A flapping wing and propeller composite drive device and an aircraft

Abstract

The present invention discloses a flapping wing and propeller composite drive device, which includes a power unit, a flapping wing unit, a propeller unit and a switching unit. The power unit includes a power shaft, the flapping wing unit includes a first transmission shaft, the propeller unit includes a second transmission shaft, and the switching unit includes a third transmission shaft and a switching sleeve. When the switching sleeve slides to the first transmission shaft and the third transmission shaft, the switching sleeve drives the first transmission shaft to rotate by using a first switching mechanism and a second switching mechanism, and then drives the flapping wing to swing by using the first transmission shaft; when the switching sleeve slides to the second transmission shaft and the third transmission shaft, the switching sleeve drives the second transmission shaft to rotate by using the first switching mechanism and the second switching mechanism, and the second transmission shaft drives the blade to rotate; when the switching sleeve slides to cooperate with both the first transmission shaft and the second transmission shaft, both the first transmission shaft and the second transmission shaft rotate. The present invention also provides an aircraft, which includes the above flapping wing and propeller composite drive device.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a flapping-wing propeller composite drive device and an aircraft. Background Art

[0002] A flapping-wing unmanned aerial vehicle is an unmanned aerial vehicle that generates lift and thrust solely through the flapping of wings (airfoils). It features high bionics, high safety, and high stealth. A fixed-wing unmanned aerial vehicle uses a propeller to generate thrust and the airfoil to generate lift, and has advantages such as high flight speed, strong payload capacity, and long endurance. As a combination of flapping-wing and fixed-wing, a flapping-wing fixed-wing composite drive unmanned aerial vehicle has the functions of flapping and deforming its flapping wings, with a high degree of bionics. At the same time, it also has the advantages of long flight distance, high speed, and high load of a fixed-wing, compensating for the problems of short endurance, low speed, and small load of a flapping-wing. Through the combination of the two, the flight ability of the flapping-wing unmanned aerial vehicle can be effectively improved.

[0003] Chinese Patent with Publication No. CN106585982A discloses a compound micro air vehicle driven by flapping wings, including: a fixed-wing lift surface, a flapping-wing drive system, a V-shaped tail, and a connecting rod; the fixed-wing lift surface includes: an airfoil, a left aileron control surface, and a right aileron control surface, mainly used to provide the lift and roll control required for the flight of the aircraft; the flapping-wing drive system includes: a left flapping wing, a right flapping wing, a mechanism mounting frame, and a flapping mechanism, mainly used to provide the thrust required for the flight of the aircraft; the V-shaped tail includes: a left tail, a right tail, a left tail rudder, and a right tail rudder, used to provide the stability, pitch, and yaw control during the flight of the aircraft. This technology superimposes a set of fixed-wing lift systems on a flapping-wing unmanned aerial vehicle, thus basically achieving the advantageous combination of flapping wings and fixed wings in terms of structure, making it have stronger load capacity and better roll stability.

[0004] In the existing flapping-wing composite unmanned aerial vehicles, it is only a simple superposition of the airfoil structures. For example, in the above-mentioned patent, only a fixed-wing airfoil is simply superimposed on the basis of the flapping wings. Although it can increase the lift to a certain extent, it also increases the overall resistance of the aircraft, reduces the thrust, and decreases the load capacity and flight performance of the aircraft.

[0005] Therefore, how to use the same power source to achieve the coupling of the flapping-wing drive structure and the propeller drive structure has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] The object of the present invention is to provide a flapping-wing propeller composite drive device and an aircraft to solve the problems existing in the above-mentioned prior art, achieve the composite drive and switching of the flapping wings and the propeller, and improve the flight performance of the aircraft.

[0007] To achieve the above object, the present invention provides the following solution: The present invention provides a flapping wing and propeller composite drive device, comprising:

[0008] A power unit, the power unit including a power shaft;

[0009] A flapping wing unit, the flapping wing unit including a first transmission shaft rotatably sleeved on the power shaft, the first transmission shaft being capable of being connected to a flapping wing and capable of driving the flapping wing to swing;

[0010] A propeller unit, the propeller unit including a second transmission shaft rotatably sleeved on the power shaft, the second transmission shaft being capable of being connected to a propeller blade;

[0011] A switching unit, the switching unit including a third transmission shaft and a switching sleeve, the third transmission shaft being sleeved on the power shaft, the power shaft being capable of driving the third transmission shaft to rotate, the first transmission shaft and the second transmission shaft being respectively located on both sides of the third transmission shaft, the switching sleeve being slidably sleeved outside the third transmission shaft, the sliding direction of the switching sleeve relative to the third transmission shaft being parallel to the axial direction of the power shaft; a first switching mechanism is provided on the inner wall of the switching sleeve, second switching mechanisms adapted to the first switching mechanism are provided on the outer walls of the first transmission shaft and the second transmission shaft, and a third switching mechanism adapted to the first switching mechanism is provided on the outer wall of the third transmission shaft, the third transmission shaft driving the switching sleeve to rotate by means of the first switching mechanism and the third switching mechanism; the axial length of the switching sleeve is longer than the axial length of the third transmission shaft, and the switching sleeve is capable of driving the first transmission shaft and / or the second transmission shaft to rotate by means of the first switching mechanism and the second switching mechanism.

[0012] Preferably, the first switching mechanism is an internal spline, and the second switching mechanism and the third switching mechanism are both external splines.

[0013] Preferably, both axial ends of the first switching mechanism are chamfered, and one end of the second switching mechanism close to the third switching mechanism is chamfered.

[0014] Preferably, the axial length of the first transmission shaft is equal to the axial length of the second transmission shaft, the axial length of the switching sleeve is greater than the axial length of the first transmission shaft and not greater than the sum of the axial lengths of the first transmission shaft and the third transmission shaft.

[0015] Preferably, the switching unit further includes a fork and a pulling link. A clamping groove adapted to the fork is provided on the outer wall of the switching bushing. The fork is clamped and connected to the switching bushing. The pulling link is connected to the fork, and the axis of the pulling link is parallel to the axis of the power shaft.

[0016] Preferably, the flapping wing unit further includes a first-stage gear, a second-stage gear, a connecting rod, a rocker, and a mounting base plate. The first-stage gear is connected to the first transmission shaft. The number of the second-stage gears is two. The first-stage gear meshes with one of the second-stage gears, and the two second-stage gears mesh with each other. The connecting rod and the rocker correspond to the second-stage gears one by one. One end of the connecting rod is hinged to the second-stage gear, and the other end of the connecting rod is hinged to one end of the rocker. The other end of the rocker can be connected to the flapping wing, and the rocker is hinged to the mounting base plate. The hinge point of the rocker and the mounting base plate is located between the connecting rod and the flapping wing. The second-stage gear is rotatably provided on the mounting base plate.

[0017] Preferably, the propeller unit further includes a propeller blade. The propeller blade is connected to the second transmission shaft. The power shaft rotatably passes through the propeller blade and is fixed by a circlip.

[0018] Preferably, the switching unit further includes a splined shaft. The splined shaft is sleeved outside the power shaft. A setscrew is provided between the splined shaft and the power shaft. The third transmission shaft is sleeved outside the splined shaft and is key-connected to it.

[0019] Preferably, the power unit further includes a motor and a motor base. The power shaft is connected to the output end of the motor. The motor is fixed on the motor base. Bearings are provided between the first transmission shaft and the power shaft and between the second transmission shaft and the power shaft.

[0020] The present invention also provides an aircraft, including the above-mentioned flapping wing and propeller composite driving device.

[0021] The present invention has achieved the following technical effects compared with the prior art:

[0022] In the flapping wing and propeller composite drive device of the present invention, during operation, the power shaft can drive the third transmission shaft to rotate. The first transmission shaft and the second transmission shaft are rotatably sleeved on the power shaft. Both the first transmission shaft and the second transmission shaft can rotate relative to the power shaft. The switching sleeve is sleeved on the third transmission shaft. The third switching mechanism and the first switching mechanism cooperate to enable the third transmission shaft to drive the switching sleeve to rotate. The switching sleeve can reciprocally slide along the axial direction of the power shaft, and the axial length of the switching sleeve is relatively long. When the switching sleeve slides to the positions of the first transmission shaft and the third transmission shaft, the switching sleeve drives the first transmission shaft to rotate by using the first switching mechanism and the second switching mechanism, and then drives the flapping wing to swing by using the first transmission shaft, enabling the aircraft to achieve the flapping wing flight mode; when the switching sleeve slides to the positions of the second transmission shaft and the third transmission shaft, the switching sleeve drives the second transmission shaft to rotate by using the first switching mechanism and the second switching mechanism, and the second transmission shaft drives the propeller blade to rotate, enabling the aircraft to achieve the fixed wing flight mode; when the switching sleeve slides to cooperate with both the first transmission shaft and the second transmission shaft, both the first transmission shaft and the second transmission shaft rotate under the drive of the switching sleeve, and the aircraft realizes the composite flight mode.

[0023] The present invention also provides an aircraft, including the above-mentioned flapping wing and propeller composite drive device. While meeting the composite flight, the aircraft can realize the switching between the flapping wing and the fixed wing flight modes, improving the flight performance. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is a schematic structural diagram of the flapping wing and propeller composite drive device of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the flapping wing and propeller composite drive device of the present invention;

[0027] Figure 3 It is a partial structural diagram of the flapping wing unit of the flapping wing and propeller composite drive device of the present invention.

[0028] Among them, 100 is the power unit, 200 is the flapping wing unit; 300 is the propeller unit, and 400 is the switching unit;

[0029] 1 is the power shaft, 101 is the positioning groove, 2 is the first transmission shaft, 3 is the second transmission shaft, 4 is the blade, 5 is the third transmission shaft, 6 is the switching bushing, 601 is the card slot, 7 is the first switching mechanism, 8 is the second switching mechanism, 9 is the third switching mechanism, 10 is the fork, 11 is the pulling link, 12 is the first-stage gear, 13 is the second-stage gear, 14 is the link, 15 is the rocker, 16 is the mounting base plate, 17 is the fastening bolt, 18 is the snap ring, 19 is the splined shaft, 1901 is the threaded hole, 20 is the motor, 21 is the motor base, 22 is the bearing. Detailed implementation manner

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] The purpose of the present invention is to provide a flapping wing and propeller composite drive device and an aircraft to solve the problems existing in the above-mentioned prior art, realize the composite drive and switching of the flapping wing and the propeller, and improve the flight performance of the aircraft.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0033] Please refer to Figures 1 - 3 , wherein, Figure 1 is a schematic structural diagram of the flapping wing and propeller composite drive device of the present invention, Figure 2 is a schematic structural diagram of the flapping wing and propeller composite drive device of the present invention, Figure 3 is a partial structural diagram of the flapping wing unit of the flapping wing and propeller composite drive device of the present invention.

[0034] The present invention provides a flapping wing and propeller composite drive device, which includes a power unit 100, a flapping wing unit 200, a propeller unit 300 and a switching unit 400. Among them, the power unit 100 includes a power shaft 1; the flapping wing unit 200 includes a first transmission shaft 2, the first transmission shaft 2 is rotatably sleeved on the power shaft 1, the first transmission shaft 2 can be connected to the flapping wing and can drive the flapping wing to swing; the propeller unit 300 includes a second transmission shaft 3, the second transmission shaft 3 is rotatably sleeved on the power shaft 1, and the second transmission shaft 3 can be connected to the blade 4; the switching unit 400 includes a third transmission shaft 5 and a switching sleeve 6, the third transmission shaft 5 is sleeved on the power shaft 1, the power shaft 1 can drive the third transmission shaft 5 to rotate, the first transmission shaft 2 and the second transmission shaft 3 are respectively located on both sides of the third transmission shaft 5, the switching sleeve 6 is slidably sleeved outside the third transmission shaft 5, and the sliding direction of the switching sleeve 6 relative to the third transmission shaft 5 is parallel to the axis direction of the power shaft 1; a first switching mechanism 7 is arranged on the inner wall of the switching sleeve 6, and second switching mechanisms 8 adapted to the first switching mechanism 7 are arranged on the outer walls of the first transmission shaft 2 and the second transmission shaft 3, and a third switching mechanism 9 adapted to the first switching mechanism 7 is arranged on the outer wall of the third transmission shaft 5. The third transmission shaft 5 drives the switching sleeve 6 to rotate by means of the first switching mechanism 7 and the third switching mechanism 9; the axial length of the switching sleeve 6 is longer than the axial length of the third transmission shaft 5, and the switching sleeve 6 can drive the first transmission shaft 2 and / or the second transmission shaft 3 to rotate by means of the first switching mechanism 7 and the second switching mechanism 8.

[0035] For the flapping wing and propeller composite drive device of the present invention, during operation, the power shaft 1 can drive the third transmission shaft 5 to rotate. The first transmission shaft 2 and the second transmission shaft 3 are rotatably sleeved on the power shaft 1. Both the first transmission shaft 2 and the second transmission shaft 3 can rotate relative to the power shaft 1. The switching sleeve 6 is sleeved on the third transmission shaft 5. The third switching mechanism 9 and the first switching mechanism 7 cooperate to enable the third transmission shaft 5 to drive the switching sleeve 6 to rotate. The switching sleeve 6 can reciprocally slide along the axis direction of the power shaft 1, and the axial length of the switching sleeve 6 is relatively long. When the switching sleeve 6 slides to the positions of the first transmission shaft 2 and the third transmission shaft 5, the switching sleeve 6 drives the first transmission shaft 2 to rotate by using the first switching mechanism 7 and the second switching mechanism 8, and then drives the flapping wing to swing by using the first transmission shaft 2, enabling the aircraft to achieve the flapping wing flight mode. When the switching sleeve 6 slides to the positions of the second transmission shaft 3 and the third transmission shaft 5, the switching sleeve 6 drives the second transmission shaft 3 to rotate by using the first switching mechanism 7 and the second switching mechanism 8, and the second transmission shaft 3 drives the propeller blade 4 to rotate, enabling the aircraft to achieve the fixed wing flight mode. When the switching sleeve 6 slides to be cooperated with both the first transmission shaft 2 and the second transmission shaft 3 simultaneously, driven by the switching sleeve 6, both the first transmission shaft 2 and the second transmission shaft 3 rotate, and the propeller blade 4 rotates while the flapping wing swings, enabling the aircraft to achieve the composite flight mode. The flapping wing and propeller composite drive device of the present invention, based on the composite drive mode, uses the switching unit 400 to achieve the switching between the flapping wing drive and the fixed wing drive, which helps to improve the flight performance of the aircraft.

[0036] In this specific embodiment, the first switching mechanism 7 is an internal spline, and both the second switching mechanism 8 and the third switching mechanism 9 are external splines. On the premise of not affecting the reciprocal sliding of the switching sleeve 6, power transmission is achieved by using spline connection to improve the reliability of power transmission. In other specific embodiments of the present invention, the first switching mechanism 7, the second switching mechanism 8, and the third switching mechanism 9 can also achieve power transmission by using other types of key connections or other means such as electromagnets. The specific structures of the first switching mechanism 7, the second switching mechanism 8, and the third switching mechanism 9 can be set according to the specific working conditions to improve the flexible adaptability of the drive device.

[0037] In order to reduce the sliding friction between the switching sleeve 6 and the first transmission shaft 2 and the second transmission shaft 3, both axial ends of the first switching mechanism 7 are chamfered, and one end of the second switching mechanism 8 close to the third switching mechanism 9 is chamfered, improving the smoothness of the reciprocal sliding of the switching sleeve 6, reducing the friction, and extending the service life of the device.

[0038] Specifically, the axial length of the first transmission shaft 2 is equal to that of the second transmission shaft 3. The axial length of the switching sleeve 6 is greater than that of the first transmission shaft 2 and not greater than the sum of the axial lengths of the first transmission shaft 2 and the third transmission shaft 5. When the switching sleeve 6 slides to a position where its two end faces are between the end faces of the first transmission shaft 2 and the third transmission shaft 5, or when the two end faces of the switching sleeve 6 are flush with the end faces of the first transmission shaft 2 and the third transmission shaft 5, the third transmission shaft 5 drives the switching sleeve 6 to rotate, the switching sleeve 6 drives the first transmission shaft 2 to rotate, the switching sleeve 6 does not contact the second transmission shaft 3, and the second transmission shaft 3 and the power shaft 1 move relative to each other. Correspondingly, when the switching sleeve 6 slides to a position where its two end faces are between the end faces of the second transmission shaft 3 and the third transmission shaft 5, or when the two end faces of the switching sleeve 6 are flush with the end faces of the second transmission shaft 3 and the third transmission shaft 5, the switching sleeve 6 drives the second transmission shaft 3 to rotate, the first transmission shaft 2 does not contact the switching sleeve 6, and the first transmission shaft 2 does not rotate. When the two ends of the switching sleeve 6 are in contact with and cooperate with the first transmission shaft 2 and the second transmission shaft 3 respectively, the switching sleeve 6 can drive the first transmission shaft 2 and the second transmission shaft 3 to rotate simultaneously. In other specific embodiments of the present invention, the axial length of the switching sleeve 6 can also be set according to specific working conditions to meet the requirements of drive mode switching and avoid interference with other components.

[0039] In addition, the switching unit 400 further includes a fork 10 and a pulling link 11. A slot 601 adapted to the fork 10 is provided on the outer wall of the switching sleeve 6. The fork 10 is connected to the switching sleeve 6 in a snap-fit manner. The pulling link 11 is connected to the fork 10. The axis of the pulling link 11 is parallel to the axis of the power shaft 1. The reciprocating sliding of the switching sleeve 6 can be driven by the fork 10 and the pulling link 11. In practical applications, the pulling link 11 can be connected to a driving structure to meet the automation requirements of the device.

[0040] More specifically, the flapping wing unit 200 further includes a first-stage gear 12, a second-stage gear 13, a connecting rod 14, a rocker 15, and a mounting base plate 16. The first-stage gear 12 is connected to the first transmission shaft 2. The number of the second-stage gears 13 is two. The first-stage gear 12 meshes with one of the second-stage gears 13. The two second-stage gears 13 mesh with each other. The connecting rod 14 and the rocker 15 correspond to the second-stage gear 13 one by one. One end of the connecting rod 14 is hinged to the second-stage gear 13, and the hinge point between them does not coincide with the rotation axis of the second-stage gear 13. The other end of the connecting rod 14 is hinged to one end of the rocker 15. The other end of the rocker 15 can be connected to the flapping wing, and the rocker 15 is hinged to the mounting base plate 16. The hinge point between the rocker 15 and the mounting base plate 16 is located between the connecting rod 14 and the flapping wing. The second-stage gear 13 is rotatably arranged on the mounting base plate 16. The first transmission shaft 2 is connected to the first-stage gear 12. The first transmission shaft 2 drives the first-stage gear 12 to rotate. The first-stage gear 12 drives one of the second-stage gears 13 to rotate. The two second-stage gears 13 mesh with each other. The second-stage gear 13 meshing with the first-stage gear 12 drives the other second-stage gear 13 to rotate. The second-stage gear 13 rotates, and then drives the rocker 15 to swing by means of the connecting rod 14. The rocker 15 is connected to the flapping wing, thereby realizing the swing of the flapping wing. By using the first-stage gear 12 to drive the second-stage gear 13 to rotate, while realizing power transmission, reasonably setting the parameters of the first-stage gear 12 and the second-stage gear 13 can also play a role in decelerating.

[0041] Furthermore, the propeller unit 300 further includes a propeller blade 4. The propeller blade 4 is connected to the second transmission shaft 3. In actual operation, the propeller blade 4 can be connected to the second transmission shaft 3 by means of a fastening bolt 17. The power shaft 1 rotatably passes through the propeller blade 4 and is fixed by means of a snap ring 18. The disassembly and assembly are convenient, and the overall structural stability of the device can be improved.

[0042] In this specific embodiment, the switching unit 400 further includes a single-key shaft 19. The single-key shaft 19 is sleeved outside the power shaft 1. A set screw is arranged between the single-key shaft 19 and the power shaft 1. The single-key shaft 19 is provided with a threaded hole 1901. A positioning plane or a positioning groove 101 is arranged on the power shaft 1 corresponding to the threaded hole 1901, which is convenient for the set screw to tighten the power shaft 1 to realize the connection between the single-key shaft 19 and the power shaft 1. The third transmission shaft 5 is sleeved outside the single-key shaft 19 and is key-connected to it. The power shaft 1 drives the single-key shaft 19 to rotate, and then drives the third transmission shaft 5 to rotate, realizing the smooth transmission of power.

[0043] It should also be noted that the power unit 100 further includes a motor 20 and a motor base 21. The power shaft 1 is connected to the output end of the motor 20. The motor 20 is fixed on the motor base 21. The mounting base plate 16 is connected to the motor base 21 to improve the stability of the device. The type of the motor 20 can be selected according to the actual working conditions and driving requirements to improve the flexible adaptability of the device. In addition, bearings 22 are provided between the first transmission shaft 2 and the power shaft 1 and between the second transmission shaft 3 and the power shaft 1. When the first transmission shaft 2 and the second transmission shaft 3 do not rotate, the sliding friction between the first transmission shaft 2 and the second transmission shaft 3 and the power shaft 1 is reduced, the working reliability of the device is improved, and the service life of the device is prolonged.

[0044] Furthermore, the present invention also provides an aircraft, which includes the above-mentioned flapping propeller composite driving device. While meeting the composite flight, the switching unit 400 is used to switch the aircraft between the flapping wing and fixed wing flight modes to improve the flight performance.

[0045] In the present invention, specific examples are used to elaborate the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A flapping wing and propeller composite drive device, characterized in that Comprising: A power unit, the power unit including a power shaft; A flapping wing unit, the flapping wing unit including a first transmission shaft, the first transmission shaft being rotatably sleeved on the power shaft, the first transmission shaft being capable of being connected to a flapping wing and capable of driving the flapping wing to swing; A propeller unit, the propeller unit including a second transmission shaft, the second transmission shaft being rotatably sleeved on the power shaft, the second transmission shaft being capable of being connected to a propeller blade; A switching unit, the switching unit including a third transmission shaft and a switching sleeve, the third transmission shaft being sleeved on the power shaft, the power shaft being capable of driving the third transmission shaft to rotate, the first transmission shaft and the second transmission shaft being respectively located on both sides of the third transmission shaft, the switching sleeve being slidably sleeved outside the third transmission shaft, the sliding direction of the switching sleeve relative to the third transmission shaft being parallel to the axis direction of the power shaft; a first switching mechanism is provided on the inner wall of the switching sleeve, second switching mechanisms adapted to the first switching mechanism are provided on the outer walls of the first transmission shaft and the second transmission shaft, and a third switching mechanism adapted to the first switching mechanism is provided on the outer wall of the third transmission shaft, the third transmission shaft driving the switching sleeve to rotate by means of the first switching mechanism and the third switching mechanism; the axial length of the switching sleeve is longer than the axial length of the third transmission shaft, and the switching sleeve is capable of driving the first transmission shaft and / or the second transmission shaft to rotate by means of the first switching mechanism and the second switching mechanism.

2. The flapping wing and propeller composite drive device according to claim 1, wherein: The first switching mechanism is an internal spline, and the second switching mechanism and the third switching mechanism are both external splines.

3. The flapping wing and propeller composite drive device according to claim 2, characterized in that: Both axial ends of the first switching mechanism are chamfered, and one end of the second switching mechanism close to the third switching mechanism is chamfered.

4. The flapping wing and propeller composite drive device according to claim 1, characterized in that: The axial length of the first transmission shaft is equal to the axial length of the second transmission shaft, the axial length of the switching sleeve is greater than the axial length of the first transmission shaft and not greater than the sum of the axial lengths of the first transmission shaft and the third transmission shaft.

5. The flapping wing and propeller composite drive device according to claim 1, characterized in that: The switching unit further includes a fork and a pulling link, a slot adapted to the fork is provided on the outer wall of the switching sleeve, the fork is snap-connected to the switching sleeve, the pulling link is connected to the fork, and the axis of the pulling link is parallel to the axis of the power shaft.

6. The flapping wing and propeller compound drive device according to claim 1, characterized in that: The flapping wing unit further includes a first-stage gear, a second-stage gear, a connecting rod, a rocker and a mounting base plate, the first-stage gear is connected to the first transmission shaft, the number of the second-stage gears is two, the first-stage gear meshes with one of the second-stage gears, the two second-stage gears mesh with each other, the connecting rod and the rocker correspond to the second-stage gears one by one, one end of the connecting rod is hinged to the second-stage gear, the other end of the connecting rod is hinged to one end of the rocker, the other end of the rocker is capable of being connected to the flapping wing, and the rocker is hinged to the mounting base plate, and the hinge point of the rocker and the mounting base plate is located between the connecting rod and the flapping wing, and the second-stage gear is rotatably provided on the mounting base plate.

7. The flapping wing and propeller composite drive device according to claim 1, characterized in that: The propeller unit further includes a propeller blade, the propeller blade is connected to the second transmission shaft, and the power shaft rotatably passes through the propeller blade and is fixed by a circlip.

8. The flapping wing and propeller composite drive device according to claim 1, characterized in that: The switching unit further includes a single key shaft, the single key shaft is sleeved outside the power shaft, a setscrew is arranged between the single key shaft and the power shaft, and the third transmission shaft is sleeved outside the single key shaft and the two are key-connected.

9. The flapping wing and propeller composite drive device according to any one of claims 1-8, characterized in that: The power unit further includes a motor and a motor base, the power shaft is connected to the output end of the motor, and the motor is fixed on the motor base; bearings are arranged between the first transmission shaft and the power shaft and between the second transmission shaft and the power shaft.

10. An aircraft, characterized in that: Comprising the flapping propeller composite drive device according to any one of claims 1-9.

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