93 results about "Flapping wing" patented technology

The invention discloses a bionic butterfly based on a flapping wing structure, and belongs to the field of flapping wing type aircrafts, a butterfly main body comprises a rack, two motors assembled with speed reduction groups, two couplings, two wings and two wing connecting pieces; the wing connecting piece comprises connecting parts and a transmission shaft which are connected with each other, and the two wings are respectively fixed on the two connecting parts; the rack is T-shaped, longitudinal mounting holes matched with a transmission shaft in shape are formed in the two ends of the transverse part of the rack, and semicircular fixing grooves matched with a motor in shape are formed in the two sides of the tail end of the longitudinal part of the rack; the two transmission shafts are respectively mounted in the two mounting holes; the two motors are respectively bonded in the two fixing grooves; one ends of the two couplings are connected with the output ends of the two speed reduction sets respectively, and the other ends of the two couplings are connected with the two transmission shafts respectively. The flapping wing type bionic butterfly provided by the invention is small in size and light in weight, and more efficient flapping wing driving and more stable flight control can be realized.

The application aims to provide a single-motor driven multi-mode ornithopter simulating the flight posture of insects and birds, comprising a fuselage, a foldable wing mechanism, a flapping wing and ground walking mechanism, and a steering tail wing mechanism; the flapping wing and ground walking mechanism is a spatial five-link mechanism; in the flight state, the motor outputs power, the five-link mechanism drives the wing to complete the flapping action; in the ground walking state, the electromagnet connection hole is not electrified, the connecting rod driving wheel and the electromagnet right-angle connecting shaft are disconnected, the wing is in the folded state, and the rotation output of the motor is the rotation movement of the driving connecting rod driving wheel; the application integrates the connecting rod and the wheel, realizes the function of single-motor driving two modes, simplifies the mechanism complexity, reduces the manufacturing difficulty, lightens the ornithopter weight, and has good obstacle crossing ability and can cross narrow space.

The invention belongs to the technical field of energy recovery and utilization, and relates to an energy recovery and utilization system for a semi-active flapping wing power generation device and a control method.The system comprises a motion module and two hydraulic energy storage and conversion assemblies symmetrically arranged on the two sides of the motion module; a piezoelectric assembly is arranged on the side, close to the movement module, of each hydraulic energy storage and conversion assembly, when the driving device touches the piezoelectric assemblies, the hydraulic energy storage and conversion assemblies recover and store kinetic energy in the sinking and floating movement of the flapping wings in a hydraulic mode, and when the flapping wings move to the limiting position, the hydraulic energy storage and conversion assemblies release the stored energy. And the flapping wings are driven to realize sinking and floating pitching coupling motion. Compared with the prior art, the hydraulic energy storage and conversion assembly is introduced in the sinking and floating process of the flapping wings, the sinking and floating and pitching coordination of the flapping wings is optimized, the energy collection efficiency is effectively improved, external energy input is reduced, and the system efficiency, economical efficiency and operation stability are improved.

The invention discloses a bionic mechanical clamping jaw for an aircraft. The bionic mechanical clamping jaw comprises a base, a driving assembly, a collecting mechanism, a leg mechanism and a jaw mechanism. A driving assembly and a collecting mechanism are arranged on the base; leg mechanisms are symmetrically arranged at the left and right ends of the bottom of the base, and claw mechanisms are installed at the bottoms of the leg mechanisms. The base is used for connecting the ornithopter and the leg mechanism; the driving assembly is used for driving the claw mechanism to move; the collecting mechanism is used for collecting the claw part mechanism through a collecting steering engine on the collecting mechanism; the leg mechanism is used for a middle carrier and a core buffer component for force transmission in the grabbing process. And the claw mechanism completes object grabbing and object loosening through tensioning and loosening movement. According to the invention, the adaptability and operation capability of the flapping-wing air vehicle for executing grabbing and carrying tasks in a complex environment can be further improved.

The utility model provides a folding type catapult rack device for assisting takeoff of a flapping-wing unmanned aerial vehicle. The folding type catapult rack device comprises a track bottom plate, a guide rail, a guide rail shaft, a folding supporting and fixing assembly, a lifting table, a tripod supporting assembly, a lock catch fixing assembly, a catapult spring, a catapult baffle and a stop block spring. A guide rail and a guide rail shaft are arranged on the front face of a rail bottom plate, so that an ejection spring drives a lock catch fixing assembly to make contact with an ejection baffle, and kinetic energy is provided for takeoff of the flapping-wing unmanned aerial vehicle; the lifting platform is arranged at one end of the reverse side of the track bottom plate, the tripod supporting assembly is arranged at the other end of the reverse side of the track bottom plate, the mounting groove is formed in the upper portion of the folding supporting and fixing assembly, and the mounting hole matched with the mounting groove is formed in the lifting platform so that the height between the track bottom plate and the ground can be adjusted, and therefore the inclination angle of the track bottom plate can be adjusted. And the inclination angle of the lock catch fixing assembly is adjusted, so that the flapping-wing unmanned aerial vehicle has a proper take-off inclination angle.

This invention discloses a testing device and method for flapping-wing aircraft. The testing device includes a base, a clamping assembly, at least one mounting component, and a sensor. The base surface has a first slide rail and multiple spaced-apart second slide rails, the second slide rails being perpendicular to the first slide rail. Each second slide rail includes a sub-slide rail symmetrically arranged relative to the first slide rail, and the sub-slide rail is connected to the first slide rail. The clamping assembly is disposed on the surface of the base. The mounting component is retractably disposed on the surface of the base and can move along the first slide rail and the sub-slide rails. The sensor is installed at the end of each mounting component furthest from the base. This embodiment's technical solution, by acquiring wind field values ​​from the flapping-wing aircraft, can effectively assess whether the airflow direction and volume generated by the flapping wing are reasonable, facilitating adjustments to the structure and design by R&D personnel based on test results, reducing R&D difficulty and shortening the R&D cycle.

The invention provides a dual-motor-driven ornithopter, and belongs to the technical field of aircrafts, the dual-motor-driven ornithopter comprises a dihedral angle control mechanism, a wing root angle control mechanism is arranged at the bottom of the dihedral angle control mechanism, and flapping wing mechanisms are symmetrically distributed at the top of the dihedral angle control mechanism; the flapping wing mechanism comprises a fixing frame, a driving assembly and a transmission assembly, and the transmission assembly can drive the first wing and the second wing to symmetrically move under the driving of the driving assembly. According to the scheme, the flapping-wing air vehicle driven by the double motors adopts an X wing type, the lift force is larger than that of a traditional flapping-wing air vehicle, and the energy utilization rate is higher; through cooperation of the dihedral angle control mechanism, the wing root angle control mechanism and the double motors, many high-maneuverability actions can be achieved.

The application relates to the field of aircraft technology and discloses a bionic flapping-wing aircraft with foldable wings, which has a folded-wing state and an unfolded-wing state and comprises a fuselage, flapping-wing assemblies, a driving assembly, a wing folding assembly, a spherical pair of links I and a spherical pair of links II. The number of the flapping-wing assemblies is two, and the flapping-wing assemblies are symmetrically arranged on the two sides of the fuselage. The flapping-wing assembly has a first link and a second link, the first link and the second link are hinged, the flapping-wing assembly performs flapping-wing action through the cooperation and movement of the first link and the second link, the driving assembly is fixed to the fuselage, the driving assembly is in transmission connection with the flapping-wing assembly, and the driving assembly is used for driving the flapping-wing assembly to perform reciprocating movement. The bionic flapping-wing aircraft with foldable wings has the characteristics of realizing instantaneous folding and unfolding of wings, good maneuverability, few driving elements and high bionics, and is suitable for target indication, communication relay, disaster rescue, biochemical environment detection and battlefield detection and other civil and military fields.

The invention discloses a bionic butterfly flapping wing mechanism under symmetrical driving and a movement mechanism simulation method thereof, and belongs to the field of bionic machinery. The mechanism adopts a single-input and double-output symmetrical driving topological structure and comprises a driving subsystem, a transmission subsystem and an output subsystem, and differential amplitude and phase difference swinging of front and rear wings under single driving is realized through geometric asymmetry of a transmission chain and position offset of a supporting point. According to the simulation method, a mechanism model is constructed based on ADAMS, kinematics simulation is carried out, simulation data are processed through MATLAB, a difference amplitude ratio and a phase difference are calculated, and mechanism motion characteristics are verified. The device is compact in structure, simple to drive, controllable in difference amplitude characteristic and reliable in simulation method, is suitable for flapping wing structure design and optimization of a miniature bionic flight platform, and provides a new design thought and theoretical support for a multi-wing bionic flight mechanism.

The application discloses a flapping angle adjustable flapping wing mechanism driven by a single shaft, which comprises a ring-shaped frame, an arch-shaped frame, a driving motor, an input shaft driving assembly, a flapping wing movement assembly and a flapping angle adjusting mechanism, the arch-shaped frame is fixedly connected to the top of the ring-shaped frame, the driving motor is fixed to the front end of the ring-shaped frame, the flapping wing movement assembly is arranged on the ring-shaped frame and is driven by the input shaft driving assembly, the flapping angle adjusting mechanism is installed on the arch-shaped frame, a rudder is fixedly installed above the arch-shaped frame, and the flapping angle adjusting mechanism is driven by the rudder. By controlling the rotation of the output shaft of the rudder, the crank is driven to rotate, thereby the connecting rod A and the connecting rod D are respectively driven to move along their own axes in a synchronous and reverse direction by the connecting rod B and the connecting rod C, so that the included angle between the inclined shaft and the input shaft is changed, the flapping angle amplitude of the left wing shaft and the right wing shaft is changed, and finally the dynamic adjustment of the lift size of the flapping wing is realized without changing the flapping frequency.

The unmanned aerial vehicle comprises a fuselage, a flapping wing and a first driving assembly, the flapping wing is rotationally connected with the fuselage, the flapping wing comprises a supporting rod, the first driving assembly comprises a first power device and a first transmission assembly, the first transmission assembly is connected with the first power device and the supporting rod, and the first transmission assembly comprises a rotating disc and a rotating shaft; the rotating shaft drives the supporting rod to rotate, so that the flapping wings are driven to rotate. The unmanned aerial vehicle is provided with the first driving assembly, the first driving assembly drives the flapping wing to rotate through the rotating disc and the rotating shaft, rotating connection between the flapping wing and the vehicle body is achieved, the flapping wing can stably flap, the transmission stability and the flapping effect of the flapping wing are improved, and therefore the flight stability of the unmanned aerial vehicle is improved.

The application discloses a kind of based on the route planning method of flapping wing aircraft of improved RRT algorithm, including according to the adjustment of basic RRT random sampling method to the maximum yaw angle and minimum step constraint condition of flapping wing aircraft, the sampling point that does not meet the constraint condition is screened out simultaneously, and the efficiency of route planning is reduced, so dynamic step strategy and target heuristic strategy based on target deviation angle are used to improve sampling efficiency, finally, the pruning strategy is modified, and the pruning strategy based on maximum yaw angle is proposed, and the planned route is fitted and smoothed by cubic B-spline curve. Through simulation and test data comparison, it can be obtained that the improved RRT algorithm proposed in the application not only meets the flight conditions of flapping wing aircraft, but also has higher planning efficiency, and the route is more continuous and stable.

The application provides a flapping-wing aircraft sensing and control integrated test support platform based on cooperation of three mechanical arms, and belongs to the technical field of robot test equipment. The flapping-wing aircraft sensing and control integrated test support platform comprises a motor, a fixed support mechanism, a rotary driving mechanism, a transmission connecting mechanism and a working assembly. The motor is arranged in the fixed support mechanism, the rotary driving mechanism is arranged at the top of the fixed support mechanism, the working assembly is arranged at the top of the rotary driving mechanism, the motor is connected with the rotary driving mechanism through the transmission connecting mechanism and provides power for the rotary driving mechanism, the transmission connecting mechanism is used for transmitting power of the motor, and the rotary driving mechanism is used for driving the working assembly to rotate. The flapping-wing aircraft sensing and control integrated test support platform can realize multi-degree-of-freedom attitude control of flapping-wing aircraft test, can simulate a test environment under different wind speed conditions, has reasonable wire layout, can separate power supply of high-power equipment and conventional power equipment, improves power supply efficiency, reduces line loss, is stable in driving, accurate in movement, and accurate and reliable in test data.

The invention discloses a method for analyzing the influence of a rod length error and a kinematic pair gap on the motion of an ornithopter. The method comprises the following steps: carrying out kinematic modeling on an ornithopter structure to obtain a kinematic model; acquiring a motion trail of the end point of the tail end of the outer wing in the kinematic model as a first influence factor; the average flapping position change of the rod piece at the tail end of the outer wing is obtained in the kinematic model to serve as a second influence factor; performing margin modeling on the ornithopter structure in combination with the first influence factor and the second influence factor to obtain a margin model; and performing reliability solution analysis on the input ornithopter to be analyzed according to the margin model. According to the method, the error influence can be accurately captured, and the actual working state of the ornithopter can be more accurately reflected by defining the motion trail of the end point of the tail end of the outer wing and the average flapping position change of the rod piece at the tail end of the outer wing as influence factors of specific reliability. The two indexes are directly associated with the key parameters of the flight performance of the ornithopter, thereby ensuring that the evaluation of the system reliability is closer to the reality.

The application provides a flapping mechanism with independently controllable flapping start position, comprising a wing rod, a connecting rod A, a connecting rod linear servo, a motor gear, a connecting rod B, a transmission wheel A, a transmission wheel B, a swing rod connecting piece, a rocker connecting piece, a micro linear servo, a speed reduction motor, a fuselage support and a swing rod linear servo. The application generates active yawing torque by flapping difference of two sides of the wing surface, fundamentally solves the problem that the vertical tail fails in the case of low flow velocity, and also solves the problems of poor disturbance resistance and poor maneuverability of the flapping wing aircraft in the low speed case. In addition, in the gliding stage, the upwash angle of the two sides of the wing surface and the tail can be controlled respectively, so that more bionic, flexible and efficient gliding flight is realized. The sub-aircraft has the characteristics of flight attitude bionics, strong visual confusion, low flight noise and high efficiency, and can be used in outdoor close-range reconnaissance, high-altitude long-endurance surveillance reconnaissance, wild animal close-range video shooting and other task scenes, and has important significance and value in the future.

This invention discloses a miniature biomimetic folding flapping wing system and its aircraft, belonging to the field of flapping wing aircraft. It includes a flapping wing, comprising wing veins and a wing membrane adhered to the wing veins. The wing veins are arranged radially, with gaps between adjacent veins, forming a flexible hinge with the wing membrane. A horizontal rod is provided on the spandex side of the folding wing to apply torque to the wing veins for unfolding and contraction, and a vertical rod is provided on the chordal side of the folding wing for connection to the fuselage of the flapping wing aircraft. The flexible hinge formed by the wing veins and wing membrane ensures the regular folding of the wing without adding extra mass.

The utility model provides a three-degree-of-freedom swinging flapping-wing unmanned aerial vehicle fixed showing stand which comprises a fixed support, a clamp base, a pitching movable assembly, a pitching adjusting assembly, a swinging adjusting assembly and a rotation adjusting assembly, and a clamping groove for clamping a flapping-wing unmanned aerial vehicle is formed in the top of the clamp base; the pitching movable assembly is fixedly connected with the bottom of the clamp base. The fixed part of the rotation adjusting assembly is fixedly connected with the top end of the fixed support. The pitching movable assembly swings around a first axis in a pitching mode relative to the pitching adjusting assembly, the pitching adjusting assembly swings around a second axis in a deflection mode relative to the swing adjusting assembly, the swing adjusting assembly rotates around a third axis relative to the fixed support, and the first axis, the second axis and the third axis are perpendicular to one another in a pairwise mode. According to the fixed showing stand, posture adjustment of the flapping-wing unmanned aerial vehicle in the three-degree-of-freedom direction can be achieved, and the technical effects of improving reliability, reducing manufacturing cost and being convenient to maintain can be achieved.

The invention discloses a bionic flapping wing underwater vehicle cooperatively driven by a wing bow and a wing stern, and belongs to the technical field of bionic underwater vehicles. The aircraft adopts a modular cabin section design and comprises a movable bow cabin section, a buoyancy adjusting cabin section, a bionic flapping wing driving cabin section, a pitch attitude adjusting cabin section and a movable stern cabin section. The technical problem that high maneuverability and low energy consumption of a traditional underwater vehicle are difficult to consider at the same time is solved through organic combination of cooperative deflection of the movable bow and the movable stern, multi-degree-of-freedom motion of the flapping wings and buoyancy adjustment. According to the invention, a plurality of motion modes such as flapping wing propulsion, buoyancy gliding and sliding-flapping mixing can be realized, complex motion capabilities such as fixed-depth direct navigation, rapid steering, spiral steering and zigzag gliding are realized, the maneuverability, the energy consumption efficiency and the environmental adaptability are remarkably improved, and an innovative solution is provided for marine observation and detection tasks.

This invention relates to a wing with enhanced aerodynamic performance for flapping wings based on biomimetic leading-edge feathers, belonging to the field of aircraft design and manufacturing technology. It solves the problems of high maneuverability and difficulty in variable-attitude flight of existing flapping wings, effectively improving the leading-edge flow and enhancing flapping wing flight performance. This invention improves the evolution of the incoming boundary layer by introducing biomimetic leading-edge feathers to the leading edge of a curved wing body to form directional vortex pairs; it enhances the aerodynamic performance of flapping-wing UAVs by suppressing and / or improving boundary layer separation at high angles of attack through vortex-induced downwash and momentum transfer; the biomimetic leading-edge feathers do not change the existing wing aerodynamic shape, and the hardware design is completed by adding small-scale spoiler structures to the leading edge, resulting in a simple overall structure and easy maintenance; and through free control of the feather characteristic shape, number, and angle, it serves the aerodynamic enhancement of flapping-wing UAVs under different flight conditions and performance requirements.

The invention discloses a wing of a bionic flapping-wing aircraft capable of inhabiting in a manner of being perpendicular to a wall surface. The wing comprises a connecting component, a supporting framework and a wing membrane, the connecting component is of a four-fork branch supporting arm structure of a forked structure, the tail end of each supporting arm is provided with a long hole used for fixing the supporting framework, and the center boss is provided with a rudder arm connecting hole used for being connected with a driving component. The supporting framework comprises a main force bearing beam, sub-components distributed in a radial mode, transverse fixing wing ribs and rear wing supporting wing ribs distributed in an annular mode. The wing film is adhered to the surface of the supporting framework to form a front wing area and a rear wing area of the wing; wherein the outer contour of the front wing area is constructed to have the curvature radius which is continuously reduced from the wing root to the wing tip, and a variable curvature radius layout is formed; and the hip angle curvature radius of the rear wing area is 50mm. Through structural innovation, the aerodynamic efficiency, the structural stability and the collaboration with inhabiting components of the wing are effectively improved, and the wing is particularly suitable for a bionic flapping-wing aircraft needing to inhabit on a vertical wall surface.

The application discloses a multi-degree-of-freedom tail wing for a flapping-wing aircraft, which comprises a body frame, a yaw-elevation rudder machine, a yaw-elevation rudder arm, a central caudal bone imitating piece, a roll rudder machine, a terminal caudal bone imitating piece, a tail feather folding and unfolding rudder machine, a tail feather folding and unfolding rudder arm and tail feathers; wherein the yaw-elevation rudder machine is installed on the body frame and connected with the tail wing as a whole through a yaw-elevation connecting rod; the roll rudder machine is installed on the central caudal bone imitating piece and drives the torsion of the tail wing surface by adding a circular rudder arm and cooperating with a roll connecting piece; the tail feather folding and unfolding rudder machine is installed on the terminal caudal bone imitating piece and drives the outward unfolding or inward folding of the tail feathers at the outer sides of both ends through a tail feather folding and unfolding connecting rod, and drives the movement of the remaining tail feathers except the central tail feather through a tail feather linkage. The application can not only adjust and control the longitudinal, lateral and heading movements of the body, but also adapt the folding and unfolding of the tail feathers to the requirements of the aircraft on different maneuverability.

This invention provides a flapping wing drive mechanism with quick-return motion characteristics and variable amplitude, including a motor, a main rod, a first slider, an actuator rod, a second slider, a fixed rod, and a connecting rod. The motor is located at the bottom of the main rod and offset along the central axis of the main rod. The first slider is slidably mounted on the main rod and is connected to the output shaft of the motor through a drive component. The fixed rod is fixed to the main rod and located above the first slider. Two actuator rods are provided, each rotatably connected to the first slider. Two second sliders are provided, each slidably connected to a corresponding actuator rod. Two connecting rods are provided, with the lower end of each connecting rod rotatably connected to a corresponding second slider and the middle part of each connecting rod rotatably connected to the corresponding end of the fixed rod.

The present application belongs to the technical field of energy recovery and utilization, and relates to an energy recovery and utilization system and a control method for a semi-active flapping wing power generation device. The system comprises a movement module and two hydraulic energy storage and conversion assemblies symmetrically arranged on both sides of the movement module. Each hydraulic energy storage and conversion assembly is provided with a piezoelectric assembly on the side close to the movement module. When the driving device touches the piezoelectric assembly, the hydraulic energy storage and conversion assembly recovers and stores the kinetic energy in the flapping wing sinking and floating movement in the form of hydraulic pressure. When the flapping wing moves to the limit position, the hydraulic energy storage and conversion assembly releases the stored energy to drive the flapping wing to realize the sinking and floating pitch coupling movement. Compared with the prior art, the present application introduces the hydraulic energy storage and conversion assembly in the sinking and floating process of the flapping wing, optimizes the sinking and pitch coordination of the flapping wing, effectively improves the energy collection efficiency, reduces the external energy input, and improves the system efficiency, economy and operation stability.

The application discloses an underwater flapping wing structure and a bionic flapping wing underwater robot, and relates to the technical fields of underwater vehicles and bionic robots. The underwater flapping wing structure comprises a connecting member and a first skin, and the first skin is arranged on the connecting member. The connecting member is used for stretching and contracting in the span direction when deformed by water pressure. The first skin can stretch and contract with the deformation of the connecting member, and the chord width size of the first skin remains unchanged. The bionic flapping wing underwater robot comprises a base, a driving mechanism, a tail fin oscillation mechanism and the underwater flapping wing structure. The tail fin oscillation mechanism and the driving mechanism are arranged on the base, and the output end of the driving mechanism is connected with the connecting member. The first skin can realize adaptive stretching and contraction in the span direction, and the chord width size of the first skin remains unchanged, so that the robot can always maintain the most efficient standard hydrodynamic wing profile boundary in the process of stretching in the span direction and greatly changing the water sweeping area of the wing surface, the flexible variable wing span with low resistance flow is realized, and the propulsion efficiency is improved.

This invention provides an amphibious bionic flapping-wing aircraft and a sea-and-air object detection system. The aircraft includes a bionic flapping-wing airframe, an energy unit, a communication unit, a detection unit, an identification unit, a motion control unit, an electric motor drive unit, and a chemical engine. The chemical engine contains two chemical reaction chambers. When the aircraft enters the air from the water, a chemical reaction generates high-temperature, high-pressure gas, creating a powerful reverse thrust, enabling the aircraft to quickly emerge from the water. This improves the aircraft's stealth capabilities and makes it unaffected by surface obstacles and waves. The sea-and-air object detection system, constructed using a network of amphibious bionic flapping-wing aircraft, utilizes the flapping wings and chemical engine in tandem to provide flight power during detection missions. This allows for flexible underwater movement using the flapping wings and rapid aerial flight using the chemical engine thrust upon emerging from the water, enhancing the aircraft's maneuverability and adaptability.

The invention relates to the technical field of robots, and provides a flapping-wing air vehicle to solve the problem that an existing bionic flapping-wing flying robot cannot be adjusted and controlled according to wind power and cannot fly by means of the wind power, and the flapping-wing air vehicle comprises a flapping-wing air vehicle body; the wings are arranged above the ornithopter body and are connected with the ornithopter body; and the flexible pressure sensing films are arranged on the outer surfaces of the wings and are used for sensing the magnitude and direction of wind power.

The application discloses an electromagnetic force direct driving type dragonfly imitating flapping wing aircraft platform and a flight control method thereof, and relates to the technical fields of bionic aircraft and electromagnetic driving control. The aircraft platform comprises a body, front and rear flapping wing groups, a wing-body connecting rod, an electromagnetic driving device and a main controller. The electromagnetic driving device is composed of a driving shell, a permanent magnet and a transmission connecting rod. The main controller adjusts the amplitude, direction and frequency of the driving current of the conductive coil, generates electromagnetic force to drive the flapping wing to reciprocally flap, and realizes the controllability of the amplitude, direction and frequency. The method establishes a target speed and equivalent frequency mapping in a manual mode, calculates a frequency error based on the feedback of an inductive device, and adjusts the driving current parameters through a PID closed loop. In a target navigation task, path planning, image acquisition, obstacle detection, straight flight or obstacle avoidance branches and heading correction cycles are executed. The scheme has fast response and compact structure, and can realize stable hovering, sensitive steering and autonomous navigation.

The invention provides a bionic flapping-wing aircraft combined with four rotors. The bionic flapping-wing aircraft comprises a bird-body-imitating main body, the two flapping wing mechanisms are symmetrically arranged on the two sides of the belly of the bird-body-imitating main body and used for generating forward thrust and controlling the aircraft to roll; the empennage is arranged at the tail part of the bird-body-imitating main body and is used for controlling pitching and yawing of the aircraft; the universal connecting mechanism is arranged in the belly of the bird-body-imitating main body, so that the four rotors can rotate around the bird-body-imitating main body by six degrees of freedom; the four-rotor mechanism is arranged on the universal connecting mechanism and used for generating lift force, and the plane plumb bob of the four-rotor mechanism is upward; and the control mechanism is electrically connected with the flapping wing mechanism, the empennage and the four-rotor mechanism. The aircraft has the advantages of vertical take-off and landing and stable hovering of a four-rotor aircraft and the advantages of high bionic property, high efficiency and high maneuverability of a bionic flapping-wing aircraft, can support various flight modes such as starting, cruising, hovering and steering, and meets the requirements of low-altitude reconnaissance, bionic display and the like.

This invention discloses a method for optimizing the propulsion performance of a biomimetic flapping wing under multiple operating conditions, relating to the fields of biomimetic fluid mechanics and propulsion technology. The method includes steps such as selecting the airfoil of the biomimetic flapping wing, setting the distance between the pitch axis and leading edge of the biomimetic flapping wing, setting the motion mode of the biomimetic flapping wing, adjusting the phase difference and pitch amplitude to match the motion mode of the biomimetic flapping wing under different operating conditions, setting the pitch frequency to be equal to the heave frequency, adjusting the pitch motion mode according to the pitch amplitude, and calculating the propulsion power coefficient and propulsion efficiency of the biomimetic flapping wing. This invention achieves precise control of different propulsion directions by optimizing the phase difference under different operating conditions; it determines the optimal frequency matching relationship to avoid propulsion performance degradation caused by frequency mismatch, ensuring stable and efficient operation of the flapping wing under all operating conditions; and it optimizes non-harmonic motion parameters for large pitch amplitudes, increasing propulsion efficiency to 24.10%, a 71% improvement compared to harmonic motion, significantly reducing energy loss.

1. Name of the product in this design: Toy (Flapping Winged Yellow Duck). 2. Purpose of this design: For children to play with. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.