153 results about "Flapping wing" patented technology

The invention discloses a bionic robot with walking, jumping and taking-off functions and a movement method, and belongs to the technical field of robots. The robot comprises a control system, a flapping wing mechanism and two leg mechanisms. Each leg mechanism comprises a driving device I, an execution connecting rod mechanism and a buffer foot part, the buffer foot part is connected with the execution connecting rod mechanism, and the execution connecting rod mechanism is driven by the driving device I; the flapping wing mechanism comprises a driving device II, a transmission mechanism, wings and an empennage; the execution link mechanism is connected with the transmission mechanism, the wings and the empennage are respectively connected with the transmission mechanism, the transmission mechanism is driven by the driving device II, the control system is used for controlling the driving device I and the driving device II, and the motion modes comprise walking, jumping and flying. The multi-mode bird-simulating robot has a multi-mode bird-simulating motion function, can autonomously realize mode switching from land motion to air flight, and remarkably improves the motion performance of the robot.

A three degrees-of freedom robotic flapper includes a fuselage, the fuselage housing motors and driving trains, a left wing attached to the fuselage, and a right wing attached to the fuselage, the left wing and the right wing configured to perform a wing flapping motion, a wing twisting motion and a wing folding motion.

The invention discloses a bionic flapping-wing aircraft performance optimization method and system based on artificial intelligence, and relates to the technical field of artificial intelligence, the system comprises a management center, and the management center is connected with an intelligent acquisition module, a bionic processing module, a flight analysis module and an optimization decision module; performing data conversion on the collected flapping wing comprehensive data to obtain a flapping wing comprehensive signal, and setting a normalized wave variation coefficient to perform coefficient extraction on the flapping wing comprehensive signal to obtain a flapping wing homogeneous signal coefficient; accompanying matching is carried out through flapping wing homogeneous signal coefficients, matched flapping wing coefficient factors are obtained, and a flapping wing factor set is constructed; constructing a virtual modeling space to perform scheme mimicry adjustment on the flapping wing factor set to obtain adjustment flapping wing coefficient factors, and performing statistical screening and preferential updating on the adjustment flapping wing coefficient factors to obtain an optimal flight optimization strategy; manual intervention is reduced, optimization efficiency is improved, and aircraft research and development efficiency and aircraft adaptability are improved.

The invention relates to a sensor, a measuring device and a measuring method for in-situ dynamic measurement of mechanical properties of a miniature bionic flapping-wing air vehicle, and belongs to the field of MEMS (micro electro mechanical system) mechanical sensors. Based on a micro electro mechanical system (MEMS) processing technology, a six-axis mechanical sensor is designed and prepared, and a measuring device is designed and prepared by integrating the six-axis mechanical sensor, so that integrated assembly of the mechanical sensor and the miniature flexible bionic flapping wing is realized, and in-situ dynamic measurement of the mechanical property of the miniature bionic flapping wing aircraft is realized. The problem that in-situ dynamic measurement of the mechanical property of the bionic flapping-wing aircraft is difficult to achieve through an existing measurement method is solved, and test data support is provided for further optimizing the flapping-wing structure and improving the flight efficiency.

The application relates to a high-efficiency lift flapping wing, a dragonfly-imitating aircraft and an aircraft flight posture control method. The high-efficiency lift flapping wing comprises a flapping wing body and a plurality of one-way air door blades; a plurality of air vents are arranged on the flapping wing body, each one-way air door blade covers the air vent, and the one-way air door blade is used for allowing airflow to pass through the air vent in one direction. The high-efficiency lift flapping wing, the dragonfly-imitating aircraft and the aircraft flight posture control method have the advantages of high lift efficiency, reduced flapping wing burden, improved aircraft service life and stability.

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 relates to the technical field of bionic flapping wings, and particularly discloses a double-motor bionic butterfly flapping wing device which comprises a rack and flapping wing mechanisms symmetrically arranged on the two sides of the rack. The flapping wing mechanism comprises a driving motor, a self-eccentric crank sliding block assembly and a flapping wing; the driving motor is fixed to the end of the rack, the lower end of the flapping wing is hinged to the lower end of the rack, one end of the self-eccentric slider-crank assembly is connected with the power output end of the driving motor, and the other end of the self-eccentric slider-crank assembly is slidably connected with the flapping wing and pushes the flapping wing to rotate. A dual-motor driving structure based on a self-eccentric quick-return mechanism is adopted, and the eccentric sliding block and the sliding groove are introduced for guiding, so that asymmetric rhythm control of'fast upward and slow downward 'is realized, an asymmetric flapping mode in butterfly flight is more truly restored, and the bionic authenticity and the motion coordination of the mechanism are remarkably enhanced.

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.

1. The name of the design product: gear reduction flapping wing aircraft frame. 2. The use of the design product: the design is used to support and fix the core transmission structure of the gear reduction flapping wing aircraft. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

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 an air-water bimodal efficient conversion bionic flapping-wing air vehicle and a control method thereof, and relates to the technical field of bionic flapping-wing air vehicles, the air-water bimodal efficient conversion bionic flapping-wing air vehicle comprises an air vehicle body, a mounting column is arranged in a storage groove, a fourth servo motor is fixedly connected to the upper surface in the mounting column, and an electric push rod is connected to the upper surface of a first support. Compared with the prior art, the wing folding device has the advantages that an electric push rod is started to pull a clamping block to be separated from a first clamping groove, a first servo motor drives a second support to rotate, a fourth servo motor drives a first support to rotate, wing folding storage is achieved, conversion of the wing form between an underwater streamline form and an air efficient flight form is achieved, and the space requirement for compact storage is met; a second servo motor can be started to drive a rotating disc to rotate, a protective cover rotates along with the rotating disc, an opening in a mounting column is blocked through the protective cover, the underwater streamline wing form is achieved, and the resistance of the device advancing in water can be reduced.

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.

The invention relates to the field of ornithopters, in particular to a multi-mode self-adaptive ornithopter which comprises a fuselage, a driving assembly, a wing assembly and an empennage assembly. The driving assembly is mounted at the front end of the fuselage, and the core of the fuselage is that two sets of independent steering engine systems, namely a longitudinal flapping steering engine and a transverse flapping steering engine, are integrated; the longitudinal flapping steering engine is responsible for driving the double wings to flap up and down and providing core lift force and thrust for flight; the transverse flapping steering engine is independently arranged, and an output shaft of the transverse flapping steering engine is coaxially connected with the wing fixing frame through a first rocker arm and a wedge mechanism. During normal flapping, the transverse mechanism is in a free state and does not interfere with longitudinal flapping; when the flight mode needs to be changed, the transverse flapping steering engine is started to drive the whole wing surface to rotate around the axis to a vertical or specific angle, and transverse flapping is performed by taking the new attitude as a balance point, so that mode conversion such as hovering and decelerating landing is realized. A heavy longitudinal flapping steering engine does not need to be driven in the process, and inertia and energy consumption are greatly reduced.

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 invention discloses a spherical shell suitable for a bionic micro flapping-wing aircraft and capable of being unfolded and falling off, and belongs to the field of micro flapping-wing aircrafts. Most of flapping wings of a flapping-wing micro air vehicle are light and thin in structure, easy to damage, large in windward area and not beneficial to long-distance conveying and task execution. The mechanism comprises a fixing device, a spherical shell device, an unfolding device, a clamping-releasing device and a driving device, and storage-releasing in the long-distance conveying process of the ornithopter can be achieved through closing-unfolding of spherical shell valves. In the launching process, the spherical shell device is in a closed state, and the aircraft can be effectively protected; the wind resistance is reduced by reasonably designing the appearance, and the working radius can be enlarged. According to the mechanism, an aircraft and a shell mechanism are launched as a whole through an ejection launching device, and the position and attitude information of the aircraft is monitored through a navigation system, an attitude sensor and the like in the launching process. According to the working principle of the device, when the aircraft reaches the proper height and posture and is close to a destination, the spherical shell cover pops up, the parachute is released, flight resistance is increased, then the landing speed is reduced, the spherical shell valves are opened after the posture is stable, the aircraft is released, and secondary take-off is completed. The micro ornithopter is used in cooperation with the mechanism, the task requirements of large working radius, high reconnaissance speed and flexible and convenient task execution can be met, and application scenes are effectively enriched. In addition, the mechanism achieves modular design, is composed of a plurality of different detachable independent units, is convenient to install, can be applied to other similar aircrafts, and is high in expansibility.