225 results about "Flapping wing" patented technology

The invention discloses an ornithopter with foldable wings, and belongs to the technical field of ornithopters. The device comprises a driving assembly which is symmetrically connected with a swing mechanism, the swing mechanism is connected with a flapping transmission rod, the flapping transmission rod is provided with a second inner wing connecting piece, one end of the first inner wing connecting piece is connected with the first inner wing connecting piece, and the other end of the first inner wing connecting piece is connected with the second inner wing connecting piece; the direction control assembly is connected with an output crank, and the output crank is connected with one end of an inner wing connecting piece connected to the second inner wing connecting piece. The outer wing connecting piece is connected with the outer end part of the inner wing connecting piece; the front-end main frame is connected with the rear-end main frame connecting rod; the power module is used for supplying power to the aircraft; according to the invention, the extension degrees of the wings are respectively and accurately controlled, and the flight attitude is adjusted, so that the flight is more stable, and excellent bionic performance is shown.

The present invention discloses a flapping-wing aircraft capable of catapult takeoff and having a sweep-torsion mechanism, belonging to the field of aircraft technology. The aircraft comprises: a fuselage frame, left and right flapping wings, a passive torsion mechanism, a sweep mechanism, a catapult takeoff mechanism, a transmission flapping mechanism, and a tail rudder, wherein: a passive torsion mechanism and a sweep mechanism are provided at the roots of the left and right flapping wings, the catapult takeoff mechanism is provided in the middle of the fuselage, and a hip joint, thigh, ankle joint, calf, foot, and toe joint are provided from top to bottom, the inner and outer sides of the hip joint are controlled by a servo motor for relative rotation, the ankle joint and toe joint are provided with elastic energy storage torsion springs, a synchronous pulley and its drive mechanism are provided between the outer side of the hip joint and the outer side of the ankle joint to control the relative rotation between the thigh and the calf, and perform energy storage for catapult takeoff. In summary, the aircraft can perform catapult takeoff flight, and can perform passive torsion and sweeping motions during the flapping of the wings, which helps to increase the flapping wing lift and the overall payload of the aircraft.

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 provides a wing type biological hybrid flapping wing aircraft with deformable wings. The wing type biological hybrid flapping wing aircraft comprises a flapping mechanism, a wing deformation mechanism, bird feather type wings, an aircraft body, an empennage deformation mechanism and a bird feather type empennage, the flapping mechanism and the empennage deformation mechanism are mounted on the fuselage; the flapping mechanism drives the wing deformation mechanism to do wing flapping motion; the bird feather type wings are arranged on the wing deformation mechanism; the empennage deformation mechanism comprises an empennage joint and a plurality of steering engines, the steering engines drive the empennage joint to do four-degree-of-freedom motion, and the bird feather type empennage is installed on the empennage joint. The multi-degree-of-freedom cooperative connecting rod transmission mechanism is adopted, high-fidelity reproduction of bird flapping wing motion is efficiently achieved, and independent and accurate regulation and control of the torsion angle, the torsion rate and the torsion direction of the empennage are achieved based on hierarchical steering engine control and the decoupling characteristic of the double-layer motion frame.

The invention relates to a device and a method for automatically adjusting airflow pulsation speed along with wind speed change. The device comprises a grating blade, a grating blade mounting frame mechanism, a grating blade horizontal righting mechanism, a grating blade flapping wing vibration executing mechanism and a grating blade flapping wing amplitude adjusting mechanism, the grating blade mounting rack mechanism is fixedly arranged in the wind tunnel; the grating blades are arranged on the grating blade mounting frame mechanism; the grating blade horizontal righting mechanism is positioned above the wind tunnel and is connected with the grating blade mounting rack mechanism; the grating blade flapping wing vibration executing mechanism is located below the wind tunnel, and the grating blade flapping wing amplitude adjusting mechanism is arranged on the grating blade flapping wing vibration executing mechanism and connected with the grating blades through a transmission connecting rod. According to the invention, the replacement process of a traditional damping net, a grating and the like is omitted, the test efficiency and the normalization are improved, the airflow pulsation speed can be automatically adjusted according to the wind speed change, the purpose of keeping the turbulence basically constant under different wind speed conditions is achieved, and the accuracy and the reliability of test data are effectively 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 parameterized design method for a flapping wing device, which belongs to the field of aerospace and comprises the following steps: determining the flapping amplitude of a designed flapping wing mechanism; according to the relation between all rods and angles in the crank sliding block mechanism, the transition mechanism and the swing guide rod mechanism, the relation between the angular speed # imgabs 1 # of a crank # imgabs 0 # rotating around the circle center in the crank sliding block mechanism and the angular speed # imgabs 3 # of a first guide rod # imgabs 2 # in the swing guide rod mechanism is determined; the rod length of each mechanism is obtained through the upper limit position, the middle position and the lower limit position of the mechanism. According to the parameterization design method for the flapping wing device, the flapping wing mechanism is obtained through rule derivation between geometric dimensions and kinematics, large flapping amplitude can be achieved, and thoughts are provided for design of the flapping wing mechanism.

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 invention discloses a hybrid flapping wing type parameter design method based on network self-differentiation, and relates to the technical field of design and optimization of bionic flapping wing energy collection devices. Inputting the initial design parameters of the mixed flapping wing type into a generative adversarial network to obtain physical field data corresponding to the initial design parameters of the mixed flapping wing type so as to calculate indexes representing energy harvesting characteristics of the mixed flapping wing type; determining a multi-target optimization value according to the index; calculating a loss function through the multi-objective optimization value, calculating the gradient of the loss function relative to the initial design parameters according to network self-differentiation, and updating the initial design parameters according to the gradient; and taking the updated initial design parameters as new initial design parameters, continuing to calculate the multi-objective optimization value until a preset termination condition is met, and determining the initial design parameters meeting the termination condition as the parameter design strategy of the mixed flapping wing type. According to the method, the optimal design parameters of the mixed flapping wing type can be accurately and quickly determined.

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 multi-degree-of-freedom bionic bird flapping-wing aircraft comprises a flight assembly and a fuselage, and a driving assembly and a direction control assembly are arranged on the fuselage; a motor of the driving assembly drives a rotating shaft through a gear transmission mechanism. The flying assembly comprises wing modules which are symmetrically arranged and a linkage driving mechanism, and the linkage driving mechanism converts the rotating motion of the rotating shaft into vertical flapping of the wing modules and different folding angles of the wing modules; the direction control assembly comprises an empennage connected with the fuselage, an empennage steering device, an empennage lifting device and a wing twisting device; the empennage steering device drives the empennage to deflect around the vertical axis of the fuselage to adjust the flight direction of the aircraft; the empennage lifting device drives the empennage to deflect around the transverse axis of the fuselage to adjust the flight height of the aircraft; the wing twisting device drives the wing module to rotate around the longitudinal axis of the wing to adjust the pitch angle of the wing module. According to the invention, flapping folding and twisting can be realized, and a flying function which is extremely similar to that of a real bird is provided.

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 relates to the technical field of aircrafts, in particular to a bionic butterfly based on a flapping wing structure. The bionic butterfly based on the flapping wing structure comprises butterfly wing-shaped carbon fiber frameworks, kite cloth, a driving assembly, a small lithium battery and a remote controller, the driving assembly is wirelessly and remotely controlled through the remote controller, and the driving assembly is fixedly connected with the two butterfly wing-shaped carbon fiber frameworks wrapped with the kite cloth. The remote controller is operated to control the two butterfly wing-shaped carbon fiber skeletons to move, so that the whole bionic butterfly is driven to fly, and the technical problems that in the prior art, a bionic butterfly is not small enough, the thrust-weight ratio is small, and the control difficulty is large are solved. The purposes of optimizing the wing shape of the bionic butterfly, reducing the overall weight of the bionic butterfly and conveniently adjusting the motion posture of the bionic butterfly are achieved.

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 invention discloses a retractable flapping wing mechanism based on a miniature flapping wing air vehicle, which simulates the flapping wing folding and unfolding motion of ladybirds at wing roots, replaces a common rigid connection form with a compliant mechanism, and realizes the folding and unfolding motion of a flapping wing leading edge beam of the miniature air vehicle by utilizing the deformation of a strip-shaped spring. According to the mechanism, the flapping wings are folded to the two sides of the aircraft body through bending deformation of the strip-shaped springs, the spanwise size of the aircraft during storage can be effectively reduced, and the portability is improved; before the aircraft takes off, the flapping wings can be automatically unfolded by releasing the strain energy of the strip-shaped spring. According to the design, the occupied space of the aircraft is reduced, the launching distance of the unmanned aerial vehicle is increased, the task execution radius is increased, and the application scene is expanded.

The present invention discloses a flapping and folding motion mechanism for a flapping-wing aircraft, belonging to the technical field of flapping-wing aircraft. It includes a flapping and folding wing and a flapping and folding drive mechanism; the flapping and folding wing is mainly composed of a flapping wing and a folding wing located at the outer end of the flapping wing; the flapping and folding drive mechanism includes a flapping and folding drive mechanism mounting frame and a guide shaft arranged on the flapping and folding drive mechanism mounting frame, a flapping drive mechanism and a folding drive mechanism; the flapping drive mechanism includes an eccentric drive structure and a flapping drive arm; the folding drive mechanism includes a synchronous drive gear, a slider reciprocating drive structure and a folding drive slider; the synchronous drive gear is meshed and connected with the eccentric drive gear so that the flapping motion and the folding and stretching motion of the flapping and folding wing are carried out synchronously. The inner end of the flapping arm is fixedly connected with the other end of the flapping drive arm, and the folding arm is hinged with the other end of the folding drive arm. It has the characteristics of light weight, good maneuverability, high flight efficiency, etc.

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 present invention discloses a distributed flexibility flapping wing drive mechanism and its design method, belonging to the technical field of flapping wing aircraft. The distributed flexibility flapping wing drive mechanism includes a flapping wing drive mechanism mounting frame, a piezoelectric bimorph driver and a distributed flexibility transmission chain arranged on the flapping wing drive mechanism mounting frame; the distributed flexibility transmission chain includes a pair of vertical elastic sheets and a horizontal elastic sheet, and the distributed flexibility transmission chain has two flapping arms and a flapping transmission part; the fixed end of the piezoelectric bimorph driver is fixed at the rear end of the distributed flexibility transmission chain; the method includes a. simplifying the piezoelectric bimorph driver into an equivalent single-degree-of-freedom second-order linear vibration system; b. simplifying the distributed flexibility transmission chain into an equivalent "multi-rigid body - torsion spring" system; c. obtaining the aerodynamic drag and moment of the flapping wing; d. performing model assembly; e. establishing a forced vibration equation set; f. taking the objective function of the optimization problem; g. optimizing the design. It has the characteristics of long working life and high flight efficiency.

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 invention relates to the technical field of bionic robots, and particularly discloses a bionic flapping wing aircraft. The aircraft comprises a main body module and two wing modules, the aircraft comprises an aircraft body, two driving assemblies and two rotating assemblies, each rotating assembly comprises a main body unit and a swing unit, the main body units are rotationally connected to the swing units, and each driving assembly can be in transmission fit with one main body unit to enable the rotating assemblies to swing around a first axis; the two wing modules are located on the two sides of the machine body respectively, each wing module comprises a wing main body, each swing unit is connected with one wing main body, the main body unit is used for driving the swing units to swing around a second axis so as to drive the wing main bodies to move close to or away from the machine body, and the first axis and the second axis are not parallel and do not intersect. The aircraft simulates flapping of wings of insects such as butterflies through a unique double-axis swinging design, the bionic performance is improved, and the flying stability and maneuverability are enhanced.

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.