Two-section wing type ornithopter with adjustable attack angle

Abstract

The invention relates to the field of ornithopters, and discloses a two-section wing type ornithopter with an adjustable attack angle in a flight process. Comprising a fuselage, a skeleton system connected with the fuselage, a left wing and a right wing which are arranged on the two sides of the skeleton system respectively and used for flapping, two sets of up-down flapping driving systems for providing flapping power for the wings on the corresponding sides respectively, and a front-back swing driving system for adjusting the attack angles of the wings; the front-back swing driving system comprises a hydraulic cylinder support and a hydraulic cylinder piston rod, the hydraulic cylinder support is fixedly connected with the aircraft body, the hydraulic cylinder piston rod is hinged to the framework system, the left wing and the right wing which are connected with the framework system are driven to swing along with stretching and retracting of the hydraulic cylinder piston rod, and the attack angle of the ornithopter is changed in the flight process. The attack angle of the aircraft wings can be adjusted, and inner and outer wings can be bent and folded in the spanwise direction. The aerodynamic performance of the ornithopter is improved, and meanwhile the flexibility and the cruising ability of the ornithopter can be improved.

Description

Technical Field

[0001] The invention relates to the field of flapping-wing aircraft, and in particular to a two-section wing type flapping-wing aircraft with adjustable angle of attack during flight. Background Art

[0002] A bionic flapping-wing aircraft is an aircraft that simulates the movement characteristics of flying organisms in nature. It generates lift and thrust by flapping its wings to complete various flying maneuvers in the air.

[0003] According to the different ways of generating aerodynamic force, existing aircraft mainly include fixed-wing aircraft, rotorcraft and flapping-wing aircraft. Bionic flapping-wing aircraft generate lift to overcome gravity and thrust to achieve flight motion by flapping their wings periodically, effectively reducing the take-off and landing space of the aircraft. On the other hand, flapping-wing flight can quickly change the flight attitude of the aircraft, flexibly avoid obstacles, and greatly improve the maneuverability of flight.

[0004] Compared with traditional fixed-wing aircraft and rotorcraft, flapping-wing aircraft have low noise, strong concealment, high maneuverability and lower energy consumption, and have the potential to be widely used in military and civilian fields.

[0005] Current bionic flapping-wing aircraft have disadvantages such as low degree of bionics, few degrees of freedom, and poor load and endurance capabilities. Summary of the invention

[0006] In view of the existing problems, the present invention provides a two-section wing flapping-wing aircraft with adjustable angle of attack. During flight, the angle of attack of the aircraft wing can be adjusted and the inner and outer wings can be bent and folded in the span direction. This invention can improve the aerodynamic performance of the flapping-wing aircraft while also improving the flexibility and endurance of the aircraft.

[0007] To achieve the above-mentioned purpose, the present invention provides a two-section wing flapping-wing aircraft with adjustable angle of attack, comprising: a two-section wing flapping-wing aircraft with adjustable angle of attack, comprising a fuselage, a skeleton system connected to the fuselage, a left wing and a right wing respectively arranged on both sides of the skeleton system and performing flapping, two sets of up and down flapping drive systems respectively providing flapping power for the wings on the corresponding sides, and a forward and backward swinging drive system for adjusting the angle of attack of the wing; the forward and backward swinging drive system comprises a hydraulic cylinder support and a hydraulic cylinder piston rod, the hydraulic cylinder support is fixedly connected to the fuselage, the hydraulic cylinder piston rod is hinged to the skeleton system, and as the hydraulic cylinder piston rod is extended and retracted, the left wing and the right wing connected to the skeleton system are driven to swing, thereby changing the angle of attack of the flapping-wing aircraft.

[0008] The fuselage includes an upper fixed connection member and a trunk frame fixedly connected to the upper fixed connection member, the two forming an annular closed frame, and the nose and the tail are arranged on both sides of the closed frame opposite to each other;

[0009] The skeleton system is arranged inside the annular closed frame, the upper part of the skeleton system is rotatably connected to the upper fixed connection member, the lower part of the skeleton system is fixedly connected to the front and rear swing drive system, and the front and rear swing drive system is hinged to the lower part of the trunk frame. The front and rear swing drive system can drive the skeleton system to rotate forward and backward within a certain range around the upper rotation axis, thereby driving the swing of the left wing and the right wing to change the angle of attack of the flapping-wing aircraft.

[0010] The skeleton system includes an upper skeleton, an upper rotating shaft that passes through the upper skeleton and is connected to an upper fixed connecting piece, a lower skeleton arranged parallel to the lower part of the upper skeleton, and four skeleton fixing mounting plates, and the various components are fixedly connected; the four skeleton fixing mounting plates are respectively distributed along the length direction of the upper skeleton, and there is a gap between two adjacent skeleton fixing mounting plates for installing an upper and lower flapping drive system.

[0011] The up and down flapping drive systems have the same structure, and each flapping drive system includes a driving motor, a bearing seat A, a gear shaft A, a bearing seat B, a gear shaft B, a bearing seat C, a gear A, a gear B, a gear C and a gear D; the motor output shaft of the driving motor is connected to the gear C by a key, driving the gear C to rotate, and the gear C is meshed with the gear A; the gear A is coaxial with the gear B, and the two are fixedly connected to the gear shaft A by a key, driving the gear shaft A to rotate around the bearing seat A; the gear B is meshed with the gear D, and the gear D is fixedly connected to the gear shaft B by a key, driving the gear shaft B to rotate around the bearing seat B; the gear shaft B is fixedly connected to the wing on the corresponding side, and the rotation of the driving motor is driven by the transmission of gears at various levels, driving the wing on the corresponding side to achieve up and down flapping motion.

[0012] The left wing and the right wing have the same structure, and both include a wing rotating shaft, an outer wing frame, an inner wing frame, an inner wing support rod, an inner and outer wing connecting shaft, four inner wing ribs, four outer wing ribs, a crank and a rocker; the gear shaft B of the up and down flapping drive system drives the crank to rotate, and the crank in turn drives the rocker to swing; the rocker is hinged to the inner wing frame and the inner wing support rod respectively, and the inner wing frame and the inner wing support rod are hinged to the outer wing frame through the inner and outer wing connecting shaft; the inner wing rib plate and the outer wing rib plate are fixed to the inner wing frame and the outer wing frame respectively.

[0013] It also includes a control module, which is connected to the up and down flapping drive system and the front and back swinging drive system by signal; it sends corresponding instructions according to needs to control the rotation of the drive motor of the up and down flapping drive system and the movement of the hydraulic cylinder piston rod of the front and back swinging drive system.

[0014] The outer wing frames, inner wing frames, inner wing support rods, inner wing ribs and outer wing ribs of the left wing and the right wing are all made of carbon fiber materials, which plays a role in reducing the weight of the entire fuselage.

[0015] The surfaces of the gears at each level of the up and down flapping drive system are provided with holes for weight reduction.

[0016] Compared with the prior art, the two-section wing flapping-wing aircraft with adjustable angle of attack provided by the present invention has the following beneficial effects:

[0017] During flight, two sets of up and down flapping drive systems control the up and down movement of the left and right wings, and drive the four-bar mechanism composed of the inner and outer wing frames to deform through the crank rocker mechanism to achieve spanwise folding of the inner and outer wings; when the wings flap downward, the wingspan is kept as large as possible, and when they flap upward, the wingspan is folded, which improves the aerodynamic performance of the flapping-wing aircraft;

[0018] During the flight, the forward and backward swing drive system controls the extension and retraction of the hydraulic cylinder piston rod to push the skeleton system forward and backward, thereby driving the change in the angle of attack of the left and right wings and changing the lift coefficient and drag coefficient of the flapping-wing aircraft; in the face of different flight environments, choosing the appropriate angle of attack of the wing can improve the flexibility of the flapping-wing aircraft and increase safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the flapping-wing aircraft provided by the present invention;

[0020] Figure 2 It is a side view of the overall structure of the flapping-wing aircraft provided by the present invention when the wing has a positive angle of attack;

[0021] Figure 3 It is a side view of the overall structure of the flapping-wing aircraft provided by the present invention when the wing has a negative angle of attack;

[0022] Figure 4 It is a top view of the overall structure of the flapping-wing aircraft provided by the present invention;

[0023] Figure 5 It is a front view of the flapping-wing aircraft provided by the present invention when the wings on both sides are fully unfolded;

[0024] Figure 6 It is a front view of the wings of the flapping-wing aircraft provided by the present invention when the wings on both sides are bent in the span direction;

[0025] Figure 7 It is a schematic diagram of the fuselage portion of the flapping-wing aircraft provided by the present invention;

[0026] Figure 8 It is a partial schematic diagram of the skeleton system and the up-and-down flapping drive system of the flapping-wing aircraft provided by the present invention;

[0027] Fig. 9 is a top view of the left wing of the flapping-wing aircraft provided by the present invention;

[0028] Fig.10is a front view of the left wing of the flapping-wing aircraft provided by the present invention;

[0029] Fig.11 It is a side view of the up and down flapping drive system of the flapping-wing aircraft provided by the present invention;

[0030] Fig.12 It is a partial schematic diagram of the forward and backward swing driving system and fuselage of the flapping-wing aircraft provided by the present invention.

[0031] Reference numerals:

[0032] 1. Airframe; 101. Upper fixed connection; 102. Trunk frame; 103. Nose; 104. Tail; 2. Frame system; 201. Upper frame; 202. Upper rotation axis; 203. Lower frame; 204. Fixed mounting plate; 3. Left wing; 301. Wing rotation axis; 302. Left outer wing frame; 303. Left inner wing frame; 304. Left inner wing support rod; 305. Inner and outer wing connecting shaft; 306. Inner wing rib; 307. Outer wing rib; 308. Crank; 309 . Rocker; 4. Right wing; 5. Up and down flapping drive system; 501. Drive motor; 502. Bearing seat A; 503. Gear shaft A; 504. Bearing seat B; 505. Gear shaft B; 506. Bearing seat C; 507. Gear A; 508. Gear B; 509. Gear C; 510. Gear D; 6. Forward and backward swinging drive system; 601. Hydraulic cylinder support; 602. Hydraulic cylinder; 603. Hydraulic cylinder piston rod; 604. Piston rod rotating shaft; 605. Hydraulic cylinder support rotating shaft. DETAILED DESCRIPTION

[0033] In order to more clearly illustrate the technical solution implemented by the present invention, the accompanying drawings required for use in the implementation mode will be briefly introduced below. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the claims attached to this application.

[0034] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0035] like Figures 1 to 12As shown, a two-section wing type flapping-wing aircraft with adjustable angle of attack provided by the present invention comprises a fuselage 1, a skeleton system 2 for fixed connection, a left wing 3 and a right wing 4 respectively arranged on both sides of the skeleton system 2 and for flapping, two sets of up and down flapping drive systems 5 for respectively providing flapping power for the wings on the corresponding sides, and a front and back swinging drive system 6 for adjusting the angle of attack of the wings;

[0036] Among them, the fuselage 1 includes an upper fixed connecting member 101 and a trunk frame 102 fixedly connected to the upper fixed connecting member 101, the two form an annular closed frame, and the nose 103 and the tail 104 are relatively arranged on both sides of the closed frame; the skeleton system 2 is arranged in the ring-shaped interior of the annular closed frame, the upper part of the skeleton system 2 is rotatably connected to the upper fixed connecting member 101, and the lower part of the skeleton system 2 is fixedly connected to the front and rear swing driving system 6, and the front and rear swing driving system 6 is hinged to the lower part of the trunk frame 102. Preferably, the lower fixed connection member 101 is connected to the skeleton system 2 through the upper skeleton 201 and the upper rotation axis 202, the hydraulic cylinder support 601 of the front and rear swing drive system 6 is hinged to the lower part of the trunk frame 102, and the hydraulic cylinder piston rod 603 of the front and rear swing drive system 6 is hinged to the skeleton system 2. The telescopic movement of the hydraulic cylinder piston rod 603 drives the skeleton system 2 to rotate forward and backward within a certain range around the upper rotation axis 202, thereby driving the left wing 3 and the right wing 4 connected to the skeleton system 2 to swing, thereby changing the angle of attack of the flapping-wing aircraft;

[0037] like Figure 8 As shown, the skeleton system 2 includes an upper skeleton 201, an upper rotating shaft 202 that penetrates the upper skeleton 201 and is connected to the upper fixed connecting member 101, a lower skeleton 203 that is arranged parallel to the lower part of the upper skeleton 201, and four skeleton fixing mounting plates 204, and the components are fixedly connected by screws; the four skeleton fixing mounting plates 204 are respectively distributed along the length direction of the upper skeleton 201, and there is a gap between two adjacent skeleton fixing mounting plates 204; the gap is used to install the upper and lower flapping drive system 5; the lower skeleton 203 and the hydraulic cylinder piston rod 603 The frame system 2 is hinged by the piston rod rotating shaft 604, and the movement is driven by the front and rear extension of the hydraulic cylinder piston rod 603; the frame fixed installation plate 204 is connected to two sets of symmetrically arranged up and down flapping drive systems 5 through the motor 501, the bearing seat A502, the gear shaft A503, the bearing seat B504 and the gear shaft B505, and is connected to the left wing 3 and the right wing 4 through the bearing seat C506 connected thereto. The front and rear drive motors 501 are fixedly connected to the two middle frame fixed installation plates 204 by screws;

[0038] The left wing 3 has the same structure as the right wing 4, and the two are symmetrically distributed left and right. Taking the left wing 3 as an example, it includes a wing rotation axis 301, a left outer wing frame 302, a left inner wing frame 303, a left inner wing support rod 304, an inner and outer wing connecting axis 305, four inner wing ribs 306, four outer wing ribs 307, a crank 308 and a rocker 309. The left wing 3 flaps up and down around its wing rotation axis 301 under the drive of the up and down flapping drive system 5. The gear shaft B505 of system 5 drives the crank 308 to rotate, and the crank 308 further drives the swing of the rocker 309; the rocker 309 is respectively hinged to the left inner wing frame 303 and the left inner wing support rod 304, and the left inner wing frame 303 and the left inner wing support rod 304 are hinged to the left outer wing frame 302 through the inner and outer wing connecting shaft 305; the inner wing rib plate 306 and the outer wing rib plate 307 each have four pieces, which are respectively bonded and fixed to the left inner wing frame 303 and the left outer wing frame 302 by glue;

[0039] The two sets of up and down flapping drive systems 5 have the same structure, and are symmetrically distributed front to back. Taking the up and down flapping drive system 5 for controlling the movement of the left wing at the rear as an example, it mainly includes a drive motor 501, a bearing seat A502, a gear shaft A503, a bearing seat B504, a gear shaft B505, a bearing seat C506, a gear A507, a gear B508, a gear C509 and a gear D510. The motor output shaft of the drive motor 501 is connected to the gear C509 by a key, driving the gear C509 to rotate, and the gear C509 is meshed with the gear A507. The gear A507 is coaxial with the gear B508, and the two gears are connected to each other. The gear shaft A503 is fixedly connected to the gear shaft A503 through a key, driving the gear shaft A503 to rotate around the bearing seat A502; the gear B508 is meshed with the gear D510, and the gear D510 is fixedly connected to the gear shaft B505 through a key, driving the gear shaft B505 to rotate around the bearing seat B504; the gear shaft B505 is fixedly connected to the crank 308 of the left wing 3, and the rotation of the drive motor 501 is driven by the transmission of the gears at various levels, and finally drives the crank 308 to rotate, thereby driving the left wing 3 to achieve up and down flapping motion; the holes on the gears at various levels of the up and down flapping drive system 5 are mainly for the purpose of reducing weight;

[0040] The forward and backward swing driving system 6 includes a hydraulic cylinder support 601, a hydraulic cylinder 602, a hydraulic cylinder piston rod 603, a piston rod rotating shaft 604 and a hydraulic cylinder support rotating shaft 605; the bottom of the hydraulic cylinder 602 is fixedly installed on the hydraulic cylinder support 601, and the hydraulic cylinder support 601 is hinged to the trunk frame 102 of the fuselage 1 through the hydraulic cylinder support rotating shaft 605; the hydraulic cylinder piston rod 603 is hinged to the lower skeleton 203 of the skeleton system 2 through the piston rod rotating shaft 604; the forward and backward telescopic movement of the hydraulic cylinder piston rod 603 drives the skeleton system 2 to swing forward and backward, thereby changing the angle of attack of the flapping-wing aircraft.

[0041] The present invention also includes a control module, which is connected to the up and down flapping drive system 5 and the front and back swinging drive system 6 by signal; it sends corresponding instructions according to needs to control the rotation of the drive motor 501 of the up and down flapping drive system 5 and the movement of the hydraulic cylinder piston rod 603 of the front and back swinging drive system 6.

[0042] The left outer wing frame 302, the left inner wing frame 303, the left inner wing support rod 304, the inner wing rib 306 and the outer wing rib 307 of the left wing 3 are all made of carbon fiber material, which plays a role in reducing the weight of the entire fuselage; the same parts of the right wing 4 and the left wing 3 are also made of carbon fiber material.

[0043] The outer skins of the left and right wings are made of umbrella cloth or polyester film material and are adhered and fixed to the wing ribs by glue.

[0044] The working principle of the two-section wing flapping-wing aircraft with adjustable angle of attack provided by the present invention is described as follows:

[0045] When flapping-wing aircraft moves in the air, it relies on the up and down flapping of wings to drive the folding motion of the span and the twisting of the chord upward to generate lift and thrust. Through aerodynamic calculation, it can be known that in the process of flapping downward of the wing of flapping-wing aircraft, it mainly provides the lift and thrust of the vast majority in the flight process, so in order to obtain the maximum aerodynamic force as much as possible, the wing area should be kept as large as possible and the wingspan is stretched enough in this stage. Take the left wing 3 as an example to explain, when the wing of flapping-wing aircraft flaps downward, the up and down flapping drive system 5 drives the crank 308 to rotate through the gear shaft B505, and then drives the swing of the rocker 309, so that the parallelogram structure consisting of the rocker 309, the left inner wing frame 303, the left inner wing support rod 304 and the left outer wing support rod 302 is squeezed inward, and the inner and outer wings are kept fully unfolded for a long time, which increases the wing area when the wing flaps downward, and then increases the lift and thrust of the flapping-wing aircraft.

[0046] During the flapping of the wing of a flapping-wing aircraft, it mainly provides a small part of the thrust and negative lift during the flight process. Therefore, in order to minimize the impact of negative lift on the flapping-wing aircraft, the inner and outer wings should be relatively folded in the span direction at this stage, and the inner and outer wings should be kept large enough in the span direction, and the wing area is small enough. Taking the left wing 3 as an example, when the wing of the flapping-wing aircraft flaps upward, the up and down flapping drive system 5 drives the crank 308 to rotate through the gear shaft B505, and then drives the swing of the rocker 309, so that the parallelogram structure composed of the rocker 309, the left inner wing frame 303, the left inner wing support rod 304 and the left outer wing support rod 302 extends outward, and the inner and outer wings remain in a relatively folded state for a long time, reducing the wing area when the wing flaps upward, thereby reducing the impact of negative lift on the flapping-wing aircraft.

[0047] The size of the angle of attack of the wing of a flapping-wing aircraft directly affects the size of its aerodynamic force. Within a certain range, as the angle of attack of the wing increases, the lift coefficient shows an upward trend; when the angle of attack increases to exceed the critical angle of attack value, the lift of the wing will decrease rapidly, and the resistance will increase rapidly, causing the flapping-wing aircraft to be in a stall state. Maintaining the appropriate angle of attack as much as possible within the allowable range of different flight environments can increase the lift coefficient of the flapping-wing aircraft and obtain the maximum aerodynamic force. One end of the forward and backward swing drive system 6 is hinged to the trunk frame 102 of the fuselage 1 through the hydraulic cylinder support rotating shaft 605, and the other end is hinged to the lower frame 203 of the skeleton system 2 through the piston rod rotating shaft 604. During the flight of the flapping-wing aircraft, the forward and backward swing of the skeleton system 2 is driven by the forward and backward extension of the hydraulic cylinder piston rod 603. The left wing 3 and the right wing 4 are installed on the skeleton system 2, so the forward and backward movement of the hydraulic cylinder piston rod 603 indirectly changes the size of the angle of attack of the wing, thereby improving the aerodynamic performance and flexibility of the flapping-wing aircraft.

[0048] The flapping-wing aircraft design provided by the present invention has a simple structure and is easy to operate and control, and its movement mode and appearance are highly bionic. The present invention improves the aerodynamic performance of the flapping-wing aircraft and increases its flexibility and endurance by realizing the spanwise folding of the inner and outer wings and the adjustment of the wing angle of attack.

[0049] above Figures 1 to 12 The two-section wing flapping-wing aircraft with adjustable angle of attack shown is a specific implementation of the present invention, which has embodied the essential characteristics and progress of the present invention. According to actual use needs and under the guidance of the present invention, equivalent modifications in shape, structure, etc. can be made to it, all of which are within the scope of protection of the present invention.

Claims

1. A two-stage wing flapping-wing aircraft with adjustable angle of attack, characterized in that: It includes a fuselage, a skeleton system connected to the fuselage, a left wing and a right wing respectively arranged on both sides of the skeleton system and having a flapping function, two sets of up and down flapping drive systems respectively providing flapping power to the wings on the corresponding sides, and a front and back swinging drive system for adjusting the wing attack angle; The forward and backward swing drive system includes a hydraulic cylinder support and a hydraulic cylinder piston rod. The hydraulic cylinder support is fixedly connected to the fuselage, and the hydraulic cylinder piston rod is hinged to the skeleton system. As the hydraulic cylinder piston rod retracts and contracts, the left wing and the right wing connected to the skeleton system are driven to swing, thereby changing the angle of attack of the flapping-wing aircraft.

2. A two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 1, characterized in that: The fuselage includes an upper fixed connection member and a trunk frame fixedly connected to the upper fixed connection member, the two forming an annular closed frame, and the nose and the tail are arranged on both sides of the closed frame opposite to each other; The skeleton system is arranged in the annular interior of the annular closed frame, the upper part of the skeleton system is rotatably connected to the upper fixed connecting piece, and the lower part of the skeleton system is fixedly connected to the front and rear swing driving system, which is hinged to the lower part of the trunk frame.

3. A two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 2, characterized in that: The skeleton system includes an upper skeleton, an upper rotating shaft that penetrates the upper skeleton and is connected to an upper fixed connecting member, a lower skeleton arranged parallel to the lower portion of the upper skeleton, and four skeleton fixing mounting plates, and each component is fixedly connected; The four frame fixing installation plates are respectively distributed along the length direction of the upper frame, and there is a space between two adjacent frame fixing installation plates for installing the upper and lower flapping drive systems.

4. A two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 3, characterized in that: The upper and lower flapping drive systems have the same structure, and each flapping drive system includes a drive motor, a bearing seat A, a gear shaft A, a bearing seat B, a gear shaft B, a bearing seat C, a gear A, a gear B, a gear C and a gear D; The motor output shaft of the driving motor is connected to gear C through a key, driving gear C to rotate, and gear C is meshed with gear A; gear A is coaxial with gear B, and the two are fixedly connected to gear shaft A through a key, driving gear shaft A to rotate around bearing seat A; Gear B is meshed with gear D, and gear D is fixedly connected to gear shaft B through a key, driving gear shaft B to rotate around bearing seat B; gear shaft B is fixedly connected to the wing on the corresponding side, and the rotation of the drive motor is transmitted through various levels of gears, driving the wing on the corresponding side to achieve up and down flapping motion.

5. A two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 4, characterized in that: The left wing and the right wing have the same structure, and both include a wing rotation shaft, an outer wing frame, an inner wing frame, an inner wing support rod, an inner and outer wing connecting shaft, four inner wing ribs, four outer wing ribs, a crank and a rocker; The gear shaft B of the up and down flapping drive system drives the crank to rotate, and the crank in turn drives the rocker to swing; the rocker is hinged to the inner wing frame and the inner wing support rod respectively, and the inner wing frame and the inner wing support rod are hinged to the outer wing frame through the inner and outer wing connecting shafts; the inner wing ribs and the outer wing ribs are fixed to the inner wing frame and the outer wing frame respectively.

6. A two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 1, characterized in that: It also includes a control module, which is connected to the up and down flapping drive system and the front and back swinging drive system by signal; it sends corresponding instructions according to needs to control the rotation of the drive motor of the up and down flapping drive system and the movement of the hydraulic cylinder piston rod of the front and back swinging drive system.

7. A two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 1, characterized in that: The outer wing frames, inner wing frames, inner wing support rods, inner wing ribs and outer wing ribs of the left wing and the right wing are all made of carbon fiber materials, which plays a role in reducing the weight of the entire fuselage.

8. The two-section wing flapping-wing aircraft with adjustable angle of attack as claimed in claim 1, characterized in that: The surfaces of the gears at each level of the up and down flapping drive system are provided with holes for weight reduction.

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