阅读说明：本技术 仿生飞行器 (Bionic aircraft ) 是由 赵晓伟 曾东鸿 宝音贺西 于 2020-06-09 设计创作，主要内容包括：本发明公开了一种仿生飞行器,仿生飞行器包括：机身,机身具有容腔,机身上设有与容腔连通的第一开口和第二开口；机翼,机翼设在机身的两侧；尾翼,尾翼设在机身的两侧,两侧的尾翼分别位于两侧的机翼的后方,两侧尾翼的前端连接至第二开口,且两侧尾翼在向上方向上距离逐渐增加；机翼驱动机构,机翼驱动机构设在容腔内,机翼驱动机构部分伸出第一开口且与两侧的机翼相连,用于带动两侧的机翼上下往复扑动；尾翼驱动机构,尾翼驱动机构设在机身内,尾翼驱动机构与两侧的尾翼相连,用于带动两侧的尾翼相对机身摆动。本发明仿生飞行器飞行速度快,有效载荷大,能够在各种场景下发挥侦察、救险和其他各种作用。(The invention discloses a bionic aircraft, which comprises: the device comprises a machine body, a first connecting piece and a second connecting piece, wherein the machine body is provided with a containing cavity, and a first opening and a second opening which are communicated with the containing cavity are formed in the machine body; the wings are arranged on two sides of the fuselage; the tail wings are arranged on two sides of the fuselage, the tail wings on the two sides are respectively positioned behind the wing on the two sides, the front ends of the tail wings on the two sides are connected to the second opening, and the distance between the tail wings on the two sides is gradually increased in the upward direction; the wing driving mechanism is arranged in the containing cavity, and part of the wing driving mechanism extends out of the first opening and is connected with the wings on the two sides for driving the wings on the two sides to flap up and down in a reciprocating manner; and the tail wing driving mechanism is arranged in the machine body and is connected with the tail wings at the two sides and used for driving the tail wings at the two sides to swing relative to the machine body. The bionic aircraft has high flying speed and large effective load, and can play reconnaissance, rescue and other various roles in various scenes.)

1. A biomimetic aerial vehicle, comprising:

the device comprises a machine body, a first connecting piece and a second connecting piece, wherein the machine body is provided with a containing cavity, and a first opening and a second opening which are communicated with the containing cavity are formed in the machine body;

the wings are arranged on two sides of the fuselage;

the tail wings are arranged on two sides of the fuselage, the tail wings on the two sides are respectively positioned behind the wings on the two sides, the front ends of the tail wings on the two sides are connected to the second opening, and the distance between the tail wings on the two sides is gradually increased in the upward direction;

the wing driving mechanism is arranged in the containing cavity, part of the wing driving mechanism extends out of the first opening and is connected with the wings on the two sides, and the wing driving mechanism is used for driving the wings on the two sides to flap up and down in a reciprocating manner;

the tail wing driving mechanism is arranged in the machine body and is connected with the tail wings on the two sides and used for driving the tail wings on the two sides to swing relative to the machine body.

2. The biomimetic aerial vehicle of claim 1, wherein the fuselage, the wings, and the empennage are all made of flexible materials.

3. The bionic aircraft according to claim 1, wherein a support is arranged in the accommodating cavity, the support extends along the length direction of the aircraft body, the wing driving mechanism is arranged at the front end of the support, and the tail wing driving mechanism is arranged at the rear end of the support.

4. The biomimetic aerial vehicle of claim 3, wherein the wing drive mechanism includes drive assemblies on both sides of the support, the drive assemblies on each side including:

one end of the rocker arm is pivotally connected to the support, the other end of the rocker arm extends out of the first opening and is connected with the wing, and the rocker arm is of a frame structure and is arranged close to the wing;

the crank is rotatably arranged on the bracket;

and one end of the connecting rod is pivotally connected to the crank, and the other end of the connecting rod is pivotally connected to the rocker arm.

5. The biomimetic aerial vehicle of claim 4, wherein the wing drive mechanism further comprises:

the driven gear is connected with the cranks on the two sides of the bracket;

the driving gear is pivotally arranged on the bracket and is meshed with the driven gear;

the driving motor is arranged on the support and connected with the driving gear so as to enable the driving gear to rotate.

6. The bionic aircraft as claimed in claim 3, wherein the number of the tail driving mechanisms is two, two tail driving mechanisms are connected with the tails on two sides in a one-to-one correspondence manner, and the two tail driving mechanisms respectively drive the tails on two sides to swing.

7. The bionic aircraft according to claim 6, wherein the fuselage is provided with two third openings communicated with the containing cavity, the tail wing driving mechanism is a steering engine, the output end of the steering engine is connected with a pull rod, and one end of the pull rod extends out of the third opening and is connected with the corresponding tail wing so as to pull the tail wing.

8. The bionic aircraft according to claim 1, wherein the bionic aircraft is a bird-like aircraft, the wings are copying bird wings, the tail wing is a copying bird tail, and the fuselage is a copying bird body.

9. The biomimetic aerial vehicle of claim 8, wherein the thickness of the contoured bird wings on both sides tapers in a direction away from the fuselage.

10. The biomimetic aerial vehicle of claim 2, wherein the flexible material is EPP lightweight foam.

Technical Field

The invention belongs to the technical field of aircrafts, and particularly relates to a bionic aircraft.

Background

At present, the bionic aircraft is widely researched internationally, can be applied to various occupations of army and firefighters, and has great effect under special conditions, and generally comprises large aircrafts and microminiature aircrafts. In a large aircraft, two sections of flapping wings are adopted for the wing part, but the two sections of wings are distributed, so that the size is large, the flying speed is low, and the investigation work cannot be rapidly carried out. In a microminiature aircraft, like a hummingbird, the wingspan is small, the weight is light, and investigation tasks in small areas and indoors can be executed, but the hummingbird aircraft cannot execute various investigation tasks due to small size, low flying speed and poor effective load capacity.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the bionic aircraft which is high in flying speed, large in effective load and capable of adapting to wider working scenes.

A bionic aircraft according to an embodiment of the invention comprises: the device comprises a machine body, a first connecting piece and a second connecting piece, wherein the machine body is provided with a containing cavity, and a first opening and a second opening which are communicated with the containing cavity are formed in the machine body; the wings are arranged on two sides of the fuselage; the tail wings are arranged on two sides of the fuselage, the tail wings on the two sides are respectively positioned behind the wings on the two sides, the front ends of the tail wings on the two sides are connected to the second opening, and the distance between the tail wings on the two sides is gradually increased in the upward direction; the wing driving mechanism is arranged in the containing cavity, part of the wing driving mechanism extends out of the first opening and is connected with the wings on the two sides, and the wing driving mechanism is used for driving the wings on the two sides to flap up and down in a reciprocating manner; the tail wing driving mechanism is arranged in the machine body and is connected with the tail wings on the two sides and used for driving the tail wings on the two sides to swing relative to the machine body.

According to the bionic aircraft provided by the embodiment of the invention, the wings formed by the single-section wings are arranged, and the wings on the two sides can realize up-and-down flapping motion and the torsion motion of the wing section under the driving of the wing driving mechanism, so that the bionic aircraft has higher flight speed and larger thrust, smaller overall size and higher effective load. The V-shaped empennage is formed, and the empennage driving mechanism drives the empennage to swing, so that the bionic aircraft has the functions of attitude control, attitude balance and partial lift force and direction control, can be applied to reconnaissance, rescue, survey and other various scenes, and can keep the working state of the bionic aircraft in a complex and changeable use environment by mutually matching and influencing the up-and-down reciprocating flapping of wings and the swinging of the empennage, thereby continuously playing the effect of a machine and helping to finish the work.

Furthermore, the fuselage, the wings and the empennage are all made of flexible materials.

Furthermore, a support is arranged in the accommodating cavity, the support extends along the length direction of the fuselage, the wing driving mechanism is arranged at the front end of the support, and the tail wing driving mechanism is arranged at the rear end of the support.

Further, the wing drive mechanism includes drive assemblies on both sides of the support, the drive assemblies on each side including: one end of the rocker arm is pivotally connected to the support, the other end of the rocker arm extends out of the first opening and is connected with the wing, and the rocker arm is of a frame structure and is arranged close to the wing; the crank is rotatably arranged on the bracket; and one end of the connecting rod is pivotally connected to the crank, and the other end of the connecting rod is pivotally connected to the rocker arm.

According to one embodiment of the bionic aircraft, the wing driving mechanism further comprises: the driven gear is connected with the cranks on the two sides of the bracket; the driving gear is pivotally arranged on the bracket and is meshed with the driven gear; the driving motor is arranged on the support and connected with the driving gear so as to enable the driving gear to rotate.

Optionally, the number of the tail wing driving mechanisms is two, the two tail wing driving mechanisms are connected with the tail wings on the two sides in a one-to-one correspondence manner, and the two tail wing driving mechanisms respectively drive the tail wings on the two sides to swing.

According to a further embodiment of the invention, two third openings communicated with the containing cavity are arranged on the machine body, the tail wing driving mechanism is a steering engine, the output end of the steering engine is connected with a pull rod, and one end of the pull rod extends out of the third opening and is connected with the corresponding tail wing so as to pull the tail wing.

Furthermore, the bionic aircraft is a bird-like aircraft, the wings are copying bird wings, the tail wing is a copying bird tail, and the body is a copying bird body.

Further, the thicknesses of the profiling bird wings on the two sides of the bionic aircraft in the direction far away from the fuselage are gradually reduced.

Optionally, the flexible material is EPP lightweight foam.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic perspective view of a bionic aircraft according to an embodiment of the present invention;

FIG. 2 is a schematic diagram I of a part of the mechanism of the bionic aircraft according to the embodiment of the invention;

FIG. 3 is a schematic diagram of a part of the mechanism of the bionic aircraft according to the embodiment of the invention;

FIG. 4 is a third schematic diagram of a part of the mechanism of the bionic aircraft in the embodiment of the invention;

fig. 5 is a schematic diagram of a part of the bionic aircraft in the embodiment of the invention.

Reference numerals:

100. a bionic aircraft;

110. a body; 111. a support; 113. a first opening; 114. a second opening; 115. a third opening;

120. an airfoil;

130. a tail wing; 131. a tail airfoil surface; 132. a control surface; 133. virtual axis of control surface;

140. a wing drive mechanism; 141. a drive assembly; 142. a rocker arm; 143. a crank; 144. a connecting rod; 145. a driven gear; 146. a driving gear; 147. a drive motor;

150. a tail drive mechanism; 151. a steering engine; 152. a pull rod.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.

In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The bionic aircraft 100 according to the embodiment of the invention is described below with reference to the drawings.

As shown in fig. 1 to 4, a bionic aircraft 100 according to an embodiment of the present invention includes: fuselage 110, wings 120, tail 130, wing drive mechanism 140, tail drive mechanism 150.

The body 110 has a cavity (not shown), and the body 110 has a first opening 113 and a second opening 114 communicating with the cavity. The wings 120 are arranged on two sides of the fuselage 110, the wings 120 are formed by single-section wings, the single-section wings are adopted for flying, the flapping-wing motion can realize the up-and-down flapping motion and the torsion motion of the airfoil section, the high flying speed and the high thrust are achieved, the lift force and the thrust are effectively improved, and therefore the effective load is improved.

The stabilizers 130 are disposed at both sides of the body 110, the stabilizers 130 at both sides are respectively located at the rear of the wings 120 at both sides, the front ends of the stabilizers 130 at both sides are connected to the second opening 114, the front ends of the stabilizers 130 at both sides are inserted and fixed in the second opening 114, and the stabilizers 130 at both sides are gradually increased in distance in the upward direction, i.e., the stabilizers 130 at both sides form a V shape as a whole.

The wing driving mechanism 140 is disposed in the cavity, and a part of the wing driving mechanism 140 extends out of the first opening 113 and is connected to the wings 120 on both sides for driving the wings 120 on both sides to flap up and down in a reciprocating manner, which can be understood as that the wing driving mechanism 140 drives the wings 120 on both sides to flap up and down in a reciprocating manner, and the reverse thrust caused by the reciprocating flap reversely pushes the bionic aircraft 100 to float and fly, so that the larger reverse thrust is provided for the bionic aircraft 100 to have a larger flight speed.

The tail driving mechanism 150 is arranged in the body 110, connected to the tails 130 at two sides, and configured to drive the tails 130 at two sides to swing relative to the body 110, that is, the overall shape of the tails 130 at two sides is similar to a V shape, and under the action of the tail driving mechanism 150, the tails 130 at two sides swing back and forth relative to the body 110, so that the bionic aircraft 100 has functions of attitude control, attitude balance, and providing partial lift force and direction control during flight.

According to the bionic aircraft 100 provided by the embodiment of the invention, the wings 120 formed by single-section wings are arranged, and under the driving of the wing driving mechanism 140, the wings 120 on two sides can realize up-and-down flapping motion and wing profile twisting motion, so that the bionic aircraft has higher flight speed and larger thrust, smaller overall size and higher effective load. The V-shaped empennage 130 is formed, the empennage driving mechanism 150 drives the empennage 130 to swing, so that the bionic aircraft 100 has the functions of attitude control, attitude balance and providing partial lift force and direction control, the bionic aircraft 100 can be applied to reconnaissance, rescue, survey and other various scenes, the up-and-down reciprocating flapping of the wings 120 and the swinging of the empennage 130 are mutually matched and mutually influenced, the bionic aircraft 100 keeps a working state in a complex and changeable use environment, the effect of a machine is continuously exerted, and the work is helped to be completed.

In some embodiments, the fuselage 110, wings 120, and empennage 130 are made of flexible materials. That is, compared with wings made of canvas and other materials, the bionic aircraft 100 has a large load and a high load capacity, and the fuselage 110, the wings 120 and the empennage 130 have certain rigidity while being light in weight, and particularly the wings 120 can obtain a large lift force when flapping up and down. In addition, compared with a rigid material, the flexible material has a certain variation, and is more suitable for facing a complex working environment; the flexible materials of the fuselage 110, the wings 120 and the empennage 130 endow the bionic aircraft 100 with more excellent aerodynamic properties, so that the damage to the bionic aircraft 100 is weakened when the bionic aircraft faces foreign matters such as rainwater and falling objects or impacts occur.

As shown in fig. 2, in some embodiments, a support 112 is disposed within the cavity, the support 112 extends along the length of the fuselage 110, a wing drive mechanism 140 is disposed at a forward end of the support 112, and a tail drive mechanism 150 is disposed at a rearward end of the support 112. That is to say, the support 112 is fixed in the cavity, and the front end and the rear end extend at the front end and the rear end of the fuselage 110, so that the rigidity of the whole fuselage 110 can be improved, the self-mass is reduced on the premise that the bionic aircraft 100 is not broken when in collision, and the wing driving mechanism 140 and the tail wing driving mechanism 150 are arranged at the front end and the rear end of the support 112, so as to achieve better installation and fixation effects.

Specifically, a hole slot is formed at the intersection of the frame of the support 112, and the hole slot is used for fixing the wing driving mechanism 140 and the tail wing driving mechanism 150, so that the center of gravity of the bionic aircraft 100 is more concentrated and is easy to control.

In some embodiments, the support 112 is a frame formed of a high strength, low density material, such as a titanium alloy frame.

As shown in fig. 3, in some embodiments, the wing driving mechanism 140 includes driving assemblies 141 located at two sides of the support 112, that is, the wings 120 at two sides are correspondingly provided with the driving assemblies 141, which respectively drive the wings 120 at the corresponding sides to flap up and down.

As shown in fig. 2 and 3, the driving assembly 141 of each side includes: one end of the rocker arm 142 is pivotally connected to the bracket 112, the other end of the rocker arm 142 extends out of the first opening 113 and is connected with the wing 120, the rocker arm 142 is of a frame structure and is arranged to be close to the wing 120, and the frame structure of the rocker arm 142 is in a square frame form, so that the problem of stress concentration in the force transfer process between a horizontal bar structure and the wing 120 in the prior art is solved, and a better force transfer effect is achieved. A crank 143, the crank 143 is rotatably arranged on the bracket 112; a link 144, one end of the link 144 being pivotally connected to the crank 143 and the other end being pivotally connected to the rocker 142. The rocker 142, the crank 143 and the connecting rod 144 form a spatial four-bar linkage, and each part ensures the continuity of motion through pivotal connection, so as to achieve better driving effect, specifically, the crank 143 arranged on the bracket 112 rotates, one end of the traction connecting rod 144 connected with the crank 143 reciprocates up and down, then, under the traction of the connecting rod 144, the rocker 142 flaps up and down in a reciprocating manner with one end fixed on the bracket 112 as a circle center, and the motion track of the flaps is in a sector shape, because the driving components 141 are arranged on both sides of the bracket 112, and the crank 143 is symmetrical on both sides of the bracket 112, the up and down reciprocating flapping wing motion of the rocker 142 on both sides is also symmetrical about the plane where the bracket 112 is located, so that the phase difference can be eliminated, and the wing 120 on both sides is not synchronous.

Optionally, adjacent two of the rocker 142, the crank 143 and the connecting rod 144 are connected by a spherical hinge.

As shown in fig. 1, in some embodiments, a front end portion of the bracket 112 protrudes out of the first opening 113, and the swing arm 142 is hinged on the front end protrusion. That is to say, through placing rocking arm 142 outside holding the chamber completely, can increase the scope of wing 120 flapping from top to bottom, promote lift, still have better dodging anti-interference effect simultaneously.

As shown in fig. 2 and 3, in some embodiments, wing drive mechanism 140 further includes: the driven gear 145, the driven gear 145 is connected with the crank 143 on both sides of the bracket 112; the driving gear 146 is pivotally arranged on the bracket 112 and meshed with the driven gear 145; and the driving motor 147 is arranged on the bracket 112, and the driving motor 147 is connected with the driving gear 146 to rotate the driving gear 146. That is to say, the driving motor 147 drives the driving gear 146 to rotate, the driving gear 146 drives the driven gear 145 to rotate, and then drives the crank 143 to rotate, so that the crank 143 finally drives the rocker 142 to flap up and down, and the driven gear 145, the driving gear 146 and the driving motor 147 form a one-stage speed reduction system, which has a smaller speed reduction stage number, can improve the transmission efficiency and reduce the power loss.

In some embodiments, as shown in fig. 3 and 4, there are two tail driving mechanisms 150, two tail driving mechanisms 150 are connected to the two side tails 130 in a one-to-one correspondence, and the two tail driving mechanisms 150 respectively drive the two side tails 130 to swing. The empennages 130 on both sides of the body 110 are respectively controlled by different empennage driving mechanisms 150, and when facing a complex working environment, the single-controlled double empennages 130 can adjust more flight attitudes to meet different needs.

In some embodiments, as shown in fig. 4, the tail 130 includes a tail surface 131, a control surface virtual axis 133, and a control surface 132, the tail surface 131 being disposed on the fuselage 110; the control surface virtual axis 133 is positioned at the rear end of the tail airfoil surface 131 and is a hypothetical virtual axis; the control surface 132 swings up and down by taking the virtual control surface axis 133 as an axis, and the influence of air flow on the bionic aircraft 100 can be controlled by controlling the included angle of the control surface 132 relative to the tail surface 131, so that the flight attitude of the bionic aircraft 100 is controlled, the flight direction is controlled, and meanwhile, partial lift force is provided.

In some embodiments, as shown in fig. 1 and 4, two third openings 115 communicating with the accommodating cavities are formed in the body 110, the tail driving mechanism 150 is a steering engine 151, an output end of the steering engine 151 is connected with a pull rod 152, and one end of the pull rod 152 extends out of the third opening 115 and is connected with the corresponding tail 130 to pull the tail 130. The steering engine 151 is fixed at the rear end of the bracket 112, the output end of the steering engine 151 drives the pull rod 152 to move back and forth after the steering engine 151 works, and the pull rod 152 extends out of the third opening 115 to pull the control surface 132 of the empennage 130 to swing back and forth relative to the control surface virtual shaft 133, so that the functions of attitude control, attitude balance and partial lift force and direction control are achieved. In addition, the steering engine 151 is used for controlling the movement of the tail wing 130, so that the structure is simple and reliable, and the weight is light.

As shown in fig. 1, the bionic aircraft 100 is a bird-like aircraft, the wings 120 are bird-like wings, the tail 130 is a bird-like tail, and the fuselage 110 is a bird-like body. That is to say, the bionic aircraft 100 imitates the small and medium-sized birds in nature, such as magpie, sparrow, etc., the airfoil of the wing 120 has an airfoil shape, the outline of the airfoil shape imitates the structural design of the birds, the whole body adopts single-section wing flight, flapping motion can realize the up-and-down flapping motion and the torsional motion of the airfoil section, and the bionic aircraft has higher flight speed and larger thrust, effectively promotes lift force and thrust, and promotes effective load. In addition, this scheme has designed profile modeling bird body, profile modeling bird wing, profile modeling bird tail through birds appearance characteristics, can effectively optimize the aerodynamic efficiency of flight in-process, has designed bionic shell according to birds appearance characteristics moreover, can reduce air resistance, is convenient for to merge into natural environment when reconnaissance simultaneously and conceals self.

In some embodiments, as shown in fig. 5, the profiled bird wings on both sides of the biomimetic aircraft 100 taper in thickness in a direction away from the fuselage 110.

In some embodiments, the flexible material used for the fuselage 110, wings 120, empennage 130 is EPP lightweight foam, and the lightweight skin is constructed using CNC machining techniques.

An embodiment of the bionic aircraft 100 of the invention is described below with reference to the drawings.

As shown in fig. 1 to 4, a bionic aircraft 100 includes a fuselage 110, wings 120, a tail 130, a wing driving mechanism 140, and a tail driving mechanism 150.

As shown in fig. 2 and 3, a driving motor 147, a driving gear 146, a driven gear 145 and a crank 143 are fixed at a front end frame node of the bracket 112, the driving motor 147 is fixed at the left side of the bracket 112, an output shaft of the driving motor passes through a through hole on the bracket 112 and is fixedly connected with the driving gear 146 at the right side of the bracket 112, the driving gear 146 is externally engaged with the driven gear 145 on the right side of the bracket 112, a pair of crankshafts symmetrical to a plane where the bracket 112 is located are arranged at two sides of the bracket 112, the two crankshafts and the driven gear 145 are fixed on the same axis and move coaxially; at the upper end of the right side of the bracket 112, two protrusions at one end of a rocker 142 of the frame structure are pivotally connected with the bracket 112, a connecting rod 144 at a position on the rocker 142, which is at a certain distance from the bracket 112, is movably connected with the rocker 142 by a ball joint, and the other end of the connecting rod 144 is movably connected with one end of a crankshaft, which is far away from the motion axis, by a ball joint; likewise, the same is true of the left side of the bracket 112.

As shown in FIG. 1, the rocker arm 142 is in the shape of a "go-back", and the wing 120 is fixed to four corners of the rocker arm 142 by bolts. When the driving motor 147 operates, the output shaft of the driving motor 147 rotates to drive the driving gear 146 and the driven gear 145 to rotate, the crank 143 fixed on the driven gear 145 and moving coaxially with the driven gear 145 rotates around the axis, and the rotation of the crank 143 drives the connecting rod 144 and the rocker 142; because one end of the swing arm 142 is constrained on the bracket 112, the swing arm 142 and the wing 120 flap up and down by taking the connecting end with the bracket 112 as an axis under the driving of the connecting rod 144, and the motion track is a sector.

As shown in fig. 2 and 4, the tail drive mechanism 150 is fixed to the rear end of the bracket 112. The two steering engines 151 are respectively arranged on two sides of the support 112, respective output shafts pass through the support 112 to be connected with corresponding crankshafts and the pull rod 152, and the other end of the pull rod 152 is connected with the control surface 132 through a spherical hinge joint; because the tail surface 131 is fixed to the body 110, the control surface 132 can only flap up and down about the control surface virtual axis 133. When the steering engine 151 rotates, the pull rod 152 moves back and forth to pull the control surface 132 to flap, and the included angle between the tail surface 131 and the control surface 132 is changed.

As shown in fig. 1, the bracket 112 is fixed in the cavity of the fuselage 110, the swing arm 142 extends out of the first opening 113 on the fuselage 110 and is fixedly connected with the wing 120, the tail wing surface 131 is inserted in the second opening 114 on the fuselage 110, and the pull rod 152 extends out of the third opening 115 and is movably connected with the control surface 132 behind the tail wing surface 131; the whole bionic aircraft 100 body 110 is molded into bird profiles by using EPP light foam, the wings 120 and the empennage 130 are also made by using EPP light foam to simulate the wings and tails of birds, the weight is small, the strength is high, the bionic aircraft 100 has huge effective load due to strong lift force generated by flapping of the two wings, and meanwhile, the empennage 130 flexibly adjusts the self postures under the respective control of the two steering engines 151 to cope with various complex conditions.

The biomimetic aerial vehicle 100 and the like and the operation thereof according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.