action of the hindwing membrane 2-1, the leading edge 2-2, the hindwing veins 2-3, and the latex shrink rope 2-4, the hindwing passively deforms and folds towards the rear of the fuselage under the tension of the latex shrink rope 2-4, even without flapping.

[0050] Passive centrifugal force unfolding of wings: Driven by the rear wing drive motor 2-5, the hindwing can flap, rotating and flapping around the central axis 2-13 of the rear wing. Due to the inertia and centrifugal force of the hindwing, it can be passively folded and deformed into unfolding motion, unfolding the wings to a larger angle, thereby generating greater lift. The faster the flapping speed, the greater the centrifugal force, and the flatter the unfolded hindwing. After the flapping stops, under the action of the latex retraction rope 2-4, the hindwing returns to its folded-backward position. See [link to relevant documentation]. Figure 11 As shown in (b).

[0051] (2) The elytra unfold and fold.

[0052] The left elytra 1-1 and right elytra 1-2 can be deployed and retracted under the drive of the elytra drive motor 3-1. During flapping flight, the left elytra 1-1 and right elytra 1-2 are deployed to avoid interference between the elytra and hindwings. When flapping flight stops, the left elytra 1-1 and right elytra 1-2 are retracted to protect the wings (left hindwing 2-21 and right hindwing 2-22). See [reference needed]. Figure 11 As shown in (c).

[0053] (3) Abdominal peristalsis folding wings

[0054] The left hindwing 2-21 and right hindwing 2-22 have a certain degree of elastic deformation capability. In a non-moving state, they can fold back towards the rear of the body, but usually not completely. Complete folding requires the peristaltic movement of the biomimetic flexible abdominal structure 4. In nature, beetles also cannot completely fold their wings during the folding process. After the wings are folded to a certain extent, they use abdominal peristalsis, relying on the interaction between the elytra and abdomen, to continue retracting the hindwings completely into the elytra in a licking-like manner. (See [link to previous section]). Figure 11 As shown in (d).

[0055] Bionic abdominal peristaltic movement: The rotation of the bionic peristaltic support 4-5 drives the bionic peristaltic roller 4-4 to move in a circumferential direction. Since the bionic peristaltic roller 4-4 is arranged at different heights, it can drive the flexible abdomen 4-1 to deform flexibly during the rotation, forming a peristaltic movement.

[0056] Complete wing folding process: In flight, the flapping wings are passively flapped open for normal flight. After stopping, the left and right hindwings fold backward under the action of pull, controlling the left and right elytra to fold inward and cover the left and right hindwings. At this time, there are still some wings outside the elytra. The ventral peristalsis is initiated. Under the action of peristalsis, the left and right hindwings that are not fully folded can be further folded completely, so that the elytra completely protect the hindwings.

[0057] This invention provides a biomimetic peristaltic mechanism-driven wing folding device, which significantly reduces the overall size of the device after folding the wing. Inspired by a beetle, the wing folding device incorporates a folding and storage pattern inspired by the peristaltic abdomen. Through a rationally designed folding mechanism and internal storage structure, the wings of a flapping-wing aircraft can be compactly folded and stored inside the fuselage or in a specific location near the fuselage when not in flight. Compared to traditional flapping-wing aircraft designs where the wings are exposed or simply folded to the sides of the fuselage, this invention significantly reduces the overall size of the aircraft. The miniaturized design improves the aircraft's portability and storage efficiency, making it particularly suitable for scenarios requiring multiple deployments or convenient transportation, such as disaster relief missions and environmental surveys.

[0058] This invention provides significant protection for the wings after folding. In traditional flapping-wing aircraft designs, the wings are typically exposed to the external environment when not in flight, making them susceptible to damage or performance degradation due to mechanical impacts, rain corrosion, and dust accumulation. This invention utilizes a biomimetic beetle-like wing folding and storage method, folding the wings into the fuselage or within the protective area of ​​a covering structure when not in operation. This design effectively reduces the risk of damage to the wings from the external environment, extending the service life of the wings and the entire aircraft. Furthermore, by optimizing the folding path and storage space design, friction and damage during the folding process are avoided, ensuring long-term stable use.

[0059] The folding structure of this invention is simpler and more reliable than bird-inspired folding. Compared to the bird-inspired wing folding method used in traditional flapping-wing aircraft, the design of this invention significantly simplifies the folding structure. Bird-inspired folding often employs a multi-jointed leading-edge folding mode, requiring complex multi-link mechanisms or high-precision drive systems, which not only increases design and manufacturing difficulty but also raises the failure rate. This invention, however, utilizes the peristaltic folding principle of a beetle's abdomen, employing fewer moving parts and optimized mechanical paths to achieve automated folding and storage. The entire device is simple in structure, lightweight, and compact, making it particularly suitable for the practical needs of small flapping-wing aircraft. This design not only reduces the possibility of mechanical failure but also lowers manufacturing and maintenance costs, providing technical support for the widespread application of miniaturized, low-cost flapping-wing aircraft.

[0060] This invention improves the aerodynamic performance of aircraft. In non-flight conditions, traditional flapping-wing aircraft, with their exposed wings, are easily disturbed in high-wind environments, potentially causing unnecessary vibrations or stability issues. The wing-folding device of this invention can completely or partially retract the wings within the fuselage, effectively reducing wind resistance when the aircraft is stationary. This not only improves the aircraft's stability in extreme environments but also further optimizes its aerodynamic performance, reducing potential hazards associated with structural exposure.

[0061] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A wing folding device driven by a biomimetic peristaltic mechanism, characterized in that, It includes an elytra (1), a hindwing structure (2), an elytra drive mechanism (3), and a biomimetic flexible abdominal structure (4). The elytra (1) and the elytra drive mechanism (3) are located at the front end of the biomimetic flexible abdominal structure (4), and the elytra (1) is connected to the elytra drive mechanism (3). The elytra drive mechanism (3) is used to drive the elytra (1) to unfold or close. The hindwing structure (2) is located in the middle of the biomimetic flexible abdominal structure (4). The hindwing structure (2) achieves flight by flapping. The biomimetic flexible abdominal structure (4) retracts the folded hindwing structure (2) into the inside of the elytra (1) by peristalsis.

2. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 1, characterized in that, The biomimetic flexible abdominal structure (4) includes a flexible abdomen (4-1), an abdominal support (4-2), and a biomimetic peristaltic mechanism (4-21). The biomimetic peristaltic mechanism (4-21) is disposed 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 biomimetic peristaltic mechanism (4-21). The biomimetic peristaltic mechanism (4-21) is used to drive the flexible abdomen (4-1) to peristalse.

3. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 2, characterized in that, The biomimetic peristaltic mechanism (4-21) includes a biomimetic peristaltic drive motor (4-3), a biomimetic peristaltic roller (4-4), a biomimetic peristaltic support (4-5), a peristaltic transmission assembly, a central shaft (4-11), and a peristaltic mechanism support (4-12). The peristaltic mechanism support (4-12) is connected to the abdominal support (4-2), and the peristaltic mechanism support (4-12) is housed inside the flexible abdomen (4-1). The biomimetic peristaltic drive motor (4-3) and the central shaft (4-11) are both located on the peristaltic mechanism support. The central shaft (4-11) is rotatable on the frame (4-12). The output end of the bionic peristaltic drive motor (4-3) is connected to the central shaft (4-11) through the peristaltic transmission assembly. The two ends of the central shaft (4-11) are respectively connected to two parallel bionic peristaltic supports (4-5). Multiple bionic peristaltic rollers (4-4) are rotatably connected between the two bionic peristaltic supports (4-5). The axes of the multiple bionic peristaltic rollers (4-4) are arranged at different heights relative to the radial distance of the central shaft (4-11).

4. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 3, characterized in that, The biomimetic peristaltic roller (4-4) has an elliptical structure; the end of the peristaltic mechanism support (4-12) is equipped with a controller (4-10).

5. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 1, characterized in that, The elytra (1) includes a left elytra (1-1) and a right elytra (1-2), which are symmetrically hinged to the front end of the biomimetic flexible abdominal structure (4). Both the left elytra (1-1) and the right elytra (1-2) are connected to the elytra drive mechanism (3).

6. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 5, characterized in that, The left elytra (1-1) and the right elytra (1-2) are rigid, thin-walled shell structures. When closed, the left elytra (1-1) and the right elytra (1-2) cover the outside of the folded hindwing structure (2) and provide protection.

7. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 5, characterized in that, The elytra drive mechanism (3) includes an elytra drive motor (3-1), an elytra drive linkage I (3-2), an elytra drive linkage II (3-3), and a crank (3-4). The elytra drive motor (3-1) is mounted on the biomimetic flexible abdominal structure (4), and its 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 drive linkage I (3-2) and the elytra drive linkage II (3-3). The other ends of the elytra drive linkage I (3-2) and the elytra drive linkage II (3-3) are respectively hinged to the left elytra (1-1) and the right elytra (1-2). The elytra drive 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 biomimetic peristalsis mechanism according to claim 1, characterized in that, The hindwing structure (2) includes a left hindwing (2-21), a right hindwing (2-22), a hindwing wing root (2-12), a hindwing central axis (2-13), a hindwing flapping mechanism support (2-10), and a hindwing flapping mechanism (2-23). ​​The hindwing flapping mechanism support (2-10) is connected to the biomimetic flexible abdominal structure (4). The hindwing central axis (2-13) and the hindwing flapping mechanism (2-23) are arranged vertically on the hindwing flapping mechanism support (2-10). On the rear wing central axis (2-13), two rear wing roots (2-12) are rotatably mounted on both sides. The two rear wing roots (2-12) are fixedly connected to the left rear wing (2-21) and the right rear wing (2-22) respectively. The rear wing flapping mechanism (2-23) is connected to the two rear wing roots (2-12) and provides power for the left rear wing (2-21) and the right rear wing (2-22) to swing up and down.

9. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 8, characterized in that, The left hindwing (2-21) and the right hindwing (2-22) have the same structure, both including a hindwing membrane (2-1), a hindwing leading edge (2-2), a hindwing vein (2-3), and latex shrink ropes (2-4). The hindwing leading edge (2-2) is attached to the leading edge of the hindwing membrane (2-1), and the hindwing vein (2-3) is attached to the part of the hindwing membrane (2-1) near the end. There are two latex shrink ropes (2-4). One end of each latex shrink rope (2-4) is connected to the side of the hindwing leading edge (2-2) near the central axis (2-13) of the hindwing, and the other end of each latex shrink rope (2-4) is connected to the hindwing vein (2-3) and the central axis (2-13) of the hindwing, respectively.

10. The wing folding device driven by the biomimetic peristalsis mechanism according to claim 8, characterized in that, The hindwing flapping mechanism (2-23) includes a hindwing drive motor (2-5), hindwing drive gear I (2-6), hindwing drive gear II (2-7), hindwing drive gear III (2-8), hindwing drive gear IV (2-9), and hindwing drive linkage (2-11). The output end of the hindwing drive motor (2-5) is connected to the hindwing drive gear I (2-6). The hindwing drive gear II (2-7) is a double-gear structure containing a large gear and a small gear mounted coaxially. The large gear meshes with the hindwing drive gear I (2-6), and the small gear meshes with the hindwing drive gear IV (2-9). The hindwing drive gear III (2-8) meshes with the hindwing drive gear IV (2-9). The hindwing drive gear III (2-8) and the hindwing drive gear IV (2-9) are hinged to the two hindwing roots (2-12) respectively through the two hindwing drive linkages (2-11).

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