A multi-wing ornithopter unmanned aerial vehicle

Abstract

The application discloses a multi-wing ornithopter unmanned aerial vehicle, and relates to the technical field of aerial vehicles.The application comprises a fuselage, wings, a tail wing and a driving system, wherein the driving system comprises a flapping mechanism, an angle of attack adjusting mechanism and a tail wing deformation mechanism.The application can significantly improve the aerodynamic performance of the ornithopter unmanned aerial vehicle by increasing the number of wings and reasonably arranging the positions of multiple pairs of wings.Meanwhile, the maneuverability of the aerial vehicle can be further improved by designing a multi-degree-of-freedom tail wing, the rear wings can effectively utilize the wingtip vortex generated by the flapping of the front wings, so as to increase the lift and improve the aerodynamic efficiency, the problems of insufficient lift and low aerodynamic efficiency of the traditional ornithopter unmanned aerial vehicle are effectively solved, the flapping mechanism is compact in structure, light in weight, and high in reliability and easy in maintenance, the tail wing has four degrees of freedom, rigid decoupling of the tail wing pitching, yawing and folding can be realized, and the reliability, stability and precision of the system are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft, and in particular relates to a multi-wing flapping-wing bionic unmanned aircraft. Background Art

[0002] Since the 1990s, with the continuous maturity of traditional aircraft design techniques and significant advances in microelectronics, micro-aircraft (MAVs) have emerged and rapidly developed. Simultaneously, with the in-depth exploration of natural biological flight, biomimetic design has been widely applied in the field of MAVs, giving rise to flapping-wing MAVs that mimic biological flight. Although most existing flapping-wing MAVs mimic biological wings in their layout, their lift efficiency and maneuverability are generally inferior to those of biological wings. Therefore, the development of highly aerodynamically efficient and maneuverable flapping-wing MAVs has been a hot topic at many research institutions. Most existing flapping-wing MAVs utilize a single pair of flapping wings to provide lift and control torque, and their control methods are relatively simple.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a multi-wing flapping-wing bionic unmanned aerial vehicle.

[0005] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0006] A multi-wing flapping-wing bionic unmanned aerial vehicle comprises: a fuselage, wings, a tail wing and a drive system, wherein the drive system comprises a flapping mechanism, an angle of attack adjustment mechanism and a tail wing deformation mechanism;

[0007] The wings include a first flapping wing, a second flapping wing, a third flapping wing, a fourth flapping wing, a fifth flapping wing, a sixth flapping wing, a seventh flapping wing and an eighth flapping wing, wherein the first flapping wing, the third flapping wing, the fifth flapping wing and the seventh flapping wing are arranged symmetrically with the second flapping wing, the fourth flapping wing, the sixth flapping wing and the eighth flapping wing, and the wing roots of the four pairs of flapping wings are arranged in a stepped manner in the horizontal direction.

[0008] Optionally, the angle of attack adjustment mechanism includes an angle of attack servo, a main rod bearing, a bearing seat, a first splint, a second splint, an wing surface and a secondary rod, the first splint and the second splint are symmetrically distributed on both sides of the angle of attack servo, the angle of attack servo and the bearing seat are installed between the first splint and the second splint, two bearings are installed on both sides of the bearing seat and close to its center, the main rod of the wing is passed through the bearing and the proximal end is installed on the steering wheel at the output end of the angle of attack servo.

[0009] Optionally, the flapping mechanism includes a body frame, a flapping servo, a driving gear, a driven gear, a retaining frame, a driven shaft, a first rocker arm and a second rocker arm, the flapping servo is arranged on the longitudinal center line of the back of the body frame, the driving gear is mounted on the output end of the flapping servo, the retaining frame is mounted on the other side of the body frame, the driven shaft is mounted on one side of the retaining frame, the driven gear is fixedly sleeved on one end of the driven shaft, the driving gear is meshed with the driven gear, the driving gear and the driven gear are both non-complete circular gears, and have the same number of teeth and module, the first rocker arm is mounted on the tooth surface of the driven gear, and the second rocker arm is mounted on the tooth surface of the driving gear.

[0010] Optionally, the first flapping wing, the second flapping wing, the third flapping wing, the fourth flapping wing, the fifth flapping wing, the sixth flapping wing, the seventh flapping wing and the eighth flapping wing all include a main rod, a secondary rod and a wing surface.

[0011] Optionally, the tail deformation mechanism includes a fixed plate, a pitch servo, a pitch servo seat, a yaw servo, a yaw servo seat, a first folding servo, a second folding servo, a tail support plate, an imitation tail feather shaft, a bionic feather, a folding servo arm and a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod. The pitch servo seat is fixedly connected to the fixed plate, the yaw servo seat is fixedly connected to the rotating shaft, one end of the pull rod is hinged to the servo arm of the pitch servo, and the other end of the pull rod is hinged to the support link, and the support link is fixed to the rotating shaft through a locating pin. The tail wing support plate is provided with a first bracket, a second bracket, a third bracket, a fourth bracket, a fifth bracket and a sixth bracket. The sixth bracket is installed in the middle of the tail wing support plate. The first bracket, the second bracket, the third bracket, the fourth bracket and the fifth bracket are hinged to the tail wing support plate. The ends of the first bracket, the second bracket, the third bracket, the fourth bracket, the fifth bracket and the sixth bracket are provided with a sleeve, and one end of the sleeve is provided with a tail feather. The tail feather includes a bionic feather shaft and a bionic feather. The bionic feather shaft is connected to the corresponding bracket through the sleeve.

[0012] Optionally, the proximal end of the first connecting rod is hinged to the rudder arm of the first folding servo, the distal end of the first connecting rod is hinged to the first bracket, the proximal end of the second connecting rod is hinged to the first bracket, and the distal end is hinged to the second bracket, the proximal end of the third connecting rod is hinged to the second bracket, and the distal end is hinged to the third bracket, the proximal end of the fourth connecting rod is hinged to the third bracket, and the distal end is hinged to the fourth bracket, the proximal end of the fifth connecting rod is hinged to the fourth bracket, and the distal end is hinged to the fifth bracket.

[0013] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described below at the same time:

[0014] 1. This bionic unmanned aerial vehicle proposes a novel bionic layout design. Its rear flapping wing can effectively utilize the wingtip vortex generated by the flapping of the front flapping wing, thereby increasing lift and improving aerodynamic efficiency, effectively improving the problems of insufficient lift and low aerodynamic efficiency of traditional flapping-wing aircraft.

[0015] 2. The flapping mechanism of the bionic unmanned aerial vehicle has a compact structure, light weight, high reliability and easy maintainability.

[0016] 3. The angle of attack adjustment method of the bionic unmanned aerial vehicle can adjust the angle of attack of the wing surface with high precision and speed, providing the possibility for flapping-wing unmanned aerial vehicles to achieve various flight postures and flight modes.

[0017] 4. The tail wing of the bionic unmanned aerial vehicle has four degrees of freedom, which can achieve rigid decoupling of the tail wing's pitch, yaw and folding, thereby improving the reliability, stability and accuracy of the system.

[0018] 5. By increasing the number of flapping wings and rationally arranging the positions of multiple pairs of flapping wings, the bionic unmanned aerial vehicle can significantly improve its aerodynamic performance. Furthermore, by designing a multi-degree-of-freedom tail, the vehicle's maneuverability can be further enhanced.

[0019] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described below are only some embodiments. A person skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0021] Figure 1 A top view of the overall structure of an embodiment of the present invention;

[0022] Figure 2 Axonometric view of the overall structure of the embodiment of the present invention Figure 1 ;

[0023] Figure 3 Axonometric view of the overall structure of the embodiment of the present invention Figure 2 ;

[0024] Figure 4 This is a schematic diagram of the air braking state according to an embodiment of the present invention;

[0025] Figure 5 An assembly diagram of the wing drive system provided by the present invention;

[0026] Figure 6 Schematic diagram of the flapping mechanism provided by the present invention Figure 1 ;

[0027] Figure 7An exploded view of the flapping wing mechanism provided by the present invention;

[0028] Figure 8 An exploded view of the angle of attack adjustment mechanism provided by the present invention;

[0029] Figure 9 Schematic diagrams of the first to eighth flapping wings provided by the present invention;

[0030] Figure 10 This is an axonometric view of a deformable tail wing according to an embodiment of the present invention;

[0031] Figure 11 This is a diagram showing the asymmetric folding and unfolding effect of the tail wing according to an embodiment of the present invention;

[0032] Figure 12 This is a diagram showing the symmetrical folding effect of the tail wing according to an embodiment of the present invention;

[0033] Figure 13 A partial enlarged view of the tail wing according to an embodiment of the present invention;

[0034] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0035] 1. Fuselage, 2. Wings, 3. Tail, 4. Drive system, 5. Flapping mechanism, 6. Angle of attack adjustment mechanism, 7. Tail deformation mechanism, 2-1. First flapping wing, 2-2. Third flapping wing, 2-3. Fifth flapping wing, 2-4. Seventh flapping wing, 2-5. Eighth flapping wing, 2-6. Sixth flapping wing, 2-7. Fourth flapping wing, 2-8. Second flapping wing, 3-1. First bracket, 3-2. Second bracket, 3-3. Third bracket, 3-4. Fourth bracket, 3-5. Fifth bracket, 3-6. Sixth bracket, 3-7. Casing, 3-8. Tail support plate, 3-9. First connecting rod, 3-10. Support connecting rod, 3-11. Pull rod, 3-12. Pitch servo seat, 3-13. Folding servo arm, 3-14. Second connecting rod, 3-1 5. Third connecting rod, 3-16. Fourth connecting rod, 3-17. Fifth connecting rod, 3-18. First folding servo, 3-19. Second folding servo, 3-21. Bionic feather shaft, 3-22. Rotating shaft, 3-23. Pitch servo, 3-24. Yaw servo, 3-25. Yaw servo seat, 3-26. Bionic feather, 3-27. Fixed plate, 5-1. Flapping servo, 5-2. Cage, 5-3. Driving gear, 5-4. Second rocker arm, 5-5. First rocker arm, 5-6. Driven gear, 5-7. Driven output shaft, 5-8. Body frame, 6-1. Angle of attack servo, 6-2. First splint, 6-3. Main rod, 6-4. Bearing, 6-5. Bearing seat, 6-6. Second splint, 6-7. Wing surface, 6-8. Secondary rod.

[0036] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0037] The present invention will now be described in further detail with reference to the accompanying drawings.

[0038] See also Figure 1-13 As shown, in this embodiment, a multi-wing flapping-wing bionic unmanned aerial vehicle is provided, comprising: a fuselage 1, wings 2, a tail 3 and a drive system 4, wherein the drive system 4 comprises a flapping mechanism 5, an angle of attack adjustment mechanism 6 and a tail deformation mechanism 7;

[0039] The wing 2 includes a first flapping wing 2-1, a second flapping wing 2-8, a third flapping wing 2-2, a fourth flapping wing 2-7, a fifth flapping wing 2-3, a sixth flapping wing 2-6, a seventh flapping wing 2-4 and an eighth flapping wing 2-5, wherein the first flapping wing 2-1, the third flapping wing 2-2, the fifth flapping wing 2-3, the seventh flapping wing 2-4 and the second flapping wing 2-8, the fourth flapping wing 2-7, the sixth flapping wing 2-6 and the eighth flapping wing 2-5 are arranged symmetrically, and the wing roots of the four pairs of flapping wings are arranged in a stepped manner in the horizontal direction.

[0040] The angle of attack adjustment mechanism 6 of this embodiment includes an angle of attack servo 6-1, a main rod 6-3, a bearing 6-4, a bearing seat 6-5, a first clamping plate 6-2, a second clamping plate 6-6, an wing surface 6-7 and a secondary rod 6-8. The first clamping plate 6-2 and the second clamping plate 6-6 are symmetrically distributed on both sides of the angle of attack servo 6-1, the angle of attack servo 6-1 and the bearing seat 6-5 are installed between the first clamping plate 6-2 and the second clamping plate 6-6, two bearings 6-4 are installed on both sides of the bearing seat 6-5 and close to its center, the main rod 6-3 of the wing is passed through the bearing 6-4 and the proximal end is installed on the steering wheel at the output end of the angle of attack servo 6-1.

[0041] The flapping mechanism 5 of this embodiment includes a body frame 5-8, a flapping servo 5-1, a driving gear 5-3, a driven gear 5-6, a retaining frame 5-2, a driven shaft 5-7, a first rocker arm 5-5 and a second rocker arm 5-4. The flapping servo 5-1 is arranged on the longitudinal center line of the back of the body frame 5-8, the driving gear 5-3 is mounted on the output end of the flapping servo 5-1, the retaining frame 5-2 is mounted on the other side of the body frame 5-8, the driven shaft 5-7 is mounted on one side of the retaining frame 5-2, and the driven gear 5-6 is fixedly sleeved on one end of the driven shaft 5-7. The driving gear 5-3 is meshed with the driven gear 5-6. The driving gear 5-3 and the driven gear 5-6 are both non-complete circular gears and have the same number of teeth and module. The first rocker arm 5-5 is mounted on the tooth surface of the driven gear 5-6, and the second rocker arm 5-4 is mounted on the tooth surface of the driving gear 5-3.

[0042] The first flapping wing 2-1, the second flapping wing 2-8, the third flapping wing 2-2, the fourth flapping wing 2-7, the fifth flapping wing 2-3, the sixth flapping wing 2-6, the seventh flapping wing 2-4 and the eighth flapping wing 2-5 of this embodiment all include a main rod 6-3, a secondary rod 6-8 and a wing surface 6-7.

[0043] The tail deformation mechanism 7 of this embodiment includes a fixed plate 3-27, a pitch servo 3-23, a pitch servo seat 3-12, a yaw servo 3-24, a yaw servo seat 3-25, a first folding servo 3-18, a second folding servo 3-19, a tail support plate 3-8, an imitation tail feather shaft 3-21, a bionic feather 3-26, a folding servo arm 3-13 and a first connecting rod 3-9, a second connecting rod 3-14, a third connecting rod 3-15, a fourth connecting rod 3-16 and a fifth connecting rod 3-17. The pitch servo seat 3-12 is fixedly connected to the fixed plate 3-27, the yaw servo seat 3-25 is fixedly connected to the rotating shaft 3-22, one end of the pull rod 3-11 is hinged to the servo arm of the pitch servo 3-23, the other end of the pull rod 3-11 is hinged to the support link 3-10, and the support link 3-10 is connected by a positioning pin. Fixed on the rotating shaft 3-22, the tail wing support plate 3-8 is provided with a first bracket 3-1, a second bracket 3-2, a third bracket 3-3, a fourth bracket 3-4, a fifth bracket 3-5 and a sixth bracket 3-6, and the sixth bracket 3-6 is installed in the middle of the tail wing support plate 3-8. The first bracket 3-1, the second bracket 3-2, the third bracket 3-3, the fourth bracket 3-4, the fifth bracket 3-5 and the tail wing support plate 3-8 are hinged, and the ends of the first bracket 3-1, the second bracket 3-2, the third bracket 3-3, the fourth bracket 3-4, the fifth bracket 3-5 and the sixth bracket 3-6 are provided with a sleeve 3-7, and one end of the sleeve 3-7 is provided with a tail feather, and the tail feather includes a bionic feather shaft 3-21 and a bionic feather 3-26, and the bionic feather shaft 3-21 is connected to the corresponding bracket through the sleeve 3-7.

[0044] In this embodiment, the proximal end of the first connecting rod 3-9 is hinged to the rudder arm of the first folding servo 3-18, the distal end of the first connecting rod 3-9 is hinged to the first bracket 3-1, the proximal end of the second connecting rod 3-14 is hinged to the first bracket 3-1, and the distal end is hinged to the second bracket 3-2, the proximal end of the third connecting rod 3-15 is hinged to the second bracket 3-2, and the distal end is hinged to the third bracket 3-3, the proximal end of the fourth connecting rod 3-16 is hinged to the third bracket 3-3, and the distal end is hinged to the fourth bracket 3-4, the proximal end of the fifth connecting rod 3-17 is hinged to the fourth bracket 3-4, and the distal end is hinged to the fifth bracket 3-5.

[0045] The aircraft of this embodiment comprises four parts: a fuselage 1, wings 2, tail 3, and a drive system 4. The fuselage 1 is integrally formed, bilaterally symmetrical, and contains a cavity. Four pairs of flapping wings and four flapping mechanisms are arranged longitudinally along the fuselage. The wings 2 employ a membranous wing structure, primarily providing lift and thrust. The wings 2 include a first flapping wing 2-1, a second flapping wing 2-8, a third flapping wing 2-2, a fourth flapping wing 2-7, a fifth flapping wing 2-3, a sixth flapping wing 2-6, a seventh flapping wing 2-4, and an eighth flapping wing 2-5. The first to fourth flapping wings 2-1, 2-7, and the fifth to eighth flapping wings 2-3, 2-5 are arranged bilaterally symmetrically in that order. The wing roots of the four pairs of flapping wings are arranged in a horizontally stepped pattern. The tail 3 employs a feather-like wing structure with four degrees of freedom, enabling precise control of the aircraft's steering, climb, and ascent. The drive system 4 comprises a flapping mechanism 5, an angle of attack adjustment mechanism 6, and a tail deformation mechanism 7.

[0046] like Figures 1 to 3 As shown, during the flapping motion of the aircraft, all four pairs of flapping wings tilt and flap, with the center of the rear pair facing the wingtips of the front pair. As the wings flap, the pressure on the lower surface is higher than that on the upper surface. Airflow from the high-pressure area of ​​the lower surface flips from the wingtips to the upper surface, forming wingtip vortices that subsequently shed into the wake. Because the center of the rear pair of flapping wings faces the wingtips of the front pair, the rear flapping wings can utilize the updrafts induced by the wingtip vortices of the front flapping wings, thereby improving lift efficiency.

[0047] like Figure 4 As shown, during flapping, the servo angle is adjusted in real time to change the wing's angle of attack to improve aerodynamic efficiency. When the aircraft approaches terrain obstacles, the flapping angle of attack is adjusted to verticalize the wing, increasing air resistance and enabling rapid braking to effectively avoid collisions. Furthermore, high-precision adjustment of the wing's angle of attack allows the aircraft to achieve momentary pauses or hovers during flight, enabling continuous data collection, environmental monitoring, and other operations.

[0048] like Figure 5 and Figure 8 As shown, the angle-of-attack adjustment mechanism 6 includes an angle-of-attack servo 6-1, a main rod 6-3, a bearing 6-4, a bearing block 6-5, a first plate 6-2, a second plate 6-6, an airfoil 6-7, and a secondary rod 6-8. The first plate 6-2 and the second plate 6-6 are symmetrically located on either side of the rocker arm. The angle-of-attack servo 6-1 and the bearing block 6-5 are fixedly secured between the first plate 6-2 and the second plate 6-6 by screws. A bearing 6-4 is fixedly attached to each side of the bearing block 6-5, near the center. The main rod 6-3 of the wing is inserted within the bearings 6-4, with its proximal end connected to the steering wheel at the output end of the angle-of-attack servo 6-1. During the flapping phase, the angle of attack of the airfoil 6-7 is varied by controlling the angle of the angle-of-attack servo 6-1 to optimize flight efficiency and stability. Specifically, the angle of attack is increased when the wing is flapping downward and decreased when it is flapping upward.

[0049] like Figure 5 and Figure 6 As shown, the flapping mechanism 5 includes a body frame 5-8, a flapping servo 5-1, a driving gear 5-3, a driven gear 5-6, a retaining frame 5-2, a driven shaft 5-7, a first rocker arm 5-5, and a second rocker arm 5-4. The flapping servo 5-1 is located on the longitudinal centerline of the back of the body frame 5-8. The driving gear 5-3 is mounted on its output end, meshing with the driven gear 5-6. Both the driving gear 5-3 and the driven gear 5-6 are non-holonomic gears with the same number of teeth and module. The retaining frame 5-2 and the driven shaft 5-7 are integrally formed, and the driven gear 5-6 is fixedly mounted on one end of the driven shaft 5-7. The first rocker arm 5-5 is fixedly connected to the tooth surface of the driven gear 5-6, and the second rocker arm 5-4 is fixedly connected to the tooth surface of the driving gear 5-3. They are symmetrically distributed along the body. By adjusting the rotation angle of the flapping servo 5-1, the flapping amplitude of the left and right rocker arms can be controlled. The flapping mechanism has a compact structure, light weight, high reliability and easy maintenance.

[0050] like Figure 9 As shown, the first flapping wing 2-1, the second flapping wing 2-8, the third flapping wing 2-2, the fourth flapping wing 2-7, the fifth flapping wing 2-3, the sixth flapping wing 2-6, the seventh flapping wing 2-4, and the eighth flapping wing 2-5 each include a main rod 6-3, a secondary rod 6-8, and a wing surface 6-7. The flapping wings are connected to a flapping drive mechanism via the main rod 6-3. Driven by the drive mechanism, each flapping wing flaps back and forth, providing the required lift for the aircraft. The wing surface 6-7 is made of a lightweight, flexible, and durable material such as polyester film or nylon fabric.

[0051] like Figures 10 to 13 As shown, the tail deformation mechanism 7 includes a fixed plate 3-27, a pitch servo 3-23, a pitch servo seat 3-12, a yaw servo 3-24, a yaw servo seat 3-25, a first folding servo 3-18, a second folding servo 3-19, a tail support plate 3-8, a bionic tail feather shaft 3-21, bionic feathers 3-26, a folding servo arm 3-13, and a first connecting rod 3-9, a second connecting rod 3-14, a third connecting rod 3-15, a fourth connecting rod 3-16, and a fifth connecting rod 3-17. The pitch servo seat 3-12 is fixedly connected to the fixed plate 3-27. The yaw servo seat 3-25 is fixedly connected to the rotating shaft 3-22. One end of the pull rod 3-11 is hinged to the servo arm of the pitch servo 3-23, and the other end is hinged to the support link 3-10, which is fixed to the rotating shaft 3-22 by a locating pin.

[0052] When the servo arm of the pitch servo 3-23 swings back and forth, the aircraft's pitch motion can be achieved. When the steering wheel of the yaw servo 3-24 swings left and right, the aircraft's yaw motion can be achieved. The first folding servo 3-18 is used to drive the folding and unfolding of the left bionic tail feathers. The second folding servo 3-19 is used to drive the folding and unfolding of the right bionic tail feathers.

[0053] like Figure 13 As shown, since the drive mechanism for the left and right tail feathers is the same, the description here uses the drive mechanism for the folding and unfolding of the left tail feather as an example. The tail support plate 3-8 is provided with a first bracket 3-1, a second bracket 3-2, a third bracket 3-3, a fourth bracket 3-4, a fifth bracket 3-5, and a sixth bracket 3-6. The sixth bracket 3-6 is fixed to the middle of the tail support plate 3-8, while the first bracket 3-1, the second bracket 3-2, the third bracket 3-3, the fourth bracket 3-4, and the fifth bracket 3-5 are hinged to the tail support plate 3-8. Each bracket has a specific airfoil profile and is equipped with a sleeve 3-7 at its end.

[0054] The specific connection method is as follows: the proximal end of the first connecting rod 3-9 is hinged to the rudder arm of the first folding servo 3-18, and the distal end is hinged to the first bracket 3-1; the proximal end of the second connecting rod 3-14 is hinged to the first bracket 3-1, and the distal end is hinged to the second bracket 3-2; the proximal end of the third connecting rod 3-15 is hinged to the second bracket 3-2, and the distal end is hinged to the third bracket 3-3; the proximal end of the fourth connecting rod 3-16 is hinged to the third bracket 3-3, and the distal end is hinged to the fourth bracket 3-4; the proximal end of the fifth connecting rod 3-17 is hinged to the fourth bracket 3-4, and the distal end is hinged to the fifth bracket 3-5; when the first folding servo 3-18 rotates clockwise, the left tail feather is folded; when it rotates counterclockwise, the left tail feather is unfolded.

[0055] like Figure 10 and Figure 11 As shown, one end of the sleeve 3-7 is provided with tail feathers, which include a bionic feather shaft 3-21 and bionic vanes 3-26. The bionic feather shaft 3-21 is connected to the corresponding bracket through the sleeve 3-7. The tail feathers include one fixed tail feather and ten foldable tail feathers. The height of the foldable tail feathers gradually decreases from the center to the sides, and the height change characteristics are bilaterally symmetrical.

[0056] The present invention is not limited to the above-described embodiments. Any structural changes made under the guidance of the present invention, which have the same or similar technical solutions as the present invention, should be understood to fall within the scope of protection of the present invention. The technologies, shapes, and structural parts not described in detail in the present invention are all well-known technologies.

Claims

1. A multi-wing flapping-wing bionic unmanned aerial vehicle, characterized in that: include: A fuselage (1), wings (2), a tail (3) and a drive system (4), wherein the drive system (4) includes a flapping mechanism (5), an angle of attack adjustment mechanism (6) and a tail deformation mechanism (7); The wing (2) includes a first flapping wing (2-1), a second flapping wing (2-8), a third flapping wing (2-2), a fourth flapping wing (2-7), a fifth flapping wing (2-3), a sixth flapping wing (2-6), a seventh flapping wing (2-4) and an eighth flapping wing (2-5), wherein the first flapping wing (2-1), the third flapping wing (2-2), the fifth flapping wing (2-3) and the seventh flapping wing (2-4) are symmetrically arranged with the second flapping wing (2-8), the fourth flapping wing (2-7), the sixth flapping wing (2-6) and the eighth flapping wing (2-5), and the wing roots of the four pairs of flapping wings are arranged in a stepped manner in the horizontal direction; The angle of attack adjustment mechanism (6) includes an angle of attack servo (6-1), a main rod (6-3), a bearing (6-4), a bearing seat (6-5), a first clamping plate (6-2), a second clamping plate (6-6), an airfoil (6-7) and a secondary rod (6-8), wherein the first clamping plate (6-2) and the second clamping plate (6-6) are symmetrically arranged on both sides of the angle of attack servo (6-1), the angle of attack servo (6-1) and the bearing seat (6-5) are installed between the first clamping plate (6-2) and the second clamping plate (6-6), two bearings (6-4) are installed on both sides of the bearing seat (6-5) and close to the center thereof, and the main rod (6-3) of the wing is inserted into the bearing (6-4) and the proximal end is installed on the steering wheel at the output end of the angle of attack servo (6-1); The flapping mechanism (5) includes a body frame (5-8), a flapping servo (5-1), a driving gear (5-3), a driven gear (5-6), a retaining frame (5-2), a driven shaft (5-7), a first rocker arm (5-5), and a second rocker arm (5-4); the flapping servo (5-1) is arranged on the longitudinal center line of the back of the body frame (5-8), and the driving gear (5-3) is installed on the output end of the flapping servo (5-1); During the flapping process of the aircraft, all four pairs of flapping wings tilt and flap, with the middle part of the rear pair of flapping wings facing the wingtips of the front pair of flapping wings; when the wings flap, the pressure on the lower wing surface is higher than that on the upper wing surface, and the airflow flips from the high-pressure area of ​​the lower wing surface from the wingtips to the upper wing surface, forming wingtip vortices, and then falls off into the wake; since the middle part of the rear pair of flapping wings faces the wingtips of the front pair of flapping wings, the rear flapping wings can use the updrafts induced by the wingtip vortices of the front flapping wings, thereby improving lift efficiency.

2. A multi-wing flapping-wing bionic unmanned aerial vehicle according to claim 1, characterized in that: The retainer (5-2) is mounted on the other side of the body frame (5-8), the driven shaft (5-7) is mounted on one side of the retainer (5-2), the driven gear (5-6) is fixedly sleeved on one end of the driven shaft (5-7), the driving gear (5-3) is meshed with the driven gear (5-6), the driving gear (5-3) and the driven gear (5-6) are both non-complete circular gears, and have the same number of teeth and module, the first rocker arm (5-5) is mounted on the tooth surface of the driven gear (5-6), and the second rocker arm (5-4) is mounted on the tooth surface of the driving gear (5-3).

3. The multi-wing flapping-wing bionic unmanned aerial vehicle according to claim 1, characterized in that: The tail deformation mechanism (7) includes a fixed plate (3-27), a pitch servo (3-23), a pitch servo seat (3-12), a yaw servo (3-24), a yaw servo seat (3-25), a first folding servo (3-18), a second folding servo (3-19), a tail support plate (3-8), a bionic feather shaft (3-21), a bionic feather (3-26), a folding servo arm (3-13) and a first connecting rod (3-9), a second connecting rod (3-14), a third connecting rod (3-15), a fourth connecting rod (3-16), and a fifth connecting rod (3-17).

4. The multi-wing flapping-wing bionic unmanned aerial vehicle according to claim 3, characterized in that: The pitch servo seat (3-12) is fixedly connected to the fixed plate (3-27), the yaw servo seat (3-25) is fixedly connected to the rotating shaft (3-22), one end of the pull rod (3-11) is hinged to the servo arm of the pitch servo (3-23), and the other end of the pull rod (3-11) is hinged to the supporting link (3-10), and the supporting link (3-10) is fixed to the rotating shaft (3-22) through a locating pin.

5. The multi-wing flapping-wing bionic unmanned aerial vehicle according to claim 4, characterized in that: A first bracket (3-1), a second bracket (3-2), a third bracket (3-3), a fourth bracket (3-4), a fifth bracket (3-5) and a sixth bracket (3-6) are provided on the tail support plate (3-8). The sixth bracket (3-6) is installed in the middle of the tail support plate (3-8). The first bracket (3-1), the second bracket (3-2), the third bracket (3-3), the fourth bracket (3-4), the fifth bracket (3-5) and the sixth bracket (3-6) are installed on the tail support plate (3-8). Hinge-connected to the tail wing support plate (3-8), the ends of the first bracket (3-1), the second bracket (3-2), the third bracket (3-3), the fourth bracket (3-4), the fifth bracket (3-5) and the sixth bracket (3-6) are all provided with sleeves (3-7).

6. The multi-wing flapping-wing bionic unmanned aerial vehicle according to claim 5, characterized in that: The proximal end of the first link (3-9) is hinged to the rudder arm of the first folding servo (3-18), the distal end of the first link (3-9) is hinged to the first bracket (3-1), the proximal end of the second link (3-14) is hinged to the first bracket (3-1), and the distal end is hinged to the second bracket (3-2), the proximal end of the third link (3-15) is hinged to the second bracket (3-2), and the distal end is hinged to the third bracket (3-3), the proximal end of the fourth link (3-16) is hinged to the third bracket (3-3), and the distal end is hinged to the fourth bracket (3-4), and the proximal end of the fifth link (3-17) is hinged to the fourth bracket (3-4), and the distal end is hinged to the fifth bracket (3-5).

7. The multi-wing flapping-wing bionic unmanned aerial vehicle according to claim 6, characterized in that: One end of the sleeve (3-7) is provided with a tail feather, which comprises a bionic feather shaft (3-21) and a bionic feather piece (3-26), and the bionic feather shaft (3-21) is connected to a corresponding bracket through the sleeve (3-7).

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