Variable flapping angle high endurance biomimetic ornithopter and control method thereof

Abstract

The application relates to the field of bionic flapping-wing aircrafts, and discloses a high-endurance bionic flapping-wing aircraft with variable flapping angles and a control method thereof. The flapping-wing aircraft comprises a body unit, a wing unit and a driving unit. The body unit comprises a frame and a tail wing arranged at the tail end of the frame. The wing unit comprises a transmission assembly arranged in the frame and wings connected with the transmission assembly and distributed on both sides of the frame. The driving unit is arranged on the frame and comprises wing driving assemblies connected with the transmission assembly and wing adjusting assemblies connected with the wings. The bionic flapping-wing aircraft designed by the application has a simple overall structure, can effectively reduce the mass of the flapping-wing aircraft, optimizes the structure as much as possible, and improves the endurance of the whole aircraft. Through novel transmission control, a high-maneuvering turning mode is designed, the direction is changed by changing the flapping frequencies of the wings on both sides, and the control difficulty of the aircraft is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic flapping wing aircraft, and particularly relates to a high-endurance bionic flapping wing aircraft with variable flapping angle and a control method thereof. BACKGROUND

[0002] With the continuous progress of social technology, rotary wing aircraft (drones) have been widely used and become common electronic devices in production and life, but due to the high rotation frequency, the rotary wing aircrafts are easy to harm pedestrians, have poor safety, and are noisy, which causes many troubles. In comparison, flapping wing aircrafts can well make up for these deficiencies. However, the current flapping wing aircrafts mainly realize turning through tail control, which requires the design of an innovative turning mechanism to avoid the problem of insufficient flight control due to the limitation of tail control.

[0003] In addition, the flapping wing aircraft also faces problems such as weak endurance and complex operation structure, which requires us to continuously improve its performance by simplifying the structure and reducing the weight. At the same time, by adding rudder, intermediate gear and other structures, the left and right wings are asymmetrically flapped to realize maneuvering flight, that is, the flapping parameters of the two sides are adjusted to realize maneuvering flight, and usually multiple flapping parameters are adjusted synchronously. SUMMARY

[0004] This section aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract and the title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the above problems of the existing high-endurance bionic flapping wing aircraft with variable flapping angle, the present application is proposed.

[0006] Therefore, the purpose of the present application is to provide a high-endurance bionic flapping wing aircraft with variable flapping angle, which is used to solve the problems of most existing aircrafts, such as heavy weight, short endurance time, and short endurance distance.

[0007] To solve the above technical problems, the present application provides the following technical solutions: a high-endurance bionic flapping wing aircraft with variable flapping angle, the flapping wing aircraft comprising a body unit, a wing unit and a driving unit, wherein the body unit comprises a frame and a tail wing arranged at the tail end of the frame; the wing unit comprises a transmission assembly arranged in the frame and wings connected with the transmission assembly and distributed on both sides of the frame; and the driving unit is arranged on the frame and comprises a wing driving assembly connected with the transmission assembly and a wing adjusting assembly connected with the wing.

[0008] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the frame comprises a fuselage frame and a tail frame connected to the side wall of one end of the fuselage frame; the fuselage frame comprises no less than three groups of capsule type plates and a plurality of connecting plates connecting each capsule type plate.

[0009] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the three groups of capsule type plates are divided into end capsule type plates and middle capsule type plates, first sliding grooves are formed in the two end arc segments of the end capsule type plates along the axial direction, a cross rod is arranged in the middle of the end capsule type plates, and second sliding grooves are symmetrically formed in the side walls of the cross rod; third sliding grooves are formed in the two end arc segments of the middle capsule type plates along the radial direction.

[0010] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the transmission assembly comprises a Z-shaped rotating member symmetrically arranged in the middle capsule type plate, a sleeve arranged on the outer side wall of the Z-shaped rotating member, a connecting rod connected to the outer side wall of the sleeve, a limiting sliding block connected to the end of the connecting rod, and a fixing rod fixed to the side wall of the limiting sliding block; the two ends of the Z-shaped rotating member are respectively rotationally connected to the side walls of the middle capsule type plate, the limiting sliding block is slidably arranged outside the second sliding groove, and the end of the fixing rod away from the limiting sliding block is slidably arranged in the first sliding groove.

[0011] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the Z-shaped rotating member comprises a middle connecting rod, connecting plates symmetrically arranged at the ends of the middle connecting rod, and connecting shafts arranged on the sides away from each other of the connecting plates; the upper and lower connecting shafts are installed on the same axis.

[0012] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the wing comprises a flapping rod and a wing plate arranged at one end of the flapping rod.

[0013] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the wing driving assembly comprises a driving motor, a driving gear set arranged on the output end of the driving motor, a driven gear rotationally engaged with the driving gear set, and a reversing gear; the driven gear is arranged at the end of the connecting shaft away from the connecting plate.

[0014] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: the wing adjusting assembly comprises an adjusting steering engine, an adjusting gear arranged on the output end of the adjusting steering engine, and an adjusting tooth plate in transmission with the adjusting gear.

[0015] As a preferred scheme of the variable flapping angle high endurance bionic flapping wing aircraft of the present application, wherein: a strip-shaped movable slot is formed on the side wall of the flapping rod far from the wing plate, a protrusion is arranged on the side wall of the adjusting tooth plate and penetrates through the strip-shaped movable slot and is matched with the second sliding slot for sliding;

[0016] Another object of the present application is to provide a control method for the variable flapping angle high endurance bionic flapping wing aircraft, which aims to control the flight of the bionic flapping wing aircraft.

[0017] To solve the above technical problems, the present application provides the following technical scheme: a control method for a variable flapping angle high endurance bionic flapping wing aircraft, which comprises the following control steps:

[0018] Before take-off, check whether the battery power of the aircraft is sufficient and whether the adjusting tooth plate is in the initial position, if the battery power is sufficient and the adjusting tooth plate is in the initial position, the aircraft can be controlled to prepare for take-off;

[0019] When taking off, the driving motor is controlled to output power, the driving motor drives the two side driven gears to rotate through the driving gear set, and drives the transmission assembly to push the two sides of the wings to flap quickly, when the obtained lift is greater than the gravity of the aircraft, the aircraft takes off from the ground;

[0020] During flight, the wings adjusting assembly is started to control the wings on both sides of the aircraft to form a deflection angle difference, thereby realizing reversing;

[0021] When the battery power is insufficient or a control return instruction is received, the aircraft returns.

[0022] The present application has the following advantages:

[0023] The bionic flapping wing aircraft designed by the present application has a simple overall structure, can effectively reduce the mass of the flapping wing aircraft, and optimizes the structure as much as possible to improve the endurance of the aircraft as a whole; through the new transmission control, a high maneuvering turning mode is designed, reversing is realized by changing the flapping frequency of the wings on both sides, and the control difficulty of the aircraft is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0025] Figure 1 It is the overall structure diagram of the variable flapping angle high endurance bionic flapping wing aircraft of the present application.

[0026] Figure 2 Another perspective overall structure schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0027] Figure 3 Frame structure schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0028] Figure 4 Frame local structure schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0029] Figure 5 Frame and driving unit connection structure schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0030] Figure 6 Frame and driving unit and flapping rod structure schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0031] Figure 7 Driving unit connection structure schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0032] Figure 8 Take-off state one schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0033] Figure 9 Take-off state two schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0034] Figure 10 Right turning state one schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0035] Figure 11 Right turning state two schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0036] Figure 12 Left turning state one schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application.

[0037] Figure 13 Left turning state two schematic diagram of the high endurance bionic flapping wing aircraft with variable flapping angle of the present application. DETAILED DESCRIPTION

[0038] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0039] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be appreciated that the present application can be practiced in a variety of ways beyond the specific details set forth herein, having regard to the contents of the whole patent document, and that the present application can be practiced in other ways not specifically described herein without departing from the scope of the present application. Accordingly, the present application is not limited to the specific details described herein and can be practiced with variations that do not depart from the spirit of the present application.

[0040] Secondly, the "one embodiment" or "embodiment" referred to herein means a specific feature, structure or characteristic that can be included in at least one implementation of the present application. The "in one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent of or mutually exclusive with other embodiments.

[0041] Thirdly, the present application is described in detail in conjunction with the schematic drawings, and in the detailed description of the embodiments of the present application, the sectional view of the device structure is locally enlarged without the general proportion for the convenience of description, and the schematic drawings are only examples, which should not limit the scope of protection of the present application. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual manufacture.

[0042] Embodiment 1

[0043] Reference Figures 1-7 For the first embodiment of the present application, a variable flapping angle long-endurance biomimetic flapping-wing aircraft is provided, which includes a body unit 100, a wing unit 200 and a driving unit 300. The body structure of the aircraft is installed in each unit; the wing unit 200 is the wing structure of the aircraft flapping; and the driving unit 300 is used to drive the wing unit 200 to move and realize variable speed and reversing action through driving control.

[0044] Specifically, the body unit 100 includes a frame 101 and a tail fin 102 arranged at the tail end of the frame 101.

[0045] Further, the frame 101 includes a fuselage frame 101a and a tail frame 101b connected to the side wall of one end of the fuselage frame 101a; wherein the fuselage frame 101a includes no less than three groups of capsule type plates 101a-1 and a plurality of connecting plates 101a-2 connecting each capsule type plate 101a-1.

[0046] It should be noted that the three groups of capsule type plates 101a-1 are divided into end capsule type plates A and middle capsule type plates B. The two ends of the machine body frame 101a in the length direction are the ends, and the middle capsule type plates B can include multiple groups. In this embodiment, one group is described and displayed. Further, the first sliding groove A1 is formed in the axial direction of the two end arc segments of the end capsule type plate A, and the horizontal rod A2 is arranged in the middle of the end capsule type plate A. It should be noted that the first sliding groove A1 can penetrate the side wall of the end capsule type plate A, or not. If not, the slot of the first sliding groove A1 needs to face one side of the middle capsule type plate B. The third sliding groove B1 is formed in the radial direction of the two end arc segments of the middle capsule type plate B. The first sliding groove A1, the horizontal rod A2, and the third sliding groove B1 are used for the installation of the wing unit 200.

[0047] Specifically, the wing unit 200 includes a transmission assembly 201 arranged in the frame 101 and wings 202 connected with the transmission assembly 201 and distributed on both sides of the frame 101. The transmission assembly 201 is used to drive the wings 202 on both sides to flap, thereby obtaining lift, so that the entire aircraft rises and moves.

[0048] The transmission assembly 201 includes a Z-shaped rotating piece 201a symmetrically arranged in the middle capsule type plate B, a sleeve 201b sleeved on the outer wall of the Z-shaped rotating piece 201a, a connecting rod 201c connected to the outer wall of the sleeve 201b, a limiting sliding block 201d connected to the end of the connecting rod 201c, and a fixed rod 201e fixed to the side wall of the limiting sliding block 201d. The two ends of the Z-shaped rotating piece 201a are respectively rotationally connected to the side walls of the middle capsule type plate B. The limiting sliding block 201d cooperates with the outside of the third sliding groove B1 to slide. The end of the fixed rod 201e away from the limiting sliding block 201d slides in the first sliding groove A1.

[0049] The Z-shaped rotating piece 201a cooperates with the sleeve 201b and the connecting rod 201 to convert the rotary motion of the Z-shaped rotating piece 201a into the circular arc deflection motion of the connecting rod 201, thereby limiting the deflection of the wing 202 and realizing the flapping motion process. The connecting rod 201c pushes the limiting sliding block 201d to reciprocally slide at the third sliding groove B1 at the end of the middle capsule type plate B.

[0050] The Z-shaped rotating piece 201a specifically includes a middle connecting rod 201a-1, connecting plates 201a-2 respectively arranged at the ends of the middle connecting rod 201a-1 and centrally symmetric, and connecting shafts 201a-3 arranged on the sides away from each other of the connecting plates 201a-2. It should be noted that the upper and lower connecting shafts 201a-3 are installed on the same axis.

[0051] The wings 202 are correspondingly divided into two groups and distributed on both sides of the frame 101, and each side of the wings includes a flapping rod 202a and a wing plate 202b arranged at one end of the flapping rod 202a. The flapping rod 202a serves as a driving rod of the wing plate 202b, and the flapping amplitude of the wing plate 202b can be controlled by controlling the movement path of the flapping rod 202a.

[0052] The driving unit 300 is arranged on the frame 101 and includes a wing driving assembly 301 connected with the transmission assembly 201 and a wing adjusting assembly 302 connected with the wings 202.

[0053] Specifically, the wing driving assembly 301 is used for driving the wings 202 to flap and includes a driving motor 301a for outputting driving force, a driving gear set 301b arranged at the output end of the driving motor 301a for converting the driving force output by the driving motor 301a, a driven gear 301c and a reversing gear 301d rotatably engaged with the driving gear set 301b, the driven gear 301c is installed at one end of the connecting shaft 201a-3 away from the connecting plate, and it is to be noted that the driven gear 301c has two, which correspond to the driving of the two groups of wings 202 respectively; and the reversing gear 301d is used for changing the rotation of one of the driven gears 301c, so that the two groups of wings 202 can form a mirror-symmetrical flapping.

[0054] The wing adjusting assembly 302 is used for adjusting the flapping amplitude of the wings 202 on both sides; it includes an adjusting steering gear 302a and an adjusting gear 302b arranged at the output end of the adjusting steering gear 302a, which are combined to output driving force; an adjusting toothed plate 302c in transmission with the adjusting gear 302b, the adjusting toothed plate 302c is connected with the flapping rods 202a of the wings 202 on both sides.

[0055] Specifically, a strip-shaped movable slot H is formed on the side wall of the flapping rod 202a away from the wing plate 202b, a protrusion is arranged on the side wall of the adjusting toothed plate 302c, penetrates through the strip-shaped movable slot H and slides in the second sliding slot A3 to form a dynamic fulcrum S; the adjusting steering gear 302a can drive the adjusting toothed plate 302c to move, so as to change the matching position of the adjusting toothed plate 302c and the flapping rods 202a on both sides; and the middle rod body of the flapping rod 202a is connected with the fixed rod 201e to form a fixed fulcrum D, and the fixed rod 201e drives the wings 202 on the same side to flap synchronously.

[0056] Embodiment 2

[0057] Reference Figures 1-13 The second embodiment of the present application provides a control method for controlling the variable flapping angle of the high-endurance bionic flapping-wing aircraft in the above-mentioned embodiment 1, and the control method comprises the following control steps:

[0058] S1: Pre-flight check, judge whether the battery power of the aircraft is sufficient, whether the adjusting tooth plate 302c is in the initial position, if the power is sufficient and the adjusting tooth plate 302c is in the initial position, the aircraft can be controlled to prepare for take-off;

[0059] Specifically, before the aircraft is used, the whole aircraft needs to be checked, and the control system and the battery power of the aircraft are mainly checked. If it is judged that the control system is normal and the battery power is sufficient, the take-off program can be performed. When there is abnormal control system or insufficient battery power, the take-off program needs to be stopped, and fault monitoring and maintenance or battery charging are needed.

[0060] It should be noted that only the main structure of the aircraft is introduced in this embodiment, and hardware control circuit and control system need to be assembled when it is applied. When working, other working modules are also matched, which are not specifically described and limited here.

[0061] S2: When taking off, the driving motor 301a is controlled to output power, the driving motor 301a drives the driven gears 301c on both sides to rotate through the driving gear set 301b, and drives the transmission assembly 201 to push the wings 202 on both sides to flap quickly. When the obtained lift is greater than the gravity of the aircraft itself, the aircraft takes off from the ground;

[0062] When the aircraft meets the take-off condition, the take-off operation is performed. Specifically, the aircraft is controlled autonomously or wirelessly controlled through the control system, the driving motor 301a in the wing driving assembly 301 is started, and the driving motor 301a drives the driven gears 301c on both sides to rotate synchronously through the driving gear set 301b and the reversing gear 301d, but the directions of rotation are opposite. The driven gears 301c drive the two groups of Z-shaped rotating parts 201a to rotate synchronously. Under the transformation of the sleeve 201b and the connecting rod 201c, the limiting sliding block 201d is pushed to reciprocate at the third sliding groove B1 at the end of the middle capsule type plate B, that is, the fixed rod 201e is driven to reciprocate along the third sliding groove B1. Since one end of the flapping rod 202a in the wing 202 is limited by the adjusting tooth plate 302c, the flapping rod 202a will form a fan-shaped flapping under the pushing of the fixed rod 201e. The wings 202 on both sides continue to flap, and when the generated lift is greater than the gravity of the aircraft itself, the aircraft will take off from the ground. After continuous acceleration, the aircraft will rise and tilt forward to fly forward.

[0063] S3: During flight, the wing adjusting assembly 302 is started to control the wings 202 on both sides of the aircraft to form a deflection angle difference, so as to realize reversing;

[0064] Specifically, the reversing process includes left turning and right turning. When left turning is performed:

[0065] In combination with the accompanying drawings Figure 12 and13 As shown, the adjusting rudder 302a in the wing adjusting assembly 302 is activated to drive the adjusting rack 302c to move from the initial position (the middle position of the horizontal bar A2) to the right, so that the moving support point S of the flapping bar 202a moves to the right, thus the flapping angle of the right flapping bar 202a wing plate 202b is larger, and accordingly, the flapping angle of the left flapping bar 202a is smaller, so the air thrust brought by the right wing plate 202b is larger than that brought by the left wing plate 202b, and the left and right wings flap asymmetrically, so the aircraft will produce a left turning action.

[0066] When right turning is performed: in combination with the above Figure 10 and 11 As shown, the adjusting rudder 302a in the wing adjusting assembly 302 is activated to drive the adjusting rack 302c to move from the initial position (the middle position of the horizontal bar A2) to the left, so that the moving support point S of the flapping bar 202a moves to the left, thus the flapping angle of the left flapping bar 202a wing plate 202b is larger, and accordingly, the flapping angle of the right flapping bar 202a is smaller, so the air thrust brought by the left wing plate 202b is larger than that brought by the right wing plate 202b, and the left and right wings flap asymmetrically, so the aircraft will produce a right turning action.

[0067] S4: When the electric quantity is insufficient or the control return instruction is received, the aircraft returns.

[0068] When the electric quantity is insufficient, the control system of the aircraft can plan a return, and the return instruction is sent by the control center or autonomously sent by the control system, such as possible encountering of severe environment, occurrence of aircraft body failure, etc., which are not listed one by one here.

[0069] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A long-endurance biomimetic flapping-wing aircraft with variable flapping angle, characterized in that: include, Airframe unit (100), which includes a frame (101) and a tail fin (102) disposed at the rear end of the frame (101). The wing unit (200) includes a transmission assembly (201) disposed in the frame (101) and wings (202) connected to the transmission assembly (201) and distributed on both sides of the frame (101). The drive unit (300) is mounted on the frame (101) and includes a wing drive assembly (301) connected to the transmission assembly (201) and a wing adjustment assembly (302) connected to the wing (202). The fuselage frame (101a) includes no fewer than three sets of capsule-shaped plates (101a-1). The three capsule plates (101a-1) include a central capsule plate (B), and a third groove (B1) is provided radially in the arc segments at both ends of the central capsule plate (B). The transmission assembly (201) includes a Z-shaped rotating member (201a) symmetrically arranged in the middle capsule-shaped plate (B), a sleeve (201b) sleeved on the outer wall of the Z-shaped rotating member (201a), a connecting rod (201c) connected to the outer wall of the sleeve (201b), a limiting slider (201d) connected to the end of the connecting rod (201c), and a fixing rod (201e) fixed to the side wall of the limiting slider (201d). The two ends of the Z-shaped rotating part (201a) are rotatably connected to the side wall of the middle capsule plate (B), and the limiting slider (201d) slides outside the third slide groove (B1). The Z-type rotating component (201a) includes a central connecting rod (201a-1), connecting plates (201a-2) respectively disposed at the ends of the central connecting rod (201a-1) and in a centrally symmetrical manner, and connecting shafts (201a-3) disposed on the mutually distant sides of the connecting plates (201a-2). The upper and lower connecting shafts (201a-3) are mounted on the same axis; The wing (202) includes a flapping rod (202a) and a wing plate (202b) disposed at one end of the flapping rod (202a); The wing drive assembly (301) includes a drive motor (301a), a drive gear set (301b) disposed on the output end of the drive motor (301a), a driven gear (301c) meshing with the drive gear set (301b) and a reversing gear (301d). The driven gear (301c) is located at the end of the connecting shaft (201a-3) away from the connecting plate (201a-2); The wing adjustment assembly (302) includes an adjustment servo (302a), an adjustment gear (302b) disposed at the output end of the adjustment servo (302a), and an adjustment gear plate (302c) meshing with the adjustment gear (302b). A strip-shaped movable groove (H) is provided on the side wall of the end of the flapping rod (202a) away from the wing plate (202b); The side wall of the adjusting tooth plate (302c) is provided with a protruding through strip-shaped movable groove (H), and the middle part of the flapping rod (202a) is connected to the fixed rod (201e).

2. The high-endurance bionic flapping-wing aircraft with variable flapping angle according to claim 1, characterized in that: The frame (101) includes a fuselage frame (101a) and a tail frame (101b) connected to one side wall of the fuselage frame (101a). The fuselage frame (101a) includes several connecting plates (101a-2) that connect the various capsule-shaped plates (101a-1).

3. The high-endurance bionic flapping-wing aircraft with variable flapping angle according to claim 2, characterized in that: The three sets of capsule-shaped plates (101a-1) also include end capsule-shaped plates (A). The two ends of the end capsule-shaped plates (A) are provided with first grooves (A1) along their axial direction in the arc segments. A crossbar (A2) is provided in the middle of the end capsule-shaped plates (A). The side wall of the crossbar (A2) is symmetrically provided with second grooves (A3).

4. The high-endurance bionic flapping-wing aircraft with variable flapping angle according to claim 3, characterized in that: The end of the fixed rod (201e) away from the limiting slider (201d) slides in the first groove (A1).

5. The high-endurance bionic flapping-wing aircraft with variable flapping angle according to claim 4, characterized in that: The adjusting toothed plate (302c) slides within the second groove (A3).

6. A control method for a long-endurance biomimetic flapping-wing aircraft with variable flapping angle as described in any one of claims 1 to 5, characterized in that: The following control steps are included: Before takeoff, check whether the aircraft's battery power is sufficient and whether the adjusting gear (302c) is in the initial position. If the battery power is sufficient and the adjusting gear (302c) is in the initial position, the aircraft can be controlled to prepare for takeoff. During takeoff, the drive motor (301a) outputs power through the drive gear set (301b), which in turn controls the driven gears (301c) on both sides to rotate, thereby driving the transmission assembly (201) to push the wings (202) on both sides to flap rapidly. When the lift obtained is greater than the weight of the aircraft itself, the aircraft takes off from the ground. During flight, the wing adjustment assembly (302) is activated to control the wings (202) on both sides of the aircraft to form a deflection angle difference, thereby achieving reversal; The aircraft will return when the battery is low or when it receives a return command.

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