A flapping-wing aircraft

Abstract

The present invention discloses a flapping-wing aircraft, comprising: a fuselage, wings, a power source, a transmission mechanism, and a driving mechanism; the wings include wing bodies symmetrically arranged with respect to the center line of the fuselage and wing mounting seats, the driving mechanism includes a spatial crank-slider mechanism and a planar crank-slider mechanism, and the spatial crank-slider mechanism includes crank-slider assemblies symmetrically arranged with respect to the center line of the fuselage; each crank-slider assembly comprises four components, namely a crank, a connecting rod, a rocker, and the fuselage that are necessary for forming a four-bar linkage. One end of the crank is connected to the transmission mechanism, the other end of the crank is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the wing; the planar crank-slider mechanism is responsible for the torsional movement of the wing. This combined driving mechanism reduces the number of power sources, makes the overall weight of the aircraft lighter, and at the same time increases the degree of freedom of movement of the wing. The trajectory of the wing tip is in a spatial figure-eight shape, which can better mimic the movement of birds, and overall makes the movement of the flapping-wing aircraft smoother.

Description

Technical Field

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

[0002] Micro-aircraft are classified into fixed-wing aircraft, rotary-wing aircraft, and bionic flapping-wing aircraft according to different motion mechanisms. At a micro scale, flapping-wing aircraft have better maneuverability and energy-saving performance compared to fixed-wing aircraft and rotary-wing aircraft. As a key driving component of flapping-wing aircraft, the flapping mechanism is often designed by imitating the flapping process of bird and insect wings. Moreover, due to the spatial figure-eight motion of flapping-wing aircraft being closer to the motion trajectory of insect wings, it has a better aerodynamic lift effect and has developed rapidly in recent decades.

[0003] However, the current flapping-wing aircraft have the following problems: Most flapping-wing aircraft have a planar figure-eight trajectory (for example, the patent number is CN102826222A). There are also a small number of flapping-wing aircraft that can achieve a spatial figure-eight flapping trajectory, but often only have a single degree of freedom of up-and-down flapping (for example, the patent numbers are CN108639337A, CN113682472A). They cannot fully utilize the advantages of micro flapping-wing aircraft. At the same time, the cross-sectional diameter of the fuselage is relatively large, which is not conducive to the miniaturization of flapping-wing aircraft. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a flapping-wing aircraft.

[0005] An embodiment of the present application provides a flapping-wing aircraft, including a fuselage, wings, a transmission mechanism provided on the fuselage, a power source for providing power to the transmission mechanism, and a driving mechanism for driving the wings to move. The power source is installed on the fuselage. The wings include a wing body symmetrically arranged with respect to the central axis of the fuselage and a wing mounting seat. The wing body is hinged to the wing mounting seat, and the wing mounting seat is rotatably connected to the fuselage;

[0006] Wherein, the driving mechanism includes:

[0007] A spatial crank-slider mechanism, which includes crank-slider assemblies symmetrically arranged with respect to the central axis of the fuselage; wherein, each crank-slider assembly includes a crank and a connecting rod. One end of the crank is connected to the transmission mechanism, the other end of the crank is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the wing body to drive the wing body to flap;

[0008] A planar crank and connecting rod mechanism, which includes a torsion connecting rod and a torsion rocker. One end of the torsion connecting rod is connected to the transmission mechanism, the other end of the torsion connecting rod is connected to the torsion rocker, and the other end of the torsion rocker is connected to the wing mounting seat to drive the wing body to twist.

[0009] In one embodiment, the transmission mechanism includes:

[0010] A gear set, which is mounted on the body and driven by the power source;

[0011] A second rotating shaft, which is rotatably connected to the body and connected to the gear set to achieve synchronous rotation. Wherein, both ends of the second rotating shaft are respectively connected to the cranks in the two crank and connecting rod assemblies, and one end of the torsion connecting rod is in transmission connection with the second rotating shaft.

[0012] In one embodiment, the gear set includes:

[0013] A first-stage gear set, which includes a first driving gear and a first driven gear. The first driving gear is mounted on the output end of the power source, and the first driven gear is rotatably arranged on one side of the body through a first rotating shaft and meshes with the first driving gear;

[0014] A second-stage gear set, which includes a second driving gear and a second driven gear. The second driving gear is mounted on the first rotating shaft and is located on the other side of the body. The second driven gear is rotatably arranged on the second rotating shaft and is on the same side as the second driving gear, and the second driven gear meshes with the second driving gear.

[0015] In one embodiment, the transmission mechanism further includes:

[0016] A driving pulley, which is rotatably arranged on the second rotating shaft and is on the same side as the first driven gear;

[0017] A driven pulley, which is rotatably arranged on the body, and the torsion connecting rod is mounted at a position deviating from the center of the pulley on the driven pulley;

[0018] A synchronous belt, which is connected between the driving pulley and the driven pulley.

[0019] In one embodiment, a connecting seat extends outward from the surface of the wing mounting seat facing away from the power source. A connecting column is provided on the connecting seat, and the end of the torsion rocker away from the torsion connecting rod is sleeved on the connecting column.

[0020] In one embodiment, the connecting rod includes a rod body, an upper ball head bearing and a lower ball head bearing. The two ends of the rod body are detachably connected to the upper ball head bearing and the lower ball head bearing respectively. The other end of the upper ball head bearing is connected to the wing body, and the other end of the lower ball head bearing is connected to the crank. The installation angles of the lower ball head bearing and the lower ball head bearing are staggered by 90°.

[0021] In one embodiment, a hinge position for connecting to the fuselage is provided in the middle of the wing mounting seat, and mounting positions for hinging with the ends of the wing body are provided on both sides of the wing mounting seat.

[0022] In one embodiment, the flapping-wing aircraft further includes a tail wing assembly mounted at the rear of the fuselage. The tail wing assembly includes:

[0023] A roll adjustment servo, which is provided at the rear of the fuselage;

[0024] A tail wing, which is supported by a tail wing bracket, and the tail wing bracket is connected to the roll adjustment servo to swing left and right under the drive of the roll adjustment servo;

[0025] A pitch adjustment servo, which is mounted on the fuselage and is used to drive the tail wing to swing up and down.

[0026] In one embodiment, the tail wing assembly further includes:

[0027] A crank connecting rod unit, one end of which is connected to the pitch adjustment servo;

[0028] A fixing frame, which is movably connected to the tail end of the fuselage and is connected to the other end of the crank connecting rod unit;

[0029] Wherein, the roll adjustment servo is mounted on the fixing frame. When the pitch adjustment servo drives the crank connecting rod unit to rotate, the tail wing is driven to swing up and down.

[0030] Compared with the prior art, the above technical solution provided by the embodiments of the present application has the following beneficial effects:

[0031] The power source is used to drive the transmission mechanism from one side, and the power is transmitted to the wing body through the crank connecting rod assembly. In addition, the power is transmitted to the wing mounting seat by using a planar crank connecting rod mechanism, and the wing body is driven to rotate on the wing mounting seat, so that the wing can perform flapping and twisting actions simultaneously. Compared with the flapping-wing aircraft driven from both sides, the transmission mechanism can be made simpler and lighter in weight, so that the flapping-wing aircraft can move more smoothly and flexibly along a spatial "8"-shaped trajectory, and the cross-section of the fuselage is smaller, which is beneficial to the miniaturization of the flapping-wing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Shows a schematic diagram of the overall structure of an ornithopter from a top view according to an embodiment of the present disclosure;

[0033] Figure 2 Shows a schematic diagram of the overall structure of an ornithopter from another angle according to an embodiment of the present disclosure;

[0034] Figure 3 Shows a schematic diagram of the overall structure of an ornithopter from yet another angle according to an embodiment of the present disclosure;

[0035] Figure 4 Shows a schematic diagram of the structure of the transmission mechanism of an ornithopter according to an embodiment of the present disclosure;

[0036] Figure 5 Shows a schematic diagram of the structure of the transmission gear of an ornithopter according to an embodiment of the present disclosure;

[0037] Figure 6 Shows a schematic diagram of the structure of the planar crank - connecting rod mechanism of an ornithopter according to an embodiment of the present disclosure;

[0038] Figure 7 Shows a schematic diagram of the structure of the wing mounting seat of an ornithopter according to an embodiment of the present disclosure;

[0039] Figure 8 Shows a schematic diagram of the structure of the wing of an ornithopter according to an embodiment of the present disclosure;

[0040] Figure 9 Shows a schematic diagram of the structure of the wing body of an ornithopter according to an embodiment of the present disclosure;

[0041] Figure 10 Shows a schematic diagram of the structure of the connecting rod of an ornithopter according to an embodiment of the present disclosure;

[0042] Figure 11 Shows a schematic diagram of the structure of the power source of an ornithopter according to an embodiment of the present disclosure;

[0043] Figure 12 Shows a schematic diagram of the overall structure of an ornithopter according to another embodiment of the present disclosure;

[0044] Figure 13 Shows a schematic diagram of the structure of the tail wing assembly of an ornithopter according to an embodiment of the present disclosure;

[0045] Figure 14 Shows another schematic diagram of the structure of the tail wing assembly according to an embodiment of the present disclosure.

[0046] Reference numerals in the figure:

[0047] 10. Body;

[0048] 20. Power source; 21. Driving motor; 22. Mounting seat; 23. Fixing hole;

[0049] 30. Transmission mechanism; 31. Gear set; 311. First driven gear; 312. Second driving gear; 313. Second driven gear; 314. First driving gear; 315. First rotating shaft; 316. Belt pulley; 317. Eccentric wheel; 318. Timing belt; 32. Second rotating shaft;

[0050] 40. Crank - connecting rod assembly; 41. Crank; 42. Connecting rod; 421. Rod body; 422. Upper connecting head; 423. Lower connecting head;

[0051] 50. Wing; 51. Wing mounting seat; 52. Wing body; 521. Connecting rod; 522. Extension bar; 53. Connecting seat; 54. Connecting column; 55. Hinge position; 56. Mounting position;

[0052] 60. Planar crank - connecting rod mechanism; 61. Torsion connecting rod; 62. Torsion rocker;

[0053] 70. Tail assembly; 71. Roll - adjustment servo; 72. Tail support; 73. Tail; 74. Pitch - adjustment servo; 75. Crank - connecting rod unit; 751. First connecting rod; 752. Second connecting rod; 753. Mounting hole; 76. Fixing bracket. Detailed implementation manners

[0054] In order to have a clearer understanding of the technical features, objectives, and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientation or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are based on the orientation or positional relationships shown in the accompanying drawings and are in a specific orientation structure and operation. This is only for the convenience of describing the present technical solution and does not indicate that the indicated devices or elements must have a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0055] The following will further describe in detail the specific implementation manners of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention but not to limit the scope of the present invention.

[0056] In the related art, most of the flapping-wing aircraft that achieve an "8"-shaped flapping trajectory are planar "8"-shaped trajectories (for example, the patent number is CN102826222A). There are also a small number of flapping-wing aircraft that can achieve a spatial "8"-shaped flapping trajectory, but often only have a single degree of freedom of up-and-down flapping (for example, the patent numbers are CN108639337A and CN113682472A), and the advantages of micro flapping-wing aircraft cannot be fully utilized. Among them, the patent number CN114537659A discloses a bionic rhinoceros beetle flapping-wing aircraft and a method for controlling the flapping-wing aircraft. It uses a first power source and a second power source to drive a transmission mechanism to drive the left bionic wing and the right bionic wing to flap and swing, so that the wing realizes three degrees of freedom of movement of flapping, swinging and twisting during flight, and realizes the movement mode of the wing tip of the bionic wing in an "8"-shaped trajectory. However, this flapping-wing aircraft adds a double-joint universal coupling, which makes the structure more complex, the assembly difficulty is large, and the cross-sectional diameter of the fuselage is large, which is not conducive to the miniaturization of the flapping-wing aircraft. Therefore, the embodiments of the present disclosure provide a flapping-wing aircraft.

[0057] Figure 1 Fig. 4 shows a schematic diagram of the overall structure of a flapping-wing aircraft in a top view according to an embodiment of the present disclosure; Figure 2 Fig. 5 shows a schematic diagram of the overall structure of a flapping-wing aircraft from another angle according to an embodiment of the present disclosure; Figure 3 Fig. 6 shows a schematic diagram of the overall structure of a flapping-wing aircraft from another angle according to an embodiment of the present disclosure. Referring to Figures 1 to 3 , the embodiments of the present disclosure provide a flapping-wing aircraft, which includes a fuselage 10, a transmission mechanism 30, a power source 20, a driving mechanism, and wings 50.

[0058] Specifically, the transmission mechanism 30 is disposed on the fuselage 10; the power source 20 is installed on the fuselage 10 and provides power for the transmission mechanism 30; the wings 50 include wing bodies 52 symmetrically arranged with respect to the central axis of the fuselage 10 and wing mounting seats 51. The wing bodies 52 are hinged to the wing mounting seats 51, and the wing mounting seats 51 are rotatably connected to the fuselage 10; among them, the driving mechanism includes a spatial crank-slider mechanism and a planar crank-slider mechanism. The spatial crank-slider mechanism includes crank-slider assemblies 40 symmetrically arranged with respect to the central axis of the fuselage 10. Each crank-slider assembly 40 includes a crank 41 and a connecting rod 42. One end of the crank 41 is connected to the transmission mechanism 30, the other end of the crank 41 is connected to one end of the connecting rod 42, and the other end of the connecting rod 42 is connected to the wing body 52 to drive the wing body 52 to flap.

[0059] The planar crank and connecting rod mechanism 60 includes a torsion connecting rod 61 and a torsion rocker 62. One end of the torsion connecting rod 61 is connected to the transmission mechanism 30, the other end of the torsion connecting rod 61 is connected to the torsion rocker 62, and the other end of the torsion rocker 62 is connected to the wing mounting seat 51 to drive the wing body 52 to twist.

[0060] Exemplarily, the fuselage 10 may extend along the longitudinal axis of the flapping-wing aircraft (as shown by the dashed line O-O' in Figure 1 . The power source 20 may be disposed on the side of the fuselage 10 opposite to the transmission mechanism 30 and provide power for the transmission mechanism 30. For example, when the transmission mechanism 30 is located on the left side of the fuselage 10, the power source 20 may be located on the right side of the fuselage 10, and vice versa. In this way, the transmission mechanism 30 and the power source 20 are kept in left-right balance, enabling the flapping-wing aircraft to fly smoothly. The above positions are only examples and are not limited thereto.

[0061] Here, it should be noted that the "power source 20" may be a motor, and the specifications of the motor may be selected according to the weight of the flapping-wing aircraft. For example, for a relatively light-weight (e.g., about 10 grams) flapping-wing aircraft, a hollow cup motor with a diameter of 6 mm and a rotational speed of 42,000 revolutions per minute can be used, and a flapping frequency of 26 Hz can be achieved. Of course, the embodiments of the present disclosure are not limited to the hollow cup motor and the corresponding parameters, and different types of motors and corresponding motor parameters can be actually selected according to requirements.

[0062] In this embodiment, the power source 20 is used to drive the transmission mechanism 30 to rotate, so as to drive the connecting rod 42 to move through the crank 41. Since one end of the connecting rod 42 is connected to the wing body 52, the wing body 52 is driven to flap on the wing mounting seat 51. At the same time, the transmission mechanism 30 can also drive the torsion rocker 62 to move through the torsion connecting rod 61, so that the wing mounting seat 51 is driven to rotate on the fuselage 10, driving the wing body 52 hinged on the wing mounting seat 51 to twist back and forth, realizing the flapping and twisting actions of the flapping wing during flight, so that the end of the wing moves in a spatial "8" - shaped trajectory.

[0063] Combined with Figure 1The flapping-wing aircraft according to an embodiment of the present disclosure drives the transmission mechanism 30 from one side by using the power source 20, transmits the power to the wing body 52 through the crank and connecting rod assembly 40, and transmits the power to the wing mounting seat 51 by using the planar crank and connecting rod mechanism 60, and drives the wing body 52 to rotate on the wing mounting seat 51, so that the wing 50 can perform flapping and twisting actions simultaneously. Compared with the flapping-wing aircraft driven from both sides, the transmission mechanism 30 can be made simpler and lighter in weight, so that the flapping-wing aircraft can move more smoothly and flexibly along the "8"-shaped trajectory in space, and the cross-section of the fuselage is smaller, which is beneficial to the miniaturization of the flapping-wing aircraft.

[0064] Figure 4 FIG. shows a schematic structural diagram of a transmission mechanism of a flapping-wing aircraft according to an embodiment of the present disclosure. Refer to Figure 4 , the transmission mechanism 30 according to an embodiment of the present disclosure may include a gear set 31 and a second rotating shaft 32. The gear set 31 is mounted on the body 10 and driven by the power source 20; the second rotating shaft 32 is rotatably connected to the body 10 and is in transmission connection with the gear set 31. Wherein, both ends of the second rotating shaft 32 are respectively connected to the cranks 41 in two crank and connecting rod assemblies, and the torsion link 61 is in transmission connection with the second rotating shaft 32.

[0065] Exemplarily, the transmission connection manner between the gear set 31 and the second rotating shaft 32 may adopt belt transmission. For example: a pulley is connected to the second rotating shaft 32, and the gear set 31 drives the pulley to rotate through a belt to drive the second rotating shaft 32 to rotate. It may also adopt the gear meshing transmission manner. For example: one gear in the gear set can be sleeved on the second rotating shaft 32, and another gear in the gear set 31 is meshed and connected with the gear sleeved on the second rotating shaft 32, so as to drive the gear set 31 to rotate through the power source 20, so that the rotation of the gear set 31 can drive the second rotating shaft 32 to move accordingly, and further drive the crank and connecting rod assembly 40 to move. No limitation is made thereto.

[0066] Exemplarily, a sleeve (not shown) may be connected to one end of the crank 41, then the sleeve is sleeved on one end of the second rotating shaft 32, and then the other end of the crank 41 is connected to one end of the connecting rod 42, and the other end of the connecting rod 42 is connected to the wing body 52, so as to realize the quick connection between the crank and connecting rod assembly 40 and the wing body 52, with a simple structure and convenient disassembly and assembly.

[0067] Combined with Figure 4 the flapping-wing aircraft according to an embodiment of the present disclosure, which only has a single rotating shaft. Compared with the double-link structure with one link on each side, it can drive the crank and connecting rod assembly 40 and the planar crank and connecting rod mechanism 60 only through the second rotating shaft 32, so that the wing 50 can perform flapping and twisting actions simultaneously. While ensuring the transmission efficiency, the structure of the transmission mechanism 30 is simplified.

[0068] Figure 5 Schematic diagram showing the structure of the transmission gear of a flapping-wing aircraft according to an embodiment of the present disclosure. Refer to Figure 5 , the gear set 31 according to the embodiment of the present disclosure may include a first-stage gear set and a second-stage gear set. The first-stage gear set includes a first driving gear 314 and a first driven gear 311. The first driving gear 314 is installed on the output end of the power source. The first driven gear 311 is rotatably arranged on one side of the airframe 10 through a first rotating shaft 315 and meshes with the first driving gear 314. The second-stage gear set includes a second driving gear 312 and a second driven gear 313. The second driving gear 312 is installed on the first rotating shaft 315 and is located on the other side of the airframe 10. The second driven gear 313 is rotatably arranged on the second rotating shaft 32 and is on the same side as the second driving gear, and the second driven gear meshes with the second driving gear.

[0069] Exemplarily, the first driven gear 311 can be meshed and connected through the first driving gear 314 connected to the transmission end of the power source 20, so that the first rotating shaft 315 is driven to rotate. Since the second driving gear 312 is connected to the first rotating shaft 315 and the second driving gear 312 is meshed and connected with the second driven gear 313, the power of the power source 20 can be transmitted to the second rotating shaft 32 to drive the second rotating shaft 32 to rotate, and then drive the connecting rod 42 and the torsion rocker 62 to rotate, thereby driving the wing 50 to flap and twist.

[0070] Here, it should be noted that the first driven gear 311 and the first rotating shaft 315 are connected by interference fit. The second driving gear 312 can be connected to the first rotating shaft 315 by interference fit, and the second driven gear 313 can be connected to the second rotating shaft 32 by interference fit, so that the power source 20 drives the first driving gear 314 to drive the first rotating shaft 315 and the second driving gear 312 on the first rotating shaft 315, and then transmits the power to the connecting rod 42 and the torsion rocker 62 at both ends of the second rotating shaft 32.

[0071] Exemplarily, the gear set according to the embodiment of the present disclosure can adopt two-stage deceleration, and the gear module can adopt a small module of 0.3. This module is only an example and is not limited thereto. Among them, the first-stage deceleration is achieved by the meshing of the larger gears of the first driving gear 314 and the first driven gear 311. The number of teeth of the first driving gear 314 and the first driven gear 311 can be, for example, 7 and 40 respectively. Therefore, the deceleration ratio is 5.71. The second-stage deceleration is achieved by the meshing of the smaller second driving gear 312 and the larger second driven gear 313. The number of teeth of the second driving gear 312 and the second driven gear 313 can be, for example, 9 and 40 respectively. Therefore, the deceleration ratio is 4.44, and the total transmission ratio is 25.4. The above data are only examples and are not limited thereto.

[0072] Figure 6 The structure diagram of the planar crank-connecting rod mechanism of a flapping-wing aircraft according to an embodiment of the present disclosure is shown. Figure 6 According to the transmission mechanism 30 of the flapping-wing aircraft of the embodiment of the present disclosure, the transmission mechanism 30 may further include a driving pulley 316, a passive pulley 317 and a synchronous belt 318. The driving pulley 316 is rotatably disposed on the second rotating shaft 32 and is located on the same side as the first passive gear 311; the passive pulley 317 is rotatably disposed on the body 10, and the torsion link 61 is installed at a position of the passive pulley 317 that deviates from the center of the pulley; the synchronous belt 318 is connected to the driving pulley 316 and the passive pulley 317.

[0073] Here, it should be noted that the torsion link 61 needs to be installed at a position of the passive pulley 317 that is a certain distance away from the pulley center. The certain distance here can be determined according to actual conditions and is not limited to this.

[0074] Exemplarily, a passive pulley 317 is rotatably connected to the body 10, a driving pulley 316 is arranged on the second rotating shaft 32, and a synchronous belt 318 is arranged between the passive pulley 317 and the driving pulley 316, and then one end of the torsion link 61 is connected to the passive pulley 317, and the rotation of the second rotating shaft 32 drives the passive pulley 317 to rotate, so as to drive the torsion link 61 to move, and then the power is transmitted to the wing mounting seat 51 through the torsion rocker 62, so as to drive the wing body 52 to twist back and forth on the wing mounting seat 51.

[0075] Here, it should be noted that the crank, connecting rod, fuselage, and wing body (i.e., rocker) in each crank-connecting rod assembly form four parts of a four-bar linkage, and similarly, the torsion connecting rod, torsion rocker, fuselage, and passive pulley in the planar crank-connecting rod mechanism form four parts of a four-bar linkage. Among them, the passive pulley is responsible for generating the driving force of this part of the mechanism and forming a torsion crank, the pulley is connected to the torsion connecting rod, the other end of the torsion connecting rod is connected to the torsion rocker, and the other end of the torsion rocker is fixedly connected to the wing mounting seat and moves with the rocker.

[0076] Figure 7 A schematic diagram of the structure of a wing mounting bracket for a flapping-wing aircraft according to an embodiment of the present disclosure is shown. Figure 7 According to the embodiment of the present disclosure, the wing mounting 51 of the flapping-wing aircraft has a connection seat 53 extending outward from the surface away from the power source 20, and a connection column 54 is provided on the connection seat 53, and one end of the torsion rocker 62 away from the torsion link 61 is sleeved on the connection column 54. In this way, the connection between the torsion rocker 62 and the wing mounting seat 51 is achieved, and then the wing mounting seat 51 can be driven to move, thereby driving the wing body 52 to twist forward and backward on the wing mounting seat 51.

[0077] Figure 8 Shows a schematic structural view of the wing of a flapping-wing aircraft according to an embodiment of the present disclosure. Referring to FIG. 8, a hinge position 55 for connecting to the airframe 10 is provided in the middle of the wing mount 51 of the flapping-wing aircraft according to an embodiment of the present disclosure, and mounting positions 56 for hinging to the ends of the wing body 52 are provided on both sides of the wing mount 51.

[0078] Figure 9 Shows a schematic structural view of the wing body of a flapping-wing aircraft according to an embodiment of the present disclosure. Referring to Figure 9 , further, the wing body 52 includes a connecting rod 521 and an extension bar 522. One end of the connecting rod 521 is rotatably connected to the wing mount 51, and the extension bar 522 is connected to the other end of the connecting rod 521 and extends away from the airframe 10.

[0079] Exemplarily, the wing mount 51 is detachably connected to the middle of the airframe 10 through the hinge position 55, and mounting positions 56 that are symmetric about the center of the wing mount 51 are formed on both sides of the wing mount 51. Then, one end of the connecting rod 521 in each wing body 52 is rotatably connected to the corresponding mounting position 56, and the extension bar 522 is connected to the other end of the connecting rod 521 and extends away from the airframe 10, thereby completing the installation of the wing 50 on the airframe 10. The structure is simple and the disassembly and assembly are convenient.

[0080] Here, it should be noted that the connecting rods 521 of the two wings can be completely opposite to each other left and right, and there can be a certain distance between them to allow the wing surfaces respectively mounted on their respective connecting rods to avoid contacting the airframe when swinging, thereby making the flight smoother.

[0081] Here, it should be noted that the two wing bodies 52 can form an integral body. At this time, only one planar crank and connecting rod mechanism 60 can be provided, which can be provided on the left or right side of the airframe 10; the two wing bodies 52 can also be separately arranged on the left and right sides of the airframe 10 in a counterposed manner. At this time, two planar crank and connecting rod mechanisms 60 can be provided, which are separately arranged on the left and right sides of the airframe 10 in a counterposed manner and are respectively connected to the two wing bodies 52. In this embodiment, preferably, one planar crank and connecting rod mechanism 60 is provided, but it is not limited thereto.

[0082] Figure 10 Shows a schematic structural view of the rocker of a flapping-wing aircraft according to an embodiment of the present disclosure. Referring to Figure 10, the connecting rod 42 of the flapping-wing aircraft according to an embodiment of the present disclosure includes a rod body 421, an upper ball head bearing 422, and a lower ball head bearing 423. The two ends of the rod body 421 are detachably connected to the upper ball head bearing 422 and the lower ball head bearing 423 respectively. The other end of the upper ball head bearing 422 is connected to the wing body 52, and the other end of the lower ball head bearing 423 is connected to the crank 41. The installation angles of the lower ball head bearing and the lower ball head bearing are staggered by 90°.

[0083] Here, it should be noted that the connecting rod 42 can adopt the detachable connection method of the upper ball head bearing 422, the lower ball head bearing 423 and the rod body 421, or the integral connection method, and no limitation is made thereto. In this embodiment, preferably, the connecting rods 42 all adopt the detachable connection method. In this way, it is more convenient for disassembly and assembly, which is beneficial to subsequent maintenance or replacement.

[0084] Figure 11 Show a schematic structural diagram of the power source of the flapping-wing aircraft according to an embodiment of the present disclosure. Refer to Figure 11 , the power source 20 according to an embodiment of the present disclosure may include a mounting seat 22 and a driving motor 21. The mounting seat 22 is detachably connected to the body 10; the driving motor 21 is fixed on the mounting seat 22, and the output end of the driving motor 21 is connected to the transmission mechanism 30.

[0085] Exemplarily, the mounting seat 22 may be a cross-shaped fixing frame. For example: by opening a plurality of fixing holes 23 in the fixing frame, and then using fasteners (such as bolts, screws, etc.) to pass through the fixing holes 23 to fixedly connect the fixing frame to the body 10, so as to realize the fixed installation of the driving motor 21; the mounting seat 22 may also be a linear fixing strip. For example: by opening a plurality of fixing holes 23 in the fixing strip, and then using fasteners (such as bolts, screws, etc.) to pass through the fixing holes to fixedly connect the fixing strip to the body 10, so as to realize the fixed installation of the driving motor 21. No limitation is made thereto.

[0086] Figure 12 Show a schematic overall structure diagram of the flapping-wing aircraft according to another embodiment of the present disclosure; Figure 13 Show a schematic structural diagram of the tail wing assembly of the flapping-wing aircraft according to an embodiment of the present disclosure. Refer to Figure 12 and Figure 13 , the flapping-wing aircraft according to an embodiment of the present disclosure further includes a tail wing assembly 70 installed at the rear of the body 10. The tail wing assembly 70 includes a roll adjustment servo 71, a tail wing 73, and a pitch adjustment servo 74. Among them, the roll adjustment servo 71 is arranged at the rear of the body 10; the tail wing 73 is supported by a tail wing bracket 72, and the tail wing bracket 72 is connected to the roll adjustment servo 71 to swing left and right under the drive of the roll adjustment servo 71; the pitch adjustment servo 74 is installed on the body and is used to drive the tail wing to swing up and down.

[0087] Exemplarily, by installing a roll adjustment servo 71 at the rear of the airframe 10, connecting the tail fin bracket 72 to the roll adjustment servo 71, and then installing the tail fin 73 on the tail fin bracket 72, the power of the roll adjustment servo 71 is utilized to drive the tail fin bracket 72 to swing left and right, so as to drive the tail fin to swing left and right, thereby controlling the left or right yaw of the flapping-wing aircraft and realizing the turning function.

[0088] In addition, the force received by the tail fin 73 can be proportional to the driving speed of the servo 71. That is to say, the greater the driving speed provided by the servo 71, the faster the tail fin can swing when swinging left or right, so that the turning force received by the tail fin 73 is greater and the turning is faster.

[0089] Figure 14 Shows another schematic structural diagram of a tail fin assembly according to an embodiment of the present disclosure. Refer to Figure 14 , the tail fin assembly according to an embodiment of the present disclosure further includes a crank-link unit 75 and a fixing frame 76. One end of the crank-link unit 75 is connected to the pitch adjustment servo 74; the fixing frame 76 is movably connected to the tail end of the airframe 10 and is connected to the other end of the crank-link unit 75. Among them, the roll adjustment servo 71 is installed on the fixing frame 76. When the pitch adjustment servo 74 drives the crank-link unit 75 to rotate, the tail fin 73 is driven to swing up and down.

[0090] Exemplarily, the pitch adjustment servo 74 installed at the rear of the airframe 10 is used to drive the crank-link unit 75 to move, so that the power of the pitch adjustment servo 74 is transmitted to the fixing frame 76, and then the fixing frame 76 is driven to move up and down. Since the servo 71 is installed on the fixing frame 76, the tail fin 73 is driven to swing up and down, thereby controlling the turning of the flapping-wing aircraft.

[0091] Refer to Figure 14 , further, the crank-link unit 75 includes a first link 751 and a second link 752. One end of the first link 751 is rotatably connected to the output end of the pitch adjustment servo 74, and a plurality of mounting holes 753 are provided on the first link 751. Then, according to the design requirements, one end of the second link 752 is aligned with one of the plurality of mounting holes 753, and then a fastener (such as a bolt, a screw, etc.) passes through the mounting hole 753 to realize the movable connection between the second link 752 and the first link 751. Finally, the other end of the second link 752 is connected to the fixing frame 76.

[0092] In addition, the tail fin 73 can be angled upward relative to the horizontal plane of the flapping-wing aircraft (i.e., tilted upward), and the range of the angle can be, for example, 5° to 60°, preferably, the range of the angle can be, for example, 10° to 30°. The above ranges of angles are only examples and are not limited thereto. With such a setting, the upward lift of the flapping-wing aircraft can be increased, making it easier for the flapping-wing aircraft to take off.

[0093] The fuselage 10 according to the embodiment of the present disclosure is made of a hollowed carbon fiber board. In this way, while ensuring that the fuselage 10 has sufficient strength, it can also be lighter, which is beneficial to reducing the weight of the flapping-wing aircraft, thereby enabling the flapping-wing aircraft to fly more smoothly and flexibly.

[0094] So far, the present disclosure has described the flapping-wing aircraft according to the embodiments of the present disclosure in conjunction with the drawings. By driving only one side of the wings of the flapping-wing aircraft to flap up and down and twist simultaneously, the structure of the transmission mechanism of the flapping-wing aircraft is simpler and lighter, so as to achieve simplification and weight reduction, thereby enabling the flapping-wing aircraft to move more smoothly and flexibly along the "8"-shaped trajectory in space.

[0095] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A flapping-wing aircraft, characterized in that, Comprising: A fuselage, wings, a transmission mechanism provided on the fuselage, a single power source for providing power to the transmission mechanism, and a drive mechanism for driving the wings to move. The power source is installed on the fuselage. The wings include wing bodies symmetrically arranged with respect to the center line of the fuselage and wing mounting seats. The wing bodies are hinged to the wing mounting seats, and the wing mounting seats are rotatably connected to the fuselage. Wherein, the drive mechanism includes: A spatial crank and connecting rod mechanism, which includes crank and connecting rod assemblies symmetrically arranged with respect to the center line of the fuselage; each of the crank and connecting rod assemblies includes a crank and a connecting rod. One end of the crank is connected to the transmission mechanism, the other end of the crank is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the wing body to drive the wing body to flap. A planar crank and connecting rod mechanism, which includes a torsion connecting rod and a torsion rocker. One end of the torsion connecting rod is connected to the transmission mechanism, the other end of the torsion connecting rod is connected to the torsion rocker, and the other end of the torsion rocker is connected to the wing mounting seat to drive the wing body to twist. The transmission mechanism includes: A gear set, which is installed on the fuselage and driven by the power source; A second rotating shaft, which is rotatably connected to the fuselage and connected to the gear set to achieve synchronous rotation. Wherein, both ends of the second rotating shaft are respectively connected to the cranks in the two crank and connecting rod assemblies, and one end of the torsion connecting rod is in transmission connection with the second rotating shaft. Wherein, the gear set includes: a first-stage gear set, which includes a first driving gear and a first driven gear. The first driving gear is installed on the output end of the power source, and the first driven gear is provided on one side of the fuselage through a first rotating shaft and meshes with the first driving gear; a second-stage gear set, which includes a second driving gear and a second driven gear. The second driving gear is installed on the first rotating shaft and is located on the other side of the fuselage. The second driven gear is rotatably provided on the second rotating shaft and is on the same side as the second driving gear, and the second driven gear meshes with the second driving gear.

2. The flapping-wing aircraft according to claim 1, wherein The transmission mechanism further includes: A driving pulley, which is rotatably provided on the second rotating shaft and is on the same side as the first driven gear; A driven pulley, which is rotatably provided on the fuselage, and the torsion connecting rod is installed at a position deviating from the center of the pulley on the driven pulley; A synchronous belt, which is connected between the driving pulley and the driven pulley.

3. The flapping-wing aircraft according to claim 1, wherein A connecting seat extends outward from the surface of the wing mounting seat facing away from the power source. A connecting column is provided on the connecting seat, and the end of the torsion rocker away from the torsion connecting rod is sleeved on the connecting column.

4. The flapping-wing aircraft according to claim 1, wherein An articulation position for connecting with the fuselage is provided in the middle of the wing mounting seat, and mounting positions for articulating with the ends of the wing bodies are provided on both sides of the wing mounting seat.

5. The flapping-wing aircraft according to claim 1, wherein The connecting rod includes a rod body, an upper ball head bearing and a lower ball head bearing. The two ends of the rod body are detachably connected to the upper ball head bearing and the lower ball head bearing respectively. The other end of the upper ball head bearing is connected to the wing body, and the other end of the lower ball head bearing is connected to the crank. The installation angles of the lower ball head bearing and the lower ball head bearing are staggered by 90°.

6. The flapping-wing aircraft according to any one of claims 1 to 5, characterized in that, The flapping-wing aircraft further includes a tail wing assembly installed at the rear of the fuselage. The tail wing assembly includes: A roll adjustment servo, which is provided at the rear of the fuselage; A tail wing, which is supported by a tail wing bracket, and the tail wing bracket is connected to the roll adjustment servo to swing left and right under the drive of the roll adjustment servo; A pitch adjustment servo, which is installed on the fuselage and is used to drive the tail wing to swing up and down.

7. The flapping-wing aircraft according to claim 6, characterized in that, The tail wing assembly further includes: A crank connecting rod unit, one end of which is connected to the pitch adjustment servo; A fixing frame, which is movably connected to the tail end of the fuselage and is connected to the other end of the crank connecting rod unit; Wherein, the roll adjustment servo is installed on the fixing frame. When the pitch adjustment servo drives the crank connecting rod unit to rotate, the tail wing is driven to swing up and down.

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