Butterfly-imitating ornithopter

Abstract

The butterfly-imitating ornithopter comprises an ornithopter body, a front wing module, a steering module, a rear wing module and a wing module, the front wing module is connected to one end of the ornithopter body, the steering module is arranged at the other end of the ornithopter body, the rear wing module is fixed to the steering module, and the steering module can drive the rear wing module to rotate relative to the ornithopter body. According to the butterfly-imitating flapping-wing aircraft, the independent driving structures are arranged on the front wing module and the rear wing module, the front wing module and the rear wing module can be driven to flap in the same phase or not in the same phase at the same time, the lift force and the thrust force of the butterfly-imitating flapping-wing aircraft in the flight process are effectively increased, the rear wing module is fixed to the steering module and can rotate along with the steering module, and therefore the flapping-wing aircraft is more stable in flight. The yaw attitude of the butterfly-imitating ornithopter in the flying process is effectively adjusted in a mode of changing the gravity center of a prototype, and the maneuverability of the butterfly-imitating ornithopter is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flapping-wing aircraft, more particularly to a flapping-wing aircraft imitating butterfly. BACKGROUND

[0002] The flapping-wing aircraft is a new concept of bionic aircraft imitating the flight mode of birds or insects, and the flapping of the wings is controlled by mechanical devices and electric devices to generate lift and thrust.

[0003] The patent document with the patent publication number CN118992145A discloses a bionic butterfly mixed control wing flapping-wing aircraft, which comprises a fuselage, a transmission mechanism and a control mechanism installed in the fuselage, two groups of wings connected to the left and right sides of the fuselage, each group of wings comprising a forewing and a hindwing, the forewing and the hindwing partially overlapping, the transmission mechanism installed in the fuselage cavity, comprising a reduction gear set frame, a brushless motor installed on the reduction gear set frame, a double gear and a double-crank rocker mechanism, the brushless motor rotating through the motor gear output gear, a pair of steering mechanisms, each steering mechanism comprising a hindwing hingedly connected to a tail wing support, the tail end of the hindwing being hingedly installed on a rudder arm, and a rudder installed on the hindwing rudder frame. In each group of wings, the forewing is movably connected to the transmission mechanism, and the hindwing is movably connected to the forewing, so that the hindwing flaps following the forewing, and the hindwing is movably connected to the rudder. The aircraft has the advantages of small size, high stability and high performance.

[0004] However, the bionic butterfly flapping-wing aircraft adopts a double-rudder overall design, has a large wingspan and a heavy weight, cannot well approach the real butterfly in nature, has poor maneuverability, and does not have concealment, which makes the bionic butterfly flapping-wing aircraft face the problems of inconvenient maneuvering, poor concealment and vulnerability in a space-limited battlefield environment. SUMMARY

[0005] The technical problem to be solved by the present application is how to improve the maneuverability of the bionic butterfly flapping-wing aircraft.

[0006] The present application solves the above technical problems by the following technical means: a bionic butterfly flapping-wing aircraft, comprising a fuselage, a forewing module, a steering module, a hindwing module and a wing module, the forewing module being connected to one end of the fuselage, the other end of the fuselage being provided with the steering module, the hindwing module being fixed to the steering module, the steering module being capable of driving the hindwing module to rotate relative to the fuselage, the wing module comprising left and right forewing wings in transmission connection with the forewing module and left and right hindwing wings in transmission connection with the hindwing module, the left and right forewing wings and the left and right hindwing wings not overlapping, the forewing module and the hindwing module each being provided with a driving mechanism, the two driving mechanisms being capable of driving the left and right hindwing wings and the left and right forewing wings to flap in-phase or out-of-phase.

[0007] As a preferred technical scheme, the fuselage comprises a first mounting plate, a support rod group, a second mounting plate, one end of the support rod group is fixedly connected with the first mounting plate, the other end is fixedly connected with the second mounting plate, the front wing module is fixedly connected with the first mounting plate, and the rear wing module is fixedly connected with the second mounting plate.

[0008] As a preferred technical scheme, the driving mechanism comprises a driving motor, a speed reduction gear set, and a crank linkage mechanism, the output shaft of the driving motor is in transmission connection with the input end of the speed reduction gear set, and the output end of the speed reduction gear set is in transmission connection with the left rear wing, the right rear wing, or the left front wing and the right front wing through the crank linkage mechanism.

[0009] As a preferred technical scheme, the speed reduction gear set of the front wing module comprises a first driving gear, a first driven wheel, a second driven wheel, a third driven wheel, and a fourth driven wheel, the driving motor of the front wing module is fixedly connected to one end of the first mounting plate facing the fuselage, the output end of the first driving motor is fixedly connected with the first driving gear, the end of the first mounting plate away from the fuselage is also rotatably connected with the first driven wheel in mesh with the first driving gear, the first driven wheel is coaxially fixed with the second driven wheel, and the end of the first mounting plate away from the fuselage is also fixedly connected with two first bosses, the third driven wheel and the fourth driven wheel are rotatably connected to the two first bosses respectively, the third driven wheel and the fourth driven wheel and the second driven wheel are located in the same plane, the third driven wheel is in mesh with the second driven wheel, and the third driven wheel is in mesh with the fourth driven wheel.

[0010] As a preferred technical scheme, the crank linkage mechanism of the front wing module comprises a first connecting rod, a first rocker, a second connecting rod, and a second rocker, a pin shaft is fixedly connected to the first mounting plate, the first rocker and the second rocker are rotatably connected to the pin shaft, the first end of the first connecting rod is rotatably connected with the wheel surface of the third driven wheel, the second end of the first connecting rod is rotatably connected with the first rocker, the first end of the second connecting rod is rotatably connected with the wheel surface of the fourth driven wheel, and the second end of the second connecting rod is rotatably connected with the second rocker; the second rocker is fixedly connected with the right front wing, and the left front wing is fixedly connected with the first rocker.

[0011] As a preferred technical scheme, the speed reduction gear set of the rear wing module comprises a second driving gear, a fifth driven wheel, a sixth driven wheel, a seventh driven wheel, and an eighth driven wheel, the output end of the driving motor of the rear wing module is in transmission connection with the second driving gear, the end of the second mounting plate away from the fuselage is rotatably connected with the fifth driven wheel in mesh with the second driving gear, and the fifth driven wheel is coaxially fixedly connected with the sixth driven wheel; the end of the second mounting plate away from the fuselage is fixedly connected with two second bosses, the seventh driven wheel and the eighth driven wheel are rotatably connected to the two second bosses respectively, the seventh driven wheel is in mesh with the eighth driven wheel, and the sixth driven wheel is in mesh with the seventh driven wheel.

[0012] As a preferred technical scheme, the crank connecting rod mechanism of the rear wing module comprises a sixth connecting rod, a third rocker, a seventh connecting rod and a fourth rocker, the second mounting plate is fixedly connected with another pin shaft at the top, the third rocker and the fourth rocker are rotatably connected to the pin shaft, the seventh driven wheel is in transmission connection with the third rocker through the sixth connecting rod, the eighth driven wheel is in transmission connection with the fourth rocker through the seventh connecting rod, and the first end of the sixth connecting rod is rotatably connected with the wheel surface of the seventh driven wheel.

[0013] As a preferred technical scheme, the left front wing, the right front wing, the left rear wing and the right rear wing are of the same structure, the left front wing comprises a first skeleton, a second skeleton, a third skeleton and a wing membrane, the first skeleton is fixedly connected with the first rocker, the third skeleton is fixedly connected with the first skeleton, the second skeleton is located between the first skeleton and the third skeleton, one end of the second skeleton is fixedly connected with the connecting point of the third skeleton and the first skeleton, and the wing membrane covers and is fixedly connected with the first skeleton, the second skeleton and the third skeleton.

[0014] As a preferred technical scheme, the fuselage further comprises a rudder frame, the rudder frame is located between the support rod group and the second mounting plate, the steering module comprises a steering engine, a steering disc, a third connecting rod, a fourth connecting rod and a fifth connecting rod, the steering engine is fixedly connected to the rudder frame, one end of the rudder frame towards the second mounting plate is fixedly connected with a fixed shaft, the output end of the steering engine is fixedly connected with the steering disc, the fifth connecting rod is rotatably connected to the fixed shaft, the fifth connecting rod is fixedly connected with the rear wing module through the second mounting plate, the first end of the steering disc is rotatably connected with the first end of the fifth connecting rod through the third connecting rod, the second end of the steering disc is rotatably connected with the second end of the fifth connecting rod through the fourth connecting rod, and the fifth connecting rod is rotatably connected with the third connecting rod and the fourth connecting rod.

[0015] As a preferred technical scheme, the support rod group comprises a first support rod and a second support rod, one end of the first support rod is fixedly connected with the first mounting plate, the other end of the first support rod is fixedly connected with the rudder frame, one end of the second support rod is fixedly connected with the first mounting plate, and the other end of the second support rod is fixedly connected with the rudder frame.

[0016] The beneficial effects of the present application are as follows:

[0017] (1) in the present application, by setting independent driving structure on the front wing module and the rear wing module, and can drive the left rear wing, right rear wing and left front wing, right front wing flap or non-phase phase flapping, effectively increase the lift and thrust in the flight process of the butterfly flapping aircraft, compared with the ordinary configuration, the front and rear wing wing surface ratio is obviously reduced, the overall wing area is increased, which can effectively increase the lift, and when the vortex structure generated by the front wing flapping develops downstream, the rear wing can effectively capture the wake of the front wing by forming phase difference through independent control, and the energy and aerodynamic characteristics of the vortex structure generated by the front wing are used to further improve the lift and thrust of the whole aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The whole structure schematic diagram of the butterfly flapping aircraft is provided for the embodiment of the present application.

[0019] Figure 2 The left front wing structure schematic diagram is provided for the embodiment of the present application.

[0020] Figure 3 The fuselage structure schematic diagram is provided for the embodiment of the present application.

[0021] Figure 4 The front wing module explosion structure schematic diagram is provided for the embodiment of the present application.

[0022] Figure 5 The front wing module structure schematic diagram is provided for the embodiment of the present application.

[0023] Figure 6 The rear wing module structure schematic diagram is provided for the embodiment of the present application.

[0024] Figure 7 The steering module structure schematic diagram is provided for the embodiment of the present application.

[0025] 100, body; 110, first mounting plate; 120, support rod group; 121, first support rod; 122, second support rod; 130, steering frame; 140, second mounting plate; 200, front wing module; 210, first driving motor; 211, first driving gear; 220, first driven wheel; 221, second driven wheel; 230, third driven wheel; 231, first connecting rod; 232, first revolute pair; 233, first rocker; 240, fourth driven wheel; 241, second connecting rod; 242, second revolute pair; 243, second rocker; 300, steering module; 310, steering engine; 320, steering disc; 330, third connecting rod; 340, fourth connecting rod; 350, fifth connecting rod; 400, rear wing module; 410, second driving motor; 411, second driving gear; 420, fifth driven wheel; 421, sixth driven wheel; 430, seventh driven wheel; 431, sixth connecting rod; 432, third revolute pair; 433, third rocker; 440, eighth driven wheel; 441, seventh connecting rod; 442, fourth revolute pair; 443, fourth rocker; 500, wing module; 501, first skeleton; 502, second skeleton; 503, third skeleton; 504, wing membrane; 510, left front wing; 520, right front wing; 530, left rear wing; 540, right rear wing. DETAILED DESCRIPTION

[0026] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0027] Reference Figure 1The application relates to a butterfly-imitating flapping-wing aircraft, which comprises a fuselage 100, a front wing module 200, a steering module 300, a rear wing module 400 and a wing module 500, wherein the wing module 500 comprises front wings and rear wings, the front wings are in transmission connection with the front wing module 200, the rear wings are in transmission connection with the rear wing module 400, the front wing module 200 is connected to the front end of the fuselage 100, the rear wing module 400 is connected to the rear end of the fuselage 100, the rear end of the fuselage 100 is provided with the steering module 300, the rear wing module 400 is fixed on the steering module 300 and can rotate along with the steering module 300, so that the yaw attitude adjustment of the butterfly-imitating flapping-wing aircraft in the flying process is effectively realized in the form of changing the gravity center of the prototype, the front wing module 200 and the rear wing module 400 are of the same structure, the front wing module 200 and the rear wing module 400 are provided with independent driving mechanisms, and the front wings and the rear wings are driven to flap in the same phase or in different phases by the corresponding driving mechanisms, so that the lift and the thrust of the butterfly-imitating flapping-wing aircraft in the flying process can be effectively increased, in the embodiment, the flapping in different phases refers to the flapping with a phase difference.

[0028] It should be noted that the real butterfly lift and thrust are derived from the flapping of the front wings, and the unilateral front wings and the rear wings form an entire wing surface, in the process of flapping down, the pressure of the upper wing surface is less than that of the lower wing surface, the pressure difference between the upper and lower surfaces generates the lift, and the leading edge vortex and the wing tip vortex are generated; in the process of flapping up, the pressure distribution is just the opposite, the aerodynamic drag is generated to provide the thrust; the rear wings of the real butterfly are mainly used for adjusting the attitude of the butterfly and cannot provide the lift and thrust, so under the premise of ensuring effective flight, the existing bionic butterfly flapping wings are driven by the front wings; in the embodiment, the front wings and the rear wings of the wing module 500 can be driven independently, and the aerodynamic characteristics thereof meet the above principle.

[0029] Referring to Figure 1 , the front wings comprise left front wing surfaces 510 and right front wing surfaces 520 which are in transmission connection with the front wing module 200, and the rear wings comprise left rear wing surfaces 530 and right rear wing surfaces 540 which are in transmission connection with the rear wing module 400; the two driving mechanisms can drive the left rear wing surfaces 530 and the right rear wing surfaces 540 and the left front wing surfaces 510 and the right front wing surfaces 520 to flap in the same phase or in different phases; in the embodiment, the front wings and the rear wings do not overlap, the wing configurations of the front wings and the rear wings are consistent, the front wings and the rear wings are driven by the two independent driving mechanisms to form a phase difference and to be independently controlled in flapping frequency and flapping amplitude, on the one hand, the maneuverability of the bionic butterfly can be effectively improved, and on the other hand, compared with the common configuration, the front and rear wing surface ratio of the front wings and the rear wings is obviously reduced, the overall wing area is increased, the lift can be effectively increased, and when the vortex structure generated by the flapping of the front wings develops downstream, the rear wings can effectively capture the wake of the front wings by the phase difference formed through independent control, the energy and the aerodynamic characteristics of the vortex structure generated by the front wings are utilized to further improve the lift and the thrust of the whole aircraft.

[0030] The fuselage 100 is used to connect the forewing module 200, the steering module 300, and the rearwing module 400 and to provide support for the forewing module 200, the steering module 300, and the rearwing module 400. The fuselage 100 includes a first mounting plate 110, a support rod assembly 120, a servo frame 130, and a second mounting plate 140. The first mounting plate 110 is fixedly connected to one end of the support rod assembly 120, and the other end of the support rod assembly 120 is fixedly connected to one end of the servo frame 130. The second mounting plate 140 is rotatably connected to the end of the servo frame 130 away from the support rod assembly 120. The first mounting plate 110 is connected to the forewing module 200 and provides support for the forewing module 200. The second mounting plate 140 is connected to the rearwing module 400 and provides support for the rearwing module 400.

[0031] See Figure 3 The support rod assembly 120 includes a first support rod 121 and a second support rod 122. The first support rod 121 and the second support rod 122 are arranged in parallel. One end of the first support rod 121 is fixedly connected to the first mounting plate 110, and the other end of the first support rod 121 is fixedly connected to the servo frame 130. One end of the second support rod 122 is fixedly connected to the first mounting plate 110, and the other end of the second support rod 122 is fixedly connected to the servo frame 130.

[0032] See Figure 4 , Figure 5 The forewing module 200 includes a first drive motor 210, a first drive gear 211, a first driven wheel 220, a second driven wheel 221, a third driven wheel 230, a fourth driven wheel 240, a first connecting rod 231, a first rotary joint 232, a first rocker arm 233, a second connecting rod 241, a second rotary joint 242, and a second rocker arm 243.

[0033] It should be noted that the first drive motor 210 is a hollow cup motor selected from the market, the first drive motor 210 is fixedly connected to one end of the first mounting plate 110 facing the fuselage 100, the output end of the first drive motor 210 is fixedly connected with a first drive gear 211, the first drive gear 211 is located at one end of the first mounting plate 110 away from the fuselage 100, the first drive motor 210 can drive the first drive gear 211 to rotate around its axis, the one end of the first mounting plate 110 away from the fuselage 100 is also rotatably connected with a first driven gear 220 engaged with the first drive gear 211, the first driven gear 220 is coaxially fixed with a second driven gear 221, the one end of the first mounting plate 110 away from the fuselage 100 is also fixedly connected with two first bosses, a third driven gear 230 is rotatably connected to one of the first bosses, and a fourth driven gear 240 is rotatably connected to the other first boss, the third driven gear 230, the fourth driven gear 240 and the second driven gear 221 are located in the same plane, the third driven gear 230 is engaged with the second driven gear 221, and the third driven gear 230 is engaged with the fourth driven gear 240, and a larger speed reduction ratio can be obtained through the first drive gear 211, the first driven gear 220, the second driven gear 221, the third driven gear 230 and the fourth driven gear 240, in the embodiment, the speed reduction ratio is 25:1;

[0034] The first mounting plate 110 is fixedly connected with a pin shaft at the top, the pin shaft is rotatably connected with a first rocker arm 233 through a first rotary pair 232, and the pin shaft is rotatably connected with a second rocker arm 243 through a second rotary pair 242, in the embodiment, the first rotary pair 232 and the second rotary pair 242 are both pin rotary pairs;

[0035] The third driven gear 230 is in transmission connection with the first rocker arm 233 through a first connecting rod 231, and the fourth driven gear 240 is in transmission connection with the second rocker arm 243 through a second connecting rod 241, the first end of the first connecting rod 231 is rotatably connected with the wheel surface of the third driven gear 230, the second end of the first connecting rod 231 is rotatably connected with the first rocker arm 233, the first end of the second connecting rod 241 is rotatably connected with the wheel surface of the fourth driven gear 240, and the second end of the second connecting rod 241 is rotatably connected with the second rocker arm 243; the second rocker arm 243 is fixedly connected with the right front wing 520, and the left front wing 510 is fixedly connected with the first rocker arm 233;

[0036] The third driven gear 230, the first connecting rod 231, the first rotary pair 232 and the first rocker arm 233 form a first crank rocker mechanism, the fourth driven gear 240, the second connecting rod 241, the second connecting rod 241 and the second rocker arm 243 form a second crank rocker mechanism, the rotation of the first drive motor 210 is converted into the swing of the first rocker arm 233 and the second rocker arm 243 by adopting the crank rocker mechanism, so that the wing flapping is realized.

[0037] Reference Figure 6, the steering module 300 includes a steering engine 310, a steering disc 320, a third connecting rod 330, a fourth connecting rod 340, a fifth connecting rod 350, the steering engine 310 is fixedly connected on the steering engine frame 130, the steering engine frame 130 is fixedly connected with a fixed shaft at one end towards the second mounting plate 140, the output end of the steering engine 310 is fixedly connected with the steering disc 320, the fifth connecting rod 350 is rotatably connected on the fixed shaft, the fifth connecting rod 350 is fixedly connected with the rear wing module 400 through the second mounting plate 140, the first end of the steering disc 320 is rotatably connected with the first end of the fifth connecting rod 350 through the third connecting rod 330, the second end of the steering disc 320 is rotatably connected with the second end of the fifth connecting rod 350 through the fourth connecting rod 340;

[0038] The steering disc 320, the third connecting rod 330, the fourth connecting rod 340 and the fifth connecting rod 350 constitute a parallelogram linkage structure, the output end of the steering engine 310 can drive the steering disc 320 to rotate with the axis of the steering engine 310 as the rotation shaft, the steering disc 320 rotates synchronously to drive the fifth connecting rod 350 to rotate, thereby driving the rear wing module 400 to rotate relative to the second mounting plate 140, so as to realize the yaw attitude adjustment of the butterfly flapping-wing aircraft in the flight process.

[0039] Referring to Figure 7 The rear wing module 400 has the same structure as the front wing module 200, in the embodiment, the rear wing module 400 and the front wing module 200 are symmetrically arranged about the fuselage 100, of course, they can also be asymmetrically arranged;

[0040] The rear wing module 400 includes a second driving motor 410, a second driving gear 411, a fifth driven wheel 420, a sixth driven wheel 421, a seventh driven wheel 430, an eighth driven wheel 440, a sixth connecting rod 431, a third rotation pair 432, a third rocker 433, a seventh connecting rod 441, a fourth rotation pair 442, a fourth rocker 443;

[0041] One end of the second mounting plate 140 towards the fuselage 100 is fixedly connected with the second driving motor 410, the output end of the second driving motor 410 is fixedly connected with the second driving gear 411, the second driving gear 411 is located at the end of the second mounting plate 140 away from the fuselage 100, the end of the second mounting plate 140 away from the fuselage 100 is rotatably connected with the fifth driven wheel 420 engaged with the second driving gear 411, the fifth driven wheel 420 is fixedly connected with the sixth driven wheel 421 coaxially;

[0042] The end of the second mounting plate 140 away from the fuselage 100 is fixedly connected with two second bosses, one second boss is rotatably connected with the seventh driven wheel 430, the other second boss is rotatably connected with the eighth driven wheel 440, the seventh driven wheel 430 is engaged with the eighth driven wheel 440, the sixth driven wheel 421 is engaged with the seventh driven wheel 430;

[0043] The top of the second mounting plate 140 is fixedly connected to another pin. A third rocker arm 433 is rotatably connected to the pin via a third rotating joint 432. The pin is rotatably connected to a fourth rocker arm 443 via a fourth rotating joint 442. In this embodiment, both the third rotating joint 432 and the fourth rotating joint 442 are pin rotating joints.

[0044] The seventh driven wheel 430 is connected to the third rocker arm 433 via the sixth link 431, and the eighth driven wheel 440 is connected to the fourth rocker arm 443 via the seventh link 441. The first end of the sixth link 431 is rotatably connected to the wheel surface of the seventh driven wheel 430, and the second end of the sixth link 431 is rotatably connected to the third rocker arm 433. The first end of the seventh link 441 is rotatably connected to the wheel surface of the eighth driven wheel 440, and the second end of the seventh link 441 is rotatably connected to the fourth rocker arm 443. The third rocker arm 433 is fixedly connected to the right rear wing 540, and the left rear wing 530 is fixedly connected to the fourth rocker arm 443.

[0045] See Figure 1 , Figure 2 The left forewing 510 includes a first frame 501, a second frame 502, a third frame 503, and a wing membrane 504. The first frame 501 is fixedly connected to the first rocker arm 233. The third frame 503 is fixed perpendicularly to the first frame 501. The second frame 502 is located between the first frame 501 and the third frame 503. One end of the second frame 502 is fixed to the connection point between the third frame 503 and the first frame 501. The wing membrane 504 covers the first frame 501, the second frame 502, and the third frame 503 and is fixedly connected to the first frame 501, the second frame 502, and the third frame 503 respectively. In this embodiment, the wing membrane 504 is bonded and fixed to the first frame 501, the second frame 502, and the third frame 503.

[0046] The left forewing 510, right forewing 520, left hindwing 530 and right hindwing 540 have the same structure. The first frame 501 of the right forewing 520, left hindwing 530 and right hindwing 540 are all fixed to the rocker arm of the forewing module 200 and the hindwing module 400. The specific structure will not be described in detail.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A butterfly-like ornithopter, characterized by, The application relates to a winged unmanned aerial vehicle, which comprises a fuselage, a front wing module, a steering module, a rear wing module and a wing module.

2. A butterfly flapping wing robot according to claim 1, wherein, The fuselage comprises a first mounting plate, a support rod group and a second mounting plate, one end of the support rod group is fixedly connected with the first mounting plate, the other end is fixedly connected with the second mounting plate, the front wing module is fixedly connected with the first mounting plate, and the rear wing module is fixedly connected with the second mounting plate.

3. A butterfly flapping wing robot according to claim 2, wherein, The driving mechanism comprises a driving motor, a speed reduction gear set and a crank connecting rod mechanism, the output shaft of the driving motor is in transmission connection with the input end of the speed reduction gear set, and the output end of the speed reduction gear set is in transmission connection with the left rear wing, the right rear wing or the left front wing and the right front wing through the crank connecting rod mechanism.

4. A butterfly flapping machine according to claim 3, wherein, The speed reduction gear set of the front wing module comprises a first driving gear, a first driven gear, a second driven gear, a third driven gear and a fourth driven gear.

5. A butterfly flapping wing robot according to claim 4, wherein, The crank connecting rod mechanism of the front wing module comprises a first connecting rod, a first rocker, a second connecting rod and a second rocker.

6. A butterfly flapping machine according to claim 3, wherein, The speed reduction gear set of the rear wing module comprises a second driving gear, a fifth driven gear, a sixth driven gear, a seventh driven gear and an eighth driven gear. The output end of the driving motor of the rear wing module is in transmission connection with the second driving gear, the fifth driven gear, which is in mesh with the second driving gear, is rotationally connected to the end of the second mounting plate away from the fuselage, and the sixth driven gear is fixedly connected to the fifth driven gear. The second mounting plate is provided with two second bosses, the seventh driven gear and the eighth driven gear are rotationally connected to the two second bosses respectively, the seventh driven gear is in mesh with the eighth driven gear, and the sixth driven gear is in mesh with the seventh driven gear.

7. A butterfly flapping machine according to claim 6, wherein, The crank connecting rod mechanism of the rear wing module comprises a sixth connecting rod, a third rocker, a seventh connecting rod, and a fourth rocker. Another pin shaft is fixedly connected to the top of the second mounting plate. The third rocker and the fourth rocker are rotatably connected to the pin shaft. The seventh driven wheel is in transmission connection with the third rocker through the sixth connecting rod. The eighth driven wheel is in transmission connection with the fourth rocker through the seventh connecting rod. The first end of the sixth connecting rod is rotatably connected to the wheel surface of the seventh driven wheel.

8. The butterfly flapping machine according to claim 1, wherein, The left front wing, the right front wing, the left rear wing, and the right rear wing have the same structure. The left front wing comprises a first skeleton, a second skeleton, a third skeleton, and a wing membrane. The first skeleton is fixedly connected to the first rocker. The third skeleton is fixedly connected to the first skeleton. The second skeleton is located between the first skeleton and the third skeleton. One end of the second skeleton is fixedly connected to the connection point of the third skeleton and the first skeleton. The wing membrane covers and is fixedly connected to the first skeleton, the second skeleton, and the third skeleton.

9. The butterfly flapping machine according to claim 2, wherein, The fuselage further comprises a rudder frame located between the support rod group and the second mounting plate. The steering module comprises a steering engine, a steering disc, a third connecting rod, a fourth connecting rod, and a fifth connecting rod. The steering engine is fixedly connected to the rudder frame. The end of the rudder frame facing the second mounting plate is fixedly connected to a fixed shaft. The output end of the steering engine is fixedly connected to the steering disc. The fifth connecting rod is rotatably connected to the fixed shaft. The fifth connecting rod is fixedly connected to the rear wing module through the second mounting plate. The first end of the steering disc is rotatably connected to the first end of the fifth connecting rod through the third connecting rod. The second end of the steering disc is rotatably connected to the second end of the fifth connecting rod through the fourth connecting rod.

10. The ornithopter of claim 2, wherein, The support rod group comprises a first support rod and a second support rod. One end of the first support rod is fixedly connected to the first mounting plate. The other end of the first support rod is fixedly connected to the rudder frame. One end of the second support rod is fixedly connected to the first mounting plate. The other end of the second support rod is fixedly connected to the rudder frame.

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