Bird-imitating ornithopter capable of controlling folding and unfolding of wings

Abstract

The invention discloses a bird-imitating ornithopter capable of controlling folding and unfolding of wings. The bird-imitating ornithopter comprises a rack; the flapping wing mechanism comprises a power part, a rocker, a transmission shaft, a transmission block and flapping wings, the rocker is rotationally connected to the rack, the rocker is provided with a straight groove, the power part is arranged on the rack, one end of the transmission block is rotationally connected to the rack, the power part is in transmission connection with the transmission block, and the power part can drive the transmission block to rotate; one end of the transmission shaft is connected to the other end of the transmission block, the other end of the transmission shaft extends into the straight groove and forms a ball head, the ball head is movably connected to the straight groove, the flapping wings are connected to the rocker, the transmission block can drive the transmission shaft to abut against the upper side or the lower side of the straight groove when rotating, and at least two flapping wing mechanisms are symmetrically arranged on the rack in the left-right direction. A large number of connecting rod mechanisms are not needed, the flapping wing transmission structure is simpler, the overall size and weight can be better controlled, and bird-imitating flapping wing movement is stably and reliably achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a bird-like flapping-wing aircraft with wing folding and span control. Background Art

[0002] Flapping-wing aircraft are a new type of aircraft developed by mimicking the flight patterns of living creatures. However, most current bird-like flapping-wing aircraft utilize slightly different wing folding mechanisms than real birds, and extensively utilize linkage mechanisms for folding and unfolding. This structural redundancy increases wing weight, occupies unnecessary volume, and limits control effectiveness. Therefore, a simpler machine capable of flapping-wing flight is urgently needed. Summary of the Invention

[0003] The object of the present invention is to provide a bird-like flapping-wing aircraft with wing folding control to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The solution of the present invention to solve its technical problems is:

[0005] The yoke is provided with a gear which is adapted to move the yoke relative to the frame and to move the yoke relative to the frame so as to allow the yoke to move forward and to move the yoke relative to the frame.

[0006] This technical solution has at least the following beneficial effects: flapping wing mechanisms are respectively provided on the left and right sides of the frame. In each flapping wing mechanism, when flight activity is required, the power unit drives the transmission block to rotate along the horizontal axis. During the rotation process, the transmission block drives the transmission shaft to rotate with the ball head movably connected to the straight groove as the fulcrum. In this process, when the transmission shaft rotates to a parallel state, the flapping wing also tends to a horizontal position. As the transmission shaft rotates upward, the transmission shaft presses against the upper side of the straight groove, causing the rocker to rotate and driving the flapping wing to rotate downward. When the transmission shaft rotates to the highest point, the flapping wing When the transmission shaft rotates downward to the lowest point, and when the transmission shaft continues to rotate to a horizontal state, the flapping wing rotates upward to a horizontal position. Then, when the transmission shaft continues to rotate to the lowest point, the transmission shaft presses against the lower side of the straight groove, driving the flapping wing to rotate upward to the highest point. When the transmission shaft continues to rotate and completes one rotation, the flapping wing rotates downward to a horizontal position. By repeating this rotation, the flapping wing can flap repeatedly. The whole structure does not require a large number of connecting rod mechanisms, the structure of the flapping wing transmission is simpler, the overall volume and weight can be better controlled, and the bird-like flapping movement can be stably and reliably realized.

[0007] As a further improvement of the above technical solution, the power unit includes a first motor, a first gear and a second gear. The first motor is connected to the frame, the first motor drives the first gear, the second gear is connected to the end of the transmission block close to the frame, and the first gear and the second gear transmit power to each other.

[0008] As a further improvement of the above technical solution, the power unit further includes a reduction gear rotatably connected to the frame, and the reduction gear is meshed with the first gear and the second gear.

[0009] As a further improvement of the above technical solution, the flapping wing includes a connecting beam connected to the rocker, a wing root rotatably connected to the connecting beam, a wing center rotatably connected to the wing root, and a wing tip rotatably connected to the wing center. The wing tip, the wing center and the wing root can be rotated and unfolded in a direction away from the connecting beam or rotated and folded in a direction close to the connecting beam.

[0010] As a further improvement of the above technical solution, the end of the wing root close to the connecting beam is synchronously connected to a first sheave, the end of the wing near the wing tip is synchronously connected to a second sheave, and the end of the wing tip close to the wing center is synchronously connected to a third sheave, a first synchronous belt is connected between the first sheave and the second sheave, a second synchronous belt is connected between the second sheave and the third sheave, a second motor is connected to the connecting beam, and the second motor drives the first sheave.

[0011] As a further improvement of the above technical solution, a third motor is connected to the rear side of the frame, and the third motor is driven and connected to a connecting shaft. The third motor can drive the connecting shaft to rotate along the axis in the front-to-back direction, and a tail wing is provided on the rear side of the connecting shaft.

[0012] As a further improvement of the above technical solution, the rear end of the connecting shaft is connected to a connecting frame, the tail wing is rotatably connected to the connecting frame along the axis in the left and right directions, a fourth motor is provided on the connecting frame, and the fourth motor is transmission-connected to the tail wing.

[0013] As a further improvement of the above technical solution, a plurality of feather plug-ins are provided on the tail wing, and the plurality of feather plug-ins can be close to or far away from each other.

[0014] As a further improvement of the above technical solution, an arc-shaped slide groove is provided on the tail wing, and a plurality of sliders are slidably connected in the arc-shaped slide groove. A spring is provided between two adjacent sliders. A plurality of feather plug-ins are respectively connected to the plurality of sliders. A fifth motor is provided on the frame, and the sliders located on both sides are respectively connected to transmission ropes. The two transmission ropes respectively pass through the plurality of sliders from both sides of the arc-shaped slide groove to the middle part in sequence, and are connected to the output end of the fifth motor after bypassing the slider located in the middle position of the arc-shaped slide groove.

[0015] As a further improvement of the above technical solution, the connecting shaft is a hollow structure, and the two transmission ropes pass through the connecting shaft.

[0016] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described only illustrate some embodiments of the present invention, not all of them. Those skilled in the art can derive other design solutions and drawings based on these drawings without inventive effort.

[0018] Figure 1 It is an overall three-dimensional diagram of the present invention.

[0019] Figure 2 Schematic diagram of the connection structure between the frame and the flapping wing mechanism of the present invention, wherein the flapping wings are omitted in the figure.

[0020] Figure 3 It is a three-dimensional diagram of the flapping wing of the present invention, wherein the first synchronous belt and the second synchronous belt are omitted in the figure.

[0021] Figure 4It is a schematic diagram of the connection structure of the connecting shaft, the connecting frame and the tail wing of the present invention.

[0022] Figure 5 It is an overall three-dimensional diagram of the feather piece and the protective shell of the present invention.

[0023] In the accompanying drawings: 100-frame, 110-protective shell, 200-flapping mechanism, 210-rocker, 211-straight groove, 220-transmission shaft, 221-ball head, 230-transmission block, 241-first motor, 242-first gear, 243-second gear, 244-reduction gear, 310-connecting beam, 320-wing root, 330-wing center, 340-wing tip, 351-first sheave, 352-second sheave, 353-third sheave, 360-feather piece, 410-third motor, 420-connecting shaft, 510-connecting frame, 520-fourth motor, 600-tail, 610-feather plug-in, 620-arc slide, 630-slider, 640-spring, 650-fifth motor, 660-transmission rope. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0025] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0026] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0027] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0028] Reference Figure 1A bird-like flapping-wing aircraft with wing folding control includes a frame 100 and a flapping-wing mechanism 200, wherein the flapping-wing mechanism 200 includes a power unit, a rocker 210, a transmission shaft 220, a transmission block 230 and a flapping wing, wherein the rocker 210 is connected to the frame 100 along the axis of the front-back direction, and the rocker 210 is provided with a straight slot 211 extending along the front-back direction. The power unit is provided on the frame 100, and one end of the transmission block 230 is rotated. The swing wing is connected to the frame 100, and the power unit is connected to the transmission block 230. The power unit can drive the transmission block 230 to rotate along the horizontal axis. One end of the transmission shaft 220 is connected to the other end of the transmission block 230. The other end of the transmission shaft 220 extends into the straight groove 211 and is formed with a ball head 221. The ball head 221 is movably connected to the straight groove 211. The flapping wing is connected to the rocker 210. In actual application, the transmission block 230 moves far away. The ball head 221 is located on the rotation axis of the transmission block 230. The upper and lower sides of the frame 100 are respectively provided with limit holes on the straight groove 211, so that the upper and lower sides of the ball head 221 can be inserted into the limit holes, thereby realizing that the ball head 221 can rotate in the straight groove 211. At this time, the transmission block 230, the transmission shaft 220 and the rocker 210 form a spherical crank mechanism, and the transmission block 230 can be driven by the rocker 210 when it rotates. The transmission shaft 220 is moved to press against the upper or lower side of the straight groove 211, and at least two flapping-wing mechanisms 200 are symmetrically arranged on the frame 100 along the left and right directions. For example, the number of flapping-wing mechanisms 200 can be four. At this time, two flapping-wing mechanisms 200 are arranged on the left side of the frame 100 along the front-to-back direction, and two flapping-wing mechanisms 200 are arranged on the right side of the mechanism 100 along the front-to-back direction. In this embodiment, there are two flapping-wing mechanisms 200, which are arranged on the left and right sides of the frame 100 respectively.

[0029] As can be seen from the above, flapping wing mechanisms 200 are respectively provided on the left and right sides of the frame 100. In each flapping wing mechanism 200, when flight activity is required, the power unit drives the transmission block 230 to rotate along the horizontal axis. During the rotation process, the transmission block 230 drives the transmission shaft 220 to rotate with the ball head 221 movably connected to the straight groove 211 as a fulcrum. In this process, when the transmission shaft 220 rotates to a parallel state, the flapping wing also tends to a horizontal position. As the transmission shaft 220 rotates upward, the transmission shaft 220 will press against the upper side of the straight groove 211, causing the rocker 210 to rotate and drive the flapping wing to rotate downward. When the transmission shaft 220 rotates to the highest When the transmission shaft 220 rotates to the horizontal state, the flapping wings rotate upward to a horizontal position. Then, when the transmission shaft 220 continues to rotate to the lowest point, the transmission shaft 220 presses against the lower side of the straight slot 211, driving the flapping wings to rotate upward to the highest point. When the transmission shaft 220 continues to rotate and completes one rotation, the flapping wings rotate downward to a horizontal position. Repeating this rotation can achieve repeated flapping of the flapping wings. The overall structure does not require a large number of connecting rod mechanisms, the structure of the flapping wing transmission is simpler, the overall volume and weight can be better controlled, and the bird-like flapping movement can be stably and reliably achieved.

[0030] As a specific embodiment of the flapping wing, Figure 2 As shown, in this embodiment, the power unit includes a first motor 241, a first gear 242, and a second gear 243. The first motor 241 is connected to the frame 100 and is driven by the first gear 242. The second gear 243 is connected to the end of the transmission block 230 close to the frame 100. The first gear 242 and the second gear 243 transmit power to each other. In actual application, the center of mass of the ball head 221 is located on the rotation axis of the second gear 243. The first motor 241 drives the first gear 242 to rotate, and the power is transmitted to the second gear 243 through the first gear 242, thereby driving the transmission block 230 to rotate on the frame 100. In actual application, the first motors 241 in the two power units are independently provided. In this case, the two first motors 241 respectively drive the two first gears 242 to rotate.

[0031] To increase the torque output to the second gear 243, in this embodiment, the power unit further includes a reduction gear 244 rotatably connected to the frame 100. The reduction gear 244 meshes with the first gear 242 and the second gear 243. In actual application, the reduction gear 244 can be a double gear, with the larger diameter gear meshing with the first gear 242 and the smaller diameter gear meshing with the second gear 243. In this way, the power output by the motor to the first gear 242 is transmitted to the second gear 243 through the reduction gear 244, which can drive the transmission block 230 to rotate stably.

[0032] The flapping wing can be a sheet or plate structure with a fixed windward area. In order to further improve the characteristics of bird-like flight, the windward area of ​​the flapping wing can be changed. Specifically, Figure 3 As shown, the flapping wing includes a connecting beam 310 connected to the rocker 210, a wing root 320 rotatably connected to the connecting beam 310, a wing center 330 rotatably connected to the wing root 320, and a wing tip 340 rotatably connected to the wing center 330. The wing tip 340, the wing center 330 and the wing root 320 can be rotated and unfolded in a direction away from the connecting beam 310 or rotated and folded in a direction close to the connecting beam 310. During flight, when the wing tip 340 rotates in a direction approaching the wing center 330, the wing center 330 rotates in a direction approaching the wing root 320, and the wing tip 340 moves in a direction approaching the connecting beam 310, the entire flapping wing is in a gradually folded state, reducing the windward area of ​​the wingspan; when the wing tip 340 rotates in a direction away from the wing center 330, the wing center 330 rotates in a direction away from the wing root 320, and the wing tip 340 moves in a direction away from the connecting beam 310, the entire flapping wing is in a gradually unfolded state, increasing the wingspan length. In this way, the folding and unfolding state of the flapping wing can be flexibly changed, thereby changing the flight aerodynamic force.

[0033] Of course, in order to increase the frontal area of ​​the flapping wing during use, a sheet structure can be installed on the wing tip 340, the wing center 330 and the wing root 320, for example, Figure 5 As shown, a plurality of feather pieces 360 are connected along the length direction of the wing tip 340, the wing center 330 and the wing root 320. In addition, in order to protect the transmission structure inside the flapping mechanism 200, a protective shell 110 can be set on the frame.

[0034] In practical applications, if it is necessary to realize the rotation of the wing tip 340, the wing center 330 and the wing root 320, there are various structural forms that can be adopted. For example, motors are directly arranged on the connecting beam 310, the wing root 320 and the wing center 330 respectively to drive the wing root 320, the wing center 330 and the wing tip 340 to rotate. In order to reduce the driving source, in this embodiment, the end of the wing root 320 close to the connecting beam 310 is synchronously connected to the first groove wheel 351, the end of the wing center 330 close to the wing tip 340 is synchronously connected to the second groove wheel 352, and the end of the wing tip 340 close to the wing center 330 is synchronously connected to the third groove wheel 353. A first synchronous belt is connected between the first groove wheel 351 and the second groove wheel 352, and a synchronous belt is connected between the second groove wheel 352 and the third groove wheel 353. It is connected to a second synchronous belt. In actual application, two annular grooves are provided on the outer side of the second sheave 352 along the axial intervals of the second sheave 352. One annular groove is used to connect the first synchronous belt, and the other annular groove is used to connect the second synchronous belt. A second motor is connected to the connecting beam 310, and the second motor drives the connection to the first sheave 351. Of course, the second motor can also be installed on the wing root 320, in which case the second motor drives the connection to the second sheave 352, or it can be installed on the wing center 330, in which case the second motor drives the connection to the third sheave 353. Since power is transmitted between the first sheave 351, the second sheave 352, and the third sheave 353 through the first synchronous belt and the second synchronous belt, when the power of the second motor is output to any sheave, the other two sheaves can also rotate synchronously.

[0035] In this method of power transmission through a sheave and a synchronous belt, only one driving source is used to provide power. Power transmission is achieved through the cooperation of the sheave and the synchronous belt, omitting the setting of the connecting rod mechanism, simplifying the folding and extending transmission structure, better controlling the overall weight, enabling the flapping wings to accurately achieve folding and flapping motion, and improving the overall response speed.

[0036] In order to further improve the overall maneuverability, in this embodiment, Figure 4 As shown, a third motor 410 is connected to the rear side of the frame 100. The third motor 410 is rotatably connected to a connecting shaft 420. The third motor 410 can drive the connecting shaft 420 to rotate along its fore-aft axis. A tail 600 is disposed behind the connecting shaft 420. During flight, the third motor 410 can drive the connecting shaft 420 to rotate along its fore-aft axis, thereby causing the tail 600 to deflect. The deflection of the tail 600 changes the force exerted on the tail by airflow, thereby better adjusting the flight attitude and further improving maneuverability in complex airflow environments.

[0037] Furthermore, the rear end of the connecting shaft 420 is connected to a connecting frame 510. The tail 600 is rotatably connected to the connecting frame 510 along its left-right axis. The connecting frame 510 is provided with a fourth motor 520, which is in transmission connection with the tail 600. In practical applications, the fourth motor 520 can be installed at the front of the connecting frame 510, while the tail 600 is rotatably connected to the rear of the connecting frame 510. A first connecting rod is connected to the tail 600 at a position offset from the tail 600's rotation axis. A second connecting rod is eccentrically connected to the output end of the fourth motor 520. A third connecting rod is connected between the first and second connecting rods. When the fourth motor 520 is in operation, it transmits power to the tail 600 through the first, third, and second connecting rods, thereby driving the tail 600 to rotate. This allows the angle of the tail 600 to be changed during flight, further improving the controllability of complex flight movements.

[0038] To further vary the tail wing's surface area and enhance its controllability during complex maneuvers, the tail wing 600 is equipped with multiple feather inserts 610, which can be moved closer or further apart. When the feather inserts 610 are moved closer together, the tail wing's overall windward deflection area decreases. When the feather inserts 610 are moved further apart, the tail wing's overall windward deflection area increases, thereby improving overall turning performance.

[0039] The tail wing 600 may be provided with multiple driving sources, respectively, to drive the multiple sliders 630 to slide in the arc-shaped slide groove 620. In order to simplify the driving structure, in this embodiment, the tail wing 600 is provided with an arc-shaped slide groove 620, and multiple sliders 630 are slidably connected in the arc-shaped slide groove 620. A spring 640 is provided between two adjacent sliders 630. Multiple feather plug-ins 610 are respectively connected to the multiple sliders 630. The frame 100 is provided with a fifth motor 650. The sliders 630 located on both sides are respectively connected to transmission ropes 660. The two transmission ropes 660 pass through the multiple sliders 630 from both sides of the arc-shaped slide groove 620 to the middle, and then pass around the slider 630 located in the middle of the arc-shaped slide groove 620 and are connected to the output end of the fifth motor 650. Naturally, holes for the transmission ropes 660 to pass through are provided on the slider 630. When the multiple feather plug-ins 610 need to be brought closer to each other, the fifth motor 650 drives the two transmission ropes 660 to be reeled, so that the two sliders 630 on both sides slide toward the arc-shaped slide groove 620, and drives the sliders 630 on the sliding path to slide closer to each other, and the multiple feather plug-ins 610 are folded closer to each other. At this time, the spring 640 is in a gradually compressed state; when the fifth motor 650 unwinds the two transmission ropes 660, the elastic force of the spring 640 can push the sliders 630 toward the two sides of the arc-shaped slide groove 620, so that the multiple feather plug-ins 610 are spread out away from each other.

[0040] To better utilize the space of the transmission ropes 660 and ensure transmission, in this embodiment, the connecting shaft 420 is a hollow structure, and the two transmission ropes 660 pass through the connecting shaft 420. The connecting shaft 420 can be used to store and protect the transmission ropes 660. In actual applications, the third motor 410 can be a hollow shaft motor, in which case the transmission ropes 660 can directly pass through the hollow output end thereof.

[0041] When it is necessary to control the bird-like flapping-wing aircraft to turn left or right, the third motor 410 on the flapping-wing aircraft is closed-loop controlled according to the difference between the real-time attitude angle of the attitude sensor and the current target attitude angle (counterclockwise rotation for left turn and clockwise rotation for right turn), so that the tail 600 forms an angle with the horizontal plane (positive for left turn and negative for right turn); in this turning process, since the change in aerodynamic force is transient, in addition to controlling the rotation of the third motor 410 to make the tail 600 produce a roll angle, the control system also needs to coordinate the control of the fifth servo and the fourth servo of the tail 600 to achieve coupled control of the degree of feather expansion of the tail 600 and the overall pitch angle, thereby ensuring that the aircraft does not stall during the turning process.

[0042] When it is necessary to control the bird-like flapping-wing aircraft to glide, the first motor 241 controls the flapping wing to stop when the angle with the horizontal plane is the smallest, monitors the attitude angle of the attitude sensor in real time, and achieves gliding stability by adjusting the pitch and extension of the tail wing 600.

[0043] This bird-like flapping-wing machine exhibits a high degree of biomimetic properties. Unlike most existing biomimetic double-wing flapping mechanisms that utilize a single motor, the present invention utilizes a spherical crank mechanism, based on real-time closed-loop motor control, to compensate for the difficulty in ensuring symmetry during manual assembly. Furthermore, a first motor and a second motor are positioned on the flapping wings. During operation, the flapping wings work in tandem to achieve double-wing biomimetic flight motion. First, the first motor 241 drives the flapping wings to produce a reciprocating up-and-down flapping motion. Simultaneously, the second motor precisely controls the flapping wings to perform periodic folding and unfolding movements. These two sets of motions form a timed coordination relationship within a single motion cycle. When the bird-like flapping-wing machine is controlled for level flight, both flapping wings operate simultaneously. During the upward flapping phase, the second motor, driven by a sheave and synchronous belt, synchronizes the folding of the wings. During the downward flapping phase, the second motor rotates in the opposite direction, and the sheave and synchronous belt drive the flapping wings to unfold. This coupled motion mode of folding up and unfolding down achieves optimized aerodynamic efficiency through motion phase difference design. Unlike traditional tail 600 designs that usually focus on a single pitch adjustment function to achieve basic attitude control, the present invention constructs a three-dimensional omnidirectional controllable tail 600, achieving coordinated control of the three degrees of freedom of the tail 600: active adjustment of the roll degree of freedom, through the third motor 410 driving the tail 600 to rotate around the axis of the frame 100 in the front-to-back direction, accurately controlling the rolling torque of the aircraft; dynamic compensation of the pitch degree of freedom, through the fourth motor 520 driving the tail 600 to deflect along the axis in the left-right direction, achieving feedback adjustment of the pitch angle; Aerodynamic optimization of the retraction and extension degrees of freedom: the transmission rope 660 and spring 640 cooperate with the fifth motor 650 to complete the retraction and extension of the tail wing 600 feather plug-in 610, and the area of ​​the tail wing 600 can be adjusted in real time according to the flight conditions; this multi-degree-of-freedom decoupling control architecture not only breaks through the functional limitations of the traditional tail wing 600's single pitch adjustment, but also realizes the independent solution and dynamic distribution of the roll-pitch-yaw three-axis torque through the coordinated control of the deployment degree and angle of attack of the feather plug-in 610, significantly improving the maneuverability in complex airflow environments.

[0044] The above specifically describes the preferred embodiments of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A bird-like flapping-wing aircraft with wing folding and span control, characterized by: include: Rack(100); The flapping wing mechanism (200) comprises a power unit, a rocker (210), a transmission shaft (220), a transmission block (230) and a flapping wing, wherein the rocker (210) is rotatably connected to a frame (100) along an axis in a front-to-back direction, the rocker (210) is provided with a straight groove (211) extending in a front-to-back direction, the power unit is provided on the frame (100), the power unit is provided on the frame (100), one end of the transmission block (230) is rotatably connected to the frame (100), the power unit is transmission-connected to the transmission block (230), and the power unit can drive the transmission block (230) to rotate. 0) rotates along a horizontal axis, one end of the transmission shaft (220) is connected to the other end of the transmission block (230), the other end of the transmission shaft (220) extends into the straight slot (211) and is formed with a ball head (221), the ball head (221) is movably connected to the straight slot (211), the flapping wing is connected to the rocker (210), the transmission block (230) can drive the transmission shaft (220) to press against the upper side or the lower side of the straight slot (211) when rotating, and at least two flapping wing mechanisms (200) are symmetrically arranged on the frame (100) along the left and right directions.

2. The bird-like flapping-wing aircraft with wing folding control according to claim 1, characterized in that: The power unit includes a first motor (241), a first gear (242) and a second gear (243); the first motor (241) is connected to the frame (100); the first motor (241) drives the first gear (242); the second gear (243) is connected to the end of the transmission block (230) close to the frame (100); the first gear (242) and the second gear (243) transmit power to each other.

3. The bird-like flapping-wing aircraft with wing folding control according to claim 2, characterized in that: The power unit further includes a reduction gear (244) rotatably connected to the frame (100), and the reduction gear (244) is meshed with the first gear (242) and the second gear (243).

4. The bird-like flapping-wing aircraft with wing folding control according to claim 1, characterized in that: The flapping wing comprises a connecting beam (310) connected to the rocker (210), a wing root (320) rotatably connected to the connecting beam (310), a wing center (330) rotatably connected to the wing root (320), and a wing tip (340) rotatably connected to the wing center (330). The wing tip (340), the wing center (330) and the wing root (320) can be rotated and unfolded in a direction away from the connecting beam (310) or rotated and folded in a direction close to the connecting beam (310).

5. The bird-like flapping-wing aircraft with wing folding control according to claim 4, characterized in that: The end of the wing root (320) close to the connecting beam (310) is synchronously connected to a first sheave (351), the end of the wing center (330) close to the wing tip (340) is synchronously connected to a second sheave (352), the end of the wing tip (340) close to the wing center (330) is synchronously connected to a third sheave (353), a first synchronous belt is connected between the first sheave (351) and the second sheave (352), a second synchronous belt is connected between the second sheave (352) and the third sheave (353), a second motor is connected to the connecting beam (310), and the second motor drives the first sheave (351).

6. The bird-like flapping-wing aircraft with wing folding control according to claim 1, characterized in that: A third motor (410) is connected to the rear side of the frame (100), and the third motor (410) is connected to a connecting shaft (420) in a driving manner. The third motor (410) can drive the connecting shaft (420) to rotate along an axis in a front-to-rear direction, and a tail wing (600) is provided on the rear side of the connecting shaft (420).

7. The bird-like flapping-wing aircraft with wing folding control according to claim 6, characterized in that: The rear end of the connecting shaft (420) is connected to a connecting frame (510), and the tail wing (600) is rotatably connected to the connecting frame (510) along an axis in the left-right direction. A fourth motor (520) is provided on the connecting frame (510), and the fourth motor (520) is transmission-connected to the tail wing (600).

8. The bird-like flapping-wing aircraft with wing folding control according to claim 6, characterized in that: A plurality of feather inserts (610) are provided on the tail wing (600), and the plurality of feather inserts (610) can be close to or far away from each other.

9. The bird-like flapping-wing aircraft with wing folding control according to claim 8, characterized in that: The tail wing (600) is provided with an arc-shaped chute (620), a plurality of sliders (630) are slidably connected in the arc-shaped chute (620), a spring (640) is provided between two adjacent sliders (630), a plurality of feather plug-ins (610) are respectively connected to the plurality of sliders (630), a fifth motor (650) is provided on the frame (100), the sliders (630) located on both sides are respectively connected to transmission ropes (660), and the two transmission ropes (660) respectively pass through the plurality of sliders (630) from both sides of the arc-shaped chute (620) to the middle, and are connected to the output end of the fifth motor (650) after bypassing the slider (630) located in the middle of the arc-shaped chute (620).

10. The bird-like flapping-wing aircraft with wing folding control according to claim 9, characterized in that: The connecting shaft (420) is a hollow structure, and the two transmission ropes (660) pass through the connecting shaft.

Images