A biomimetic flapping wing apparatus and aircraft

Abstract

The application discloses a bionic flapping wing device and an aircraft, and relates to the technical field of the aircraft, and aims to solve the problems of the existing flapping wing aircraft, i.e., more components, high assembly difficulty and low stability. The bionic flapping wing device comprises a first rotating driving mechanism, a transmission gear, a linear driving mechanism and a flapping wing mechanism, the driving end of the first rotating driving mechanism is in transmission connection with the transmission gear, the linear driving mechanism is arranged on the transmission gear, and the flapping wing mechanism is in rotating connection with the driving end of the linear driving mechanism. The aircraft comprises the bionic flapping wing device. The bionic flapping wing device and the aircraft are used for reducing the assembly difficulty of the flapping wing aircraft, reasonably distributing the weight and improving the motion stability of the flapping wing aircraft.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a biomimetic flapping wing device and an aircraft. Background Technology

[0002] Currently, small unmanned aerial vehicles (UAVs) are becoming increasingly popular in both military and civilian applications, playing an increasingly important role. Bionic flapping-wing micro-aircraft, inspired by insects and birds, possess superior flight capabilities while also being small in size and highly concealed visually. They hold significant development prospects and application value in future military reconnaissance and public safety fields.

[0003] However, most existing flapping-wing aircraft rely on adding tail adjustment devices to ensure balance. They have many components, are difficult to assemble, and are not very stable. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic flapping wing device and aircraft, which reduces the assembly difficulty of flapping wing aircraft, optimizes weight distribution, and improves the motion stability of flapping wing aircraft.

[0005] In a first aspect, the present invention provides a biomimetic flapping wing device, comprising: a first rotational drive mechanism, a transmission gear, a linear drive mechanism, and a flapping wing mechanism;

[0006] The driving end of the first rotary drive mechanism is connected to the transmission gear, the linear drive mechanism is mounted on the transmission gear, and the flapping wing mechanism is rotatably connected to the driving end of the linear drive mechanism.

[0007] Compared with the prior art, the biomimetic flapping-wing device provided in this embodiment of the invention includes a first rotary drive mechanism, a transmission gear, a linear drive mechanism, and a flapping-wing mechanism. Since the drive end of the first rotary drive mechanism is connected to the transmission gear, and the linear drive mechanism is mounted on the transmission gear, when the first rotary drive mechanism moves, the transmission gear rotates, causing the linear drive mechanism to rotate. Because the flapping-wing mechanism is rotatably connected to the drive end of the linear drive mechanism, the linear drive mechanism can drive the flapping-wing mechanism to swing, thereby achieving flapping-wing motion. The biomimetic flapping-wing device of this embodiment of the invention has a first rotary drive mechanism, a transmission gear, a linear drive mechanism, and a flapping-wing mechanism. It can be seen that this biomimetic flapping-wing device has fewer parts, reducing the assembly difficulty of the parts. Reasonable weight distribution and conversion of mechanical transmission into changes in flapping-wing amplitude improve the motion stability of the flapping-wing aircraft. Simultaneously, when the linear drive mechanism performs linear motion, because the flapping-wing mechanism is rotatably connected to the drive end of the linear drive mechanism, the rotation radius of the biomimetic flapping-wing device can be finely adjusted, thereby changing the lift of the biomimetic flapping-wing aircraft and controlling its flight attitude and position.

[0008] As can be seen from the above, the biomimetic flapping wing device provided in the embodiments of the present invention has fewer components, which reduces the difficulty of component assembly, and the reasonable weight distribution improves the motion stability of the flapping wing aircraft.

[0009] Secondly, embodiments of the present invention provide an aircraft including the biomimetic flapping wing device described in the first aspect.

[0010] Compared with the prior art, the beneficial effects of the aircraft provided by the present invention are the same as those of the biomimetic flapping wing device described in the first aspect above, and will not be repeated here. Attached Figure Description

[0011] Figure 1 This is a flapping wing device in the prior art that enables flapping of the wing and active twisting of the wing surface;

[0012] Figure 2 This is a front view of the biomimetic flapping wing device according to an embodiment of the present invention;

[0013] Figure 3 This is a left rear view of the biomimetic flapping wing device according to an embodiment of the present invention;

[0014] Figure 4 This is a schematic diagram of the linear drive mechanism according to an embodiment of the present invention;

[0015] Figure 5 This is a partially enlarged view of the linear drive mechanism according to an embodiment of the present invention.

[0016] Figure label:

[0017] 2-Flapping wing rocker arm, 3-Spherical hinge pin, 4-Wing torsion linkage, 5-Driven bevel gear, 6-Wing torsion crank, 7-Right flapping wing linkage, 8-Right flapping wing crank, 9-Right flapping wing spur gear, 10-Left flapping wing spur gear, 11-Left flapping wing crank, 12-Left flapping wing linkage, 13-Reduction gear, 14-Motor output gear, 15-Motor, 16-Wing frame, 17-Revolute joint, 18-Pulsating joint, 100-First rotational drive mechanism, 200-Transmission Driven gear, 300-linear drive mechanism, 301-linear guide, 302-slider, 400-flapping wing mechanism, 401-rotation support structure, 4011-support rod, 4012-groove, 4013-rotation structure, 402-transmission mechanism, 4021-first clamping member, 4022-second clamping member, 403-flapping wing, 500-limiting structure, 600-second rotation drive mechanism, 700-controller, 800-sensor, 900-power supply module. Detailed Implementation

[0018] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0019] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Due to size and maneuverability limitations, traditional large aircraft cannot meet the requirements of specific scenarios in the civilian sector, such as indoor and outdoor monitoring, exploration, and disaster relief. Similarly, large aircraft are unsuitable for military operations involving reconnaissance and detection, tracking and counter-tracking, jamming and attack. Bionic flapping-wing micro-aircraft, inspired by insects and birds, possess superior flight capabilities while also being small in size and highly concealed, making them promising candidates for future military reconnaissance and public safety applications.

[0024] Insects exhibit advantages such as high aerodynamic efficiency, agile movements, and stable hovering during flight. To further study the flight mechanism of insect flapping wings, researchers have used bionic methods to design various flapping wing mechanisms based on the flapping wing motion patterns of insects, mimicking the flapping wing movements of real insects.

[0025] Because existing flapping-wing mechanisms lack flexibility, once assembled, they can only operate along a predetermined trajectory. This makes the overall structure prone to losing balance and failing to fly properly when encountering external factors (such as crosswinds or obstacles). Furthermore, most existing flapping-wing aircraft rely on tail-mounted adjustment devices to maintain balance, but real insects (such as dragonflies) do not possess this structure. From a biomimetic perspective, adding such a structure is inconsistent with the shapes of insects and birds.

[0026] Figure 1 This illustrates a flapping wing device in the prior art that enables wing flapping and active wing surface twisting, such as... Figure 1 As shown, the flapping wing device includes: a flapping wing rocker arm 2, two ball joint pins 3, a wing torsion link 4, a driven bevel gear 5, a wing torsion crank 6, a right flapping wing link 7, a right flapping wing crank 8, a right flapping wing spur gear 9, a left flapping wing spur gear 10, a left flapping wing crank 11, a left flapping wing link 12, a reduction gear 13, a motor output gear 14, a motor 15, two wing frames 16, two rotary joints 17, and two prismatic joints 18. The reduction gear 13 includes a large spur gear 13-2, a small spur gear 13-1, and a small spur bevel gear 13-3, all three having the same axis of rotation. The small spur gear 13-1 is fixed to the front end face of the large spur gear 13-2, and the small spur bevel gear 13-3 is fixed to the rear end face of the large spur gear 13-2. The flapping wing rocker arm 2 is formed by hinged left and right rockers with symmetrical structures.

[0027] To address the aforementioned problems, this invention provides a biomimetic flapping-wing device and aircraft, which solves the problem that most existing flapping-wing aircraft rely on adding a tail adjustment device to ensure balance, resulting in numerous components, difficult assembly, and low stability.

[0028] Figure 2 A front view of a biomimetic flapping wing device according to an exemplary embodiment of the present invention is shown. Figure 3 A left rear view of a biomimetic flapping wing device according to an exemplary embodiment of the present invention is shown. Figure 2 and Figure 3As shown, the biomimetic flapping wing device provided in an exemplary embodiment of the present invention includes a first rotation drive mechanism 100, a transmission gear 200, a linear drive mechanism 300, and a flapping wing mechanism 400. The drive end of the first rotation drive mechanism 100 is connected to the transmission gear 200, the linear drive mechanism 300 is mounted on the transmission gear 200, and the flapping wing mechanism 400 is rotatably connected to the drive end of the linear drive mechanism 300. It should be understood that the first rotation drive mechanism may include a motor, which may be a DC motor, an AC motor, or other types of motors, which will not be elaborated here.

[0029] In specific implementation, when the first rotation drive mechanism 100 of the above-mentioned bionic flapping wing device starts to move, the drive end of the first rotation drive mechanism 100 can drive the transmission gear 200 to rotate. When the transmission gear 200 rotates, since the linear drive mechanism 300 is mounted on the transmission gear 200, the transmission gear 200 can drive the linear drive mechanism 300 to rotate. The flapping wing mechanism 400 is rotatably connected to the drive end of the linear drive mechanism 300. At this time, the linear drive mechanism 300 can drive the flapping wing mechanism 400 to rotate, causing the flapping wing mechanism 400 to swing, thereby realizing the flapping wing movement.

[0030] The biomimetic flapping wing device of this invention includes a first rotational drive mechanism, a transmission gear, a linear drive mechanism, and a flapping wing mechanism. As can be seen, the biomimetic flapping wing device has fewer parts, which reduces the assembly difficulty of the parts. With reasonable weight distribution, the change in flapping wing amplitude is converted into mechanical transmission, thereby improving the motion stability of the flapping wing aircraft.

[0031] Based on this, when the linear drive mechanism 300 performs linear motion, the flapping wing mechanism 400 is rotatably connected to the drive end of the linear drive mechanism 300, so as to make fine adjustments by changing the rotation radius of the flapping wing mechanism using the drive end of the linear drive mechanism.

[0032] In one feasible way Figure 4 A schematic diagram of the linear drive mechanism according to an exemplary embodiment of the present invention is shown. Figure 5 This is a partially enlarged view of the linear drive mechanism according to an embodiment of the present invention. Figure 4 and Figure 5 As shown, the linear drive mechanism 300 of this embodiment includes a linear guide 301 and a slider 302 threadedly connected to the linear guide 301. The slider 302 and the linear guide 301 are mounted on the transmission gear 200, and the flapping wing mechanism 400 is rotatably connected to the slider 302. It should be understood that the slider 302 has a threaded hole through which the linear guide 301 passes. The linear guide 301 can be a lead screw, and the slider 302 can be a displacement slider, which has a threaded hole through which the lead screw passes.

[0033] In specific implementation, when the linear guide 301 included in the linear drive mechanism 300 of this embodiment of the invention starts to rotate, the linear guide 301 can drive the slider 302 to move linearly. When the first rotation drive mechanism 100 starts to move, the drive end of the first rotation drive mechanism 100 can drive the transmission gear 200 to rotate. Since the slider 302 and the linear guide 301 are mounted on the transmission gear 200, the transmission gear 200 can drive the linear guide 301 and the slider 302, which is threadedly connected to the linear guide 301, to rotate together. Since the flapping wing mechanism 400 is connected to the slider 302, the slider 302 can drive the flapping wing mechanism 400 to rotate, causing the flapping wing mechanism 400 to swing, thereby realizing flapping wing movement.

[0034] For example, the linear drive mechanism 300 of this embodiment includes a linear guide 301 whose guiding direction extends along the radial direction of the transmission gear 200. It should be understood that this radial direction can be defined as a direction parallel to the surface of the transmission gear 200. Therefore, the slider 302 can move along the guiding direction of the linear guide 301.

[0035] For example, when the guiding direction of the linear guide 301 extends along the radial direction of the transmission gear 200, and the slider 302 moves linearly along the linear guide 301, the distance between the center of the flapping wing mechanism 400 provided on the slider 302 and the center of the transmission gear 200 can be changed. Thus, the rotation radius of the flapping wing mechanism can be changed by using the linear movement of the slider 302, thereby changing the lift of the bionic flapping wing aircraft and controlling the flight attitude and flight position of the bionic flapping wing aircraft.

[0036] In one alternative approach, such as Figure 4 and Figure 5 As shown, the biomimetic flapping wing device of an exemplary embodiment of the present invention further includes a limiting structure 500, which has a limiting region. A linear guide 301 extends into the limiting region, and a slider 302 is located in the limiting region. The limiting direction of the limiting region extends along the radial direction of the transmission gear 200. It should be understood that the limiting structure 500 can be a hollow structure, and the hollow region of the hollow structure is the limiting region. It should be understood that the limiting structure 500 has a through hole along the radial direction, through which the linear guide 301 can extend into the limiting region.

[0037] For example, the limiting area of ​​the limiting structure described above may have a groove, the extension direction of which is the same as the guiding direction of the linear guide 301, and the slider 302 is located in the groove. Since the extension direction of the groove is the same as the guiding direction of the linear guide 301, when the slider moves linearly along the groove, it can move along the linear guide under the guidance of the groove.

[0038] In specific implementation, since the limiting structure 500 has a limiting area, and the limiting direction of the limiting area extends along the radial direction of the transmission gear 200, and the linear guide 301 extends into the limiting area, the slider 302 is located in the limiting area, and the linear guide 301 is threadedly connected to the slider 302, when the linear guide 301 starts to rotate, it can drive the slider 302 to move linearly in the radial direction of the limiting area. The movement distance is the radial distance defined by the limiting structure 500. It can be seen that the embodiment of the present invention can control the movement area of ​​the slider 302 on the linear guide 301 through the limiting area of ​​the limiting structure 500, thereby indirectly controlling the flapping radius of the flapping wing mechanism, thereby changing the lift of the bionic flapping wing aircraft, and thus controlling the flight attitude and flight position of the bionic flapping wing aircraft. At the same time, since the slider 302 is rotatably connected to the flapping wing mechanism 400, when the linear guide 301 contained in the linear drive mechanism 300 starts to rotate, the rotation radius of the bionic flapping wing device can be finely adjusted.

[0039] For example, the linear drive mechanism of the exemplary embodiment of the present invention further includes a second rotation drive mechanism 600, which is connected to the linear guide 301. It should be understood that the second rotation drive mechanism may include a motor, which may be a DC motor, an AC motor, or other types of motors, and will not be elaborated here.

[0040] In specific implementation, when it is necessary to adjust the rotation radius of the bionic flapping wing device, the second rotation drive mechanism 600 can be opened. The second rotation drive mechanism 600 can drive the linear guide 301 to start rotating. At this time, since the linear guide 301 is threadedly connected to the slider 302, the linear guide 301 can drive the slider 302 to move radially within the limiting area of ​​the limiting structure 500. The slider 302 can drive the flapping wing mechanism 400 to rotate, thereby changing the distance between the center of the flapping wing mechanism 400 and the transmission gear 200 provided on the slider 302, and thus changing the rotation radius of the flapping wing mechanism, thereby changing the lift of the bionic flapping wing aircraft, and thus controlling the flight attitude and flight position of the bionic flapping wing aircraft.

[0041] For example, the second rotation drive mechanism 600 of this embodiment can be connected to the linear guide 301 via a bushing. For instance, when the second rotation drive mechanism 600 is a motor and the linear guide 301 is a lead screw, the output shaft of the motor is connected to one end of the bushing, one end of the lead screw is connected to the other end of the bushing, and the other end of the lead screw extends into the limiting area. To facilitate the installation of the linear drive mechanism 300, the bushing can be mounted on the gear surface of the transmission gear via a connecting shaft, and the motor can be attached to the gear surface of the transmission gear.

[0042] In one alternative approach, such as Figure 3As shown, the bionic flapping wing device of this embodiment of the invention further includes a controller 700 and a sensor 800 electrically connected to the controller 700. The controller 700 is also electrically connected to the first rotation drive mechanism 100 and the second rotation drive mechanism 600, respectively. The sensor 800 is used to detect the deflection signal of the flapping wing mechanism, and the controller 700 is used to control the movement of the first rotation drive mechanism 100 and the second rotation drive mechanism 600. It should be understood that the bionic flapping wing device of this embodiment of the invention also includes a platform 1000. The platform 1000 mainly serves to place electrical components. The controller 700, the sensor 800, and the power supply module 900 are all mounted on the platform 1000. The sensor 800 can be an MPU-6050 sensor or other types of sensors, which are not limited here.

[0043] In specific implementation, when sensor 800 detects a flapping wing motion signal, sensor 800 transmits the flapping wing motion signal to controller 700. Since controller 700 is electrically connected to the first rotation drive mechanism 100, controller 700 can control the first rotation drive mechanism 100 to rotate. The first rotation drive mechanism 100 can then drive the transmission gear 200 to rotate. When the transmission gear 200 rotates, since the linear drive mechanism 300 is mounted on the transmission gear 200, the transmission gear 200 can drive the linear drive mechanism 300 to rotate. The flapping wing mechanism 400 is connected to the drive end of the linear drive mechanism 300. At this time, the linear drive mechanism 300 can drive the flapping wing mechanism 400 to rotate, causing the flapping wing mechanism 400 to swing, thereby realizing flapping wing motion.

[0044] Based on this, when sensor 800 detects a rotation radius motion signal, sensor 800 transmits the rotation radius motion signal to controller 700. Since controller 700 is electrically connected to the second rotation drive mechanism 600, controller 700 can control the second rotation drive mechanism 600 to move along the direction. The second rotation drive mechanism 600 can drive the linear guide 301 to rotate. Since the linear guide 301 is threadedly connected to slider 302, slider 302 can convert the rotational motion of linear guide 301 into linear motion along the guiding direction of linear guide 301 and move within the limiting area of ​​limiting structure 500, thereby adjusting the rotation radius of flapping wing.

[0045] In one feasible way, such as Figure 2 As shown, the flapping wing mechanism 400 of an exemplary embodiment of the present invention includes a rotating support structure 401, a transmission mechanism 402, and flapping wings 403 disposed on the transmission mechanism 402. The rotating support structure 401 is rotatably connected to the transmission mechanism 402, and the transmission mechanism 402 is also rotatably connected to the drive end of the linear drive mechanism 300.

[0046] In practical implementation, since the transmission mechanism 402 is rotatably connected to the drive end of the linear drive mechanism 300, when the drive end of the first rotational drive mechanism 100 drives the transmission gear 200 to rotate, the linear drive mechanism 300, being mounted on the transmission gear 200, can drive the linear drive mechanism 300 to rotate. As the linear drive mechanism 300 rotates with the transmission gear 200, it can drive the flapping wing 403 to swing, thus achieving flapping motion. Simultaneously, since the slider 302 contained in the linear drive mechanism 300 can move linearly within a limited area, it drives the transmission mechanism 402 to move, thereby allowing for fine-tuning of the rotation radius of the bionic flapping wing device, changing the lift of the bionic flapping wing aircraft, and thus controlling the flight attitude and position of the bionic flapping wing aircraft.

[0047] In one alternative approach, such as Figure 5 As shown, the rotating support structure 401 of the exemplary embodiment of the present invention includes a support rod 4011, a recessed structure 4012 and a rotating structure 4013. The recessed structure 4012 is provided on the support rod 4011 and has a groove. The rotating structure 4013 is rotatably provided in the groove and can move through the transmission mechanism 402 and be rotatably connected to the drive end of the linear drive mechanism.

[0048] For example, such as Figure 4 As shown, the transmission mechanism 402 can be a clamping mechanism that can clamp the flapping wing 403. The transmission mechanism 402 may include a first clamping member 4021 and a second clamping member 4022, which can be arranged in parallel within the through hole of the rotating structure 4013. The flapping wing 403 is positioned between the first clamping member 4021 and the second clamping member 4022, and the second clamping member 4022 can pass through the through hole of the rotating structure 4013 and be rotatably connected to the drive end of the linear drive mechanism 300. The rotating structure 4013 can be mounted in the groove using a pin, rotating shaft, or other shaft-like object, ensuring that the rotating structure can rotate around the shaft-like object within the groove. To ensure that the first and second clamping members can move under the drive of the slider 302, when the first and second clamping members are positioned within the through hole of the rotating structure, they can movably pass through the through hole and be rotatably connected to the slider 302. For example, when the first clamping member 4021 and the second clamping member 4022 are rod-shaped, the diameter of the through hole in the rotating structure 4013 is larger than the diameter of the rod-shaped member. This allows the first clamping member 4021 and the second clamping member 4022 to move through the through hole. When the linear guide 301 rotates, the first clamping member and / or the second clamping member move under the action of the slider 302, thereby allowing for fine adjustment of the rotation radius of the bionic flapping wing device. 。

[0049] In specific implementation, since the first clamping member 4021 and the second clamping member 4022 are arranged in parallel in the through hole of the rotating structure 4013, and the flapping wing 403 is arranged between the first clamping member 4021 and the second clamping member 4022, and the second clamping member 4022 can pass through the through hole of the rotating structure 4013 and be rotatably connected to the drive end of the linear drive mechanism 300, the linear drive mechanism 300 can drive the second clamping member 4022 to reciprocate, thereby driving the flapping wing 403 to swing and realize flapping wing movement.

[0050] Based on this, since the second clamping member 4022 can pass through the through hole opened in the rotating structure 4013 and be rotatably connected to the driving end of the linear drive mechanism 300, the linear guide member 301 contained in the linear drive mechanism 300 can drive the slider 302 to move in the radial direction within the limiting area of ​​the limiting structure 500. When the slider 302 moves linearly in the limiting area, it can drive the second clamping member 4022 to move, thereby changing the distance between the second clamping member 4022 and the center of the transmission gear 200, and thus changing the rotation radius of the flapping wing mechanism.

[0051] For example, in the exemplary embodiment of the present invention, the transmission mechanism 402 is rotatably connected to the slider 302, enabling nearly 360° rotation. It should be understood that the transmission mechanism 402 and the slider 302 can be hinged or connected in other rotatable ways. When the transmission mechanism 402 and the slider 302 are hinged, they can rotate nearly 360°. Therefore, the transmission mechanism 402 can change its rotation radius, which is then mechanically transmitted to change the flapping wing amplitude, thereby replacing the adjustment device at the tail of the flapping wing aircraft to achieve the function of adjusting balance.

[0052] For example, the end of the transmission mechanism may have a rotating mounting block, which can be connected to the slider via a pin to achieve nearly 360° rotation.

[0053] For example, in this embodiment of the invention, the number of transmission gears 200 can be two, and when there are two transmission gears 200, the two transmission gears 200 can mesh together. The platform 1000 can be located below the two transmission gears 200 and is disposed on the rotating support structure 401 included in the two flapping wing mechanisms. For example, when the rotating support structure 401 includes a support rod 4011, a recessed structure 4012, and a rotating structure 4013, the support rod can include a first support portion and a second support portion. The first support portion and the second support portion can form an L-shaped or V-shaped structure. The recessed structure 4012 is disposed at the end of the first support portion, and the platform is disposed on the second support portion.

[0054] This design reduces the number of assembly parts for the flapping wing structure, using only two gears to ensure transmission stability. It eliminates unnecessary structures, completes flapping wing movement with the fewest possible parts, and ensures even weight distribution, so that the center of gravity of the flapping wing mechanism roughly coincides with the centroid.

[0055] The biomimetic flapping-wing device provided in this embodiment of the invention includes a first rotary drive mechanism, a transmission gear, a linear drive mechanism, and a flapping-wing mechanism. Since the drive end of the first rotary drive mechanism is connected to the transmission gear, and the linear drive mechanism is mounted on the transmission gear, when the first rotary drive mechanism moves, it causes the transmission gear to rotate. The transmission gear then drives the linear drive mechanism to rotate. Because the flapping-wing mechanism is connected to the drive end of the linear drive mechanism, the linear drive mechanism can drive the flapping-wing mechanism to swing, thereby achieving flapping-wing motion. This biomimetic flapping-wing device, with its first rotary drive mechanism, transmission gear, linear drive mechanism, and flapping-wing mechanism, has fewer components, reducing assembly difficulty. With proper weight distribution, the change in flapping-wing amplitude is converted into mechanical transmission, improving the motion stability of the flapping-wing aircraft.

[0056] Meanwhile, the biomimetic flapping wing device provided in this embodiment of the invention also includes a limiting structure. The limiting structure has a limiting region, a linear guide extends into the limiting region, and a slider is located in the limiting region. The limiting direction of the limiting region extends along the radial direction of the transmission gear. Therefore, when the linear guide starts to rotate, it can drive the slider to move in the radial direction of the limiting region, and the movement distance is the radial distance defined by the limiting structure. Simultaneously, since the slider is rotatably connected to the flapping wing mechanism, when the linear guide contained in the linear drive mechanism starts to rotate, the slider can convert the rotational motion of the linear guide into linear motion along the guiding direction of the linear guide and move within the limiting region of the limiting structure, thereby allowing for fine adjustment of the rotation radius of the biomimetic flapping wing device.

[0057] The biomimetic flapping wing device provided in this invention reduces the number of parts, simplifies assembly, and improves stability. The use of hollow gears also reduces the overall weight. By changing the rotation radius, mechanical transmission translates this into a change in the flapping wing amplitude, thereby replacing the adjustment device at the tail of the flapping wing aircraft to achieve balance. A control system is added to the flapping wing mechanism model to detect imbalances and fine-tune the flapping wing amplitude, ultimately restoring balance.

[0058] The above description is merely a specific embodiment of the present invention. Obviously, various modifications and combinations can be made without departing from the spirit and scope of the present invention. Accordingly, this specification and accompanying drawings are merely exemplary descriptions of the invention as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present invention. Clearly, those skilled in the art can make various alterations and modifications to the present invention without departing from its spirit and scope. Thus, if these modifications and variations of the present invention fall within the scope of the claims and their equivalents, the intent of the present invention includes these modifications and variations. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the scope of the claims.

Claims

1. A biomimetic flapping wing device, characterized in that, include: The first rotary drive mechanism, transmission gear, linear drive mechanism, and flapping wing mechanism; The drive end of the first rotary drive mechanism is connected to the transmission gear, the linear drive mechanism is mounted on the transmission gear, and the flapping wing mechanism is rotatably connected to the drive end of the linear drive mechanism. The linear drive mechanism includes a linear guide and a slider threadedly connected to the linear guide. The slider and the linear guide are mounted on the transmission gear, and the flapping wing mechanism is rotatably connected to the slider. The guiding direction of the linear guide extends along the radial direction of the transmission gear. When the slider moves linearly along the linear guide, the distance between the flapping wing mechanism on the slider and the center of the transmission gear can be changed, thereby changing the rotation radius of the flapping wing mechanism by using the linear movement of the slider. The biomimetic flapping wing device also includes a limiting structure, which has a limiting area. The linear guide extends into the limiting area, and the slider is located in the limiting area. The limiting direction of the limiting area extends along the radial direction of the transmission gear. The linear drive mechanism further includes a second rotary drive mechanism, which is connected to the linear guide.

2. The biomimetic flapping wing device as described in claim 1, characterized in that, The biomimetic flapping wing device also includes a controller and a sensor electrically connected to the controller. The controller is also electrically connected to the first rotation drive mechanism and the second rotation drive mechanism respectively. The sensor is used to detect the deflection signal of the flapping wing mechanism. The controller is used to control the movement of the first rotation drive mechanism and the second rotation drive mechanism.

3. The biomimetic flapping wing device as described in any one of claims 1 to 2, characterized in that, The flapping wing mechanism includes a rotating support structure, a transmission mechanism, and flapping wings mounted on the transmission mechanism. The rotating support structure is rotatably connected to the transmission mechanism, and the transmission mechanism is also rotatably connected to the drive end of the linear drive mechanism.

4. The biomimetic flapping wing device as described in claim 3, characterized in that, The rotating support structure includes a support rod, a recessed structure, and a rotating structure. The recessed structure is disposed on the support rod and has a groove. The rotating structure is rotatably disposed within the groove. The transmission mechanism movably passes through the rotating structure and is rotatably connected to the drive end of the linear drive mechanism.

5. The biomimetic flapping wing device as described in claim 3, characterized in that, The transmission mechanism is rotatably connected to the slider.

6. An aircraft, characterized in that, The aircraft includes the biomimetic flapping wing device as described in any one of claims 1 to 5.

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