291 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 variable-amplitude steering adjusting mechanism, which relates to the technical field of aircrafts, and comprises a rack, two flapping wing rods, a swing driving assembly, a swing driving assembly and a swing amplitude adjusting assembly, the two flapping wing rods are movably arranged relative to the rack, and the two flapping wing rods are used for being connected with the two bionic flapping wings respectively; the swing driving assembly is arranged on the rack and connected with the two flapping wing rods, and the swing driving assembly is used for driving the two flapping wing rods to swing; the steering adjusting assembly is arranged on the rack and can adjust the flapping wing angles of the two flapping wing rods; the swing amplitude adjusting assembly is arranged on the rack and connected with the two flapping wing rods, and the swing amplitude adjusting assembly can adjust the swing amplitudes of the two flapping wing rods respectively. The variable-amplitude steering adjusting mechanism provided by the invention can improve the flexibility of the aircraft. The invention further provides a bionic flapping wing aircraft comprising the amplitude-variable steering adjusting mechanism.

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 provides a reinforcement learning-based sea-bird-imitating sea-land-air multi-terrain flapping-wing flying robot and a control method, the robot comprises a control cabin, an integration device and a wing device, the control cabin is mainly used for control, communication and detection of the robot, and the integration device is used for fixing the control cabin and the wing device. The wing device and the integration device are used for detection work of the robot on land, on the sea surface, under the sea and in the sky. Through the integrated design of the flapping wings imitating the sea sparrows, working modes can be freely switched in complex terrains such as land, sea surface, undersea and air, so that the robot can quickly adapt to different terrains according to task requirements, and high-efficiency, low-energy-consumption and long-time continuous detection tasks are achieved while high concealment is kept.

The utility model discloses a flapping wing aircraft adopting bionic feathers as flapping wings. The flapping wing aircraft comprises a main beam assembly, a power assembly, a wing assembly and an empennage assembly, the power assembly is connected with one end of the main beam assembly, the empennage assembly is connected with the other end of the main beam assembly, and the wing assemblies are connected with the two sides of the power assembly in a mirror image mode and are in spherical hinge joint with the main beam assembly. The wing assembly comprises a wing main rod, a plurality of feather shafts and a plurality of feather pieces, one end of the wing main rod is connected with the power assembly, the feather shafts are connected to the wing main rod at intervals, and the feather pieces are rotationally connected to the feather shafts respectively; with the feather pieces and the rotating point of the feather shaft as a boundary, the feather pieces on the two sides of the rotating point are bent towards the two sides in opposite directions, and the adjacent feather pieces are in lap joint. The utility model has the beneficial effects that the flapping resistance of the wings is small, and the wings have the capability of flying in rainy days.

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 invention discloses a hovering four-wing flapping-wing aircraft, and relates to the technical field of aircrafts, the hovering four-wing flapping-wing aircraft comprises a fixed rack, a power source and a gear set located in the middle of the fixed rack, two pairs of wings arranged at the two ends of the fixed rack, a connecting gear set and a connecting rod mechanism of the two pairs of wings, and an attitude control structure movably connected with the two pairs of wings respectively; one end, far away from the transmission shaft, of the crank is hinged to a connecting rod, one end, far away from the crank, of the connecting rod is hinged to a rocker, the middle of the rocker is bent and rotates on the outer side of the fixed rack, one end of the rocker is connected with the connecting rod, the other end of the rocker is movably connected with a flapping wing rod, and the tail end of the flapping wing rod is fixedly connected with a wing; the connecting rod mechanism is a five-connecting-rod mechanism composed of a crank, a connecting rod, a rocker, a fixed rack and a flapping wing rod. The performance is improved by simplifying a transmission system and an attitude control structure of an existing ornithopter and optimizing a connecting rod mechanism, better attitude control and bionic flight effects are achieved, and the performance of the ornithopter is greatly improved.

The invention provides a trigger bouncing device and method for a flapping-wing flying robot, and relates to the technical field of bionic robots. The device comprises a bouncing execution mechanism, the bouncing execution mechanism comprises a paw, a tibia and a femur which are connected in sequence, and the tibia and the femur are rotatably connected through a knee joint shaft; the energy storage mechanism comprises an energy storage motor, a lower limiting rod, a fixed pulley, an upper limiting rod, a pulley rope, an energy storage torsion spring and a trigger buckle; wherein the energy storage motor and the lower limiting rod are arranged on the tibia, the knee joint shaft is sleeved with the fixed pulley, the upper limiting rod is arranged on the femur, and the pulley rope sequentially winds the output end of the energy storage motor, the lower limiting rod, the fixed pulley and the upper limiting rod; the two ends of the energy storage torsion spring abut against the tibia and the femur correspondingly, and the trigger buckle can clamp the upper limiting rod at the preset position. Energy is stored through the energy storage torsion spring, the tibia and the femur are pushed to rotate, and bouncing action is conducted. The device achieves a highly bionic effect in appearance, and is more in line with actual leg structures of birds.

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 present invention provides a flapping-wing mechanism based on incomplete gear transmission, including a skeleton support structure, a reduction gear structure, a flapping-wing rod structure, a transmission gear structure, a transmission main shaft structure and a motor structure; the motor structure, the reduction gear structure, the transmission main shaft structure, the transmission gear structure and the flapping-wing rod structure are sequentially connected in transmission. A motor output shaft gear is arranged on the output shaft of the motor. The reduction gear structure includes a first reduction gear and a double-layer gear; the transmission gear structure includes a first incomplete gear, a second incomplete gear and a third incomplete gear; in the present invention, the transmission gear structure is used to cooperate with the flapping-wing rod structure to convert the rotational motion of the main shaft structure driven by the motor into the flapping motion of the flapping-wing rod structure through a plurality of incomplete gears, without a quick return characteristic and with uniform speed changes. And through the mutual meshing between the gears, the technical effects of high flapping synchronization and stable and consistent transmission ratio can be achieved.

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 force measurement wind tunnel test device with a jet flow control airfoil profile, which belongs to a flow control technology and at least comprises but is not limited to a test section, an end plate, an airfoil profile main wing and an airfoil profile flap, accommodating cavities for accommodating the end plates are formed in the side walls of the two sides of the test section, the end plates are movably arranged in the accommodating cavities, the airfoil flap is connected with the airfoil main wing, the airfoil main wing is arranged between the end plates on the two sides, and the end face, far away from the airfoil main wing, of the end plate on one side is connected with the balance through a connecting piece; beveling parts are arranged between the wing-shaped flaps and the end plates; according to the scheme, angular separation and wingtip vortex between the airfoil profile and the end plate can be effectively inhibited, so that the force measurement result is closer to the value of a two-dimensional airfoil profile.

The invention relates to the technical field of aircrafts, in particular to a variable-attack-angle double-section flapping-wing aircraft which comprises an aircraft body, a power source and driving system, a double-section-wing flapping system left wing, a double-section-wing flapping system right wing, an attack angle adjusting driving system and an empennage adjusting driving system. Wherein the fuselage serves as a main body structure of the aircraft and is used for supporting and fixing other functional modules; the power source and the driving system are mounted on the fuselage and are used for providing power for the flapping wing to move; a left wing and a right wing of the double-section wing flapping system are mounted on the power source and the driving system.According to the variable-attack-angle double-section flapping-wing aircraft, in the flapping-wing flight process, by adjusting the attack angles of the wings in real time, the lift force and resistance distribution of the aircraft in different flight states can be optimized, and therefore the flight efficiency and stability are improved; the variable attack angle design enables the aircraft to better cope with a complex airflow environment.

The invention discloses a warship bird flapping wing imitating flying robot based on a brain-like neural network and a control method, the warship bird flapping wing imitating flying robot comprises a flying device, a delivery device, a detection device and a sub-robot, and the flying device, the delivery device, the detection device and the sub-robot are controlled to work through a console so as to complete a long-distance detection task. A warship bird imitating structural design is adopted, and a child-mother robot design scheme is used, so that precise delivery of tasks and efficient recovery of child robots are realized, and the equipment utilization rate is further improved; the warship bird flight mode is learned in combination with the brain-like neural network to be used for the robot, energy consumption of robot flight is reduced, the flight endurance time is remarkably prolonged, and therefore the long-distance detection task is achieved.

The invention discloses an ornithopter capable of ejection take-off and provided with a sweeping-torsion mechanism, and belongs to the technical field of aircrafts, the ornithopter comprises a fuselage skeleton, a left flapping wing, a right flapping wing, a passive torsion mechanism, a sweeping mechanism, an ejection take-off mechanism, a transmission flapping mechanism and a tail vane, the catapult take-off mechanism is arranged in the middle of the robot body and sequentially provided with a hip joint, a thigh, an ankle joint, a shank, a foot and a toe joint from top to bottom, the inner side and the outer side of the hip joint are controlled by a servo motor to rotate relatively, and elastic energy storage torsion springs are arranged at the ankle joint and the toe joint correspondingly. Synchronous pulleys and driving mechanisms thereof are arranged between the outer sides of the hip joints and the outer sides of the ankle joints to control relative rotation between the thighs and the shanks, and energy storage of ejection take-off is carried out. In conclusion, the aircraft can perform ejection take-off flight, and the flapping wings can perform passive torsion and sweeping movement in the flapping process, so that the improvement of the flapping wing lift force and the overall effective load of the aircraft is facilitated.

A flexible flapping wing type bionic water pumping device for improving water power comprises a water pumping execution mechanism and a flow channel, the flow channel is fixed to the lower portion of a rack of the water pumping execution mechanism, and the water pumping execution mechanism comprises the rack, a linear motion module, a swing motion module, a driving module and flexible flapping wings. The linear motion module and the swing motion module are symmetrically installed on the two sides of the machine frame in the middle and can move synchronously, the driving module is installed on the upper portion of the machine frame in the middle, and the swing motion module is fixed to a linear bearing sliding base of the linear motion module so that the swing motion module can do linear reciprocating motion on a guide shaft along with the linear bearing sliding base. The flexible flapping wing is fastened with a driven shaft of the swinging motion module, and the flexible flapping wing is driven by the driven shaft to perform reciprocating swinging motion. The water body can be propelled efficiently, high-efficiency large-flow water pumping can be achieved in a shallow water area under the low-lift working condition, meanwhile, threat to overflowing organisms in the water body can be avoided, and biological friendliness is achieved.

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 invention discloses a four-rotor-flapping-wing hybrid layout aircraft, including a hybrid layout aircraft fuselage and a hybrid layout aircraft control system; the hybrid layout aircraft fuselage is composed of a four-rotor aircraft frame and a bird-like flapping-wing aircraft fuselage embedded together, the four-rotor aircraft frame includes a four-rotor bracket and four rotors, the four-rotor bracket includes a bracket body, four rotor support rods are arranged around the bracket body, and the rotor motors of the four rotors are fixed to the ends of the four rotor support rods of the bracket body; the bracket body of the four-rotor bracket is embedded in the fuselage of the bird-like flapping-wing aircraft, and the left and right flapping wings of the bird-like flapping-wing aircraft are respectively located between the front and rear rotors of the side; the hybrid layout aircraft control system includes an aircraft remote controller, a four-rotor flight control system, a bird-like flapping-wing flight control system and a flight mode controller. It has the characteristics of strong adaptability to the flight environment, safety and reliability, and easy operation.