An adaptive angle of attack tailless biomimetic flapping micro air vehicle

Abstract

This invention relates to a tailless, biomimetic flapping-wing micro-aircraft with adaptive tilt angle, belonging to the field of micro-aircraft design and manufacturing technology. Inspired by the adaptive tilt angle flight and flexible abdominal twisting of insects, this invention designs a tailless, biomimetic flapping-wing micro-aircraft with adaptive tilt angle, consisting of a flapping system A, a left wing B, a right wing C, an electronic control system D, and a servo system E. The left wing B and right wing C are symmetrical about the micro-aircraft's centerline a-a. The wing rod 19-2 on the left wing B is tightly connected to the hole 12-2-c on the left swing rod 12-2 in the flapping system A; the wing rod 19-1 on the right wing C is tightly connected to the hole 12-1-c on the right swing rod 12-1 in the flapping system A; the electronic control system... The hole 20a on the chip shell 20 in the system D is tightly connected to the rod 14b at the right end of the motor shell 14 in the flapping system A; the holes 21a and 21b on the battery shell 21 are tightly connected to the holes 20b and 20c at the lower end of the battery shell 20, respectively, of the lower connecting rods 17-1 and 17-2 in the flapping system A; the left end of the servo connecting rod 22 in the servo system E is tightly connected to the hole 20d on the chip shell 20 in the electronic control system D; the hole 33a on the curved connecting rod 33 in the servo system E is movably connected to the hole 15a on the upper connecting rod 15 in the flapping system A through the upper connecting rod bolt 16; the left and right wings B and C are respectively connected to the swing connecting rod 33 in the servo system E through two elastic ropes 34 via the hole 33c. This is to achieve tailless variable tilt flight and flexible steering of the micro aircraft, providing a practical solution for the true tailless flight of the insect-inspired flapping-wing micro aircraft.

Description

Technical Field

[0001] This invention belongs to the field of micro-aircraft design and manufacturing technology, specifically relating to a tailless bionic flapping-wing micro-aircraft with adaptive tilt angle. Background Technology

[0002] Bionic flapping-wing micro-aircraft are micro-aircraft designed based on biomimetic prototypes such as birds, bats, and insects. They have broad application prospects in fields such as military reconnaissance, disaster relief and rescue, science education, and agricultural environmental protection, and are considered the most ideal way to realize the development of unmanned aerial vehicles (UAVs).

[0003] Currently, research on biomimetic flapping-wing micro-aircraft is a hot topic both domestically and internationally. Bird-inspired micro-aircraft have become increasingly mature, but their size is still relatively large. Small-sized insect-inspired flapping-wing micro-aircraft are limited by the difficulty in imitating the tailless flight of insects. Most of them are coupled with bird tail wings or added with a balancing frame, making it difficult to achieve size advantages and shape-imitating characteristics.

[0004] The biggest difference between insect and bird flight lies in their flight posture and wing movement. Research has found that birds fly with a smaller tilt angle, relying on their tails for balance and steering; insects, on the other hand, fly with a larger tilt angle and greater flexibility to compensate for the "dynamic instability" of tailless flight. Solving the problems of adaptive tilt angle and steering in tailless flight for insect-inspired flapping-wing micro-aircraft is crucial for their development.

[0005] This invention patent provides a practical solution for achieving tailless flight of the insect-inspired flapping-wing micro-aircraft using springs and counterweights, and for enabling tailless flight and steering of the insect-inspired flapping-wing micro-aircraft using the swinging tail of the connecting rod. Summary of the Invention

[0006] Inspired by the adaptive tilt flight and flexible abdominal twisting of insects, this invention designs a tailless, biomimetic flapping-wing micro-aircraft with adaptive tilt angle. This aims to achieve tailless, variable-tilt flight and flexible turning in micro-aircraft, providing a technical foundation and feasible solution for achieving size advantages and shape-mimicking characteristics in insect-inspired flapping-wing micro-aircraft. This objective is achieved through the following technical solutions:

[0007] An adaptive tilt-angle tailless biomimetic flapping-wing micro-aircraft comprises a flapping system A, a left wing B, a right wing C, an electronic control system D, and a servo system E. The left wing B and right wing C are symmetrical about the micro-aircraft's centerline aa. A wing rod 19-2 on the left wing B is tightly connected to a left swing rod 12-2 in the flapping system A; a wing rod 19-1 on the right wing C is tightly connected to a right swing rod 12-1 in the flapping system A; a hole 20a on the chip housing 20 in the electronic control system D is tightly connected to a rod 14b at the right end of the motor housing 14 in the flapping system A; and a battery housing... Holes 21a and 21b on 21 are tightly connected to holes 20b and 20c at the lower end of battery case 20, respectively, of the lower connecting rods 17-1 and 17-2 in flapping system A; the left end of servo connecting rod 22 in servo system E is tightly connected to hole 20d on chip case 20 in electronic control system D; hole 33a on curved connecting rod 33 in servo system E is movably connected to hole 15a on upper connecting rod 15 in flapping system A via upper connecting rod bolt 16; the left and right wings B and C are respectively connected to the swing connecting rod 33 on servo system E via two elastic ropes 34 through hole 33c.

[0008] The flapping system A consists of a frame 1, a motor 2, a motor gear 3, a connecting rod assembly 4, a connecting rod bolt 5, a three-stage reduction gear assembly 6, a three-stage reduction gear bolt 7, a first-stage reduction gear 8, a second-stage reduction gear 9, a first-stage reduction gear bolt 10, a swing rod bolt I11, a swing rod assembly 12, a swing rod bolt II13, a motor housing 14, an upper connecting rod 15, an upper connecting rod bolt 16, and a lower connecting rod assembly 17. The outer contours of frame 1 are h1-h6 and R1-R3, with dimensions as follows: h1 = 6.00 ± 0.04 mm, h2 = 3.20 ± 0.07 mm, h3 = 5 ± 0.04 mm, h4 = 14.00 ± 0.4 mm, h5 = 5.00 ± 0.02 mm, h6 = 6.00 ± 0.04 mm, R1 = 6.50 ± 0.01 mm, R2 = 6.30 ± 0.06 mm, R3 = 6.30 ± 0.06 mm. Motor 2 is fixedly connected to frame 1 through hole 1a; motor gear 3 is fixedly connected to motor column through hole 3a, with connection line l1; first-stage reduction gear 8 is connected to hole 1d of frame 1 through hole 8a and first-stage reduction gear bolt 10 and meshes with motor gear 3, with connection line l6; second-stage reduction gear 9 is connected to first-stage reduction gear bolt 10 through holes 9a and 8a, and second-stage reduction gear 9 and first-stage reduction gear 8 are bonded together with 502 glue; third-stage reduction gear set 6 is movably connected to holes 1b and 1c of frame 1 through holes 6-1a and 6-2a via third-stage reduction bolts 7 (7-1 and 7-2) and meshes with each other, with connection lines l4 and l5, wherein the third-stage reduction gear 6-2 on the right side and the second-stage reduction gear 9 mesh with each other. Meshing; Linkage assembly 4 (including 4-1 and 4-2) is movably connected to holes 6-1b and 6-2b on the three-stage reduction gear set 6 via connecting rod bolts 5 (including 5-1 and 5-2) through holes 4-1a and 4-2a at the lower end, with connecting lines l2 and l3; Linkage assembly 4 (including 4-1 and 4-2) is movably connected to holes 12-1b and 12-2b on the rocker arm assembly 12 (including 12-1 and 12-2) through rocker arm bolts I11 (including 11-1 and 11-2) at the upper end, with connecting lines l7 and l8; Rocker arm assembly 12 is movably connected to holes 1e and 1f on the frame 1 via rocker arm bolts II13 (including 13-1 and 13-2) through holes 12-1a and 12-2a at the lower end, with connecting lines l9 and l10. 10 On the right side of the frame 1, the upper connecting rod 15 is fixedly connected to the upper hole 1g of the frame 1; the motor housing 14 is fixedly connected to the frame 1 via the motor 2 through three evenly distributed slots 14a; the lower connecting rod group 17 (including 17-1 and 17-2) is fixedly connected to the holes 1h and 1i on the frame 1.

[0009] The left wing B and right wing C are symmetrical structures about the center line of the micro-aircraft aa. They have the same structure but opposite directions. Both are composed of wing rods 18 (18-1 for the right wing and 18-2 for the left wing) and wing membranes 19 (19-1 for the right wing and 19-2 for the left wing). The wing membrane is made of PP plastic film with a thickness of 0.05mm, and the wing rod is made of carbon fiber with a diameter of 0.5mm. The wing membrane and wing rod are bonded together with 502 glue. The outer contours are R6-R8, h37, and h38, with dimensions of R6 = 321±5mm, R7 = 45±2mm, R8 = 0.5±0.02mm, h37 = 55±2mm, and h38 = 48±2mm, respectively.

[0010] The electronic control system D consists of a control module 20 and a battery module 21. The control module is encased in a chip shell, which contains an integrated circuit with a 2.4GHz remote control receiver that receives signals and controls the rotation of motor 1 and servo motor 28. The battery module 21 is encased in a battery shell, which contains a Kokam lithium polymer battery with an energy density of 170W·h / kg and 140mA·h. The control module and the battery module are connected by two copper wires.

[0011] The servo system E consists of a servo linkage 22, a primary reduction gear 23, a secondary reduction gear 24, a servo motor gear 25, a servo frame 26, a rocker arm gear 27, a servo motor 28, a servo spring 29, a square connecting rod 30, an adaptive spring 31, a counterweight 32, and a rocker linkage 33. The primary reduction gear 23 and the secondary reduction gear 24 are firmly connected by 502 adhesive. The primary reduction gear 23, the secondary reduction gear 24, and the servo frame 26 are movably connected to the cylinder 22a on the servo linkage 22 through holes 23a, 24a, and 26a, with the connection line being l. 11 The rocker gear 27 and the servo frame 26 are movably connected to the cylinder 22b on the servo connecting rod 22 through holes 27b and 26b, and the connection line is l. 12 The servo motor gear 25 is fixedly connected to the servo motor 28 through hole 25a; the servo motor gear 25 meshes with the servo motor first-stage reduction gear 23 through hole 27a; the servo spring 29 wraps around the rod on the right side of the rocker arm gear 27 through hole 26c; the rod on the right side of the rocker arm gear 27 is fixedly connected to the square connecting rod 30 through hole 30a; the upper ring of the adaptive spring 31 is tightly fixedly connected to the circular groove 30b on the right side of the square connecting rod 30 with 502 adhesive; the right end of the square connecting rod 30 is fixedly connected through hole 33a on the rocker arm.

[0012] The frame 1, connecting rod assembly 4, swing arm assembly 12, motor housing 14, upper connecting rod 15, upper connecting rod bolt 16, lower connecting rod assembly 17, servo motor connecting rod 22, servo motor frame 26, square connecting rod 30, and swing connecting rod 33 are all made of carbon fiber; the motor gear 3, three-stage reduction gear assembly 6, three-stage reduction gear bolt 7, first-stage reduction gear 8, second-stage reduction gear 9, first-stage reduction gear bolt 10, servo motor first-stage reduction gear 23, servo motor second-stage reduction gear 24, servo motor gear 25, and swing arm gear 27 are all made of POM plastic; the connecting rod bolt 5, swing arm bolt I11, swing arm bolt II13, servo motor spring 29, adaptive spring 31, and counterweight 32 are all made of spring steel.

[0013] As a more preferred technical solution of the present invention, the adaptive process of flapping, servo swaying, and tilting of the micro-aircraft is as follows:

[0014] The state in which the biomimetic flapping-wing micro-aircraft of the present invention spreads its wings on the ground in preparation for takeoff is referred to as state A.

[0015] Fluttering process: State A is as per the instruction manual. Figure 2 As shown, when the control module 20 receives the takeoff signal, the electronic control system D controls the motor 2 to rotate clockwise. Under the drive of the motor column, the motor gear 3 rotates clockwise accordingly. The motor gear 3 meshes with the first-stage reduction gear 8, causing the first-stage reduction gear 8 to rotate, which in turn drives the second-stage reduction gear 9 fixedly connected to it. The second-stage reduction gear 9 meshes with the right-side third-stage reduction gear 6-2, and the right-side third-stage reduction gear 6-2 meshes with the left-side third-stage reduction gear 6-1. They are the same size and rotate at the same speed. Under the meshing motion of the right-side three-stage reduction gear 6-2 and the left-side three-stage reduction gear 6-1, connecting rods 5-1 and 5-2 rotate simultaneously in opposite directions. When connecting rods 5-1 and 5-2 rotate, they drive swing rods 12-1 and 12-2 to swing up and down. Connecting rods 5-1 and 5-2 and swing rods 12-1 and 12-2 can rotate relative to each other. Swing rods 12-1 and 12-2 are fixedly connected to the left and right wing rods 18-2 and 18-1 respectively, thereby driving the left wing B and the right wing C to flap up and down.

[0016] Servo yaw process: During flapping flight, when the control module 20 receives a steering signal (taking a leftward yaw as an example), as shown in the instruction manual... Figure 15The diagram shows state B. The electronic control system D controls the servo motor 28 to drive the servo motor gear 25 to rotate clockwise and mesh with the servo motor's first-stage reduction gear 23, which rotates counterclockwise. The first-stage reduction gear 23 is fixedly connected to the second-stage reduction gear 24, which meshes with the rocker arm gear 27, causing the rocker arm gear 27 to swing to the left. Under the influence of the rocker arm gear 27, the square connecting rod 30, the adaptive spring 31, the counterweight 32, and the rocker connecting rod 33 all swing to the left, thus... The micro-aircraft's center of gravity shifts to the left, achieving steering. When the rocker gear 27 swings 60 degrees to the left, it loses its tooth structure, and the servo motor's secondary reduction gear 24 no longer meshes with the rocker gear 27. The rocker gear 27 remains in this position until the servo motor gear 25 stops rotating. When the control module 20 receives a stop steering signal, the electronic control system controls the servo motor 28 to stop rotating. Because the rocker gear 27 twists the servo spring 29 when it swings to the left, the rocker gear 27 returns to state B under the influence of the spring's elastic potential energy.

[0017] Adaptive tilt process: as shown in the appendix Figure 23 As shown, due to the effect of counterweight 32, the weight of the tail section of the micro-aircraft is slightly greater than that of the front section. During takeoff, the tail section descends while the front section rises, and the angle β between the fuselage axis and the horizontal plane is the tilt angle. When the left and right wings flap, they experience an upward air reaction force F perpendicular to the wing surface. L Gravity F G Vertically downwards, the air resistance F experienced by the fuselage D Opposite to the direction of flight; F L It can balance gravity and air resistance with a relative "surplus", thereby driving the aircraft to fly forward and upward. When the aircraft is affected by air fluctuations, the counterweight 32 can change its tilt angle under the damping action of the servo spring 29 to complete the above "force balance" process again, so that the micro aircraft always maintains a state of tail sinking and front lifting.

[0018] The beneficial effects of this invention are:

[0019] 1. This invention fully proposes a feasible design for a biomimetic flapping-wing micro-aircraft using existing materials and technologies.

[0020] 2. This invention proposes a tailless steering control structure for a biomimetic flapping-wing micro-aircraft using a servo mechanism.

[0021] 3. This invention utilizes springs and counterweights to design an adaptive tilt structure for a biomimetic flapping-wing micro-aircraft. Attached Figure Description

[0022] Figure 1 Axonometric drawing of a tailless, biomimetic flapping-wing micro-aircraft with adaptive tilt angle.

[0023] Figure 2 A front view of a tailless, biomimetic flapping-wing micro-aircraft with adaptive tilt angle.

[0024] Figure 3 Side view of a tailless, biomimetic flapping-wing micro-aircraft with adaptive tilt angle.

[0025] Figure 4 Indicators for each component of the flapping system A Figure 1

[0026] Figure 5 Indicators for each component of the flapping system A Figure 2

[0027] Figure 6 Structural diagram of rack 1

[0028] Figure 7 Assembly instructions for each component of the flapping system A Figure 1

[0029] Figure 8 Assembly instructions for each component of the flapping system A Figure 2

[0030] Figure 9 Outline dimensions of frame 1 and connecting rod 4

[0031] Figure 10 Outline dimension drawing of swing arm 12, motor housing 14 and upper connecting rod 15

[0032] Figure 11 Indication diagram for wing components B and C

[0033] Figure 12 Connection diagram for wing and flapping system A

[0034] Figure 13 Dimensions of the outer profile of the wing

[0035] Figure 14 Indicator diagram for component D of the electronic control system

[0036] Figure 15 E component indicator for servo system Figure 1

[0037] Figure 16 E component indicator for servo system Figure 2

[0038] Figure 17 E component indicator for servo system Figure 3

[0039] Figure 18 Assembly instructions for wings and servo systems

[0040] Figure 19 Outline dimension drawing of rocker gear 27

[0041] Figure 20 Outline dimensions of servo frame 26

[0042] Figure 21 Outline dimension drawing of square connecting rod 30 and rocker connecting rod 33

[0043] Figure 22 Schematic diagram of servo motor oscillation

[0044] Figure 23 Schematic diagram of force under adaptive tilt angle

[0045] Among them: A. Fluttering system B. Left wing C. Right wing D. Electronic control system E. Servo system 1. Frame 2. Motor 3. Motor gear 4. Linkage assembly 5. Linkage bolt 6. Three-stage reduction gear set 7. Three-stage reduction gear bolt 8. First-stage reduction gear 9. Second-stage reduction gear 10. First-stage reduction gear bolt 11. Swing rod bolt I 12. Swing arm assembly 13. Swing arm bolt II 14. Motor housing 15. Upper connecting rod 16. Upper connecting rod bolt 17. Lower connecting rod assembly 18. Wing rod 18-1. Right wing 18-2. Left wing 19. Wing membrane 19-1. Right wing membrane 19-2. Left wing 20. Control module 21. Battery module 22. Servo connecting rod 23. Servo first-stage reduction gear 24. Servo second-stage reduction gear 25. Servo motor gear 26. Servo frame 27. Swing arm gear 28. Servo motor 29. Servo spring 30. Square connecting rod 31. Adaptive spring 32. Counterweight 33. Swing connecting rod Detailed Implementation

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following will provide a detailed description with reference to the accompanying drawings and embodiments.

[0047] like Figure 1 , Figure 2 and Figure 3As shown, the present invention comprises a flapping system A, a left wing B, a right wing C, an electronic control system D, and a servo system E. The left wing B and right wing C are symmetrical about the centerline of the micro-aircraft aa. The wing rod 19-2 on the left wing B is tightly connected to the hole 12-2-c on the left swing rod 12-2 in the flapping system A. The wing rod 19-1 on the right wing C is tightly connected to the hole 12-1-c on the right swing rod 12-1 in the flapping system A. The hole 20a on the chip housing 20 in the electronic control system D is tightly connected to the rod 14b at the right end of the motor housing 14 in the flapping system A. (Battery) Holes 21a and 21b on the housing 21 are tightly connected to holes 20b and 20c at the lower end of the battery housing 20, respectively, of the lower connecting rods 17-1 and 17-2 in the flapping system A; the left end of the servo connecting rod 22 in the servo system E is tightly connected to hole 20d on the chip housing 20 in the electronic control system D; hole 33a on the curved connecting rod 33 in the servo system E is movably connected to hole 15a on the upper connecting rod 15 in the flapping system A through upper connecting rod bolt 16; the left and right wings B and C are respectively connected to the swing connecting rod 33 on the servo system E through two elastic ropes 34 via hole 33c.

[0048] like Figures 4 to 10As shown, the flapping system A consists of a frame 1, a motor 2, a motor gear 3, a connecting rod assembly 4, a connecting rod bolt 5, a three-stage reduction gear assembly 6, a three-stage reduction gear bolt 7, a first-stage reduction gear 8, a second-stage reduction gear 9, a first-stage reduction gear bolt 10, a swing arm bolt I11, a swing arm assembly 12, a swing arm bolt II13, a motor housing 14, an upper connecting rod 15, an upper connecting rod bolt 16, and a lower connecting rod assembly 17. The outer contours of the frame 1 have the following dimensions: h1 = 6.00 ± 0.04 mm, h2 = 3.20 ± 0.07 mm, h3 = 5 ± 0.04 mm, h4 = 14.00 ± 0.4 mm, h5 = 5.00 ± 0.02 mm, h6 = 6.00 ± 0.04 mm, R1 = 6.50 ± 0.01 mm, R2 = 6.30 ± 0.06 mm, and R3 = 6.30 ± 0.06 mm. Motor 2 is fixedly connected to frame 1 through hole 1a; motor gear 3 is fixedly connected to motor column through hole 3a, with connection line l1; first-stage reduction gear 8 is connected to hole 1d of frame 1 through hole 8a and first-stage reduction gear bolt 10 and meshes with motor gear 3, with connection line l6; second-stage reduction gear 9 is connected to first-stage reduction gear bolt 10 through holes 9a and 8a, and second-stage reduction gear 9 and first-stage reduction gear 8 are bonded together with 502 glue; third-stage reduction gear set 6 is movably connected to holes 1b and 1c of frame 1 through holes 6-1a and 6-2a via third-stage reduction bolts 7 (7-1 and 7-2) and meshes with each other, with connection lines l4 and l5, wherein the third-stage reduction gear 6-2 on the right side and the second-stage reduction gear 9 mesh with each other. Meshing; Linkage assembly 4 (including 4-1 and 4-2) is movably connected to holes 6-1b and 6-2b on the three-stage reduction gear set 6 via connecting rod bolts 5 (including 5-1 and 5-2) through holes 4-1a and 4-2a at the lower end, with connecting lines l2 and l3; Linkage assembly 4 (including 4-1 and 4-2) is movably connected to holes 12-1b and 12-2b on the rocker arm assembly 12 (including 12-1 and 12-2) through rocker arm bolts I11 (including 11-1 and 11-2) at the upper end, with connecting lines l7 and l8; Rocker arm assembly 12 is movably connected to holes 1e and 1f on the frame 1 via rocker arm bolts II13 (including 13-1 and 13-2) through holes 12-1a and 12-2a at the lower end, with connecting lines l9 and l10. 10 On the right side of the frame 1, the upper connecting rod 15 is fixedly connected to the upper hole 1g of the frame 1; the motor housing 14 is fixedly connected to the frame 1 via the motor 2 through three evenly distributed slots 14a; the lower connecting rod group 17 (including 17-1 and 17-2) is fixedly connected to the holes 1h and 1i on the frame 1.

[0049] like Figures 11 to 13As shown, the left wing B and right wing C are symmetrical structures about the center line of the micro-aircraft aa. They have the same structure but opposite directions. Both are composed of wing rods 18 (18-1 for the right wing and 18-2 for the left wing) and wing membranes 19 (19-1 for the right wing and 19-2 for the left wing). The wing membrane is made of PP plastic film with a thickness of 0.05 mm, and the wing rod is made of carbon fiber with a diameter of 0.5 mm. The wing membrane and wing rod are bonded together with 502 glue. The outer contour dimensions are R6 = 321 ± 5 mm, R7 = 45 ± 2 mm, R8 = 0.5 ± 0.02 mm, h37 = 55 ± 2 mm, and h38 = 48 ± 2 mm, respectively.

[0050] like Figure 14 As shown, the electronic control system D consists of a control module 20 and a battery module 21. The control module is encased in a chip shell, which contains an integrated circuit with a 2.4GHz remote control receiver that receives signals and controls the rotation of motor 1 and servo motor 28. The battery module is encased in a battery shell, which contains a Kokam lithium polymer battery with an energy density of 170W·h / kg and 140mA·h. The control module and the battery module are connected by two copper wires.

[0051] like Figures 15 to 21 As shown, the servo system E consists of a servo linkage 22, a primary reduction gear 23, a secondary reduction gear 24, a servo motor gear 25, a servo frame 26, a rocker arm gear 27, a servo motor 28, a servo spring 29, a square linkage 30, an adaptive spring 31, a counterweight 32, and a rocker linkage 33. The primary reduction gear 23 and the secondary reduction gear 24 are firmly connected by 502 adhesive. The primary reduction gear 23, the secondary reduction gear 24, and the servo frame 26 are movably connected to the cylinder 22a on the servo linkage 22 through holes 23a, 24a, and 26a, with the connection line being l. 11 The rocker gear 27 and the servo frame 26 are movably connected to the cylinder 22b on the servo connecting rod 22 through holes 27b and 26b, and the connection line is l. 12 The servo motor gear 25 is fixedly connected to the servo motor 28 through hole 25a; the servo motor gear 25 meshes with the servo motor first-stage reduction gear 23 through hole 27a; the servo spring 29 wraps around the rod on the right side of the rocker arm gear 27 through hole 26c; the rod on the right side of the rocker arm gear 27 is fixedly connected to the square connecting rod 30 through hole 30a; the upper ring of the adaptive spring 31 is tightly fixedly connected to the circular groove 30b on the right side of the square connecting rod 30 with 502 adhesive; the right end of the square connecting rod 30 is fixedly connected through hole 33a on the rocker arm.

[0052] like Figure 22As shown, a tailless steering control structure for a biomimetic flapping-wing micro-aircraft is proposed using a servo mechanism, with a steering angle of α.

[0053] like Figure 23 As shown, an adaptive tilting structure for a biomimetic flapping-wing micro-aircraft was designed using springs and counterweights, with a tilting angle of β.

[0054] Since the innovation of this invention lies in the micro-aircraft structure itself, the specific control circuit of the aircraft control system is not included.

[0055] 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.

[0056] 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 biomimetic flapping-wing micro-aircraft with adaptive tilt angle, characterized in that: It consists of a flapping system (A), a left wing (B), a right wing (C), an electronic control system (D), and a servo system (E). The left wing (B) and right wing (C) are symmetrical about the centerline of the micro-aircraft. The wing rod (19-2) on the left wing (B) is tightly connected to the hole (12-2-c) on the left swing rod (12-2) in the flapping system (A). The wing rod (19-1) on the right wing (C) is tightly connected to the hole (12-1-c) on the right swing rod (12-1) in the flapping system (A). The electronic control system… The hole (20a) on the chip housing (20) in (D) is tightly connected to the rod (14b) at the right end of the motor housing (14) in the flapping system (A); the holes (21a, 21b) on the battery housing (21) are tightly connected to the lower connecting rods (17-1, 17-2) in the flapping system (A) through the holes (20b, 20c) at the lower end of the battery housing (20); the left end of the servo connecting rod (22) in the servo system (E) is tightly connected to the hole (20d) on the chip housing (20) in the electronic control system (D); the servo system (E) The hole (33a) on the curved connecting rod (33) is movably connected to the hole (15a) on the upper connecting rod (15) in the flapping system (A) by bolts on the upper connecting rod (16); the left and right wings (B, C) are respectively connected to the swing connecting rod (33) on the servo system (E) by two elastic ropes (34) passing through the hole (33c); the servo system (E) consists of a servo connecting rod (22), a servo first-stage reduction gear (23), a servo second-stage reduction gear (24), a servo motor gear (25), a servo frame (26), and a swing arm gear (27). The system consists of a servo motor (28), a servo spring (29), a square connecting rod (30), an adaptive spring (31), a counterweight (32), and a swing linkage (33); the servo first-stage reduction gear (23) and the servo second-stage reduction gear (24) are firmly connected by 502 adhesive; the servo first-stage reduction gear (23), the servo second-stage reduction gear (24), and the servo frame (26) are movably connected to the cylinder (22a) on the servo linkage (22) through holes 1 (23a), 2 (24a), and 3 (26a), with the connecting line being l. 11 The rocker arm gear (27) and the servo frame (26) are movably connected to the cylinder (22b) on the servo connecting rod (22) through holes 4 (27b) and 5 (26b), and the connection line is l. 12 The servo motor gear (25) is fixedly connected to the servo motor (28) through the hole (25a); the servo motor gear (25) meshes with the servo motor first-stage reduction gear (23) through the hole (27a); the servo spring (29) wraps the rod on the right side of the rocker arm gear (27) through the hole (26c); the rod on the right side of the rocker arm gear (27) is fixedly connected to the square connecting rod (30) through the hole (30a); the upper ring of the adaptive spring (31) is tightly fixedly connected to the circular groove (30b) on the right side of the square connecting rod (30) with 502 adhesive; the lower part of the adaptive spring (31) is connected to the counterweight (32); the right end of the square connecting rod (30) is fixedly connected through the hole (33a) on the rocker arm.

2. The adaptive tilt angle biomimetic flapping-wing micro-aircraft according to claim 1, characterized in that: It consists of a frame (1), a motor (2), a motor gear (3), a connecting rod assembly (4), a connecting rod bolt (5), a three-stage reduction gear assembly (6), a three-stage reduction gear bolt (7), a first-stage reduction gear (8), a second-stage reduction gear (9), a first-stage reduction gear bolt (10), a rocker arm bolt I (11), a rocker arm assembly (12), a rocker arm bolt II (13), a motor housing (14), an upper connecting rod (15), an upper connecting rod bolt (16), and a lower connecting rod assembly (17). The outer contour of the frame (1) is h1-h6, R1-R3, with dimensions of h1=6.00±0.04mm and h2=3.20±0.04mm, respectively. 7mm, h3=5±0.04mm, h4=14.00±0.4mm, h5=5.00±0.02mm, h6=6.00±0.04mm, R1=6.50±0.01mm, R2=6.30±0.06mm, R3=6.30±0.06mm; wherein the motor (2) is fixedly connected to the frame (1) through hole (1a); the motor gear (3) is fixedly connected to the motor column through hole (3a), and the connecting line is l1; the first-stage reduction gear (8) is connected to the hole (1d) of the frame (1) through hole (8a) and the first-stage reduction gear bolt (10) and is connected to the motor gear (3). The gears mesh, with connection line l6; the second-stage reduction gear (9) is bolted to the first-stage reduction gear (10) through holes (9a) and (8a), and the second-stage reduction gear (9) and the first-stage reduction gear (8) are bonded together with 502 glue; the third-stage reduction gear set (6) is movably connected to the holes (1b) and (1c) on the frame (1) through holes (6-1a) and (6-2a) via third-stage reduction bolts (7-1, 7-2) and meshes with each other, with connection lines l4 and l5, wherein the third-stage reduction gear (6-2) on the right side meshes with the second-stage reduction gear (9); the connecting rod set (4-1, 4-2) is connected to the first-stage reduction gear (10) through the lower hole (4-1a, 7-2a). 4-2a) The connecting rod is movably connected to the holes (6-1b, 6-2b) on the three-stage reduction gear set (6) via connecting rod bolts (5-1, 5-2), with connecting lines l2, l3; the connecting rod assembly (4) is movably connected to the holes (12-1b, 12-2b) on the swing arm assembly (12-1, 12-2) via the upper holes (4-1b, 4-2b) and the swing arm bolts I (11-1, 11-2), with connecting lines l7, l8; the swing arm assembly (12) is movably connected to the holes (1e, 1f) on the frame (1) via the lower holes (12-1a, 12-2a) and the swing arm bolts II (13-1, 13-2), with connecting lines l9, l10, l11, l11, l11, l12, l12, l12, l13, l12, l13, l12, l13, l14, l15, l16, l17, l18, l19, l10 ... 10 On the right side of the frame (1), the upper connecting rod (15) is fixedly connected to the upper hole (1g) of the frame (1); the motor housing (14) is fixedly connected to the frame (1) via the motor (2) through three evenly distributed slots (14a); the lower connecting rod group (17-1, 17-2) is fixedly connected to the holes (1h, li) on the frame (1).

3. The adaptive tilt angle biomimetic flapping-wing micro-aircraft according to claim 1, characterized in that: It consists of a wing rod (18-1, 18-2) and a wing membrane (19-1, 19-2); the wing membrane is made of PP plastic film with a thickness of 0.05mm, and the wing rod is made of carbon fiber with a diameter of 0.5mm; the wing membrane and wing rod are bonded together with 502 glue, and the outer contours are R6-R8, h37, h38 respectively, with dimensions of R6=321±5mm, R7=45±2mm, R8=0.5±0.02mm, h37=55±2mm, and h38=48±2mm.

4. A biomimetic flapping-wing micro-aircraft with adaptive tilt angle as described in claim 1, characterized in that: The electronic control system (D) consists of a control module and a battery module (21). The control module is encased in a chip shell, which contains an integrated circuit with a 2.4GHz remote control receiver that receives signals and controls the rotation of motor 1 and servo motor 28. The battery module 21 is encased in a battery shell, which contains a Kokam lithium polymer battery with an energy density of 170W·h / kg and 140mA·h. The control module and the battery module are connected by two copper wires.

5. A biomimetic flapping-wing micro-aircraft with adaptive tilt angle as described in claim 1, characterized in that: The frame (1), connecting rod assembly (4), swing arm assembly (12), motor housing (14), upper connecting rod (15), upper connecting rod bolt (16), lower connecting rod assembly (17), servo connecting rod (22), servo frame (26), square connecting rod (30), and swing connecting rod (33) are all made of carbon fiber; the motor gear (3), three-stage reduction gear assembly (6), three-stage reduction gear bolt (7), first-stage reduction gear (8), second-stage reduction gear (9), first-stage reduction gear bolt (10), servo first-stage reduction gear (23), servo second-stage reduction gear (24), servo motor gear (25), and swing arm gear (27) are all made of POM plastic; the connecting rod bolt (5), swing arm bolt I (11), swing arm bolt II (13), servo spring (29), adaptive spring (31), and counterweight (32) are all made of spring steel.

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