A flapping-wing aircraft with multi-domain motion capabilities

Abstract

The present invention relates to a flapping-wing aircraft with multi-domain motion capabilities, comprising: a frame body; a flight unit mounted on the frame body, the flight unit including a wing assembly and a tail assembly, the wing assembly being mounted at the front end of the frame body, and the tail assembly being mounted at the rear end of the frame body; and a deformable wheel unit for enabling the flapping-wing aircraft to move on land and in water, the deformable wheel unit including a deformable wheel drive mechanism and a deformable wheel mechanism, the deformable wheel unit including two deformable wheel mechanisms symmetrically arranged on either side of a deformable wheel drive shaft. A flapping-wing aircraft with multi-domain motion capabilities can expand the aircraft's operating environment and enrich its application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to a flapping-wing aircraft with multi-domain motion capability. Background Art

[0002] With the continuous advancement of science and technology, research on flapping-wing aircraft has yielded increasing results, demonstrating broad application prospects in both military and civilian fields. In the military, flapping-wing aircraft can perform tasks such as camouflage reconnaissance, target tracking, and close-range electronic jamming in specialized environments. In civilian applications, flapping-wing aircraft can be used for confined space rescue, forest wildlife monitoring, and aerial video capture. However, most current flapping-wing aircraft only have aerial flight capabilities and lack the ability to maneuver in other environments. While aerial flight allows flapping-wing aircraft to quickly approach targets, the lack of such capabilities prevents them from more flexibly and intelligently avoiding obstacles, optimizing route planning, and concealing their movements, thus limiting their application. Existing multi-dwelling drones are mostly based on rotorcraft with a variable configuration design, which suffers from short flight time, low efficiency, and significant control difficulties. Therefore, it is necessary to design a flapping-wing aircraft with multi-domain motion capabilities to address these issues. Summary of the Invention

[0003] The present invention provides a flapping-wing aircraft with multi-domain motion capability, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention is a flapping-wing aircraft with multi-domain motion capability, comprising:

[0005] Frame body;

[0006] A flight unit, the flight unit being mounted on the frame body, the flight unit comprising a wing assembly and a tail assembly, the wing assembly being mounted at the front end of the frame body, and the tail assembly being mounted at the rear end of the frame body;

[0007] The deformable wheel unit is used to enable the flapping-wing aircraft to move on the ground and in water. The deformable wheel unit includes a deformable wheel drive mechanism and a deformable wheel mechanism. The deformable wheel unit includes two deformable wheel mechanisms, which are symmetrically arranged on both sides of the deformable wheel drive shaft.

[0008] Furthermore, the frame body includes a fuselage main rod, a flapping wing drive mechanism mounting plate, a power supply mounting plate and a rear swing arm seat mounting plate;

[0009] The main mast is a square tube extending in the front-to-back direction of the fuselage, and a cavity is provided inside the main mast.

[0010] The flapping-wing drive mechanism mounting plate is arranged at the front end of the fuselage main rod, and the flapping-wing drive mechanism mounting plate is used to fix the flapping-wing drive mechanism on the fuselage main rod;

[0011] The power supply mounting plate is arranged at the middle of the fuselage main pole, and the power supply mounting plate is used to fix the power supply on the fuselage main pole;

[0012] The rear swing rod seat mounting plate is arranged at the middle and rear part of the fuselage main rod, and the rear swing rod seat mounting plate is provided with a rear swing rod seat for fixing the rear swing rod on the fuselage main rod.

[0013] Furthermore, the flapping-wing drive mechanism mounting plate includes a first mounting plate, a second mounting plate, a third mounting plate, a flapping-wing drive motor, a reduction gear, a secondary reduction gear, a flapping-wing crank and a flapping-wing connecting rod;

[0014] The first mounting plate is arranged at the front end of the main rod of the fuselage, and a hollow position is provided on the first mounting plate;

[0015] The second mounting plate is arranged on the front side of the main mast of the fuselage, and the second mounting plate is provided with a hollow position;

[0016] The third mounting plate is arranged on the front side of the main mast of the fuselage, and the third mounting plate is provided with a hollow position;

[0017] The first mounting plate and the second mounting plate are connected by a support column, the right side of the second mounting plate is closely abutted against the left side of the fuselage main mast, the third mounting plate and the fuselage main mast are connected by a partition plate, a front sway bar seat is provided at the front upper end of the second mounting plate, and the first front sway bar is rotatably connected to the front sway bar seat via a bearing;

[0018] The flapping-wing drive motor is installed on one side of the first mounting plate, and the reduction gear meshing with the output gear of the flapping-wing drive motor is installed in the space between the second mounting plate and the third mounting plate. The secondary reduction gear is installed on one side of the second mounting plate. The secondary reduction gear drives the flapping crank to rotate, and the flapping crank drives the first front swing arm to swing up and down through the flapping connecting rod.

[0019] Further, the wing assembly includes a first front swing bar, a second front swing bar, a flapping wing drive mechanism, an airfoil and a rear swing bar;

[0020] The first front swing arm is rotatably connected to the front side of the frame body, and the first front swing arm swings up and down relative to the frame body;

[0021] The second front swing bar is connected to the first front swing bar, and the second front swing bar and the first front swing bar are used to maintain the shape of the wing assembly;

[0022] The flapping wing drive mechanism is arranged on the frame body, and the flapping wing drive mechanism is used to drive the first front swing arm to swing up and down;

[0023] A first side of the wing is connected to the frame body, and a second side of the wing is rotatably connected to the first front swing arm;

[0024] One end of the rear swing link is rotatably connected to the rear swing link seat, and the other end of the rear swing link is connected to the second front swing link for supporting the wing surface.

[0025] Furthermore, the flapping-wing drive mechanism includes a flapping-wing drive motor, a gear reduction mechanism, a flapping-wing crank and a flapping-wing connecting rod;

[0026] The flapping-wing drive motor is connected to the second mounting plate, and the output shaft of the flapping-wing drive motor is connected to the input end of the gear reduction mechanism;

[0027] One end of the flapping crank is connected to the output end of the gear reduction mechanism, and the other end of the flapping crank is connected to the flapping connecting rod;

[0028] The head of the first front swing link is rotatably connected to the front swing link seat through a bearing.

[0029] Furthermore, the tail assembly includes a tail mounting frame and an integrated tail;

[0030] The tail wing mounting frame is installed at the tail end of the frame body;

[0031] The tail connecting member is rotatably connected to the rear side of the tail mounting frame;

[0032] The tail wing driving mechanism is arranged on the tail wing connecting member, and the tail wing driving mechanism is used to control the movement of the tail wing.

[0033] Furthermore, the tail wing mounting frame includes a vertical mounting plate, a horizontal mounting plate, a first steering gear and a second steering gear;

[0034] The vertical mounting plate is fixed to the rear of the main mast of the fuselage by screws;

[0035] The horizontal mounting plate is fixedly mounted on the lower portion of the vertical mounting plate, and the horizontal mounting plate is used to mount the integrated tail wing;

[0036] The horizontal mounting plate is provided with a first steering gear and a second steering gear, and the first steering gear and the second steering gear are respectively arranged on the left and right sides of the vertical mounting plate. The first steering gear is installed in the steering gear installation space on the left, and the second steering gear is installed in the steering gear installation space on the right.

[0037] Furthermore, the integrated tail includes a horizontal tail, a vertical tail, a first servo arm, a second servo arm, a first tail connecting rod, a servo ball head, a tail seat ball head, and a second tail connecting rod;

[0038] The horizontal tail and the vertical tail are arranged on the tail seat, the first servo arm and the second servo arm are rotatably connected to the first servo and the second servo respectively, the two ends of the first tail connecting rod are connected to the first servo arm and the tail seat respectively through the servo ball head and the tail seat ball head; the two ends of the second tail connecting rod are connected to the second servo arm and the tail seat.

[0039] Furthermore, the deformable wheel driving mechanism includes a first connecting member of the deformable wheel driving mechanism, a second connecting member of the deformable wheel driving mechanism, a first side bracket, a second side bracket, a reversing servo and a reversing servo connecting member;

[0040] The first connecting member of the deformable wheel driving mechanism is arranged on the bottom side of the frame body and connected to the frame body;

[0041] The second connecting member of the deformable wheel driving mechanism is arranged below the first connecting member and is rotatably connected to the first connecting member of the deformable wheel driving mechanism, and the second connecting member of the deformable wheel driving mechanism rotates relative to the frame body;

[0042] The first side bracket and the second side bracket are respectively arranged on the left and right sides of the second connecting member of the deformable wheel driving mechanism, and are connected to the second connecting member of the deformable wheel driving mechanism through the corner connecting member.

[0043] Wherein, a deformation wheel driving motor is provided on the first side bracket or the second side bracket, and the deformation wheel driving motor drives the deformation wheel driving shaft to rotate through two-stage gear reduction;

[0044] A first side bracket bearing is mounted on the first side bracket, a second side bracket bearing is mounted on the second side bracket, a deforming wheel drive shaft is mounted between the first side bracket bearing and the second side bracket bearing, the second side bracket is connected to a deforming wheel drive motor mounting plate via a support column, a deforming wheel drive motor is fixedly mounted on the deforming wheel drive motor mounting plate, a reduction gear meshing with an output gear of the deforming wheel drive motor is mounted on the deforming wheel drive shaft, and when the deforming wheel drive motor is working, the deforming wheel drive shaft is driven to rotate;

[0045] The reversing servo connection member is connected to the main rod of the fuselage through a support column, the reversing servo is connected to the reversing servo connection member, and the steering wheel of the reversing servo is connected to the second connection member of the deformable wheel driving mechanism. The deformation wheel unit is controlled to rotate around the frame body by controlling the rotation of the second connection member of the deformable wheel driving mechanism.

[0046] Among them, the reversing servo connecting member is composed of a reversing servo vertical connecting member and a reversing servo horizontal connecting member. The end of the reversing servo vertical connecting member is provided with a protrusion, and the protrusion is inserted into the hole opened on the reversing servo horizontal connecting member; the reversing servo is installed in the servo installation space provided on the reversing servo horizontal connecting member, and the output end of the reversing servo is connected to the second connecting member of the deformable wheel driving mechanism through a disc. When the reversing servo drives the disc to rotate, it drives the second connecting member of the deformable wheel driving mechanism to rotate, thereby driving the entire deformable wheel unit to rotate relative to the main rod of the fuselage.

[0047] Furthermore, the deformation wheel mechanism includes a central gear, a first leg wheel, a second leg wheel, a third leg wheel, a deformation wheel first frame and a deformation wheel second frame;

[0048] One end of the central gear is provided with a boss, which is fixed to one side of the deformation wheel drive shaft by a set screw, and the central gear rotates along with the deformation wheel drive shaft;

[0049] One end of the first leg wheel is an incomplete gear, the gear teeth of which are meshed with the central gear. The other end of the first leg wheel is an arc-shaped structure, with the two ends of the arc-shaped structure being respectively in a protruding state and a notched state, and the middle of the two ends is connected by a propeller blade-shaped spoke. The structure and size of the second leg wheel and the third leg wheel are the same as those of the first leg wheel;

[0050] The first frame of the deformable wheel and the second frame of the deformable wheel are in a "Y" shape, and are used to assemble the central gear and the first leg wheel, the second leg wheel, and the third leg wheel together to form the deformable wheel mechanism as a whole.

[0051] Assembly holes are provided in the center and three ends of the first frame of the deformable wheel and the second frame of the deformable wheel. Assembly holes are also provided in the center of the central gear and the centers of the incomplete gears of the first leg wheel, the second leg wheel and the third leg wheel. The center hole of the central gear is aligned with the center hole of the first frame of the deformable wheel and the second frame of the deformable wheel and is connected by screws. The center hole of the incomplete gears of the first leg wheel, the second leg wheel and the third leg wheel is aligned with the center hole of the three ends of the first frame of the deformable wheel and the second frame of the deformable wheel and is connected by three screws respectively.

[0052] The beneficial effects of the present invention are:

[0053] The flapping-wing aircraft with multi-domain motion capability solves the problem that existing flapping-wing aircraft only have the ability to fly in the air but lack the ability to maneuver in other environments. It can expand the working environment of the aircraft and enrich its application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 Shown is an isometric view of a flapping-wing aircraft with multi-domain motion capability according to the present invention;

[0055] Figure 2 Shown is a bottom view of a flapping-wing aircraft with multi-domain motion capability according to the present invention;

[0056] Figure 3 for Figure 1 Axonometric view of a mid-wing aircraft after removing some wing components such as the wing surface;

[0057] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0058] Figure 5 for Figure 3 Enlarged view of point B in the middle;

[0059] Figure 6 for Figure 3 Enlarged view of point C in the middle;

[0060] Figure 7 for Figure 3 Axonometric view of the mid-wing aircraft from another perspective after the deformation wheel mechanism on one side is removed;

[0061] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0062] Figure 9 for Figure 7 Enlarged view of point B in the middle;

[0063] Figure 10 FIG2 is an axonometric view of a deformable wheel mechanism in a wheel state (or a paddle state) in a flapping-wing aircraft with multi-domain motion capability according to the present invention;

[0064] Figure 11 FIG2 is a front view of a deformable wheel mechanism in a flapping-wing aircraft with multi-domain motion capability according to the present invention in a wheel state (or a paddle state);

[0065] Figure 12 FIG2 is an axonometric diagram of a deformable wheel mechanism in a leg state in a flapping-wing aircraft with multi-domain motion capability according to the present invention;

[0066] Figure 13 FIG2 is a front view of the deformation wheel mechanism of the flapping-wing aircraft with multi-domain motion capability according to the present invention in a leg state after the second deformation wheel frame is removed;

[0067] Figure 14 for Figure 1 Schematic diagram of a mid-flapping wing aircraft moving on the ground based on a wheel-shaped deforming wheel mechanism;

[0068] Figure 15 for Figure 1Schematic diagram of a mid-flapping wing aircraft moving in water based on a paddle-shaped deformable wheel mechanism;

[0069] Figure 16 for Figure 1 Schematic diagram of a mid-flapping wing aircraft crawling from water to shore based on a leg-shaped deformable wheel mechanism.

[0070] Reference numerals:

[0071] 1. Main mast; 2. Power supply; 3. Wing surface; 4. Horizontal tail; 5. Vertical tail; 6. Rear wheel leg; 7. Rear wheel; 8. Rear sway bar; 9. Flapping wing drive motor; 10. First front sway bar; 11. Second front sway bar; 12. Tail seat; 13. Power supply mounting plate; 14. Rear sway bar mounting plate; 15. Rear sway bar seat; 16. Second servo; 17. Vertical mounting plate; 18. Horizontal mounting plate; 19. First servo; 20. First mounting plate; 21. Second mounting plate; 22. Third mounting plate; 23. Flapping wing crank; 24. Flapping wing connecting rod; 25. Support column; 26. Bulkhead; 27. Front sway bar seat; 28. First servo arm; 29. ​​Second servo arm; 30. First servo connecting rod; 31. Servo ball Head; 32. Tail seat ball head; 33. Second tail wing connecting rod; 34. First connecting piece of the deforming wheel drive mechanism; 35. Second connecting piece of the deforming wheel drive mechanism; 36. First side bracket; 37. Reversing servo; 38. Deformation wheel drive shaft; 39. Center gear; 40. First leg wheel; 41. Second leg wheel; 42. Third leg wheel; 43. Deformation wheel first frame; 44. Reversing servo vertical connecting piece; 45. Reversing servo horizontal connecting piece; 46. Disc; 47. First side bracket bearing; 48. Second side bracket; 49. Second side bracket bearing; 50. Deformation wheel drive motor mounting plate; 51. Second side bracket support column; 52. Deformation wheel second frame; 53. Corner connecting piece; 54. Deformation wheel drive motor. DETAILED DESCRIPTION

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] Reference Figures 1 to 16 In some embodiments, the technical solution of the present invention is a flapping-wing aircraft with multi-domain motion capability, referring to Figure 1 The flapping-wing aircraft with multi-domain motion capability includes:

[0077] Frame body;

[0078] A flight unit, the flight unit being mounted on the frame body, the flight unit comprising a wing assembly and a tail assembly, the wing assembly being mounted at the front end of the frame body, and the tail assembly being mounted at the rear end of the frame body;

[0079] The deformable wheel unit is used to enable the flapping-wing aircraft to move on the ground and in water. The deformable wheel unit includes a deformable wheel drive mechanism and a deformable wheel mechanism. The deformable wheel unit includes two deformable wheel mechanisms, which are symmetrically arranged on both sides of the deformable wheel drive shaft.

[0080] The beneficial effects of the present invention are:

[0081] The flapping-wing aircraft with multi-domain motion capability solves the problem that existing flapping-wing aircraft only have the ability to fly in the air but lack the ability to maneuver in other environments. It can expand the working environment of the aircraft and enrich its application scenarios.

[0082] Further, refer to Figure 2 、 Figure 3 and Figure 9 The frame body includes a fuselage main rod 1, a flapping wing drive mechanism mounting plate, a power supply mounting plate 13 and a rear swing rod seat mounting plate 14;

[0083] The fuselage main rod 1 is a square tube extending along the front-to-back direction of the fuselage, and a cavity is formed inside the fuselage main rod 1.

[0084] The flapping-wing drive mechanism mounting plate is provided at the front end of the fuselage main rod 1, and the flapping-wing drive mechanism mounting plate is used to fix the flapping-wing drive mechanism on the fuselage main rod 1;

[0085] The power supply mounting plate 13 is provided in the middle of the fuselage main pole 1 and is used to fix the power supply 2 on the fuselage main pole 1;

[0086] The rear swing bar seat mounting plate 14 is arranged at the middle and rear part of the fuselage main pole 1 , and the rear swing bar seat mounting plate 14 is provided with a rear swing bar seat 15 for fixing the rear swing bar 8 on the fuselage main pole 1 .

[0087] Further, refer to Figure 4 The flapping wing drive mechanism mounting plate includes a first mounting plate 20, a second mounting plate 21, a third mounting plate 22, a flapping wing drive motor 9, a reduction gear, a secondary reduction gear, a flapping wing crank 23 and a flapping wing connecting rod 24;

[0088] The first mounting plate 20 is provided at the front end of the fuselage main pole 1, and a hollow position is provided on the first mounting plate 20;

[0089] The second mounting plate 21 is arranged on the front side of the fuselage main pole 1, and the second mounting plate 21 has a hollow position;

[0090] The third mounting plate 22 is arranged on the front side of the fuselage main rod 1, and the third mounting plate 22 has a hollow position;

[0091] The first mounting plate 20 and the second mounting plate 21 are connected by a support column 25. The right side of the second mounting plate 21 is close to the left side of the fuselage main mast 1. The third mounting plate 22 and the fuselage main mast 1 are connected by a partition 26. A front sway bar seat 27 is provided at the upper front end of the second mounting plate 21. The first front sway bar 10 is rotatably connected to the front sway bar seat 27 via a bearing.

[0092] The flapping-wing drive motor 9 is installed on one side of the first mounting plate 20, and the reduction gear meshing with the output gear of the flapping-wing drive motor 9 is installed in the space between the second mounting plate 21 and the third mounting plate 22. The secondary reduction gear is installed on one side of the second mounting plate 21. The secondary reduction gear drives the flapping crank 23 to rotate, and the flapping crank 23 drives the first front rocker arm 10 to swing up and down through the flapping connecting rod 24.

[0093] Further, refer to Figure 2 The wing assembly includes a first front swing bar 10, a second front swing bar 11, a flapping wing drive mechanism, an airfoil 3 and a rear swing bar 8;

[0094] The first front swing arm 10 is rotatably connected to the front side of the frame body, and the first front swing arm swings up and down relative to the frame body;

[0095] The second front swing bar 11 is connected to the first front swing bar, and the second front swing bar 11 and the first front swing bar 10 are used to maintain the shape of the wing assembly;

[0096] The flapping wing drive mechanism is provided on the frame body, and the flapping wing drive mechanism is used to drive the first front swing arm 10 to swing up and down;

[0097] The first side of the wing surface 3 is connected to the frame body, and the second side of the wing surface 3 is rotatably connected to the first front swing arm 10;

[0098] One end of the rear swing link 8 is rotatably connected to the rear swing link seat 15 , and the other end of the rear swing link 8 is connected to the second front swing link 11 for supporting the airfoil 3 .

[0099] Furthermore, the flapping wing drive mechanism includes a flapping wing drive motor 9, a gear reduction mechanism, a flapping wing crank 23 and a flapping wing connecting rod 24;

[0100] The flapping-wing drive motor 9 is connected to the second mounting plate 21, and the output shaft of the flapping-wing drive motor 9 is connected to the input end of the gear reduction mechanism;

[0101] One end of the flapping crank 23 is connected to the output end of the gear reduction mechanism, and the other end of the flapping crank 23 is connected to the flapping connecting rod 24;

[0102] The head of the first front swing arm 10 is rotatably connected to the front swing arm seat 27 via a bearing.

[0103] Furthermore, holes are provided for mounting the flapping link 24. Screws passing through the mounting holes on the first front swing arm 10 and the ball-end holes on the flapping link 24 securely connect the two. When the flapping drive motor 9 rotates, the gear reduction mechanism drives the flapping crank 23, which in turn drives the first front swing arm 10 to swing up and down via the flapping link 24. Using this wing assembly, the flapping drive mechanism drives the first front swing arm 10 to swing up and down, which in turn drives the wing surface 3 to flap up and down, generating flight power. This principle is similar to the flapping flight of birds.

[0104] Further, refer to Figure 3 and Figure 5 , the tail assembly includes a tail mounting frame and an integrated tail;

[0105] The tail wing mounting frame is installed at the tail end of the frame body;

[0106] The tail connecting member is rotatably connected to the rear side of the tail mounting frame;

[0107] The tail wing driving mechanism is arranged on the tail wing connecting member, and the tail wing driving mechanism is used to control the movement of the tail wing.

[0108] Further, refer to Figure 3 and Figure 5 , the tail wing mounting frame includes a vertical mounting plate 17, a horizontal mounting plate 18, a first steering gear 19 and a second steering gear 16;

[0109] The vertical mounting plate 17 is fixed to the rear of the fuselage main pole 1 by screws;

[0110] The horizontal mounting plate 18 is fixedly mounted on the lower portion of the vertical mounting plate 17 and is used to mount the integrated tail wing.

[0111] The horizontal mounting plate 18 is provided with a first steering gear 19 and a second steering gear 16. The first steering gear 19 and the second steering gear 16 are respectively arranged on the left and right sides of the vertical mounting plate 17. The first steering gear 19 is installed in the steering gear installation space on the left, and the second steering gear 16 is installed in the steering gear installation space on the right.

[0112] Further, refer to Figure 3 and Figure 5 The integrated tail includes a horizontal tail 4, a vertical tail 5, a first servo arm 28, a second servo arm 29, a first tail connecting rod 30, a servo ball head 31, a tail seat ball head 32, and a second tail connecting rod 33;

[0113] The horizontal tail 4 and the vertical tail 5 are arranged on the tail seat 12, and the first servo arm 28 and the second servo arm 29 are rotatably connected to the first servo 19 and the second servo 16 respectively. The two ends of the first tail connecting rod 30 are connected to the first servo arm 28 and the tail seat 12 respectively through the servo ball head 31 and the tail seat ball head 32; the two ends of the second tail connecting rod 33 are connected to the second servo arm 29 and the tail seat 12.

[0114] Specifically, the entire integrated tail has two degrees of freedom of rotation relative to the tail mounting frame: vertical rotation and left-right rotation. When the first servo 19 and the second servo 16 rotate in opposite directions by the same angle, the horizontal stabilizer 4 deflects vertically relative to the fuselage main mast 1. In other words, by controlling the first and second servo 19, 16 at equal angles and inversely, the pitch angle of the horizontal stabilizer 4 can be controlled. When the first and second servo 19, 16 rotate at different angles, the entire integrated tail deflects left-right relative to the fuselage main mast 1, changing the deflection angle of the vertical stabilizer 5. Therefore, by controlling the rotational states of the first and second servo 19, 16, the pitch and yaw states of the entire aircraft can be controlled.

[0115] Further, refer to Figures 6 to 8 The deformable wheel drive mechanism includes a first deformable wheel drive mechanism connecting member 34, a second deformable wheel drive mechanism connecting member 35, a first side bracket 36, a second side bracket 48, a reversing servo and a reversing servo connecting member;

[0116] The first connecting member 34 of the deformable wheel driving mechanism is arranged on the bottom side of the frame body and connected to the frame body;

[0117] The second connecting member 35 of the deforming wheel driving mechanism is disposed below the first connecting member 34 and is rotatably connected to the first connecting member 34 of the deforming wheel driving mechanism. The second connecting member 35 of the deforming wheel driving mechanism rotates relative to the frame body.

[0118] The first side bracket 36 and the second side bracket 48 are respectively arranged on the left and right sides of the second connecting member 35 of the deformable wheel driving mechanism, and are connected to the second connecting member 35 of the deformable wheel driving mechanism through the corner connecting member 53.

[0119] Wherein, a deformation wheel driving motor is provided on the first side bracket 36 or the second side bracket 48, and the deformation wheel driving motor drives the deformation wheel driving shaft to rotate through two-stage gear reduction;

[0120] A first side bracket bearing 47 is mounted on the first side bracket 36, a second side bracket bearing 49 is mounted on the second side bracket 48, the deforming wheel drive shaft 38 is mounted between the first side bracket bearing 47 and the second side bracket bearing 49, the second side bracket 48 is connected to the deforming wheel drive motor mounting plate 50 via a support column 51, a deforming wheel drive motor 54 is fixed on the deforming wheel drive motor mounting plate 50, a reduction gear meshing with the output gear of the deforming wheel drive motor 54 is mounted on the deforming wheel drive shaft 38, and when the deforming wheel drive motor 54 is working, it drives the deforming wheel drive shaft 38 to rotate;

[0121] The reversing servo connection piece is connected to the fuselage main rod 1 through a support column, the reversing servo 37 is connected to the reversing servo connection piece, and the steering wheel of the reversing servo is connected to the second connection piece 35 of the deformation wheel driving mechanism. By controlling the rotation of the second connection piece of the deformation wheel driving mechanism, the deformation wheel unit is controlled to rotate around the frame body.

[0122] Among them, the reversing servo connecting member is composed of a reversing servo vertical connecting member 44 and a reversing servo horizontal connecting member 45. The end of the reversing servo vertical connecting member 44 is provided with a protrusion, and the protrusion is inserted into the hole opened on the reversing servo horizontal connecting member 45; the reversing servo 37 is installed in the servo installation space provided on the reversing servo horizontal connecting member 45, and the output end of the reversing servo 37 is connected to the second connecting member 35 of the deformation wheel drive mechanism through the disc 46. When the reversing servo 37 drives the disc 46 to rotate, it drives the second connecting member 35 of the deformation wheel drive mechanism to rotate, thereby driving the entire deformation wheel unit to rotate relative to the fuselage main rod 1.

[0123] Specifically, a bearing 47 is mounted on the first side bracket 36, a bearing 49 is mounted on the second side bracket 48, and the deforming wheel drive shaft 38 is mounted between the bearings 47 and 49. The second side bracket 48 is fixedly connected to the deforming wheel drive motor mounting plate 50 via a support column 51. The deforming wheel drive motor 54 is fixed to the deforming wheel drive motor mounting plate 50. A reduction gear that meshes with the output gear of the deforming wheel drive motor 54 is mounted on the deforming wheel drive shaft 38. When the deforming wheel drive motor 54 is in operation, it can drive the deforming wheel drive shaft 38 to rotate.

[0124] Further, refer to Figure 10 and Figure 11 The deformation wheel mechanism includes a central gear 39, a first leg wheel 40, a second leg wheel 41, a third leg wheel 42, a deformation wheel first frame 43 and a deformation wheel second frame 52;

[0125] One end of the central gear 39 is provided with a boss, which is fixed to one side of the deformation wheel drive shaft 38 by a set screw. The central gear 39 rotates along with the deformation wheel drive shaft 38.

[0126] One end of the first leg wheel 40 is an incomplete gear, the gear teeth of which are meshed with the central gear 39. The other end of the first leg wheel 40 is an arc-shaped structure, with the two ends of the arc-shaped structure being respectively in a protruding state and a notched state, and the middle of the two ends is connected by a propeller blade-shaped spoke. The structure and size of the second leg wheel 41 and the third leg wheel 42 are the same as those of the first leg wheel 40;

[0127] The first frame 43 of the deforming wheel and the second frame 52 of the deforming wheel are in a Y shape, and are used to assemble the central gear 39 and the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 together to form the deforming wheel mechanism as a whole.

[0128] The center and three ends of the first frame 43 of the deformable wheel and the second frame 52 of the deformable wheel are provided with assembly holes. The center of the central gear 39 and the center of the incomplete gears of the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 are also provided with assembly holes. The center hole of the central gear 39 is aligned with the center hole of the first frame 43 of the deformable wheel and the second frame 52 of the deformable wheel and connected by screws. The center hole of the incomplete gears of the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 are aligned with the center hole of the three ends of the first frame 43 of the deformable wheel and the second frame 52 of the deformable wheel and connected by three screws respectively. Bearings are provided in each of the above-mentioned holes, and the central gear 39, the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 can all rotate around their respective screws for connection and fastening.

[0129] In some specific embodiments, the deformable wheel unit has a wheel state, a paddle state and a leg state.

[0130] Specifically, refer to Figure 10 and Figure 11 , when the central gear 39 rotates toward the arc notch end of the first leg wheel 40, the first leg wheel 40, the second leg wheel 41 and the third leg wheel 42 meshing therewith will be closed accordingly, until the protrusion of the second leg wheel 41 contacts and presses the notch of the first leg wheel 40, and the entire deformable wheel mechanism will form a circular wheel. Correspondingly, under the drive of the reversing servo 37, the second connecting member 35 of the deformable wheel drive mechanism rotates until the arc protrusions of the first leg wheel 40, the second leg wheel 41 and the third leg wheel 42 are backward, and at this time the entire deformable wheel unit is in a wheel state. By driving the deformable wheel drive shaft 38 through the above-mentioned deformable wheel drive motor 54 and then driving the deformable wheel mechanism that has shrunk into a circular wheel to rotate, the movement of the aircraft on land can be realized.

[0131] In addition, refer to Figure 7 A rear wheel leg 6 is also fixed to the rear of the fuselage main rod 1, and the rear wheel 7 is rotatably connected to the rear wheel leg 6 to maintain the balance of the aircraft when it moves on the ground.

[0132] Further, refer to Figure 14 The present invention also provides a method for controlling wheel-driven takeoff: first, a remote control sends a motion command to the deformable wheel drive motor 54. Driven by the deformable wheel drive motor 54, the rotational speed of the wheel-shaped deformable wheel unit is increased to a level suitable for takeoff. Second, a remote control sends a motion command to the flapping wing drive motor 9. Driven by the flapping wing drive motor 9, the gear reduction mechanism drives the flapping wing crank 23 to rotate. The flapping wing crank 23 drives the first front rocker 10 to swing up and down through the flapping wing connecting rod 24, thereby driving the wing surface 3 to flap up and down to generate flight power. Finally, the remote control sends an action command to the first servo 46 and the second servo 43 to adjust the upward deflection of the horizontal tail 4 relative to the fuselage main rod 1. These operations enable a ground taxiing takeoff of the aircraft.

[0133] Furthermore, the aircraft can land from the air into a water environment and float on the water surface by controlling the swing of the wing assembly and the attitude adjustment of the tail assembly.

[0134] Specifically, refer to Figure 10 and Figure 11 In the water, the deformable wheel drive motor 54 drives the deformable wheel drive shaft 38, which in turn drives the central gear 39 to rotate toward the arc-shaped notch end of the first leg wheel 40. The first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 that are meshed with the central gear 39 will close accordingly until the protrusion of the second leg wheel 41 contacts and presses against the notch of the first leg wheel 40. The propeller blade-shaped spokes of the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 will form a propeller. Correspondingly, under the drive of the reversing servo 37, the second connecting member 35 of the deformable wheel drive mechanism rotates until the propeller blade-shaped spokes face forward. At this time, the entire deformable wheel unit is in a paddle state.

[0135] Reference Figure 15 By driving the deformable wheel drive shaft 38 through the above-mentioned deformable wheel drive motor 54 and then driving the paddle-shaped deformable wheel to rotate, the movement of the aircraft in the water environment can be achieved.

[0136] Furthermore, the aircraft can move from the water environment to the shore by controlling the tail assembly to adjust the movement direction. When the aircraft approaches the shore, the deformable wheel unit can be controlled to change into a leg state, thereby climbing out of the water and onto the shore.

[0137] Specifically, refer to Figure 12 and Figure 13 When the central gear 39 rotates toward the arc-shaped protruding end of the first leg wheel 40, the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 meshing therewith will open accordingly, until the incomplete gears of the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 rotate to the missing teeth, and the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 open to the maximum position. Accordingly, under the drive of the reversing servo 37, the second connecting member 35 of the deformation wheel driving mechanism rotates until the arc-shaped protruding parts of the first leg wheel 40, the second leg wheel 41, and the third leg wheel 42 face forward, and the entire deformation wheel unit is in the leg state.

[0138] Reference Figure 16 By driving the deformable wheel drive shaft 38 through the above-mentioned deformable wheel drive motor 54 and then driving the deformable wheel that is opened into a leg state to rotate, the aircraft can achieve climbing and obstacle-crossing movement from water to the ground.

[0139] 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 with multi-domain motion capability, characterized in that: include: Frame body; A flight unit, the flight unit being mounted on the frame body, the flight unit comprising a wing assembly and a tail assembly, the wing assembly being mounted at the front end of the frame body, and the tail assembly being mounted at the rear end of the frame body; A deformation wheel unit, used to enable the flapping-wing aircraft to move on the ground and in water, the deformation wheel unit comprising a deformation wheel drive mechanism and a deformation wheel mechanism, the deformation wheel unit comprising two deformation wheel mechanisms, the two deformation wheel mechanisms being symmetrically arranged on either side of the deformation wheel drive shaft; The deformable wheel drive mechanism comprises a deformable wheel drive mechanism first connecting member (34), a deformable wheel drive mechanism second connecting member (35), a first side bracket (36), a second side bracket (48), a reversing servo, and a reversing servo connecting member; The first connecting member (34) of the deformation wheel driving mechanism is arranged on the bottom side of the frame body and connected to the frame body; The second connecting member (35) of the deformable wheel driving mechanism is arranged below the first connecting member (34) and is rotatably connected to the first connecting member (34) of the deformable wheel driving mechanism, and the second connecting member (35) of the deformable wheel driving mechanism rotates relative to the frame body; The first side bracket (36) and the second side bracket (48) are respectively arranged on the left and right sides of the second connecting member (35) of the deformable wheel driving mechanism, and are connected to the second connecting member (35) of the deformable wheel driving mechanism via a corner connecting member (53). Wherein, a deformation wheel driving motor is provided on the first side bracket (36) or the second side bracket (48), and the deformation wheel driving motor drives the deformation wheel driving shaft to rotate through two-stage gear reduction; A first side bracket bearing (47) is mounted on the first side bracket (36), a second side bracket bearing (49) is mounted on the second side bracket (48), a deformable wheel drive shaft (38) is mounted between the first side bracket bearing (47) and the second side bracket bearing (49), the second side bracket (48) is connected to the deformable wheel drive motor mounting plate (50) through a support column, a deformable wheel drive motor (54) is fixed on the deformable wheel drive motor mounting plate (50), a reduction gear meshing with an output gear of the deformable wheel drive motor (54) is mounted on the deformable wheel drive shaft (38), and when the deformable wheel drive motor (54) is working, the deformable wheel drive shaft (38) is driven to rotate; The reversing servo connecting member is connected to the main rod (1) of the fuselage through a support column, the reversing servo (37) is connected to the reversing servo connecting member, the steering wheel of the reversing servo is connected to the second connecting member (35) of the deformation wheel driving mechanism, and the deformation wheel unit is controlled to rotate around the frame body by controlling the rotation of the second connecting member of the deformation wheel driving mechanism. The reversing servo connecting member is composed of a reversing servo vertical connecting member (44) and a reversing servo horizontal connecting member (45), the end of the reversing servo vertical connecting member (44) is provided with a protrusion, and the protrusion is inserted into a hole provided on the reversing servo horizontal connecting member (45); the reversing servo (37) is installed in the servo installation space provided on the reversing servo horizontal connecting member (45), and the output end of the reversing servo (37) is connected to the second connecting member (35) of the deformation wheel driving mechanism through the disc (46). When the reversing servo (37) drives the disc (46) to rotate, it drives the second connecting member (35) of the deformation wheel driving mechanism to rotate, thereby driving the entire deformation wheel unit to rotate relative to the fuselage main rod (1); The deformation wheel mechanism comprises a central gear (39), a first leg wheel (40), a second leg wheel (41), a third leg wheel (42), a deformation wheel first frame (43) and a deformation wheel second frame (52); One end of the central gear (39) is provided with a boss, which is fixed to one side of the deformation wheel drive shaft (38) by a set screw, and the central gear (39) rotates along with the deformation wheel drive shaft (38); One end of the first leg wheel (40) is an incomplete gear, the gear teeth of which are meshed with the central gear (39); the other end of the first leg wheel (40) is an arc-shaped structure, the two ends of the arc-shaped structure are respectively in a protruding state and a notched state, and the middle of the two ends is connected by a propeller blade-shaped spoke; the structure and size of the second leg wheel (41) and the third leg wheel (42) are the same as those of the first leg wheel (40); The first deformation wheel frame (43) and the second deformation wheel frame (52) are in a "Y" shape and are used to assemble the central gear (39) and the first leg wheel (40), the second leg wheel (41), and the third leg wheel (42) together to form a deformation wheel mechanism as a whole. The center and three ends of the first frame (43) of the deformable wheel and the second frame (52) of the deformable wheel are provided with assembly holes. The center of the central gear (39) and the center of the incomplete gears of the first leg wheel (40), the second leg wheel (41), and the third leg wheel (42) are also provided with assembly holes. The center hole of the central gear (39) is aligned with the center hole of the first frame (43) of the deformable wheel and the second frame (52) of the deformable wheel and connected by screws. The center hole of the incomplete gears of the first leg wheel (40), the second leg wheel (41), and the third leg wheel (42) are aligned with the center hole of the three ends of the first frame (43) of the deformable wheel and the second frame (52) of the deformable wheel and connected by three screws respectively.

2. The flapping-wing aircraft with multi-domain motion capability according to claim 1, characterized in that: The frame body comprises a fuselage main rod (1), a flapping wing drive mechanism mounting plate, a power supply mounting plate (13) and a rear swing rod seat mounting plate (14); The fuselage main rod (1) is a square tube extending in the front-to-back direction of the fuselage, and a cavity penetrating the front and back is provided inside the fuselage main rod (1); The flapping-wing drive mechanism mounting plate is arranged at the front end of the fuselage main rod (1), and the flapping-wing drive mechanism mounting plate is used to fix the flapping-wing drive mechanism on the fuselage main rod (1); The power supply mounting plate (13) is arranged in the middle of the fuselage main pole (1), and the power supply mounting plate (13) is used to fix the power supply (2) on the fuselage main pole (1); The rear swing rod seat mounting plate (14) is arranged at the middle rear portion of the fuselage main rod (1), and the rear swing rod seat mounting plate (14) is provided with a rear swing rod seat (15) for fixing the rear swing rod (8) on the fuselage main rod (1).

3. The flapping-wing aircraft with multi-domain motion capability according to claim 2, characterized in that: The flapping-wing drive mechanism mounting plate comprises a first mounting plate (20), a second mounting plate (21), a third mounting plate (22), a flapping-wing drive motor (9), a reduction gear, a secondary reduction gear, a flapping-wing crank (23), and a flapping-wing connecting rod (24); The first mounting plate (20) is arranged at the front end of the fuselage main rod (1), and a hollow position is provided on the first mounting plate (20); The second mounting plate (21) is arranged on the front side of the fuselage main rod (1), and the second mounting plate (21) is provided with a hollow position; The third mounting plate (22) is arranged on the front side of the fuselage main rod (1), and the third mounting plate (22) is provided with a hollow position; The first mounting plate (20) and the second mounting plate (21) are connected via a support column (25); the right side of the second mounting plate (21) is closely attached to the left side of the fuselage main rod (1); the third mounting plate (22) and the fuselage main rod (1) are connected via a partition (26); a front swing rod seat (27) is provided at the upper front end of the second mounting plate (21); and the first front swing rod (10) is rotatably connected to the front swing rod seat (27) via a bearing; The flapping-wing drive motor (9) is mounted on one side of the first mounting plate (20), a reduction gear meshing with the output gear of the flapping-wing drive motor (9) is mounted in the space between the second mounting plate (21) and the third mounting plate (22), the secondary reduction gear is mounted on one side of the second mounting plate (21), the secondary reduction gear drives the flapping-wing crank (23) to rotate, and the flapping-wing crank (23) drives the first front swing arm (10) to swing up and down through the flapping-wing connecting rod (24).

4. The flapping-wing aircraft with multi-domain motion capability according to claim 3, characterized in that: The wing assembly comprises a first front swing bar (10), a second front swing bar (11), a flapping wing drive mechanism, an airfoil (3) and a rear swing bar (8); The first front swing arm (10) is rotatably connected to the front side of the frame body, and the first front swing arm swings up and down relative to the frame body; The second front swing bar (11) is connected to the first front swing bar (10), and the second front swing bar (11) and the first front swing bar (10) are used to maintain the shape of the wing assembly; The flapping wing drive mechanism is arranged on the frame body, and the flapping wing drive mechanism is used to drive the first front swing rod (10) to swing up and down; The first side of the wing surface (3) is connected to the frame body, and the second side of the wing surface (3) is rotatably connected to the first front swing arm (10); One end of the rear swing link (8) is rotatably connected to the rear swing link seat (15), and the other end of the rear swing link (8) is connected to the second front swing link (11) for supporting the wing surface (3).

5. The flapping-wing aircraft with multi-domain motion capability according to claim 4, characterized in that: The flapping wing drive mechanism comprises a flapping wing drive motor (9), a gear reduction mechanism, a flapping wing crank (23) and a flapping wing connecting rod (24); The flapping-wing drive motor (9) is connected to the second mounting plate (21), and the output shaft of the flapping-wing drive motor (9) is connected to the input end of the gear reduction mechanism; One end of the flapping crank (23) is connected to the output end of the gear reduction mechanism, and the other end of the flapping crank (23) is connected to the flapping connecting rod (24); The head of the first front swing link (10) is rotatably connected to the front swing link seat (27) via a bearing.

6. The flapping-wing aircraft with multi-domain motion capability according to claim 1, characterized in that: The tail assembly includes a tail mounting frame, an integrated tail, a tail connector, and a tail drive mechanism; The tail wing mounting frame is installed at the tail end of the frame body; The tail connecting member is rotatably connected to the rear side of the tail mounting frame; The tail wing driving mechanism is arranged on the tail wing connecting member, and the tail wing driving mechanism is used to control the movement of the tail wing.

7. The flapping-wing aircraft with multi-domain motion capability according to claim 6, characterized in that: The tail wing mounting frame comprises a vertical mounting plate (17), a horizontal mounting plate (18), a first steering gear (19) and a second steering gear (16); The vertical mounting plate (17) is fixed to the rear of the fuselage main rod (1) by screws; The horizontal mounting plate (18) is fixedly mounted on the lower portion of the vertical mounting plate (17), and the horizontal mounting plate (18) is used to mount an integrated tail wing; A first steering gear (19) and a second steering gear (16) are provided on the horizontal mounting plate (18). The first steering gear (19) and the second steering gear (16) are arranged on the left and right sides of the vertical mounting plate (17), respectively. The first steering gear (19) is installed in the steering gear installation space on the left, and the second steering gear (16) is installed in the steering gear installation space on the right.

8. The flapping-wing aircraft with multi-domain motion capability according to claim 7, characterized in that: The integrated tail comprises a horizontal tail (4), a vertical tail (5), a first servo arm (28), a second servo arm (29), a first tail connecting rod (30), a servo ball head (31), a tail seat ball head (32), and a second tail connecting rod (33); The horizontal tail (4) and the vertical tail (5) are arranged on the tail seat (12); the first servo arm (28) and the second servo arm (29) are rotatably connected to the first servo (19) and the second servo (16), respectively; the two ends of the first tail connecting rod (30) are connected to the first servo arm (28) and the tail seat (12) through the servo ball head (31) and the tail seat ball head (32), respectively; and the two ends of the second tail connecting rod (33) are connected to the second servo arm (29) and the tail seat (12).

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