A hoverable four-wing flapping-wing aircraft

Abstract

The present invention discloses a hoverable four-wing flapping-wing aircraft, which relates to the technical field of aircraft, and includes a fixed frame, a power source and a gear set located in the middle of the fixed frame, two pairs of winglets provided at both ends of the fixed frame, a connecting rod mechanism connecting the gear set and the two pairs of winglets, and attitude control structures respectively movably connected to the two pairs of winglets; a crank is fixedly connected to the end of the transmission shaft of the gear set, a connecting rod is hinged to the end of the crank away from the transmission shaft, a rocker is hinged to the end of the connecting rod away from the crank, the middle of the rocker is bent and rotates 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 rod, and the end of the flapping rod is fixedly connected to the winglet; the connecting rod mechanism is composed of a crank, a connecting rod, a rocker, a fixed frame and a flapping rod to form a five-link mechanism. The present invention improves the performance by simplifying the transmission system and attitude control structure of the existing flapping-wing aircraft and optimizing the connecting rod mechanism, realizes better attitude control and bionic flight effect, and greatly improves the performance of the flapping-wing aircraft.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft, and particularly relates to a hoverable four-wing flapping-wing aircraft. Background Art

[0002] With the continuous progress of technology, the miniaturization and portability of aircraft have become important development directions. In multiple fields such as military, scientific research, and civilian use, micro air vehicles (MAVs) have attracted much attention due to their unique advantages. Compared with traditional fixed-wing and rotorcraft, flapping-wing aircraft have a unique flight mechanism and significant advantages, such as better maneuverability and concealment. As an advanced form of flapping-wing aircraft, the four-wing flapping-wing aircraft (Quad-Wing Flapping Wing Aircraft) demonstrates broad application potential in fields such as environmental monitoring, military reconnaissance, search and rescue, and agricultural spraying by integrating multidisciplinary technologies such as bionics, aerodynamics, materials science, and control engineering. In particular, its excellent hovering ability gives it obvious advantages in complex terrains and confined spaces.

[0003] However, currently existing four-wing flapping-wing aircraft often feature 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 its flexibility and maneuverability, posing difficulties in the manufacturing and maintenance of the aircraft. In practical applications, these complex structures may lead to higher failure rates and more frequent maintenance requirements. Additionally, although some four-wing flapping-wing aircraft have relatively simple structural designs, they perform poorly in attitude control, unable to achieve flexible flight attitude adjustment and precise control, or use multiple motors to control the swing frequencies of the left and right wings for attitude control. These designs often fail to achieve an ideal bionic effect, limiting the aircraft's adaptability and maneuverability in complex environments. These aircraft are difficult to meet the requirements for high flexibility and high-precision control in practical applications.

[0004] In view of this, it is crucial to design a four-wing flapping-wing aircraft with a simple structure, easy control, capable of achieving flexible attitude control, and adaptable to various complex flight missions. Summary of the Invention

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

[0006] To achieve the above object, the present invention provides a hovering four-wing flapping-wing aircraft, which includes a fixed frame, a power source and a gear set located in the middle of the fixed frame, two pairs of winglets provided at both ends of the fixed frame, a link mechanism connecting the gear set and the two pairs of winglets, and an attitude control structure movably connected to the two pairs of winglets respectively; a crank is fixedly connected to the end of the transmission shaft of the gear set, a connecting rod is hinged to the end of the crank away from the transmission shaft, a rocker is hinged to the end of the connecting rod away from the crank, the middle of the rocker is bent and rotates outside the fixed frame, one end of which is connected to the connecting rod and the other end is movably connected to a flapping-wing rod, and the end of the flapping-wing rod is fixedly connected to the winglet; the link mechanism consists of the crank, the connecting rod, the rocker, the fixed frame and the flapping-wing rod to form a five-bar linkage.

[0007] The present invention aims to design a four-wing flapping-wing aircraft with a simple structure, easy to control and capable of achieving flexible attitude control, which can adapt to a variety of complex flight tasks; the transmission efficiency of the link mechanism in the present invention is reasonable, and the added fifth rod (flapping-wing rod) in the link 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 motor, the output end of the first servo motor is movably connected to a moving shaft, both ends of the moving shaft are connected with two winglet supports, the top of the winglet support is rotatably connected with a rotating joint, and the end of the flapping-wing rod away from the winglet is fixedly connected to the side of the rotating joint.

[0009] Preferably, the attitude control structure further includes a second servo motor and a third servo motor for respectively controlling a single winglet. The output ends of the second servo motor and the third servo motor are fixedly connected with a first steering wheel, and the first steering wheel is respectively movably connected to the bottoms of the two winglet supports. The second servo motor and the third servo motor respectively control the rotation of the winglet support around the moving shaft through the first steering wheel.

[0010] Preferably, two long grooves located on both sides of the flapping-wing rod are opened on the side surface of the winglet support along its length direction, and sliding rods are respectively slid in the two long grooves, and the ends of the sliding rods away from the winglet support are hinged to the ends of the first steering wheel.

[0011] Preferably, the flapping angle of the winglet reaches 120° under the drive of the link mechanism.

[0012] Preferably, when the swing angle of the rocker changes within the range of -30° to 30°, the flapping angle of the winglet changes within 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 posture control structure that is easier to control and implement, and at the same time optimizes the connecting rod mechanism to improve the performance, thereby achieving a bionic flight effect. The posture control mechanism can better simulate the flight posture of insects. The present invention simplifies the structure while improving the performance of the flapping-wing aircraft, making it easier to manufacture and promote its application. 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] Figure 9 Schematic diagram of the connecting rod mechanism in the embodiment of the present invention Figure 3 ;

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

[0030] Figure 11 Schematic diagram of the included angles between the rods in the connecting rod mechanism;

[0031] Figure 12 Schematic diagram of the connecting rod simulation result in the embodiment of the present invention.

[0032] Figure 13 Schematic diagram of the attitude control state in the 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, first steering wheel; 9, brushless motor; 10, main bevel gear; 11, first servo; 12, second servo; 13, third servo; 14, first shaft sleeve; 15, transmission shaft; 17, moving shaft; 18, keyway; 19, second steering wheel; 20, key; 21, first gear; 22, second gear; 23, third gear; 24, fourth gear; 25, sliding rod; 26, flapping rod; 27, rotating joint. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0035] To make the purpose, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

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

[0037] As Figure 1 , Figure 2 and Figure 4 shown, the flapping aircraft frame serves as the carrier of the flapping aircraft, and specifically includes two fixed frames 1 with the same structure and arranged in parallel at intervals. The bottoms of the two fixed frames 1 are connected in the middle, and a power supply and a brushless motor 9 are provided at the connection position as the power source.

[0038] As Figures 3 to 6 shown, the output end of the brushless motor 9 is drivingly connected to two main bevel gears 10. The two main bevel gears 10 are respectively meshed with a first gear 21 and a third gear 23 on both sides. The first gear 21 continues to be 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 above-mentioned main bevel gears 10, first gear 21, second gear 22, third gear 23 and fourth gear 24 form a gear set. Among them, the two main bevel gears 10, first gear 21, and third gear 23 are respectively rotatably connected to three rotating shafts. The two ends of the rotating shafts are fixedly connected to the fixed frame 1, and a sleeve 14 is provided at the 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. The two ends of the transmission shaft 15 penetrate and are rotatably connected to the fixed frame 1, and a crank 3 is fixedly connected to the end extending out of the fixed frame 1 to realize the transmission connection with the connecting rod mechanism; symmetrically to the above structure, the third gear 23 is meshed with the other main bevel gear 10, the fourth gear 24 is meshed with the third gear 23, and a transmission shaft 15 is fixedly connected to the center of the fourth gear 24. The two ends of the transmission shaft 15 penetrate and are rotatably connected to the fixed frame 1, and a crank is fixedly connected to the end extending out of the fixed frame 1.

[0039] In this embodiment, the gear set transmits and converts power into the reciprocating motion of the connecting rod mechanism through meshing with each other. The gear set is located in the center of the fixed frame 1 and includes a plurality of meshing gears. The main bevel gear 10 is driven by the brushless motor 9 or other power sources to realize the transmission and conversion of rotational motion. By reasonably designing the size and meshing mode of the gears, the motion 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] As Figure 5As shown, the drive shafts 15 of the second gear 22 and the fourth gear 24 extend towards both ends and are fixedly connected with cranks 3. One end of the crank 3 far from the drive 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 rotationally 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 collar and sleeved on the flapping rod 26 to form the flapping of the flapping rod 26. The flapping rod 26 is movably connected to the attitude control structure, and its end is used for installing the wing 2.

[0041] In the prior art, the crank-rocker mechanism has significant advantages in the field of micro flapping-wing aircraft due to its simple structure, low manufacturing cost, ability to efficiently transmit energy, and high reliability and low wear characteristics. At the same time, the crank-rocker mechanism has strong adaptability, is 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-rocker mechanism cannot meet the requirement of the larger flapping amplitude of the flapping-wing machine in this embodiment. Therefore, the link mechanism with a two-stage four-link structure in the embodiment of the present invention adds a fifth rod (flapping rod 26) on the basis of the four groups of links 4, cranks 3, and rockers 5 to amplify the swing stroke output by the rocker 5. Specifically, in this embodiment, the crank 3 is used as the first rod l1, the connecting rod 4 is used as the second rod l2, the rocker 5 is used as the third rod l3, the fixed frame 1 is used as the fourth rod l4, and the flapping rod 26 is used as the fifth rod l5. The swinging of each rod is shown as Figure 10 shown, and the angular relationship between each rod is shown as Figure 11 shown.

[0042] As Figure 10 shown, the third rod l3 is bent by an angle θ 0 at a certain node, where the fifth rod l5 is connected to the wing 2 and the wing 2 moves by flapping. The link 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 link mechanism ensures the smoothness and synchronism of the movement.

[0043] In a crank-rocker mechanism, the crank 3 needs to meet two conditions: either 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 shall 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 reciprocally, but usually has a higher translational 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, in the reciprocating motion of the flapping mechanism designed, all strokes are working strokes, and the quick-return characteristic will affect the work efficiency of the flapping machine. In the embodiment, the wings 2 of the flapping machine swing symmetrically, and the rocker 5 swing mechanism should have no quick-return characteristic, that is, K = 1. In the embodiment of the present invention, by analyzing the mathematical characteristics of the four-bar mechanism and establishing a mathematical model for calculation, a linkage mechanism without quick-return characteristic and optimal swinging effect is designed. Finally, the better flapping mechanism size parameters are determined as shown in Table 1. According to the determined size parameters and the designed three-dimensional model of the flapping machine, MATLAB simulation and SolidWorks motion simulation are carried out on it, and the results are as Figure 12 shown.

[0044] From Figure 12 it can be seen that the numerical analysis of MATLAB and the simulation analysis of SolidWorks show that both the angular displacement of the rocker 5 and the angular displacement of the flapping wings are simple harmonic motion changes, verifying that the designed flapping linkage mechanism has no quick-return characteristic. When the swing angle of the rocker 5 varies within the range of -30° to 30°, the flapping angle varies within the range of -60° to 60°, and the swing displacement changes symmetrically. The flapping angle can reach a swing effect of 120°. By analyzing the curves of the angular velocity and angular acceleration change relationship between the swing angle of the rocker 5 and the flapping angle, it can be found that the angular velocity and angular acceleration of the swing angle of the rocker 5 and the flapping angle change according to a certain law and there is no sudden change. Thus, it can be judged that the flapping mechanism of the prototype 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 materials and has sufficient strength and rigidity to withstand the forces during the movement. The fixed frame 1 of this embodiment is made by cutting carbon fiber plates and 3D printing with resin materials.

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

[0047] As Figure 13As shown in the figure, in this embodiment, the flapping-wing aircraft is a tailless flapping-wing aircraft, and its attitude control is achieved by adjusting the servos to cause differences in the flapping of the left and right wings and the front and rear wings of the flapping-wing aircraft, thereby generating attitude moments. The pitching control attitude mechanism is to control the second servo 12 and the third servo 13 to make the flapping sweep plane of the front wing or the rear wing form a certain angle with the horizontal plane, so that the lift generated by the front wing or the rear wing has a certain angle with the vertical direction, and the lift angle faces the center of gravity, thereby generating a pitching forward flight moment. The yaw attitude control mechanism is to control the second servo 12 and the third servo 13 to make the wing moving sweep plane form a certain angle with the horizontal plane, the sweep planes of the left and right wings have opposite angles with the horizontal plane and the angles of the left front and rear wings and the right front and rear wings are the same, so that the lift generated by the left front and rear wings and the right front and rear wings has a certain angle with the vertical direction, thereby generating a yaw moment. The roll attitude control mechanism is to control the first servo 11 to make the flapping amplitudes of the left and right wings different, that is, the lift forces generated on the left and right sides are different, thereby generating a roll moment.

[0048] In this embodiment, the wing 2 is connected to the gear set through a linkage mechanism and flaps as the flapping rod 26 moves. The mechanical shape of the wing 2 is not the design focus of the present invention, and those skilled in the art can design a suitable shape and size of the wing 2 by imitating the flight patterns of birds or insects. The wing 2 is made of a light and rigid material to ensure its stability and efficiency during movement.

[0049] As Figures 7 to 9 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 the second steering wheel 19. The second steering wheel 19 is connected to the keyway 18 through a pin key 20. One end of the keyway 18 is axially fixed with a moving shaft 17. The two ends of the moving shaft 17 are respectively connected to the wing support frame 7 through bearings. The inner and outer rings of the bearings are respectively fixed to the moving shaft 17 and the support frame 7. One end of the flapping rod 26 is provided with a rotating joint 27, and the rotating joint 27 is vertically inserted into the wing support frame 7, so that one end of the flapping rod 26 can swing left and right around the rotating joint 27.

[0050] A first steering wheel 8 is movably connected below the wing support frame 7. The first steering wheels 8 below the two wing support frames 7 are respectively connected to the second servo 12 and the third servo 13. Specifically, the first steering wheel 8 is parallel to the fixed frame 1 and is in the same length direction as the fixed frame 1. Two long slots are opened on the side of the wing support frame 7 on both sides of the flapping rod 26. The length directions of the two long slots are the same as the length direction of the first steering wheel 8. The two ends of the first steering wheel 8 are respectively rotatably connected with two sliding rods 25. The two sliding rods 25 are Z-shaped and have two horizontal ends, one above the other. The upper horizontal end is movably connected in the long slot, and the lower horizontal end is rotatably connected to the end of the first steering wheel 8. As Figure 9 shown, the second servo 12 and the third servo 13 are respectively movably connected to the two wing support frames 7 on both sides through the second steering wheel 19.

[0051] When the first servo 11 rotates, the second rudder disc 19 fixedly connected thereto rotates accordingly. The key slot 18 is driven to move horizontally through the pin key 20. The key slot 18 is fixedly connected to the moving shaft 17 to drive the moving shaft 17 to move horizontally, so that the wing 2 moves horizontally to change the swing amplitude, generating a rolling moment. The moving shaft 17 is hinged to the fixed frame 1 so as to be relatively horizontally movable. Bearings are fixedly connected to both ends of the moving shaft 17, and the bearings are fixedly connected to the wing support frame 7. The wing 2 is hinged to the wing support frame 7 through the flapping rod 26. When the servo does not work, 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 functional implementation principles of the second servo 12 and the third servo 13 are the same. Taking the second servo 12 as an example, when the second servo 12 rotates, the first rudder disc 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 respectively controlled by four servos to rotate a certain angle to generate pitch and yaw moments. When the servo does not work, 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 link mechanism through the gear set. The gear set is fixed through the axis center. The gear set and the axis center are in clearance fit and can rotate relatively. The axis center is fixedly connected to the frame. A plurality of bushings are distributed on the axis center for gear positioning. However, the output gears (the second gear 22 and the fourth gear 24) are fixedly connected to the transmission shaft 15 by interference fit to transmit the power to the transmission shaft 15. The transmission shaft 15 is fixedly connected to the crank 3. The transmission shaft 15 and the frame are in clearance fit and can rotate relatively. A plurality of bushings are distributed on the transmission shaft 15 for limiting the transmission shaft 15. The link mechanism transmits the power to the wing 2. The rocker 5 is a bent rod with a certain included angle. In this embodiment, the included angle is 120°. One end of the rocker 5 is set as a ring. The root of the leading edge of the wing 2 passes through the ring. One end of the root of the edge of the wing 2 is hinged to the wing support frame 7 through the rotating joint 27. When the brushless motor 9 rotates, the rocker 5 swings back and forth to drive the wing 2 to flap.

[0054] Refer to Figure 12 as shown in Figure 12 The attached figure shows the schematic diagram of the link simulation result of the embodiment of the present invention. Among them, the upper left curve graph in the figure is the angular displacement change curve of the swing angle of the rocker 5 and the flapping angle of the wing in the matlab numerical simulation; the upper right curve graph is the angular displacement change curve of the swing angle of the rod and the flapping angle of the wing in the 3D model simulation; the lower left curve graph is the angular velocity change curve of the swing angle of the rod and the flapping angle of the wing in the 3D model simulation; the lower right curve graph is the angular velocity change curve of the swing angle of the rod and the flapping angle of the wing in the 3D model simulation.

[0055] Table 1 Parameters and Dimensions of the Flapping Mechanism

[0056] Parameter item Size Crank angle β 0° <![CDATA[The output angle θ of the rocker 5 c > 60° <![CDATA[Flap angle γ l > 120° <![CDATA[Crank 3 (first rod l1)]]> 13.27 mm <![CDATA[Connecting rod 4 (second rod l2)]]> 39.86 mm <![CDATA[Joystick 5 (third lever l3)]]> 26.56 mm <![CDATA[Frame bar (fourth bar l4)]]> 46.00 mm Bending angle of rocker 5 120° <![CDATA[Joystick 5l ext > 12 mm <![CDATA[Frame rod l R > 4 mm <![CDATA[θ4]]> <![CDATA[60 o >

[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 achieve the flapping of the wing 2, thereby improving the flight efficiency. At the same time, by reasonably designing the gear set and the linkage mechanism, the smoothness 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 a four-wing flapping-wing aircraft with only one motor. The linkage mechanism has a reasonable transmission efficiency, ensures effective power transmission, 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 easier to implement.

[0059] The details not described 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 orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention, rather than indicating or implying 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 construed as a limitation to the present invention.

[0061] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A hoverable 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; The attitude control structure comprises a first steering gear (11), a second steering gear (12) and a third steering gear (13); the output end of the first steering gear (11) is movably connected to a movable shaft (17); 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); one end of the flapping wing rod (26) away from the wing (2) is fixed to the side of the rotating joint (27); the bottom of the wing support frame (7) is movably connected to a steering disc 1 (8); the second steering gear (12) and the third steering gear (13) respectively control the rotation of the wing support frame (7) around the movable shaft (17) through the steering disc 1 (8); 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 each of the two long grooves, 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); A collar is provided at one end of the rocker (5) away from the connecting rod (4), and the collar is sleeved on the outside of the flapping-wing rod (26) to form a flapping motion of the flapping-wing rod (26).

2. The hoverable four-wing flapping-wing aircraft according to claim 1, wherein The second steering gear (12) and the third steering gear (13) in the attitude control structure respectively control a single wing (2); the output ends of the second steering gear (12) and the third steering gear (13) are respectively fixedly connected to a steering disc one (8); and the steering disc one (8) is movably connected to the bottom of the wing support frame (7).

3. The hoverable four-wing flapping-wing aircraft according to claim 1, characterized in that, The wing (2) flaps at a swing angle of 120° under the drive of the connecting rod mechanism.

4. The hoverable four-wing flapping-wing aircraft according to claim 3, wherein, 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°.

5. The hoverable four-wing flapping-wing aircraft according to claim 1, wherein 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.

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

7. The hoverable four-wing flapping-wing aircraft according to claim 6, wherein, The transmission ratio of the gear set is 1:6.

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