A flapping-wing aircraft with air-water dual-domain motion capability and control method thereof

Abstract

The present invention relates to a flapping-wing aircraft capable of dual-domain movement in air and water, and a control method thereof, wherein the flapping-wing aircraft comprises: a main beam; a power assembly for driving the flapping-wing aircraft to move, the power assembly being arranged at the front end of the main beam; a wing assembly, the wing assembly comprising a left wing and a right wing, the left wing and the right wing being respectively mounted on both sides of the front end of the main beam and connected to the power assembly; and a tail assembly, the tail assembly being mounted at the end of the main beam. The flapping-wing aircraft capable of dual-domain movement in air and water can achieve flapping flight in the air and can also achieve tail-driven swimming underwater, thus achieving dual-domain movement in air and water.

Description

Technical Field

[0001] The present invention relates to the field of flapping-wing aircraft, and in particular to a flapping-wing aircraft with air-water dual-domain motion capability and a control method thereof. Background Art

[0002] In recent years, the rapid development of science and technology has greatly expanded the scope of human activities, giving rise to the demand for high-performance unmanned sea, land, and air systems for various auxiliary operations. However, existing conventional unmanned sea, land, and air systems usually only have the perception and movement capabilities in a single medium environment, which limits their application in multiple medium environments. As a type of integrated sea and air unmanned system that can operate simultaneously in air and water, the air-water cross-medium robot breaks through the traditional unmanned system pattern, effectively enhances its adaptability to multiple environments, greatly improves operational efficiency and success rate, and has important application value and broad application prospects in military and civilian fields. Bionic flapping-wing aircraft have become the research object of many scholars due to their excellent low-altitude flight performance. Current flapping-wing aircraft cannot achieve underwater propulsion functions. There is an urgent need to design a flapping-wing aircraft with air-water cross-medium movement capabilities to fly and cross-medium movement to perform corresponding tasks.

[0003] Patent CN 115056980 A, titled "Variable-Sweep Wing Assembly for Water-Air Trans-Medium Flapping-Wing Aircraft and Flapping-Wing Aircraft," discloses a variable-sweep wing assembly for a water-air trans-medium flapping-wing aircraft, comprising: a fuselage; a turret disposed on one side of the front end of the fuselage, the front end of the turret being rotatably connected to the fuselage; a first rocker rotatably disposed on the turret, capable of swinging up and down relative to the turret; a wing fixedly disposed on the first rocker; a flapping-wing drive mechanism disposed on the fuselage, configured to drive the first rocker to swing up and down relative to the turret; and a wing adjustment mechanism disposed on the fuselage, configured to drive the turret to rotate left and right relative to the fuselage. Application of the variable-sweep wing assembly for a water-air trans-medium flapping-wing aircraft can improve the aircraft's flight performance under various operating conditions. The wings in this patent can be swept back to reduce water resistance during entry, but can only flap in water. Due to their large wing area, they are unable to flap, resulting in a very low speed in water.

[0004] Patent CN 115258153 A proposes "A Wing Deformation Mechanism for a Water-Air Trans-Medium Flapping-Wing Aircraft." This invention discloses a wing deformation mechanism for a water-air trans-medium flapping-wing aircraft, comprising: a fuselage; a first front swing bar rotatably connected to the front side of the fuselage and capable of swinging up and down relative to the fuselage; a flapping-wing drive mechanism disposed on the fuselage and configured to drive the first front swing bar to swing up and down; an airfoil, a first side of the airfoil connected to the fuselage and a second side of the airfoil rotatably connected to the first front swing bar; and a deformation drive mechanism configured to drive the airfoil to rotate backward relative to the first front swing bar and deform the airfoil. Application of this mechanism can improve the aircraft's flight performance under various operating conditions. The wings of this invention have a folding function, resulting in high flapping resistance and low speed in water. Summary of the Invention

[0005] The present invention provides a flapping-wing aircraft capable of air-water dual-domain motion and a control method thereof, aiming to solve at least one of the technical problems existing in the prior art.

[0006] The technical solution of the present invention is a flapping-wing aircraft with air-water dual-domain motion capability, comprising:

[0007] main beam;

[0008] A power assembly, used for driving the flapping-wing aircraft to move, wherein the power assembly is arranged at the front end of the main beam;

[0009] a wing assembly, the wing assembly comprising a left wing and a right wing, the left wing and the right wing being respectively mounted on both sides of the front end of the main beam and connected to the power assembly;

[0010] The tail assembly 8 is mounted at the end of the main beam.

[0011] Furthermore, the power assembly includes a power output unit, a wing drive unit and a tail drive unit, and the wing drive unit and the tail drive unit are respectively connected to the power output unit.

[0012] Furthermore, the power output unit includes a motor, a first gear and a second gear connected in sequence, the first gear and the second gear are respectively installed on the output shaft of the motor, the first gear is connected to the tail drive unit, and the second gear is connected to the wing drive unit.

[0013] Furthermore, the tail driving unit includes a first driving gear, a first one-way bearing, a worm, a turbine, a second transmission shaft, a first coupling, a first transmission shaft, a second coupling, a tail swing transmission shaft and a swing driving crank connected in sequence.

[0014] The first drive gear is engaged with the first gear of the power output part, the first one-way bearing is installed at the center axis position of the first drive gear, the worm is installed on the extended shaft of the first one-way bearing, the turbine is installed above the worm and engaged with the worm, the first end of the second transmission shaft is connected to the center axis of the worm, the second end of the second transmission shaft and the first end of the first linkage shaft are connected through the first coupling, the second end of the first transmission shaft and the first end of the tail swing transmission shaft are connected through the second coupling, and the tail swing transmission shaft drives the swing drive crank to rotate, driving the entire tail assembly to swing.

[0015] Furthermore, the wing drive unit includes a second drive gear, a second one-way bearing, a third drive gear, a drive shaft, a right crank, a right swing link and a right swing rod, which are connected in sequence.

[0016] The second drive gear is engaged with the second gear of the power output part, the second one-way bearing is installed at the center axis position of the second drive gear, the third drive gear is connected to the second drive gear through a transmission gear installed on the extension axis of the center axis of the second one-way bearing, the drive shaft is connected to the center axis of the third drive gear, the right crank is installed at the first end of the drive shaft, the first end of the right swing link is connected to the second end of the right crank, the second end of the right swing link is connected to the right rocker through a rocker bracket installed on the main beam, and the right rocker is connected to the right wing.

[0017] Furthermore, the wing drive unit further includes a left crank, a left swing link and a left rocker arm connected in sequence.

[0018] The left crank is installed at the second end of the drive shaft, the first end of the left swing link is connected to the second end of the left crank, the second end of the left swing link is connected to the left rocker via a rocker bracket installed on the main beam, and the left rocker is connected to the left wing.

[0019] Furthermore, the tail assembly includes a tail fixing frame, a tail swing block, a tail swing bracket, a pitch servo, a pitch crank, a connecting rod, a rotary servo bracket, a rotary servo, a rotary servo steering wheel, a tail clamping plate and a tail.

[0020] The tail wing swing transmission shaft passes through the tail wing fixing frame, the end of the tail wing swing transmission shaft is connected to the swing drive crank, the end of the swing drive crank is arranged in the middle of the tail wing swing block, the tail wing swing block and the pitch servo are installed on the tail wing swing bracket, the output shaft of the pitch servo is connected to the pitch crank, the number of the connecting rods is 2, the first end of each connecting rod is respectively connected to the pitch crank, the second end of each connecting rod is respectively connected to the rotating servo bracket, the rotating servo, the rotating servo steering wheel and the tail clamping plate and the tail are connected in sequence.

[0021] Furthermore, it also includes a first one-way bearing support plate and a worm gear protection plate. The first one-way bearing support plate is arranged on the outside of the first one-way bearing, and the worm gear protection plate is arranged on the opposite side of the first one-way bearing support plate.

[0022] Furthermore, it also includes a second one-way bearing support plate, a third drive gear mounting plate and a third drive gear protection plate.

[0023] The second one-way bearing support plate is arranged on the outside of the second one-way bearing, the third drive gear is mounted on the third drive gear mounting plate, and the third drive gear protective plate is mounted on the opposite side of the third drive gear mounting plate.

[0024] Furthermore, the present invention also provides a control method for a flapping-wing aircraft capable of both air and water motion. The flapping-wing aircraft capable of both air and water motion is characterized in that the method comprises the following steps:

[0025] S100: When the flapping-wing aircraft is in flight, the controller controls the motor to rotate forward, transmitting motor power forward to the left and right rocker arms via the second one-way bearing, thereby driving the wing assembly to flap. The first one-way bearing is in an idling state and cannot drive the first drive gear to rotate, so the tail assembly cannot swing.

[0026] S200. If a signal is received that the aircraft needs to move forward in the water, the controller controls the motor to reverse, and the motor power is transmitted backward, and the power is transmitted to the turbine through the first one-way bearing, thereby driving the tail assembly to swing, while the second one-way bearing is in an idling state, and the wing assembly cannot flap, thereby driving the flapping-wing aircraft to move in the water.

[0027] The beneficial effects of the present invention are:

[0028] The flapping-wing aircraft, capable of dual-domain air-water motion, can achieve both aerial flapping flight and underwater tail-driven swimming, achieving dual-domain air-water motion. The flapping of the wings and the swinging of the tail are driven by the same motor, saving power and reducing the overall weight of the aircraft. By utilizing the unidirectional torque transmission characteristics of the one-way bearing, the control system controls the motor to rotate forward to achieve aerial flight mode, while controlling the motor to rotate reversely to achieve underwater propulsion mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the flight state structure of a flapping-wing aircraft with the ability to move in both air and water domains.

[0030] Figure 2 This is a structural diagram of the underwater navigation state of a flapping-wing aircraft with the ability to move in both air and water domains.

[0031] Figure 3 Schematic diagram of the power transmission mechanism of the tail assembly of a flapping-wing aircraft with dual-domain air-water motion capabilities.

[0032] Figure 4 Schematic diagram of the transmission mechanism of the power assembly of a flapping-wing aircraft with dual-domain motion capabilities in air and water.

[0033] Figure 5 This is a schematic diagram of the complete structure of the power assembly of a flapping-wing aircraft with the ability to move in both air and water domains.

[0034] Figure 6 Schematic diagram of the turbine worm gear transmission of the power component of a flapping-wing aircraft with dual-domain motion capabilities in air and water.

[0035] Figure 7 The flowchart of the control method of a flapping-wing aircraft with air-water dual-domain motion capability.

[0036] Figure 8 The figure is a schematic diagram of a method for controlling the aerial flight state of a flapping-wing aircraft capable of both air and water motion.

[0037] Figure 9 Schematic diagram of the control method for the underwater navigation state of a flapping-wing aircraft with dual-domain air-water motion capabilities.

[0038] Reference numerals:

[0039] Numbers in the figure: 1, right wing; 2, power assembly; 3, first coupling; 4, left wing; 5, first transmission shaft; 6, main beam; 7, second coupling; 8, tail assembly; 9, tail; 10, tail swing transmission shaft; 11, tail fixing bracket; 12, swing drive crank; 13, tail swing block; 14, tail swing bracket; 15, pitch servo; 16, pitch crank; 17, connecting rod; 18, rotary servo bracket; 19, rotary servo; 20, rotary servo steering wheel; 2 1. Tail clamping plate; 22. First one-way bearing; 23. First drive gear; 24. First gear; 25. Second gear; 26. Second drive gear; 27. Second one-way bearing; 28. Right swing link; 29. ​​Right crank; 30. Drive shaft; 31. Third drive gear; 32. Rocker arm bracket; 33. Right rocker arm; 34. Motor; 35. Turbine; 36. Worm; 37. Second transmission shaft; 39. First one-way bearing support plate; 40. Second one-way bearing support plate. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Reference Figures 1 to 9In some embodiments, the technical solution of the present invention is a flapping-wing aircraft with air-water dual-domain motion capability and a control method thereof, referring to Figure 1 The flapping-wing aircraft with air-water dual-domain motion capability includes:

[0045] Main beam 6;

[0046] A power assembly 2, used for driving the flapping-wing aircraft to move, wherein the power assembly 2 is arranged at the front end of the main beam 6;

[0047] A wing assembly, comprising a left wing 4 and a right wing 1, wherein the left wing 4 and the right wing 1 are respectively mounted on both sides of the front end of the main beam 6 and connected to the power assembly 2;

[0048] The tail assembly 8 is installed at the end of the main beam 6.

[0049] The beneficial effects of the present invention are:

[0050] The flapping-wing aircraft, capable of dual-domain air-water motion, can achieve both aerial flapping flight and underwater tail-driven swimming, achieving dual-domain air-water motion. The flapping of the wings and the swinging of the tail are driven by the same motor, saving power and reducing the overall weight of the aircraft. By utilizing the unidirectional torque transmission characteristics of the one-way bearing, the control system controls the motor to rotate forward to achieve aerial flight mode, while controlling the motor to rotate reversely to achieve underwater propulsion mode.

[0051] Most of the existing cross-medium flapping-wing aircraft are designed to reduce the resistance of flapping-wing aircraft entering water from air and traveling underwater. However, there is still no good solution for how to propel flapping-wing aircraft underwater.

[0052] This invention addresses these issues by proposing a technical solution that enables underwater propulsion of flapping-wing aircraft. This solution utilizes a single power system, coupled with a one-way bearing and worm gear drive system, to coordinate aerial flight and underwater tail propulsion, all driven by a single power source. This allows for efficient underwater propulsion of the aircraft. Furthermore, a servo control system is used to switch the tail's state between underwater and aerial, resolving the issue of tail morphology underwater and achieving optimal propulsion.

[0053] Reference Figure 1 The flapping-wing aircraft with air-water dual-domain motion capability includes a right wing 1, a power assembly 2, a first coupling 3, a left wing 4, a first transmission shaft 5, a main beam 6, a second coupling 7, a tail assembly 8 and a tail 9.

[0054] Reference Figure 2, the power assembly 2 is the power output mechanism for the flapping wings of the flapping wing aircraft, the air-water dual-domain flapping wing aircraft underwater motion propulsion mode, at this time the tail 9 plane is vertical, refer to Figure 1 , which is the air-water dual-domain flapping-wing aircraft's aerial flight mode. At this time, the tail plane is horizontal, and the horizontal and vertical states of the tail 9 are driven and controlled by the rotary servo 19 in the tail assembly 8.

[0055] Further, refer to Figures 4 to 6 The power assembly 2 includes a power output unit, a wing drive unit and a tail drive unit, and the wing drive unit and the tail drive unit are respectively connected to the power output unit.

[0056] Further, refer to Figure 4 The power output unit includes a motor 34, a first gear 24 and a second gear 25 connected in sequence. The first gear 24 and the second gear 25 are respectively installed on the output shaft of the motor 34. The first gear 24 is connected to the tail drive unit, and the second gear 25 is connected to the wing drive unit.

[0057] Further, refer to Figures 4 to 6 The tail drive unit includes a first drive gear 23, a first one-way bearing 22, a worm 36, a turbine 35, a second transmission shaft 37, a first coupling 3, a first transmission shaft 5, a second coupling 7, a tail swing transmission shaft 10 and a swing drive crank 12, which are connected in sequence.

[0058] The first drive gear 23 is engaged with the first gear 24 of the power output part, the first one-way bearing 22 is installed at the center axis position of the first drive gear 23, the worm 36 is installed on the extended shaft of the first one-way bearing, the turbine 35 is installed above the worm 36 and engaged with the worm 36, the first end of the second transmission shaft 37 is connected to the center axis of the worm 36, the second end of the second transmission shaft 37 and the first end of the first linkage shaft 5 are connected through the first coupling 3, the second end of the first transmission shaft 5 and the first end of the tail swing transmission shaft 10 are connected through the second coupling 7, and the tail swing transmission shaft 10 drives the swing drive crank 12 to rotate, driving the entire tail assembly 8 to swing.

[0059] Specifically, the power source of the power assembly 2 is the motor 34, which transmits power to the first gear 24 and the second gear 25, and then the first gear 24 transmits power to the first drive gear 23, the first drive gear 23 transmits power to the first one-way bearing 22, the first one-way bearing 22 transmits power to the worm 36, the worm 36 transmits power to the turbine 35, the turbine 35 transmits power to the second transmission shaft 37, the second transmission shaft 37 is connected to the first transmission shaft 5 through the first coupling 3 and transmits power to the first transmission shaft 5 for rotation, the other end of the first rotating shaft 5 is connected to the tail swing transmission shaft 10 through the second coupling 7, and transmits power to the tail swing transmission shaft 10, the tail swing transmission shaft 10 drives the swing drive crank 12 to rotate and drive the tail swing block 13 to swing left and right, driving the entire tail assembly 8 to swing, thereby realizing high-frequency swing of the tail of the flapping-wing aircraft and driving the flapping-wing aircraft to move in the water.

[0060] Further, refer to Figure 5 The wing drive unit includes a second drive gear 26, a second one-way bearing 27, a third drive gear 31, a drive shaft 30, a right crank 29, a right swing link 28 and a right swing rod 33, which are connected in sequence.

[0061] The second drive gear 26 is engaged with the second gear 25 of the power output part, the second one-way bearing 27 is installed at the center axis position of the second drive gear 26, the third drive gear 31 is connected to the second drive gear 26 through a transmission gear installed on the extension axis of the center axis of the second one-way bearing 27, the drive shaft 30 is connected to the center axis of the third drive gear 31, the right crank 29 is installed at the first end of the drive shaft 30, the first end of the right swing link 28 is connected to the second end of the right crank 29, the second end of the right swing link 28 is connected to the right rocker 33 through a rocker bracket 32 ​​installed on the main beam 6, and the right rocker 33 is connected to the right wing 1.

[0062] Further, refer to Figure 1 and Figure 5 The wing drive unit further includes a left crank, a left swing link and a left swing rod connected in sequence.

[0063] The left crank is installed at the second end of the drive shaft 30, the first end of the left swing link is connected to the second end of the left crank, the second end of the left swing link is connected to the left rocker via a rocker bracket 32 ​​installed on the main beam 6, and the left rocker is connected to the left wing 4.

[0064] Specifically, the motor 34 of the power assembly 2 transmits the motor power to the second drive gear 26 through the second gear 25, the second drive gear 26 transmits the power to the second one-way bearing 27, the second one-way bearing 27 transmits the power to the third drive gear 31, the third drive gear 31 drives the drive shaft 30 to rotate, the drive shaft 30 drives the right crank 29 to rotate, the right crank 29 drives the right swing link 28 to move up and down, the other end of the right swing link 28 is connected to the right rocker arm 33, the right rocker arm 33 swings up and down with the right rocker arm 28, the right rocker arm 33 is connected to the right wing 1 of the flapping-wing aircraft, the right rocker arm 33 moves up and down while driving the right wing 1 to flap up and down, thereby generating the lift and thrust required for the flapping-wing aircraft.

[0065] Similarly, the crank 29 drives the left swing link to move up and down. The other end of the left swing link is connected to the left rocker arm. The left rocker arm swings up and down with the left swing link. The left rocker arm is connected to the left wing 4 of the flapping-wing aircraft. The left rocker arm moves up and down and drives the left wing 4 to flap up and down at the same time, generating the lift and thrust required for the flapping-wing aircraft.

[0066] Further, refer to Figure 3 The tail assembly 8 includes a tail fixing frame 11, a tail swing block 13, a tail swing bracket 14, a pitch servo 15, a pitch crank 16, a connecting rod 17, a rotary servo bracket 18, a rotary servo 19, a rotary servo steering wheel 20, a tail clamping plate 21 and a tail 9.

[0067] The tail wing swing transmission shaft 10 passes through the tail wing fixing frame 11, and the end of the tail wing swing transmission shaft 10 is connected to the swing drive crank 12. The end of the swing drive crank 12 is arranged in the middle of the tail wing swing block 13. The tail wing swing block 13 and the pitch servo 15 are installed on the tail wing swing bracket 14. The output shaft of the pitch servo 15 is connected to the pitch crank 16. The number of the connecting rods 17 is 2, and the first end of each of the connecting rods 17 is respectively connected to the pitch crank 16, and the second end of each of the connecting rods 17 is respectively connected to the rotary servo bracket 18. The rotary servo 19, the rotary servo steering wheel 20, the tail clamping plate 21 and the tail wing 9 are connected in sequence.

[0068] Further, refer to Figures 4 to 6 , also includes a first one-way bearing support plate 39 and a worm gear protection plate, the first one-way bearing support plate 39 is arranged on the outside of the first one-way bearing 22, and the worm gear protection plate is arranged on the opposite side of the first one-way bearing support plate 39.

[0069] Further, refer to Figures 4 to 6 , further comprising a second one-way bearing support plate 40, a third drive gear mounting plate and a third drive gear protection plate,

[0070] The second one-way bearing support plate 40 is arranged on the outside of the second one-way bearing 27, the third drive gear 31 is mounted on the third drive gear mounting plate, and the third drive gear protection plate is mounted on the opposite side of the third drive gear mounting plate.

[0071] Further, refer to Figure 7 The present invention also proposes a control method for a flapping-wing aircraft capable of air-water dual-domain motion, which is applied to the flapping-wing aircraft capable of air-water dual-domain motion according to any one of claims 1 to 9, and is characterized in that the method comprises the following steps:

[0072] S100: When the flapping-wing aircraft is in flight, the controller controls the motor 34 to rotate forward. The motor power is transmitted forward and transmitted to the left and right swing arms 33 via the second one-way bearing 27, thereby driving the wing assembly to flap. The first one-way bearing 22 is in an idling state and cannot drive the first drive gear 23 to rotate. The tail assembly 8 cannot swing.

[0073] S200. If a signal is received that the aircraft needs to move forward in the water, the controller controls the motor 34 to reverse, and the motor power is transmitted backward, and the power is transmitted to the turbine 35 through the first one-way bearing 22, thereby driving the tail assembly 8 to swing, while the second one-way bearing 27 is in an idling state, and the wing assembly cannot flap, thereby driving the flapping-wing aircraft to move in the water.

[0074] Reference Figure 8 In the first embodiment, a flapping-wing aircraft is performing a flight maneuver in mid-air. The controller drives the motor 34 in forward rotation. The motor's power is transmitted forward, transmitted through the second one-way bearing 27 to the right rocker arm 33, driving the right wing to flap, completing the flight maneuver (the same applies to the left wing 4). Since the first one-way bearing 22 can only transmit power in one direction, when the motor 34 is rotating in the forward direction, the first one-way bearing 22 is in an idle state and cannot drive the first drive gear 23 to rotate. The motion transmitted by the motor is cut off at the first one-way bearing 22, and the tail wing cannot swing, being locked by the worm gear. However, when the motor rotates in the forward direction, the second one-way bearing 27 is in an active state, transmitting power backward to the third drive gear 31, thereby driving the wings to flap, achieving flight of the flapping-wing aircraft.

[0075] Reference Figure 8 and Figure 9Embodiment 2 is an embodiment of underwater movement. Based on embodiment 1, the control system controls the motor 34 to reverse. At this time, due to the one-way power transmission characteristics of the first one-way bearing 22 and the second one-way bearing 27, the power is cut off at the second one-way bearing 27, and the wings cannot flap; when the power is transmitted to the first one-way bearing 22, the first one-way bearing 22 works to transmit the power to the turbine 35, thereby driving the tail wing to swing through the first transmission shaft 5, so as to realize the flapping action of the tail wing of the underwater flapping-wing flying robot and drive the flapping-wing aircraft to move in the water.

[0076] When the flapping-wing aircraft is flying in the air, it receives an instruction to move forward in the water. The flapping-wing aircraft can land on the water surface under manual remote control (or automatically take the landing instruction). The entire flapping-wing aircraft can float on the water surface under the action of buoyancy, and then enter the water surface movement mode. At this time, the system controls the rotary servo 19 to flip 90 degrees, and controls the tail from the horizontal state to the vertical state that is more suitable for underwater movement. Figure 2 , the tail 9 is in a vertical state, and the aircraft enters the underwater motion mode. At this time, the tail is in a vertical state, and then the control motor 34 is instructed to reverse, driving the tail assembly 8 to swing left and right, so that the flapping-wing aircraft can move forward in the water.

[0077] The present invention designs a tail structure system that can achieve dual-use in air and water. Through corresponding control, a flapping-wing aircraft can be propelled in the air and in the water. When the tail is controlled to a horizontal state, it is in the air flight state. The control system controls the drive motor to rotate forward to drive the wings to flap. At the same time, the control system controls the servo to realize the tail rotation and up and down pitching compound movement to control the flapping-wing aircraft to turn, climb and dive. When in water, the control system controls the tail to rotate to a vertical state. At this time, the flapping-wing aircraft enters the water movement mode. At this time, the air system controls the drive motor to reverse, and drives the tail assembly to swing left and right through the transmission mechanism to propel the flapping-wing aircraft forward in the water. The same set of tails can be used for the flapping-wing aircraft's steering, climbing and diving control in the air, and can also be used for the flapping-wing aircraft's propulsion control underwater.

[0078] The present invention integrates the swinging of the tail wing and the flapping of the wings into a single power system. By utilizing the characteristic of one-way bearings in transmitting torque in one direction, the forward and reverse rotation of the motor is controlled by a control system to achieve coupling and decoupling of the wing flapping and the motor, as well as coupling and decoupling of the swinging of the tail wing and the motor, thereby achieving non-interference between the flapping of the wings in the air and the swinging of the tail wing in the water. Since this solution uses the same power source for the flapping of the wings and the swinging of the tail wing, the design of the power system and the number of components are simplified, which is conducive to the lightweighting of the prototype.

[0079] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A flapping-wing aircraft capable of both air and water movement, characterized in that: include: Main beam (6); A power assembly (2) for driving the flapping-wing aircraft to move, the power assembly (2) being arranged at the front end of the main beam (6); A wing assembly, the wing assembly comprising a left wing (4) and a right wing (1), the left wing (4) and the right wing (1) being respectively mounted on both sides of the front end of the main beam (6) and connected to the power assembly (2); A tail assembly (8), the tail assembly (8) being mounted at the end of the main beam (6); The power assembly (2) comprises a power output unit, a wing drive unit and a tail drive unit, wherein the wing drive unit and the tail drive unit are respectively connected to the power output unit; The power output unit comprises a motor (34), a first gear (24) and a second gear (25) connected in sequence, the first gear (24) and the second gear are respectively mounted on the output shaft of the motor (34), the first gear (24) is connected to the tail drive unit, and the second gear (25) is connected to the wing drive unit; When the motor (34) rotates forward, the power of the motor (34) is transmitted to the wing assembly through the wing driving unit, and the wing assembly flaps, thereby realizing the aerial flight of the flapping-wing aircraft; When the motor (34) rotates in reverse, the power of the motor (34) is transmitted to the tail assembly (8) through the tail drive unit, and the tail assembly (8) swings, driving the flapping-wing aircraft to move in the water.

2. The flapping-wing aircraft with air-water dual-domain motion capability according to claim 1, characterized in that: The tail drive unit comprises a first drive gear (23), a first one-way bearing (22), a worm (36), a turbine (35), a second transmission shaft (37), a first coupling (3), a first transmission shaft (5), a second coupling (7), a tail swing transmission shaft (10) and a swing drive crank (12) connected in sequence. The first drive gear (23) is meshed with the first gear (24) of the power output unit, the first one-way bearing (22) is mounted on the center axis of the first drive gear (23), the worm (36) is mounted on the extended axis of the first one-way bearing, the turbine (35) is mounted above the worm (36) and meshed with the worm (36), the first end of the second transmission shaft (37) is connected to the center axis of the worm (36), the second end of the second transmission shaft (37) and the first end of the first transmission shaft (5) are connected through the first coupling (3), the second end of the first transmission shaft (5) and the first end of the tail swing transmission shaft (10) are connected through the second coupling (7), and the tail swing transmission shaft (10) drives the swing drive crank (12) to rotate, thereby driving the entire tail assembly (8) to swing.

3. The flapping-wing aircraft with air-water dual-domain motion capability according to claim 1, characterized in that: The wing driving unit comprises a second driving gear (26), a second one-way bearing (27), a third driving gear (31), a driving shaft (30), a right crank (29), a right swing link (28) and a right swing rod (33) which are connected in sequence. The second drive gear (26) is meshed with the second gear (25) of the power output unit, the second one-way bearing (27) is installed at the center axis position of the second drive gear (26), the third drive gear (31) is connected to the second drive gear (26) through a transmission gear installed on the extension axis of the center axis of the second one-way bearing (27), the drive shaft (30) is connected to the center axis of the third drive gear (31), the right crank (29) is installed on the first end of the drive shaft (30), the first end of the right swing link (28) is connected to the second end of the right crank (29), the second end of the right swing link (28) is connected to the right rocker (33) through a rocker bracket (32) installed on the main beam (6), and the right rocker (33) is connected to the right wing (1).

4. The flapping-wing aircraft with air-water dual-domain motion capability according to claim 3, characterized in that: The wing drive unit also includes a left crank, a left swing link and a left rocker arm connected in sequence. The left crank is mounted on the second end of the drive shaft (30), the first end of the left swing link is connected to the second end of the left crank, the second end of the left swing link is connected to the left rocker via a rocker bracket (32) mounted on the main beam (6), and the left rocker is connected to the left wing (4).

5. The flapping-wing aircraft with air-water dual-domain motion capability according to claim 2, characterized in that: The tail assembly (8) includes a tail fixing frame (11), a tail swing block (13), a tail swing bracket (14), a pitch servo (15), a pitch crank (16), a connecting rod (17), a rotary servo bracket (18), a rotary servo (19), a rotary servo steering wheel (20), a tail clamping plate (21) and a tail (9). The tail wing swing transmission shaft (10) passes through the tail wing fixing frame (11), the end of the tail wing swing transmission shaft (10) is connected to the swing drive crank (12), the end of the swing drive crank (12) is arranged in the middle of the tail wing swing block (13), the tail wing swing block (13) and the pitch servo (15) are mounted on the tail wing swing bracket (14), the output shaft of the pitch servo (15) is connected to the pitch crank (16), the number of the connecting rods (17) is two, the first end of each connecting rod (17) is respectively connected to the pitch crank (16), the second end of each connecting rod (17) is respectively connected to the rotary servo bracket (18), the rotary servo (19), the rotary servo steering disc (20), the tail wing clamping plate (21) and the tail wing (9) are connected in sequence.

6. The flapping-wing aircraft with air-water dual-domain motion capability according to claim 2, characterized in that: It also includes a first one-way bearing support plate (39) and a worm gear protection plate, wherein the first one-way bearing support plate (39) is arranged on the outside of the first one-way bearing (22), and the worm gear protection plate is arranged on the opposite side of the first one-way bearing support plate (39).

7. The flapping-wing aircraft with air-water dual-domain motion capability according to claim 3, characterized in that: It also includes a second one-way bearing support plate (40), a third drive gear mounting plate and a third drive gear protection plate, The second one-way bearing support plate (40) is arranged on the outside of the second one-way bearing (27), the third drive gear (31) is mounted on the third drive gear mounting plate, and the third drive gear protection plate is mounted on the opposite side of the third drive gear mounting plate.

8. A control method for a flapping-wing aircraft capable of dual-domain air and water motion, applied to the flapping-wing aircraft capable of dual-domain air and water motion according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: S100, when the flapping-wing aircraft is flying in the air, the controller controls the motor (34) to rotate forward, the motor power is transmitted forward, and the power is transmitted to the left swing rod and the right swing rod (33) through the second one-way bearing (27), thereby driving the wing assembly to flap, the first one-way bearing (22) is in an idling state, cannot drive the first drive gear (23) to rotate, and the tail assembly (8) cannot swing; S200, if a signal is received that the aircraft needs to move forward in the water, the controller controls the motor (34) to reverse, and the motor power is transmitted backward, and the power is transmitted to the turbine (35) through the first one-way bearing (22), thereby driving the tail assembly (8) to swing, while the second one-way bearing (27) is in an idling state, and the wing assembly cannot flap, thereby driving the flapping-wing aircraft to move in the water.

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