Flapping-wing air vehicle capable of being ejected to take off and provided with sweeping-twisting mechanism

Abstract

The invention discloses an ornithopter capable of ejection take-off and provided with a sweeping-torsion mechanism, and belongs to the technical field of aircrafts, the ornithopter comprises a fuselage skeleton, a left flapping wing, a right flapping wing, a passive torsion mechanism, a sweeping mechanism, an ejection take-off mechanism, a transmission flapping mechanism and a tail vane, the catapult take-off mechanism is arranged in the middle of the robot body and sequentially provided with a hip joint, a thigh, an ankle joint, a shank, a foot and a toe joint from top to bottom, the inner side and the outer side of the hip joint are controlled by a servo motor to rotate relatively, and elastic energy storage torsion springs are arranged at the ankle joint and the toe joint correspondingly. Synchronous pulleys and driving mechanisms thereof are arranged between the outer sides of the hip joints and the outer sides of the ankle joints to control relative rotation between the thighs and the shanks, and energy storage of ejection take-off is carried out. In conclusion, the aircraft can perform ejection take-off flight, and the flapping wings can perform passive torsion and sweeping movement in the flapping process, so that the improvement of the flapping wing lift force and the overall effective load of the aircraft is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft, and in particular relates to a flapping-wing aircraft which can be ejected and taken off and has a sweep-twist mechanism. Background Art

[0002] A flapping-wing aircraft is an aircraft designed based on bionics that imitates the flight of insects, birds or bats. It has the advantages of high flight efficiency, flexible flight and good concealment. Under low Reynolds numbers, flapping-wing flight can achieve higher energy utilization and better aerodynamic performance than traditional fixed-wing flight or rotor flight. In recent years, with the rapid development of aerospace technology and low-altitude economy, flapping-wing aircraft have broad applications in both civil and military fields, and have been widely used in flight performances, reconnaissance, surveying and mapping and other fields.

[0003] At present, most of the existing flapping-wing aircraft use motor-driven single-stage flapping wings, which generate the lift required for flight through simple up and down flapping. The single-stage flapping wing flapping mode cannot provide sufficient lift at the same flapping frequency, and the effective mass that can be loaded except for the structure of the aircraft itself and its control system is very small; in addition, the single-stage flapping-wing aircraft is not outstanding in climbing and accelerating performance; most of the existing flapping-wing aircraft require users to throw them by hand to take off, and most of the landings are hard landings, and they cannot take off autonomously after a hard landing.

[0004] In summary, existing flapping-wing aircraft are in urgent need of a device that can assist the aircraft in autonomous takeoff, landing and then taking off again. In addition, there are generally problems such as slow response to climbing and accelerating, small aircraft payload and insufficient endurance due to limited lift provided by flapping wings, which directly affect the performance of the aircraft. Summary of the invention

[0005] The purpose of the present invention is to solve the performance problems existing in most flapping-wing aircraft at present, such as slow climbing and accelerating response, small aircraft payload and insufficient endurance due to limited lift provided by flapping wings, and to provide a flapping-wing aircraft with a sweep-twist mechanism that can catapult and take off autonomously, and take off again after landing.

[0006] A flapping-wing aircraft capable of launching and taking off and having a sweep-twist mechanism, comprising:

[0007] Fuselage frame 1, left and right flapping wings 2, passive torsion mechanism 3, sweeping mechanism 4, transmission flapping mechanism 6, tail rudder 7;

[0008] The transmission flapping mechanism 6 drives the flapping wing rocker sleeve whose symmetry axis is connected to the fuselage frame 1 to swing up and down, and the left and right flapping wings 2 flap up and down;

[0009] The passive torsion mechanism 3 is arranged between the flapping wing rocker sleeve and the flapping wing;

[0010] The passive torsion mechanism 3 includes: a support frame 30, a torsion bracket 31, a wing root rotating rod 32, a linear elastic telescopic member 33, a transition connecting shaft 37, a torsion connecting rod 38, and two buffer limit columns 39;

[0011] The support frame 30 is provided with an inner fixing sleeve 30a inside and an upper support platform 30b outside, and the inner fixing sleeve 30a is fixedly connected to the outer end of the flapping sleeve;

[0012] The torsion bracket 31 is arranged on the upper support 30b of the support frame 30;

[0013] Two buffer limit columns 39 are fixedly connected at the front and rear of the top of the torsion bracket 31. A wing root rotating rod shaft hole is provided above the upper support platform 30b, and a torsion connecting rod rotating shaft is provided above the wing root rotating rod shaft hole.

[0014] The wing root rotating rod 32 is provided with a square platform 32a inside and an external connecting sleeve 32b outside, and the external connecting sleeve 32b is fixedly connected to the root of the flapping wing;

[0015] The linear elastic telescopic member 33 comprises a sliding sleeve 34, a spring 35, and a sliding rod 36. The sliding rod 36 is slidably matched with the sliding sleeve 34, and a spring 35 in a compressed state is arranged between the two.

[0016] The wing root rotating rod 32 is axially connected to the wing root rotating rod axial hole of the torsion bracket 31, and its inner square platform 32a is fixedly connected to the square groove 34b of the sliding sleeve 34 in the linear elastic telescopic member 33;

[0017] The lower end of the torsion link 38 is axially connected to the torsion bracket 31 through the torsion link rotating shaft, and the upper end thereof is axially connected to the top end of the sliding rod 36 through the transition connecting shaft 37.

[0018] A sweep shaft is provided at the lower part of the torsion bracket 31, and the sweep shaft passes downward through the upper support platform 30b and is axially connected to the upper support platform 30b; the sweep servo 40 of the sweep mechanism 4 is fixed on the support frame 30, and its output shaft is fixedly connected to the fan-shaped gear rudder arm 41; the lower end of the sweep shaft is fixedly connected to the sweep gear 42, and the fan-shaped gear rudder arm 41 is meshed with the sweep gear 42, and the sweep servo 40 drives the sweep shaft to rotate.

[0019] A catapult take-off mechanism 5 is also provided in the middle of the fuselage of the aircraft, which includes a middle bracket 50 and a left catapult take-off leg 51 and a right catapult take-off leg 52 symmetrically disposed on its left and right sides;

[0020] The left catapult take-off leg 51 includes a hip joint internal transmission part 53, a hip joint external rotation energy storage part 54, a thigh support connecting rod 54d, a synchronous pulley mechanism 55, an ankle joint 56, a calf support connecting rod 56e and an elastic energy storage foot 57;

[0021] The hip joint internal transmission part 53 and the hip joint external rotation energy storage part 54 of the left catapult take-off leg 51 are respectively located on the inner and outer sides, and the relative rotation between the two is controlled by the hip joint rotation servo motor 53c of the hip joint internal transmission part 53;

[0022] The hip joint external rotation energy storage unit 54 is connected to the ankle joint support 56a of the ankle joint 56 through a thigh support link 54d;

[0023] The ankle joint 56 also includes an ankle joint shaft 56b, an ankle joint rotating member 56c and an ankle joint energy storage torsion spring 56d, one end of the ankle joint shaft 56b is fixedly connected to the ankle joint rotating member 56c, the middle part is axially connected to the ankle joint supporting member 56a, and the other end is fixedly connected to the ankle joint synchronous wheel 55c of the synchronous pulley mechanism 55;

[0024] The hip joint synchronous wheel 55a of the synchronous pulley mechanism 55 is driven by the hip joint energy storage servo motor 54b of the hip joint external rotation energy storage unit 54, and the ankle joint synchronous wheel 55c is connected to the hip joint synchronous wheel 55a through a synchronous belt 55b.

[0025] The ankle joint energy storage torsion spring 56d is sleeved on the ankle joint shaft 56b, and its two ends are respectively fixed to the ankle joint support member 56a and the ankle joint rotating member 56c; when the ankle joint energy storage torsion spring 56d is in a natural state, the thigh support link 54d and the calf support link 56e are parallel in space, and the left catapult take-off leg 51 is in a straight state;

[0026] The lower side of the ankle joint rotating member 56c is connected to the oblique connecting platform 57b on the sole plate 57a of the elastic energy storage foot 57 through the calf supporting connecting rod 56e;

[0027] The elastic energy storage foot 57 also includes a toe joint energy storage torsion spring 58 and a toe joint rotating plate 59a. The sole plate 57a is axially connected to the toe joint rotating plate 59a on both sides, and a toe joint energy storage torsion spring 58 is provided therebetween. When the toe joint energy storage torsion spring 58 is in a natural state, the sole plate 57a and the toe joint rotating plate 59a are in the same horizontal position.

[0028] The front end of the torsion link 38 of the passive torsion mechanism 3 is fixedly connected to the energy storage elastic rope I38a, and the rear end is fixedly connected to the energy storage elastic rope II38b; the other ends of the energy storage elastic rope I38a and the energy storage elastic rope II38b are respectively fixedly connected to the front and rear ends of the torsion bracket 31; when the torsion link 38 is located in the middle position of the front and rear buffer limit columns 39, the energy storage elastic rope I38a and the energy storage elastic rope II38b are both in an unstretched state.

[0029] The internal transmission part 53 of the hip joint of the left ejection take-off leg 51 includes a hip joint rotation servo motor 53c and a hip joint rotation reducer 53d. The hip joint rotation servo motor 53c drives the hip joint external rotation energy storage part 54 to rotate via the hip joint rotation reducer 53d. The hip joint external rotation energy storage part 54 includes a hip joint energy storage servo motor 54b and a hip joint energy storage reducer 54c. The hip joint energy storage servo motor 54b drives the hip joint synchronous wheel 55a to rotate via the hip joint energy storage reducer 54c.

[0030] The left and right flapping wings 2 include a left flapping wing 21 and a right flapping wing 22, which have the same structure; the left flapping wing 21 is composed of a flapping wing vein skeleton 21a and a flapping wing vein membrane 21b; when the flapping wing is flapping, the flapping wing and the wing root rotating rod 32 are twisted due to fluid-solid coupling, and the linear elastic telescopic member 33 and the torsion connecting rod 38 are driven to rotate together, and the rotating shafts of the wing root rotating rod 32, the torsion connecting rod 38 and the torsion bracket 31 are respectively , , the torsion link 38 is connected to the front and rear buffer limit posts 39 in the steady state position I and the steady state position II respectively; when it is in the two stable positions, the positions of the common rotating axis of the elastic telescopic member 33 and the torsion link 38 are respectively recorded and , the position of the flapping plane is recorded as and , ∠ is the torsion angle of the flapping wing between two stable positions, so: .

[0031] The transmission flapping mechanism 6 is driven by a driving motor 60, and the driving motor 60 is fixedly connected to the main support plate 10 of the fuselage frame 1; the left and right power wheels of the transmission flapping mechanism 6 rotate symmetrically and synchronously in a circle, and the left flapping wing rocker sleeve 20a and the right flapping wing rocker sleeve 20b are driven to swing up and down through the left ball head pull rod 67a and the right ball head pull rod 67b respectively, thereby realizing the symmetrical and synchronous flapping of the left flapping wing 21 and the right flapping wing 22.

[0032] The tail rudder 7 includes a tail rudder bracket 70, three rudder control servos, a vertical rudder 72, a left horizontal rudder 74, and a right horizontal rudder 76. The three rudder control servos are fixed to the tail rudder bracket 70 and respectively drive the vertical rudder 72, the left horizontal rudder 74, and the right horizontal rudder 76 to rotate.

[0033] The present invention provides a flapping-wing aircraft that can be launched and has a sweep-torsion mechanism, which belongs to the technical field of aircraft. It includes: a fuselage frame, left and right flapping wings, a passive torsion mechanism, a sweeping mechanism, a launch and launch mechanism, a transmission flapping mechanism and a tail rudder, wherein: a passive torsion mechanism and a sweeping mechanism are provided at the root of the left and right flapping wings, the launch and launch mechanism is arranged in the middle of the fuselage, and a hip joint, a thigh, an ankle joint, a calf, a foot and a toe joint are provided from top to bottom in sequence, the inner and outer sides of the hip joint are controlled by a servo motor for relative rotation, the ankle joint and the toe joint are provided with elastic energy storage torsion springs, and a synchronous pulley and its driving mechanism are provided between the outer side of the hip joint and the outer side of the ankle joint to control the relative rotation between the thigh and the calf, so as to store energy for launch and launch. In summary, the aircraft can be launched and launched, and passive torsion and sweeping movements can be performed during the flapping of the wings, which is helpful to improve the flapping wing lift and the overall payload of the aircraft.

[0034] In summary, compared with the prior art, the present invention has the following beneficial effects and advantages:

[0035] The flapping-wing aircraft of the present invention is provided with a passive torsion mechanism at the root of the left and right wings. During the up and down flapping of the wings, the passive torsion of the left and right wings can be achieved through the fluid-solid coupling effect, the release of energy stored in the energy storage elastic rope and the inertia of the mechanism movement, thereby increasing the average lift of the flapping wings in a flapping cycle, which is helpful to increase the effective load of the aircraft.

[0036] The flapping-wing aircraft of the present invention is provided with a sweeping mechanism on the lower side of the left and right passive torsion mechanisms, which can be coupled with the passive torsion mechanism in motion. The flapping-wing aircraft sweeps forward in the downward phase, which is no different from an ordinary sweepable aircraft; the flapping-wing aircraft sweeps backward in the upward phase, that is, the flapping wing sweeps backward in the passive torsion state, which will increase the thrust of the aircraft in this phase and enable the aircraft to climb quickly and accelerate forward.

[0037] The flapping-wing aircraft of the present invention is provided with a catapult launching mechanism in the middle of its fuselage, and is provided with a hip joint, a thigh joint, an ankle joint, a calf joint, a foot joint and a toe joint in sequence from top to bottom, and elastic energy storage torsion springs are provided at the ankle joint and the toe joint; the flapping-wing aircraft can realize autonomous take-off (without holding hands) and take-off again after landing, and this function can be used for landing and take-off again in emergency situations when the aircraft performs tasks such as reconnaissance. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0039] Figure 2 It is a schematic diagram of a fuselage frame of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism and a specific structure of its front part according to the present invention;

[0040] Figure 3It is a three-dimensional structural schematic diagram of a transmission flapping mechanism of a flapping-wing aircraft capable of ejection and having a sweep-twist mechanism according to the present invention;

[0041] Figure 4 It is a schematic diagram of the specific structure of a transmission flapping mechanism of a flapping-wing aircraft capable of catapult take-off and having a sweep-twist mechanism according to the present invention;

[0042] Figure 5 It is a schematic diagram of the specific structure of the connection mode between the flapping wing and the passive torsion mechanism of a flapping wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0043] Figure 6 It is a schematic diagram of a flapping wing three-dimensional structure of a flapping wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0044] Figure 7 The present invention is a schematic diagram of the three-dimensional structure of a sweep mechanism and a passive twisting mechanism of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism; wherein Figure 7 (a) is the steady-state position I of the passive torsion mechanism, and the passive torsion angle of the flapping wing is 0° (flapping wing downward process state); Figure 7 (b) is the steady-state position II of the passive torsion mechanism, and the passive torsion angle of the flapping wing is the largest (the flapping wing is in the process of flapping upward);

[0045] Figure 8 It is a schematic diagram of the exploded structure of a sweep mechanism and a passive torsion mechanism of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0046] Fig. 9 The present invention is a schematic diagram of the state change of the passive twisting mechanism of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism during the flapping process; wherein Fig. 9 (a) is the steady-state position I of the passive torsion mechanism, the flapping wing process state; Fig. 9 (b) is the position state of the passive torsion mechanism during the transition process from flapping down to flapping up (from flapping up to flapping down); Fig. 9 (c) is the steady-state position II of the passive torsion mechanism, the flapping wing upward process state;

[0047] Fig.10 The present invention is a schematic diagram of the structure parameterization of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, in which a passive torsion mechanism is equipped with an energy storage elastic rope and a flapping-wing torsion angle; wherein Fig.10 (a) Schematic diagram of the parameterization of the inner and outer structures of the passive torsion mechanism when it is in the steady-state position I; Fig.10 (b) is a schematic diagram of the parameterization of the inner and outer structures of the passive torsion mechanism when it is in the steady-state position II;

[0048] Fig.11It is a schematic diagram of the overall structure of a catapult-and-jump mechanism of a flapping-wing aircraft capable of catapult-and-jump and having a sweep-and-twist mechanism according to the present invention;

[0049] Fig.12 It is a schematic diagram of the overall structure of the left ejection and take-off leg of a flapping-wing aircraft capable of ejection and take-off and having a sweep-twist mechanism according to the present invention; Fig.13 It is a schematic diagram of the explosion structure at the hip joint of the left ejection and take-off leg of a flapping-wing aircraft capable of ejection and take-off and having a sweep-twist mechanism according to the present invention;

[0050] Fig.14 It is a schematic diagram of the three-dimensional structure of the inner and outer sides of the ankle joint of the left catapult-taking leg of a flapping-wing aircraft capable of catapult-taking and having a sweep-twist mechanism according to the present invention;

[0051] Fig.15 It is a schematic diagram of the explosion structure at the ankle joint of the left ejection and take-off leg of a flapping-wing aircraft capable of ejection and take-off and having a sweep-twist mechanism according to the present invention;

[0052] Fig.16 It is a schematic diagram of the specific structure of an elastic energy storage foot of a left ejection and take-off leg of a flapping-wing aircraft capable of ejection and having a sweep-twist mechanism according to the present invention;

[0053] Fig.17 It is a schematic diagram of the specific structure of a tail rudder of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0054] Fig.18 It is a schematic diagram of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, with the flapping wings in an upper limit position of the present invention;

[0055] Fig.19 It is a schematic diagram of a flapping-wing aircraft capable of ejection and take-off and having a sweep-twist mechanism in a flapping-wing downward state according to the present invention;

[0056] Fig. 20 It is a schematic diagram of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, with the flapping wings in a lower limit position of the present invention;

[0057] Fig.21 It is a schematic diagram of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism in a flapping-wing upward state according to the present invention;

[0058] Fig. 22 A is a schematic diagram of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, with its wings flapping forward;

[0059] Fig.23 Schematic diagram B (top view) of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, with its wings flapping forward;

[0060] Fig.24 It is a schematic diagram of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, in which the flapping wings of the aircraft are swept backwards;

[0061] Fig.25 The present invention is a schematic diagram of the state of a catapult-jump mechanism of a flapping-wing aircraft capable of catapult-jumping and having a sweep-twist mechanism during the catapult-jumping and take-off process; wherein Fig.25 (a) is the position state of the ejection and take-off mechanism before ejection and take-off; Fig.25 (b) The position of the ejection mechanism when the ejection is completed and the aircraft has just left the ground; Fig.25 (c) The ejection mechanism is in the retracted position when the aircraft is flying forward;

[0062] Fig.26 The present invention is a schematic diagram of the state of the ejection and take-off mechanism of a flapping-wing aircraft capable of ejection and take-off and having a sweep-twist mechanism during the deceleration landing process; wherein Fig.26 (a) The position of the ejection mechanism when the aircraft is decelerating and preparing to land; Fig.26 (b) The position of the ejection mechanism when the aircraft just touches the ground; Fig.26 (c) The position of the ejection mechanism after the aircraft completes landing;

[0063] Fig. 27 It is a tail rudder state A during pitching motion of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0064] Fig.28 It is a tail rudder state B during pitching motion of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to the present invention;

[0065] Fig.29 The invention discloses a tail rudder state of a flapping-wing aircraft capable of ejection and take-off and having a sweep-twist mechanism during yaw motion.

[0066] In the attached picture:

[0067] 1. Fuselage frame; 10. Main support plate; 10a. Anti-collision buffer; 11. Left connecting plate; 12. Right connecting plate; 13. Connecting column; 14. Bearing; 15. Fixed sleeve; 16. Main support connecting rod; 20. Flapping wing root support; 20a. Left flapping wing rocker sleeve; 20b. Right flapping wing rocker sleeve;

[0068] 2. Left and right flapping wings; 21. Left flapping wing; 22. Right flapping wing; 21a. Flapping wing wing vein skeleton; 21b. Flapping wing wing vein membrane; 21c. Flapping wing internal connection joint;

[0069] 3. Passive torsion mechanism; 30. Support frame; 30a. Internal fixing sleeve; 30b. Upper support platform; 30c. Lower support platform; 31. Torsion bracket; 32. Wing root rotating rod; 32a. Square platform; 32b. External connecting sleeve; 33. Linear elastic telescopic member; 34. Sliding sleeve; 34a. Hollow sliding rail; 34b. Square groove; 35. Spring; 36. Sliding rod; 37. Transition connecting shaft; 38. Torsion connecting rod; 39. Buffer limit column; 38a. Energy storage elastic rope I; 38b. Energy storage elastic rope II;

[0070] 4. Sweep mechanism; 40. Sweep servo; 41. Sector gear rudder arm; 42. Sweep gear;

[0071] 5. Ejection and take-off mechanism; 50. Middle bracket; 51. Left ejection and take-off leg; 52. Right ejection and take-off leg;

[0072] 53. Hip joint internal transmission part; 53a. Support plate I; 53b. Support rod; 53c. Hip joint rotation servo motor; 53d. Hip joint rotation reducer; 53e. Flange;

[0073] 54. Hip joint external rotation energy storage unit; 54a. Double-layer hip joint external bracket; 54b. Hip joint energy storage servo motor; 54c. Hip joint energy storage reducer; 54d. Thigh support connecting rod;

[0074] 55. Synchronous pulley mechanism; 55a. Hip joint synchronous pulley; 55b. Synchronous belt; 55c. Ankle joint synchronous pulley; 55d. Outer auxiliary bracket; 55e. Hip joint auxiliary bracket; 55f. Outer support connecting rod; 55g. Ankle joint auxiliary bracket; 56. Ankle joint; 56a. Ankle joint support member; 56b. Ankle joint shaft; 56c. Ankle joint rotating member; 56d. Ankle joint energy storage torsion spring; 56e. Lower leg support connecting rod;

[0075] 57. Elastic energy storage foot; 57a. Foot sole; 57b. Oblique connection platform; 57c. Torsion spring fixing platform I; 57d. Torsion spring support shaft; 57e. Rear toe; 58. Toe joint energy storage torsion spring; 59a. Toe joint rotation plate; 59b. Torsion spring fixing platform II; 59c. Front toe;

[0076] 6. Transmission flapping mechanism; 60. Driving motor; 61. Primary pinion; 62. Primary gear; 63a. Left secondary pinion; 63b. Right secondary pinion; 64a. Left output gear; 64b. Right output gear; 65. Transmission shaft; 66. Output shaft; 67a. Left ball head tie rod; 67b. Right ball head tie rod;

[0077] 7. Tail rudder; 70. Tail rudder bracket; 71. Vertical rudder control servo; 72. Vertical rudder; 72a. Rudder surface bracket; 72b. Rudder surface support rod; 72c. Rudder surface membrane; 73. Left horizontal rudder control servo; 74. Left horizontal rudder; 75. Right horizontal rudder control servo; 76. Right horizontal rudder. DETAILED DESCRIPTION

[0078] Embodiment 1:

[0079] A flapping-wing aircraft capable of launching and taking off and having a sweep-twist mechanism, comprising:

[0080] Fuselage frame 1, left and right flapping wings 2, passive torsion mechanism 3, sweeping mechanism 4, transmission flapping mechanism 6, tail rudder 7, wherein:

[0081] The transmission flapping mechanism 6 drives the left flapping wing rocker 20a and the right flapping wing rocker 20b whose symmetry axes are connected to the left and right sides of the fuselage frame 1 to swing up and down, and the left and right flapping wings 2 flap up and down symmetrically;

[0082] The passive torsion mechanism 3 is arranged between the flapping wing rocker and the flapping wing, and is arranged symmetrically on the left and right;

[0083] The passive torsion mechanism 3 includes: a support frame 30, a torsion bracket 31, a wing root rotating rod 32, a linear elastic telescopic member 33, a transition connecting shaft 37, a torsion connecting rod 38, and two buffer limit columns 39;

[0084] The support frame 30 is provided with an inner fixing sleeve 30a inside and an upper support platform 30b outside, and the inner fixing sleeve 30a is fixedly connected to the outer end of the flapping sleeve;

[0085] The torsion bracket 31 is arranged on the upper support 30b of the support frame 30;

[0086] Two buffer limit columns 39 are fixedly connected to the front and rear inner sides of the top of the torsion bracket 31. A wing root turning rod shaft hole is provided above the upper support platform 30b, and a torsion connecting rod shaft is provided above the wing root turning rod shaft hole.

[0087] The wing root rotating rod 32 is provided with a square platform 32a inside and an external connecting sleeve 32b outside, and the external connecting sleeve 32b is fixedly connected to the root of the flapping wing;

[0088] The linear elastic telescopic member 33 comprises a sliding sleeve 34, a spring 35, and a sliding rod 36. The sliding rod 36 is slidably matched with the sliding sleeve 34, and a spring 35 in a compressed state is arranged between the two.

[0089] The wing root rotating rod 32 is axially connected to the wing root rotating rod axial hole of the torsion bracket 31, and its inner square platform 32a is fixedly connected to the square groove 34b of the sliding sleeve 34 in the linear elastic telescopic member 33;

[0090] The lower end of the torsion link 38 is axially connected to the torsion bracket 31 through the torsion link shaft, and the upper end is axially connected to the top end of the slide rod 36 through the transition connecting shaft 37. The torsion link 38 is located between the front and rear buffer limit columns 39 and rotates.

[0091] A sweep shaft is provided at the lower part of the torsion bracket 31, and the sweep shaft passes vertically downward through the upper support platform 30b and is axially connected to the upper support platform 30b; the sweep servo 40 of the sweep mechanism 4 is fixed on the lower support platform 30c of the support frame 30, and its output shaft is fixedly connected to the fan-shaped gear rudder arm 41; the lower end of the sweep shaft is fixedly connected to the sweep gear 42, and the fan-shaped gear rudder arm 41 is meshed with the sweep gear 42, and the sweep servo 40 drives the sweep shaft to rotate.

[0092] The middle part of the fuselage of the flapping-wing aircraft of the present invention is also provided with a catapult take-off mechanism 5, which comprises an intermediate bracket 50 fixedly connected to the middle part of the main supporting connecting rod 16 of the fuselage frame 1 and a left catapult take-off leg 51 and a right catapult take-off leg 52 symmetrically arranged on the left and right sides thereof, and the two have the same structure;

[0093] The left catapult take-off leg 51 includes a hip joint internal transmission part 53, a hip joint external rotation energy storage part 54, a thigh support connecting rod 54d, a synchronous pulley mechanism 55, an ankle joint 56, a calf support connecting rod 56e and an elastic energy storage foot 57;

[0094] The hip joint internal transmission part 53 and the hip joint external rotation energy storage part 54 of the left catapult take-off leg 51 are respectively located on the inner and outer sides, and the relative rotation between the two is controlled by the hip joint rotation servo motor 53c of the hip joint internal transmission part 53;

[0095] The support of the hip joint external rotation energy storage unit 54 is connected to the ankle joint support member 56a of the ankle joint 56 through a thigh support link 54d;

[0096] The ankle joint 56 includes an ankle joint support 56a, an ankle joint shaft 56b, an ankle joint rotating member 56c and an ankle joint energy storage torsion spring 56d, one end of the ankle joint shaft 56b is fixedly connected to the ankle joint rotating member 56c, the middle part is axially connected to the ankle joint support 56a, and the other end is fixedly connected to the ankle joint synchronous wheel 55c of the synchronous pulley mechanism 55;

[0097] The hip joint synchronous wheel 55a of the synchronous pulley mechanism 55 is driven by the hip joint energy storage servo motor 54b of the hip joint external rotation energy storage unit 54, and the ankle joint synchronous wheel 55c is connected to the hip joint synchronous wheel 55a through a synchronous belt 55b.

[0098] The ankle joint energy storage torsion spring 56d is sleeved on the ankle joint shaft 56b, and its two ends are respectively fixed to the torsion spring mounting grooves of the ankle joint support member 56a and the ankle joint rotating member 56c; when the ankle joint energy storage torsion spring 56d is in a natural state, the thigh support link 54d and the calf support link 56e are parallel in space, and the left catapult take-off leg 51 is in a straight state;

[0099] The lower side of the ankle joint rotating member 56c is connected to the oblique connecting platform 57b on the sole plate 57a of the elastic energy storage foot 57 through the calf supporting connecting rod 56e;

[0100] The elastic energy storage foot 57 includes a sole plate 57a, a torsion spring support shaft 57d, a rear toe 57e, a toe joint energy storage torsion spring 58, a toe joint rotation plate 59a and a front toe 59c; the sole plate 57a and the toe joint rotation plate 59a are axially connected through bosses on both sides; the front middle part of the sole plate 57a is axially connected to the torsion spring support shaft 57d, and the toe joint energy storage torsion spring 58 is sleeved on the torsion spring support shaft 57d, and the two ends are respectively fixed to the torsion spring fixing platform I57c of the sole plate 57a and the torsion spring fixing platform II59b of the toe joint rotation plate 59a;

[0101] The rear end of the sole plate 57a is fixedly connected to the rear toe 57e, and the front end of the toe joint rotating plate 59a is fixedly connected to the front toe 59c; when the toe joint energy storage torsion spring 58 is in a natural state, the sole plate 57a and the toe joint rotating plate 59a are in the same horizontal position.

[0102] The lower boss of the slide rod 36 of the linear elastic telescopic member 33 in the passive torsion mechanism 3 is located in the hollow slide rail 34a of the slide sleeve 34, and the two can slide relative to each other. A spring 35 is provided between the upper end of the hollow slide rail 34a and the lower boss of the slide rod 36. The spring 35 is sleeved on the slide rod 36 and is in a compressed state; the spring 35 provides a force for the slide rod 36 to contract inwardly relative to the slide sleeve 34, that is, provides a steady-state contact force between the torsion link 38 and the front and rear two buffer limit columns 39, that is, provides a steady-state force for the flapping wings to prevent interference with it by side wind and turbulence during flight.

[0103] See attached Figure 8 -Attached Fig.10 The front end of the torsion link 38 is fixedly connected to the energy storage elastic rope I38a, and the rear end thereof is fixedly connected to the energy storage elastic rope II38b; the other ends of the energy storage elastic rope I38a and the energy storage elastic rope II38b are respectively fixedly connected to the front and rear ends of the torsion bracket 31; when the torsion link 38 coincides with the axial projection of the linear elastic telescopic member 33, that is, when the torsion link 38 is located in the middle between the front and rear buffer limit columns 39, the flapping wing is in a transition position between the two stable positions, and at this time, the energy storage elastic rope I38a and the energy storage elastic rope II38b are both in an unstretched state.

[0104] The hip joint internal transmission part 53 of the left ejection take-off leg 51 includes a support plate Ⅰ53a, a support rod 53b, a hip joint rotation servo motor 53c, a hip joint rotation reducer 53d and a flange plate 53e. The support plate Ⅰ53a is fixedly connected to the left side boss of the intermediate bracket 50 through the support rod 53b. The hip joint rotation servo motor 53c and the hip joint rotation reducer 53d are respectively fixedly connected to the left side boss of the intermediate bracket 50 and the support plate Ⅰ53a. The output shaft of the hip joint rotation servo motor 53c is connected to the input end of the hip joint rotation reducer 53d, and the output end of the hip joint rotation reducer 53d is fixedly connected to the flange plate 53e; the outer side of the flange plate 53e is fixedly connected to the inner side of the double-layer hip joint external bracket 54a of the hip joint external rotation energy storage part 54, and the hip joint rotation servo motor 53c can drive the hip joint external rotation energy storage part 54 to rotate relative to the hip joint internal transmission part 53;

[0105] The hip joint energy storage servo motor 54b and the hip joint energy storage reducer 54c are respectively fixed to the inner and outer sides of the double-layer hip joint external bracket 54a, the output shaft of the hip joint energy storage servo motor 54b is connected to the input end of the hip joint energy storage reducer 54c, the output end of the hip joint energy storage reducer 54c is fixed to the hip joint synchronous wheel 55a, and the hip joint energy storage servo motor 54b can drive the synchronous wheel 55a to rotate;

[0106] The lower outer side of the double-layer hip joint external support 54a is fixedly connected to the thigh support link 54d, and an outer auxiliary support 55d is also provided between the outer sides of the double-layer hip joint external support 54a and the ankle joint support 56a; the outer auxiliary support 55d includes a hip joint auxiliary support 55e, an outer support link 55f and an ankle joint auxiliary support 55g, and the hip joint auxiliary support 55e and the ankle joint auxiliary support 55g are respectively fixedly connected to the outer sides of the double-layer hip joint external support 54a and the ankle joint support 56a, and the two are connected via the outer support link 55f.

[0107] The left and right flapping wings 2 include a left flapping wing 21 and a right flapping wing 22, and the left flapping wing 21 and the right flapping wing 22 have the same structure; the left flapping wing 21 is composed of a flapping wing vein skeleton 21a, a flapping wing vein wing membrane 21b and a flapping wing internal connector 21c; the flapping wing internal connector 21c is fixedly connected to the inner side of the flapping wing vein skeleton 21a, and the left flapping wing 21 is fixedly connected to the outer connecting sleeve 32b of the wing root rotating rod 32 through the flapping wing internal connector 21c; the flapping wing vein wing membrane 21b is wrapped on the outer side of the flapping wing vein skeleton 21a. In actual manufacturing, the flapping wing vein skeleton 21a is made of carbon fiber material, and the flapping wing vein wing membrane 21b is made of lightweight and high-strength polyester or nylon film.

[0108] See attached Fig.10 (a) and attached Fig.10(b) When the flapping wing is flapping, the flapping wing and the wing root rotating rod 32 are passively twisted due to fluid-solid coupling, and the linear elastic telescopic member 33 and the torsion connecting rod 38 are driven to rotate together. The rotation axis of the wing root rotating rod 32 is , the rotating shaft of the torsion connecting rod 38 is , The extension end of the connection is Note that the common shaft transition shaft 37 between the linear elastic telescopic member 33 and the torsion link 38 is attached Fig.10 (a) and attached Fig.10 (b) The two stable positions are and ; Note as attached Fig.10 (a) When the torsion link 38 is connected to the front buffer limit column 39, it is the steady state position I, at which the flapping wing plane is located at , as attached Fig.10 (b) When the torsion link 38 is connected to the rear buffer limit column 39, it is the steady state position II, at which the flapping wing plane position is In summary, ( ) is the axis of the linear elastic expansion member 33, ( ) is the axis of the torsion link 38, ∠ is the change angle of the torsion link 38 between the two stable positions. The included angles of the linear elastic expansion member 33 and the torsion link 38 when in the two stable positions are respectively , , The change angle of the linear elastic expansion member 33 between two stable positions, is the torsion angle of the flapping wing between two stable positions; therefore, the following relationship exists: .

[0109] The fuselage frame 1 includes a main support plate 10, an anti-collision buffer 10a, a left connecting plate 11, a right connecting plate 12, a connecting column 13, a fixing sleeve 15, a main support connecting rod 16, and a flapping root support 20. The left connecting plate 11 and the right connecting plate 12 are symmetrically fixed to the left and right sides of the main support plate 10 through the connecting column 13, and the anti-collision buffer 10a is fixed to the front part of the main support plate 10; the front end of the main support connecting rod 16 is fixed to the rear part of the main support plate 10 through the fixing sleeve 15, and the rear end thereof is fixed to the tail rudder bracket 70 of the tail rudder 7; the flapping root support 20 is fixed to the upper end of the main support plate 10, and the left and right sides thereof are symmetrically axially connected to the left flapping wing rocking sleeve 20a and the right flapping wing rocking sleeve 20b of the transmission flapping mechanism 6.

[0110] The transmission flapping mechanism 6 includes a driving motor 60, a primary pinion 61, a primary gear 62, a left secondary pinion 63a, a right secondary pinion 63b, a left output gear 64a, a right output gear 64b, a transmission shaft 65, an output shaft 66, a left ball head pull rod 67a, a right ball head pull rod 67b, a left flapping wing rocker 20a and a right flapping wing rocker 20b;

[0111] The primary pinion 61 is fixedly connected to the output end of the driving motor 60; the transmission shaft 65 and the output shaft 66 are simultaneously axially connected to the main support plate 10, the left connecting plate 11 and the right connecting plate 12, and the axial connection is provided with a bearing 14; the transmission shaft 65 is fixedly connected to the left secondary pinion 63a, the primary large gear 62 and the right secondary pinion 63b from left to right; the left and right ends of the output shaft 66 are respectively fixedly connected to the left output large gear 64a and the right output large gear 64b, that is, the left and right power wheels; the primary pinion 61 is connected to the primary large gear 6 2 are meshed with each other, the left secondary pinion 63a and the right secondary pinion 63b are meshed with the left output gear 64a and the right output gear 64b respectively; the left output gear 64a and the right output gear 64b rotate symmetrically and synchronously in a circle, and respectively drive the left flapping wing rocker sleeve 20a and the right flapping wing rocker sleeve 20b on the left and right sides to swing up and down through the left ball head pull rod 67a and the right ball head pull rod 67b, thereby realizing the symmetrical and synchronous flapping of the left flapping wing 21 and the right flapping wing 22, thereby forming the transmission flapping mechanism 6 of the spatial crank rocker mechanism (RSSR).

[0112] The tail rudder 7 comprises a tail rudder bracket 70, a vertical rudder control steering gear 71, a vertical rudder 72, a left horizontal rudder control steering gear 73, a left horizontal rudder 74, a right horizontal rudder control steering gear 75, and a right horizontal rudder 76. The vertical rudder control steering gear 71 is fixedly connected to the upper part of the tail rudder bracket 70, and its output end is fixedly connected to the vertical rudder 72 upward; the left horizontal rudder control steering gear 73 and the right horizontal rudder control steering gear 75 are respectively fixedly connected to the left and right sides of the tail rudder bracket 70, and their output ends are both facing outward and are respectively fixedly connected to the left horizontal rudder 74 and the right horizontal rudder 76; the vertical rudder 72, the left horizontal rudder 74, and the right horizontal rudder 76 have similar structures. Taking the vertical rudder 72 as an example, it comprises a rudder surface bracket 72a, a rudder surface support rod 72 and a rudder surface wing membrane 72c. The rudder surface bracket 72a is fixedly connected to the output end of the vertical rudder control steering gear 71, and the rudder surface wing membrane 72c is wrapped around the outside of the rudder surface support rod 72.

[0113] Embodiment 2:

[0114] In some embodiments, the servo-driven fan-shaped gear rudder arm 41 and sweeping gear 42 of the sweeping mechanism 4 in this embodiment can be replaced by other mechanisms with reciprocating motion characteristics, such as: a crank-connecting rod mechanism driven by a motor, in which the motor drives the crank to rotate in a circle, and the root of the rocker is fixedly connected to the lower end of the torsion bracket 31, which can also complete the flapping wing forward and backward sweeping function in the present invention.

[0115] The mechanism movement process of a flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism of the present invention is specifically as follows:

[0116] During takeoff and landing, the aircraft can realize autonomous ejection takeoff, deceleration landing and re-takeoff after landing through the left ejection leg 51 and the right ejection leg 52 of the ejection mechanism 5. Taking the left ejection leg 51 as an example, the specific process is as follows:

[0117] When taking off, see the attached Fig.25 (a), firstly, the hip joint rotation servo motor 53c is used to control the hip joint external rotation energy storage part 54 and the thigh support link 54d to rotate backward relative to the hip joint internal transmission part 53. In this process, the hip joint energy storage servo motor 54b drives the ankle joint rotation part 56c of the ankle joint 56 to rotate relative to the ankle joint support part 56a through the synchronous pulley mechanism 55, and the ankle joint energy storage torsion spring 56d is squeezed on both sides to perform elastic energy storage; in the above process, as the angle of the hip joint external rotation energy storage part 54 and the thigh support link 54d to rotate backward gradually increases, the center of gravity of the aircraft will move forward, and the fuselage will tilt to a certain extent; the elastic energy storage foot 57 The sole plate 57a of the foot will rotate upward relative to the toe joint rotating plate 59a, and its rear side will leave the ground. The toe joint energy storage torsion spring 58 will be compressed to store elastic energy. At this time, the aircraft reaches the critical state of catapult take-off, and the drive of the hip joint energy storage servo motor 54b is instantly cut off (its power supply is cut off), and the hip joint rotation servo motor 53c is used to control the hip joint external rotation energy storage part 54 and the thigh support connecting rod 54d to rotate forward relative to the hip joint internal transmission part 53. The torsion spring energy storage of the ankle joint 56 and the toe joint is released instantly, and the left catapult take-off leg 51 and the right catapult take-off leg 52 push the ground at the same time to react on the fuselage, realizing the catapult take-off of the aircraft, thereby transitioning to the attachment. Fig.25 (b); then, the hip joint rotation servo motor 53c is used to control the hip joint external rotation energy storage part 54 and the thigh support link 54d to rotate backward relative to the hip joint internal transmission part 53; during this process, the ankle joint energy storage torsion spring 56d is in a natural state, that is, the left ejection take-off leg 51 and the right ejection take-off leg 52 are both in a straight state, and are retracted to the rear side of the fuselage, becoming an attached Fig.25 (c) status.

[0118] When landing, see the attached Fig.26 (a) The left and right catapult take-off legs 51 and 52 are controlled to rotate to the adjacent positions by rotating the servo motor 53c at the hip joint. Fig.26 (a) and the aircraft gradually decelerates and approaches the ground. When the elastic energy storage foot 57 touches the ground, the hip joint rotation servo motor 53c is used again to control the hip joint external rotation energy storage part 54 and the thigh support connecting rod 54d to rotate backward relative to the hip joint internal transmission part 53. The hip joint energy storage servo motor 54b drives the ankle joint 56's ankle joint rotation part 56c to rotate relative to the ankle joint support part 56a via the synchronous pulley mechanism 55 to store energy before the ejection. The left ejection take-off leg 51 and the right ejection take-off leg 52 are gradually moved from the attached Fig.26 (b) Conversion to Fig.26 (c) state, that is, finally returned to the adjacent Fig.25 (a) The initial state before takeoff described above, at which point the aircraft has completed its deceleration and landing, and can complete the catapult takeoff operation again.

[0119] When the aircraft is flying, the transmission flapping mechanism 6 of the flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism of the present invention is driven by a driving motor 60, and the output end of the driving motor 60 drives the primary pinion 61 to rotate, and the primary pinion 61 drives the primary gear 62 to rotate, thereby driving the transmission shaft 65 and the left secondary pinion 63a and the right secondary pinion 63b on the left and right sides thereof to rotate together, and the left secondary pinion 63a and the right secondary pinion 63b respectively drive the left output gear 64a and the right output gear 64b to rotate together, and then drive the left flapping-wing rocker sleeve 20a and the right flapping-wing rocker sleeve 20b on the left and right sides to swing up and down through the left ball head pull rod 67a and the right ball head pull rod 67b, respectively, and the up and down swinging of the two will drive the passive torsion mechanism 3 and the flapping wing on the outside thereof to flap synchronously.

[0120] When the two wings flap, the left wing 21 and the right wing 22 of the flapping-wing aircraft flap symmetrically and synchronously, and the roots of the left wing 21 and the right wing 22 are both provided with a passive torsion mechanism 3. Therefore, the left and right flapping wings 2 can realize the passive torsion motion of the flapping wings between two steady-state positions (steady-state position I, steady-state position II) through the action of fluid-solid coupling and the motion of the torsion mechanism during the up and down flapping process. Since the passive torsion motion mode of the left flapping wing 21 and the right flapping wing 22 is the same during the flapping process, the passive torsion motion mode of the left flapping wing 21 and the root thereof is taken as an example:

[0121] See attached Figure 7 , Attachment Fig. 9 , Attachment Fig.10 and attached Fig.18 When the left flapping wing 21 is at the upper limit position, the torsion link 38 in the passive torsion mechanism 3 is connected to the front buffer limit column 39 (twist angle 0°), see the attached Figure 7 (a) Attachment Fig. 9 (a) and attached Fig.10(a), the left flapping wing 21 is in the initial position and does not undergo twisting motion relative to the twisting bracket 31, that is, the passive twisting mechanism 3 is in the steady-state position I, and this state is regarded as the beginning of the flapping cycle;

[0122] See attached Fig.18 , Attachment Fig.19 and attached Fig. 20 During the flapping process of the left flapping wing 21 from the upper limit position to the lower limit position, due to the fluid-solid coupling effect on the lower surface of the left flapping wing 21 (the asymmetric flapping wing is subjected to a torsional force around the axis of the wing root rotating rod 32) and the effect of the front buffer limit column 39, the passive torsion mechanism 3 at the root of the left flapping wing 21 is always in the steady-state position I, that is, no torsion occurs, providing positive lift for the fuselage during the entire downward flapping process of the left flapping wing 21; during this process, the energy storage elastic rope I 38a is always in an unstretched state, and the energy storage elastic rope II 38b is in an extended and stretched energy storage state;

[0123] During the transition from the left flapping wing 21 to the lower limit position and the upper limit position, due to the fluid-solid coupling effect, the release of the energy stored in the energy storage elastic rope II 38b and the inertia of the mechanism movement, the torsion link 38 in the passive torsion mechanism 3 quickly moves from the lower limit position to the upper limit position. Location Go to Due to the action of the linear elastic expansion member 33, the torsion link 38 quickly connects with the rear buffer limit column 39 and tends to be stable. For details, see Figure 7 (b) Attachment Fig. 9 (c) and attached Fig.10 (b), the left flapping wing 21 performs twisting motion during this process, and the flapping wing and the passive twisting mechanism 3 rotate to the steady-state position II, and the flapping wing twisting angle is = During this process, the energy storage elastic rope Ⅰ38a changes to an extended and stretched energy storage state, and the energy storage elastic rope Ⅱ38b changes to an unstretched state;

[0124] See attached Fig.21 During the flapping of the left flapping wing 21 from the lower limit position to the upper limit position, the flapping wing and the passive torsion mechanism 3 are in the steady-state position II after passive torsion, which reduces the upward resistance of the left flapping wing 21 and thus increases the average lift of the left flapping wing 21 in one cycle; when the left flapping wing 21 flaps to the upper limit position, due to the fluid-solid coupling effect, the release of the energy stored in the energy storage elastic rope I38a and the inertia of the mechanism movement, the left flapping wing 21 will return to the upper limit position. Fig.18 The upper limit position shown is the steady-state position I where the passive torsion mechanism 3 does not undergo torsion;

[0125] The movement process of the right flapping wing 22 on the right side and the passive torsion mechanism 3 at its root is the same as that of the left side.

[0126] When the flapping-wing aircraft of the present invention is flying, the sweeping mechanism 4 and the passive torsion mechanism 3 can be coupled to achieve rapid climbing and accelerated advancement of the aircraft. The specific process is as follows:

[0127] The sweeping servo 40 of the sweeping mechanism 4 drives the torsion bracket 31 to reciprocate forward and backward. Fig. 22 and attached Fig.23 The flapping wing is controlled by the sweep servo 40 to sweep forward during the flapping process, and in this process, it is no different from an ordinary sweepable aircraft; see the attached Fig.24 During the flapping process (passive twisting has occurred), the flapping wing is controlled by the sweep servo 40 to sweep backward, and the thrust provided by the flapping wing to the fuselage is greatly improved, thereby enabling the aircraft to climb quickly and accelerate forward in a short time.

[0128] When the flapping-wing aircraft of the present invention is flying, the pitching motion and yaw motion of the aircraft can be controlled by the tail rudder 7, and the specific process is as follows:

[0129] See attached Fig. 27 and attached Fig.28 The pitch and elevation motion of the aircraft is realized by controlling the left horizontal rudder 74 and the right horizontal rudder 76 to rotate downward and upward at the same time by the left horizontal rudder control steering gear 73 and the right horizontal rudder control steering gear 75 located at the rear of the aircraft tail rudder 7; see the attached Fig.29 The vertical rudder control servo 71 controls the vertical rudder 72 to swing left and right to achieve the yaw movement of the aircraft.

[0130] Through the above embodiments and the specific movement process of the mechanism, the overall structure of the flapping-wing aircraft disclosed in the present invention that can be launched and has a sweep-twist mechanism can be fully understood. In summary, the following embodiments can be used to describe the overall structure of the flapping-wing aircraft that can be launched and has a sweep-twist mechanism. Fig.25 , Attachment Fig.26 The working process of the flapping-wing aircraft of the present invention, such as catapult take-off, deceleration and landing, can be well demonstrated by the attached Fig. 9 and attached Fig.10 , Attachment Figure 18-21 The position and state of the left and right flapping wings 2 and the passive torsion mechanism 3 of the flapping-wing aircraft of the present invention in a flapping cycle are well demonstrated, and the attached Figure 27-29 The working state of the tail rudder 7 during the pitch and yaw motion of the flapping-wing aircraft is well demonstrated.

Claims

1. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism, characterized in that: It comprises a fuselage frame (1), left and right flapping wings (2), a passive torsion mechanism (3), a sweeping mechanism (4), a transmission flapping mechanism (6), and a tail rudder (7); The transmission flapping mechanism (6) drives the flapping wing rocker sleeve whose symmetry axis is connected to the fuselage frame (1) to swing up and down, and the left and right flapping wings (2) to flap up and down; The passive torsion mechanism (3) is arranged between the flapping wing rocker sleeve and the flapping wing; The passive torsion mechanism (3) comprises: a support frame (30), a torsion bracket (31), a wing root rotating rod (32), a linear elastic telescopic member (33), a transition connecting shaft (37), a torsion connecting rod (38), and two buffer limit columns (39); The support frame (30) is provided with an inner fixing sleeve (30a) inside and an upper support platform (30b) outside, and the inner fixing sleeve (30a) is fixedly connected to the outer end of the flapping sleeve; The torsion bracket (31) is arranged on the upper support platform (30b) of the support frame (30); Two buffer limit columns (39) are fixedly connected at the front and rear of the top of the torsion bracket (31); a wing root rotating rod shaft hole is provided above the upper support platform (30b); and a torsion connecting rod rotating shaft is provided above the wing root rotating rod shaft hole; The wing root rotating rod (32) is provided with a square platform (32a) inside and an external connecting sleeve (32b) outside, and the external connecting sleeve (32b) is fixedly connected to the root of the flapping wing; The linear elastic telescopic member (33) comprises a sliding sleeve (34), a spring (35), and a sliding rod (36); the sliding rod (36) and the sliding sleeve (34) are slidably matched, and a spring (35) in a compressed state is arranged between the two. The wing root rotating rod (32) is axially connected to the wing root rotating rod axial hole of the torsion bracket (31), and its inner square platform (32a) is fixedly connected to the square groove (34b) of the sliding sleeve (34) in the linear elastic telescopic member (33); The lower end of the torsion link (38) is axially connected to the torsion bracket (31) via a torsion link rotating shaft, and the upper end of the torsion link (38) is axially connected to the top end of the sliding rod (36) via a transition connecting shaft (37).

2. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 1, characterized in that: A sweep shaft is provided at the lower part of the torsion bracket (31), and the sweep shaft passes through the upper support platform (30b) downward and is axially connected to the upper support platform (30b); a sweep servo (40) of the sweep mechanism (4) is fixed on the support bracket (30), and its output shaft is fixedly connected to the fan-shaped gear rudder arm (41); the lower end of the sweep shaft is fixedly connected to the sweep gear (42), the fan-shaped gear rudder arm (41) is meshed with the sweep gear (42), and the sweep servo (40) drives the sweep shaft to rotate.

3. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 1 or 2, characterized in that: A catapult take-off mechanism (5) is also provided in the middle of the fuselage of the aircraft, comprising a middle bracket (50) and a left catapult take-off leg (51) and a right catapult take-off leg (52) symmetrically disposed on the left and right sides thereof; The left catapult take-off leg (51) comprises a hip joint internal transmission part (53), a hip joint external rotation energy storage part (54), a thigh support connecting rod (54d), a synchronous pulley mechanism (55), an ankle joint (56), a calf support connecting rod (56e) and an elastic energy storage foot (57); The hip joint internal transmission part (53) and the hip joint external rotation energy storage part (54) of the left ejection take-off leg (51) are respectively located on the inner and outer sides, and the relative rotation between the two is controlled by the hip joint rotation servo motor (53c) of the hip joint internal transmission part (53); The hip joint external rotation energy storage part (54) is connected to the ankle joint support member (56a) of the ankle joint (56) via a thigh support connecting rod (54d); The ankle joint (56) further comprises an ankle joint rotating shaft (56b), an ankle joint rotating member (56c) and an ankle joint energy storage torsion spring (56d); one end of the ankle joint rotating shaft (56b) is fixedly connected to the ankle joint rotating member (56c), the middle part is axially connected to the ankle joint supporting member (56a), and the other end is fixedly connected to the ankle joint synchronous wheel (55c) of the synchronous pulley mechanism (55); The hip joint synchronous wheel (55a) of the synchronous belt pulley mechanism (55) is driven by a hip joint energy storage servo motor (54b) of the hip joint external rotation energy storage unit (54), and the ankle joint synchronous wheel (55c) is connected to the hip joint synchronous wheel (55a) via a synchronous belt (55b); The ankle joint energy storage torsion spring (56d) is sleeved on the ankle joint rotating shaft (56b), and its two ends are respectively fixedly connected to the ankle joint supporting member (56a) and the ankle joint rotating member (56c); when the ankle joint energy storage torsion spring (56d) is in a natural state, the thigh support connecting rod (54d) and the shank support connecting rod (56e) are parallel in space, and the left catapult take-off leg (51) is in a straight state; The lower side of the ankle joint rotating member (56c) is connected to an oblique connecting platform (57b) on the sole plate (57a) of the elastic energy storage foot (57) via a calf supporting connecting rod (56e); The elastic energy storage foot (57) further comprises a toe joint energy storage torsion spring (58) and a toe joint rotation plate (59a); the foot sole (57a) and the toe joint rotation plate (59a) are axially connected at both sides, and a toe joint energy storage torsion spring (58) is arranged between the two; when the toe joint energy storage torsion spring (58) is in a natural state, the foot sole (57a) and the toe joint rotation plate (59a) are in the same horizontal position.

4. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 3, characterized in that: The torsion link (38) of the passive torsion mechanism (3) has a front end fixedly connected to an energy storage elastic rope I (38a), and a rear end fixedly connected to an energy storage elastic rope II (38b); the other ends of the energy storage elastic rope I (38a) and the energy storage elastic rope II (38b) are respectively fixedly connected to the front and rear ends of the torsion bracket (31); when the torsion link (38) is located in the middle of the front and rear buffer limit posts (39), the energy storage elastic rope I (38a) and the energy storage elastic rope II (38b) are both in an unstretched state.

5. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 4, characterized in that: The hip joint internal transmission part (53) of the left ejection take-off leg (51) comprises a hip joint rotation servo motor (53c) and a hip joint rotation reducer (53d); the hip joint rotation servo motor (53c) drives the hip joint external rotation energy storage part (54) to rotate via the hip joint rotation reducer (53d); the hip joint external rotation energy storage part (54) comprises a hip joint energy storage servo motor (54b) and a hip joint energy storage reducer (54c); the hip joint energy storage servo motor (54b) drives the hip joint synchronous wheel (55a) to rotate via the hip joint energy storage reducer (54c).

6. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 5, characterized in that: The left and right flapping wings (2) include a left flapping wing (21) and a right flapping wing (22), and the two have the same structure; the left flapping wing (21) is composed of a flapping wing vein skeleton (21a) and a flapping wing vein membrane (21b); when the wings flap, the flapping wings and the wing root rotating rod (32) are twisted due to fluid-solid coupling, and the linear elastic telescopic part (33) and the torsion connecting rod (38) are driven to rotate together, and the rotation axes of the wing root rotating rod (32), the torsion connecting rod (38) and the torsion bracket (31) are respectively , , the torsion link (38) is connected to the front and rear buffer limit posts (39) in the stable position I and the stable position II respectively; when located in the two stable positions, the positions of the common rotation axis of the elastic telescopic member (33) and the torsion link (38) are respectively recorded as and , the position of the flapping plane is recorded as and , ∠ is the torsion angle of the flapping wing between two stable positions, so: 。 7. The flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 6, characterized in that: The transmission flapping mechanism (6) is driven by a driving motor (60), and the driving motor (60) is fixedly connected to the main support plate (10) of the fuselage frame (1); the left and right power wheels of the transmission flapping mechanism (6) rotate symmetrically and synchronously in a circle, and the left flapping wing rocker sleeve (20a) and the right flapping wing rocker sleeve (20b) are driven to swing up and down respectively through the left ball head pull rod (67a) and the right ball head pull rod (67b), thereby realizing the symmetrical and synchronous flapping of the left flapping wing (21) and the right flapping wing (22).

8. A flapping-wing aircraft capable of catapult takeoff and having a sweep-twist mechanism according to claim 6 or 7, characterized in that: The tail rudder (7) comprises a tail rudder bracket (70), three tail servos, a vertical rudder (72), a left horizontal rudder (74), and a right horizontal rudder (76); the three servos are fixedly connected to the tail rudder bracket (70) and respectively drive the vertical rudder (72), the left horizontal rudder (74), and the right horizontal rudder (76) to rotate.

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