A cross-medium flapping-wing aircraft capable of wing folding

Abstract

The present application relates to a cross-medium flapping-wing aircraft capable of wing folding, comprising: a power assembly for driving the flapping-wing aircraft to move; a slider-crank structure; a frame, the power assembly being installed at the front end of the frame, and the slider-crank structure being installed at the middle part of the frame; a tail wing, the tail wing being installed at the end of the frame; a wing assembly, the wing assembly comprising a left wing and a right wing, the left wing and the right wing being connected with the power assembly respectively. The present application can realize the following functions: the wingspan of the flapping-wing aircraft can be adjusted, the folding of the single-side wing can be controlled individually, the folding of the wings and the flapping of the wings can be decoupled or coupled, the flexibility of the wings is greatly improved, and the wing ribs are distributed reasonably, and the inside of the wings also has wing ribs, so that the flight performance of the wings can be greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flapping wing aircraft, in particular to a trans-medium flapping wing aircraft capable of wing folding. BACKGROUND

[0002] In recent years, the rapid development of science and technology has greatly expanded the range of human activities, giving rise to the demand for high-performance unmanned systems on sea, land and air for various auxiliary operations. However, the existing conventional unmanned systems on sea, land and air usually only have sensing and motion capabilities in a single medium environment, limiting their application in multiple medium environments. As a kind of sea-air integrated unmanned system that can operate in air and water space at the same time, the water-air trans-medium robot breaks through the traditional unmanned system mode and effectively enhances its multi-environment adaptability, greatly improves the operation efficiency and success rate, and has important application value and wide application prospect in military and civilian fields. Bionic flapping wing aircraft has become the research object of many scholars due to its excellent low-altitude flight performance, and seabirds such as terns in nature have excellent trans-medium flight capabilities. They can easily complete the air-water-water-air medium crossing motion. Taking these excellent flying animals as the bionic object, the existing flapping wing aircraft still needs to have excellent wing folding function to facilitate movement during trans-medium action. Therefore, it is necessary to design a flapping wing robot that can better simulate the folding of bird wings to fly and perform trans-medium motion and perform corresponding tasks.

[0003] The existing patent application CN 113002772 A proposes a "flapping and folding integrated bat-like flapping wing aircraft", which uses a direct-current brushless motor set as the driving mechanism, reduces the rotating speed and increases the torque through a two-stage cylindrical gear reducer; the double-crank flapping mechanism converts the rotating motion of the motor into reciprocating flapping motion of the aircraft; the single-stage conical gear changes the direction of the rotating motion, and then the rotating motion is converted into the folding motion of the aircraft wing through the crank slider mechanism, and all mechanisms are installed on the aircraft body frame. During the downstroke of the aircraft, the wings gradually unfold and are completely unfolded at the lower flapping limit; during the upstroke, the wings gradually shrink and are completely folded at the upper flapping limit. The folding of the wings in this patent is fixed, and the folding action of the single-wing cannot be achieved to obtain higher maneuverability, and the wing span of this patent structure is limited, and the load capacity is weak. In addition, this scheme does not have wing ribs on the inner side of the wing, and the generated lift is limited.

[0004] A patent application CN 112874781 A proposes a bat-like flapping aircraft with folding and unfolding integrated, which includes a reduction gear set and two flapping folding and unfolding mechanisms. The reduction gear set is a two-stage reduction gear set, and the two flapping folding and unfolding mechanisms are symmetrically installed on the reduction gear set and realize flapping, folding and unfolding under the drive of the reduction gear set. Specifically, the up-and-down reciprocating flapping function is realized by using a spatial crank rocker mechanism, the folding and unfolding movement function is realized by using a spatial crank rocker, bevel gears, gear racks and Watt six-bar linkages, and one motor simultaneously drives the flapping mechanism and the folding and unfolding mechanism, so that the wings are unfolded when flapping down and folded when flapping up. The wings of this invention are folded and bound to the flapping mechanism, and cannot realize fixed-wing span and one-sided variable-wing span for high-performance maneuvering. In addition, the fingers on the outside of the wings of this patent are fixed and cannot be folded and unfolded, resulting in high folding ratio and poor folding performance. SUMMARY

[0005] The present application provides a cross-medium flapping-wing aircraft capable of realizing wing folding and unfolding, aiming to at least solve one of the technical problems existing in the prior art.

[0006] The technical solution of the present application is a cross-medium flapping-wing aircraft capable of realizing wing folding and unfolding, comprising:

[0007] a power assembly for driving the flapping-wing aircraft to move;

[0008] a crank slider structure;

[0009] a frame, the power assembly being installed at the front end of the frame, and the crank slider structure being installed at the middle part of the frame;

[0010] a tail wing installed at the end of the frame;

[0011] a wing assembly, the wing assembly comprising a left wing and a right wing, the left wing and the right wing being connected to the power assembly respectively.

[0012] Further, the power assembly comprises a main shaft, a swing block, a bearing, a transmission swing rod, a model brushless motor, a first gear, a second gear meshing with the first gear, a third gear coaxial with the second gear, a fourth gear, a power link, a power crank and a power main shaft;

[0013] The output of the model brushless motor drives the first gear and the second gear to rotate, thereby driving the third gear and the fourth gear to rotate, thereby driving the power main shaft arranged in the middle part of the fourth gear to rotate, the power main shaft drives the power crank connected to one end of the power main shaft to rotate, thereby causing the power link installed on the power crank to move;

[0014] The main shaft is installed on one side of the frame, the transmission rocker is in a "Y" shape, the open end of the transmission rocker is fixed to the swing block, the swing block is fixed to the main shaft through a bearing, the model aircraft brushless motor and the power main shaft are installed on the first mounting plate of the frame, the power crank and the fourth gear are respectively installed on both sides of the power main shaft, one end of the power connecting rod is fixedly connected to the power crank, and the other end of the power connecting rod is connected to the non-open end of the transmission rocker.

[0015] Furthermore, the crank slider structure includes a folding steering gear, a folding crank, a folding connecting rod and a slider connected in sequence.

[0016] The folding servo is mounted on the frame, the output shaft of the folding servo is connected to one end of the folding crank, the other end of the folding crank is provided with a plurality of mounting holes, one end of the folding connecting rod is optionally fixed to any mounting hole of the folding crank by a screw, the other end of the folding connecting rod is fixed to the slider, and the slider is sleeved on the main shaft.

[0017] Furthermore, the left wing includes a first outer wing phalanx, a radius and a humerus connected in sequence, the starting end of the humerus is connected to the frame, the radius and the humerus are rotatably connected by a screw, and the other end of the humerus is connected to the transmission rocker through a copper sleeve and a screw, converting the reciprocating swing of the transmission rocker into the flapping of the left wing.

[0018] Furthermore, the left wing also includes a radius leading edge cover connected to one side of the radius, a leading edge cover intermediate bracket arranged at the connection between the radius and the humerus, and a humeral leading edge cover connected to one side of the humerus.

[0019] Furthermore, the left wing further includes a folding drive slider, a first folding link, a first inner rib, a first inner rib fixing plate, a first inner rib guide pin, a humeral intermediate pad, a second folding link, a third folding link, a second inner rib, a second inner rib fixing plate, a second inner rib guide pin, a third outer wing phalanx, a third outer wing phalanx fixing plate, a second outer wing phalanx, a second outer wing phalanx fixing plate, a first outer wing phalanx fixing block, a folding guide pin, and an outer wing fixing block;

[0020] The first end of the first folding connecting rod is connected to the folding driving slider, and the second end of the first folding connecting rod is connected to the middle part of the humerus;

[0021] The first end of the first internal wing rib is connected with the humerus intermediate pad through the first internal wing rib fixing plate, the first internal wing rib fixing plate is connected with the second folding and unfolding connecting rod through the first internal wing rib guide pin, and the first internal wing rib guide pin slides in the slot of the first internal wing rib fixing plate.

[0022] The first internal wing rib and the second internal wing rib are respectively embedded and fixed with the first internal wing rib fixing plate and the second internal wing rib fixing plate, the first internal wing rib fixing plate and the second internal wing rib fixing plate are respectively fixed with the humerus intermediate pad and the radius intermediate pad through the jamming screw, and the first internal wing rib fixing plate and the second internal wing rib fixing plate can rotate relative to the humerus.

[0023] Further, the first end of the second folding and unfolding connecting rod is connected with the middle part of the first folding and unfolding connecting rod, the second end of the second folding and unfolding connecting rod is connected with the first end of the third folding and unfolding connecting rod, and the second end of the third folding and unfolding connecting rod is connected with the first external wing phalanx fixing block through the jamming screw.

[0024] The first end of the second internal wing rib is connected with the middle part of the radius through the second internal wing rib fixing plate, the second internal wing rib fixing plate is provided with a slot, the third folding and unfolding connecting rod is provided with a second internal wing rib guide pin, one end of the second internal wing rib guide pin is clamped in the slot of the second internal wing rib fixing plate, and the other end of the second internal wing rib guide pin is connected with the third folding and unfolding connecting rod.

[0025] Further, the third external wing phalanx is connected with one end of the radius through the third external wing phalanx fixing plate, and the third external wing phalanx is fixed to the third external wing phalanx fixing plate.

[0026] The second external wing phalanx 41 is connected with one end of the radius through the second external wing phalanx fixing plate, and the second external wing phalanx is fixed to the second external wing phalanx fixing plate, the second external wing phalanx fixing plate is provided with a slot, the third folding and unfolding connecting rod is provided with a folding and unfolding guide pin, one end of the folding and unfolding guide pin is clamped in the slot of the second external wing phalanx fixing plate, and the other end of the folding and unfolding guide pin is connected with the third folding and unfolding connecting rod.

[0027] The first external wing phalanx is connected with one end of the radius through the first external wing phalanx fixing block.

[0028] The first external wing phalanx fixing block, the third external wing phalanx fixing plate and the second external wing phalanx fixing plate are all fixed to the external wing fixing block through the jamming screw, and the external wing fixing block is connected with the radius through a screw.

[0029] Further, the first outer wing phalanx fixing block is in an ''L'' shape, one end of the first outer wing phalanx fixing block is used for embedding into the round deep hole of the first outer wing phalanx;

[0030] The second outer wing phalanx is a carbon fiber round rod, and is inserted into the round opening of the first outer wing phalanx fixing block and fixed by a screw.

[0031] Further, the right wing is symmetrically arranged with the left wing.

[0032] The beneficial effects of the present application are:

[0033] The cross-media flapping wing aircraft capable of realizing wing folding can realize adjustable wing span of the flapping wing aircraft, individually controllable unilateral wing folding, decoupling or coupling of wing folding and flapping, greatly improved flexibility of the wing, and reasonable wing rib distribution, and the inner side of the wing also has a wing rib, so that the flight performance of the wing is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structural schematic view of the cross-media flapping wing aircraft capable of realizing wing folding in a fully unfolded wing state (flight state).

[0035] Figure 2 It is a structural schematic view of a power assembly of the cross-media flapping wing aircraft capable of realizing wing folding.

[0036] Figure 3 It is a structural schematic view of a wing folding driving crank slider of the cross-media flapping wing aircraft capable of realizing wing folding.

[0037] Figure 4 It is a structural schematic view of a wing folding mechanism of the cross-media flapping wing aircraft capable of realizing wing folding.

[0038] Figure 5 It is a structural schematic view of a wing phalanx joint of the cross-media flapping wing aircraft capable of realizing wing folding.

[0039] Figure 6 It is a structural schematic view of a second inner wing rib of the cross-media flapping wing aircraft capable of realizing wing folding.

[0040] Figure 7 It is a structural schematic view of a first inner wing rib of the cross-media flapping wing aircraft capable of realizing wing folding.

[0041] Figure 8 It is a structural schematic view of a wing swing joint of the cross-media flapping wing aircraft capable of realizing wing folding.

[0042] Figure 9Structure diagram of the cross-medium flapping-wing aircraft with foldable wings in the state of fully folded wings (underwater navigation).

[0043] Figure 10 Structure diagram of the cross-medium flapping-wing aircraft with foldable wings in the state of fully folded wings (underwater navigation).

[0044] Figure 11 Structure diagram of the cross-medium flapping-wing aircraft with foldable wings in the state of fully folded wings (underwater navigation).

[0045] Figure 12 Control flowchart of the cross-medium flapping-wing aircraft with foldable wings in the decoupled state.

[0046] Figure 13 Control flowchart of the cross-medium flapping-wing aircraft with foldable wings in the coupled state.

[0047] Reference signs:

[0048] Reference signs in the drawing: 1, power assembly; 2, crank slider structure; 3, frame; 4, tail wing; 5, left wing; 6, right wing; 7, main shaft; 8, swing block; 9, bearing; 10, transmission swing rod; 11, model brushless motor; 12, power connecting rod; 13, power crank; 14, fourth gear; 15, power main shaft; 16, folding drive steering gear; 17, folding crank; 18, folding connecting rod; 19, slider; 20, first outer wing phalanx; 21, radius front edge cover; 22, radius; 23, front edge cover middle support; 24, humerus front edge cover; 25, humerus; 26, first main shaft support plate; 27, main shaft middle support plate; 29, folding steering gear support; 30, folding drive slider; 31, second main shaft support plate; 32, square tube; 33, support plate hinge block; 34, skin fixing rod; 35, first folding connecting rod; 36, first internal wing rib; 37, second folding connecting rod; 38, second internal wing rib; 39, third folding connecting rod; 40, third outer wing phalanx; 41, second outer wing phalanx; 42, second outer wing phalanx fixing plate; 43, first outer wing phalanx fixing block; 44, folding guide pin; 45, outer wing fixing block; 46, first radius plate; 47, radius middle gusset plate; 48, second radius plate; 49, third outer wing phalanx fixing plate; 50, second internal wing rib fixing plate; 51, second internal wing rib guide pin; 52, first radius link plate; 53, second radius link plate; 54, first humerus link plate; 55, first humerus middle gusset block; 56, first internal wing rib fixing plate; 57, first internal wing rib guide pin; 58, first humerus plate; 59, second humerus plate; 60, second humerus link plate; 61, copper sleeve; 62, plug screw. DETAILED DESCRIPTION

[0049] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0050] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0051] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0052] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0053] Reference Figures 1 to 13 In some embodiments, the technical solution of the present invention is a cross-medium flapping wing aircraft capable of folding wings, referring to Figure 1 and Figure 11 The cross-medium flapping-wing aircraft capable of folding wings includes:

[0054] Power assembly 1, used to drive the flapping-wing aircraft to move;

[0055] Crank slider structure 2;

[0056] A frame 3, wherein the power assembly 1 is mounted at the front end of the frame 3, and the crank slider structure 2 is mounted in the middle of the frame;

[0057] A tail wing 4, the tail wing 4 is installed at the end of the frame 3;

[0058] The wing assembly includes a left wing 5 and a right wing 6 , and the left wing 5 and the right wing 6 are respectively connected to the power assembly 1 .

[0059] The existing wing folding and unfolding technical scheme of the ornithopter is only to realize the linkage between the folding of the wing and the flapping of the wing, cannot realize the independent folding of the single wing, cannot adjust the wingspan, and cannot realize high maneuverability; in addition, the wingspan of the existing ornithopter is small, and the wing cannot be folded all the time, which is not suitable for air-water cross-medium movement.

[0060] The beneficial effects of the present application are:

[0061] The cross-medium ornithopter capable of realizing wing folding and unfolding can realize the adjustable wingspan of the ornithopter wing, the independent control of the folding of the single wing, the decoupling or coupling of the folding of the wing and the flapping of the wing, greatly improves the flexibility of the wing, and the wing rib distribution of the technical scheme is reasonable, the inside of the wing also has a wing rib, which can greatly improve the flight performance of the wing.

[0062] Specifically:

[0063] (1) The folding of the wing and the flapping of the wing can be decoupled, the flapping can be realized in the folding state of the wing, which provides convenience for the ornithopter in the water entry action and underwater navigation movement.

[0064] (2) The wing can be folded to different degrees, and the folding of the wings on both sides is controlled independently, so as to provide a large deflection torque for the ornithopter, realize high maneuverability, and complete complex air movement.

[0065] (3) The first internal wing rib 36 and the second internal wing rib 38 are added in the left wing 5 and the right wing 6, the first internal wing rib 36, the second internal wing rib 38, the third external wing phalanx 40 and the second external wing phalanx 41 are respectively controlled to unfold and fold through the third folding and unfolding connecting rod 39 and the second folding and unfolding connecting rod 37 under the limitation of the guide pin, and correspond to the position of the folding and unfolding connecting rod, realize follow-up folding and unfolding, and the existence of these wing ribs increases the strength and aerodynamic performance of the inside of the wing, and ensures sufficient lift and thrust.

[0066] The key points and points to be protected of the present application are:

[0067] (1) The folding and unfolding of the wing and the flapping can be coupled and decoupled according to the demand through the control system, realize the folding and unfolding of the wing and the flapping in the same frequency, the wing is folded to different degrees according to the demand, and high maneuverability is obtained by controlling the wingspan of the single wing.

[0068] (2) The present application can realize the flapping of the wing in the completely folded state, can reduce the water entry impact force in the action from air to water, and can realize small underwater disturbance and travel resistance when the wing flaps in the underwater navigation due to the folding of the wing, so as to realize the stable operation of the underwater navigation.

[0069] (3) The inner side of the wing is equipped with foldable ribs, which can increase the skin support performance of the inner side of the wing and the aerodynamic performance of the wing. Under the action of the inner ribs, higher lift can be obtained, which is beneficial to flight.

[0070] (4) The second outer phalanx and the third outer phalanx of the wing can also be folded and expanded along with the wing, thereby achieving a higher folding effect. The wing folding ratio of the present invention can reach 32.28%, which has an extreme folding effect while ensuring sufficient strength of the wings, making it convenient for storage and underwater movement.

[0071] Further, refer to Figure 2 The power assembly 1 includes a main shaft 7, a swing block 8, a bearing 9, a transmission rocker 10, a brushless motor 11 for the model aircraft, a first gear, a second gear meshing with the first gear, a third gear coaxial with the second gear, a fourth gear 14, a power connecting rod 12, a power crank 13 and a power main shaft 15;

[0072] The output of the brushless motor 11 drives the first gear and the second gear to rotate, thereby driving the third gear and the fourth gear 14 to rotate, thereby driving the power spindle 15 set in the middle of the fourth gear to rotate, and the power spindle 15 drives the power crank 13 connected to one end of the power spindle 15 to rotate, thereby causing the power connecting rod 12 installed on the power crank 13 to move;

[0073] The main shaft 7 is installed on one side of the frame 3, the transmission rocker arm 10 is "Y"-shaped, the open end of the transmission rocker arm 10 is fixed to the swing block 8, and the swing block 8 is fixed to the main shaft 7 through a bearing 9. The model aircraft brushless motor 11 and the power main shaft 15 are installed on the first mounting plate of the frame 3, the power crank 13 and the fourth gear 14 are respectively installed on both sides of the power main shaft 15, one end of the power connecting rod 12 is fixedly connected to the power crank 13, and the other end of the power connecting rod 12 is connected to the non-open end of the transmission rocker arm 10.

[0074] Specifically, one end of the power connecting rod 12 is connected and fixed to the power crank 13, and the other end is connected to the transmission rocker 10; the transmission rocker 10 is Y-shaped, and the open end is fixed to the swing block 8, and the swing block 8 is fixed to the main shaft 7 through the bearing 9, thus forming a set of spatial crank rocker mechanism, which converts the rotational motion of the motor into the reciprocating swing of the swing block.

[0075] Further, refer to Figure 3 The crank slider structure 2 includes a folding servo 16, a folding crank 17, a first folding connecting rod 8 and a slider 19 connected in sequence.

[0076] The folding and unfolding rudder machine 16 is installed on the frame 3, the output shaft of the folding and unfolding rudder machine 16 is connected with one end of the folding and unfolding crank 17, the other end of the folding and unfolding crank 17 is provided with a plurality of mounting holes, one end of the first folding and unfolding connecting rod 8 is selectively fixed on any mounting hole of the folding and unfolding crank 17 by a screw, the other end of the first folding and unfolding connecting rod 8 is fixed to the sliding block 19, and the sliding block 19 is sleeved on the main shaft 7.

[0077] Further, referring to Figure 4 and Figure 8 , the left wing 5 comprises a first outer wing phalanx 20, a radius 22 and a humerus 25 connected in sequence, the initial end of the humerus 25 is connected with the frame 3, the radius 22 and the humerus 25 are rotatably connected through a set screw, the other end of the humerus 25 is connected with the transmission swing rod 10 through a copper sleeve 61 and a set screw 62, and the reciprocating swing of the transmission swing rod 10 is converted into flapping of the left wing.

[0078] Further, referring to Figure 4 , the left wing 5 further comprises a radius leading edge cover 21 connected with one side of the radius 22, a leading edge cover intermediate support 23 arranged at the connection between the radius 22 and the humerus 25, and a humerus leading edge cover 24 connected with one side of the humerus 25.

[0079] Further, referring to Figure 4 , Figure 6 and Figure 7 , the left wing 5 further comprises a folding and unfolding driving sliding block 30, a first folding and unfolding connecting rod 35, a first internal wing rib 36, a first internal wing rib fixing plate 56, a first internal wing rib guide pin 57, a humerus intermediate pad 55, a second folding and unfolding connecting rod 37, a third folding and unfolding connecting rod 39, a second internal wing rib 38, a second internal wing rib fixing plate 50, a second internal wing rib guide pin 51, a third outer wing phalanx 40, a third outer wing phalanx fixing plate 49, a second outer wing phalanx 41, a second outer wing phalanx fixing plate 42, a first outer wing phalanx fixing block 43, a folding and unfolding guide pin 44 and an outer wing fixing block 45.

[0080] The first end of the first folding and unfolding connecting rod 35 is connected with the folding and unfolding driving sliding block 30, and the second end of the first folding and unfolding connecting rod 35 is connected with the middle part of the humerus 25.

[0081] The first end of the first internal wing rib 36 is connected with the humerus intermediate pad 55 through the first internal wing rib fixing plate 56, the humerus intermediate pad 55 is installed in the humerus 25, the first internal wing rib fixing plate 56 is connected with the second folding and unfolding connecting rod 37 through the first internal wing rib guide pin 57, and the first internal wing rib guide pin 57 relatively slides in the slot of the first internal wing rib fixing plate 56.

[0082] The first and second inner wing ribs 36 and 38 are fixedly embedded with the first and second inner wing rib fixing plates 56 and 50, respectively, which are fixed to the middle humerus pad 55 and the middle radial pad 47 by means of lag screws, and the first and second inner wing rib fixing plates 56 and 50 can rotate relative to the humerus 25.

[0083] Further, referring to Figure 4 , the first end of the second folding and unfolding connecting rod 37 is connected to the middle part of the first folding and unfolding connecting rod 35, the second end of the second folding and unfolding connecting rod 37 is connected to the first end of the third folding and unfolding connecting rod 39, and the second end of the third folding and unfolding connecting rod 39 is connected to the first outer wing phalanx fixing block 43 by means of a lag screw.

[0084] The first end of the second inner wing rib 38 is connected to the middle part of the radius 22 by means of the second inner wing rib fixing plate 50, the second inner wing rib fixing plate 50 is provided with a slot, the third folding and unfolding connecting rod 39 is provided with a second inner wing rib guide pin 51, one end of the second inner wing rib guide pin 51 is clamped in the slot of the second inner wing rib fixing plate 50, and the other end of the second inner wing rib guide pin 51 is connected to the third folding and unfolding connecting rod 39.

[0085] Further, referring to Figure 4 , the third outer wing phalanx 40 is connected to one end of the radius 22 by means of the third outer wing phalanx fixing plate 49, and the third outer wing phalanx 40 is fixed to the third outer wing phalanx fixing plate 49.

[0086] The second outer wing phalanx 41 is connected to one end of the radius 22 by means of the second outer wing phalanx fixing plate 42, and the second outer wing phalanx 41 is fixed to the second outer wing phalanx fixing plate 42, the second outer wing phalanx fixing plate 42 is provided with a slot, the third folding and unfolding connecting rod 39 is provided with a folding and unfolding guide pin 44, one end of the folding and unfolding guide pin 44 is clamped in the slot of the second outer wing phalanx fixing plate 42, and the other end of the folding and unfolding guide pin 44 is connected to the third folding and unfolding connecting rod 39.

[0087] The first outer wing phalanx 20 is connected to one end of the radius 22 by means of the first outer wing phalanx fixing block 43.

[0088] Referring to Figure 5 , the first outer wing phalanx fixing block 43, the third outer wing phalanx fixing plate 49, and the second outer wing phalanx fixing plate 42 are fixed to the outer wing fixing block 45 by means of lag screws, and the outer wing fixing block 45 is connected to the radius 22 by means of a screw.

[0089] Further, referring toFigure 5 The first outer wing phalanx fixing block 43 is in the shape of "L", one end of the first outer wing phalanx fixing block 43 is used for embedding into the round deep hole of the first outer wing phalanx;

[0090] The second outer wing phalanx 41 is a carbon fiber round rod, the second outer wing phalanx 41 is inserted into the round opening of the first outer wing phalanx fixing block 43 and fixed by a screw.

[0091] Specifically, in some embodiments, referring to Figure 6 The first outer wing phalanx fixing block 43, the third outer wing phalanx fixing plate 49 and the second inner wing rib fixing plate 50 are respectively connected and fixed with the third folding and unfolding connecting rod 39 through the folding and unfolding guide pin 44 and the second inner wing rib guide pin 51, and the folding and unfolding guide pin 44 and the second inner wing rib guide pin 51 can slide in the guide groove of the first outer wing phalanx fixing block 43, the third outer wing phalanx fixing plate 49 and the second inner wing rib fixing plate 50; the third folding and unfolding connecting rod 39 is connected with the second folding and unfolding connecting rod 37 through a snap screw, and can rotate relative to each other; the second folding and unfolding connecting rod 37 is designed with an opening in the middle, the opening is connected with one end of the radius 22 through a snap screw, and can rotate relative to each other; the other end of the second folding and unfolding connecting rod 37 is linked with the first folding and unfolding connecting rod 35 through a snap screw, and can rotate relative to each other;

[0092] One end of the first folding and unfolding connecting rod 35 is connected with the humerus middle pad 55 through a snap screw, and can rotate relative to each other, the other end is connected with the folding and unfolding driving sliding block 30 through a snap screw, and can rotate relative to each other; the folding and unfolding driving sliding block 30 is designed with a through hole in the middle, and is assembled with the sliding block 19 on the main shaft 7, and the reciprocating linear motion of the sliding block 19 relative to the main shaft 7 can drive the folding and unfolding driving sliding block 30 to move linearly along the main shaft 7.

[0093] Further, the right wing 6 is symmetrically arranged with the left wing 5.

[0094] Embodiment one:

[0095] Referring to Figure 1, is a schematic diagram of the posture of the ornithopter in flight, when flying in the air, the folding and unfolding rudder 16 drives the slider 19 in the crank slider structure to move, the slider 19 drives the folding and unfolding driving slider 30 to move, the folding and unfolding driving slider 30 drives the 6 connecting rod mechanism of the wing to move, so that the wing keeps unfolded; the first internal wing rib 36, the second internal wing rib 38, the third external wing phalanx 40 and the second external wing phalanx 41 are unfolded together under the limitation of the guide pin and keep a specific position respectively; after the wing is unfolded, the model brushless motor 11 drives the power assembly system to operate, drives the transmission swing rod 10 to swing back and forth, and drives the humerus 25 to swing back and forth, thereby realizing the flapping of the wing; when the ornithopter flies in the air, the control system controls the folding and unfolding rudder 16 to drive the wing to keep unfolded, and the model brushless motor 11 drives the power assembly to operate to drive the left wing 5 and the right wing 6 to flap, the flapping of the wing generates lift and thrust, thereby realizing the flight of the ornithopter in the air.

[0096] Referring to Figure 12 , the driving sources of the flapping of the wing and the folding and unfolding of the wing are separated and are in a decoupled state, in terms of the control system, the flapping of the wing is controlled by a separate signal, and the folding and unfolding of the wing is controlled by another signal, the two signals are independent and have no correlation, and the two signals act only when they receive the respective control signals and do not interfere with each other.

[0097] Embodiment two:

[0098] Referring to Figure 13 , on the basis of embodiment one, the control system controls the folding and unfolding driving rudder 16 to drive the wing to reciprocally fold and unfold and the power assembly 1 to drive the wing to flap, and the frequencies are coupled, when the wing flaps up, the wing folds, when the wing flaps up to the highest position, the wing folds to the minimum wing span state, when the wing flaps down, the wing unfolds, and when the wing flaps down to the lowest position, the wing unfolds to the maximum wing span state; this control strategy of flight can save the air resistance when the wing flaps up, thereby saving energy consumption and realizing excellent flight performance. When the control system works, the position information of the model brushless motor encoder is read first, the information of the encoder can know the angle of the flapping of the wing. The angle of the flapping of the wing and the folding and unfolding angle of the wing are one-to-one corresponding, which is set in the control program, after the angle of the flapping of the wing is read, the controller controls the rudder to rotate to the corresponding position (the wing folds to the corresponding position), and the harmonic frequency coupling motion starts.

[0099] The folding and unfolding of the left wing 5 and the right wing 6 are respectively controlled by two folding and unfolding rudders, under the control of the control system, the folding and unfolding action of the wing and the flapping action of the wing are in harmonic frequency, that is, the wing folds when the wing flaps up, and the wing unfolds when the wing flaps down.

[0100] Embodiment three:

[0101] On the basis of embodiment one, the ornithopter realizes underwater navigation mode. In the underwater navigation mode, referring to Figure 10 When underwater, the control system controls the folding and unfolding drive steering gear 16 to drive the wings to the folding position, so that the wingspan is reduced by 67%, to reduce the impact force received by the wings when entering the water and the resistance received when moving underwater; the tail 4 is controlled by the control system to make it stand up, so as to control the heading and flapping power forward movement underwater; in the water, after the wings are folded, the power assembly 1 of the ornithopter starts to work to drive the left wing 5 and the right wing 6 to flap, driving the ornithopter to navigate underwater.

[0102] When the ornithopter is in the state of embodiment one, the ornithopter is preparing to enter the water, and the folding and unfolding steering gear 16 controls the wings to start folding to Figure 10 the middle state. After the wings are folded, the ornithopter starts to enter the dive mode, rushes into the water, and the purpose of folding the wings is to reduce the impact force received by the whole machine when entering the water and the resistance and disturbance received when navigating in the water. When the ornithopter navigates underwater, the wings are in the folded state, the tail is in the standing state under the control of the steering gear, and the power assembly drives the spatial crank rocker mechanism to drive the wings to flap, thereby generating thrust for underwater operation, so that the ornithopter can navigate underwater.

[0103] Embodiment four:

[0104] On the basis of embodiment one, the control system can control the wings to fold to a certain position (not completely folded), referring to Figure 9 In this state, the ornithopter can quickly adjust the height, turn, have high maneuverability, and make high-difficulty actions.

[0105] The folding and unfolding of the left wing 5 and the right wing 6 are respectively controlled by two folding and unfolding steering gears. Under the control of the control system, the wings can be folded to different degrees. Different degrees of folding of the wings can provide a turning moment for the ornithopter, so as to realize rapid turning of the ornithopter and realize high maneuverability.

[0106] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. As long as the same means achieves the technical effect of the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure. All should belong to the protection scope of the present application. The technical solutions and / or embodiments within the protection scope of the present application can have various modifications and changes.

Claims

1. A trans-medium flapping-wing aircraft capable of folding wings, characterized in that: include: A power assembly (1) for driving the flapping-wing aircraft to move; Crank slider structure (2); A frame (3), wherein the power assembly (1) is mounted at the front end of the frame (3), and the crank slider structure (2) is mounted at the middle of the frame; A tail wing (4), the tail wing (4) being mounted on the end of the frame (3); A wing assembly, the wing assembly comprising a left wing (5) and a right wing (6), the left wing (5) and the right wing (6) being connected to the power assembly (1) respectively; The power assembly (1) comprises a main shaft (7), a swing block (8), a bearing (9), a transmission rocker (10), a model aircraft brushless motor (11), a first gear, a second gear meshing with the first gear, a third gear coaxial with the second gear, a fourth gear (14), a power connecting rod (12), a power crank (13) and a power main shaft (15); The output of the brushless motor (11) of the model aircraft drives the first gear and the second gear to rotate, thereby driving the third gear and the fourth gear (14) to rotate, thereby driving the power main shaft (15) arranged in the middle of the fourth gear to rotate, and the power main shaft (15) drives the power crank (13) connected to one end of the power main shaft (15) to rotate, thereby causing the power connecting rod (12) installed on the power crank (13) to move; The main shaft (7) is mounted on one side of the frame (3); the transmission rocker (10) is in a "Y" shape; the open end of the transmission rocker (10) is fixed to the swing block (8); the swing block (8) is fixed to the main shaft (7) through a bearing (9); the model aircraft brushless motor (11) and the power main shaft (15) are mounted on a first mounting plate of the frame (3); the power crank (13) and the fourth gear (14) are respectively mounted on both sides of the power main shaft (15); one end of the power connecting rod (12) is fixedly connected to the power crank (13); and the other end of the power connecting rod (12) is connected to the non-open end of the transmission rocker (10); The crank slider structure (2) comprises a folding steering gear (16), a folding crank (17), a folding connecting rod (18) and a slider (19) which are connected in sequence. The folding steering gear (16) is mounted on the frame (3); the output shaft of the folding steering gear (16) is connected to one end of the folding crank (17); the other end of the folding crank (17) is provided with a plurality of mounting holes; one end of the folding connecting rod (18) can be optionally fixed to any mounting hole of the folding crank (17) by a screw; the other end of the folding connecting rod (18) is fixed to the slider (19); and the slider (19) is sleeved on the main shaft (7).

2. The cross-medium flapping-wing aircraft capable of folding wings according to claim 1, characterized in that: The left wing (5) includes a first outer wing phalanx (20), a radius (22) and a humerus (25) connected in sequence, the starting end of the humerus (25) is connected to the frame (3), the radius (22) and the humerus (25) are rotatably connected via a plug screw, and the other end of the humerus (25) is connected to the transmission rocker (10) via a copper sleeve (61) and a plug screw (62), so as to convert the reciprocating swing of the transmission rocker (10) into the flapping of the left wing.

3. The cross-medium flapping-wing aircraft capable of folding wings according to claim 2, characterized in that: The left wing (5) further includes a radius front edge cover (21) connected to one side of the radius (22), a front edge cover intermediate bracket (23) arranged at the connection between the radius (22) and the humerus (25), and a humeral front edge cover (24) connected to one side of the humerus (25).

4. The cross-medium flapping-wing aircraft capable of folding wings according to claim 2, characterized in that: The left wing (5) further comprises a folding drive slider (30), a first folding connecting rod (35), a first inner wing rib (36), a first inner wing rib fixing plate (56), a first inner wing rib guide pin (57), a humeral intermediate pad (55), a second folding connecting rod (37), a third folding connecting rod (39), a second inner wing rib (38), a second inner wing rib fixing plate (50), a second inner wing rib guide pin (51), a third outer wing phalanx (40), a third outer wing phalanx fixing plate (49), a second outer wing phalanx (41), a second outer wing phalanx fixing plate (42), a first outer wing phalanx fixing block (43), a folding guide pin (44) and an outer wing fixing block (45); The first end of the first folding connecting rod (35) is connected to the folding driving slider (30), and the second end of the first folding connecting rod (35) is connected to the middle part of the humerus (25); The first end of the first internal rib (36) is connected to the humeral intermediate pad (55) through the first internal rib fixing plate (56), and the humeral intermediate pad (55) is installed in the humerus (25). The first internal rib fixing plate (56) and the second folding link (37) are connected through the first internal rib guide pin (57), and the first internal rib guide pin (57) slides relatively in the slot of the first internal rib fixing plate (56); The first internal rib (36) and the second internal rib (38) are respectively embedded and fixed with the first internal rib fixing plate (56) and the second internal rib fixing plate (50), and the first internal rib fixing plate (56) and the second internal rib fixing plate (50) are respectively fixed with the humeral intermediate pad (55) and the radial intermediate pad (47) by screws, and the first internal rib fixing plate (56) and the second internal rib fixing plate (50) can rotate relative to the humerus (25).

5. The cross-medium flapping-wing aircraft capable of folding wings according to claim 4, characterized in that: The first end of the second folding link (37) is connected to the middle part of the first folding link (35), the second end of the second folding link (37) is connected to the first end of the third folding link (39), and the second end of the third folding link (39) is connected to the first outer phalanx fixing block (43) via a screw. The first end of the second internal rib (38) is connected to the middle part of the radius (22) through the second internal rib fixing plate (50), the second internal rib fixing plate (50) is provided with a slot, and the third folding connecting rod (39) is provided with a second internal rib guide pin (51), one end of the second internal rib guide pin (51) is clamped in the slot of the second internal rib fixing plate (50), and the other end of the second internal rib guide pin (51) is connected to the third folding connecting rod (39).

6. The cross-medium flapping-wing aircraft capable of folding wings according to claim 5, characterized in that: The third lateral phalanx (40) is connected to one end of the radius (22) via the third lateral phalanx fixing plate (49), and the third lateral phalanx (40) is fixed to the third lateral phalanx fixing plate (49); The second lateral phalanx (41) is connected to one end of the radius (22) through the second lateral phalanx fixing plate (42), the second lateral phalanx (41) is fixed to the second lateral phalanx fixing plate (42), the second lateral phalanx fixing plate (42) is provided with a slot, and the third folding connecting rod (39) is provided with a folding guide pin (44), one end of the folding guide pin (44) is clamped in the slot of the second lateral phalanx fixing plate (42), and the other end of the folding guide pin (44) is connected to the third folding connecting rod (39); The first lateral phalanx (20) is connected to one end of the radius (22) via the first lateral phalanx fixing block (43); The first lateral phalanx fixing block (43), the third lateral phalanx fixing plate (49), and the second lateral phalanx fixing plate (42) are all fixed to the lateral phalanx fixing block (45) by screws, and the lateral phalanx fixing block (45) is connected to the radius (22) by screws.

7. The cross-medium flapping-wing aircraft capable of folding wings according to claim 6, characterized in that: The first lateral phalanx fixing block (43) is L-shaped, and one end of the first lateral phalanx fixing block (43) is used to be embedded in the circular deep hole of the first lateral phalanx; The second lateral phalanx (41) is a carbon fiber round rod, and the second lateral phalanx (41) is inserted into the circular opening of the first lateral phalanx fixing block (43) and fixed by screws.

8. The cross-medium flapping-wing aircraft capable of folding wings according to claim 1, characterized in that: The right wing (6) and the left wing (5) are symmetrically arranged.

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