High-efficiency small-scale bird-like flapping-wing aircraft

Abstract

The application discloses a high-efficiency small-scale bird-like flapping-wing aircraft and belongs to the technical field of flapping-wing aircrafts. The aircraft comprises a fuselage, a flapping-wing driving device and flapping wings. The flapping-wing driving device comprises a flapping-wing driving mechanism and a flapping-wing flapping mechanism. The left rocker arm and the right rocker arm of the flapping-wing flapping mechanism are respectively provided with intermeshing rocker arm gear transmission structures. The flapping wings are full-hand wing structures. The wing surface of the flapping wings is a complete wing surface of an integrated left-right symmetrical structure formed by bonding a left flapping wing framework and a right flapping wing framework into an integrated whole through a skin. The wingspan of the flapping wings is 0.3 m. The aspect ratio of the flapping wings is 4. The tip-to-root ratio of the flapping wings is 1. The skin of the flapping wings is a polyester film. The flapping wing framework is a carbon fiber rod structure. The diameter of the main beam is 1 mm. The diameter of the inclined beam is 0.8 mm. The diameters of the inner wing rib beam and the outer wing rib beam are both 0.6 mm. The aircraft has the characteristics of high flight efficiency, high integration degree and convenient use.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flapping wing aircraft. BACKGROUND

[0002] Flapping wing aircraft has a wide application prospect due to its unique bionic shape and flight posture. Current prototype research mainly focuses on medium and large scale bird-like flapping wing aircraft, and small scale bird-like flapping wing aircraft prototype is still rare.

[0003] Currently, small scale bird-like flapping wing aircraft generally has the problems of short endurance time, weak load capacity, poor autonomous flight capability, etc. The flapping wing of medium and large scale bird-like flapping wing aircraft is composed of arm wing and hand wing. The arm wing corresponds to the humerus of bird wing. Since the arm wing located in the inner part of the flapping wing has large rigidity, small movement amplitude and small geometric deformation amplitude, the arm wing has weak chordwise deformation ability and mainly generates upward lift force, and the generated forward thrust is small. The hand wing corresponds to the ulna and radius of bird wing. Since the wing rib located in the outer part of the flapping wing is a cantilever beam structure, it will generate chordwise deformation while keeping up and down flapping, accelerate the airflow velocity in the forward direction, and mainly generate forward thrust. However, since the flapping wing of medium and large scale bird-like flapping wing aircraft usually has large wingspan and wing area, the required lift force and thrust force can be relatively easily obtained. In comparison, since the flapping wing of small scale bird-like flapping wing aircraft is small in size, it is more difficult to obtain the required thrust force as a whole if the arm wing and hand wing are combined. On the other hand, the problems such as reduced motor power density due to size reduction and greater viscous loss caused by reduced Reynolds number are highlighted. Related devices under the constraint of small size have greater contradictions in function and size and weight. Therefore, the design of small scale bird-like flapping wing aircraft needs to be comprehensively optimized in terms of overall aircraft design, aerodynamics, power, energy, microelectronics and electromechanical manufacturing, etc. to generate greater forward thrust to overcome the problem of insufficient forward thrust of small scale bird-like flapping wing aircraft.

[0004] In summary, the development of practical high performance small scale bird-like flapping wing aircraft still faces challenges. The present application focuses on the engineering application development of small scale bird-like flapping wing aircraft, and comprehensively designs and optimizes the related systems of the aircraft, thereby providing a high efficiency small scale bird-like flapping wing aircraft. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a high efficiency small scale bird-like flapping wing aircraft which can overcome the problem of insufficient forward thrust of small scale bird-like flapping wing aircraft and has the characteristics of high flight efficiency, high integration and convenient use, etc.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is:

[0007] The high-efficiency small-scale bird-like flapping wing aircraft comprises a fuselage, a flapping wing driving device and flapping wings;

[0008] The flapping wing driving device comprises a flapping wing driving mechanism and a flapping wing flapping mechanism;

[0009] The flapping wing driving mechanism comprises a motor and a speed reduction gear set arranged on a flapping wing driving device frame, the motor converts the low-torque high-speed motion of the motor rotating shaft into low-speed high-torque motion through the speed reduction gear set to drive the flapping wing flapping mechanism to work;

[0010] The flapping wing flapping mechanism comprises a rocker arm driving gear, a crank, a connecting rod, a left rocker arm and a right rocker arm; the middle parts of the left rocker arm and the right rocker arm are symmetrically arranged on the left side and the right side of the fuselage through the rocker arm rotating shaft arranged on the flapping wing driving device frame respectively, the inner sides of the left rocker arm and the right rocker arm are respectively provided with a rocker arm gear transmission structure that meshes with each other, so that the left rocker arm and the right rocker arm are synchronously swung under the action of the rocker arm gear transmission structure; the rocker arm driving gear is rotationally connected with the flapping wing driving device frame, one end of the crank is fixedly connected with the front end of the driving gear shaft of the rocker arm driving gear, the other end of the crank is hingedly connected with the lower end of the connecting rod, and the upper end of the connecting rod is hingedly connected with the left rocker arm or the right rocker arm;

[0011] When the motor drives the rocker arm driving gear to rotate through the speed reduction gear set, the crank drives the connecting rod to swing the left rocker arm or the right rocker arm up and down, and under the action of the rocker arm gear transmission structure, the left rocker arm and the right rocker arm are synchronously swung to generate flapping motion;

[0012] The flapping wing is a full-hand wing structure, and the wing surface of the flapping wing is a complete wing surface of an integrated left-right symmetrical structure formed by bonding the left flapping wing framework and the right flapping wing framework together through a skin;

[0013] The left flapping wing framework and the right flapping wing framework are left-right symmetrical structures, mainly composed of a main beam, a diagonal beam, an inner side wing rib beam and an outer side wing rib beam: the main beam is arranged along the wing span direction, the front end of the diagonal beam is fixedly connected to the outer end of the main beam, and the diagonal beam is inclined from front to back to the inner end of the flapping wing, the inner side wing rib beam and the outer side wing rib beam are arranged along the wing span direction and fixed together with the main beam and the diagonal beam, thereby forming the flapping wing framework;

[0014] The front end of the inner side wing rib beam is located at the position of 33% of the main beam from the inner end of the main beam, and is inclined to the outside of the flapping wing from front to back at an angle of 80° with the main beam, and the front end of the outer side wing rib beam is located at the position of 57% of the main beam from the inner end of the main beam, and is inclined to the outside of the flapping wing from front to back at an angle of 39° with the main beam;

[0015] The wing span of the flapping wing is 0.3 m, the aspect ratio of the flapping wing is 4, the tip root ratio of the flapping wing is 1, the skin of the flapping wing is a polyester film, and the flapping wing framework is a carbon fiber rod structure;

[0016] The diameter of the main beam is 1mm, the diameter of the inclined beam is 0.8mm, and the diameter of the inner and outer wing rib beams is 0.6mm;

[0017] The outer end of the left rocker arm is connected to the inner end of the main beam of the left flapping wing skeleton by plug-in connection, and the outer end of the right rocker arm is connected to the inner end of the main beam of the right flapping wing skeleton by plug-in connection.

[0018] The further improvement of the present application lies in that:

[0019] The flapping wing driving device frame comprises a front wall plate and a rear wall plate; the reduction gear set comprises a motor shaft gear, a primary gear and a secondary gear; the motor is fixedly installed at the rear of the rear wall plate, the motor shaft gear is fixedly connected to the motor shaft, the primary gear and the secondary gear are coaxially fixed together through a reduction gear shaft, the diameter of the primary gear is larger than that of the secondary gear, the front end and the rear end of the reduction gear shaft are rotatably connected to the front wall plate and the rear wall plate respectively, the motor shaft gear is meshingly connected to the primary gear, the secondary gear is meshingly connected to the rocker arm driving gear, the rear end of the driving gear shaft is rotatably connected to the rear wall plate; the rocker arm rotating shaft of the left rocker arm and the rocker arm rotating shaft of the right rocker arm are respectively installed between the front wall plate and the rear wall plate.

[0020] The skin behind the left-right symmetry line of the flapping wing is also provided with a fuselage connecting hole for connecting with the fuselage, thereby producing auxiliary connection to the flapping wing.

[0021] The fuselage is a carbon rod.

[0022] The beneficial effects produced by the above technical scheme are that:

[0023] The flapping wing of the present application adopts the design form of full hand wing, can obtain large deformation under small scale to obtain larger thrust, adopts the structure that the left wing and the right wing surface are connected together, forms a complete wing surface of integrated left-right symmetrical structure to produce good lift characteristics; the inner sides of the left rocker arm and the right rocker arm are respectively provided with rocker gear transmission structures that mesh with each other, through the high integration design of related parts, the small-scale flapping wing aircraft still has practical functions under the constraint of meeting small size, so as to make up for the blank of the current small-scale bird flapping wing aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural schematic view of the present application;

[0025] Figure 2 is a partial structural schematic view of Figure 1 ;

[0026] Figure 3 is an isometric view of Figure 1 the flapping wing driving device;

[0027] Figure 4 isFigure 3 Partial isometric view in the direction of arrow

[0028] Figure 5 Figure 1 Structural schematic of flapping wing in

[0029] Figure 6

[0030] Figure 7

[0031] Figures 8 to 10

[0032] Figure 8

[0033] Figure 9

[0034] Figure 10

[0035] Figures 11 to 13

[0036] Figure 11

[0037] Figure 12

[0038] Figure 13

[0039] Figures 14 to 16

[0040] Figure 14

[0041] Figure 15

[0042] Figure 16

[0043] ​​​​​​​​​​​​​​​In the attached diagram: 1. Carbon rod; 2. Fuselage shell; 3. Motor; 4. Rear panel; 5. Front panel; 6. Motor shaft gear; 7. Primary gear; 8. Reduction gear shaft; 9. Drive gear shaft; 10. Rocker arm drive gear; 11. Crank; 12. Connecting rod; 13. Left rocker arm; 14. Right rocker arm; 15. Rocker arm pivot; 16. Skin; 17. Main beam; 18. Diagonal beam; 19. Inner wing rib beam; 20. Outer wing rib beam; 21. Fuselage connection hole; 22. Multifunctional hardware system; 23. Miniature camera; 24. Horizontal stabilizer; 25. Vertical stabilizer; 26. Miniature servo; 27. Servo lever; 28. Control surface; 29. ​​Secondary gear. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0045] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, welding, and bonding that are mature in the prior art, and will not be described in detail here.

[0046] Depend on Figures 1 to 16 As can be seen from the illustrated embodiment, this embodiment includes a fuselage, a flapping wing drive device, and flapping wings;

[0047] The flapping wing drive system includes a flapping wing drive mechanism and a flapping wing flapping mechanism;

[0048] The flapping wing drive mechanism includes a motor 3 and a reduction gear set mounted on the frame of the flapping wing drive device. The motor 3 converts the low torque and high speed motion of the motor shaft into low speed and high torque motion through the reduction gear set to drive the flapping wing mechanism to work.

[0049] The flapping wing mechanism includes a rocker arm drive gear 10, a crank 11, a connecting rod 12, a left rocker arm 13, and a right rocker arm 14. The middle parts of the left rocker arm 13 and the right rocker arm 14 are symmetrically arranged on the left and right sides of the fuselage via rocker arm pivots 15 mounted on the frame of the flapping wing drive device, and are rotatably connected to the rocker arm pivots 15. The inner sides of the left rocker arm 13 and the right rocker arm 14 are respectively provided with mutually meshing rocker arm gear transmission structures so that the left rocker arm 13 and the right rocker arm 14 swing synchronously under the action of the rocker arm gear transmission structures. The rocker arm drive gear 10 is rotatably connected to the frame of the flapping wing drive device. One end of the crank 11 is fixedly connected to the front end of the drive gear shaft 9 of the rocker arm drive gear 10, and the other end of the crank 11 is hinged to the lower end of the connecting rod 12. The upper end of the connecting rod 12 is hinged to the left rocker arm 13 or the right rocker arm 14.

[0050] When the motor 3 drives the rocker arm drive gear 10 to rotate through the deceleration gear set, the crank 11 drives the connecting rod 12 to swing the left rocker arm 13 or the right rocker arm 14 up and down, and under the action of the rocker gear transmission structure, the left rocker arm 13 and the right rocker arm 14 swing synchronously to generate flapping motion;

[0051] The flapping wing is a full-hand wing structure, and the wing surface of the flapping wing is a complete wing surface formed by bonding the left flapping wing framework and the right flapping wing framework together through the skin 16.

[0052] The left flapping wing framework and the right flapping wing framework are left-right symmetrical structures, mainly composed of a main beam 17, an inclined beam 18, an inner wing rib beam 19 and an outer wing rib beam 20: the main beam 17 is arranged along the wing span direction, the front end of the inclined beam 18 is fixedly connected to the outer end of the main beam 17, and the inclined beam 18 is inclined from front to back to the inner end of the flapping wing, the inner wing rib beam 19 and the outer wing rib beam 20 are arranged along the wing span direction and are fixed together with the main beam 17 and the inclined beam 18, thereby forming the flapping wing framework.

[0053] The front end of the inner wing rib beam 19 is located at a position 33% away from the inner end of the main beam 17, and is inclined to the outside of the flapping wing from front to back at an angle of 80° with the main beam 17, and the front end of the outer wing rib beam 20 is located at a position 57% away from the inner end of the main beam 17, and is inclined to the outside of the flapping wing from front to back at an angle of 39° with the main beam 17.

[0054] The wing span of the flapping wing is 0.3 m, the aspect ratio of the flapping wing is 4, the tip ratio of the flapping wing is 1, the skin 16 of the flapping wing is a polyester film, and the flapping wing framework is a carbon fiber rod structure.

[0055] The diameter of the main beam 17 is 1 mm, the diameter of the inclined beam 18 is 0.8 mm, and the diameters of the inner wing rib beam 19 and the outer wing rib beam 20 are both 0.6 mm.

[0056] The above flapping wing framework, the material and specifications of the flapping wing framework make the flapping wing form a full-hand wing flapping wing structure.

[0057] The outer end of the left rocker arm 13 is plug-in connected to the inner end of the main beam 17 of the left flapping wing framework, and the outer end of the right rocker arm 14 is plug-in connected to the inner end of the main beam 17 of the right flapping wing framework.

[0058] The frame of the flapping wing driving device comprises a front wall plate 5 and a rear wall plate 4; the reduction gear set comprises a motor shaft gear 6, a primary gear 7 and a secondary gear 29; the motor 3 is fixedly installed at the rear of the rear wall plate 4, the motor shaft gear 6 is fixedly connected on the motor shaft, the primary gear 7 and the secondary gear 29 are coaxially fixed together through a reduction gear shaft 8, the diameter of the primary gear 7 is larger than that of the secondary gear 29, the front end and the rear end of the reduction gear shaft 8 are rotatably connected with the front wall plate 5 and the rear wall plate 4 respectively, the motor shaft gear 6 is in meshing connection with the primary gear 7, the secondary gear 29 is in meshing connection with a rocker arm driving gear 10, and the rear end of a driving gear shaft 9 is rotatably connected with the rear wall plate 4; the rocker arm rotating shaft 15 of the left rocker arm 13 and the rocker arm rotating shaft 15 of the right rocker arm 14 are respectively installed between the front wall plate 5 and the rear wall plate 4.

[0059] A fuselage connecting hole 21 is further arranged on the skin behind the left-right symmetry line of the flapping wing, so as to be connected with the fuselage, thereby generating auxiliary connection to the flapping wing.

[0060] The fuselage is a carbon rod 1.

[0061] Working mechanism for generating stronger forward thrust

[0062] The flapping wing in the application is a full-hand wing structure, which imitates the active deformation of small birds in the flapping process through passive flexible deformation, so as to obtain greater thrust at a small scale. Under the action of aerodynamic force, the flapping wing will undergo obvious flexible deformation, and there is an optimal torsional deformation for the flexible deformation, so that the thrust generated by the flapping wing is maximum. The flexible deformation of the three-dimensional flapping wing can be regarded as the torsional deformation of the two-dimensional flat plate airfoil at different spanwise stations, therefore, the flexible deformation and flapping motion of the three-dimensional flapping wing are simplified as the pitching and heaving motion of the two-dimensional flat plate airfoil, the pitching amplitude is used to simulate the degree of flexibility, so as to determine the optimal deformation corresponding to the maximum thrust. The motion law corresponding to the two-dimensional airfoil is as follows:

[0063] h(t) = h m cos(2πft)

[0064]

[0065] In the formula, h(t) is the heaving amplitude of the airfoil at different stations and different times, h m is the heaving amplitude of each station, f is the flapping frequency, t is the time, θ(t) is the pitching amplitude of the airfoil at different stations and different times, and θ m is the pitching amplitude of each station.

[0066] The Fluent software is used for calculating the pitching heave motion of a two-dimensional flat airfoil. The flat airfoil has a chord length of 100 mm and a thickness of 2 mm. The inner flow field is a rectangular region, the front boundary is 5 chord lengths away from the leading edge of the flat, the rear boundary is 8 chord lengths away from the leading edge of the flat, the upper and lower boundaries are 5 chord lengths away from the leading edge of the flat, respectively. The outer flow field is also a rectangular region, the front boundary is 20 chord lengths away from the leading edge of the flat, the rear boundary is 35 chord lengths away from the leading edge of the flat, the upper and lower boundaries are 20 chord lengths away from the leading edge of the flat, respectively. The grid quantity of the inner flow field is 69088, the grid quantity of the outer flow field is 31110, and the total grid quantity is about 10w, which can ensure high accuracy of the two-dimensional airfoil unsteady calculation. The grid calculation diagram is shown in Figure 6 、 Figure 7 .

[0067] The calculation states include different wind speeds, flapping frequencies and spanwise stations. The specific calculation parameters are shown in Table 1. Among them, the airfoils at different spanwise stations have different heave amplitudes.

[0068] Table 1 Calculation parameter table

[0069]

[0070] The thrust coefficients of each state obtained by calculation are shown in Figures 8 to 16 .

[0071] Figures 8 to 10 The thrust coefficients of the flat airfoil at different pitching amplitudes under the conditions of flapping frequency 10 Hz and flapping amplitude 60 degrees.

[0072] Figures 11 to 13 The thrust coefficients of the flat airfoil at different pitching amplitudes under the conditions of flapping frequency 15 Hz and flapping amplitude 60 degrees.

[0073] Figures 14 to 16 The thrust coefficients of the flat airfoil at different pitching amplitudes under the conditions of flapping frequency 20 Hz and flapping amplitude 60 degrees.

[0074] It can be found from the figure that for each state, the thrust coefficient shows a similar trend. There is an optimal pitching amplitude that makes the thrust coefficient reach a maximum value. This again proves that flexibility is not the bigger the better, but there is an optimal value. With the increase of wind speed, the thrust coefficient decreases. With the increase of flapping frequency and spanwise occupation, the thrust coefficient generated by the flat airfoil increases.

[0075] The pitching amplitudes corresponding to the maximum thrust and the effective angles of attack at the middle time of the downward flapping in each state are counted, wherein the effective angle of attack calculation formula of the flapping is:

[0076]

[0077] V is cruise speed.

[0078] The effective angle of attack at the middle of the downstroke is:

[0079]

[0080] Table 2, Table 3 and Table 4 respectively show the pitch amplitude corresponding to the effective angle of attack at the middle of the downstroke and the maximum thrust at each calculation state under different frequencies.

[0081] Table 2 Effective angle of attack and pitch amplitude at each state under the flapping frequency of 10Hz

[0082]

[0083] Table 3 Effective angle of attack and pitch amplitude at each state under the flapping frequency of 15Hz

[0084]

[0085]

[0086] Table 4 Effective angle of attack and pitch amplitude at each state under the flapping frequency of 20Hz

[0087]

[0088] It can be found from the tables that, except for the case of the spanwise station of 0.25, in most cases, the optimal pitch amplitude required for the maximum thrust is close to the effective angle of attack at the middle of the downstroke. Therefore, it can be considered that the optimal flexible deformation required for the maximum thrust is equal to the effective angle of attack at the middle of the downstroke, that is, half of the induced angle of attack at the middle of the downstroke, as shown in the following formula.

[0089]

[0090] The flapping wing designed according to the above deformation rule is a small-scale flapping wing with optimal flexible deformation. The span of the flapping wing is 0.3 m, the aspect ratio of the flapping wing is 4, the tip-to-root ratio of the flapping wing is 1, the skin of the flapping wing is a polyester film, the skeleton of the flapping wing is a carbon fiber rod structure, the first wing rib is located at a position 33% away from the inner end of the main beam and is inclined to the outside of the flapping wing from front to back at an angle of 80° with the main beam, and the second wing rib is located at a position 57% away from the inner end of the main beam and is inclined to the outside of the flapping wing from front to back at an angle of 39° with the main beam. The diameter of the main beam is 1 mm, the diameter of the diagonal beam is 0.8 mm, and the diameter of the first wing rib and the second wing rib is 0.6 mm.

Claims

1. A high-efficiency, small-scale bird-inspired flapping-wing aircraft, comprising a fuselage, a flapping-wing drive device, and flapping wings, characterized in that: The flapping wing drive device includes a flapping wing drive mechanism and a flapping wing flapping mechanism; The flapping wing drive mechanism includes a motor (3) and a reduction gear set mounted on the frame of the flapping wing drive device. The motor (3) converts the low torque high speed motion of the motor shaft into a low speed high torque motion through the reduction gear set to drive the flapping wing flapping mechanism to work. The flapping wing mechanism includes a rocker arm drive gear (10), a crank (11), a connecting rod (12), a left rocker arm (13), and a right rocker arm (14). The middle portions of the left rocker arm (13) and the right rocker arm (14) are symmetrically arranged on the left and right sides of the fuselage via rocker arm pivots (15) mounted on the frame of the flapping wing drive device. The inner sides of the left rocker arm (13) and the right rocker arm (14) are respectively provided with intermeshing rocker arm gear transmission structures, so that the left rocker arm... (13) and the right rocker arm (14) swing synchronously under the action of the rocker arm gear transmission structure; the rocker arm drive gear (10) is rotatably connected to the frame of the flapping wing drive device, one end of the crank (11) is fixedly connected to the front end of the drive gear shaft (9) of the rocker arm drive gear (10), the other end of the crank (11) is hinged to the lower end of the connecting rod (12), and the upper end of the connecting rod (12) is hinged to the left rocker arm (13) or the right rocker arm (14); When the motor (3) drives the rocker arm drive gear (10) to rotate through the reduction gear set, the crank (11) drives the connecting rod (12) to make the left rocker arm (13) or the right rocker arm (14) swing up and down. Under the action of the rocker arm gear transmission structure, the left rocker arm (13) and the right rocker arm (14) swing synchronously to generate a flapping motion. The flapping wing is a full-hand wing structure. The wing surface of the flapping wing is a complete wing surface with an integrated left-right symmetrical structure formed by bonding the left flapping wing skeleton and the right flapping wing skeleton together with a skin (16). The left flapping wing frame and the right flapping wing frame are symmetrically arranged and are mainly composed of a main beam (17), a diagonal beam (18), an inner wing rib beam (19), and an outer wing rib beam (20). The main beam (17) is arranged along the wingspan direction. The front end of the diagonal beam (18) is fixedly connected to the outer end of the main beam (17) and tilts from front to back to the inner end of the flapping wing. The inner wing rib beam (19) and the outer wing rib beam (20) are arranged along the wingspan direction and are fixed together with the main beam (17) and the diagonal beam (18) to form the flapping wing frame. The front end of the inner wing rib (19) is located at 33% of the distance from the inner end of the main beam (17), and forms an 80° angle with the main beam (17) from front to back, tilting towards the outer side of the flapping wing. The front end of the outer wing rib (20) is located at 57% of the distance from the inner end of the main beam (17), and forms a 39° angle with the main beam (17) from front to back, tilting towards the outer side of the flapping wing. The flapping wing has a wingspan of 0.3m, an aspect ratio of 4, a tip-to-root ratio of 1, a skin (16) of a flapping wing that is a polyester film, and a frame of a flapping wing that is a carbon fiber rod structure. The diameter of the main beam (17) is 1 mm, the diameter of the inclined beam (18) is 0.8 mm, and the diameters of the inner wing rib beam (19) and the outer wing rib beam (20) are both 0.6 mm. The outer end of the left rocker arm (13) is inserted and connected to the inner end of the main beam (17) of the left flapping wing frame; the outer end of the right rocker arm (14) is inserted and connected to the inner end of the main beam (17) of the right flapping wing frame.

2. The efficient, small-scale bird-like flapping-wing aircraft according to claim 1, characterized in that: The flapping wing drive unit frame includes a front wall plate (5) and a rear wall plate (4); the reduction gear set includes a motor shaft gear (6), a primary gear (7), and a secondary gear (29); the motor (3) is fixedly installed behind the rear wall plate (4), the motor shaft gear (6) is fixedly connected to the motor shaft, the primary gear (7) and the secondary gear (29) are coaxially fixed together through the reduction gear shaft (8), the diameter of the primary gear (7) is larger than the diameter of the secondary gear (29), and the reduction gear... The front end and rear end of the axle (8) are rotatably connected to the front wall plate (5) and the rear wall plate (4) respectively. The motor shaft gear (6) is meshed with the first-stage gear (7). The second-stage gear (29) is meshed with the rocker arm drive gear (10). The rear end of the drive gear shaft (9) is rotatably connected to the rear wall plate (4). The rocker arm shaft (15) of the left rocker arm (13) and the rocker arm shaft (15) of the right rocker arm (14) are respectively installed between the front wall plate (5) and the rear wall plate (4).

3. A high-efficiency, small-scale bird-like flapping-wing aircraft according to claim 1 or 2, characterized in that: A fuselage connection hole (21) is also provided on the skin behind the left and right symmetrical lines of the flapping wing for connecting with the fuselage, thereby providing an auxiliary connection to the flapping wing.

4. The high-efficiency, small-scale bird-like flapping-wing aircraft according to claim 3, characterized in that: The fuselage is made of carbon rod (1).

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