Four-wing flapping-wing aircraft capable of hovering

Abstract

The invention discloses a hovering four-wing flapping-wing aircraft, and relates to the technical field of aircrafts, the hovering four-wing flapping-wing aircraft comprises a fixed rack, a power source and a gear set located in the middle of the fixed rack, two pairs of wings arranged at the two ends of the fixed rack, a connecting gear set and a connecting rod mechanism of the two pairs of wings, and an attitude control structure movably connected with the two pairs of wings respectively; one end, far away from the transmission shaft, of the crank is hinged to a connecting rod, one end, far away from the crank, of the connecting rod is hinged to a rocker, the middle of the rocker is bent and rotates on the outer side of the fixed rack, one end of the rocker is connected with the connecting rod, the other end of the rocker is movably connected with a flapping wing rod, and the tail end of the flapping wing rod is fixedly connected with a wing; the connecting rod mechanism is a five-connecting-rod mechanism composed of a crank, a connecting rod, a rocker, a fixed rack and a flapping wing rod. The performance is improved by simplifying a transmission system and an attitude control structure of an existing ornithopter and optimizing a connecting rod mechanism, better attitude control and bionic flight effects are achieved, and the performance of the ornithopter is greatly improved.

Description

Technical Field

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

[0002] With the continuous advancement of science and technology, the miniaturization and portability of aircraft have become important development directions. In many fields such as military, scientific research, and civilian use, micro aerial vehicles (MAVs) have attracted much attention due to their unique advantages. Compared with traditional fixed-wing and rotary-wing aircraft, flapping-wing aircraft have unique flight mechanisms and significant advantages, such as better maneuverability and concealment. As an advanced form of flapping-wing aircraft, the Quad-Wing Flapping Wing Aircraft (QFA) combines multidisciplinary technologies such as bionics, aerodynamics, materials science, and control engineering, showing its potential for wide application in environmental monitoring, military reconnaissance, search and rescue, and agricultural spraying. In particular, its excellent hovering ability gives it a clear advantage in complex terrain and confined spaces.

[0003] However, the existing four-wing flapping-wing aircraft often have complex mechanical structures, including multi-degree-of-freedom wing drive mechanisms and high-precision control systems. These mechanical structures not only increase the weight and volume of the aircraft, but also affect the flexibility and maneuverability of the aircraft, bringing a lot of difficulties to the manufacture and maintenance of the aircraft. In practical applications, these complex structures may lead to higher failure rates and more frequent maintenance needs. In addition, although the structural design of some four-wing flapping-wing aircraft is relatively simple, they perform poorly in attitude control, and cannot achieve flexible flight attitude adjustment and precise control, or use multiple motors to control the swing frequency of the left and right wings to achieve attitude control. These designs often cannot achieve the ideal bionic effect, limiting the adaptability and maneuverability of the aircraft in complex environments. These aircraft are difficult to meet the needs of high flexibility and high-precision control in practical applications.

[0004] In view of this, it is extremely important to design a four-wing flapping-wing aircraft that is simple in structure, easy to control, capable of flexible attitude control, and able to adapt to a variety of complex flight missions. Summary of the invention

[0005] The purpose of the present invention is to provide a hovering four-wing flapping-wing aircraft to solve the technical problems of the prior art four-wing flapping-wing aircraft, such as large and complex structure, difficult attitude control, complicated mechanical design, lack of flexible attitude control, and difficulty in manufacturing and maintenance.

[0006] To achieve the above-mentioned purpose, the present invention proposes a hovering four-wing flapping-wing aircraft, comprising a fixed frame, a power source and a gear set located in the middle of the fixed frame, two pairs of wings arranged at both ends of the fixed frame, a connecting rod mechanism connecting the gear set and the two pairs of wings, and a posture control structure movably connected to the two pairs of wings respectively; a crank is fixedly connected to the end of the transmission shaft of the gear set, a connecting rod is hinged at one end of the crank away from the transmission shaft, a rocker is hinged at one end of the connecting rod away from the crank, the middle part of the rocker is bent and rotated outside the fixed frame, one end of the rocker is connected to the connecting rod and the other end is movably connected to a flapping-wing lever, and the end of the flapping-wing lever is fixedly connected to the wing; the connecting rod mechanism is composed of the crank, the connecting rod, the rocker, the fixed frame and the flapping-wing lever to form a five-link mechanism.

[0007] The present invention aims to design a four-wing flapping-wing aircraft with a simple structure, easy control and flexible attitude control, which can adapt to a variety of complex flight tasks; the transmission efficiency of the connecting rod mechanism in the present invention is reasonable, and the fifth rod (flapping-wing rod) added in the connecting rod mechanism can effectively amplify the swing amplitude of the flapping wing to increase the swing amplitude lift; the attitude control mechanism can well simulate the flight attitude of insects to achieve a bionic effect. Compared with the existing hovering four-wing flapping-wing aircraft, the attitude control of the present invention is more reasonable and the structural design is easier to implement.

[0008] Preferably, the attitude control structure includes a first servo, the output end of the first servo is movably connected to a movable shaft, the two ends of the movable shaft are connected to two wing support frames, the top of the wing support frame is rotatably connected to a rotating joint, and the end of the flapping wing rod away from the wing is fixed to the side of the rotating joint.

[0009] Preferably, the attitude control structure also includes a second servo and a third servo for respectively controlling a single wing, the output ends of the second servo and the third servo are fixedly connected to a steering wheel one, and the steering wheel one is movably connected to the bottom of the two wing support frames, and the second servo and the third servo respectively control the rotation of the wing support frame around the movable axis through the steering wheel one.

[0010] Preferably, the side surface of the wing support frame has two long grooves along its length direction and are located on both sides of the flapping wing rod, and sliding rods are respectively slid in the two long grooves, and one end of the sliding rod away from the wing support frame is hinged to the end of the steering wheel.

[0011] Preferably, the wing flapping angle reaches 120° under the drive of the connecting rod mechanism.

[0012] Preferably, when the swing angle of the rocker varies in the range of -30° to 30°, the flapping angle of the wing varies in the range of -60° to 60°.

[0013] Preferably, a ring is provided at one end of the rocker arm away from the connecting rod, and the flapping-wing rod passes through and moves in the ring.

[0014] Preferably, one end of the flapping-wing rod is rotated on the attitude control structure, and the other end passes through the ring and is fixedly connected to the wing at the end.

[0015] Preferably, the gear set includes two main bevel gears transmission-connected to the power source, the two main bevel gears are meshed with multiple sets of gears, and the gear set transmits and converts power into reciprocating motion of the connecting rod mechanism through the multiple sets of gears meshing with each other.

[0016] Preferably, the transmission ratio of the gear set is 1:6.

[0017] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0018] The present invention simplifies the power transmission system of the flapping-wing aircraft in the prior art, designs a more easily controllable attitude control structure, and at the same time optimizes the connecting rod mechanism to improve the performance, thereby achieving a bionic flight effect. The attitude control mechanism can better simulate the flight attitude of insects. The present invention improves the performance of the flapping-wing aircraft while simplifying the structure, and is easy to manufacture and promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a three-dimensional structural diagram of a hovering four-wing flapping-wing aircraft according to an embodiment of the present invention;

[0021] Figure 2 It is a front view of a hovering four-wing flapping-wing aircraft according to an embodiment of the present invention;

[0022] Figure 3 It is a left view of the hovering four-wing flapping-wing aircraft according to an embodiment of the present invention;

[0023] Figure 4 A top view of a hovering four-wing flapping-wing aircraft according to an embodiment of the present invention;

[0024] Figure 5 It is a partial enlarged view of an embodiment of the present invention;

[0025] Figure 6 A diagram showing the connection relationship of a gear set in an embodiment of the present invention;

[0026] Figure 7 Schematic diagram of the connecting rod mechanism in the embodiment of the present invention Figure 1 ;

[0027] Figure 8 Schematic diagram of the connecting rod mechanism in the embodiment of the present invention Figure 2 ;

[0028] Fig. 9 Schematic diagram of the connecting rod mechanism in the embodiment of the present invention Figure 3 ;

[0029] Fig.10 Schematic diagram of the swing of the connecting rod mechanism in the embodiment of the present invention;

[0030] Fig.11 is a schematic diagram of the angles between the rods in the linkage mechanism;

[0031] Fig.12 Schematic diagram of the connecting rod simulation results of an embodiment of the present invention.

[0032] Fig.13 Schematic diagram of the posture control state of an embodiment of the present invention.

[0033] Among them, 1. fixed frame; 2. wing; 3. crank; 4. connecting rod; 5. rocker; 6. support rod; 7. wing support frame; 8. steering disc one; 9. brushless motor; 10. main bevel gear; 11. first servo; 12. second servo; 13. third servo; 14. bushing one; 15. transmission shaft; 16. bushing two; 17. moving shaft; 18. slot key; 19. steering disc two; 20. pin key; 21. first gear; 22. second gear; 23. third gear; 24. fourth gear; 25. slide rod; 26. flapping wing rod; 27. rotating joint. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figures 1 to 13As shown, an embodiment of the present invention provides a hovering four-wing flapping-wing aircraft, including a flapping-wing aircraft frame, a power source and a gear set located in the middle of the flapping-wing aircraft frame, an attitude control structure arranged at both ends of the flapping-wing aircraft frame, a wing 2, and a connecting rod mechanism connecting the gear set and the wing 2.

[0037] like Figure 1 , Figure 2 and Figure 4 As shown, the flapping-wing aircraft frame serves as a carrier of the flapping-wing aircraft, and specifically includes two fixed frames 1 of identical structure and arranged in parallel and spaced apart. The two fixed frames 1 are connected at the center of the bottom, and a power supply and a brushless motor 9 are provided at the connecting position as a power source.

[0038] like Figures 3 to 6 As shown, the output end of the brushless motor 9 is connected to two main bevel gears 10, and the two main bevel gears 10 are respectively meshed with a first gear 21 and a third gear 23 on both sides, and the first gear 21 is further meshed with a second gear 22 on the side away from the main bevel gear 10, and the third gear 23 is meshed with a fourth gear 24 on the side away from the main bevel gear 10. The main bevel gears 10, the first gear 21, the second gear 22, the third gear 23 and the fourth gear 24 constitute a gear set. Among them, the two main bevel gears 10, the first gear 21, and the third gear 23 are respectively rotatably connected to three rotating shafts, and the two ends of the rotating shafts are fixedly connected to the fixed bracket, and a shaft sleeve 14 is set at one end of the rotating shaft extending out of the fixed bracket for positioning. The first gear 21 is meshed with one of the main bevel gears 10, the second gear 22 is meshed with the first gear 21, and a transmission shaft 15 is fixedly connected to the center of the second gear 22. Both ends of the transmission shaft 15 pass through and are rotatably connected to the fixed bracket, and a crank 3 is fixedly connected to the end extending out of the fixed bracket to achieve a transmission connection with the connecting rod mechanism; symmetrical to the above structure, the third gear 23 is meshed with another main bevel gear 10, and the fourth gear 24 is meshed with the third gear 23. A transmission shaft 15 is fixedly connected to the center of the fourth gear 24, and both ends of the transmission shaft 15 pass through and are rotatably connected to the fixed bracket, and a crank is fixedly connected to the end extending out of the fixed bracket.

[0039] In this embodiment, the gear set transmits and converts the power into the reciprocating motion of the connecting rod mechanism by mutual meshing. The gear set is located in the center of the fixed frame 1 and includes a plurality of gears that mesh with each other. The main bevel gear 10 is driven by a brushless motor 9 or other power source to achieve the transmission and conversion of the rotational motion. By reasonably designing the size and meshing mode of the gears, the movement speed and force of the connecting rod mechanism can be controlled. In this embodiment, the transmission ratio of the gear set is 1:6.

[0040] like Figure 5As shown, the transmission shaft 15 of the second gear 22 and the fourth gear 24 is extended to both ends and fixed with a crank 3, and the end of the crank 3 away from the transmission shaft 15 is hinged with a connecting rod 4, one end of the connecting rod 4 is hinged with the crank 3, and the other end is hinged with a rocker 5, the rocker 5 is a bent rod, and its bent position is rotatably connected to the outside of the fixed frame 1 through a support rod 6, one end of the rocker 5 is hinged with the connecting rod 4, and the other end is provided with a ring, and is sleeved on the outside of the flapping-wing rod 26 to form a flapping movement of the flapping-wing rod 26, and the flapping-wing rod 26 is movably connected to the attitude control structure, and its end is used to install the wing 2.

[0041] In the prior art, the crank 3 rocker 5 mechanism has significant advantages in the field of micro flapping-wing aircraft due to its simple structure, low manufacturing cost, efficient energy transmission, high reliability and low wear characteristics. At the same time, the crank 3 rocker 5 mechanism is highly adaptable and easy to adjust, and can achieve compound motion, which helps to optimize the aerodynamic performance and flight efficiency of the aircraft. However, limited by the size of the flapping amplitude range, the crank 3 rocker 5 mechanism cannot meet the requirement of the flapping amplitude of the flapping-wing aircraft in this embodiment. Therefore, the connecting rod mechanism of the embodiment of the present invention adopts a two-stage four-bar structure, and adds a fifth rod (flapping-wing rod 26) on the basis of four groups of connecting rods 4, cranks 3, and rockers 5 to amplify the swing stroke output by the rocker 5. Specifically, in this embodiment, the crank 3 serves as the first rod l1, the connecting rod 4 serves as the second rod l2, the rocker 5 serves as the third rod l3, the fixed frame 1 serves as the fourth rod l4, and the flapping-wing rod 26 serves as the fifth rod l5. The swing of each rod is shown in the figure. Fig.10 As shown, the angle relationship between the rods is shown in Fig.11 shown.

[0042] like Fig.10 As shown, the third rod l3 is bent at a certain node θ 0 Angle, wherein the fifth rod l5 is connected to the wing 2, and the wing 2 is flapped. The connecting rod mechanism connects the gear set and the wing 2, and drives the wing 2 to flap through the coordinated movement of the crank 3, the connecting rod 4 and the rocker 5. The design of the connecting rod mechanism ensures the stability and synchronization of the movement.

[0043] In the crank 3 rocker 5 mechanism, the crank 3 needs to meet two conditions: the crank 3 or the fixed frame 1 must be the shortest rod, and the sum of the lengths of the shortest rod and the longest rod must not exceed the sum of the lengths of the other two rods. When the crank 3 rotates at a constant angular velocity, the rocker 5 also swings back and forth, but usually has a higher translation speed when swinging back. This characteristic is called the quick return motion characteristic, which is often used in engineering to reduce non-productive time and thus improve work efficiency. However, the reciprocating motion of the designed flapping-wing mechanism is a power stroke, and the quick return characteristic will affect the power efficiency of the flapping-wing aircraft. In the embodiment, the wings 2 of the flapping-wing aircraft swing symmetrically, and the rocker 5 swinging mechanism should have no quick return characteristics, that is, K=1. In the embodiment of the present invention, a mathematical model is established by analyzing the mathematical characteristics of the four-bar linkage to calculate, and a connecting rod mechanism is designed without a quick return characteristic and an optimal swinging effect. Finally, the better dimensional parameters of the flapping mechanism are determined as shown in Table 1. According to the determined dimensional parameters and the designed three-dimensional model of the flapping-wing aircraft, MATLAB simulation and SolidWorks motion simulation are performed on it. The results are as shown in Table 1. Fig.12 shown.

[0044] from Fig.12 It can be seen that the numerical analysis of MATLAB and the simulation analysis of SolidWorks show that the swing angle displacement of the rocker 5 and the flapping wing are both simple harmonic motion changes, which verifies that the flapping wing linkage mechanism design has no quick return characteristics. When the swing angle of the rocker 5 changes in the range of -30° to 30°, the flapping wing swing angle changes in the range of -60° to 60°, and the swing displacement changes symmetrically, and the flapping wing swing angle can achieve a swing effect of 120°. By analyzing the relationship curves of the angular velocity and angular acceleration of the swing angle of the rocker 5 and the flapping wing swing angle, it can be found that the angular velocity and angular acceleration of the swing angle of the rocker 5 and the flapping wing swing angle change according to a certain law, and no sudden changes occur. It can be judged that the prototype flapping mechanism processed according to this scheme will not generate sudden stress during operation and will operate in a relatively stable state.

[0045] In this embodiment, the fixed frame 1 provides the necessary structural support to ensure that each component operates in the correct position. The fixed frame 1 is made of metal or composite material, and has sufficient strength and rigidity to withstand the force during movement. The fixed frame 1 of this embodiment is cut from carbon fiber plates and 3D printed with resin materials.

[0046] In this embodiment, the power source provides rotational power, which is transmitted to the gear set through a shaft or other transmission device. The selection and design of the power source is determined according to the size and weight of the aircraft to ensure that it can provide sufficient power to drive the entire system.

[0047] like Fig.13As shown, in this embodiment, the flapping-wing aircraft is a tailless flapping-wing aircraft, and its attitude control generates attitude torque by adjusting the servo to make the flapping difference between the left and right wings and the front and rear wings of the flapping-wing aircraft. The pitch control attitude mechanism is to control the second servo 12 and the third servo 13 to make the flapping swept surface of the front wing or the rear wing form a certain angle with the horizontal plane, so that the front wing or the rear wing generates a lift with a certain angle with the vertical direction, and the lift angle is toward the center of gravity, thereby generating a pitch forward flight torque. The yaw attitude control mechanism is to control the second servo 12 and the third servo 13 to make the wing dynamic swept surface form a certain angle with the horizontal plane, the left and right wing swept surfaces have opposite angles with the horizontal plane, and the left and right front and rear wings have the same angle, so that the left and right front and rear wings generate lift with a certain angle with the vertical direction, thereby generating a yaw torque. The roll attitude control mechanism is to control the first steering gear 11 to make the left and right wings swing differently, that is, the lift generated on the left and right sides is different, thereby generating a roll torque.

[0048] In this embodiment, the wing 2 is connected to the gear set through a connecting rod mechanism, and flaps with the movement of the flapping wing rod 26. The shape of the wing 2 is not the design focus of the present invention. The technician can imitate the flight mode of birds or insects to design a suitable shape and size of the wing 2. The wing 2 is made of a lightweight material with a certain rigidity to ensure its stability and efficiency during movement.

[0049] like Figures 7 to 9 As shown, the attitude control structure includes a first servo 11, a second servo 12 and a third servo 13, the output end of the first servo 11 is connected to a steering wheel 2 19, the steering wheel 2 19 is connected to a slot key 18 through a pin key 20, one end of the slot key 18 is axially fixed with a moving shaft 17, both ends of the moving shaft 17 are respectively connected to the wing support frame 7 through bearings, wherein the inner ring and the outer ring of the bearing are respectively fixed to the moving shaft 17 and the support frame 7, a rotating joint 27 is provided at one end of the flapping-wing rod 26, the rotating joint 27 is vertically inserted into the wing support frame 7, so that one end of the flapping-wing rod 26 can swing left and right around the rotating joint 27.

[0050] A steering disc 8 is movably connected below the wing support frame 7, and the steering discs 8 below the two wing support frames 7 are connected to the second steering gear 12 and the third steering gear 13 respectively. Specifically, the steering disc 8 is parallel to the fixed frame 1 and is consistent with the length direction of the fixed frame 1. Two long grooves are opened on the side of the wing support frame 7 and are located on both sides of the flapping wing rod 26. The length direction of the two long grooves is consistent with the length direction of the steering disc 8. Two sliding rods 25 are rotatably connected to the two ends of the steering disc 8 respectively. The two sliding rods 25 are Z-shaped and have two horizontal ends, one above and one below. The upper horizontal end is movably connected in the long groove, and the lower horizontal end is rotatably connected to the end of the steering disc 8, as shown in FIG. Fig. 9 As shown, the second steering gear 12 and the third steering gear 13 are movably connected to the two wing support frames 7 on both sides through the second steering wheel 19 respectively.

[0051] When the first steering gear 11 rotates, the second steering wheel 19 fixed thereto rotates accordingly, and the slot key 18 is driven to move horizontally through the pin key 20. The slot key 18 is fixedly connected to the moving shaft 17 to drive the moving shaft 17 to move horizontally, thereby horizontally moving the wing 2 to change the swing amplitude and generate a rolling moment. The moving shaft 17 is hinged with the fixed frame 1 so as to be relatively horizontally movable. The two ends of the moving shaft 17 are respectively fixed with bearings, and the bearings are fixed with the wing support frame 7. The wing 2 is hinged with the wing support frame 7 through the flapping rod 26. When the steering gear is not working, the left and right wings 2 should be symmetrically distributed.

[0052] The second servo 12 and the third servo 13 in the attitude control structure are yaw and pitch controllers. The second servo 12 and the third servo 13 have the same functional realization principle. Taking the second servo 12 as an example, when the second servo 12 rotates, the steering wheel 8 drives the wing support frame 7 to rotate a certain angle through the connecting rod 4, so that the plane of the wing 2 rotates a certain angle. The four wings 2 are controlled by four servos to rotate a certain angle to generate pitch and yaw moments. When the servo is not working, the plane of the wing 2 should be perpendicular to the horizontal plane.

[0053] In the embodiment of the present invention, the brushless motor 9 generates driving force and transmits it to the connecting rod mechanism through the gear set, wherein the gear set is fixed by the shaft center, the gear set and the shaft center are relatively rotated by clearance fit, the shaft center is fixedly connected to the frame, and a number of sleeves are distributed on the shaft center for gear positioning, but the output gear (the second gear 22 and the fourth gear 24) is fixedly connected to the transmission shaft 15 by interference fit, and the power is transmitted to the transmission shaft 15, the transmission shaft 15 is fixedly connected to the crank 3, the transmission shaft 15 and the frame are relatively rotated by clearance fit, and a number of sleeves are distributed on the transmission shaft 15 for limiting the transmission shaft 15. The connecting rod mechanism transmits power to the wing 2, wherein the rocker 5 is a bent rod with a certain angle, which is 120° in this embodiment, one end of the rocker 5 is set to a ring, the root of the leading edge of the wing 2 passes through the ring, and one end of the root of the edge of the wing 2 is hinged to the wing support frame 7 through a rotating joint 27, and when the brushless motor 9 rotates, the rocker 5 swings back and forth to drive the wing 2 to swing.

[0054] Reference Fig.12 As shown, Fig.12 A schematic diagram of the connecting rod simulation results of an embodiment of the present invention is shown, wherein the upper left curve in the figure is the angular displacement change curve of the rocker 5 swing angle and the flapping wing swing angle simulated by MATLAB numerical simulation; the upper right curve is the angular displacement change curve of the rod swing angle and the flapping wing swing angle simulated by the three-dimensional model; the lower left curve is the angular velocity change curve of the rod swing angle and the flapping wing swing angle simulated by the three-dimensional model; the lower right curve is the angular velocity change curve of the rod swing angle and the flapping wing swing angle simulated by the three-dimensional model.

[0055] Table 1 Parameters and dimensions of flapping mechanism

[0056]

[0057] The embodiments of the present invention disclose the following technical effects:

[0058] The flapping-wing aircraft of the present invention has a simple structure and low manufacturing cost, and can efficiently realize the flapping of the wing 2, thereby improving the flight efficiency; at the same time, by reasonably designing the gear set and the connecting rod mechanism, the stability and synchronization of the movement of the wing 2 are ensured, and the stability and controllability of the aircraft are improved; the present invention can realize the flexible attitude control of the four-wing flapping-wing aircraft with only one motor, and the connecting rod mechanism has a reasonable transmission efficiency, ensuring that the power can be effectively transmitted, and can effectively amplify the swing amplitude of the flapping wing, thereby increasing the lift; the attitude control mechanism can well simulate the flight attitude of insects and achieve a bionic effect. Compared with the prior art, the present invention has at least the following advantages: higher flight efficiency, more reasonable attitude control, simpler structure and easy to implement.

[0059] The details not disclosed in the present invention are conventional technical means well known to those skilled in the art.

[0060] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0061] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A hovering four-wing flapping-wing aircraft, characterized in that: The invention comprises a fixed frame (1), a power source and a gear set located in the middle of the fixed frame (1), two pairs of wings (2) arranged at both ends of the fixed frame (1), a connecting rod mechanism connecting the gear set and the two pairs of wings (2), and a posture control structure movably connected to the two pairs of wings (2); a crank (3) is fixedly connected to the end of the transmission shaft (15) of the gear set, a connecting rod (4) is hingedly connected to the end of the crank (3) away from the transmission shaft (15), a rocker (5) is hingedly connected to the end of the connecting rod (4) away from the crank (3), the rocker (5) is bent in the middle and rotates outside the fixed frame (1), one end of the rocker (5) is connected to the connecting rod (4) and the other end is movably connected to a flapping wing lever (26), and the end of the flapping wing lever (26) is fixedly connected to the wing (2); the connecting rod mechanism is composed of the crank (3), the connecting rod (4), the rocker (5), the fixed frame (1) and the flapping wing lever (26) to form a five-link mechanism.

2. The hovering four-wing flapping-wing aircraft according to claim 1, characterized in that: The attitude control structure comprises a first servo (11), the output end of the first servo (11) is movably connected to a movable shaft (17), the two ends of the movable shaft (17) are connected to two wing support frames (7), the top of the wing support frame (7) is rotatably connected to a rotating joint (27), and the end of the flapping wing rod (26) away from the wing (2) is fixed to the side of the rotating joint (27).

3. The hovering four-wing flapping-wing aircraft according to claim 2, characterized in that: The attitude control structure also includes a second steering gear (12) and a third steering gear (13) for respectively controlling a single wing (2); the output ends of the second steering gear (12) and the third steering gear (13) are fixedly connected to a steering disc one (8); the steering disc one (8) is movably connected to the bottom of the two wing support frames (7); the second steering gear (12) and the third steering gear (13) respectively control the rotation of the wing support frame (7) around the movable axis (17) through the steering disc one (8).

4. The hovering four-wing flapping-wing aircraft according to claim 3, characterized in that: The side surface of the wing support frame (7) is provided with two long grooves along its length direction and located on both sides of the flapping wing rod (26), and a sliding rod (25) slides in the two long grooves respectively, and one end of the sliding rod (25) away from the wing support frame (7) is hinged to the end of the steering plate (8).

5. The hovering four-wing flapping-wing aircraft according to claim 1, characterized in that: Driven by the connecting rod mechanism, the wing (2) has a flapping angle of 120°.

6. The hovering four-wing flapping-wing aircraft according to claim 5, characterized in that: When the swing angle of the rocker (5) changes within the range of -30° to 30°, the flapping angle of the wing (2) changes within the range of -60° to 60°.

7. The hovering four-wing flapping-wing aircraft according to claim 6, characterized in that: A collar is provided at one end of the rocker (5) away from the connecting rod (4), and the flapping-wing rod (26) penetrates through and moves within the collar.

8. The hovering four-wing flapping-wing aircraft according to claim 7, characterized in that: One end of the flapping wing rod (26) is rotated on the attitude control structure, and the other end passes through the collar and is fixedly connected to the wing (2) at the end.

9. The hovering four-wing flapping-wing aircraft according to claim 1, characterized in that: The gear set comprises two main bevel gears (10) which are transmission-connected to the power source, and the two main bevel gears (10) are meshed with multiple sets of gears. The gear set transmits power through the multiple sets of gears meshed with each other and converts the power into the reciprocating motion of the connecting rod mechanism.

10. The hovering four-wing flapping-wing aircraft according to claim 9, characterized in that: The transmission ratio of the gear set is 1:6.

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