阅读说明：本技术 单向薄膜阀型仿生扑翼机自适应气动力调节翅翼 (One-way film valve type bionic ornithopter self-adaptive aerodynamic force adjusting wing ) 是由 魏星宇 周峻峰 陈炜昊 王叙宁 李修璇 易志然 张文明 于 2021-09-24 设计创作，主要内容包括：一种单向薄膜阀型仿生扑翼机自适应气动力调节翅翼,包括：用于传递驱动力实现翼膜扑动的翼膜约束机构、与翼膜约束机构至少两端相连的翼膜以及设置于翼膜上的单向薄膜阀。本发明通过模仿自然界生物扑翼过程中羽毛间隙的变化,减小扑翼机上扑时的翅翼面积,提高了气动效率,通过机械结构自适应的调节实现结构简单、可靠性高的效果。(A one-way membrane valve type bionic ornithopter self-adaptive aerodynamic force adjusting wing comprises: the wing-shaped film flapping-prevention wing device comprises a wing film restraining mechanism for transmitting driving force to realize wing film flapping, a wing film connected with at least two ends of the wing film restraining mechanism, and a one-way film valve arranged on the wing film. According to the invention, by simulating the change of feather gaps in the natural biological flapping wing process, the wing area of the flapping wing aircraft is reduced when flapping, the pneumatic efficiency is improved, and the effects of simple structure and high reliability are realized through self-adaptive adjustment of a mechanical structure.)

1. The utility model provides a bionic ornithopter self-adaptation aerodynamic force of one-way membrane valve type adjusts wing which characterized in that includes: the wing membrane flapping device comprises a wing membrane restraining mechanism for transmitting driving force to realize wing membrane flapping, a wing membrane connected with at least two ends of the wing membrane restraining mechanism, and a one-way thin film valve arranged on the wing membrane, wherein the one-way thin film valve comprises a valve clack, a valve hole and a limiting mechanism.

2. The adaptive aerodynamic force modulation wing of a one-way membrane valve type bionic ornithopter according to claim 1, wherein the wing membrane restraining mechanism comprises a body and at least one wing bone, wherein: the fuselage is connected to one end of the winged bone.

3. The adaptive aerodynamic force modulation wing of the unidirectional thin film valve type bionic ornithopter according to claim 1, wherein the shape of the wing membrane is designed to follow the wing of a natural bird.

4. The adaptive aerodynamic force adjustment wing of the bionic ornithopter of the one-way membrane valve type as claimed in claim 1, wherein the shape of the valve flap of the one-way membrane valve is triangular or rectangular.

5. The adaptive aerodynamic force modulation wing of a one-way membrane valve type bionic ornithopter according to claim 1, wherein the valve flap is integrally connected to the wing membrane.

6. The adaptive aerodynamic force adjustment wing of the bionic ornithopter of the one-way membrane valve type as claimed in claim 1 or 5, wherein the limiting mechanism is adhered to the edge of the valve flap.

7. The wing of the bionic ornithopter with the unidirectional film valve type adaptive aerodynamic force as claimed in any one of claims 1 to 5, wherein the wing membrane, the valve clack and the limiting mechanism are made of polyimide.

Technical Field

The invention relates to a technology in the field of bionic aircrafts, in particular to a self-adaptive aerodynamic force adjusting wing of a one-way thin film valve type bionic ornithopter.

Background

The existing ornithopter can realize semi-autonomous flight by carrying a closed-loop control system with environment perception, the flexibility and the maneuverability of the flight are gradually improved, but still faces a plurality of technical problems in the aspect of environmental condition adaptability, including: the aerodynamic force of the wings is difficult to adjust in the flying process, and the fine electric driving mode adjustment can increase energy consumption, reduce the endurance time, the load and the like. The main reason for the above problem is that the existing flapping wing has no high aerodynamic efficiency and adaptive capacity.

Disclosure of Invention

The invention provides a self-adaptive aerodynamic adjusting wing of a bionic flapping wing with a one-way film valve, aiming at the defects that the air valve on the existing wing has a complex structure and a large dead weight, so that the energy consumption is high, the response is slow, and the application to a small flapping wing is difficult to realize.

The invention is realized by the following technical scheme:

the invention comprises the following steps: the wing-shaped film flapping-prevention wing device comprises a wing film restraining mechanism for transmitting driving force to realize wing film flapping, a wing film connected with at least two ends of the wing film restraining mechanism, and a one-way film valve arranged on the wing film.

The winged membrane constraining mechanism comprises a body and at least one winged bone, wherein: the fuselage is connected to one end of the winged bone.

The shape of the wing membrane is designed by imitating a natural bird wing, and can be simplified and adjusted to a certain extent according to the aerodynamic conditions in actual work. The size of the wing membrane is determined according to the size of the wing membrane restraining mechanism.

The wing membrane is provided with one-way membrane valves, and the number, size, shape, layout, opening direction and the like of the one-way membrane valves can be independently designed depending on the aerodynamic conditions in actual work.

The one-way thin film valve comprises a valve clack, a valve hole and a limiting mechanism.

The valve clack of the one-way membrane valve is in a regular geometric shape such as a triangle, a rectangle and the like.

The valve flap is integrally connected with the wing membrane.

And the other boundaries of the valve clack are provided with limiting mechanisms to realize the one-way opening and closing function of the valve. The connection method of the limiting mechanism and the valve clack is to stick the limiting mechanism and the valve clack to the edge of the valve clack.

The wing membrane, the valve clack and the limiting mechanism are made of polyimide and other flexible light materials.

Technical effects

The bionic flapping-wing aircraft wing provided by the invention integrally solves the defects of complex structure, difficulty in implementation, low aerodynamic efficiency and the like in the prior art, and the problems of high energy consumption, large load, slow response and the like of an active control technology.

Drawings

FIGS. 1 and 2 are schematic structural views of a flapping wing of example 1 in an up-swing operating state;

FIGS. 3 and 4 are schematic views showing the structure of the flapping wing of example 1 in the down-swing operating state;

FIG. 5 is a schematic view of a one-way membrane valve structure according to embodiment 1;

FIG. 6 is a view showing the actual effect of the wing mounted on the body of the ornithopter of embodiment 1;

FIG. 7 is a view showing the flapping wing test platform of example 1;

FIG. 8 is a graph showing the actual operation of the one-way diaphragm valve during the up-swing and down-swing of the flapping wing aircraft in accordance with example 1 when the flapping wing aircraft is facing the incoming flow;

FIG. 9 is a diagram showing the actual operation of the one-way diaphragm valve during the upward and downward swings of the wings of the ornithopter in example 1 when the ornithopter forms an included angle with the incoming flow;

FIG. 10 is a graph showing the test results of example 1;

fig. 11 to 14 are schematic structural views of embodiment 2 of the present invention;

FIGS. 11 and 12 are schematic views showing the flapping wing of example 2 in the swing-up mode;

FIGS. 13 and 14 are schematic views showing the configuration of the flapping wing of example 2 in a down-swing mode of operation;

FIG. 15 is a view showing the actual effect of the wing mounted on the body of the ornithopter of embodiment 2;

FIG. 16 is a graph showing the actual operation of the one-way diaphragm valve during the up-swing and down-swing of the flapping wing aircraft in accordance with example 2 when the flapping wing aircraft is facing the incoming flow;

FIG. 17 is a diagram showing the actual operation of the one-way diaphragm valve of example 2 when the flapping wing aircraft is at an angle to the incoming flow, the flapping wing aircraft having wings that swing upward and downward;

FIG. 18 is a graph showing the test results of example 2;

fig. 19 to 22 are schematic structural views of embodiment 3 of the present invention;

FIGS. 19 and 20 are schematic views of the flapping wing aircraft of example 3 in a swing-up mode of operation;

FIGS. 21 and 22 are schematic views showing the structure of the flapping wing of example 3 in the down-swing operating state;

FIG. 23 is a view showing the actual effect of the wing mounted on the body of the ornithopter of embodiment 3;

FIG. 24 is a graph showing the actual operation of the one-way diaphragm valve during the up-swing and down-swing of the flapping wing aircraft in accordance with example 3 when the flapping wing aircraft is facing the incoming flow;

FIG. 25 is a diagram showing the actual operation of the one-way diaphragm valve during the upward and downward swings of the wings of the ornithopter in example 3 when the ornithopter forms an angle with the incoming flow;

FIG. 26 is a graph showing the test results of example 3;

in the figure: 1 fuselage, 2 pterygoid skeletons, 3 pterygoid laminas, 4 one-way membrane valves, 5 valve clacks, 6 valve openings, 7 stop gear.

Detailed Description

Example 1

As shown in fig. 1 to 5, for the mechanical adaptive bionic flapping wing based on the one-way membrane valve with higher lift force and comprehensive flight performance related to this embodiment, the change of feather gap in the natural biological flapping wing process can be simulated, which specifically includes: the flapping wing aircraft comprises a fuselage 1, a wing bone 2, a wing membrane 3 and a one-way membrane valve 4, wherein the wing bone 2, the wing membrane 3 and the one-way membrane valve 4 are collectively called a flapping wing aircraft wing.

As shown in fig. 1 to 5, the wing rib 2 is fixedly connected with the fuselage 1, the upper end of the wing membrane 3 is glued after being folded and is sleeved on the wing rib 2, the tail end of the wing membrane 3 is connected with the fuselage 1, and four one-way thin film valves 4 which are triangular, different in size and different in opening direction are arranged on the wing membrane 3. The shape of the one-way thin film valve 4 is a regular triangle with a side length of 17.32mm, and the layout and the opening direction of the one-way thin film valve are shown in figures 2 and 4.

As shown in fig. 5, the one-way membrane valve 4 includes: valve clack 5, valve opening 6 and stop gear 7, wherein: the restraining end 5a of the valve flap 5 is integrally connected with the wing membrane 3, and the remaining boundaries 5b and 5c are separated from the wing membrane 3; two ends of the limiting mechanism 7 are glued with the wing membrane 3 and pressed on the valve clack 5, so that the valve clack 5 is difficult to turn over towards the direction outside the paper surface in figure 2, and the one-way opening and closing function of the valve is realized.

As shown in fig. 1 and 2, when the flapping wing is in the up-swing working state, the valve flap 5 is turned over downwards under the action of inertia force, the one-way membrane valve 4 is opened, and the contact area between the flapping wing and the air is reduced in the up-swing working state;

as shown in fig. 3 and 4, the flapping wing is in a downward swinging working state, the valve flap 5 is basically turned upwards under the action of inertia force, but the valve flap 5 is difficult to turn upwards because the limiting mechanism 7 is pressed on the valve flap 5, the one-way membrane valve 4 is closed, the contact area between the wing and the air is unchanged in the downward swinging working state and is larger than the contact area between the wing and the air in the upward swinging working state;

as shown in fig. 1 to 4, the one-way membrane valve 4 enables the flapping wing to generate a lift difference during the up-swing and down-swing, which is greater than the wing without the one-way membrane valve; in addition, the one-way membrane valves 4 on the two sides of the ornithopter can generate differences in opening and closing amplitude and opening and closing speed along with the change of the flight state, and the stability of the ornithopter is improved.

In order to better illustrate that the one-way membrane valve can bring the above-mentioned effect, experiments are adopted to verify. As shown in fig. 6, the fuselage 1 is a MetaFly flapping wing fuselage manufactured by the french BionicBird company, the wing ribs 2 are formed by bonding a 3D-printed skeleton 2a and carbon fiber rods 2b, and the wing membrane 3 is made of a polyimide film with a thickness of 0.025 mm. The MetaFly ornithopter is controlled by an external handle, and can realize the flapping frequency of 20Hz at most.

As shown in fig. 7, the flapping wing test platform comprises: wind tunnel (including pipeline, fan controller), three-dimensional force and moment sensor, space steering hinge, data acquisition equipment, be equipped with the notebook computer of measurement and control software, specifically do: the method comprises the steps of installing wings on a ornithopter, installing the ornithopter on a three-dimensional force and moment sensor, adjusting a spatial steering hinge, changing the angle between the ornithopter and the axis of a wind tunnel pipeline (namely the angle between the ornithopter and incoming flow), keeping the incoming flow constant, keeping the ornithopter flapping at a certain specific frequency, and reading the time-varying relation between the three-dimensional force and the moment. Obtaining a flapping frequency f by adopting discrete Fourier transform, and further obtaining that the three-dimensional force and the moment borne by the flapping-wing aircraft under the frequency are respectivelyIn order to eliminate the influence of bottom noise, before the wind tunnel is opened, the three-dimensional force and moment borne by the flapping-wing aircraft under the condition of no wind need to be measured, the average value of the three-dimensional force and moment is measured, and the obtained bottom noise is respectively The three-dimensional force and the moment under the windy condition are subtracted from the corresponding background noises, and the actual three-dimensional force and the actual moment which are respectively borne by the flapping-wing aircraft under the frequency are obtained

The actual three-dimensional force F and moment M received by the ornithopter obtained at this time are both on a coordinate system fixedly connected with the three-dimensional force and moment sensor, such as a coordinate system xO in fig. 9₂y is a scaleThe actual lift and adaptive capacity of the flapping-wing aircraft require the three-dimensional forces F and moments M to be converted to a base coordinate system, such as the coordinate system xO in FIG. 9₁y. Setting a fixed connection coordinate system xO₂y and the base coordinate system xO₁And the rotation matrix between y is R, the actual three-dimensional force and moment borne by the flapping-wing aircraft under the base coordinate system are respectively as follows:

fig. 8 is a diagram showing the actual operation effect of the one-way membrane valve 4 when the flapping wing aircraft of example 1 is facing the incoming flow, and when the flapping wing aircraft swings up and down. In the figure, a green solid line indicates an edge of the valve hole 6, a green dotted line indicates an edge of the valve flap 5, and only a green solid line indicates that the valve hole 6 coincides with the edge of the valve flap 5. As shown in fig. 8a, when the wing is in the up-swing working state, the valve flap 5 is opened, and the one-way thin film valve 4 is opened; as shown in fig. 8b, when the wing is in the down swing working state, the valve flap 5 is blocked by the limiting mechanism 7 and is not opened, and the one-way thin film valve 4 is closed. The opening and closing states of the one-way membrane valves 4 on the two sides of the wing are basically symmetrical due to the fact that the one-way membrane valves are opposite to the incoming flow. In addition, in the flapping process of the flapping wing aircraft, the one-way membrane valve can always work normally, namely the valve clack is opened and closed along with the flapping of the wings, and the failure caused by excessive turnover and the like can be avoided.

Fig. 9 is a diagram showing the actual operation effect of the one-way membrane valve 4 when the flapping wing aircraft of example 1 swings up and down at a certain angle with the incoming flow. In the figure, a green solid line indicates an edge of the valve hole 6, a green dotted line indicates an edge of the valve flap 5, and only a green solid line indicates that the valve hole 6 coincides with the edge of the valve flap 5. As shown in fig. 9a, when the wing is in the up-swing working state, the valve flap 5 is opened, and the one-way thin film valve 4 is opened; as shown in fig. 9b, when the wing is in the down swing working state, the valve flap 5 is blocked by the limiting mechanism 7 and is not opened, and the one-way thin film valve 4 is closed. Because of forming a certain angle with the incoming flow, the opening and closing states of the one-way membrane valves 4 on the two sides of the wing are different and are not symmetrical. In addition, in the flapping process of the flapping wing aircraft, the one-way membrane valve can always work normally, namely the valve clack is opened and closed along with the flapping of the wings, and the failure caused by excessive turnover and the like can be avoided.

The ornithopter in example 1 was placed in an environment with an incoming flow velocity of 2.0m/s for testing, and 4 different attitudes were tested, which were: rotate 10 ° clockwise about the x-axis, 10 ° counterclockwise about the y-axis, 10 ° clockwise about the y-axis, and 30 ° clockwise about the z-axis. The results of the measurements are shown in FIG. 10, where the blue dots indicate that the ornithopter is fitted with a wing containing a one-way membrane valve and the red dots indicate that the ornithopter is fitted with a wing without a one-way membrane valve.

As shown in fig. 10a, the ornithopter rotates clockwise 10 ° around the x-axis, and the wing with the one-way membrane valve generates a larger lifting force Fz and a larger moment Mx rotating counterclockwise around the x-axis, which means that the wing with the one-way membrane valve has better ability to return to the right incoming flow, i.e. stability.

As shown in FIG. 10b, the ornithopter rotates 10 degrees counterclockwise around y, and the wing containing the one-way membrane valve generates a larger lifting force Fz and a smaller moment My rotating counterclockwise around the y-axis, which means that the wing containing the one-way membrane valve can reduce the moment of the ornithopter continuously deflecting counterclockwise around the y-axis, and has better stability.

As shown in fig. 10c, the ornithopter rotates 10 ° clockwise around the y-axis, where the wing with the one-way membrane valve generates a similar lift Fz as the wing without the one-way membrane valve and a similar moment Mx of counter-clockwise rotation around the y-axis, which means that the performance of the two wings in this case is close.

As shown in fig. 10d, the ornithopter rotates clockwise by 10 ° around the z-axis, and the wing with the one-way membrane valve generates a similar lifting force Fz as the wing without the one-way membrane valve, but generates a larger moment Mz of counterclockwise rotation around the z-axis, which means that the wing with the one-way membrane valve can reduce the moment of the continuous counterclockwise deflection around the z-axis of the ornithopter, and even can restore the ornithopter to the right-side-to-side condition, and has better stability.

In summary, it can be shown that the flapping wing of embodiment 1 can generate a larger lift force and improve the stability of the flapping wing machine than the flapping wing without the one-way membrane valve.

Example 2

As shown in fig. 11 to 14, for the mechanical adaptive bionic flapping wing based on the one-way membrane valve with higher lift force and comprehensive flight performance related to this embodiment, the change of feather gap in the natural biological flapping wing process can be simulated, specifically including: the flapping wing aircraft comprises a fuselage 1, a wing bone 2, a wing membrane 3 and a one-way membrane valve 4, wherein the wing bone 2, the wing membrane 3 and the one-way membrane valve 4 are collectively called a flapping wing aircraft wing.

As shown in fig. 11 to 14, the wing ribs 2 are fixedly connected with the fuselage 1, the upper end of the wing membrane 3 is glued after being folded and is sleeved on the wing ribs 2, the tail end of the wing membrane 3 is connected with the fuselage 1, and two one-way thin film valves 4 which are triangular, different in size and different in opening direction are arranged on the wing membrane 3. The shape of the one-way thin film valve 4 is a regular triangle with a side length of 17.32mm, and the layout and the opening direction are shown in fig. 12 and 14.

As shown in fig. 11 and 12, when the wings of the flapping wing aircraft are in the upward swing working state, the valve flap 5 is turned downwards under the action of inertia force, the one-way membrane valve 4 is opened, and the contact area between the wings and the air is reduced in the upward swing working state;

as shown in fig. 13 and 14, the flapping wing is in the downward swing working state, the valve flap 5 is basically turned upwards under the action of inertia force, but the valve flap 5 is difficult to turn upwards because the limiting mechanism 7 is pressed on the valve flap 5, the one-way membrane valve 4 is closed, the contact area between the wing and the air is unchanged in the downward swing working state and is larger than the contact area between the wing and the air in the upward swing working state;

in order to better illustrate that the one-way membrane valve can bring the above-mentioned effect, experiments are adopted to verify. As shown in fig. 15, the fuselage 1 is a MetaFly flapping wing fuselage manufactured by the french BionicBird company, the wing ribs 2 are formed by bonding a 3D-printed skeleton 2a and carbon fiber rods 2b, and the wing membrane 3 is made of a polyimide film with a thickness of 0.025 mm.

Fig. 16 is a diagram showing the actual operation effect of the one-way membrane valve 4 when the flapping wing aircraft of example 2 is facing the incoming flow, and the flapping wing aircraft swings up and down. In the figure, a green solid line indicates an edge of the valve hole 6, a green dotted line indicates an edge of the valve flap 5, and only a green solid line indicates that the valve hole 6 coincides with the edge of the valve flap 5. As shown in fig. 16a, when the wing is in the upward swing working state, the valve flap 5 is opened, and the one-way thin film valve 4 is opened (part of the valve flap is not opened during the upward swing and the downward swing due to the special position, so that the valve flap is not marked); as shown in fig. 16b, when the wing is in the down swing working state, the valve flap 5 is blocked by the limiting mechanism 7 and is not opened, and the one-way thin film valve 4 is closed. The opening and closing states of the one-way membrane valves 4 on the two sides of the wing are basically symmetrical due to the fact that the one-way membrane valves are opposite to the incoming flow. In addition, under various frequencies, the one-way membrane valve can always work normally, namely the valve clack is opened and closed normally, and the failure caused by excessive turnover is avoided.

Fig. 17 is a diagram showing the actual operation effect of the one-way membrane valve 4 when the flapping wing aircraft of example 2 swings up and down at a certain angle with the incoming flow. In the figure, a green solid line indicates an edge of the valve hole 6, a green dotted line indicates an edge of the valve flap 5, and only a green solid line indicates that the valve hole 6 coincides with the edge of the valve flap 5. As shown in fig. 17a, when the wing is in the upward swing working state, the valve flap 5 is opened, and the one-way thin film valve 4 is opened (part of the valve flap is not opened during the upward swing and the downward swing due to the special position, so that the valve flap is not marked); as shown in fig. 17b, when the wing is in the down swing working state, the valve flap 5 is blocked by the limiting mechanism 7 and is not opened, and the one-way thin film valve 4 is closed. Because of forming a certain angle with the incoming flow, the opening and closing states of the one-way membrane valves 4 on the two sides of the wing are different and are not symmetrical;

the ornithopter in the embodiment 2 is placed in an environment with an incoming flow speed of 2.0m/s for testing, and 4 different postures are tested in total, wherein the postures are respectively as follows: rotate 10 ° clockwise about the x-axis, 10 ° counterclockwise about the y-axis, 10 ° clockwise about the y-axis, and 30 ° clockwise about the z-axis. The results of the measurements are shown in FIG. 18, where the blue dots indicate that the ornithopter is fitted with a wing containing a one-way membrane valve and the red dots indicate that the ornithopter is fitted with a wing without a one-way membrane valve.

Similar to example 1, it can be shown that the ornithopter wing of example 2 can generate more lift and improve stability of the ornithopter than the wing without the one-way membrane valve.

Example 3

As shown in fig. 19 to 22, for the mechanical adaptive bionic flapping wing based on the one-way membrane valve with higher lift force and comprehensive flight performance related to this embodiment, the change of feather gap in the natural biological flapping wing process can be simulated, specifically including: the flapping wing aircraft comprises a fuselage 1, a wing bone 2, a wing membrane 3 and a one-way membrane valve 4, wherein the wing bone 2, the wing membrane 3 and the one-way membrane valve 4 are collectively called a flapping wing aircraft wing.

As shown in fig. 19 to 22, the wing ribs 2 are fixedly connected with the fuselage 1, the upper end of the wing membrane 3 is glued after being folded and is sleeved on the wing ribs 2, the tail end of the wing membrane 3 is connected with the fuselage 1, and two one-way thin film valves 4 which are respectively triangular and rectangular in shape, different in size and different in opening direction are arranged on the wing membrane 3. Wherein, the triangular one-way thin film valve is a regular triangle with the side length of 17.32mm, the rectangular one-way thin film valve is 93.26mm and 12.22mm in length and width respectively, and the layout and the opening direction are shown in fig. 20 and 22.

As shown in fig. 19 and 20, when the flapping wing aircraft is in the upward swing working state, the valve flap 5 is turned downwards under the action of inertia force, the one-way membrane valve 4 is opened, and the contact area between the flapping wing and the air is reduced in the upward swing working state;

as shown in fig. 21 and 22, when the flapping wing is in the downward swing working state, the valve flap 5 is forced by inertia force to be turned upwards, but the limiting mechanism 7 is pressed on the valve flap 5, the valve flap 5 is difficult to turn upwards, the one-way membrane valve 4 is closed, the contact area between the flapping wing and the air in the downward swing working state is unchanged and is larger than the contact area between the flapping wing and the air in the upward swing working state;

in order to better illustrate that the one-way membrane valve can bring the above-mentioned effect, experiments are adopted to verify. As shown in fig. 23, the fuselage 1 is a MetaFly flapping wing fuselage manufactured by the french BionicBird company, the wing ribs 2 are formed by bonding a 3D-printed skeleton 2a and carbon fiber rods 2b, and the wing membrane 3 is made of a polyimide film with a thickness of 0.025 mm.

Fig. 24 is a diagram showing the actual operation effect of the one-way membrane valve 4 when the flapping wing aircraft of example 3 is facing the incoming flow, and the flapping wing aircraft swings up and down. In the figure, a green solid line indicates an edge of the valve hole 6, a green dotted line indicates an edge of the valve flap 5, and only a green solid line indicates that the valve hole 6 coincides with the edge of the valve flap 5. As shown in fig. 24a, when the wing is in the up-swing working state, the flap 5 is opened, and the one-way thin film valve 4 is opened (only the edge of the flap 5 is marked because the rectangular one-way thin film valve is deformed greatly); as shown in fig. 24b, when the wing is in the down swing working state, the valve flap 5 is blocked by the limiting mechanism 7 and is not opened, and the one-way thin film valve 4 is closed. The opening and closing states of the one-way membrane valves 4 on the two sides of the wing are basically symmetrical due to the fact that the one-way membrane valves are opposite to the incoming flow. In addition, under various frequencies, the one-way membrane valve can always work normally, namely the valve clack is opened and closed normally, and the failure caused by excessive turnover is avoided.

Fig. 25 is a diagram showing the actual operation effect of the one-way membrane valve 4 when the flapping wing aircraft of example 3 swings up and down at a certain angle with the incoming flow. In the figure, a green solid line indicates an edge of the valve hole 6, a green dotted line indicates an edge of the valve flap 5, and only a green solid line indicates that the valve hole 6 coincides with the edge of the valve flap 5. As shown in fig. 25a, when the wing is in the up-swing working state, the valve flap 5 is opened, and the one-way thin film valve 4 is opened; as shown in fig. 25b, when the wing is in the down swing working state, the valve flap 5 is blocked by the limiting mechanism 7 and is not opened, and the one-way thin film valve 4 is closed. Because of forming a certain angle with the incoming flow, the opening and closing states of the one-way membrane valves 4 on the two sides of the wing are different and are not symmetrical;

the ornithopter in the embodiment 3 is placed in an environment with an incoming flow speed of 2.5m/s for testing, and 4 different postures are tested in total, wherein the postures are respectively as follows: rotate 15 ° clockwise about the x-axis, 10 ° counterclockwise about the y-axis, 10 ° clockwise about the y-axis, and 30 ° clockwise about the z-axis. The results of the measurements are shown in FIG. 26, where the blue dots indicate that the ornithopter is fitted with a wing containing a one-way membrane valve and the red dots indicate that the ornithopter is fitted with a wing without a one-way membrane valve.

Similar to example 1, it can be shown that the ornithopter wing of example 3 can generate more lift and improve stability of the ornithopter than the wing without the one-way membrane valve.

In conclusion, the wing membrane mechanism with the one-way membrane valve is designed to simulate the change of feather gaps in the natural biological flapping wing process, reduce the wing area of the flapping wing machine when flapping without increasing extra load, effectively improve the pneumatic efficiency of the flapping wing machine, overcome the problems of high energy consumption, large load, slow response and the like of the existing active control technology by adopting the self-adaptive adjusting capacity of the mechanical structure, and have the characteristics of simple structure, high reliability, strong environmental adaptability and the like.

The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.