Variable-inclination linear reciprocating motion flapping wing device with airflow self-adaption type rotatable blades and flapping method

The invention discloses an variable-inclination linear reciprocating motion flapping wing device with airflow self-adaption type rotatable blades and a flapping method. The variable-inclination linear reciprocating motion flapping wing device with the airflow self-adaption type rotatable blades comprises a flapping wing, a sliding way and a connection piece. The flapping wing is connected to the connection piece and can relatively rotate. The connection piece is connected to the sliding way in a sliding manner. The sliding way is arranged on an aircraft. The flapping wing comprises a flapping wing frame and rotatable blades installed in the flapping wing. Torsional springs are further arranged in the flapping wing frame and used for resetting of the blades. Compared with the prior art, the variable-inclination linear reciprocating motion flapping wing device with the airflow self-adaption type rotatable blades has the features that resistance force of a reset travel is small, the thrust of a work travel is la