Bionic flapping-wing low-altitude flying robot
By using a wing drive mechanism constructed by a crank slider in a bionic flapping robot, the complete consistency of left and right wing movements is achieved, and the problem of flight instability in the prior art is solved, and the simplicity of flight control and control flexibility are improved.
Patent Information
- Application Number
- CN202422149075.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-03
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-09-03
AI Technical Summary
The flapping structure of the existing bionic flapping robot has incomplete symmetry in the flapping motion of the wings on the left and right sides, resulting in unstable flight and increasing the difficulty of flight control.
The wing drive mechanism constructed with a crank slider ensures that the fluttering actions of the wings on the left and right sides are completely consistent, and the synchronous movement of the wings is achieved through the first motor, the driving gear, the driven gear, the connecting rod and other components.
By ensuring consistency of wing movement, flight control is greatly simplified and flight stability and handling flexibility are improved.
Smart Images
Figure CN223001679U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of bionic flapping-wing low-altitude flying robots, and particularly relates to a bionic flapping-wing low-altitude flying robot. Background Art
[0002] In the past few decades, with the continuous development of technology, the research on bionic flapping-wing robots has attracted extensive attention. At present, many research teams and institutions are committed to developing and improving the design of flapping-wing robots. These robots can simulate the flight modes of birds, insects, bats and other organisms, and have excellent mobility and adaptability. The research status of flapping-wing robots shows that this kind of robot has great potential in the fields of military reconnaissance, environmental monitoring, rescue missions and so on.
[0003] The research on flapping-wing robots stems from the exploration of the flight mechanism of organisms in nature and the development of bionics. The flapping-wing flight mode can generate stable aerodynamic forces and produce lower noise; compared with rotor flight, flapping-wing flight exhibits higher flexibility and mobility, and at the same time achieves higher flight efficiency. These characteristics make flapping-wing flight have unique advantages in nature and is a more environmentally friendly and energy-saving flight mode.
[0004] Since the 1980s, with the development of experimental instrument and equipment technology and the progress of computational fluid dynamics, scientific research personnel have begun to study bionic flapping-wing aerodynamics from the direction of unsteady flow of fluids and have made great progress.
[0005] The research status of bionic flapping-wing robots shows that significant progress has been made in this field and it has broad application prospects. The existing flapping-wing structures of bionic flapping-wing robots are relatively single, and most of them adopt the crank double-rocker mechanism. This kind of flapping-wing mechanism makes the flapping actions of the two sides of the flapping wings not completely symmetrical, and the aerodynamic forces generated on the left and right are not equal, which easily leads to flight instability and increases the difficulty of flight control; moreover, the double-crank rocker has a high manufacturing cost and a large difficulty in realizing the mechanism, and it is very difficult to effectively control its motion. Content of the Utility Model
[0006] The technical problem to be solved by the utility model is that the flapping actions of the wings on the left and right sides of the existing flapping-wing structure are not completely symmetrical, resulting in flight instability. To overcome the above defects of the prior art, the utility model provides a bionic flapping-wing low-altitude flying robot.
[0007] The utility model provides a bionic flapping-wing low-altitude flying robot, which includes a frame and a wing driving mechanism;
[0008] The frame includes a fuselage, a left wing, a right wing and a tail wing. The left wing is hinged to the fuselage through a first rotating pair, the right wing is hinged to the fuselage through a second rotating pair, and the tail wing is hinged to the tail of the fuselage;
[0009] The wing driving mechanism includes a first motor, a driving gear, a driven gear, a first connecting rod and a second connecting rod; the first motor is fixed on the fuselage, the driving gear is fixedly arranged on the output shaft of the first motor, the driven gear meshes with the driving gear, the driven gear is arranged below the left wing, the lower end of the first connecting rod is eccentrically and rotationally connected to the driven gear through a first connecting rod shaft, the upper end of the first connecting rod is hinged to the first rotating pair, the central shaft of the driven gear is rotationally connected to the fuselage, the central shaft is connected to a second connecting rod shaft through a connecting block on one side below the right wing, the second connecting rod shaft is coaxially arranged with the first connecting rod shaft, the lower end of the second connecting rod is rotationally connected to the second connecting rod shaft, and the upper end of the second connecting rod is hinged to the second rotating pair.
[0010] Compared with the prior art, the bionic flapping-wing low-altitude flying robot of the present application has the following advantages: for the flapping actions of the left wing and the right wing, through the wing driving mechanism of the crank-slider structure, it can ensure that the flapping actions of the wings on both sides are completely consistent, thus greatly simplifying the subsequent flight control.
[0011] In a possible implementation manner, a ball bearing is sleeved outside the central shaft of the fuselage, the outer ring of the ball bearing is fixedly connected to the fuselage, and the inner ring of the ball bearing is fixedly connected to the central shaft.
[0012] Compared with the prior art, by setting the ball bearing, it is convenient for the central shaft to rotate and plays a limiting role on the central shaft.
[0013] In a possible implementation manner, a tail wing driving mechanism is further included. The tail wing driving mechanism includes a second motor, a third motor, a third connecting rod, a fourth connecting rod and a tail wing fixing seat;
[0014] The tail wing fixing seat is rotationally connected to the fuselage, the second motor is fixed to the tail of the fuselage, the output shaft of the second motor is rotationally connected to one end of the third connecting rod, the other end of the third connecting rod is rotationally connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is rotationally connected to the tail wing fixing seat, the third motor is fixed to the tail wing fixing seat, and the third motor is rotationally connected to the tail wing.
[0015] Compared with the prior art, by adopting a dual-motor setting, the bionic flapping-wing low-altitude flying robot can flexibly achieve pitching and turning, further improving the flexibility and accuracy of flight control.
[0016] In a possible implementation, the output end of the third motor is fixedly connected to a fixed gear, and the fixed gear is fixedly connected to the tail fin.
[0017] Compared with the prior art, by providing the fixed gear, it is convenient to connect the third motor and the tail fin more tightly, facilitating the control of the rotation of the tail fin.
[0018] In a possible implementation, it further includes a pair of bird claw mechanisms arranged under the fuselage. The bird claw mechanism includes a gear housing, a fourth motor, a first gear and a second gear that are meshed and located inside the gear housing, a first claw and a second claw; the fourth motor is fixed on the gear housing, the gear housing is fixed under the fuselage, the output end of the fourth motor meshes with the first gear and drives the first gear and the second gear to rotate synchronously. Both the first gear and the second gear are rotatably connected to the gear housing, the first claw is rotatably connected to the first gear, and the second claw is rotatably connected to the second gear.
[0019] Compared with the prior art, the driving of the fourth motor drives the first gear to rotate, and then drives the second gear to rotate synchronously, enabling the first claw and the second claw to spread or grip, which is convenient to control.
[0020] In a possible implementation, a third gear and a fourth gear are rotatably connected inside the gear housing, and the output end of the fourth motor is fixedly connected to the third gear; the third gear meshes with the fourth gear, and the fourth gear meshes with the first gear.
[0021] Compared with the prior art, by adding the fourth gear, the torque driven by the fourth motor is amplified or reduced, facilitating the driving of the first gear to rotate.
[0022] In a possible implementation, a first connecting rod is provided on the first gear. The first gear is fixedly connected to the upper end of the first connecting rod, and the lower end of the first connecting rod is rotatably connected to the first claw. A second connecting rod is rotatably connected inside the gear housing. The second connecting rod is rotatably connected to the first claw, and the first connecting rod and the second connecting rod are arranged in parallel;
[0023] A third connecting rod is provided on the second gear. The second gear is fixedly connected to the upper end of the third connecting rod, and the lower end of the third connecting rod is rotatably connected to the second claw. A fourth connecting rod is rotatably connected inside the gear housing. The fourth connecting rod is rotatably connected to the second claw, and the third connecting rod and the fourth connecting rod are arranged in parallel.
[0024] Compared with the prior art, through the first connecting rod and the third connecting rod, it is convenient to drive the first claw and the second claw to rotate, realizing spreading or gripping; in cooperation with the second connecting rod and the fourth connecting rod, it ensures the stability of the entire process of the bird claw spreading or gripping.
[0025] In a possible implementation, the first connecting rod and the first gear are integrally formed, and the third connecting rod and the second gear are integrally formed.
[0026] Compared with the prior art, the connection strength between the two is improved by the integrally formed structure. Description of the Drawings
[0027] Figure 1 Left view of a bionic flapping-wing low-altitude flying robot of the present utility model;
[0028] Figure 2 Right view of a bionic flapping-wing low-altitude flying robot of the present utility model;
[0029] Figure 3 Top view of a bionic flapping-wing low-altitude flying robot of the present utility model;
[0030] Figure 4 Of the present utility model Figure 1 Enlarged schematic view of part A;
[0031] Figure 5 Of the present utility model Figure 2 Enlarged schematic view of part B;
[0032] Figure 6 Of the present utility model Figure 3 Enlarged schematic view of part C;
[0033] Figure 7 Side view of a bionic flapping-wing low-altitude flying robot of the present utility model;
[0034] Figure 8 Of the present utility model Figure 7 Enlarged schematic view of part D;
[0035] Figure 9 Front view of the bird's claw mechanism in a bionic flapping-wing low-altitude flying robot of the present utility model;
[0036] Figure 10 Internal structure schematic view of the bird's claw mechanism in a bionic flapping-wing low-altitude flying robot of the present utility model.
[0037] Explanation of reference numerals:
[0038] 1 - Frame; 11 - Body; 12 - Left wing; 13 - Right wing; 14 - Tail wing;
[0039] 2 - First rotating pair;
[0040] 3 - Second rotating pair;
[0041] 4 - Wing drive mechanism; 41 - First motor; 42 - Driving gear; 43 - Driven gear; 44 - First connecting rod; 441 - First connecting rod shaft; 45 - Second connecting rod; 451 - Second connecting rod shaft; 46 - Central shaft; 47 - Connecting block;
[0042] 5 - Tail wing drive mechanism; 51 - Second motor; 52 - Third motor; 53 - Third connecting rod; 54 - Fourth connecting rod; 55 - Tail wing fixing seat; 56 - Fixed gear;
[0043] 6 - Bird claw mechanism; 61 - Gear housing; 611 - Second connecting rod; 612 - Fourth connecting rod; 62 - Fourth motor; 63 - First gear; 631 - First connecting rod; 64 - Second gear; 641 - Third connecting rod; 65 - First claw; 66 - Second claw; 67 - Third gear; 68 - Fourth gear. Detailed implementation manners
[0044] First of all, those skilled in the art should understand that these implementation manners are only used to explain the technical principles of the embodiments of this application, and are not intended to limit the protection scope of the embodiments of this application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.
[0045] In the description of the embodiments of this application, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific situations.
[0046] In the embodiments of this application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.
[0047] The following further describes this application in detail with reference to the drawings and specific embodiments.
[0048] See Figures 1 to 6 As shown, the embodiments of this application disclose a bionic flapping-wing low-altitude flying robot, including a frame 1 and a wing drive mechanism 4.
[0049] The frame 1 includes a fuselage 11, a left wing 12, a right wing 13 and a tail 14. The left wing 12 is hinged to the fuselage 11 through a first rotating pair 2, the right wing 13 is hinged to the fuselage 11 through a second rotating pair 3, and the tail 14 is hinged to the tail of the fuselage 11.
[0050] Among them, the wing driving mechanism 4 includes a first motor 41, a driving gear 42, a driven gear 43, a first connecting rod 44 and a second connecting rod 45.
[0051] The first motor 41 is fixed on the fuselage 11, the driving gear 42 is fixedly arranged on the output shaft of the first motor 41, the driven gear 43 meshes with the driving gear 42, the driven gear 43 is arranged below the left wing 12, the lower end of the first connecting rod 44 is eccentrically rotatably connected to the driven gear 43 through a first connecting rod shaft 441, the upper end of the first connecting rod 44 is hinged to the first rotating pair 2, the central shaft 46 of the driven gear 43 is rotatably connected to the fuselage 11, and the central shaft 46 is connected to a second connecting rod shaft 451 through a connecting block 47 on one side below the right wing 13. The second connecting rod shaft 451 is coaxially arranged with the first connecting rod shaft 441. The lower end of the second connecting rod 45 is rotatably connected to the second connecting rod shaft 451, and the upper end of the second connecting rod 45 is hinged to the second rotating pair 3.
[0052] For the flapping actions of the left wing 12 and the right wing 13, through the wing driving mechanism 4 with a crank-slider structure, it can ensure that the flapping actions of the wings on both sides are exactly the same, thus greatly simplifying the subsequent flight control.
[0053] The working principle of the wing driving mechanism 4: The first electrode 41 drives the driving gear 42 to rotate, and then drives the driven gear 43 to rotate. The rotation of the driven gear 43 causes the first connecting rod 44 to move up and down through the eccentrically arranged first connecting shaft 441, and then the first connecting rod 44 drives the first rotating pair 2 to move up and down, realizing that the left wing 12 can perform a flapping action; when the driven gear 43 rotates, it will also drive the central shaft 46 to rotate, and the second connecting rod shaft 451 connected to the central shaft 46 will drive the second connecting rod 45 to move up and down, and then the second connecting rod 45 drives the second rotating pair 3 to move up and down, realizing that the right wing 13 can perform a flapping action.
[0054] The second connecting rod shaft 451 is coaxially arranged with the first connecting rod shaft 441, ensuring that the movements of the two are synchronous, and then enabling the first rotating pair 2 and the second rotating pair 3 to also move synchronously, finally realizing the synchronous flapping actions of the left wing 12 and the right wing 13.
[0055] The wing driving mechanism 4 can convert the rotational motion of the first motor 41 into a lifting motion, thereby driving the flapping of the wings, making it closer to the flight actions of birds in nature. Its structural characteristics ensure a significant improvement in the flight performance of the flapping-wing aircraft.
[0056] In this embodiment, in order to facilitate the rotation of the central axis 46, a ball bearing is sleeved outside the central axis 46 of the fuselage 11. The outer ring of the ball bearing is fixedly connected to the fuselage 11, and the inner ring of the ball bearing is fixedly connected to the central axis 46.
[0057] By providing the ball bearing, in addition to facilitating the rotation of the central axis 46, it can also play a role in limiting the central axis 46.
[0058] See Figure 7 and Figure 8 As shown in
[0059] A bionic flapping-wing low-altitude flying robot according to this embodiment further includes a tail wing drive mechanism 5. The tail wing drive mechanism 5 includes a second motor 51, a third motor 52, a third connecting rod 53, a fourth connecting rod 54, and a tail wing fixing seat 55.
[0060] Specifically: The tail wing fixing seat 55 is hinged to the fuselage 11 to ensure that the tail wing fixing seat 55 can rotate along the up and down direction of the fuselage 11. The fourth connecting rod 54 is also hinged to the tail wing fixing seat 55, which also ensures that the tail wing fixing seat 55 can rotate along the up and down direction of the fuselage 11. After the two are combined, with the hinge between the tail wing fixing seat 55 and the fuselage 11 as the axis and the hinge between the fourth connecting rod 54 and the tail wing fixing seat 55 as the rotating power part, the tail wing 14 can flexibly move in the pitching direction. Then, the third motor 52 is rotationally connected to the tail wing 14, so that the third motor 52 can drive the tail wing 14 to rotate along the axial direction of the fuselage 11, realizing the flexible movement of the tail wing 14 in the steering direction.
[0061] By adopting the double-motor setting, the bionic flapping-wing low-altitude flying robot can flexibly realize pitching and steering, further improving the flexibility and accuracy of flight control.
[0062] The working principle of the tail wing drive mechanism 5: When the second motor 51 rotates, it drives the third connecting rod 53 to move. The third connecting rod 53 then drives the fourth connecting rod 54 to move. Finally, the fourth connecting rod 54 drives the tail wing fixing seat 55 to move up and down, realizing the pitching movement of the tail wing 14; when the third motor 52 rotates, it directly drives the tail wing 14 to rotate, realizing the steering movement of the tail wing 14.
[0063] The tail drive mechanism 5 plays a vital role in the design of the bionic flapping-wing aircraft. As the main steering component, it can realize flexible rotation in four directions: up, down, left, and right. This multi-directional rotation capability is the key to ensure that the aircraft can complete a series of complex flight actions, including but not limited to left and right turns, upward climbs, downward dives, and stable gliding, thereby greatly enhancing the maneuverability and operational flexibility of the bionic flapping-wing aircraft.
[0064] The output end of the third motor 52 is fixedly connected to the fixed gear 56, and the fixed gear 56 is fixedly connected to the tail 14. By providing the fixed gear 56, the third motor 52 is more closely connected to the tail 14, and the rotation of the tail 14 is conveniently controlled.
[0065] Specifically, the tail 14 may be provided with a tooth hole that matches the teeth of the fixed gear 56, and then the fixed gear 56 is meshed with the tooth hole to achieve fixation, and then the third motor 52 can drive the tail 14 to turn through the fixed gear 56. Alternatively, a fixing pin or other structure may be provided on the tail 14, and the fixing gear 56 and the tail 14 are fixed by the fixing pin, so that the third motor 52 can drive the tail 14 to turn through the fixed gear 56.
[0066] Lieutenant General Figure 1 , Figure 9 and Figure 10 As shown, a bionic flapping-wing low-altitude flying robot of the present embodiment also includes a pair of bird claw mechanisms 6 arranged under the fuselage 11, each bird claw mechanism 6 includes a gear housing 61, a fourth motor 62, a first gear 63 and a second gear 64 meshingly connected and located in the gear housing 61, and a first claw 65 and a second claw 66.
[0067] The fourth motor 62 is fixed on the gear housing 61, and the gear housing 61 is fixed under the fuselage 11. The output end of the fourth motor 62 is engaged with the first gear 63, and drives the first gear 63 and the second gear 64 to rotate synchronously. The first gear 63 and the second gear 64 are both rotationally connected to the gear housing 61, the first claw 65 is rotationally connected to the first gear 63, and the second claw 66 is rotationally connected to the second gear 64.
[0068] The fourth motor 62 drives the first gear 63 to rotate, and then drives the second gear 64 to rotate synchronously, so that the first claw 65 and the second claw 66 can be spread out or grasped, which is convenient for control.
[0069] Among them, the third gear 67 and the fourth gear 68 are rotatably connected in the gear housing 61, and the output end of the fourth motor 62 is fixedly connected to the third gear 67; the third gear 67 is meshed with the fourth gear 68, and the fourth gear 68 is meshed with the first gear 63.
[0070] By adding a fourth gear 68, the torque driven by the fourth motor 62 is amplified or reduced to facilitate driving the first gear 63 to rotate.
[0071] Furthermore, in this embodiment, a first connecting rod 631 is provided on the first gear 63. The first gear 63 is fixedly connected to the upper end of the first connecting rod 631, and the lower end of the first connecting rod 631 is rotatably connected to the first claw 65. A second connecting rod 611 is rotatably connected inside the gear housing 61. The second connecting rod 611 is rotatably connected to the first claw 65. The first connecting rod 631 and the second connecting rod 611 are arranged in parallel;
[0072] A third connecting rod 641 is provided on the second gear 64. The upper end of the second gear 64 is fixedly connected to the third connecting rod 641, and the lower end of the third connecting rod 641 is rotatably connected to the second claw 66. A fourth connecting rod 612 is rotatably connected inside the gear housing 61. The fourth connecting rod 612 is rotatably connected to the second claw 66. The third connecting rod 641 and the fourth connecting rod 612 are arranged in parallel.
[0073] Through the first connecting rod 631 and the third connecting rod 641, it is convenient to drive the first claw 65 and the second claw 66 to rotate, realizing spreading or grasping; in cooperation with the second connecting rod 611 and the fourth connecting rod 612, it ensures the stability of the entire bird claw's single-opening or grasping process.
[0074] Among them, the first connecting rod 631 and the first gear 63 are integrally formed, and the third connecting rod 641 and the second gear 64 are integrally formed. Through the integral forming structure, the connection strength between the two is improved.
[0075] The working principle of the bird claw mechanism 6: The fourth motor 62 drives the third gear 67 to rotate. The third gear 67 drives the first gear 63 to rotate through the fourth gear 68. The first gear 63 and the second gear 64 are meshed, making the two move synchronously; the rotation of the first gear 63 and the second gear 64 respectively drives the first connecting rod 631 and the third connecting rod 641 to rotate, and then drives the first claw 65 and the second claw 66 to spread or grasp respectively. At the same time, the movement of the first claw 65 and the second claw 66 will also drive the movement of the second connecting rod 611 and the fourth connecting rod 612, ensuring the stable movement of the two claws.
[0076] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside", "outside", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present application.
[0077] In the description of the present application, the descriptions with reference to terms such as "one embodiment", "some embodiments", "in this embodiment", "specific example", or "some examples", etc. mean that the specific features, mechanisms, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0078] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A bionic flapping-wing low-altitude flying robot, characterized in that: It comprises a frame (1) and a wing drive mechanism (4); The frame (1) comprises a fuselage (11), a left wing (12), a right wing (13) and a tail wing (14); the left wing (12) is hinged to the fuselage (11) via a first revolute joint (2); the right wing (13) is hinged to the fuselage (11) via a second revolute joint (3); and the tail wing (14) is hinged to the tail of the fuselage (11); The wing drive mechanism (4) comprises a first motor (41), a driving gear (42), a driven gear (43), a first connecting rod (44) and a second connecting rod (45); the first motor (41) is fixed to the fuselage (11); the driving gear (42) is fixedly arranged on the output shaft of the first motor (41); the driven gear (43) is meshed with the driving gear (42); the driven gear (43) is arranged below the left wing (12); the lower end of the first connecting rod (44) is eccentrically rotated via a first connecting rod shaft (441) to connect the first wing (12); The first connecting rod (44) is connected to the driven gear (43), the upper end of the first connecting rod (44) is hinged to the first rotating pair (2), the central axis (46) of the driven gear (43) is rotatably connected to the fuselage (11), the central axis (46) is connected to the second connecting rod axis (451) on one side below the right wing (13), the second connecting rod axis (451) is coaxially arranged with the first connecting rod axis (441), the lower end of the second connecting rod (45) is rotatably connected to the second connecting rod axis (451), and the upper end of the second connecting rod (45) is hinged to the second rotating pair (3).
2. The bionic flapping-wing low-altitude flying robot according to claim 1, characterized in that: The machine body (11) is provided with a ball bearing outside the central shaft (46); the outer ring of the ball bearing is fixedly connected to the machine body (11); and the inner ring of the ball bearing is fixedly connected to the central shaft (46).
3. The bionic flapping-wing low-altitude flying robot according to claim 1, characterized in that: It also includes a tail wing drive mechanism (5), the tail wing drive mechanism (5) comprising a second motor (51), a third motor (52), a third connecting rod (53), a fourth connecting rod (54) and a tail wing fixing seat (55); The tail wing fixing seat (55) is rotationally connected to the fuselage (11); the second motor (51) is fixed to the tail of the fuselage (11); the output shaft of the second motor (51) is rotationally connected to one end of a third connecting rod (53); the other end of the third connecting rod (53) is rotationally connected to one end of a fourth connecting rod (54); the other end of the fourth connecting rod (54) is rotationally connected to the tail wing fixing seat (55); the third motor (52) is fixed to the tail wing fixing seat (55); and the third motor (52) is rotationally connected to the tail wing (14).
4. The bionic flapping-wing low-altitude flying robot according to claim 3, characterized in that: The output end of the third motor (52) is fixedly connected to a fixed gear (56), and the fixed gear (56) is fixedly connected to the tail wing (14).
5. The bionic flapping-wing low-altitude flying robot according to claim 1, characterized in that: It also includes a pair of bird claw mechanisms (6) disposed below the fuselage (11), the bird claw mechanism (6) comprising a gear housing (61), a fourth motor (62), a first gear (63) and a second gear (64) meshingly connected and located inside the gear housing (61), a first claw (65), and a second claw (66); The fourth motor (62) is fixed on a gear housing (61), and the gear housing (61) is fixed below the body (11). The output end of the fourth motor (62) meshes with the first gear (63) and drives the first gear (63) and the second gear (64) to rotate synchronously. The first gear (63) and the second gear (64) are both rotationally connected to the gear housing (61). The first claw (65) is rotationally connected to the first gear (63), and the second claw (66) is rotationally connected to the second gear (64).
6. The bionic flapping-wing low-altitude flying robot according to claim 5, characterized in that: A third gear (67) and a fourth gear (68) are rotatably connected in the gear housing (61); an output end of the fourth motor (62) is fixedly connected to the third gear (67); the third gear (67) is meshed with the fourth gear (68), and the fourth gear (68) is meshed with the first gear (63).
7. The bionic flapping-wing low-altitude flying robot according to claim 5, characterized in that: A first connecting rod (631) is provided on the first gear (63); the first gear (63) is fixedly connected to the upper end of the first connecting rod (631); the lower end of the first connecting rod (631) is rotatably connected to the first claw (65); a second connecting rod (611) is rotatably connected inside the gear housing (61); the second connecting rod (611) is rotatably connected to the first claw (65); and the first connecting rod (631) and the second connecting rod (611) are arranged in parallel; A third connecting rod (641) is provided on the second gear (64); the second gear (64) is fixedly connected to the upper end of the third connecting rod (641); the lower end of the third connecting rod (641) is rotatably connected to the second claw (66); a fourth connecting rod (612) is rotatably connected inside the gear housing (61); the fourth connecting rod (612) is rotatably connected to the second claw (66); and the third connecting rod (641) and the fourth connecting rod (612) are arranged in parallel.
8. The bionic flapping-wing low-altitude flying robot according to claim 7, characterized in that: The first connecting rod (631) and the first gear (63) are integrally formed, and the third connecting rod (641) and the second gear (64) are integrally formed.