A foldable flapping micro-aircraft

Abstract

This invention provides a foldable flapping micro-aircraft. Its integrated transmission system control mechanism is used to control the flapping of the flapping micro-aircraft and can automatically complete the wing deployment and wing retraction actions before takeoff and after landing. It can effectively complete the wing deployment and wing retraction actions, reduce the exposed area of ​​the wings, and facilitate recovery and carrying. This invention allows the flapping and folding of the aircraft wings to share a single transmission device, which greatly simplifies the structure of the aircraft body. At the same time, it allows the aircraft to adjust the wing deployment state in real time as needed, improving the aircraft's operability.

Description

Technical Field

[0001] This invention belongs to the field of micro-aircraft design and manufacturing technology, specifically relating to a foldable flapping micro-aircraft. Background Technology

[0002] Micro-aircraft, due to their small size, high sensitivity, good stealth, and portability, are widely used in military and civilian fields. In the military field, they can be used for enemy reconnaissance and target search, while in the civilian field, they can replace humans in searching for toxic gases or chemicals and searching for disaster survivors. Among them, foldable flapping-wing aircraft have become a focus of research in various countries due to their excellent aerodynamic characteristics.

[0003] By observing ladybugs and other beetles in nature, it was discovered that after flight, they fold their soft wings and tuck them under the wingtips to better adapt to their surroundings. Straight-wing flapping-wing aircraft cannot pass through passages or spaces smaller than themselves. Foldable-wing flapping-wing micro-aircraft can fold their wings to reduce their surface area and then crawl over obstacles to complete tasks such as exploration. Therefore, the study of ladybugs and other beetles is beneficial to the research of foldable-wing flapping-wing micro-aircraft.

[0004] Currently, in the research of flapping-wing micro-aircraft, the wings are mainly designed as a single piece, which can only perform simple flapping motions and cannot be folded. This results in flapping-wing aircraft being large in size, unable to pass through narrow obstacles for exploration, and inconvenient to carry. Alternatively, most flapping-wing aircraft have complex folding and flapping mechanisms, and the interference between the folding and flapping mechanisms prevents them from generating sufficient lift. Summary of the Invention

[0005] The purpose of this invention is to provide a foldable flapping micro-aircraft with an integrated transmission system control mechanism for controlling the flapping of the flapping micro-aircraft and automatically completing the wing extension and retraction actions before takeoff and after landing, ensuring smooth flight of the aircraft and facilitating recovery and carrying.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A foldable flapping micro-aircraft includes a right wing A, a transmission system B, and a left wing C. The right wing A and left wing C are symmetrical about the fuselage's central axis a-a. Each wing includes a lever 1 and four folding wings located on the wing's folding surface: a first folding wing 3, a second folding wing 4, a third folding wing 5, and a fourth folding wing 6. One end of the first folding wing 3 is rotatably connected to the second folding wing 5. One end of the third folding wing 5 is rotatably connected to the middle of the first folding wing 3, and the other end of the third folding wing 5 is rotatably connected to the end of the fourth folding wing 6. One end of the second folding wing 4 is rotatably connected to the other end of the first folding wing 3, and the other end of the second folding wing 6 is rotatably connected to... The fourth wing 6 is located in the middle; a first spring 8 is installed within the acute-angle connection formed by the first wing 3 and the second wing 4; the wing's swing arm 1 is rotatably connected to one end of the first wing 3, and its rotation direction is on the wing folding surface; a second spring 7 is installed within the acute-angle connection formed by the swing arm 1 and the first wing 3; the transmission system B includes a housing 17, a support frame 11, a first traction line 55 and a second traction line 56, a wing movement control assembly, and a support rod 12 parallel to the wing folding surface; a first rotating coil 15, a second rotating coil 16, and a tenth gear 29 are rotatably connected to the support rod 12; the first rotating coil 15 and the second rotating coil 16... Ring 16 is fixedly connected to the upper and lower surfaces of the tenth gear 29 respectively; the chassis 17 includes a side plate and a front plate and a rear plate fixedly connected to the front and rear ends of the side plate. The side plate is parallel to the wing folding surface, and the front plate and the rear plate are perpendicular to the side plate; the wing control assembly includes a brushless motor 19 and a multi-stage transmission gear; the body of the brushless motor 19 is fixedly connected to the side plate of the chassis 17, and the motor shaft of the brushless motor 19 is perpendicular to the side plate. The first stage shaft 36, the second stage shaft 32, the first second stage shaft 37, the second second stage shaft 33, and the second third stage shaft 34 are all rotatably connected to the side plate of the chassis 17 and are parallel to the motor shaft; the first and third stage shafts 38 is rotatably connected to the front plate of the chassis 17 and is perpendicular to the motor shaft; the first drive shaft 46 and the second drive shaft 40 are rotatably connected to the front plates on both sides of the first third-stage shaft 38, the seventeenth gear 39 is fixedly connected to the first drive shaft 46, and the eighteenth gear 48 is fixedly connected to the second drive shaft 40; the fourth-stage shaft is rotatably connected to the rear plate of the chassis 17 and is perpendicular to the motor shaft; the first first-stage shaft 36 and the second first-stage shaft 32 are located on the front and rear sides of the motor shaft, the first second-stage shaft 37 is located in front of the first first-stage shaft 36, the second second-stage shaft 33 is located behind the second first-stage shaft 32, and the second third-stage shaft 34 is located behind the second second-stage shaft 33;A first gear 20 is fixedly connected to the motor shaft, and an electromagnet 49 is fixedly connected to the first gear 20. A second gear 21, which can move axially, is sleeved on one end of the second primary shaft 32 near the side plate. A second magnetic coil 30 is installed on the second gear 21, which drives the second gear 21 to move axially to the meshing point with the first gear 20. A third gear 22 is also fixedly connected to the end of the second primary shaft 32 away from the side plate. A fourth gear 23 and a fifth gear 24 are fixedly connected to the second secondary shaft 33. A sixth gear 25 and a seventh gear 26 are fixedly connected to the second tertiary shaft 34. An eighth gear 27 and a ninth gear 26 are fixedly connected to the fourth primary shaft 35. Gear 28; the third gear 22 meshes with the fourth gear 23, the fifth gear 24 meshes with the sixth gear 25, the seventh gear 26 meshes with the eighth gear 27, and the ninth gear 28 meshes with the tenth gear 29; an axially movable eleventh gear 41 is fitted onto one end of the first primary shaft 36 near the side plate, and a first magnetic coil 31 is installed on the eleventh gear 41, which drives the eleventh gear 41 to move axially to the meshing position with the first gear 20; a twelfth gear 42 is also fixedly connected to one end of the first primary shaft 36 away from the side plate; a thirteenth gear 43 and a fourteenth gear 44 are fixedly connected to the first secondary shaft 37; the first tertiary shaft 38... The upper part is fixedly connected to the fifteenth gear 47 and the sixteenth gear 45; the twelfth gear 42 meshes with the thirteenth gear 43, the fourteenth gear 44 meshes with the sixteenth gear 45, the fifteenth gear 47 meshes with the seventeenth gear 39, and the fifteenth gear 47 meshes with the eighteenth gear 48; the support frame 11 is fixedly connected to the front plate of the chassis 17, the front end of the support rod 12 is fixedly connected to the support frame 11 and is perpendicular to the support frame 11; the other end of the swing arm 1 is rotatably connected to the support frame 11, and its rotation direction is on a plane perpendicular to the wing folding surface; the middle part of the swing arm 1 of the right wing A is rotatably connected to one end of the first rocker arm 13, and its rotation direction is on a plane perpendicular to the wing folding surface. On a plane perpendicular to the wing folding surface, the other end of the first rocker arm 13 is connected to the eccentric part of the seventeenth gear 39. The middle part of the swing arm 1 of the left wing C is rotatably connected to one end of the second rocker arm 14, and its rotation direction is on a plane perpendicular to the wing folding surface. The other end of the first rocker arm 13 is connected to the eccentric part of the eighteenth gear 48. The middle section of the first traction line 55 is wound around the first rotating coil 15, and both ends are fixedly connected to the connection points of the second folding wing 4 and the fourth folding wing 6 on the left and right wings. The middle section of the second traction line 56 is wound around the second rotating coil 16, and both ends are fixedly connected to the connection points of the first folding wing 3 and the second folding wing 4 on the left and right wings.

[0008] As a more preferred technical solution of the present invention, it also includes a tail fin device D, which is fixedly connected to a support rod 12 via a pin 50. One end of the support rod 12 is fixedly connected to the b hole of the support frame 17, and the other end is fixedly connected to the chassis 17. The pin 50 is fixedly connected to the front end of the rotary servo. The right tail fin rod 52 and the left tail fin rod 53 are respectively fixedly connected to the rear end of the rotary servo.

[0009] As a preferred technical solution of the present invention, the rotating connections within the wing are all via pins.

[0010] As a more preferred technical solution of the present invention, it also includes a fin membrane 54, which is bonded to the top of the left tail fin rod 53 and the right tail fin rod 52.

[0011] As a preferred technical solution of the present invention, the gear module is 0.5. The first gear 20 has 22 teeth, the second gear 21 has 33 teeth, the third gear 22 has 26 teeth, the fourth gear 23 has 33 teeth, the fifth gear 24 has 17 teeth, the sixth gear 25 has 33 teeth, the seventh gear 26 has 20 teeth, the eighth gear 27 has 26 teeth, the ninth gear 28 has 40 teeth, the tenth gear 29 has 44 teeth, the eleventh gear 41 has 33 teeth, the twelfth gear 42 has 26 teeth, the thirteenth gear 43 has 33 teeth, the fourteenth gear 44 has 20 teeth, the sixteenth gear 45 has 26 teeth, the seventeenth gear 39 has 20 teeth, the fifteenth gear 47 has 14 teeth, and the eighteenth gear 48 has 20 teeth.

[0012] As a preferred technical solution of the present invention, the materials of the first folding wing 3, the second folding wing 4, the third folding wing 5, and the fourth folding wing 6 are all photosensitive resin; the first rotating coil 15 and the traction wire for winding the rotating coil are nylon wires.

[0013] As a preferred technical solution of the present invention, the materials of the swing arm 1, the first rocker arm 13, the second rocker arm 14, the support frame 11, the support rod 12, the chassis 17, the left tail wing rod 53, the right tail wing rod 52, and the transmission shafts of each stage are all carbon fiber.

[0014] As a preferred technical solution of the present invention, the wing membrane 2 and wing membrane 54 are made of polyvinyl chloride film.

[0015] As a preferred technical solution of the present invention, the material of the pin is high-density polyethylene.

[0016] As a preferred technical solution of the present invention, the gear, the first rotating coil 15, the second rotating coil 16, the second magnetic induction coil 30 and the first magnetic induction coil 31 are made of POM plastic.

[0017] Since the innovation of this invention lies in the aircraft structure itself, the aircraft drive system, power source and control system are not included in this invention.

[0018] The beneficial effects of this invention are as follows:

[0019] The flapping wing provided by this invention can effectively complete the flapping and folding actions, reducing the exposed area of ​​the wing and facilitating recovery and carrying. This invention allows the flapping and folding of the aircraft wing to share a single transmission device, greatly simplifying the structure of the aircraft body. At the same time, it allows the aircraft to adjust the wing deployment state in real time as needed, improving the aircraft's operability. Attached Figure Description

[0020] Figure 1 This is a top view of the foldable flapping-wing aircraft of the present invention;

[0021] Figure 2 This is a top view of the right and left wings in this invention;

[0022] Figure 3 This is an isometric view of the foldable flapping-wing aircraft of the present invention;

[0023] Figure 4 This is an isometric view of the pendulum rod in this invention;

[0024] Figure 5 This is an isometric view of the first folding wing in this invention;

[0025] Figure 6 This is an isometric view of the second folding wing in this invention;

[0026] Figure 7 This is an isometric view of the third folding wing in this invention;

[0027] Figure 8 This is an isometric view of the fourth folding wing in this invention;

[0028] Figure 9 This is an isometric view of the support frame in this invention;

[0029] Figure 10 This is an isometric view of the first rocker arm in this invention;

[0030] Figure 11 This is an isometric view of the second rocker arm in this invention;

[0031] Figure 12 This is an isometric view of the chassis in this invention;

[0032] Figure 13 This is a right-side cross-sectional view of the transmission device in this invention;

[0033] Figure 14 This is an isometric cross-sectional view of the transmission device in this invention;

[0034] Figure 15 This is a schematic diagram of the fully deployed foldable flapping-wing aircraft of the present invention.

[0035] Figure 16 This is a schematic diagram of the foldable flapping-wing aircraft of the present invention after it has been folded. Detailed Implementation

[0036] The invention will now be further described with reference to the accompanying drawings.

[0037] like Figure 1 As shown, the control flapping folding transmission mechanism and micro-aircraft of the present invention are characterized by comprising a right wing A, a transmission system B, a left wing C, and a tail assembly D. Specifically: the right wing A and the left wing C are symmetrical about the fuselage a-a centerline; the swing arm 1 in the right wing A is movably connected to the support frame 11, and the swing arm 1 in the left wing C is also movably connected to the support frame 11; the support frame 11 is fixedly connected to the housing 17 in the transmission system; the first folding wing 3 and the second folding wing 4 in the left wing A and the right wing B are respectively wound to the first rotating coil 15 and the second rotating coil 16. The pin 50 of the tail assembly D is fixedly connected to the support rod 12; one end of the support rod 12 is fixedly connected to the b-hole of the support frame 17, and the other end is fixedly connected to the housing 17, more specifically as follows:

[0038] The wing includes a lever 1 and a first folding wing 3, a second folding wing 4, a third folding wing 5, and a fourth folding wing 6 located on the wing's folding surface. One end of the first folding wing 3 is rotatably connected to the second folding wing 5. One end of the third folding wing 5 is rotatably connected to the middle of the first folding wing 3, and the other end of the third folding wing 5 is rotatably connected to the end of the fourth folding wing 6. One end of the second folding wing 4 is rotatably connected to the other end of the first folding wing 3, and the other end of the second folding wing 4 is rotatably connected to the middle of the fourth folding wing 6. A first spring 8 is installed within the acute angle connection formed by the first folding wing 3 and the second folding wing 4. The lever 1 of the wing is rotatably connected to one end of the first folding wing 3, and its rotation direction is on the wing's folding surface. A second spring 7 is installed within the acute angle connection formed by the lever 1 and the first folding wing 3. Transmission system B includes a chassis 17, a support frame 11, a first traction line 55 and a second traction line 56, a wing movement control assembly, and a support rod 12 parallel to the wing folding surface. A first rotating coil 15, a second rotating coil 16, and a tenth gear 29 are rotatably connected to the support rod 12. The first rotating coil 15 and the second rotating coil 16 are respectively fixedly connected to the upper and lower surfaces of the tenth gear 29. The chassis 17 includes a side plate and a front plate and a rear plate fixedly connected to the front and rear ends of the side plate. The side plate is parallel to the wing folding surface, and the front and rear plates are perpendicular to the side plate. The wing movement control assembly includes a brushless motor 19 and a multi-stage transmission gear. The body of the brushless motor 19 is fixedly connected to the side plate of the chassis 17, and the motor shaft of the brushless motor 19 is... The side panel is vertical. The first primary shaft 36, the second primary shaft 32, the first secondary shaft 37, the second secondary shaft 33, and the second tertiary shaft 34 are all rotatably connected to the side panel of the chassis 17 and are parallel to the motor shaft. The first tertiary shaft 38 is rotatably connected to the front panel of the chassis 17 and is perpendicular to the motor shaft. The first drive shaft 46 and the second drive shaft 40 are rotatably connected to the front panels on both sides of the first tertiary shaft 38. The seventeenth gear 39 is fixedly connected to the first drive shaft 46, and the eighteenth gear 48 is fixedly connected to the second drive shaft 40. The fourth-stage shaft is rotatably connected to the rear panel of the chassis 17 and is perpendicular to the motor shaft. The first primary shaft 36 and the second primary shaft 32 are located on the front and rear sides of the motor shaft, the first secondary shaft 37 is located in front of the first primary shaft 36, and the second secondary shaft 33... Located behind the second primary shaft 32, the second and third primary shafts 34 are located behind the second and second secondary shafts 33; a first gear 20 is fixedly connected to the motor shaft, and an electromagnet 49 is fixedly connected to the first gear 20; a second gear 21 that can move axially is sleeved on one end of the second primary shaft 32 near the side plate, and a second magnetic coil 30 is installed on the second gear 21, which drives the second gear 21 to move axially to the meshing point with the first gear 20; a third gear 22 is also fixedly connected to one end of the second primary shaft 32 away from the side plate; a fourth gear 23 and a fifth gear 24 are fixedly connected to the second and second secondary shafts 33; a sixth gear 25 and a seventh gear 26 are fixedly connected to the second and third secondary shafts 34; and an eighth gear 27 and a ninth gear 28 are fixedly connected to the fourth primary shaft 35.The third gear 22 meshes with the fourth gear 23, the fifth gear 24 meshes with the sixth gear 25, the seventh gear 26 meshes with the eighth gear 27, and the ninth gear 28 meshes with the tenth gear 29. An axially movable eleventh gear 41 is fitted onto one end of the first primary shaft 36 near the side plate. A first magnetic coil 31 is mounted on the eleventh gear 41, driving it to move axially to mesh with the first gear 20. A twelfth gear 42 is fixedly connected to the end of the first primary shaft 36 away from the side plate. A thirteenth gear 43 and a fourteenth gear 44 are fixedly connected to the first secondary shaft 37. A fifteenth gear 47 and a sixteenth gear 45 are fixedly connected to the first tertiary shaft 38. The twelfth gear 42 meshes with the thirteenth gear 43, the fourteenth gear 44 meshes with the sixteenth gear 45, the fifteenth gear 47 meshes with the seventeenth gear 39, and the fifteenth gear 47 meshes with the eighteenth gear 48. The support frame 11 is fixedly connected to the chassis. On the front panel of 17, the front end of the support rod 12 is fixedly connected to the support frame 11 and is perpendicular to the support frame 11; the other end of the swing rod 1 is rotatably connected to the support frame 11, and its rotation direction is on a plane perpendicular to the wing folding surface; the middle part of the swing rod 1 of the right wing A is rotatably connected to one end of the first rocker arm 13, and its rotation direction is on a plane perpendicular to the wing folding surface, and the other end of the first rocker arm 13 is connected to the eccentric part of the seventeenth gear 39; the middle part of the swing rod 1 of the left wing C is rotatably connected to one end of the second rocker arm 14, and its rotation direction is on a plane perpendicular to the wing folding surface, and the other end of the first rocker arm 13 is connected to the eccentric part of the eighteenth gear 48; the middle section of the first traction line 55 is wound around the first rotating coil 15, and both ends are fixedly connected to the connection points of the second folding wing 4 and the fourth folding wing 6 on the left and right wings; the middle section of the second traction line 56 is wound around the second rotating coil 16, and both ends are fixedly connected to the connection points of the first folding wing 3 and the second folding wing 4 on the left and right wings.

[0039] like Figures 2 to 8As shown, the right wing A and left wing C have the same structure but opposite directions about the center line aa of the micro-aircraft. They are both composed of a swing arm 1, a wing membrane 2, a first folding wing 3, a second folding wing 4, a third folding wing 5, a fourth folding wing 6, a first spring 7, and a second spring 8. Wherein: the swing arm 1 is provided with holes e, f and g; the first wing 3 is provided with holes h, i and k; the second wing 4 is provided with holes l and m; the third wing 5 is provided with holes n and o; the fourth wing 6 is provided with holes p and q; the holes e and g of the swing arm 1 are rotatably connected to holes a and h of the support frame respectively via pins; the holes i of the first wing 3 are rotatably connected to holes n of the third wing 5 via pins, and the holes k at the lower end are rotatably connected to holes m of the second wing 4 via pins; the holes o of the third wing 5 are rotatably connected to holes p of the fourth wing 6 via pins; the holes l of the second wing 4 are rotatably connected to holes q of the fourth wing 6; the two ends of the first spring 7 are respectively bonded to the swing arm 1 and the first wing 3; the two ends of the second spring 8 are respectively bonded to the second wing 4 and the first wing 3; the wing membrane 2 is bonded to the top of the swing arm 1, the fourth wing 6 and the support rod 12.

[0040] like Figures 9 to 14 As shown, the transmission system comprises a pin shaft 9, a support frame 11, a support rod 12, a first rocker arm 13, a second rocker arm 14, a chassis 17, a four-stage transmission system, and a five-stage transmission system. The four-stage transmission system comprises a brushless motor 19, a first gear 20, a first magnetic coil 31, an eleventh gear 41, a twelfth gear 42, a thirteenth gear 43, a fourteenth gear 44, a sixteenth gear 45, a seventeenth gear 39, a fifteenth gear 47, an eighteenth gear 48, an electromagnet 49, a first-stage shaft 36, a first-stage shaft 37, a first-stage shaft 38, a first transmission shaft 46, and a second transmission shaft 40. The five-stage transmission system comprises a brushless motor 19, a first gear 20, an electromagnet 49, a second gear 21, a third gear 22, a fourth gear 23, a fifth gear 24, a sixth gear 25, a seventh gear 26, an eighth gear 27, a ninth gear 28, a tenth gear 29, a first rotating coil 15, and a second rotating coil. The system comprises: coil 16, second magnetic induction coil 30, first-stage shaft 32, second-stage shaft 33, third-stage shaft 34, fourth-stage shaft 35, electromagnet 49, first rotating coil 15, and second rotating coil 16; the four-stage transmission system wherein: eleventh gear 41 meshes with first gear 20; thirteenth gear 43 meshes with twelfth gear 42; sixteenth gear 45 meshes with fourteenth gear 44; and the left and right ends of fifteenth gear 47 mesh with seventeenth gear 39 and eighteenth gear 48 respectively; the five-stage transmission system wherein: first gear 20 meshes with second gear 21; third gear 22 meshes with fourth gear 23; fifth gear 24 meshes with sixth gear 25; seventh gear 26 meshes with eighth gear 27; and ninth gear 28 meshes with tenth gear 29.

[0041] The chassis 17 is provided with holes d1, d2, d3, t, u, v, w, x, y, and z; the primary shaft 32, secondary shaft 33, tertiary shaft 34, first primary shaft 36, and first secondary shaft 37 are linearly distributed. The primary shaft 32 is fixedly mounted with a third gear 22 and movably mounted with a second gear 21 and a second magnetic coil 30; the upper and lower ends of the secondary shaft 33 are fixedly mounted with a fifth gear 24 and a fourth gear 23; the upper and lower ends of the tertiary shaft 34 are fixedly mounted with a seventh gear 26 and a sixth gear 25; the support rod 12 is fixedly mounted with a tenth gear 29, a first rotating coil 15, and a second rotating coil 16; the first gear 20 is fixedly mounted on the brushless motor 19; the upper end of the first primary shaft 36 is fixedly connected to the twelfth gear 42 and an electromagnet 49, and the lower end is movably connected to the eleventh gear 41 and the first magnetic coil 31; the... The fourteenth gear 44 and the thirteenth gear 43 are fixedly connected to the upper and lower ends of the first and second stage shafts 37; the sixteenth gear 45 and the fifteenth gear 47 are fixedly connected to the first and third stage shafts 38; the seventeenth gear 39 is fixedly connected to the first transmission shaft 46, and the eighteenth gear 48 is fixedly connected to the second transmission shaft 40; the eighth gear 27 and the ninth gear 28 are fixedly connected to the transmission shaft 35; the first rotating coil 15 and the second rotating coil 16 are fixedly connected to the two ends of the tenth gear 29; the second magnetic coil 30 is fixedly connected to the lower end of the second gear 21; the first magnetic coil 31 is fixedly connected to the lower end of the eleventh gear 41; the r hole and s hole of the first rocker arm 13 are rotatably connected to the seventeenth gear 39 and the rocker arm 1f hole, respectively; the r1 hole and s1 hole of the second rocker arm 14 are rotatably connected to the rocker arm 1f hole and the fifteenth gear 47, respectively.

[0042] like Figure 3 As shown, the tail fin assembly D consists of a pin 50, a rotary servo 51, a right tail fin rod 52, a left tail fin rod 53, and a wing membrane 54. The pin 50 is fixedly connected to the front end of the rotary servo; the right tail fin rod 52 and the left tail fin rod 53 are respectively fixedly connected to the rear end of the rotary servo. The wing membrane 54 is bonded to the top of the left tail fin rod 53 and the right tail fin rod 52.

[0043] All gears have a module of 0.5. The first gear 20 has 22 teeth, the second gear 21 has 33 teeth, the third gear 22 has 26 teeth, the fourth gear 23 has 33 teeth, the fifth gear 24 has 17 teeth, the sixth gear 25 has 33 teeth, the seventh gear 26 has 20 teeth, the eighth gear 27 has 26 teeth, the ninth gear 28 has 40 teeth, the tenth gear 29 has 44 teeth, the eleventh gear 41 has 33 teeth, the twelfth gear 42 has 26 teeth, the thirteenth gear 43 has 33 teeth, the fourteenth gear 44 has 20 teeth, the sixteenth gear 45 has 26 teeth, the seventeenth gear 39 has 20 teeth, the fifteenth gear 47 has 14 teeth, and the eighteenth gear 48 has 20 teeth.

[0044] The first folding wing 3, the second folding wing 4, the third folding wing 5, and the fourth folding wing 6 are all made of photosensitive resin; the first rotating coil 15 and the coil winding are made of nylon thread. The swing arm 1, the first rocker arm 13, the second rocker arm 14, the support frame 11, the support rod 12, the chassis 17, the left tail wing rod 53, the right tail wing rod 52, and the various drive shafts are all made of carbon fiber. The wing membrane 2 and the wing membrane 54 are made of polyvinyl chloride film; the pins are all made of high-density polyethylene. The gear set, the first rotating coil 15, the second rotating coil 16, the second magnetic induction coil 30, and the first magnetic induction coil 31 are made of POM plastic.

[0045] When the folding aircraft completes its flight and during the landing process, the control system sends a signal, and the brushless motor 19 stops rotating. It then slides to the ground by inertia. This position is called the initial folding state.

[0046] Wing folding process: Initial state as shown in the attached image. Figure 15As shown, the wings are still fully deployed, the first spring 7 and the second spring 8 are not stretched or retracted, the eleventh gear 41 is engaged with the first gear 20, the motor switch is turned off to stop the brushless motor 19 from rotating, and the wings stop flapping; when the control system sends signal A, the eleventh gear 41 disengages from the first gear 20, the eleventh gear 41 slides downwards, and at the same time, the electromagnet 49 and the second magnetic coil 30 are attracted by opposite poles, the second gear 21 moves upwards and engages with the first gear 20, the motor switch is turned on, the five-stage transmission system starts to operate, and the first gear 20 and the second gear 21 engage. The motor rotates, with the third gear 22 and the fourth gear 23 meshing and rotating, the fifth gear 24 and the sixth gear 25 meshing and rotating, the seventh gear 26 and the eighth gear 27 meshing and rotating, and the ninth gear 28 and the tenth gear 29 meshing and rotating. The tenth gear 29 drives the first rotating coil 15 and the second rotating coil 16 to rotate, causing the first wing 3 and the second wing 4 to retract under tension. When the coils have rotated a certain number of times, the motor stops rotating. At this time, the spring is in a contracted state. Due to the motor's reverse self-locking, the wings will not extend in the opposite direction, allowing the wings to fold and retract smoothly, reducing the exposed length of the wings. The folded position is shown in the attached figure. Figure 16 As shown.

[0047] Wing Spread Process: Initial state is attached Figure 16 As shown, when the aircraft is preparing to take off again, the wireless control signal B is emitted, the second gear 21 slides down, and at the same time the first magnetic coil 31 and the electromagnet 49 attract each other with opposite polarities. The eleventh gear 41 moves upward and meshes with the first gear 20. At this time, the wing unfolds due to the tension of the spring, and the first rotating coil 15 and the second rotating coil 16 rotate in opposite directions until the wing is fully unfolded. The motor switch is turned on, and the four-stage transmission system starts to operate. The eleventh gear 41 meshes with the first gear 20 and rotates, the thirteenth gear 43 meshes with the twelfth gear 42 and rotates, the sixteenth gear 45 meshes with the fourteenth gear 44 and rotates, and the left and right ends of the fifteenth gear 47 mesh with the seventeenth gear 39 and the eighteenth gear 48 respectively to rotate. The first rocker arm 13 and the second rocker arm 14 drive the two swing arms 1 to move up and down reciprocally. Finally, the entire wing unfolds and flaps smoothly.

[0048] In this invention, the front end refers to the direction in which the head of the micro-aircraft is located, which is also the direction in which the aircraft moves forward during flight.

[0049] In this invention, the wing folding surface is the plane formed by the first folding wing 3, the second folding wing 4, the third folding wing 5, and the fourth folding wing 6.

[0050] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A foldable flapping micro-aircraft, characterized in that: The aircraft includes a right wing, a transmission system, and a left wing. The right and left wings are symmetrical about the fuselage-centerline. Each wing includes a control arm and four folding wings located on the wing's folding surface: a first folding wing, a second folding wing, a third folding wing, and a fourth folding wing. One end of the first folding wing is rotatably connected to the second folding wing; one end of the third folding wing is rotatably connected to the middle of the first folding wing; the other end of the third folding wing is rotatably connected to the end of the fourth folding wing; one end of the second folding wing is rotatably connected to the other end of the first folding wing; the other end of the second folding wing is rotatably connected to the middle of the fourth folding wing. A first spring is installed within the acute-angle connection formed by the first and second folding wings. The control arm of the wing is rotatably connected to one end of the first folding wing, and its rotation direction is within the wing's centerline. On the folding surface, a second spring is installed within the acute angle connection formed by the swing arm and the first folding wing; the transmission system includes a chassis, a support frame, a first traction line and a second traction line, a wing control assembly, and a support rod parallel to the wing folding surface. A first rotating coil, a second rotating coil, and a tenth gear are rotatably connected to the support rod; the first and second rotating coils are fixedly connected to the upper and lower surfaces of the tenth gear, respectively; the chassis includes a side plate and a front and rear plate fixedly connected to the front and rear ends of the side plate. The side plate is parallel to the wing folding surface, and the front and rear plates are perpendicular to the side plate; the wing control assembly includes a brushless motor and a multi-stage transmission gear; the body of the brushless motor is fixedly connected to the side plate of the chassis. Above, the motor shaft of the brushless motor is perpendicular to the side plate. The first-stage shaft, second-stage shaft, first-second-stage shaft, second-second-stage shaft, and second-third-stage shaft are all rotatably connected to the side plate of the chassis and parallel to the motor shaft. The first-third-stage shaft is rotatably connected to the front plate of the chassis and perpendicular to the motor shaft. The first and second drive shafts are rotatably connected to the front plates on both sides of the first-third-stage shaft. The seventeenth gear is fixedly connected to the first drive shaft, and the eighteenth gear is fixedly connected to the second drive shaft. The fourth-stage shaft is rotatably connected to the rear plate of the chassis and perpendicular to the motor shaft. The first and second-stage shafts are located on the front and rear sides of the motor shaft, respectively. The first-second-stage shaft is located in front of the first-stage shaft, and the second-second-stage shaft is located behind the second-stage shaft. Located behind the second and second stage shafts; a first gear is fixedly connected to the motor shaft, and an electromagnet is fixedly connected to the first gear. A second gear that can move axially is sleeved on one end of the second stage shaft near the side plate. A second magnetic coil is installed on the second gear, which drives the second gear to move axially to the meshing position with the first gear. A third gear is also fixedly connected to the end of the second stage shaft away from the side plate. A fourth and fifth gear are fixedly connected to the second and second stage shafts. A sixth and seventh gear are fixedly connected to the second and third stage shafts. An eighth and ninth gear are fixedly connected to the fourth stage shaft. The third gear meshes with the fourth gear, the fifth gear meshes with the sixth gear, the seventh gear meshes with the eighth gear, and the ninth gear meshes with the tenth gear.An eleventh gear, movable axially, is fitted onto one end of the first-stage shaft near the side plate. A first magnetic coil is mounted on the eleventh gear, driving it to move axially to mesh with the first gear. A twelfth gear is fixedly connected to the end of the first-stage shaft away from the side plate. A thirteenth and fourteenth gears are fixedly connected to the first-secondary shaft, and a fifteenth and sixteenth gears are fixedly connected to the first-third-stage shaft. The twelfth and thirteenth gears mesh, the fourteenth and sixteenth gears mesh, the fifteenth and seventeenth gears mesh, and the fifteenth and eighteenth gears mesh. The support frame is fixedly connected to the front panel of the chassis, and the front end of the support rod is fixedly connected to the support frame and perpendicular to it. The other end of the swing rod is connected to the support... The struts are rotatably connected, with their rotation direction perpendicular to the wing folding surface. The middle of the right wing's swing arm is rotatably connected to one end of the first rocker arm, with its rotation direction perpendicular to the wing folding surface. The other end of the first rocker arm is connected to the eccentricity of the seventeenth gear. The middle of the left wing's swing arm is rotatably connected to one end of the second rocker arm, with its rotation direction perpendicular to the wing folding surface. The other end of the first rocker arm is connected to the eccentricity of the eighteenth gear. The middle section of the first traction line is wound around the first rotating coil, and both ends are fixedly connected to the connection points of the second and fourth folding wings on the left and right wings. The middle section of the second traction line is wound around the second rotating coil, and both ends are fixedly connected to the connection points of the first and second folding wings on the left and right wings.

2. The foldable flapping micro-aircraft as described in claim 1, characterized in that: It also includes a tail fin device, which is fixedly connected to a support rod via a pin. One end of the support rod is fixedly connected to the support frame, and the other end is fixedly connected to the chassis. The pin is fixedly connected to the front end of the rotating servo motor. The right tail fin and the left tail fin are fixedly connected to the rear end of the rotary servo.

3. The foldable flapping micro-aircraft as described in claim 1, characterized in that: It also includes a fin membrane, which is bonded to the top of the left and right tail fins.

4. The foldable flapping micro-aircraft as described in claim 1, characterized in that: The first, second, third, and fourth flaps are all made of photosensitive resin.

5. The foldable flapping micro-aircraft as described in claim 1, characterized in that: The traction line is made of nylon.

6. The foldable flapping micro-aircraft as described in claim 1, characterized in that: The aforementioned rocker arm, first rocker arm, second rocker arm, support frame, support rod, chassis, left tail wing rod, right tail wing rod, and all stages of drive shafts are made of carbon fiber.

7. The foldable flapping micro-aircraft as described in claim 1, characterized in that: The gear set, the first rotating coil, the second rotating coil, the second magnetic induction coil, and the first magnetic induction coil are all made of plastic.

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