Flapping-wing device and aircraft

Abstract

The present invention discloses a flapping-wing device and an aircraft, which relate to the field of aircraft technology and aim to solve the problem that flapping and flipping movements of existing flapping-wing aircraft require at least three motors to achieve, thereby increasing the overall weight. The bionic flapping-wing device includes: a driving mechanism, a transmission mechanism, a support structure, and a flapping-wing mechanism hinged to the support mechanism. The transmission mechanism includes a reciprocating motion component and a gear mechanism. The reciprocating motion component includes a linear guide rail, a rotatable component, and a thrust structure. The aircraft includes the flapping-wing device. The bionic flapping-wing device and aircraft provided by the present invention are used to reduce the weight of a flapping-wing aircraft, and only one motor is required to achieve simultaneous flapping and flipping movements.

Description

Technical Field

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

[0002] Compared to rotor and fixed-wing mechanisms, flapping-wing mechanisms offer significant flexibility, maneuverability, and stealth. As the size of the mechanism decreases, the efficiency of rotor and fixed-wing lift generation decreases significantly, while flapping-wing mechanisms can produce relatively stable aerodynamic effects. Consequently, flapping-wing mechanisms have found widespread application in low-Reynolds-number applications such as micro-aircraft and underwater vehicles.

[0003] However, existing flapping-wing mechanisms capable of both flapping and rotational degrees of freedom mostly employ a tandem design, meaning that the flapping and turning motions are driven by separate motors, requiring at least three motors to achieve the movement of both wings. This increased number of motors increases overall weight, energy consumption, and mechanical efficiency. Furthermore, the coordinated operation of multiple motors slows down the chip's computing speed, making pulse instability more likely and leading to inaccurate control. Summary of the Invention

[0004] The object of the present invention is to provide a flapping-wing device and an aircraft, which are used to reduce the weight of the flapping-wing aircraft and only require one motor to achieve simultaneous flapping and flipping movements.

[0005] In a first aspect, the present invention provides a flapping wing device, comprising:

[0006] A driving mechanism, a transmission mechanism, a support structure, and a flapping-wing mechanism hinged on the support mechanism, wherein the transmission mechanism includes a reciprocating motion component and a gear mechanism, and the reciprocating motion component includes a linear guide rail, a rotatable component, and a thrust structure;

[0007] The driving mechanism is hinged to the linear guide rail, the rotatable component is connected to the flapping mechanism through the gear mechanism, the rotatable component is movably arranged on the linear guide rail, the thrust structure is fixed on the linear guide rail, the driving mechanism is used to drive the rotatable component to move along the guide direction of the linear guide rail, and when the thrust structure cooperates with the rotatable component, the thrust structure is used to provide rotational driving force to the rotatable component.

[0008] Compared to the prior art, the flapping-wing device provided in an embodiment of the present invention includes a drive mechanism, a transmission mechanism, a gear mechanism, a support structure, and a flapping-wing mechanism hinged to the support mechanism. The transmission mechanism includes a reciprocating motion component and a gear mechanism, and the reciprocating motion component includes a linear guide, a rotatable component, and a thrust structure. When the drive mechanism is hinged to the linear guide, the drive mechanism can drive the linear guide to rotate about the hinge point. In this case, since the rotatable component is movably mounted on the linear guide and the thrust structure is fixed to the linear guide, when the linear guide rotates about the hinge point, it can drive the rotatable component to rotate together. The rotatable component is also connected to the flapping-wing mechanism via a gear mechanism, thereby driving the flapping-wing mechanism to flap. Simultaneously, the drive mechanism can also drive the rotatable component to move along the guide direction of the linear guide. When the thrust structure cooperates with the rotatable component, the thrust structure can provide a rotational driving force to the rotatable component, causing the rotatable component to rotate, thereby driving the gear mechanism to rotate, and in turn driving the flapping-wing mechanism to flip. Therefore, the flapping-wing device provided by the embodiment of the present invention can realize the active control of the flapping-wing mechanism to simultaneously perform the flipping motion during the flapping motion, making the bionics closer to real flapping-wing creatures.

[0009] In addition, the flapping device of the embodiment of the present invention can use a single driving mechanism to realize the simultaneous flipping movement of the flapping mechanism during the flapping movement, reducing the number of motors, reducing the overall weight, and making the movement process of the entire mechanism more stable and reliable.

[0010] As can be seen from the above, the flapping-wing device provided by the embodiment of the present invention reduces the weight of the flapping-wing aircraft, and only requires one motor to achieve simultaneous flapping and flipping movements.

[0011] In a second aspect, an embodiment of the present invention provides an aircraft, comprising the flapping-wing device described in the first aspect.

[0012] Compared with the prior art, the beneficial effects of the aircraft provided by the present invention are the same as the beneficial effects of the flapping-wing device described in the first aspect above, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic diagram of the structure of a flapping-wing device according to an embodiment of the present invention;

[0014] Figure 2 A rear view of a flapping-wing device according to an embodiment of the present invention;

[0015] Figure 3 Schematic diagram of the structure of the transmission mechanism and flapping mechanism of an embodiment of the present invention;

[0016] Figure 4 is a schematic structural diagram of a rotatable component according to an embodiment of the present invention;

[0017] Figure 5 Schematic diagram of the structure of a movable mounting member according to an embodiment of the present invention;

[0018] Figure 6 is a schematic diagram of a protruding structure in a clamped state according to an embodiment of the present invention;

[0019] Figure 7 Schematic diagram of the exploded structure of the second limiting member according to an embodiment of the present invention.

[0020] Reference numerals:

[0021] 100-driving mechanism, 110-driving motor, 120-crank slider mechanism, 121-rotating member, 122-guide connecting member, 123-sliding rod, 124-slider, 200-transmission mechanism, 210-reciprocating motion component, 211-linear guide rail, 212-rotatable component, 2121-rotatable sleeve, 2122-force bearing member, 2123-protruding structure, 213-thrust structure, 213a-first thrust structure, 213b-second thrust structure, 214- Movable mounting member, 2141-rotating shaft, 2142-slider of movable mounting member, 2143-first limiting member, 2143a-first limiting column, 2143b-second limiting column, 215-second limiting member, 2151-spring seat, 2152-elastic member, 2153-spring cap, 220-gear mechanism, 2201-driving bevel gear, 2202-driven bevel gear, 300-support structure, 400-flapping wing mechanism, 500-flapping wing connector, 600-frame. DETAILED DESCRIPTION

[0022] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. "Several" means one or more, unless otherwise specifically defined.

[0025] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0026] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and may encompass internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0027] Micro-UAVs are becoming increasingly popular in both military and civilian applications, playing an increasingly important role. Flapping-wing motion is widespread in nature, for example in insects (such as dragonflies), birds (such as hummingbirds), and aquatic organisms (such as turtles). Bionic flapping-wing micro-aircraft (MAVs) are aircraft inspired by insects and birds. Compared to rotors and fixed-wing systems, flapping-wing mechanisms offer significant flexibility, maneuverability, and stealth. As the size of the mechanism decreases, the efficiency of rotors and fixed-wing systems in generating lift decreases significantly, while flapping-wing mechanisms can generate relatively stable aerodynamic effects. Flapping-wing flight relies heavily on vertical lift, and the key to achieving flight in robots lies in generating sufficient lift and controlling aerodynamic forces. Therefore, flapping-wing flight has found widespread application in low-Reynolds-number applications such as MAVs and underwater vehicles, making flapping-wing aircraft a key research topic for MAVs.

[0028] For flapping-wing aircraft, the design of the flapping-wing mechanism is related to the aerodynamic performance and flight efficiency of the entire aircraft. Flapping motion consists of two movements: flapping of the wings and flipping of the wings. Most existing flapping-wing aircraft at home and abroad can only achieve a single flapping motion, which is achieved by controlling the speed of a single motor through PID to drive the mechanism, thereby achieving flapping motion. For flipping motion, most can only be passively adjusted by aerodynamic force acting on the flexible wings to cause them to deform, and active control cannot be achieved. Therefore, it is impossible to fully imitate the movement laws of flapping-wing organisms in nature, resulting in insufficient movement and control of the aircraft.

[0029] Currently, some flapping-wing aircraft are capable of flapping movements, most of which use a serial mechanism design, that is, the flapping and flipping movements are driven by different motors. However, there are two problems with serial drive. First, the mechanism is redundant. At least two motors are required to control the two-degree-of-freedom movement of a single wing, and at least three motors are required to control the movement of two wings. The motor responsible for controlling the flipping movement needs to be fixed on the wing and flaps with the wings, which puts a heavy burden on the motor responsible for the flapping movement, increases energy consumption, and reduces the efficiency of the mechanism. Second, for the control system, the increase in motors slows down the chip's computing speed, making pulse instability prone to occur, leading to inaccurate control.

[0030] To address the above issues, embodiments of the present invention provide a flapping-wing device and aircraft, which are used to reduce the weight of a flapping-wing aircraft and achieve simultaneous flapping and flipping motions with only a single motor. It should be understood that the flapping-wing device is applied to a micro-aircraft and is a bionic flapping-wing device.

[0031] Figure 1 A schematic structural diagram of a flapping-wing device according to an exemplary embodiment of the present invention is shown. Figure 2 FIG. 2 shows a rear view of a flapping wing device according to an exemplary embodiment of the present invention. Figure 1 and Figure 2 As shown, the flapping-wing device provided by the exemplary embodiment of the present invention includes a drive mechanism 100, a transmission mechanism 200, a support structure 300, and a flapping-wing mechanism 400 hinged on the support mechanism 300. The drive mechanism 100 is hingedly connected to the transmission mechanism 200, and the transmission mechanism 200 is transmission-connected to the flapping-wing mechanism 400. It should be understood that the drive mechanism 100 can perform up and down reciprocating motion, and the flapping wings of the flapping-wing mechanism are flexible flapping wings.

[0032] When implementing it specifically, Figure 1 As shown, when the driving end of the driving mechanism 100 starts to make up and down reciprocating motion, it can drive the transmission mechanism 200 to rotate up and down around the hinge point, thereby driving the flapping mechanism 400 to flap.

[0033] For example, Figure 3FIG. 1 shows a schematic structural diagram of a transmission mechanism and a flapping mechanism according to an exemplary embodiment of the present invention. Figures 1 to 3 As shown, the transmission mechanism 200 includes a reciprocating motion component 210 and a gear mechanism 220. The reciprocating motion component 210 includes a linear guide 211, a rotatable component 212, and a thrust structure 213. The driving mechanism 100 is hinged to the linear guide 211, and the rotatable component 212 is transmission-connected to the flapping mechanism 400 via the gear mechanism 220. The rotatable component 212 is movably disposed on the linear guide 211, and the thrust structure 213 is fixed to the linear guide 211. The driving mechanism 100 is used to drive the rotatable component 212 to move along the guide direction of the linear guide 211. When the thrust structure 213 cooperates with the rotatable component 212, the thrust structure 213 is used to provide rotational driving force to the rotatable component 212. Among them, the reciprocating motion component 210 is transmission-connected to the gear mechanism 220.

[0034] For example, Figure 3 As shown, the gear mechanism 220 may include a driving bevel gear 2201 and a driven bevel gear 2202. The driving bevel gear 2201 and the driven bevel gear 2202 mesh with each other, with their centerlines perpendicular and coplanar, and a gear ratio of 1:1. The driving bevel gear 2201 is also in driving connection with the rotatable component 212, while the driven bevel gear 2022 is in driving connection with the flapping wing mechanism. The driven bevel gear 2202 has a circular hole, and the flapping wing mechanism utilizes the circular hole in the driven bevel gear 2202 to fasten and assemble with the driven bevel gear 2202. The movement pattern is identical to that of the driven bevel gear.

[0035] Exemplarily, the flapping-wing device of the embodiment of the present invention further includes a flapping-wing connector 500, through which the flapping-wing mechanism 400 is transmission-connected to the gear mechanism 220. The flapping-wing mechanism 400 is also hingedly connected to the support structure 300 via the flapping-wing connector 500, and the gear mechanism 220 is fixed to the flapping-wing connector 500. It should be understood that the support structure 300 is fixed to the frame 600, and the flapping-wing connector 500 can be configured as a U-shape, having three end faces, one of which is used to fix the driving bevel gear 2201, one is used to fix the driven bevel gear 2202, and the other is used to hinge with the support structure 300. This achieves vertical meshing between the driving bevel gear 2201 and the driven bevel gear 2202.

[0036] For example, if Figure 3As shown, the above-mentioned linear guide rail can be a slide rail with a slide groove, and the rotatable component 212 can be slidably connected to the linear guide rail 211 through the slide groove, so that the rotatable component 212 can slide along the guide direction of the linear guide rail 211. For the convenience of implementation, the above-mentioned thrust structure 213 can be a rotation limit column arranged on the side of the linear guide rail near its two ends. The rotation limit column can be set to two, and the two rotation limit columns can be arranged on the same side of the linear guide rail 211, or on both sides of the linear guide rail 211, which is not limited here. The rotation limit column is used to limit the distance that the rotatable component 212 slides along the guide direction of the linear guide rail 211. When there are two thrust structures 213, the two thrust structures can be defined as a first thrust structure 213a and a second thrust structure 213b, and the first thrust structure 213a and the second thrust structure 213b can be arranged on the same side of the linear guide rail.

[0037] When implementing it specifically, Figures 1 to 3 As shown, when the driving end of the drive mechanism 100 begins to reciprocate up and down, it can drive the reciprocating assembly 210 to rotate up and down around the hinge point. At this time, since the reciprocating assembly 210 is in transmission connection with the gear mechanism 220, it can drive the gear mechanism 220 to rotate up and down around the hinge point. At the same time, since the flapping-wing mechanism 400 is also hinged to the support structure 300 via the flapping-wing connector 500, and the support structure 300 is fixed to the frame, the flapping-wing mechanism 400 can rotate around the hinge point between the flapping-wing connector 500 and the support structure 300, causing the flapping-wing mechanism 400 to flap. It can be seen that the embodiment of the present invention can directly use the drive mechanism 100 to make the reciprocating assembly 210 reciprocate. In addition, the reciprocating motion assembly 210 includes a linear guide rail 211 , a rotatable assembly 212 and a thrust structure 213 . The rotatable assembly 212 is movably disposed on the linear guide rail 211 , and the thrust structure 213 is fixed on the linear guide rail 211 .

[0038] On this basis, since the driving mechanism 100 is hinged to the linear guide 211, the driving mechanism 100 can drive the linear guide 211 to rotate up and down around the hinge point. At the same time, it can also drive the rotatable component 212 to move along the guide direction of the linear guide 211. When the thrust structure 213 contacts the rotatable component 212, the thrust structure 213 can provide a rotational driving force to the rotatable component 212, so that the rotatable component 212 can rotate, thereby driving the upper active bevel gear 2201 to rotate. The upper active bevel gear 2201 is vertically meshed with the driven bevel gear 2202. When the active bevel gear 2201 rotates, it drives the driven bevel gear 2202 to rotate, thereby driving the flexible flapping wing to achieve flipping motion. Therefore, the flapping wing device provided in the embodiment of the present invention can realize the active control of the flapping wing mechanism to perform flipping motion simultaneously during the flapping motion, making the bionics closer to real flapping wing creatures.

[0039] In one achievable approach, Figure 4 FIG. 2 shows a schematic structural diagram of the rotatable component 212 according to an embodiment of the present invention. Figure 4 As shown, the rotatable component 212 of the embodiment of the present invention includes a rotatable sleeve 2121 movably provided on the linear guide rail 211, and the rotatable sleeve 2121 has a force-bearing member 2122 for cooperating with the thrust structure 213. When the force-bearing member 2122 cooperates with the thrust structure 213, the thrust structure 213 is used to apply a rotational driving force to the force-bearing member 2122. It should be understood that the force-bearing member 2122 of the rotatable sleeve 2121 can be a paddle arranged along the circumference of the rotatable sleeve 2121, and the number of paddles can be multiple. The rotatable component 212 is transmission-connected to the gear mechanism 220 through the rotatable sleeve 2121. The gear shaft of the active bevel gear 2201 is fastened to the rotatable sleeve 2121 through the through hole of the rotatable sleeve 2121, and the movement laws of the two are exactly the same.

[0040] In specific implementations, when the rotatable assembly 212 reciprocates along the linear guide 211 and approaches one end of the linear guide 211, the force-bearing member 2122 contacts the thrust structure 213. The thrust structure 213 applies a reverse force to the force-bearing member 2122, causing the force-bearing member 2122 to rotate in the opposite direction of the thrust structure 213, thereby driving the rotatable sleeve 2121 in the opposite direction. At this time, since the rotatable sleeve 2121 is also connected to the flapping-wing mechanism 400 via the gear mechanism 220, the rotatable sleeve 2121 drives the flapping-wing mechanism 400 to perform a flipping motion via the gear mechanism 220. When the rotatable assembly 212 reciprocates along the linear guide 211 and approaches the other end of the linear guide 211, the entire rotatable assembly 212 rotates in the opposite direction of the thrust structure 213 at the other end, thereby driving the flapping-wing mechanism 400 to perform a flipping motion via the gear mechanism 220.

[0041] In one achievable approach, Figure 3 As shown, the reciprocating motion assembly 210 of the embodiment of the present invention further includes a movable mounting member 214 movably provided on the linear guide rail. Figure 5 FIG. 1 shows a schematic structural diagram of a movable mounting member according to an embodiment of the present invention. Figures 1 to 5 As shown, the movable mounting member 214 has a rotating shaft 2141, and the rotatable sleeve 2121 is rotatably mounted on the rotating shaft 2141. The movable mounting member 214 is slidably connected to the linear guide rail 211. The bottom of the movable mounting member 214 has a slider 2142 that cooperates with the linear guide rail 211, so that the movable mounting member 214 and the linear guide rail 211 are slidably connected.

[0042] In specific implementation, the above-mentioned rotatable sleeve 2121 is rotatably mounted on the rotating shaft 2141. When the force-bearing member 2122 is subjected to the reverse force applied by the thrust structure 213, the rotatable sleeve 2121 can be rotated by the rotating shaft 2141. The rotatable sleeve 2121 is also connected to the gear mechanism 220 for transmission, thereby providing rotational force to the gear mechanism 220, so that the gear mechanism drives the flapping mechanism to perform a flipping motion.

[0043] For example, Figure 4 As shown, the rotatable sleeve 2121 of the embodiment of the present invention further has a protruding structure 2123 . Figure 6 FIG1 shows a schematic diagram of a clamped state of a protruding structure according to an embodiment of the present invention. Figure 6 As shown, the reciprocating motion assembly 210 further includes: a first limiting member 2143 and a second limiting member 215 , the second limiting member is an elastic limiting member, and the first limiting member 2143 and the second limiting member 215 are used to clamp the protruding structure 2123 .

[0044] To facilitate installation, Figure 6 As shown, the first limiting member can be two limiting columns provided on the movable mounting member 214, and the two limiting columns can be defined as a first limiting column 2143a and a second limiting column 2143b. When there are two force-bearing members, the two force-bearing members can be defined as a first force-bearing member 2122a and a second force-bearing member 2122b. The first force-bearing member 2122a and the second force-bearing member 2122b can be symmetrically arranged around the circumference of the rotatable sleeve, and the first limiting column 2143a and the second limiting column 2143b can be respectively arranged between the first force-bearing member 2122a and the second force-bearing member 2122b. In particular, the protruding structure 2123 can be provided as one, and the protruding structure 2123 can be arranged between the first force-bearing member 2122a and the second force-bearing member 2122b. At the same time, the first limiting column 2143a is arranged between the protruding structure 2123 and the first force-bearing member 2122a. At this time, the elastic limiting member can be arranged between the protruding structure 2123 and the second force-bearing member 2122b, and the elastic limiting member and the first limiting column 2143a clamp the protruding structure at the same time.

[0045] When implementing it specifically, Figures 1 to 6As shown, when the drive mechanism 100 drives the linear guide 211 to rotate about the hinge point, the rotatable assembly 212 can reciprocate along the guide of the linear guide 211. When the rotatable assembly 212 moves until the force-bearing member 2122 contacts the first thrust structure 213a, the first thrust structure 213a applies a force to the force-bearing member 2122, causing the force-bearing member 2122 to rotate, thereby driving the rotatable assembly 212 to rotate, and then using the gear mechanism 220 to drive the flapping-wing mechanism 400 to flip. When the rotatable assembly 212 moves until the force-bearing member 2122 contacts the second thrust structure 213b, the second thrust structure 213b applies a force to the force-bearing member 2122, causing the force-bearing member 2122 to rotate in the opposite direction, thereby driving the rotatable assembly 212 to rotate in the opposite direction, and then using the gear mechanism 220 to drive the flapping-wing mechanism 400 to flip in the opposite direction. Active control of the flapping mechanism 400 to simultaneously perform flipping motion during the flapping motion is achieved, making the bionics closer to a real flapping creature.

[0046] On this basis, when the rotatable sleeve 2121 moves until the force-bearing member 2122 contacts the first thrust structure 213a, the first thrust structure 213a applies a force to the force-bearing member 2122, causing the force-bearing member 2122 to rotate. At this time, because the second limiting column 2143b is located between the first force-bearing member 2122a and the second force-bearing member 2122b, the rotation angle of the rotatable sleeve 2121 can be limited, thereby controlling the tilting angle of the flexible flapping wing.

[0047] For example, Figure 7 FIG. 1 shows a schematic diagram of the exploded structure of the second position-limiting member according to an embodiment of the present invention. Figure 7 As shown, the elastic stopper may include a spring seat 2151, an elastic member 2152, and a spring cap 2153. The spring seat 2151 includes a slider that engages with the track of the linear guide 211. The slider is slidably connected to the linear guide 211. The elastic member 2152 is disposed within the spring seat 2151. The spring cap 2153 is disposed at the end of the elastic member 2152 facing away from the spring seat 2151, enabling reciprocating motion. The first stopper 2143 and the spring cap 2153 are used to clamp the protruding structure 2123.

[0048] In a specific implementation, the spring seat 2151 and the movable mounting member 214 slide along the track of the linear guide 211 under the action of the drive mechanism 100. When the force-bearing member 2122 does not contact the thrust structure 213, the first stopper 2143 and the spring cap 2153 are used to clamp the protrusion structure 2123. The spring cap 2153 and the protrusion structure 2123 are always in close contact, performing an elastic fastening function. When the force-bearing member 2122 contacts the thrust structure 213, the thrust structure 213 applies a force to the force-bearing member 2122. At this time, the protrusion structure 2123 contained in the rotatable sleeve 2121 applies a force to the elastic stopper assembly, causing the spring cap 2153 to squeeze the elastic member, causing the spring cap 2153 to retract, thereby causing the rotatable sleeve 2121 to rotate.

[0049] In an alternative approach, Figure 1 As shown, the driving mechanism of the embodiment of the present invention includes a driving motor 110 and a crank slider mechanism 120. The driving end of the driving motor 110 is connected to the crank of the crank slider mechanism 120, and the slider of the crank slider mechanism 120 is hinged to the linear guide rail 211. The crank slider mechanism includes a rotating member 121, a guide connecting member 122, a sliding rod 123 and a slider 124 cooperating with the sliding rod 123. The rotating member 121 is rotatably connected to the driving end of the driving motor 110. The rotating member 121 is also fixedly connected to the guide connecting member 122. The guide connecting member 122 is fixedly connected to the slider 124. The slider 124 is hinged to the linear guide rail 211. For easy installation, the sliding rod 123 can be fixedly connected to the frame 600 of the flapping-wing aircraft. Among them, the rotating member 121 can be a turntable, and the guide connecting member 122 can be a connecting rod.

[0050] Exemplarily, the slider 124 can be configured as a slider having a through hole, with the sliding rod 123 passing through the through hole of the slider, so that the slider 124 can reciprocate along the sliding rod 123, and the slider 124 is hinged to the guide connector 122. One end of the guide connector 122 can freely rotate around the hinge point with the slider 124, and the other end of the guide connector 122 is hinged to the turntable. The movement of the connection point hinged to the turntable is an eccentric movement, and the guide connector 122 can freely rotate around the connection point with the turntable. There is a circular hole in the center of the turntable, and the output shaft of the drive motor 100 can be fastened to the circular hole to achieve synchronous rotation. It should be understood that the drive motor 100 can be a DC motor, an AC motor or other motor, which will not be described in detail here.

[0051] In specific implementations, the drive motor 100 drives the turntable to rotate, which in turn drives the guide connector 122 to rotate and simultaneously reciprocate up and down along the sliding rod 123, thereby driving the slider 124 to reciprocate along the sliding rod 123. As the slider 124 reciprocates along the sliding rod 123, the linear guide rail 211 hinged to the slider 124 rotates about its hinge point with the slider 124. As the linear guide rail 211 rotates about its hinge point with the slider 124, the movable mounting member 214 and the elastic stopper reciprocate on the linear guide rail 211.

[0052] In one conceivable embodiment, the present invention includes two transmission mechanisms and two flapping-wing mechanisms. The slider of the slider-crank mechanism is hingedly connected to a linear guide included in each transmission mechanism. The rotatable component included in each transmission mechanism is connected to the flapping-wing mechanism via a gear mechanism. Both flapping-wing mechanisms are hingedly connected to the support mechanism. In other words, the linear guides included in both transmission mechanisms are hingedly connected to the slider of the slider-crank mechanism. Therefore, only a single drive motor is required to drive the slider-crank mechanism to move both transmission mechanisms, thereby enabling the two flapping-wing mechanisms to achieve both flapping and flipping motions.

[0053] In an optional embodiment, the flapping-wing device of an embodiment of the present invention may further include a controller and a sensor electrically connected to the controller. The controller is also electrically connected to the drive mechanism. The sensor is used to detect signals from the flapping-wing mechanism, and the controller 700 is used to control the movement of the drive mechanism. The sensor may be an MPU-6050 sensor or other type of sensor, which is not limited here.

[0054] In a specific implementation, when the sensor detects a flapping motion signal, it transmits the flapping motion signal to the controller. Since the controller is electrically connected to the drive motor, the controller can control the drive motor to rotate, which in turn drives the slider crank mechanism to reciprocate up and down along the sliding rod, thereby driving the reciprocating mechanism to reciprocate up and down. At this time, since the flapping mechanism is transmission-connected to the gear mechanism via a flapping connector, and is also hinged to the support structure via the flapping connector, and the support structure is fixed to the frame, and the sliding rod is also fixed to the frame, the reciprocating mechanism can drive the flapping mechanism to rotate about the hinged connection between the flapping connector and the support structure, thereby achieving the flapping motion of the flapping mechanism.

[0055] On this basis, when the driving motor can drive the crank slider mechanism to reciprocate up and down along the sliding rod, it can drive the linear guide rail to reciprocate up and down, and then drive the rotatable component to reciprocate left and right along the linear guide rail. During the process of the rotatable component reciprocating left and right, it can rotate after contacting the thrust structure, thereby driving the gear mechanism to rotate, and then driving the flapping wing mechanism to flip.

[0056] The flapping-wing device and aircraft of the present invention can achieve active control of the flapping mechanism's simultaneous flipping motion during flapping, bringing bionics closer to real flapping-wing creatures. Furthermore, this design reduces the number of components required to assemble the flapping-wing structure, employing only a single drive mechanism. This ensures transmission stability, eliminates unnecessary structure, and achieves flapping motion with a minimum of parts. Furthermore, the design also features even weight distribution, simpler assembly, and improved stability.

[0057] The above description is only a specific embodiment of the present invention. Obviously, various modifications and combinations can be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the drawings are merely exemplary illustrations of the present invention as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include these changes and variations. Any person skilled in the art who can easily think of changes or substitutions within the technical scope disclosed by the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A flapping wing device, characterized in that: include: A driving mechanism, a transmission mechanism, a support structure, and a flapping-wing mechanism hinged on the support structure, wherein the transmission mechanism includes a reciprocating motion component and a gear mechanism, and the reciprocating motion component includes a linear guide rail, a rotatable component, and a thrust structure; The driving mechanism is hinged to the linear guide rail, the rotatable component is transmission-connected to the flapping-wing mechanism via the gear mechanism, the rotatable component is movably arranged on the linear guide rail, the thrust structure is fixed on the linear guide rail, the driving mechanism is used to drive the rotatable component to move along the guide direction of the linear guide rail, and when the thrust structure cooperates with the rotatable component, the thrust structure is used to provide rotational driving force to the rotatable component; The rotatable assembly includes a rotatable sleeve movably provided on the linear guide rail, the rotatable sleeve having a force-bearing member for cooperating with the thrust structure, and when the force-bearing member cooperates with the thrust structure, the thrust structure is used to apply a rotational driving force to the force-bearing member; The reciprocating motion assembly further includes a movable mounting member movably provided on the linear guide rail, the movable mounting member having a rotating shaft, the rotatable sleeve rotatably sleeved on the rotating shaft, and the movable mounting member being slidably connected to the linear guide rail; The rotatable sleeve further has a protruding structure, and the reciprocating motion mechanism further includes: a first limiting member and a second limiting member, wherein the second limiting member is an elastic limiting member, and the first limiting member and the second limiting member are used to clamp the protruding structure; The driving mechanism includes a driving motor and a slider-crank mechanism, the driving end of the driving motor is connected to the crank of the slider-crank mechanism, and the slider of the slider-crank mechanism is hinged to the linear guide rail.

2. The flapping wing device according to claim 1, wherein The first limiting member includes two limiting columns provided on the movable mounting member, the force-bearing member is located between the two limiting columns, and one of the limiting columns is located between the protruding structure and the force-bearing member.

3. The flapping wing device according to claim 1, wherein The second limiting member includes a spring seat, an elastic member and a spring cap. The elastic member is arranged in the spring seat, and the spring cap is arranged at the end of the elastic member away from the spring seat. The first limiting member and the spring cap are used to clamp the protruding structure. The second limiting member is slidably connected to the linear guide rail.

4. The flapping-wing device according to claim 1, wherein: There are two transmission mechanisms and two flapping-wing mechanisms. The slider of the crank slider mechanism is hinged to the linear guide rail contained in each transmission mechanism. The rotatable component contained in each transmission mechanism is connected to the flapping-wing mechanism through the gear mechanism. Both flapping-wing mechanisms are hinged to the support structure.

5. The flapping-wing device according to any one of claims 1 to 4, characterized in that: The flapping device also includes a flapping connector, through which the flapping mechanism is transmission-connected to the gear mechanism. The flapping mechanism is also hinged to the support structure through the flapping connector, and the gear mechanism is fixed to the flapping connector.

6. An aircraft, characterized in that: The aircraft comprises the flapping-wing device according to any one of claims 1 to 5.

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