Bionic deformation flapping wing capable of realizing wing surface folding and unfolding and outer wing torsion coupling driving

Abstract

The invention discloses a bionic deformable flapping wing capable of realizing wing surface folding and unfolding and outer wing torsion coupling driving, belongs to the technical field of flapping wing design, and aims to solve the problem that the conventional flapping wing is difficult to realize wing surface folding and unfolding motion and outer wing section torsion motion synergistic coupling driving under the condition of not introducing an additional driving source. The device comprises an inner wing section folding and unfolding mechanism, an outer wing section folding and unfolding mechanism, a sliding decoupling mechanism and an outer wing section twisting mechanism, the inner wing section folding and unfolding mechanism is connected with an external driving source, and folding and unfolding movement of an inner wing section is achieved under driving of the external driving source; the inner wing section folding and unfolding mechanism is linked with the outer wing section folding and unfolding mechanism to drive the outer wing section folding and unfolding mechanism to move so as to realize folding and unfolding of the outer wing section, the inner wing section folding and unfolding mechanism drives the sliding decoupling mechanism to move, and the sliding decoupling mechanism further drives the outer wing section twisting mechanism to realize twisting movement of the outer wing section. The flapping wing structure is mainly used for flapping wing structures of medium-sized and large-sized flapping wing aircrafts.

Description

Technical Field

[0002] This application belongs to the field of flapping wing design technology, specifically relating to a biomimetic deformable flapping wing that can realize wing surface folding and outer wing torsional coupling drive. Background Technology

[0003] Flapping-wing aircraft are biomimetic flying robots that generate lift and thrust by mimicking the periodic movements of the wings of flying organisms. Compared to fixed-wing aircraft and rotary-wing drones that use high-speed rotating blades to generate thrust, flapping-wing aircraft have certain advantages in terms of energy consumption, operating noise, flight efficiency, and collision safety. They are suitable for low-altitude flight environments and can meet the needs of applications such as low-altitude economy and smart cities, showing promising application prospects. Depending on the scale of the biomimetic object, flapping-wing aircraft can be divided into insect-inspired flapping-wing aircraft and bird-inspired flapping-wing aircraft. Among them, bird-inspired flapping-wing aircraft use medium to large birds with multi-jointed wing structures as biomimetic prototypes. Their wings typically have a large wingspan and a low flapping frequency, thus having advantages in endurance and payload capacity, making them suitable for medium- to long-duration flight missions in outdoor environments.

[0004] Ornithoptering aircraft typically fly at low speeds during takeoff, landing, and in environments with dense obstacles. Under these conditions, the low velocity of the incoming airflow over the wing surface can easily lead to insufficient lift. In nature, medium and large birds can actively adjust their wing shape, wingspan, and joint attitude during low-speed flight to adapt to low airflow conditions and maintain the required lift level. Related research indicates that birds often employ complex wing movement patterns to compensate for lift loss during low-speed flight, primarily including wing folding and outer wing section twisting. Wing folding refers to the wing surface folding towards the body during the upward flapping motion, reducing the effective wing area during this phase and thus lowering drag. Outer wing section twisting refers to the spin motion of the outer wing section during the upward flapping motion, bringing it close to a zero angle of attack, thereby reducing negative lift generation.

[0005] Currently, most flapping-wing aircraft employ a single-section flat wing or a two-section folding wing structure, significantly simplifying the complex flapping motions of birds in nature, primarily targeting high-speed forward flight. To improve the aerodynamic performance of flapping-wing aircraft, research has attempted to introduce flapping wing structures with more complex wing motion patterns. For example, Northwestern Polytechnical University developed a bird-inspired flapping-wing robot named "Little Falcon," which uses a linkage mechanism to achieve wing flapping motion; Jilin University developed a dragonfly-inspired flapping-wing aircraft, employing two sets of spatial crank-rocker mechanisms arranged along the fuselage axis to achieve torsional motion of the entire wing surface; Festo's bird-inspired flapping-wing aircraft, "Smart Bird," uses a linkage mechanism to achieve wing bending and servo motors at the wingtips to control the torsion of the outer wing section; Southeast University developed a bat-inspired flapping-wing robot, using a line-driven method where servo motors located within the fuselage directly drive the wing flapping and torsional motion of the outer wing section.

[0006] However, existing flapping wing structures capable of achieving wing flapping motion typically struggle to simultaneously couple and drive the torsional motion of the outer wing section. They often require additional servos for separate control of the outer wing section, increasing the mechanism's mass. Furthermore, limited by the servo's drive frequency, these structures cannot guarantee synchronized and coordinated torsional motion of the outer wing section with the flapping and flapping motions of the wing surface at high flight frequencies, thus restricting their application in low-speed flight conditions. On the other hand, while flapping wing structures exist that couple wing flapping and torsional motions through mechanisms, these are mostly designed for small-span single-segment wings and do not address wing flapping motion, making them unsuitable for medium and large-span flapping wing aircraft.

[0007] Therefore, existing technologies still lack a biomimetic deformable flapping wing structure that can achieve coordinated coupling of wing surface folding and outer wing section torsional motion without significantly increasing system mass and structural complexity. Summary of the Invention

[0008] In order to solve the problem that existing flapping wings cannot achieve coordinated driving of wing surface folding motion and outer wing section torsional motion without introducing an additional driving source, this application provides a biomimetic deformable flapping wing that can achieve coupled driving of wing surface folding motion and outer wing torsional motion. A biomimetic deformable flapping wing capable of coupled driving of wing folding and outer wing torsion includes an inner wing folding mechanism, an outer wing folding mechanism, a sliding decoupling mechanism, and an outer wing torsion mechanism. The inner wing section folding mechanism is connected to an external drive source located on the fuselage of the flapping wing aircraft. Driven by the external drive source, the inner wing section folds and unfolds. The inner wing section folding and unfolding mechanism is linked with the outer wing section folding and unfolding mechanism to drive the movement of the outer wing section folding and unfolding mechanism, thereby realizing the folding and unfolding of the outer wing section. The sliding decoupling mechanism is integrated on the inner wing section folding and unfolding mechanism. The inner wing section folding and unfolding mechanism drives the sliding decoupling mechanism to move. The sliding decoupling mechanism further drives the movement of the outer wing section torsion mechanism located at the end of the inner wing section folding and unfolding mechanism. The outer wing section torsion mechanism is connected to the outer wing section folding and unfolding mechanism. Driven by the outer wing section torsion mechanism, the outer wing section folding and unfolding mechanism performs a torsion movement, thereby enabling the wing surface folding and unfolding movement of the biomimetic deformable flapping wing and the torsion movement of the outer wing section to achieve coupled drive under the action of a single drive source. Furthermore, the medial wing segment folding and extending mechanism includes a humeral wing beam connecting rod, a medial wing segment folding and extending drive rocker arm, a medial wing segment folding and extending transmission connecting rod, and a radial wing beam connecting rod; The humeral spar link, the inner wing section folding drive rocker, the inner wing section folding transmission link, and the radial spar link are sequentially hinged to form a closed frame structure. One end of the humeral spar link extends outside the frame structure and is hinged to the fuselage of the flapping wing aircraft. One end of the inner wing section folding drive rocker extends outside the frame structure and is connected to an external drive source located on the fuselage of the flapping wing aircraft. One end of the inner wing section folding transmission link extends outside the frame structure and is connected to the outer wing section folding mechanism. One end of the radial spar link extends outside the frame structure and is connected to the outer wing section torsion mechanism. The external drive source drives the inner wing section folding drive rocker to rotate the humeral spar link around its hinge point with the fuselage of the flapping wing aircraft. The inner wing section folding drive rocker, through the inner wing section folding transmission link, drives the radial spar link to rotate around its hinge point with the humeral spar link, thereby realizing the folding action of the inner wing section. Furthermore, the outer wing segment folding mechanism includes an outer wing segment base, an outer wing segment folding drive linkage, and N finger bone units, where N is a positive integer; The outer wing segment base is mounted on the outer wing segment torsion mechanism. All N finger bone units are mounted on the outer wing segment base. The two ends of the outer wing segment folding and unfolding drive linkage are respectively connected to the inner wing segment folding and unfolding mechanism and the outermost finger bone unit located on the outer wing segment base. The inner wing segment folding and unfolding mechanism drives the movement of the outermost finger bone unit through the outer wing segment folding and unfolding drive linkage. The outermost finger bone unit drives the movement of the remaining finger bone units through the outer wing segment base, thereby realizing the folding and unfolding action of the outer wing segment. Furthermore, the sliding decoupling mechanism includes a decoupling mechanism drive link, an input slider, an output slider, a decoupling transmission shaft, and a decoupling guide unit; The decoupling guide unit is fixedly mounted on the radial wing beam connecting rod. Both the input slider and the output slider are located in the decoupling guide unit and are slidably connected to the radial wing beam connecting rod. One end of the decoupling mechanism drive link is hinged to the input slider, and the other end is hinged to the humeral wing beam connecting rod. The decoupling transmission shaft is inserted into the decoupling guide unit, the input slider, and the output slider and is slidably connected to all three. The humeral wing beam connecting rod drives the input slider to slide through the decoupling mechanism drive link, and the input slider drives the output slider to slide through the decoupling transmission shaft, thereby realizing the motion output of the output slider. Furthermore, the outer wing section torsion mechanism includes a flexible transmission component, a fixed base, a drive unit, and a torsion shaft; The fixed seat is installed at the end of the inner wing section folding mechanism. The torsion shaft is rotatably connected in the fixed seat. The drive unit is mounted on the torsion shaft. One end of the flexible transmission component is connected to the sliding decoupling mechanism, and the other end of the flexible transmission component is connected to the drive unit. The sliding decoupling mechanism drives the flexible transmission component to perform axial reciprocating motion. The flexible transmission component drives the torsion shaft to perform forward or backward rotation through the drive unit. The torsion shaft drives the outer wing section folding mechanism to move synchronously, thereby realizing the torsion action of the outer wing section folding mechanism. Furthermore, a torsion angle limiter is installed on the torsion shaft to limit the maximum angle of the torsion shaft’s forward or backward movement, and a limiting groove is machined at the end of the inner wing section folding mechanism to cooperate with the torsion angle limiter. Furthermore, the humeral wing beam connecting rod includes a humeral wing beam connecting rod, a humeral wing beam body, and a humeral-radial connecting rod, with the humeral wing beam connecting rod and the humeral-radial connecting rod respectively fixed to the two ends on the same side of the humeral wing beam body; The inner wing section folding and unfolding drive rocker includes an inner wing section folding and unfolding drive rocker connecting rod and an inner wing section folding and unfolding drive rocker body. The inner wing section folding and unfolding drive rocker connecting rod is fixedly connected to one end of the inner wing section folding and unfolding drive rocker body. The inner wing section folding and unfolding transmission link includes the inner wing section folding and unfolding transmission link body, the ball joint fixing seat connecting rod and the ball joint fixing seat, with the inner wing section folding and unfolding transmission link body and the ball joint fixing seat respectively fixed to both ends of the ball joint fixing seat connecting rod; The radial wing beam connecting rod includes a radial wing beam connecting rod and a radial wing beam body, with the radial wing beam body fixed to one side of the radial wing beam connecting rod; The humeral spar connecting rod is hinged to the fuselage of the flapping wing aircraft. The inner wing section folding drive rocker arm connecting rod is connected to an external drive source located on the fuselage of the flapping wing aircraft. The main body of the inner wing section folding drive rocker arm is hinged to the humeral spar connecting rod through the first hinge shaft of the inner wing section folding mechanism. The main body of the inner wing section folding transmission connecting rod is hinged to the main body of the inner wing section folding drive rocker arm through the third hinge shaft of the inner wing section folding mechanism. The radial spar connecting rod is hinged to the ball joint fixing seat connecting rod through the fourth hinge shaft of the inner wing section folding mechanism. The humeral-radial connecting rod is hinged to the radial spar connecting rod through the second hinge shaft of the inner wing section folding mechanism. The ball joint fixing seat is connected to the outer wing section folding drive connecting rod. The main body of the radial spar is connected to the outer wing section torsion mechanism. The sliding decoupling mechanism is integrated on the main body of the humeral spar and the main body of the radial spar. Furthermore, the outer wing segment folding drive link includes a first ball joint of the outer wing segment folding drive link, a main body of the outer wing segment folding drive link, and a second ball joint of the outer wing segment folding drive link. The first ball joint and the second ball joint of the outer wing segment folding drive link are respectively fixed at both ends of the main body of the outer wing segment folding drive link. The outer wing segment base includes an outer wing segment base body and two outer wing segment base fixing plates. The two outer wing segment base fixing plates are fixed to each other on both sides of the outer wing segment base body. The outer wing segment base is equipped with an outer wing segment folding and unfolding mechanism first hinge shaft and an outer wing segment folding and unfolding transmission unit. The outer wing segment base is hinged to N finger bone units through the outer wing segment folding and unfolding mechanism first hinge shaft, and all N finger bone units are slidably connected to the outer wing segment folding and unfolding transmission unit. Furthermore, the decoupling guide unit includes two outer decoupling guide plates, two inner decoupling guide plates, and a guide plate connecting assembly. The two outer decoupling guide plates are installed opposite each other on the outer side of the radial wing beam connecting rod, and the two inner decoupling guide plates are positioned opposite each other between the two outer decoupling guide plates. Both inner decoupling guide plates are installed on the radial wing beam connecting rod. The tops of the two outer decoupling guide plates and the two inner decoupling guide plates are connected by the guide plate connecting assembly. The input slider is inserted between the two outer decoupling guide plates and the two inner decoupling guide plates and is guided by the constraint path formed between the outer decoupling guide plates and the inner decoupling guide plates. The output slider is inserted between the two inner decoupling guide plates and is guided by the constraint path formed between the two inner decoupling guide plates. Furthermore, the fixed base includes two fastening plates, two torsion shaft support seats, and a guide wheel mechanism. The two fastening plates are fastened to each other on both sides of the end of the inner wing section folding mechanism. The two torsion shaft support seats are installed opposite each other between the two fastening plates along the center line of the length direction of the fastening plates. The guide wheel mechanism is located above the two torsion shaft support seats and is rotatably connected to the two fastening plates. The torsion shaft is inserted into the two torsion shaft support seats and is rotatably connected to the two torsion shaft support seats. The other end of the flexible transmission component is connected to the drive unit through the guide wheel mechanism. The drive unit includes a line drive wheel and a torsion spring. The line drive wheel is mounted on the torsion shaft and connected to the other end of the flexible transmission component. The torsion spring is mounted on the torsion shaft and is located between the drive wheel and a torsion shaft support. The two ends of the torsion spring are connected to the drive wheel and the torsion shaft support, respectively.

[0009] The beneficial effects of this application compared to the prior art are: 1. This application provides a biomimetic deformable flapping wing capable of coupled drive of wing surface folding and outer wing torsion. By utilizing the folding motion of the inner wing section to synchronously drive the folding and torsion motion of the outer wing section, this invention achieves coupled drive of the flapping wing surface folding motion and the outer wing section torsion motion. Compared to solutions that require additional servos for separate control of the outer wing section motion, this invention reduces the number of drive sources and the mass of the mechanism. Furthermore, this coupled drive method can ensure the synchronous coordination of the outer wing section torsion motion and the wing surface folding motion under high-frequency operating conditions, making it suitable for the needs of flapping wing aircraft in low-speed flight phases where complex and high-frequency wing motion patterns are required.

[0010] 2. The biomimetic deformable flapping wing provided in this application, which can realize the coupling drive of wing surface folding and outer wing torsion, drives the outer wing section torsion by introducing a decoupling mechanism with sliding decoupling function. The sliding decoupling mechanism can convert the sliding displacement of the input slider into the expected sliding displacement of the output slider, and divide the total sliding stroke of the input slider into the idle stroke interval at both ends and the effective transmission interval in the middle. When the total stroke of the input slider is shortened or fluctuates due to processing error, assembly error or driving deviation, the stroke change only acts on the idle stroke interval, thereby still ensuring that the output slider completes the expected movement, improving the consistency and reliability of the deformable wing movement. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of the biomimetic deformable flapping wing described in this application; Figure 2 This is a schematic diagram of the inner wing section folding mechanism in the biomimetic deformable flapping wing described in this application; Figure 3 This is a schematic diagram of the humeral spar connecting rod in the biomimetic deformable flapping wing described in this application; Figure 4 This is an exploded schematic diagram of the humeral spar connecting rod in the biomimetic deformable flapping wing described in this application; Figure 5 This is a schematic diagram of the structure of the inner wing section folding and unfolding drive rocker in the biomimetic deformable flapping wing described in this application; Figure 6 This is an exploded schematic diagram of the inner wing section folding and unfolding drive rocker of the biomimetic deformable flapping wing described in this application; Figure 7This is a schematic diagram of the inner wing section folding transmission linkage of the biomimetic deformable flapping wing described in this application; Figure 8 This is an exploded schematic diagram of the inner wing section folding transmission linkage of the biomimetic deformable flapping wing described in this application; Figure 9 This is a schematic diagram of the radial spar connecting rod in the biomimetic deformable flapping wing described in this application; Figure 10 This is an exploded schematic diagram of the radial spar connecting rod in the biomimetic deformable flapping wing described in this application; Figure 11 This is a schematic diagram of the folding and unfolding mechanism of the outer wing section in the biomimetic deformable flapping wing described in this application; Figure 12 This is a schematic diagram of the structure of the base of the outer wing section in the biomimetic deformable flapping wing described in this application; Figure 13 This is an exploded schematic diagram of the base of the outer wing section of the biomimetic deformable flapping wing described in this application; Figure 14 This is a schematic diagram of the structure of the outer wing section folding drive linkage of the biomimetic deformable flapping wing described in this application; Figure 15 This is an exploded schematic diagram of the outward wing section folding drive linkage of the biomimetic deformable flapping wing described in this application; Figure 16 This is a schematic diagram of the sliding decoupling mechanism in the biomimetic deformable flapping wing described in this application; Figure 17 This is an exploded view of the sliding decoupling mechanism in the biomimetic deformable flapping wing described in this application; Figure 18 This is a schematic diagram of the sliding decoupling mechanism in the biomimetic deformable flapping wing described in this application. Figure 19 This is a schematic diagram of the structure of the torsion mechanism package in the outer wing section of the biomimetic deformable flapping wing described in this application; Figure 20 This is an exploded schematic diagram of the torsion mechanism package of the outer wing section in the biomimetic deformable flapping wing described in this application; Figure 21 This is a schematic diagram of the deployed state of the biomimetic deformable flapping wing described in this application; Figure 22 This is a schematic diagram of the torsional state of the biomimetic deformable flapping wing described in this application.

[0012] In the picture: 101 Humeral wing beam connecting rod, 102 Humeral wing beam connecting rod pad, 103 Humeral wing beam body, 104 Humerus-radius connecting rod, 105 Humerus-radius connecting rod pad, 106 Medial wing segment folding and unfolding drive rocker connecting rod, 107 Medial wing segment folding and unfolding drive rocker body, 108 Medial wing segment folding and unfolding transmission connecting rod body, 109 Ball joint fixing seat connecting rod, 110 Ball joint fixing seat, 111 Radial wing beam connecting rod, 112 Radial wing beam connecting rod fixing block, 113 Radial wing beam body, 114 First hinge shaft of medial wing segment folding and unfolding mechanism, 115 Second hinge shaft of medial wing segment folding and unfolding mechanism, 116 Third hinge shaft of medial wing segment folding and unfolding mechanism, 117 Fourth hinge shaft of medial wing segment folding and unfolding mechanism.

[0013] 201 Outer wing segment folding and unfolding drive linkage first ball joint; 202 Outer wing segment folding and unfolding drive linkage main body; 203 Outer wing segment folding and unfolding drive linkage second ball joint; 204 Outer wing segment folding and unfolding transmission linkage; 205 Outer wing segment base fixing plate; 206 Outer wing segment base main body; 207 First finger bone unit; 208 Second finger bone unit; 209 Third finger bone unit; 210 Outer wing segment folding and unfolding mechanism first guide shaft; 211 Outer wing segment folding and unfolding mechanism second guide shaft; 212 Outer wing segment folding and unfolding mechanism second guide shaft; 213 Outer wing segment folding and unfolding mechanism first hinge shaft; 214 Outer wing segment folding and unfolding mechanism second hinge shaft.

[0014] 301 Outer decoupling guide plate, 302 Inner decoupling guide plate, 303 Guide plate connecting assembly, 304 Input slider, 305 Output slider, 306 Decoupling mechanism drive link, 307 Decoupling transmission shaft, 308 First hinge shaft of sliding decoupling mechanism, 309 Second hinge shaft of sliding decoupling mechanism.

[0015] 401 Torsion shaft, 402 Line drive wheel, 403 Torsion spring, 404 Torsion angle limiter, 405 Guide pulley, 406 Outer wing section torsion mechanism hinge shaft. Detailed Implementation

[0016] Specific implementation method one: Combining Figure 1 , Figure 21 and Figure 22This embodiment describes a biomimetic deformable flapping wing capable of coupled drive of wing surface folding and outer wing torsion. It includes an inner wing section folding mechanism, an outer wing section folding mechanism, a sliding decoupling mechanism, and an outer wing section torsion mechanism. The inner wing section folding mechanism is connected to an external drive source located on the fuselage of the flapping wing, and under the drive of the external drive source, it realizes the folding action of the inner wing section. The inner wing section folding mechanism is linked with the outer wing section folding mechanism to drive the movement of the outer wing section folding mechanism, thereby realizing the folding action of the outer wing section. The sliding decoupling mechanism is integrated on the inner wing section folding mechanism, and the inner wing section folding mechanism drives the sliding decoupling mechanism to move. The sliding decoupling mechanism further drives the movement of the outer wing section torsion mechanism located at the end of the inner wing section folding mechanism. The outer wing section torsion mechanism is connected to the outer wing section folding mechanism, and under the drive of the outer wing section torsion mechanism, it performs a torsion action, thus enabling the wing surface folding action and the outer wing section torsion action of the biomimetic deformable flapping wing to achieve coupled drive under the action of a single drive source.

[0017] This embodiment provides a biomimetic deformable flapping wing capable of coupled wing folding and outer wing torsion. Addressing the problems of redundant drive sources, poor motion coordination, insufficient adaptability, and low operational reliability in existing medium and large flapping wing structures, this invention designs a biomimetic deformable flapping wing structure with coupled wing folding and outer wing torsion. The power transmission of the inner wing segment's folding motion achieves coordinated deformation of multiple wing segments. The overall structure is biomimetic, with simple transmission logic and stable and reliable operation. Compared to existing technologies, it achieves comprehensive improvements in drive efficiency, aerodynamic performance, structural reliability, and engineering adaptability. Its core is the use of single-source coupled drive, significantly reducing system weight and energy consumption. Relying on the inner wing segment folding mechanism as the sole power input, a mechanical linkage structure synchronously drives the outer wing segment folding mechanism, sliding decoupling mechanism, and outer wing segment torsion mechanism, achieving coordinated coupling of wing folding and outer wing segment torsion motions. No additional drive sources such as servo motors or steering gears are needed to individually control the motion of each wing segment. This design not only reduces the number of drive components, effectively lowering the overall mass and structural volume of the flapping wing mechanism, thus meeting the lightweight design requirements of medium and large flapping wing aircraft; it also reduces the energy consumption and control links of multiple drive sources, lowering the overall energy consumption of the aircraft, improving the endurance of the flapping wing aircraft, and solving the problems of bulky mechanisms and excessive energy consumption caused by multiple drive sources in existing technologies.

[0018] Specific Implementation Method Two: Combining Figures 2 to 10This embodiment further defines the inner wing segment folding mechanism in Specific Embodiment 1. The inner wing segment folding mechanism includes a humeral spar connecting rod, an inner wing segment folding drive rocker, an inner wing segment folding transmission connecting rod, and a radial spar connecting rod. The humeral spar connecting rod, the inner wing segment folding drive rocker, the inner wing segment folding transmission connecting rod, and the radial spar connecting rod are sequentially hinged to form a closed frame structure. One end of the humeral spar connecting rod extends outside the frame structure and is hinged to the fuselage of the flapping-wing aircraft. One end of the inner wing segment folding drive rocker extends outside the frame structure and... Connected to an external drive source located on the fuselage of the ornithopter, one end of the inner wing section folding drive linkage extends outside the frame structure and connects to the outer wing section folding mechanism. One end of the radial spar linkage extends outside the frame structure and connects to the outer wing section torsion mechanism. The external drive source drives the inner wing section folding drive rocker arm, which in turn rotates the humeral spar linkage around its hinge point with the ornithopter fuselage. The inner wing section folding drive rocker arm, through the inner wing section folding drive linkage, drives the radial spar linkage to rotate around its hinge point with the humeral spar linkage, thus achieving the folding action of the inner wing section. Other components and connections are the same as in Specific Implementation Method 1.

[0019] In this embodiment, the inner wing section folding mechanism is directly connected to the drive source on the fuselage of the ornithopter. Its own folding motion not only deforms the inner wing section but also serves as the common power source for the outer wing section folding mechanism, the sliding decoupling mechanism, and the outer wing section torsion mechanism, completing the power distribution through mechanical linkage. This design fundamentally abandons the existing technology's approach of setting up separate drive sources such as servo motors and servo motors for the outer wing section torsion, effectively reducing the number of drive sources in the entire aircraft, lowering the overall weight and structural complexity of the mechanism, and meeting the lightweight design requirements of medium and large ornithopter aircraft. At the same time, it reduces the energy consumption and electronic control synchronization costs caused by multiple drive sources, improves the endurance of the ornithopter aircraft, and solves the core pain points of the existing technology's bloated drive system and excessive energy consumption. The inner wing section folding mechanism, while completing its own folding motion, can simultaneously transmit power to two downstream core mechanisms: on the one hand, through a ball joint connection between the inner wing section folding transmission link and the outer wing section folding drive link, power is transmitted to the outer wing section folding mechanism, driving the folding motion of the outer wing section; on the other hand, through a humeral wing sparsor link hinged decoupling mechanism, power is transmitted to the sliding decoupling mechanism, thereby driving the outer wing section torsion mechanism to complete the torsion of the outer wing section. This multi-drive linkage design, with a single source, enables precise synchronization of wing surface folding and outer wing section torsion motions via pure mechanical transmission, eliminating the response lag problem of electronically controlled drives. Even at higher flapping motion frequencies, it can still ensure the coordination and consistency of the outer wing section torsion and wing surface folding motions, perfectly adapting to the needs of flapping wing aircraft for complex, high-frequency wing motion modes during low-speed flight, and solving the problem of asynchronous folding and torsion motions in existing technologies, making it difficult to adapt to low-speed flight. The inner wing section folding mechanism consists of a humeral wing sparsity link, an inner wing section folding drive rocker, an inner wing section folding transmission link, and a radial wing sparsity link, all connected in a closed-loop hinged manner through multiple sets of hinge shafts. Each link is fixedly connected by multiple components into an integrated motion component. During operation, there is no relative movement between the components. The closed-loop hinged connection method has the following advantages: First, the transmission gap of the hinged connection is small, enabling precise power transmission and avoiding motion deviation during transmission. Second, the integrated link has good structural rigidity, capable of withstanding the transmission load brought by the large wingspan of medium and large flapping-wing aircraft, reducing structural deformation under high-frequency motion, and ensuring transmission stability. Third, the pure mechanical link transmission method has no signal loss in the electronic control link and no loosening or jamming problems of wireless drive, resulting in high power transmission efficiency and maximizing the transmission of power from the fuselage drive source to the downstream mechanism. The design concept of the inner wing folding mechanism is based on the skeletal structures of the humerus and radius of medium and large birds' wings as biomimetic prototypes. Correspondingly, the core components of the humeral spar link and radius spar link are designed. The folding motion of the inner wing section is achieved through the relative rotation of the two links, highly replicating the natural deformation pattern of the inner wing section during bird flight. This biomimetic design makes the flapping wing's movement more in line with aerodynamic laws. Combined with the folding and twisting of the outer wing section, it can accurately replicate the complex wing movements of birds during low-speed flight, effectively compensating for lift loss during low-speed flight. This solves the problem of insufficient low-speed lift caused by simplified structures such as single-section flat wings and two-section folding wings in existing flapping-wing aircraft, significantly improving the aerodynamic performance of flapping-wing aircraft in takeoff, landing, and dense obstacle environments. The following are the specific structural components and connection methods of the humeral wing beam connecting rod, the medial wing segment folding drive rocker, the medial wing segment folding transmission connecting rod, and the radial wing beam connecting rod in this embodiment: The humeral wing beam link includes a humeral wing beam connecting rod 101, a humeral wing beam body 103, and a humeral-radial connecting rod 104. The humeral wing beam connecting rod 101 and the humeral-radial connecting rod 104 are respectively fixed to the two ends on the same side of the humeral wing beam body 103. The humeral wing beam connecting rod 101 is fixedly connected to the humeral wing beam body 103 through a humeral wing beam connecting rod pad 102. The humeral-radial connecting rod 104 is fixedly connected to the humeral wing beam body 103 through a humeral-radial connecting rod pad 105. There is no relative movement between the components of the humeral wing beam link, and the whole structure moves as a single unit. The inner wing section folding and unfolding drive rocker includes an inner wing section folding and unfolding drive rocker connecting rod 106 and an inner wing section folding and unfolding drive rocker body 107. The inner wing section folding and unfolding drive rocker connecting rod 106 is fixedly connected to one end of the inner wing section folding and unfolding drive rocker body 107. There is no relative movement between the components of the inner wing section folding and unfolding drive rocker, and the whole moves as a single structure. The inner wing section folding and unfolding transmission link includes an inner wing section folding and unfolding transmission link body 108, a ball joint fixing seat connecting rod 109, and a ball joint fixing seat 110. The inner wing section folding and unfolding transmission link body 108 and the ball joint fixing seat 110 are respectively fixed at both ends of the ball joint fixing seat connecting rod 109. There is no relative movement between the components of the inner wing section folding and unfolding transmission link, and the whole is a single structure that moves. The radial wing beam connecting rod includes a radial wing beam connecting rod 111 and a radial wing beam body 113. The radial wing beam body 113 is fixed to one side of the radial wing beam connecting rod 111 by a radial wing beam connecting rod fixing block 112. There is no relative movement between the components of the radial wing beam connecting rod, and the whole structure moves as a single unit. The humeral spar connecting rod 101 is hinged to the flapping-wing fuselage. The inner wing section folding drive rocker arm connecting rod 106 is connected to an external drive source located on the flapping-wing fuselage. The inner wing section folding drive rocker arm body 107 is hinged to the humeral spar connecting rod 101 via the first hinge shaft 114 of the inner wing section folding mechanism. The inner wing section folding transmission connecting rod body 108 is hinged to the inner wing section folding drive rocker arm body 107 via the third hinge shaft 116 of the inner wing section folding mechanism. The radial spar... The connecting rod 111 is hinged to the ball joint fixing seat connecting rod 109 via the fourth hinge shaft 117 of the inner wing segment folding mechanism. The humerus-radius connecting rod 104 is hinged to the radial wing beam connecting rod 111 via the second hinge shaft 115 of the inner wing segment folding mechanism. The ball joint fixing seat 110 is connected to the outer wing segment folding drive connecting rod. The radial wing beam body 113 is connected to the outer wing segment torsion mechanism. The sliding decoupling mechanism is integrated on the humerus wing beam body 103 and the radial wing beam body 113.

[0020] Specific implementation method three: Combining Figures 11 to 15 This embodiment further defines the outer wing segment folding mechanism in Specific Embodiment 1. The outer wing segment folding mechanism includes an outer wing segment base, an outer wing segment folding drive linkage, and N finger bone units, where N is a positive integer. The outer wing segment base is mounted on the outer wing segment torsion mechanism. N phalangeal units are all mounted on the outer wing segment base. The two ends of the outer wing segment folding / unfolding drive linkage are connected to the inner wing segment folding / unfolding mechanism and the outermost phalangeal unit located on the outer wing segment base, respectively. The inner wing segment folding / unfolding mechanism drives the movement of the outermost phalangeal unit through the outer wing segment folding / unfolding drive linkage. The outermost phalangeal unit drives the movement of the remaining phalangeal units through the outer wing segment base, thereby realizing the folding / unfolding action of the outer wing segment. Other components and connections are the same as in Specific Implementation Method 1.

[0021] In this embodiment, the outer wing segment folding and unfolding drive linkage includes a first ball joint 201, a main body 202, and a second ball joint 203. The first and second ball joints 201 and 203 are respectively fixed to both ends of the main body 202. The outer wing segment base includes a main body 206 and two fixing plates 205. The two fixing plates 205 are fixed relative to each other on both sides of the main body 206. A first hinge shaft 213 and a folding and unfolding transmission unit are mounted on the outer wing segment base. The outer wing segment base is hinged to N finger bone units via the first hinge shaft 213, and all N finger bone units are slidably connected to the folding and unfolding transmission unit. The folding and unfolding transmission unit includes a second hinge shaft 214 for the outer wing segment folding and unfolding mechanism, two outer wing segment folding and unfolding transmission links 204, and N outer wing segment folding and unfolding mechanism guide shafts. The two outer wing segment folding and unfolding transmission links 204 are arranged opposite each other on both sides of the outer wing segment base body 206, and are hinged to the outer wing segment base body 206 via the second hinge shaft 214. The N outer wing segment folding and unfolding mechanism guide shafts are installed equidistantly between the two outer wing segment folding and unfolding transmission links 204 along the extension direction of the outer wing segment folding and unfolding transmission links 204. Each outer wing segment folding and unfolding mechanism guide shaft corresponds to one finger bone unit. The finger bone unit includes a finger bone body, on which a hinge hole that mates with the first hinge shaft 213 and a guide hole that mates with the outer wing segment folding and unfolding mechanism guide shaft are machined. The working process of the outer wing segment folding and unfolding mechanism is described below using a configuration of three finger bone units as an example. The first phalanx 207, the second phalanx 208, and the third phalanx 209 are all fitted onto the first hinge shaft 213 of the outer wing segment folding and unfolding mechanism through their hinge holes. Simultaneously, the first phalanx 207, the second phalanx 208, and the third phalanx 209 are respectively fitted onto the first guide shaft 210, the second guide shaft 211, and the second guide shaft 212 of the outer wing segment folding and unfolding mechanism through their guide holes. The first phalanx 207 is connected to the outer wing segment folding and unfolding drive linkage... The two ball joints 203 are connected to the outer wing segment folding and unfolding drive linkage body 202. During the folding and unfolding action of the outer wing segment, the outer wing segment folding and unfolding drive linkage uses the folding and unfolding motion of the inner wing segment as the driving source, driving the first phalanx 207 to rotate around its hinge connection point with the outer wing segment base. Through the sliding connection between the first phalanx 207 and the outer wing segment folding and unfolding transmission linkage 204, the first phalanx 207 further drives the outer wing segment folding and unfolding transmission linkage 204 to rotate around its hinge connection point with the outer wing segment base during its rotation. Through the sliding connection between the outer wing segment folding and unfolding transmission linkage 204 and the second phalanx 208 and the third phalanx 209, the second phalanx 208 and the third phalanx 209 are ultimately driven to rotate around their respective hinge connection points with the outer wing segment base, thereby realizing the folding and unfolding motion of the outer wing segment. The outer wing section folding mechanism provided in this embodiment has three technical advantages; First, the outer wing folding mechanism has no independent drive source; the folding motion of the inner wing folding mechanism is the sole power input. The power is synchronously transmitted from the inner wing to the outer wing through a ball joint connection between the outer wing folding drive link and the inner wing folding transmission link. This design eliminates the need for separate servo motors and actuators for the outer wing in existing technologies. It avoids the increased weight caused by redundant drive sources and simplifies the overall transmission chain, meeting the core design requirements of medium and large flapping-wing aircraft for lightweight design and low structural complexity. Simultaneously, the purely mechanical power transmission method eliminates energy losses associated with electronic control components, further improving the range of flapping-wing aircraft and resolving the drawbacks of bulky and energy-intensive existing outer wing drive solutions. Secondly, the outer wing folding mechanism achieves the coordinated folding and unfolding of the three fins through the outer wing folding and unfolding transmission linkage, highly replicating the natural folding and unfolding pattern of the outer wing during low-speed flight of birds. During the upward flapping motion, the three fins can fold towards the base simultaneously, significantly reducing the effective wing area of ​​the outer wing section and lowering the drag during the upward flapping phase; during the downward flapping motion, they unfold simultaneously, restoring the complete lifting surface to increase lift. Compared to the simplified single-segment and two-segment wing surface structures in existing technologies, this biomimetic design makes the folding and unfolding motion of the outer wing section more in line with aerodynamic laws, effectively compensating for the lift loss of flapping-wing aircraft during low-speed flight, and significantly improving aerodynamic efficiency during takeoff, landing, and in environments with dense obstacles. Finally, the outer wing segment folding and unfolding mechanism adopts a composite transmission structure combining hinges, sliding fits, and ball joints, perfectly adapting to the multi-directional spatial motion requirements of the outer wing segment as it folds and unfolds with the inner wing segment and as it twists around its own torsion axis: First, the outer wing segment base is hinged to each phalanx and the folding and unfolding transmission link, ensuring the rotational accuracy around the axis during folding and unfolding motion and eliminating motion deviations caused by transmission backlash; Second, the folding and unfolding transmission link is slidably connected to each phalanx, achieving smooth power transmission between the three phalanges and ensuring synchronous coordination of the phalanx folding and unfolding movements; Third, both ends of the folding and unfolding drive link are connected by ball joints, which can adapt to changes in spatial angle caused by relative motion between the inner and outer wing segments, avoiding transmission jamming and structural stress concentration problems caused by rigid connections. This composite transmission method balances transmission precision and motion flexibility, ensuring stable power transmission for the outer wing segment even in the composite motion of high-frequency flapping, folding, and torsion.

[0022] Specific implementation method four: Combination Figures 16 to 18 This embodiment further defines the sliding decoupling mechanism in Specific Embodiment 1. The sliding decoupling mechanism includes a decoupling mechanism drive link 306, an input slider 304, an output slider 305, a decoupling transmission shaft 307, and a decoupling guide unit. The decoupling guide unit is fixedly mounted on the radial wing beam link. Both the input slider 304 and the output slider 305 are disposed in the decoupling guide unit and are slidably connected to the radial wing beam link. One end of the decoupling mechanism drive link 306... The input slider 304 is hinged to the decoupling mechanism drive link 306, and the other end of the decoupling mechanism drive link 306 is hinged to the humeral wing beam link. The decoupling drive shaft 307 is inserted into the decoupling guide unit, the input slider 304, and the output slider 305, and is slidably connected to all three. The humeral wing beam link drives the input slider 304 to slide through the decoupling mechanism drive link 306, and the input slider 304 drives the output slider 305 to slide through the decoupling drive shaft 307, thereby realizing the motion output of the output slider 305. Other components and connections are the same as in Specific Embodiment 1.

[0023] In this embodiment, the decoupling guide unit includes two outer decoupling guide plates 301, two inner decoupling guide plates 302, and a guide plate connecting assembly 303. The two outer decoupling guide plates 301 are mounted opposite each other on the outer side of the radial wing beam connecting rod, and the two inner decoupling guide plates 302 are disposed opposite each other between the two outer decoupling guide plates 301. Both inner decoupling guide plates 302 are mounted on the radial wing beam connecting rod. The tops of the two outer decoupling guide plates 301 and the two inner decoupling guide plates 302 are connected by the guide plate connecting assembly 303. An input slider 304 is inserted between the two outer decoupling guide plates 301 and the two inner decoupling guide plates 302. The input slider 304, output slider 305, and inner decoupling guide plates 302 are guided by the constraint path formed between them. The output slider 305 is inserted between the two inner decoupling guide plates 302 and guided by the constraint path formed between them. The input slider 304, output slider 305, two outer decoupling guide plates 301, and two inner decoupling guide plates 302 are all machined with grooves that mate with the decoupling drive shaft 307. The groove structures on the outer decoupling guide plates 301 and inner decoupling guide plates 302 are identical. The groove shapes on the input slider 304, output slider 305, and outer decoupling guide plates 301 are as follows: Figure 18 As shown; In this embodiment, the decoupling mechanism's driving link 306 uses the folding motion of the inner wing section as the driving source, causing the input slider 304 to slide relative to the radial wing beam link. Under the relative sliding action of the input slider 304 and the decoupling guide plate, the decoupling transmission shaft 307 slides along the expected trajectory along the groove, further driving the output slider 305 to move accordingly. The sliding stroke of the input slider 304 is divided into idle stroke intervals at both ends and an effective transmission interval in the middle. When the input slider 304 slides within the idle stroke interval, the decoupling transmission shaft 307 and the output slider 305 remain stationary. When the input slider 304 enters the effective transmission interval, the decoupling transmission shaft 307 drives the output slider 305 to move accordingly, thereby completing the motion output of the output slider 305. Figure 18 (a) and Figure 18 (c) shows the positional relationship between the decoupled drive shaft 307 and the output slider 305 when the input slider 304 slides within the idle range at both ends, as well as the motion decoupling principle between the input slider 304 and the output slider 305. Figure 18 (b) shows the positional relationship between the decoupled transmission shaft 307 and the output slider 305 when the input slider 304 slides within the effective transmission range in the middle, as well as the motion coupling principle between the input slider 304 and the output slider 305; The sliding decoupling mechanism provided in this embodiment divides the sliding stroke of the input slider 304 into two idle stroke intervals and a middle effective transmission interval through a reasonable design of the groove shape on the input slider 304 and the groove shape on the decoupling guide plate. This is its core technical innovation. This design can completely offset the stroke shortening or offset caused by machining errors, assembly deviations, and fluctuations in drive precision after long-term use. Such deviations only affect the idle stroke interval without power output and will not affect the expected movement of the output slider. It fundamentally solves the problems of motion deviation, mechanism jamming, and inaccurate torsion angle caused by errors in existing mechanical transmissions, and greatly improves the consistency and reliability of the overall movement of the flapping wing. It keeps the torsional movement of the outer wing section within a precise and controllable range. At the same time, the sliding decoupling mechanism adopts a pure mechanical transmission method of hinge and sliding cooperation throughout the entire process, without any electronically controlled drive components. The power is directly transmitted by the inner wing section folding mechanism through the drive linkage, which is naturally synchronized with the frequency of the inner wing section folding movement. This design eliminates the problem of lag in electronic control response caused by servo motors and servo motors in existing technologies. Even under the high motion frequency conditions of flapping-wing aircraft, it can still achieve power transmission without delay for the folding of the inner wing section and the twisting of the outer wing section, ensuring precise synchronization and coordination of the folding and twisting motions. It perfectly meets the needs of flapping-wing aircraft for complex and high-frequency motion modes of the wing during low-speed flight.

[0024] Specific Implementation Method Five: Combining Figures 19 to 20 This embodiment further defines the outer wing segment torsion mechanism in Specific Embodiment 1. The outer wing segment torsion mechanism includes a flexible transmission component, a fixed base, a drive unit, and a torsion shaft 401. The fixed base is installed at the end of the inner wing segment folding mechanism. The torsion shaft 401 is rotatably connected to the fixed base. The drive unit is mounted on the torsion shaft 401. One end of the flexible transmission component is connected to a sliding decoupling mechanism, and the other end is connected to the drive unit. The sliding decoupling mechanism drives the flexible transmission component to perform axial reciprocating motion. The flexible transmission component, through the drive unit, drives the torsion shaft 401 to perform forward or backward rotation. The torsion shaft 401 drives the outer wing segment folding mechanism to move synchronously, thereby realizing the torsion action of the outer wing segment folding mechanism. Other components and connections are the same as in Specific Embodiment 1.

[0025] In this embodiment, the fixed base includes two fastening plates, two torsion shaft support seats, and a guide wheel mechanism. The two fastening plates are fastened to each other on both sides of the end of the inner wing section's unfolding mechanism. The two torsion shaft support seats are installed opposite each other between the two fastening plates along the centerline of the length direction of the fastening plates. The guide wheel mechanism is located above the two torsion shaft support seats and is rotatably connected to the two fastening plates. The torsion shaft 401 is inserted into the two torsion shaft support seats and is rotatably connected to them. The guide wheel mechanism includes a guide pulley 405 and an outer wing section torsion mechanism hinge shaft 406. The guide pulley 405 is fitted onto the outer wing section torsion mechanism hinge shaft 406. On the mechanism hinge shaft 406, both ends of the outer wing section torsion mechanism hinge shaft 406 extend into the corresponding fastening plates and are rotatably connected to the fastening plates via bearings. The other end of the flexible transmission component is connected to the drive unit via a wire pulley 405. The drive unit includes a wire drive wheel 402 and a torsion spring 403. The wire drive wheel 402 is mounted on the torsion shaft 401 and connected to the other end of the flexible transmission component. The torsion spring 403 is mounted on the torsion shaft 401 and is located between the drive wheel 402 and a torsion shaft support. The two ends of the torsion spring 403 are respectively connected to the drive wheel 402 and the torsion shaft support. The torsion shaft support is connected, and the function of the guide pulley 405 is to change the extension direction of the flexible transmission component to ensure that the flexible transmission component can be smoothly connected to the line drive wheel 402. In order to ensure that the extension path of the flexible transmission component is not interfered with, a corresponding through hole is machined on the end of the radial wing beam connecting rod. When the flexible transmission component is in a tensioned state, the torsion shaft 401 drives the outer wing segment to rotate forward under the pulling action of the flexible transmission component. When the flexible transmission component is in a relaxed state, the torsion shaft 401 drives the outer wing segment to rotate backward under the restoring torque of the torsion spring 403. In order to constrain the rotation angle of the outer wing section and avoid damage to the device due to excessive rotation angle of the outer wing section, this embodiment has a torsion angle limiter 404 installed on the torsion shaft 401 to limit the maximum angle of the torsion shaft 401's forward or backward movement. The end of the inner wing section folding mechanism is machined with a limiting groove for cooperating with the torsion angle limiter 404. The torsion angle limiter 404 has a herringbone structure. When the torsion shaft 401 rotates to the limit position, the torsion angle limiter 404 makes limiting contact with the radial wing beam connecting rod to prevent the outer wing section from excessive forward or backward rotation. In this embodiment, the outer wing section torsion mechanism does not have a dedicated servo motor or other drive source. Instead, it uses the output slider displacement of the sliding decoupling mechanism as the power input. The power is transmitted to the line drive wheel through a flexible transmission component, which in turn drives the torsion shaft to rotate and achieve the torsion of the outer wing section. This design is fully integrated into the overall architecture of the invention, which features single-source drive and multi-mechanism linkage. It eliminates the need for additional drive components for the outer wing section torsion, effectively reducing the overall weight and structural complexity of the mechanism, and meeting the core requirement of lightweight design for medium and large flapping-wing aircraft. At the same time, it eliminates the energy consumption caused by multiple drive sources in the prior art, further improving the endurance of flapping-wing aircraft and solving the pain points of bulky mechanisms and high energy consumption in traditional torsion drive schemes. The torsion shaft 401 is directly fixed to the outer wing section base, making the outer wing section torsion mechanism and the folding mechanism an integrated motion unit. While the torsion shaft 401 drives the base to rotate around its own axis to achieve the torsion of the outer wing section, the base can simultaneously drive the first, second, and third phalanges to complete the folding movement, allowing the outer wing section to complete the folding deformation and torsion simultaneously within the same flapping cycle. This design breaks through the technical limitations of existing technologies where folding and twisting motions are separated and difficult to coordinate. It highly replicates the complex wing motion patterns of medium and large birds during low-speed flight, enabling flapping-wing aircraft to reduce drag through wing folding and reduce negative lift through outer wing twisting during low-speed flight. This significantly improves aerodynamic efficiency under low-speed conditions and solves the core problem of insufficient lift in traditional flapping wings during low-speed flight.

[0026] The present invention has been disclosed above with preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention. However, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

[0027] Working principle: The biomimetic deformable flapping wing described in this application uses a single drive source on the fuselage of the flapping wing aircraft as its sole power input. The inner wing section's folding mechanism serves as the core power hub. Through mechanical linkage, power is distributed to the outer wing section's folding mechanism and the sliding decoupling mechanism. The sliding decoupling mechanism then precisely outputs power to the outer wing section's torsional mechanism, ultimately achieving synchronous coupling drive between the folding motion of the inner and outer wing sections and the torsional motion of the outer wing section. The entire working process revolves around the two core phases of flapping and descent during flight. All mechanisms work in close coordination, replicating the wing movement patterns of medium and large birds during low-speed flight. The following details the overall working process in conjunction with the linkage relationships between the various mechanisms: The inner wing section folding / unfolding drive rocker is driven by an external drive source located on the fuselage of the flapping-wing aircraft, enabling the humeral spar link to rotate around its connection point with the fuselage. Simultaneously, the inner wing section folding / unfolding drive rocker transmits driving force to the radial spar link via the inner wing section folding / unfolding transmission link, causing the radial spar link to rotate relative to the humeral spar link, thereby achieving the folding / unfolding motion of the inner wing section. Driven by the outer wing segment torsion mechanism, the outer wing segment base can cause the entire outer wing segment to rotate forward or backward around the torsion axis. The outer wing segment folding and unfolding drive linkage uses the folding and unfolding motion of the inner wing segment as the drive source to drive the first phalanx 207 to rotate around its hinge connection point with the outer wing segment base. Through the sliding connection between the first phalanx 207 and the outer wing segment folding and unfolding transmission linkage 204, the first phalanx 207 further drives the outer wing segment folding and unfolding transmission linkage 204 to rotate around its hinge connection point with the outer wing segment base during its rotation. Through the sliding connection between the outer wing segment folding and unfolding transmission linkage 204 and the second phalanx 208 and the third phalanx 209, the outer wing segment folding and unfolding transmission linkage 204 ultimately drives the second phalanx 208 and the third phalanx 209 to rotate around their respective hinge connection points with the outer wing segment base, thereby realizing the folding and unfolding motion of the outer wing segment. The decoupling mechanism drive link 306 uses the folding motion of the inner wing section as the drive source to drive the input slider 304 to slide relative to the radial wing beam link; the decoupling transmission shaft 307 slides along the groove along the expected trajectory under the relative sliding action of the input slider 304 and the decoupling guide unit, and further drives the output slider 305 to perform corresponding movements. One end of the flexible transmission component is connected to the output slider 305 of the sliding decoupling mechanism, and the other end is connected to the line drive wheel 402 after being guided by the guide pulley 405. The line drive wheel 402 uses the displacement of the output slider 305 and the elastic restoring torque of the torsion spring 403 as the driving source to drive the torsion shaft 401 to rotate around its own axis. When the flexible transmission component is in a tensioned state, the torsion shaft 401 drives the outer wing segment to undergo pronation under the pulling action of the flexible transmission component. When the flexible transmission component is in a relaxed state, the torsion shaft 401 drives the outer wing segment to undergo supination under the restoring torque of the torsion spring. The torsion angle limiter 404 is used to limit the maximum angle of the pronation and supination of the torsion shaft 401. When the torsion shaft 401 rotates to the limit position, the torsion angle limiter 404 makes a limiting contact with the radial wing beam connecting rod to prevent the outer wing segment from undergoing excessive pronation or supination.

[0028] This application provides a biomimetic deformable flapping wing where all movements are achieved through purely mechanical structural linkages without an additional drive source, ensuring synchronous coordination of each movement even at high flapping frequencies. Furthermore, the error-tolerant design of the sliding decoupling mechanism and the limit-reset design of the torsion mechanism make the entire working process more stable and reliable, enabling the flapping wing aircraft to obtain superior aerodynamic conditions at low speeds, perfectly adapting to the low-altitude flight requirements of medium and large flapping wing aircraft.

Claims

1. A biomimetic deformable flapping wing capable of coupled aerodynamics of wing surface folding and outer wing torsion, characterized in that: It includes an inner wing section folding and unfolding mechanism, an outer wing section folding and unfolding mechanism, a sliding decoupling mechanism, and an outer wing section torsion mechanism; The inner wing section folding mechanism is connected to an external drive source located on the fuselage of the flapping wing aircraft. Driven by the external drive source, the inner wing section folds and unfolds. The inner wing section folding and unfolding mechanism is linked with the outer wing section folding and unfolding mechanism to drive the movement of the outer wing section folding and unfolding mechanism, thereby realizing the folding and unfolding of the outer wing section. A sliding decoupling mechanism is integrated on the inner wing section folding and unfolding mechanism. The inner wing section folding and unfolding mechanism drives the sliding decoupling mechanism to move. The sliding decoupling mechanism further drives the movement of the outer wing section torsion mechanism located at the end of the inner wing section folding and unfolding mechanism. The outer wing section torsion mechanism is connected to the outer wing section folding and unfolding mechanism. Driven by the outer wing section torsion mechanism, the outer wing section folding and unfolding mechanism performs a torsion movement, thereby enabling the wing surface folding and unfolding movement and the outer wing section torsion movement of the biomimetic deformable flapping wing to achieve coupled drive under the action of a single drive source.

2. The biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 1, characterized in that: The medial wing segment folding and extending mechanism includes the humeral wing beam connecting rod, the medial wing segment folding and extending drive rocker, the medial wing segment folding and extending transmission connecting rod, and the radial wing beam connecting rod; The humeral spar link, the inner wing section folding drive rocker, the inner wing section folding transmission link, and the radial spar link are sequentially hinged to form a closed frame structure. One end of the humeral spar link extends outside the frame structure and is hinged to the fuselage of the flapping wing aircraft. One end of the inner wing section folding drive rocker extends outside the frame structure and is connected to an external drive source located on the fuselage of the flapping wing aircraft. One end of the inner wing section folding transmission link extends outside the frame structure and is connected to the outer wing section folding mechanism. One end of the radial spar link extends outside the frame structure and is connected to the outer wing section torsion mechanism. The external drive source drives the inner wing section folding drive rocker to rotate the humeral spar link around its hinge point with the fuselage of the flapping wing aircraft. The inner wing section folding drive rocker, through the inner wing section folding transmission link, drives the radial spar link to rotate around its hinge point with the humeral spar link, thereby realizing the folding action of the inner wing section.

3. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 1 or 2, characterized in that: The outer wing section folding and unfolding mechanism includes an outer wing section base, an outer wing section folding and unfolding drive linkage, and N finger bone units, where N is a positive integer; The outer wing segment base is mounted on the outer wing segment torsion mechanism. All N finger bone units are mounted on the outer wing segment base. The two ends of the outer wing segment folding and unfolding drive linkage are respectively connected to the inner wing segment folding and unfolding mechanism and the outermost finger bone unit located on the outer wing segment base. The inner wing segment folding and unfolding mechanism drives the movement of the outermost finger bone unit through the outer wing segment folding and unfolding drive linkage. The outermost finger bone unit drives the movement of the remaining finger bone units through the outer wing segment base, thereby realizing the folding and unfolding action of the outer wing segment.

4. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 2, characterized in that: The sliding decoupling mechanism includes a decoupling mechanism drive link (306), an input slider (304), an output slider (305), a decoupling transmission shaft (307), and a decoupling guide unit; The decoupling guide unit is fixedly installed on the radial wing beam connecting rod. The input slider (304) and the output slider (305) are both set in the decoupling guide unit, and the input slider (304) and the output slider (305) are slidably connected to the radial wing beam connecting rod. One end of the decoupling mechanism drive link (306) is hinged to the input slider (304), and the other end of the decoupling mechanism drive link (306) is hinged to the humeral wing beam connecting rod. The decoupling transmission shaft (307) is inserted in the decoupling guide unit, the input slider (304) and the output slider (305), and is slidably connected to the decoupling guide unit, the input slider (304) and the output slider (305). The humeral wing beam connecting rod drives the input slider (304) to slide through the decoupling mechanism drive link (306), and the input slider (304) drives the output slider (305) to slide through the decoupling transmission shaft (307), thereby realizing the motion output of the output slider (305).

5. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 1, characterized in that: The outer wing section torsion mechanism includes a flexible transmission component, a fixed base, a drive unit, and a torsion shaft (401). The fixed seat is installed at the end of the inner wing section folding mechanism. The torsion shaft (401) is rotatably connected in the fixed seat. The drive unit is mounted on the torsion shaft (401). One end of the flexible transmission component is connected to the sliding decoupling mechanism, and the other end of the flexible transmission component is connected to the drive unit. The sliding decoupling mechanism drives the flexible transmission component to perform axial reciprocating motion. The flexible transmission component drives the torsion shaft (401) to perform forward or backward motion through the drive unit. The torsion shaft (401) drives the outer wing section folding mechanism to move synchronously, thereby realizing the torsion action of the outer wing section folding mechanism.

6. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 5, characterized in that: A torsion angle limiter (404) is installed on the torsion shaft (401) to limit the maximum angle of the torsion shaft (401) to rotate forward or backward. The end of the inner wing section folding mechanism is machined with a limiting groove for cooperating with the torsion angle limiter (404).

7. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 2, characterized in that: The humeral wing beam link includes a humeral wing beam connecting rod (101), a humeral wing beam body (103), and a humeral-radial connecting rod (104). The humeral wing beam connecting rod (101) and the humeral-radial connecting rod (104) are respectively fixed at both ends on the same side of the humeral wing beam body (103). The inner wing section folding drive rocker includes an inner wing section folding drive rocker connecting rod (106) and an inner wing section folding drive rocker body (107). The inner wing section folding drive rocker connecting rod (106) is fixedly connected to one end of the inner wing section folding drive rocker body (107). The inner wing section folding transmission link includes the inner wing section folding transmission link body (108), the ball joint fixing seat connecting rod (109), and the ball joint fixing seat (110). The inner wing section folding transmission link body (108) and the ball joint fixing seat (110) are respectively fixed at both ends of the ball joint fixing seat connecting rod (109). The radial wing beam connecting rod includes a radial wing beam connecting rod (111) and a radial wing beam body (113), with the radial wing beam body (113) fixed to one side of the radial wing beam connecting rod (111); The humeral spar connecting rod (101) is hinged to the fuselage of the flapping wing aircraft. The inner wing section folding drive rocker connecting rod (106) is connected to an external drive source located on the fuselage of the flapping wing aircraft. The inner wing section folding drive rocker body (107) is hinged to the humeral spar connecting rod (101) through the first hinge shaft (114) of the inner wing section folding mechanism. The inner wing section folding transmission connecting rod body (108) is hinged to the inner wing section folding drive rocker body (107) through the third hinge shaft (116) of the inner wing section folding mechanism. The radial spar connecting rod... The rod (111) is hinged to the ball joint fixing seat connecting rod (109) through the fourth hinge shaft (117) of the inner wing segment folding mechanism. The humerus-radius connecting rod (104) is hinged to the radial wing beam connecting rod (111) through the second hinge shaft (115) of the inner wing segment folding mechanism. The ball joint fixing seat (110) is connected to the outer wing segment folding drive connecting rod. The radial wing beam body (113) is connected to the outer wing segment torsion mechanism. The sliding decoupling mechanism is integrated on the humerus wing beam body (103) and the radial wing beam body (113).

8. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 3, characterized in that: The outer wing segment folding drive link includes a first ball joint (201), a main body (202), and a second ball joint (203). The first ball joint (201) and the second ball joint (203) are respectively fixed at both ends of the main body (202). The outer wing segment base includes an outer wing segment base body (206) and two outer wing segment base fixing plates (205). The two outer wing segment base fixing plates (205) are fixed to the two sides of the outer wing segment base body (206). The outer wing segment base is equipped with an outer wing segment folding and unfolding mechanism first hinge shaft (213) and an outer wing segment folding and unfolding transmission unit. The outer wing segment base is hinged to N finger bone units through the outer wing segment folding and unfolding mechanism first hinge shaft (213), and all N finger bone units are slidably connected to the outer wing segment folding and unfolding transmission unit.

9. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 4, characterized in that: The decoupling guide unit includes two outer decoupling guide plates (301), two inner decoupling guide plates (302), and a guide plate connecting assembly (303). The two outer decoupling guide plates (301) are mounted opposite each other on the outer side of the radial wing beam connecting rod, and the two inner decoupling guide plates (302) are positioned opposite each other between the two outer decoupling guide plates (301). Both inner decoupling guide plates (302) are mounted on the radial wing beam connecting rod. The two outer decoupling guide plates (301) and the two inner decoupling guide plates (303) The top of 302 is connected by a guide plate connecting assembly (303). The input slider (304) is inserted between the two outer decoupling guide plates (301) and the two inner decoupling guide plates (302) and is guided by the constraint path formed between the outer decoupling guide plates (301) and the inner decoupling guide plates (302). The output slider (305) is inserted between the two inner decoupling guide plates (302) and is guided by the constraint path formed between the two inner decoupling guide plates (302).

10. A biomimetic deformable flapping wing capable of achieving wing surface folding and outer wing torsional coupling drive according to claim 5, characterized in that: The fixed base includes two fastening plates, two torsion shaft support seats and a guide wheel mechanism. The two fastening plates are fastened to each other on both sides of the end of the inner wing section folding mechanism. The two torsion shaft support seats are installed opposite each other between the two fastening plates along the center line of the length direction of the fastening plates. The guide wheel mechanism is located above the two torsion shaft support seats and is rotatably connected to the two fastening plates. The torsion shaft (401) is inserted into the two torsion shaft support seats and is rotatably connected to the two torsion shaft support seats. The other end of the flexible transmission component is connected to the drive unit through the guide wheel mechanism. The drive unit includes a line drive wheel (402) and a torsion spring (403). The line drive wheel (402) is mounted on the torsion shaft (401) and connected to the other end of the flexible transmission component. The torsion spring (403) is mounted on the torsion shaft (401) and is located between the drive wheel (402) and a torsion shaft support. The two ends of the torsion spring (403) are connected to the drive wheel (402) and the torsion shaft support, respectively.

Images