A bionic folding flapping wing robot with coupled flapping and folding wing motion
By designing a biomimetic folding flapping-wing robot with a foldable wing structure and multimodal flight modes, the efficiency and stability issues of existing biomimetic flapping-wing aircraft at different flight stages have been solved, achieving efficient flight and long endurance in confined spaces.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
- Filing Date
- 2026-04-28
- Publication Date
- 2026-06-16
AI Technical Summary
Existing biomimetic flapping-wing aircraft are limited to a single flapping-wing mode during flight, making it difficult to balance efficiency and stability in different flight phases. They also lack the ability to adjust their shape, resulting in insufficient overall flight efficiency and environmental adaptability.
Design a biomimetic folding flapping-wing robot with flapping and folding coupled motion. By introducing a foldable wing structure and multimodal flight mode, the wing can switch between different states using wing folding components and power components. Combining flapping and gliding flight modes, the flexibility and efficiency of the aircraft can be improved.
It significantly improves the aircraft's ability to fly in confined spaces, reduces energy consumption, extends endurance, and provides different aerodynamic configurations for different flight phases, thereby improving flight efficiency and environmental adaptability.
Smart Images
Figure CN122211577A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of flapping-wing aircraft, and more particularly to a biomimetic folding flapping-wing robot with flapping and folding coupled motion of its wings. Background Technology
[0002] Flying organisms possess wings capable of folding and flapping. They can achieve turning control by folding one wing during flight, or leap by folding both wings simultaneously. This high-maneuverability turning, leaping acceleration, wingspan deployment, and aerial flight exhibit a combination of flight modes, demonstrating high efficiency in nature. Bionic flapping-wing aircraft are a type of flying robot that generates lift and propulsion through periodic wing flapping, offering advantages in low-speed flight, maneuvering, and adaptability to complex environments. Existing bionic flapping-wing aircraft typically consist of a fuselage, flapping wing components, a drive mechanism, and a flight control system. Basic flight attitude control and heading adjustment are achieved by adjusting the flapping frequency, amplitude, and phase. While these technologies have been applied to some extent in bionic flight research and engineering verification, their flight modes and structural forms still primarily focus on a single flapping wing mode.
[0003] Existing biomimetic flapping-wing aircraft primarily rely on the periodic flapping of their wings to generate lift and propulsion during flight. Their overall flight capability is limited by the flapping-wing drive mechanism and structural form. Furthermore, the wing structure of existing biomimetic flapping-wing aircraft is relatively fixed, lacking the ability to adjust its shape at different flight stages, making it difficult to balance efficiency and stability during takeoff, climb, and cruise. Limited by structure and control methods, flapping-wing aircraft typically can only fly using a single flapping mode, making it difficult to flexibly switch flight states according to mission requirements. Overall flight efficiency and environmental adaptability still need improvement. Therefore, existing technologies still have significant shortcomings in reducing energy consumption, improving takeoff performance, and achieving multi-mode cooperative flight. Summary of the Invention
[0004] This invention provides a biomimetic folding flapping-wing robot with flapping and folding coupled motion of wings, aiming to solve at least one of the technical problems existing in the prior art.
[0005] The technical solution of this invention is a biomimetic folding flapping-wing robot with flapping and folding coupled motion, wherein the biomimetic folding flapping-wing robot with flapping and folding coupled motion includes: body; The wing is used to generate lift during flight. The wing is connected to the fuselage. The wing includes a first wing and a second wing symmetrically arranged on both sides of the fuselage. A wing folding assembly is used to switch the wing between a folded state and an unfolded state. The wing folding assembly is disposed between the fuselage and the wing. The wing folding assembly includes a first wing folding assembly and a second wing folding assembly symmetrically disposed on both sides of the fuselage. The first wing folding assembly is connected to the first wing, and the second wing folding assembly is connected to the second wing. A power assembly is used to drive the wings to perform periodic flapping motions. The power assembly is located at the front end of the fuselage, and the first wing and the second wing are respectively connected to the output of the power assembly.
[0006] Furthermore, the first wing folding assembly includes a first linear servo for providing linear driving force for wing folding and unfolding, a first folding drive slider, and a first linkage assembly for converting the linear motion of the folding drive slider into wing unfolding or folding motion. The first linear servo is fixedly mounted on the first side of the fuselage, and the output of the first linear servo is connected to the first folding drive slider; the first folding drive slider is arranged along the longitudinal direction of the fuselage or a preset guide direction, and moves linearly under the guide constraint of the fuselage; one end of the first linkage assembly is hinged to the first folding drive slider, and the other end of the first linkage assembly is connected to the wing root of the first wing. In the first wing deployed state, the first linear servo drives the first folding drive slider to move to a preset position, and pushes the first wing to the deployed posture through the first linkage assembly, so that the wing forms an aerodynamic configuration suitable for flight; in the first wing folded state, the first linear servo drives the first folding drive slider in the opposite direction, and pulls the first wing towards the fuselage through the first linkage assembly, so as to realize the folding and retraction of the first wing. The first wing folding assembly can switch between folded and unfolded states under the command of the flight control system. It is independent of the flapping motion driven by the power assembly, thus meeting the wing shape requirements of the biomimetic folding flapping wing robot in different flight stages.
[0007] Furthermore, the second wing folding assembly includes a second linear servo for providing linear driving force for wing folding and unfolding, a second folding drive slider, and a second linkage assembly for converting the linear motion of the folding drive slider into wing unfolding or folding motion. The second linear servo is fixedly mounted on the second side of the fuselage, and the output of the second linear servo is connected to the second folding drive slider; the second folding drive slider is arranged along the longitudinal direction of the fuselage or a preset guide direction, and moves linearly under the guide constraint of the fuselage; one end of the second linkage assembly is hinged to the second folding drive slider, and the other end of the second linkage assembly is connected to the wing root of the second wing; When the second wing is deployed, the second linear servo drives the second folding drive slider to a preset position, and pushes the first wing to the deployed position through the second linkage assembly, so that the wing forms an aerodynamic configuration suitable for flight; when the second wing is folded, the second linear servo drives the second folding drive slider in the opposite direction, and pulls the first wing toward the fuselage through the second linkage assembly, so as to realize the folding and retraction of the second wing. The second wing folding assembly can switch between folded and unfolded states under the command of the flight control system. It is independent of the flapping motion driven by the power assembly, thus meeting the wing shape requirements of the biomimetic folding flapping wing robot in different flight stages for the flapping and folding coupled motion of the second wing.
[0008] Furthermore, the power assembly includes a base plate, a cover plate, a motor, a main shaft, a crank, a connecting rod, a first gear, and a second gear. The motor, the main shaft, the crank, and the connecting rod are connected in sequence. The end of the connecting rod is connected to the first gear. The first gear and the second gear mesh with each other and are disposed between the base plate and the cover plate. The motor is mounted on the first side of the base plate. The output of the motor drives the main shaft to rotate. The main shaft passes through the base plate and is connected to the crank. The main shaft drives the crank to rotate synchronously. When the crank rotates, the motion is transmitted to the first gear through the connecting rod, causing the first gear to move around its axis. The first gear and the second gear mesh with each other. When the first gear moves, it drives the second gear to move synchronously, thereby driving the first wing and the second wing to flap periodically.
[0009] Furthermore, the first end of the fuselage is connected to one side of the base plate of the power assembly. It also includes support frames for enhancing mechanical strength, which are symmetrically distributed on both sides of the fuselage.
[0010] Furthermore, the first wing includes a first joining plate and a plurality of first wing rods. The first gear output end of the power assembly is rotatably connected to the first end of the first connecting plate, the end of the first link assembly of the first wing folding assembly is rotatably connected to the bottom of the first connecting plate, and a plurality of the first wing rods are sequentially connected to the second end of the first connecting plate.
[0011] Furthermore, the second wing includes a second joint plate and a plurality of second wing rods. The second gear output end of the power assembly is rotatably connected to the first end of the second connecting plate, the end of the second link assembly of the second wing folding assembly is rotatably connected to the bottom of the second connecting plate, and a plurality of second wing rods are sequentially connected to the second end of the second connecting plate.
[0012] Furthermore, the first wing also includes a first wing surface, which covers the first wing rod of the first wing; In the deployed state, a continuous first aerodynamic wing surface is formed on the first wing surface for flapping or gliding flight; in the folded state, the first wing is folded inward relative to the fuselage to reduce the overall size and reduce aerodynamic drag during takeoff or leap.
[0013] Furthermore, the second wing also includes a second wing surface, which covers the second wing rod of the second wing; In the deployed state, a continuous second aerodynamic wing surface is formed on the second wing surface for flapping or gliding flight; in the folded state, the second wing is folded inward relative to the fuselage to reduce the overall size and reduce aerodynamic drag during takeoff or leap.
[0014] The beneficial effects of this invention are: The biomimetic folding flapping-wing robot with flapping and folding coupled motion significantly improves the aircraft's flight capability in confined spaces by introducing a multimodal flight mode that combines single-sided wing folding for turning and flapping. The foldable flapping wing structure allows the aircraft to have different aerodynamic shapes at different flight stages, improving flight efficiency and reducing energy consumption. The flight mode that combines flapping and gliding reduces the need for continuous high-frequency flapping, effectively extending endurance. The overall structure is compact, with obvious biomimetic features, and has good engineering feasibility and application expansion value. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the unfolded state of a biomimetic folding flapping-wing robot with flapping and folding coupled motion of its wings.
[0016] Figure 2 This is a schematic diagram of a biomimetic folding flapping-wing robot in its folded state, demonstrating the flapping and folding coupled motion of its wings.
[0017] Figure 3 This is a schematic diagram of the power component in a biomimetic folding flapping-wing robot with flapping and folding coupled motion of its wings.
[0018] Reference numerals in the attached drawings: 100, fuselage; 110, support frame; 210, first wing; 220, first connecting plate; 230, first wing rod; 240, second wing; 250, second connecting plate; 260, second wing rod; 310, first wing folding assembly; 311, first linear servo; 312, first folding drive slider; 313, first link assembly; 320, second wing folding assembly; 321, second linear servo; 322, second folding drive slider; 323, second link assembly; 400, power assembly; 410, base plate; 420, cover plate; 430, motor; 440, main shaft; 450, crank; 460, connecting rod; 470, first gear; 480, second gear. Detailed Implementation
[0019] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0020] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.
[0021] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.
[0022] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.
[0023] Reference Figures 1 to 3 In some embodiments, the technical solution of the present invention is a biomimetic folding flapping-wing robot with flapping and folding coupled motion of its wings, as described above. Figure 1 and Figure 2 The aforementioned biomimetic folding flapping-wing robot with flapping and folding coupled motion includes: Body 100; The wing is used to generate lift during flight. The wing is connected to the fuselage 100. The wing includes a first wing 210 and a second wing 240 symmetrically arranged on both sides of the fuselage 100. A wing folding assembly is used to switch the wing between a folded state and an unfolded state. The wing folding assembly is disposed between the fuselage 100 and the wing. The wing folding assembly includes a first wing folding assembly 310 and a second wing folding assembly 320 symmetrically disposed on both sides of the fuselage 100. The first wing folding assembly 310 is connected to the first wing 210, and the second wing folding assembly 320 is connected to the second wing 240. A power assembly 400 is used to drive the wings to perform periodic flapping motions. The power assembly 400 is located at the front end of the fuselage 100. The first wing 210 and the second wing 240 are respectively connected to the output of the power assembly 400.
[0024] The beneficial effects of this invention are: The biomimetic folding flapping-wing robot with flapping and folding coupled motion significantly improves the aircraft's flight capability in confined spaces by introducing a multimodal flight mode that combines single-sided wing folding for turning and flapping. The foldable flapping wing structure allows the aircraft to have different aerodynamic shapes at different flight stages, improving flight efficiency and reducing energy consumption. The flight mode that combines flapping and gliding reduces the need for continuous high-frequency flapping, effectively extending endurance. The overall structure is compact, with obvious biomimetic features, and has good engineering feasibility and application expansion value.
[0025] Specifically, this invention uses flying organisms as biomimetic models. By introducing a foldable flapping wing structure and a multimodal flight mode combining flapping and gliding, the flying robot can quickly gain initial speed during takeoff through leaping motions, unfold its wings in the air, and combine flapping and gliding flight to achieve an efficient and stable multi-stage flight process. This technical solution improves the flight efficiency and environmental adaptability of the aircraft while ensuring structural compactness and reliability, expanding the application range of biomimetic flying robots in complex scenarios.
[0026] Furthermore, refer to Figure 1 and Figure 2 The first wing folding assembly 310 includes a first linear servo 311 for providing linear driving force for wing folding and unfolding, a first folding drive slider 312, and a first linkage assembly 313 for converting the linear motion of the folding drive slider into wing unfolding or folding motion. The first linear servo motor 311 is fixedly installed on the first side of the fuselage 100, and the output of the first linear servo motor 311 is connected to the first folding drive slider 312; the first folding drive slider 312 is arranged along the longitudinal direction of the fuselage 100 or a preset guide direction, and performs linear motion under the guide constraint of the fuselage 100; one end of the first linkage assembly 313 is hinged to the first folding drive slider 312, and the other end of the first linkage assembly 313 is connected to the wing root of the first wing 210; When the first wing 210 is in the deployed state, the first linear servo 311 drives the first folding drive slider 312 to move to a preset position, and pushes the first wing 210 to the deployed posture through the first linkage assembly 313, so that the wing forms an aerodynamic configuration suitable for flight; when the first wing 210 is in the folded state, the first linear servo 311 drives the first folding drive slider 312 to move in the opposite direction, and pulls the first wing 210 to rotate towards the fuselage 100 through the first linkage assembly 313, so as to realize the folding and retraction of the first wing 210. The first wing folding assembly 310 can switch between the folded and unfolded states of the first wing 210 under the command of the flight control system. It is independent of the flapping motion driven by the power assembly 400, and meets the wing shape requirements of the bionic folding flapping robot with flapping and folding coupled motion of the first wing 210 at different flight stages.
[0027] Furthermore, refer to Figure 1 and Figure 2 The second wing folding assembly 320 includes a second linear servo 321 for providing linear driving force for wing folding and unfolding, a second folding drive slider 322, and a second linkage assembly 323 for converting the linear motion of the folding drive slider into wing unfolding or folding motion. The second linear servo 321 is fixedly mounted on the second side of the fuselage 100, and the output of the second linear servo 321 is connected to the second folding drive slider 322; the second folding drive slider 322 is arranged along the longitudinal direction of the fuselage 100 or a preset guide direction, and performs linear motion under the guide constraint of the fuselage 100; one end of the second linkage assembly 323 is hinged to the second folding drive slider 322, and the other end of the second linkage assembly 323 is connected to the wing root of the second wing 240; When the second wing 240 is deployed, the second linear servo 321 drives the second folding drive slider 322 to move to a preset position, and pushes the first wing 210 to the deployed posture through the second linkage assembly 323, so that the wing forms an aerodynamic configuration suitable for flight; when the second wing 240 is folded, the second linear servo 321 drives the second folding drive slider 322 in the opposite direction, and pulls the first wing 210 to rotate towards the fuselage 100 through the second linkage assembly 323, so as to realize the folding and retraction of the second wing 240. The second wing folding assembly 320 can switch between the folded and unfolded states of the second wing 240 under the command of the flight control system. It is independent of the flapping motion driven by the power assembly 400, thus meeting the wing shape requirements of the bionic folding flapping wing robot in different flight stages for the flapping and folding coupled motion of the second wing.
[0028] Furthermore, refer to Figure 3 The power assembly 400 includes a base plate 410, a cover plate 420, a motor 430, a main shaft 440, a crank 450, a connecting rod 460, a first gear 470, and a second gear 480. The motor 430, the main shaft 440, the crank 450, and the connecting rod 460 are connected in sequence. The end of the connecting rod 460 is connected to the first gear 470. The first gear 470 and the second gear 480 mesh with each other and are disposed between the base plate 410 and the cover plate 420. The motor 430 is mounted on the first side of the base plate 410. The output of the motor 430 drives the main shaft 440 to rotate. The main shaft 440 passes through the base plate 410 and is connected to the crank 450. The main shaft 440 drives the crank 450 to rotate synchronously. When the crank 450 rotates, the motion is transmitted to the first gear 470 through the connecting rod 460, causing the first gear 470 to move around its axis. The first gear 470 and the second gear 480 mesh with each other. When the first gear 470 moves, it drives the second gear 480 to move synchronously, thereby driving the first wing 210 and the second wing 240 to achieve periodic flapping.
[0029] Furthermore, refer to Figure 1 and Figure 2 The first end of the fuselage 100 is connected to one side of the base plate 410 of the power assembly 400. It also includes a support frame 110 for strengthening mechanical strength, the support frame 110 being symmetrically distributed on both sides of the fuselage 100.
[0030] Furthermore, refer to Figures 1 to 3 The first wing 210 includes a first connecting plate 220 and a plurality of first wing rods 230. The output end of the first gear 470 of the power assembly 400 is rotatably connected to the first end of the first connecting plate 220, the end of the first connecting rod assembly 313 of the first wing folding assembly 310 is rotatably connected to the bottom of the first connecting plate 220, and a plurality of the first wing rods 230 are sequentially connected to the second end of the first connecting plate 220.
[0031] Furthermore, refer to Figures 1 to 3 The second wing 240 includes a second joint plate 250 and a plurality of second wing rods 260. The output end of the second gear 480 of the power assembly 400 is rotatably connected to the first end of the second connecting plate 250, the end of the second link assembly 323 of the second wing folding assembly 320 is rotatably connected to the bottom of the second connecting plate 250, and a plurality of second wing rods 260 are sequentially connected to the second end of the second connecting plate 250.
[0032] Furthermore, refer to Figure 1 and Figure 2 The first wing 210 also includes a first wing surface, which covers the first wing rod 230 of the first wing 210; In the deployed state, a continuous first aerodynamic wing surface is formed on the first wing surface for flapping or gliding flight; in the folded state, the first wing 210 is folded inward relative to the fuselage 100 to reduce the overall size and reduce aerodynamic drag during takeoff or leap.
[0033] Furthermore, refer to Figure 1 and Figure 2 The second wing 240 also includes a second wing surface, which covers the second wing rod 260 of the second wing 240; In the deployed state, a continuous second aerodynamic wing surface is formed on the second wing surface for flapping or gliding flight; in the folded state, the second wing 240 is folded inward relative to the fuselage 100 to reduce the overall size and reduce aerodynamic drag during takeoff or leap.
[0034] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure, as long as they achieve the same technical effects, should be included within the scope of protection of this disclosure and should fall under the protection scope of the present invention. Within the protection scope of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.
Claims
1. A biomimetic folding flapping-wing robot with flapping and folding coupled motion of its wings, characterized in that, The aforementioned biomimetic folding flapping-wing robot with flapping and folding coupled motion includes: fuselage (100); The wing is used to generate lift during flight and is connected to the fuselage (100). The wing includes a first wing (210) and a second wing (240) symmetrically arranged on both sides of the fuselage (100). A wing folding assembly is used to switch the wing between a folded state and an unfolded state. The wing folding assembly is disposed between the fuselage (100) and the wing. The wing folding assembly includes a first wing folding assembly (310) and a second wing folding assembly (320) symmetrically disposed on both sides of the fuselage (100). The first wing folding assembly (310) is connected to the first wing (210), and the second wing folding assembly (320) is connected to the second wing (240). A power assembly (400) is used to drive the wings to perform periodic flapping motion. The power assembly (400) is located at the front end of the fuselage (100). The first wing (210) and the second wing (240) are respectively connected to the output of the power assembly (400).
2. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The first wing folding assembly (310) includes a first linear servo (311) for providing linear driving force for wing folding and unfolding, a first folding drive slider (312), and a first linkage assembly (313) for converting the linear motion of the folding drive slider into wing unfolding or folding motion. The first linear servo (311) is fixedly installed on the first side of the fuselage (100), and the output of the first linear servo (311) is connected to the first folding drive slider (312); the first folding drive slider (312) is arranged along the longitudinal direction of the fuselage (100) or a preset guide direction, and moves linearly under the guide constraint of the fuselage (100); one end of the first linkage assembly (313) is hinged to the first folding drive slider (312), and the other end of the first linkage assembly (313) is connected to the wing root of the first wing (210); When the first wing (210) is in the deployed state, the first linear servo (311) drives the first folding drive slider (312) to move to a preset position, and pushes the first wing (210) to the deployed posture through the first linkage assembly (313), so that the wing forms an aerodynamic configuration suitable for flight; when the first wing (210) is in the folded state, the first linear servo (311) drives the first folding drive slider (312) to move in the opposite direction, and pulls the first wing (210) towards the fuselage (100) through the first linkage assembly (313), so as to realize the folding and retraction of the first wing (210); The first wing folding assembly (310) can switch between the folded and unfolded states of the first wing (210) under the command of the flight control system. It is independent of the flapping motion driven by the power assembly (400) and meets the requirements of the bionic folding flapping robot for wing shape in different flight stages.
3. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The second wing folding assembly (320) includes a second linear servo (321) for providing linear driving force for wing folding and unfolding, a second folding drive slider (322), and a second linkage assembly (323) for converting the linear motion of the folding drive slider into wing unfolding or folding motion. The second linear servo (321) is fixedly installed on the second side of the fuselage (100), and the output of the second linear servo (321) is connected to the second folding drive slider (322); the second folding drive slider (322) is arranged along the longitudinal direction of the fuselage (100) or a preset guide direction, and moves linearly under the guide constraint of the fuselage (100); one end of the second linkage assembly (323) is hinged to the second folding drive slider (322), and the other end of the second linkage assembly (323) is connected to the wing root of the second wing (240); When the second wing (240) is deployed, the second linear servo (321) drives the second folding drive slider (322) to move to a preset position, and pushes the first wing (210) to the deployed position through the second linkage assembly (323), so that the wing forms an aerodynamic configuration suitable for flight; when the second wing (240) is folded, the second linear servo (321) drives the second folding drive slider (322) to move in the opposite direction, and pulls the first wing (210) towards the fuselage (100) through the second linkage assembly (323), so as to realize the folding and retraction of the second wing (240); The second wing folding assembly (320) can switch between the folded and unfolded states of the second wing (240) under the command of the flight control system. It is independent of the flapping motion driven by the power assembly (400) and meets the requirements of the bionic folding flapping robot for wing shape in different flight stages.
4. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The power assembly (400) includes a base plate (410), a cover plate (420), a motor (430), a main shaft (440), a crank (450), a connecting rod (460), a first gear (470), and a second gear (480). The motor (430), the main shaft (440), the crank (450), and the connecting rod (460) are connected in sequence. The end of the connecting rod (460) is connected to the first gear (470). The first gear (470) and the second gear (480) mesh with each other and are disposed between the base plate (410) and the cover plate (420). The motor (430) is mounted on the first side of the base plate (410). The output of the motor (430) drives the main shaft (440) to rotate. The main shaft (440) passes through the base plate (410) and is connected to the crank (450). The main shaft (440) drives the crank (450) to rotate synchronously. When the crank (450) rotates, the motion is transmitted to the first gear (470) through the connecting rod (460), so that the first gear (470) moves around its axis. The first gear (470) meshes with the second gear (480). When the first gear (470) moves, it drives the second gear (480) to move synchronously, thereby driving the first wing (210) and the second wing (240) to flap periodically.
5. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The first end of the fuselage (100) is connected to one side of the base plate (410) of the power assembly (400). It also includes a support frame (110) for strengthening mechanical strength, the support frame (110) being symmetrically distributed on both sides of the fuselage (100).
6. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The first wing (210) includes a first joint plate (220) and a plurality of first wing rods (230). The output end of the first gear (470) of the power assembly (400) is rotatably connected to the first end of the first connecting plate (220), the end of the first link assembly (313) of the first wing folding assembly (310) is rotatably connected to the bottom of the first connecting plate (220), and a plurality of the first wing rods (230) are sequentially connected to the second end of the first connecting plate (220).
7. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The second wing (240) includes a second joint plate (250) and a plurality of second wing rods (260). The output end of the second gear (480) of the power assembly (400) is rotatably connected to the first end of the second connecting plate (250), the end of the second link assembly (323) of the second wing folding assembly (320) is rotatably connected to the bottom of the second connecting plate (250), and a plurality of second wing rods (260) are sequentially connected to the second end of the second connecting plate (250).
8. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The first wing (210) also includes a first wing surface that covers the first wing rod (230) of the first wing (210); In the deployed state, a continuous first aerodynamic wing surface is formed on the first wing surface for flapping or gliding flight; in the folded state, the first wing (210) is folded inward relative to the fuselage (100) to reduce the overall size and reduce aerodynamic drag during takeoff or leap.
9. The biomimetic folding flapping-wing robot with flapping and folding coupled motion according to claim 1, characterized in that, The second wing (240) also includes a second wing surface that covers the second wing rod (260) of the second wing (240); In the deployed state, a continuous second aerodynamic wing surface is formed on the second wing surface for flapping or gliding flight; in the folded state, the second wing (240) is folded inward relative to the fuselage (100) to reduce the overall size and reduce aerodynamic drag during takeoff or leap.