A micro ornithopter

Abstract

The present application belongs to the technical field of flapping-wing aircraft, and particularly relates to a micro flapping-wing aircraft, which comprises a flapping mechanism, an attitude adjusting mechanism, a wing, an overall frame and a controller for controlling the flight of the micro flapping-wing aircraft, the flapping mechanism is fixed at the top end of the overall frame, the attitude adjusting mechanism is connected to the bottom of the flapping mechanism and fixed on the overall frame, and the wing is fixed through the flapping mechanism and the attitude adjusting mechanism; the flapping mechanism comprises a frame, a transmission structure and a speed change structure, the frame is installed at the top end of the overall frame, the speed change structure is fixed on the upper surface of the frame, and the transmission structure is connected to the speed change structure and fixed on the lower surface of the frame; the wing comprises two front edge rods, a plurality of wing veins, a wing membrane and two wing root shafts; the micro flapping-wing aircraft overall architecture is reasonably designed, the center of gravity is approximately located at the average aerodynamic center, the horizontal and vertical force arms from gravity are almost zero, the parasitic moment is reduced, and therefore the aircraft has the advantages of stable flight attitude, long flight time and the like.

Description

Technical Field

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

[0002] Ornithoptering aircraft are aircraft that mimic the autonomous flight of flying organisms (such as birds, bats, and insects) in natural and man-made environments. In recent years, with the emergence and rapid development of new technologies such as microelectronics, research on ornithoptering aircraft has expanded rapidly and is now an active and well-integrated research field.

[0003] Micro flapping-wing aircraft are a type of flapping-wing aircraft. Their main characteristic is their ability to output high-frequency flapping to achieve multiple functions such as climbing, hovering, and forward flight. At the same time, compared with other aircraft, they have advantages such as low energy consumption, small size, and high maneuverability, enabling them to perform military and civilian missions in various harsh conditions such as narrow and restricted terrain. Therefore, the research on micro flapping-wing aircraft is of great significance.

[0004] CN202211311674.4 proposes a biomimetic hummingbird flapping-wing aircraft involving an ultralight structure and a control system. The power transmission system drives the reciprocating rotation of the wing pulleys to achieve flapping motion of a pair of wings. Two servo motors change the wing root state to adjust the attitude of the micro flapping-wing aircraft. It can achieve flapping flight without external power cords and only relies on battery power. However, the components of its flapping mechanism are too concentrated, causing the center of gravity of the entire body to be roughly located near the motor, resulting in a top-heavy and unstable situation. This makes attitude control very difficult, and at the same time, it generates a lot of energy waste, shortening the flight time of the micro flapping-wing aircraft.

[0005] CN201910506376.2 proposes a hummingbird-like aircraft that uses gear sets and linkages to simultaneously flap its wings. Two servo motors control two wing root edge rods. Changes in the shape and position of these rods alter the state of the two wings, thereby controlling the flight attitude of the micro flapping-wing aircraft and achieving stable flight for this small-mass aircraft. However, the control mechanism primarily relies on the two wing root edge rods for wing control. The connection points between these rods and the frame have significant displacement constraints, which could make control commands difficult or impossible to execute quickly, leading to control delays or even malfunctions. Therefore, there is a need to improve existing technologies for micro flapping-wing aircraft.

[0006] Meanwhile, the control mechanisms of the two micro flapping-wing aircraft provided in the above two documents are mainly composed of two rudders, which can only perform common roll and pitch attitude adjustments, but cannot perform yaw attitude control. This will greatly affect maneuverability, and the aircraft will easily lose its stability and be damaged when disturbed from different directions. It has poor stability and is difficult to complete some tasks that require flexibility. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a micro flapping-wing aircraft. This aircraft features a rationally designed overall structure with its center of gravity approximately located at the mean aerodynamic center. The horizontal and vertical lever arms from gravity are almost zero, reducing parasitic torque. It has advantages such as stable flight attitude and long flight time. Furthermore, its small size makes it highly maneuverable and extremely flexible.

[0008] A micro flapping-wing aircraft includes a flapping mechanism, an attitude adjustment mechanism, wings, an overall frame, and a controller for controlling the flight of the micro flapping-wing aircraft. The flapping mechanism is fixed to the top of the overall frame, the attitude adjustment mechanism is connected to the bottom of the flapping mechanism and fixed to the overall frame, and the wings are fixed by the flapping mechanism and the attitude adjustment mechanism.

[0009] The flapping mechanism includes a frame, a transmission structure, and a speed-changing structure. The frame is mounted on the top of the overall frame, the speed-changing structure is fixed to the upper surface of the frame, and the transmission structure is connected to the speed-changing structure and fixed to the lower surface of the frame. The transmission structure includes a mechanism crank, which is fixed on the central axis at the bottom of the frame. The center of the mechanism crank is connected to the speed-changing structure, and the bottom of the mechanism crank is connected to one end of a swing arm. The other end of the swing arm is connected to a central gear, the shaft of which is fixed to the frame. One side of the central gear meshes with a left-end gear, which is fixed to a left-end rod and hinged to the frame. The other side of the central gear meshes with a steering gear, the shaft of which is fixed to the right shoulder of the frame. The steering gear meshes with a right-end gear, which is fixed to a right-end rod and hinged to the frame.

[0010] The left and right edges of the frame are respectively fixed with a left shoulder platform and a right shoulder platform. The central rod ends of the left and right shoulder platforms are respectively connected to the rotating shafts of the left end gear and the right end gear. The frame is also provided with a curved groove, and the connecting rivet between the swing arm and the central gear is slidably connected in the curved groove of the frame.

[0011] The transmission structure includes a double gear, which is fixed on the frame. The large gear of the double gear meshes with the motor gear, and the small gear meshes with the long shaft gear. The top of the motor gear is mounted on the output shaft of the motor. The motor is fixed by a motor frame mounted on the frame. The shaft of the long shaft gear is fixedly connected to the crank of the mechanism through a first rolling bearing on the frame.

[0012] The overall frame includes a frame support rod, with an upper support frame and a lower support frame fixed to the middle and bottom of the frame support rod, respectively. A battery is installed in the groove of the lower support frame. The top of the frame support rod is fixed to the lower end of the connecting rod. The frame shaft is installed in the second rolling bearing by interference fit. The second rolling bearing is embedded in the middle of the connecting rod. The top of the connecting rod is fixed to the frame.

[0013] The wing includes two leading-edge rods, multiple wing veins, a wing membrane, and two wing root shafts. The two leading-edge rods are respectively fixed to the left and right end rods. The tops of the two wing root shafts are fixed to the bottom of the universal joint by an interference fit. The tops of the universal joints are respectively fixed to the bottom of the left and right shoulder platforms. The top and sides of the wing membrane are rolled onto the leading-edge rods and wing root shafts. Multiple wing veins that increase the stiffness of the wing are evenly distributed on the wing membrane.

[0014] The attitude adjustment mechanism includes two linear servos and a rotary servo, which are symmetrically distributed. The two linear servos are fixed to the frame pivot via linear servo mounting brackets. Two linear servo disks are symmetrically arranged on the sides of the two linear servos. The linear servo disks are fixed to the bottom end of the wing root shaft. The rotary servo is fixed to the upper support frame of the overall frame. One end of the rotary servo disk is fixed to the rotary servo via an interference fit, and the other end is connected to the rotary servo disk connecting shaft. The rotary servo disk connecting shaft is connected to a transmission rod, which is hinged and fixed to a fixing plug on the upper support frame. The transmission rod is rotatably connected to the bottom of the linear servo mounting bracket.

[0015] The attitude adjustment mechanism adjusts the attitude as follows: when the rotary servo disk is kept vertically upward, the two symmetrical linear servo disks simultaneously drive the wing root axis to move inward or outward by the same distance, allowing for forward and backward pitch adjustment; when the linear servo keeps the wing root axis vertically upward, the rotary servo disk drives the linear servo mounting bracket to tilt to both sides by an angle via the rotary servo disk connecting shaft, causing the wing root axis to tilt to both sides by an angle as well, allowing for left and right roll adjustment; when the rotary servo disk is kept vertically upward, the two linear servo disks drive the wing root axis to move in opposite directions by the same distance, allowing for clockwise and counterclockwise yaw adjustment.

[0016] The wing membrane is made of Icarex PC31 fabric, and the wing veins are carbon rods with a diameter of 0.2-0.4mm.

[0017] The controller is housed in the frame, and the battery is electrically connected to the controller, motor, linear servo, and rotary servo. The battery supplies power to the controller, motor, linear servo, and rotary servo.

[0018] Compared with the prior art, the beneficial effects of this application are as follows:

[0019] 1. The frame of this application is an integrated design, and the aircraft as a whole is an axisymmetric structure. At the same time, most of the components of the flapping mechanism are optimized to be symmetrically distributed, thereby ensuring that the center of gravity is approximately located on the central symmetry plane of the micro flapping-wing aircraft, reducing obstacles for subsequent adjustment of the center of gravity position.

[0020] 2. The wing root shaft of this application is fixed to the universal joint by interference fit. Therefore, the rear end of the wing can swing in multiple directions under the control of the servo motor, avoiding the stroke resistance caused by various constraints on the wing root shaft, making attitude control smoother, increasing the accuracy and feasibility of control, and enabling the micro flapping-wing aircraft to achieve more precise mission actions.

[0021] 3. The slapping mechanism transmission structure proposed in this application adopts gear transmission, which has the advantages of convenient lubrication to reduce friction between mechanisms and make the output more stable. It also simplifies the slapping mechanism and reduces the number of parts, making it lighter and more robust.

[0022] 4. The micro flapping-wing aircraft proposed in this invention optimizes the overall parts and structure, adjusts the weight distribution of the airframe, and makes its center of gravity approximately located at the average aerodynamic center predicted by the blade element method. This reduces energy loss caused by parasitic torques in the mechanism, thereby improving energy utilization efficiency and extending flight time.

[0023] 5. This application sets up 3 servo motors. In view of the problem that rigid connection structures cannot achieve flexible steering, this invention uses a three-servo motor attitude adjustment mechanism to achieve relatively precise three-degree-of-freedom directional control of roll, pitch and yaw of micro flapping-wing aircraft, which can perform stable and rapid response flight in various flight missions that require flexible control.

[0024] 6. This application comprehensively considers the size and position of each component, reducing the processing difficulty and assembly difficulty in the manufacturing process. The micro flapping-wing aircraft proposed in this application can accurately achieve various attitude actions such as climbing, hovering, forward flight, and yaw, and has the advantage of low energy consumption. Attached Figure Description

[0025] Figure 1 A schematic diagram of the overall structure of a micro flapping-wing aircraft according to the present invention;

[0026] Figure 2 A schematic diagram of the transmission structure of a micro flapping-wing aircraft according to the present invention;

[0027] Figure 3 A schematic diagram of the speed-changing structure of a micro flapping-wing aircraft according to the present invention;

[0028] Figure 4 A schematic diagram of the frame structure of a micro flapping-wing aircraft according to the present invention;

[0029] Figure 5 A schematic diagram of the overall frame structure of a micro flapping-wing aircraft according to the present invention;

[0030] Figure 6 A schematic diagram of the wing structure of a micro flapping-wing aircraft according to the present invention;

[0031] Figure 7 A schematic diagram of the attitude adjustment mechanism of a micro flapping-wing aircraft according to the present invention;

[0032] In the attached diagram: 1. Pounce mechanism; 10. Frame; 101. Left shoulder platform; 102. Right shoulder platform; 103. Connecting rod; 104. Bending groove; 11. Transmission structure; 111. Mechanism crank; 112. Swing rod; 113. Central gear; 114. Left end gear; 115. Left end rod; 116. Steering gear; 117. Right end gear; 118. Right end rod; 119. First rolling bearing; 12. Transmission structure; 121. Motor; 122. Double gear; 123. Long shaft gear; 124. Motor gear; 2. Attitude adjustment mechanism. 201. Universal joint; 202. Linear servo; 203. Linear servo servo disc; 204. Rotary servo; 205. Rotary servo servo disc; 206. Linear servo mounting bracket; 207. Rotary servo servo disc connecting shaft; 208. Drive rod; 209. Fixing plug; 3. Wing; 301. Leading edge rod; 302. Wing vein; 303. Wing membrane; 304. Wing root shaft; 4. Overall frame; 401. Frame support rod; 402. Upper support frame; 403. Lower support frame; 404. Frame pivot; 405. Second rolling bearing; 406. Battery. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0034] like Figure 1-7 As shown, a micro flapping-wing aircraft includes a flapping mechanism 1, an attitude adjustment mechanism 2, wings 3, an overall frame 4, and a controller for controlling the flight of the micro flapping-wing aircraft. The flapping mechanism 1 is fixed to the top of the overall frame 4, the attitude adjustment mechanism 2 is connected to the bottom of the flapping mechanism 1 and fixed to the overall frame 4, and the wings 3 are fixed by the flapping mechanism 1 and the attitude adjustment mechanism 2.

[0035] The flapping mechanism includes a frame 10, a transmission structure 11, and a speed-changing structure 12. The frame 10 is installed on the top of the overall frame 4, the speed-changing structure 12 is fixed on the upper surface of the frame 10, and the transmission structure 11 is connected to the speed-changing structure 12 and fixed on the lower surface of the frame 10.

[0036] The transmission structure 11 includes a mechanism crank 111, which is fixed on the central axis at the bottom of the frame 10. The center of the mechanism crank 111 is connected to the transmission structure 12. The bottom of the mechanism crank 111 is connected to one end of the rocker arm 112. The other end of the rocker arm 112 is connected to the central gear 113. The shaft of the central gear 113 is fixed on the frame 10. One side of the central gear 113 meshes with the left end gear 114. The left end gear 114 is fixed on the left end rod 115. The left end rod 115 is hinged to the frame 10. The other side of the central gear meshes with the steering gear 116. The shaft of the steering gear 116 is fixed on the right shoulder side of the frame 10. The steering gear 116 meshes with the right end gear 117. The right end gear 117 is fixed on the right end rod 118. The right end rod 118 is hinged to the frame 10.

[0037] The left and right edges of the frame 10 are respectively fixed with a left shoulder platform 101 and a right shoulder platform 102. The central rod ends of the left shoulder platform 101 and the right shoulder platform 102 are respectively connected to the rotating shafts of the left end gear 114 and the right end gear 117. The frame 10 is also provided with a curved slot 104, and the connecting rivets of the swing rod 112 and the central gear 113 are slidably connected in the curved slot 104 of the frame 10.

[0038] The transmission structure includes a double gear 122, which is fixed on the frame 10. The large gear of the double gear 122 meshes with the motor gear 124, and the small gear of the double gear 122 meshes with the long shaft gear 123. The top of the motor gear 124 is mounted on the output shaft of the motor 121, which is fixed by a motor bracket on the frame 10. The shaft of the long shaft gear 123 is mounted in the first rolling bearing 119 by an interference fit. The first rolling bearing 119 is mounted in the large hole on the central axis of the frame 10 by an interference fit. The crank 111 of the mechanism is fixedly connected to the other side of the shaft of the long shaft gear 123.

[0039] The flapping principle of the micro flapping-wing aircraft is as follows: the transmission structure 12 reduces the speed of the motor 121, increasing the output torque; the long shaft gear 123 transmits the reduced speed to the mechanism crank 111 through a fixed connection; the mechanism crank 111 converts the rotational motion into the reciprocating oscillation of the central gear 113 through the rocker arm 112; the central gear 113, through meshing with the left end gear 114, amplifies the reciprocating oscillation angle to about 170 degrees; the left end gear 114, through a fixed connection, drives the left end rod 115 to reciprocate; the central gear 113, through meshing with the steering gear 11... The meshing of gear 6 changes the swing direction and amplifies the reciprocating swing angle. At the same time, the steering gear 116 transmits the reciprocating swing motion through meshing with the right gear 117. The right gear 117 drives the right rod 118 to swing back and forth through a fixed connection, so that the left rod 115 and the right rod 118 can output symmetrical reciprocating slapping motion. The transmission structure 11 converts the rotational motion of the motor 121 into the reciprocating swing of the left rod 115 and the right rod 118, thereby outputting a slapping motion with a slapping amplitude of about 170 degrees and a frequency range of about 24 to 30 Hz.

[0040] The frame 10 is an integrated design with an overall axisymmetric structure. At the same time, most of the components of the flapping mechanism are optimized to be symmetrically distributed, thereby ensuring that the center of gravity is approximately located on the central symmetry plane of the micro flapping-wing aircraft, reducing obstacles for subsequent adjustment of the center of gravity position.

[0041] The overall frame includes a frame support rod 401. An upper support frame 402 and a lower support frame 403 are fixed to the middle and bottom of the frame support rod 401, respectively. A battery 406 is installed in the groove of the lower support frame 403. The top of the frame support rod 401 is fixed to the lower end of the connecting rod 103. The frame rotating shaft 404 is installed in the second rolling bearing 405 by interference fit. The second rolling bearing 405 is embedded in the middle of the connecting rod 103. The top of the connecting rod 103 is fixed to the frame 10.

[0042] The wing 3 includes two leading edge rods 301, multiple wing veins 302, a wing membrane 303, and two wing root shafts 304. The two leading edge rods 301 are respectively fixed to the left end rod 115 and the right end rod 118. The top ends of the two wing root shafts 304 are fixed to the bottom of the universal joint 201 by an interference fit. The top ends of the universal joint 201 are respectively fixed to the bottom ends of the left shoulder platform 101 and the right shoulder platform 102. The top and sides of the wing membrane 303 are rolled onto the leading edge rods 301 and the wing root shafts 304. Multiple wing veins 302 that increase the stiffness of the wing 3 are evenly distributed on the wing membrane 303. The wing membrane 303 is made of Icarex PC31 fabric, and the wing veins 302 are carbon rods with a diameter of 0.2-0.4 mm.

[0043] When the left end rod 115 and the right end rod 118 swing back and forth, they can drive the wings 3 to flap continuously, thereby generating lift to enable the aircraft to overcome gravity and fly. The top of the wing root shaft 304 is fixed to the bottom of the universal joint 201 by interference fit. The rear end of the wing root shaft 304 is controlled by the servo motor to swing in multiple directions, thereby realizing the attitude control of the three-degree-of-freedom micro flapping wing aircraft of pitch, roll and yaw.

[0044] The attitude adjustment mechanism 2 includes two linear servos 202 and a rotary servo 204, which are symmetrically distributed. The two linear servos 202 are fixed to the frame pivot 404 by linear servo mounting brackets 206. Two linear servo disks 203 are symmetrically provided on the sides of the two linear servos 202. The linear servo disks 203 are fixed to the bottom end of the wing root shaft 304. The rotary servo 204 is fixed to the upper support frame 402 of the overall frame 4. One end of the rotary servo disk 205 is fixed to the rotary servo 204 by interference fit, and the other end is connected to the rotary servo disk connecting shaft 207. The rotary servo disk connecting shaft 207 is connected to the transmission rod 208. The transmission rod 208 is hinged and fixed to the fixing plug 209 of the upper support frame 402. The bottom of the linear servo mounting bracket 206 is rotatably connected to the transmission rod 208.

[0045] The three servos of the attitude adjustment mechanism 2 are symmetrically distributed. In order to keep the horizontal center of gravity of the attitude adjustment mechanism 2 approximately located on the central symmetry plane, the installation position of the rotating servo 204 is adjusted to be slightly closer to the frame side.

[0046] The attitude adjustment mechanism 2 adjusts the attitude as follows: When the rotary servo disk 205 is kept vertically upward, the two symmetrical linear servo disks 203 simultaneously drive the wing root shaft 304 to move inward or outward by the same distance, allowing for forward and backward pitch adjustment; when the linear servo 202 keeps the wing root shaft 304 vertically upward, the rotary servo disk 205 drives the linear servo mounting bracket 206 to tilt to both sides by an angle via the rotary servo disk connecting shaft 207, causing the wing root shaft 304 to tilt to both sides by an angle as well, allowing for left and right roll adjustment; when the rotary servo disk 205 is kept vertically upward, the two linear servo disks 203 drive the wing root shaft 304 to move in opposite directions by the same distance, allowing for clockwise and counterclockwise yaw adjustment.

[0047] The controller is installed in the frame 10. The battery 406 is electrically connected to the controller, motor 121, linear servo 202, and rotary servo 204. The battery 406 supplies power to the controller, motor 121, linear servo 202, and rotary servo 204.

[0048] Based on the blade element method, the estimated mean aerodynamic center of this micro flapping-wing aircraft is located on the intersection line of the symmetry center plane of the two wings 3 and the plane on which they lie. Specifically, the location is below the leading edge rod 301, and the vertical distance from the leading edge rod 301 is approximately 2 / 5 of the mean chord length of the wing 3. The overall frame 4 is designed to rationally arrange the positions of the components of the attitude adjustment mechanism 2 and optimize the overall mass distribution of the aircraft. This makes the center of gravity of the micro flapping-wing aircraft approximately located at the mean aerodynamic center, making the horizontal and vertical lever arms from gravity almost zero. This reduces the vibration during the flapping process, thereby reducing imbalance and noise, and enhancing the stability of the aircraft.

Claims

1. A miniature flapping-wing aircraft, characterized in that, It includes a flapping mechanism (1), an attitude adjustment mechanism (2), wings (3), an overall frame (4), and a controller for controlling the flight of the micro flapping-wing aircraft. The flapping mechanism (1) is fixed to the top of the overall frame (4), the attitude adjustment mechanism (2) is connected to the bottom of the flapping mechanism (1) and fixed to the overall frame (4), and the wings (3) are fixed by the flapping mechanism (1) and the attitude adjustment mechanism (2). The flapping mechanism (1) includes a frame (10), a transmission structure (11), and a speed-changing structure (12). The frame (10) is installed on the top of the overall frame (4), the speed-changing structure (12) is fixed on the upper surface of the frame (10), and the transmission structure (11) is connected to the speed-changing structure (12) and fixed on the lower surface of the frame (10). The transmission structure (11) includes a mechanism crank (111), which is fixed on the central axis at the bottom of the frame (10). The center of the mechanism crank (111) is connected to the transmission structure (12), and the bottom of the mechanism crank (111) is connected to one end of the rocker arm (112). The other end of the rocker arm (112) is connected to the central gear (113). The shaft of the central gear (113) is fixed on the frame (10). One side of the central gear (113) is connected to the left end gear (113). 14) Engagement: The left end gear (114) is fixed on the left end rod (115), the left end rod (115) is hinged to the frame (10), the other side of the center gear (113) engages with the steering gear (116), the shaft of the steering gear (116) is fixed on the right shoulder of the frame (10), the steering gear (116) engages with the right end gear (117), the right end gear (117) is fixed on the right end rod (118), the right end rod (118) is hinged to the frame (10); The transmission structure (12) includes a double gear (122), which is fixed on the frame (10). The large gear of the double gear (122) meshes with the motor gear (124), and the small gear of the double gear (122) meshes with the long shaft gear (123). The top of the motor gear (124) is mounted on the output shaft of the motor (121). The motor (121) is fixed by a motor frame set on the frame (10). The shaft of the long shaft gear (123) is fixedly connected to the mechanism crank (111) through the first rolling bearing (119) on the frame (10).

2. A micro flapping-wing aircraft according to claim 1, characterized in that, The left and right edges of the frame (10) are fixed to the left shoulder platform (101) and the right shoulder platform (102) respectively. The central rod ends of the left shoulder platform (101) and the right shoulder platform (102) are respectively connected to the rotating shafts of the left end gear (114) and the right end gear (117). The frame (10) is provided with a curved slot (104), and the connecting rivet of the swing rod (112) and the central gear (113) is slidably connected in the curved slot (104) of the frame (10).

3. A micro flapping-wing aircraft according to claim 1, characterized in that, The overall frame (4) includes a frame support rod (401). The upper support frame (402) and the lower support frame (403) are fixed to the middle and bottom of the frame support rod (401), respectively. A battery (406) is installed in the groove of the lower support frame (403). The top of the frame support rod (401) is fixed to the lower end of the connecting rod (103). The frame shaft (404) is installed in the second rolling bearing (405) by interference fit. The second rolling bearing (405) is embedded in the middle of the connecting rod (103). The top of the connecting rod (103) is fixed to the frame (10).

4. A micro flapping-wing aircraft according to claim 1, characterized in that, The wing (3) includes two leading edge rods (301), multiple wing veins (302), a wing membrane (303), and two wing root shafts (304). The two leading edge rods (301) are fixed to the left end rod (115) and the right end rod (118), respectively. The top of the two wing root shafts (304) is fixed to the bottom of the universal joint (201) by interference fit. The top of the universal joint (201) is fixed to the bottom of the left shoulder platform (101) and the right shoulder platform (102), respectively. The top and sides of the wing membrane (303) are rolled onto the leading edge rods (301) and the wing root shafts (304). Multiple wing veins (302) that increase the stiffness of the wing (3) are evenly distributed on the wing membrane (303).

5. A micro flapping-wing aircraft according to claim 1, characterized in that, The attitude adjustment mechanism (2) includes two linear servos (202) and a rotary servo (204). The two linear servos (202) and the rotary servo (204) are symmetrically distributed. The two linear servos (202) are fixed to the frame pivot (404) by linear servo mounting brackets (206). Two linear servo disks (203) are symmetrically provided on the sides of the two linear servos (202). The linear servo disks (203) are fixed to the bottom end of the wing root shaft (304). The rotary servo (204) The rotary servo disk (205) is fixed on the upper support frame (402) of the overall frame (4). One end of the rotary servo disk (205) is fixed on the rotary servo (204) by interference fit, and the other end is connected to the rotary servo disk connecting shaft (207). The rotary servo disk connecting shaft (207) is connected to the transmission rod (208). The transmission rod (208) is hinged and fixed on the fixing plug (209) of the upper support frame (402). The transmission rod (208) is rotatably connected to the bottom of the linear servo mounting bracket (206).

6. A micro flapping-wing aircraft according to claim 5, characterized in that, The attitude adjustment mechanism (2) adjusts the attitude as follows: when the rotary servo disk (205) is kept vertically upward, the two symmetrical linear servo disks (203) simultaneously drive the wing root shaft (304) to move inward or outward by the same distance to adjust the pitch attitude forward and backward; when the linear servo (202) keeps the wing root shaft (304) vertically upward, the rotary servo disk (205) drives the linear servo mounting bracket (206) to tilt to both sides by an angle through the rotary servo disk connecting shaft (207), and drives the wing root shaft (304) to tilt to both sides by an angle as well, at which time the roll attitude adjustment to the left and right can be performed; when the rotary servo disk (205) is kept vertically upward, the two linear servo disks (203) drive the wing root shaft (304) to move in opposite directions by the same distance to adjust the yaw attitude clockwise and counterclockwise.

7. A micro flapping-wing aircraft according to claim 4, characterized in that, The wing membrane (303) is made of Icarex PC31 fabric, and the wing veins (302) are carbon rods with a diameter of 0.2-0.4 mm.

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