Multi-degree-of-freedom ornithopter

Abstract

The invention discloses a multi-degree-of-freedom ornithopter, and belongs to the technical field of ornithopters. The device comprises a driving assembly, the output end of the driving assembly penetrates through a fixing frame to be connected with a crank mechanism, the main machine frame is provided with a sliding mechanism, one end of the sliding mechanism is connected with the crank mechanism, the other end of the sliding mechanism is connected with a lifting device, and the two ends of the lifting device are connected with flapping wing assemblies. The direction control assembly is arranged at the tail end of the driving assembly and used for controlling the direction of the aircraft; the power module is used for supplying power to the aircraft; according to the direction control assembly, when the front empennage rotates, the empennage moves left and right relative to the fuselage, and large yawing torque is provided; when the rear steering engine rotates, the empennage rotates around the central axis parallel to the fuselage axis, a part of yawing moment and pitching moment are provided, and the movement direction of the empennage can be controlled at any time.

Description

Technical Field

[0001] The invention relates to a multi-freedom-degree flapping-wing aircraft, belonging to the technical field of flapping-wing aircraft. Background Art

[0002] A flapping-wing aircraft refers to an aircraft that generates lift and propulsion through the active movement of its wings like a bird. Its characteristics are: the wings are the main movement, the reaction force of the wings flapping the air is used as lift and propulsion, and the flight direction is changed by changing the position of the tail.

[0003] At present, bionic flapping-wing aircraft mainly imitate birds and insects, and most of them are bird flapping-wing aircraft, such as the smartbird produced by FESTO and the Metafly developed by French aviation engineer Edwin Van Ruymbeke, which have achieved great success. Domestic universities have also made a lot of progress in the field of flapping-wing flight. Harbin Institute of Technology, Northwestern Polytechnical University, Beijing University of Aeronautics and Astronautics, Nanjing University of Aeronautics and Astronautics and other universities have successfully developed many prototypes in both micro flapping-wing aircraft and medium and large flapping-wing aircraft, and expanded the power source from traditional batteries and motors to electrostatic drive and other directions. However, most of them have single-segment wings, which are quite different from the bionic characteristics of real bird flight and have some defects. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom flapping-wing aircraft that can stretch the wings during the downstroke and fold the wings during the upstroke, a multi-degree-of-freedom two-stage wing flapping-wing aircraft that imitates the flying mode of birds, and can realize lifting and steering functions through a servo.

[0005] In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: A multi-degree-of-freedom flapping-wing aircraft, comprising: A driving assembly, wherein the output end of the driving assembly is connected to a crank mechanism through a fixed frame, the main frame is provided with a sliding mechanism, one end of the sliding mechanism is connected to the crank mechanism, the other end of the sliding mechanism is connected to a lifting device, and both ends of the lifting device are connected to flapping wing assemblies; A direction control component, which is arranged at the end of the driving component and is used to control the direction of the aircraft; The power module is used to provide power to the aircraft.

[0006] Optionally, the drive assembly includes a motor and a secondary gear transmission mechanism, the motor is fixed by a motor fixing frame, the motor fixing frame is fixed to the fixing frame by bolts, the fixing frame is fixed to the main frame by bolts, the input end of the secondary gear transmission mechanism is connected to the output end of the motor, and the output end passes through the main frame and is connected to the crank mechanism.

[0007] Optionally, the secondary gear transmission mechanism includes a driving gear connected to the output end of the motor, the driving gear is meshed with a driving shaft gear, one end of the driving shaft gear is coaxially provided with a secondary driven shaft gear, the secondary driven shaft gear is meshed with a driven shaft gear, the driven shaft gear is provided with a driven shaft, the driven shaft is connected to a crank mechanism, and the other end of the driving shaft gear is rotatably connected to a fixed frame.

[0008] Optionally, the crank mechanism includes a crank connected to the passive shaft at one end, and the other end of the crank is connected to the rod via a fastening bolt. At the same time, the rod is connected to one end of the fisheye bearing 2, and the other end of the fisheye bearing 2 is connected to the sliding mechanism.

[0009] Optionally, the direction control component includes a tail wing frame, a servo 1, and a servo 2, the motor is fixedly provided with a loading platform, the tail wing frame is connected to the loading platform, the servo 1 is arranged on the tail wing frame, the servo 1 is connected to the servo 2 through a servo accessory 1, and the servo 2 is connected to an inner wing connector 1 through a servo accessory 2.

[0010] Optionally, the sliding mechanism includes a slider assembly and a slide groove, the slide groove is opened on the main frame, the slider assembly moves in the slide groove, and the lifting device is connected to the slider assembly.

[0011] Optionally, the slider assembly includes a slider part one and a slider part two, the slider part one is inserted into the slide groove, and the slider part two is threadedly installed with the slider part one on the other side of the slide groove, so that the slider assembly and the lifting device can move up and down in the slide groove.

[0012] Optionally, the flapping wing assembly includes a swing rod connected to the lifting device, the swing rod is connected to an inner wing structure, and the inner wing structure is connected to an outer wing structure. The end of the swing rod passes through the transverse slide groove of the main frame through a connecting piece and is connected to one end of the fisheye bearing one, and the other end of the fisheye bearing one drives the outer wing structure through a carbon fiber rod one.

[0013] Optionally, the inner wing structural member is connected head to tail in sequence through an inner wing connecting member, and the outer wing structural member is rotatably connected to the inner wing connecting member through the inner and outer wing connecting members.

[0014] Optionally, the power module uses a battery, and the battery is equipped with an electric regulator.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The directional control assembly of the present invention, when the front tail rotates, the tail moves left and right relative to the fuselage, providing a large yaw moment; when the rear servo rotates, the tail rotates around the central axis parallel to the fuselage axis, providing a part of the yaw moment and pitch moment, and can control the direction of its movement at any time; The present invention adopts a motor drive, and transmits power to the crank slider mechanism through a two-stage reduction device to drive the wings on both sides to flap, which can ensure that the movement amplitudes of the wings on the left and right sides are the same and the stability of the flight can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure shows a schematic diagram of the front view mechanism of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 2 The figure shows a schematic diagram of the deployment of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 3 The figure shows a schematic diagram of the structure of a driving assembly of a multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 4 The figure shows the structure schematic diagram of the crank slider mechanism of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 5 The figure shows a schematic diagram of the structure of the tail assembly of a multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 6 The figure shows a schematic diagram of the structure of the inner wing part of the flapping-wing assembly of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 7 The figure shows a schematic diagram of the structure of the loading platform of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 8 The figure shows a schematic diagram of the structure of a slider assembly of a multi-degree-of-freedom flapping-wing aircraft of the present invention; In the figure: 1, main frame; 2, inner and outer wing connecting piece 1; 3, carbon fiber rod 1; 4, inner and outer wing connecting piece 2; 5, carbon fiber rod 2; 6, fisheye bearing 1; 7, carbon fiber rod 3; 8, carbon fiber rod 4; 9, carbon fiber rod 5; 10, inner wing connecting piece 2; 11, inner wing connecting piece 4; 12, inner and outer wing connecting piece 3; 13, inner wing connecting piece 3; 14, outer wing connecting piece 1; 15, outer wing connecting piece 2; 16, passive shaft gear; 17, passive shaft; 18, motor; 19, fixed frame; 20, driving gear; 2 1. Driving shaft gear; 22. Secondary driving shaft gear; 23. Driving rotating shaft; 24. Fisheye bearing 2; 25. Crank; 26. Rod; 27. Slider assembly; 28. Slide; 29. ​​Lifting device; 30. Tail wing frame; 31. Servo 1; 32. Servo accessory 1; 33. Servo 2; 34. Servo accessory 2; 35. Inner wing connector 1; 36. Inner and outer wing connector 4; 37. Battery; 38. Electric adjustment; 39. Loading platform; 40. Rear main frame; 41. Slider part 1; 42. Slider part 2. DETAILED DESCRIPTION

[0017] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0020] like Figure 1-Figure 2 As shown, a multi-degree-of-freedom flapping-wing aircraft is disclosed, comprising: A driving assembly, wherein the output end of the driving assembly is connected to a crank mechanism through a fixed frame, the main frame is provided with a sliding mechanism, one end of the sliding mechanism is connected to the crank mechanism, the other end of the sliding mechanism is connected to a lifting device, and both ends of the lifting device are connected to flapping wing assemblies; A direction control component, which is arranged at the end of the driving component and is used to control the direction of the aircraft; The power module is used to provide power to the aircraft.

[0021] The driving assembly includes a motor and a two-stage gear transmission mechanism. The motor 18 is fixed by a motor fixing frame 19. The motor fixing frame 19 is fixed to a fixing frame 40 by bolts. The fixing frame is fixed to the main frame 1 by bolts. The input end of the two-stage gear transmission mechanism is connected to the output end of the motor 18, and the output end passes through the main frame and is connected to the crank mechanism.

[0022] The motor 18 is a brushless DC motor, which is fixed to the motor fixing frame 19 by screw connection, and the motor fixing frame 19 is fixed to the rear main frame by bolt connection. The motor is a brushless DC motor of the model X2212 KV2450 of Sunnysky, which weighs about 57g.

[0023] like Figure 3 As shown, the two-stage gear transmission mechanism includes a driving gear 20 connected to the output end of the motor 18, the driving gear is meshed with a driving shaft gear 21, one end of the driving shaft gear is coaxially provided with a secondary driven shaft gear 22, the secondary driven shaft gear is meshed with a driven shaft gear 16, the driven shaft gear is provided with a driven shaft 17, the driven shaft 17 is connected to the crank mechanism, and the other end of the driving shaft gear 21 is rotatably connected to the fixed frame 40.

[0024] The motor driving gear 20 is directly connected to the motor shaft of the DC brushless motor 18 through a set screw; the active rotating shaft 23 is connected to the active shaft large gear 21 through a set screw, the active rotating shaft is a gear shaft, and the active shaft small gear is a gear directly processed on the active shaft. The active rotating shaft 23 is connected to the front main frame 1 and the rear main frame 40 through two bearings respectively; the passive rotating shaft 17 is connected to the passive shaft large gear 16 through a set screw, and the passive rotating shaft 17 is connected to the front main frame 1 through a bearing. The gear module is 0.5, the number of teeth of the large gear is 80, the number of teeth of the small gear is 16, and the gear ratio is 1:5. The gears and gear shafts of the reduction mechanism are made of aluminum alloy to reduce weight.

[0025] like Figure 4As shown, the crank mechanism includes a crank 25 connected to the driven shaft 17, the crank 25 is connected to a rod, the rod is connected to one end of a fisheye bearing 24, and the other end of the fisheye bearing 24 is connected to a sliding mechanism.

[0026] Optionally, the direction control component includes a tail wing frame, a servo 1, and a servo 2, the motor is fixedly provided with a loading platform, the tail wing frame is connected to the loading platform, the servo 1 is arranged on the tail wing frame, the servo 1 is connected to the servo 2 through a servo accessory 1, and the servo 2 is connected to an inner wing connector 1 through a servo accessory 2.

[0027] The servo 1 31 is connected to the tail frame 30 by screws, the servo output shaft is connected to the servo accessory 1 32, the servo accessory 1 32 and its upper part are connected by screws to fix the servo 2 33, the output shaft of the servo 2 33 is connected to the servo accessory 2 34 and the servo clamp, and the 5 notches of the servo clamp are respectively inserted with 2mm carbon fiber rods of different lengths to form the tail. The servo selected is the ES08D II model, which has the advantages of small mass, sufficient torque, and precise control.

[0028] like Figure 4 As shown, the sliding mechanism includes a slider assembly 27 and a slide groove 28 . The slide groove 28 is provided on the main frame 1 . The slider assembly 27 moves in the slide groove 28 . The lifting device 29 is connected to the slider assembly 27 .

[0029] like Figure 8 As shown, the slider assembly 27 includes a slider part 1 41 and a slider part 2 42. The slider part 1 41 is inserted into the slide slot 28. The slider part 2 42 is threadedly installed with the slider part 1 41 on the other side of the slide slot 28, so that the slider assembly 27 and the lifting device 29 can move up and down in the slide slot 28. The slider mechanism is composed of the slider part 1 41 and the slider part 2 42. When installing, the slider part 1 41 is first inserted into the slide slot 28 of the front main frame 1. The slider part 2 42 and the lifting device are threadedly installed with the slider part 1 41 on the other side of the slide slot, so that the slider assembly and the lifting device 29 can move up and down in the slide slot 28. In order to satisfy the expected flapping effect of the wings, the crank length and the effective stroke of the slide slot are set to 13.5 mm. The slider part 2 42 and the lifting device are threadedly installed with the slider part 1 41 on the other side of the slide slot, so that the slider assembly and the lifting device 29 can move up and down in the slide slot 28.

[0030] Optionally, the flapping-wing assembly includes a swing rod connected to the lifting device 29, the swing rod is connected to an inner wing structure, the inner wing structure is connected to an outer wing structure, the end of the swing rod passes through a transverse slide groove of the main frame 1 through a connecting member and is connected to one end of a fisheye bearing 6, and the other end of the fisheye bearing 6 drives the outer wing structure through a carbon fiber rod 3.

[0031] Specifically, they are: inner wing connector, inner and outer wing connector, outer wing connector and carbon fiber rod. The left and right inner wing connectors 35 are connected to the lifting device 29 through bearings respectively, one end of which is inserted into the slide groove 28 of the front main frame and connected to the fisheye bearings 6 on the left and right sides, and the other two end grooves are respectively inserted with 4mm carbon fiber rod 8 and 3.5mm carbon fiber rod 9, the other end of the 3.5mm carbon fiber rod 9 is inserted into the groove of the inner wing connector 2 10, and the other end of the 4mm carbon fiber rod 8 is inserted into the groove of the inner wing connector 3 13; the other section of the groove of the inner wing connector 2 10 and the inner wing connector 3 13 is respectively inserted with 2.5mm carbon fiber rod 7 and 3.5mm carbon fiber rod, and finally the two carbon fiber rods are respectively connected to the two grooves of the inner wing connector 4 11, that is, the four inner wing connectors and the four carbon fiber rods together constitute the inner wing part. The other ends of the fisheye bearing 2 and the fisheye bearing 3 6 connected to the inner wing connector 1 35 are connected to an aluminum rod, one end of the aluminum rod is inserted into the small slide groove of the front main frame, and is fixed by a nut and a thread connection on the aluminum rod, and the other end of the aluminum rod is connected to the inner and outer wing connector 1 2, and is also fixed by a nut and a thread connection on the aluminum rod; a 4mm carbon fiber rod 3 is connected to the groove of the inner and outer wing connector 1 2, and the other end of the carbon fiber rod 3 is inserted into the groove of the inner and outer wing connector 2 4, the inner and outer wing connector 2 4 is connected to the inner and outer wing connector 3 12 through an aluminum rod, a 3.5mm carbon fiber rod on the outer side of the inner wing is inserted into one of the notches of the inner and outer wing connector 3 12, and a 4mm carbon fiber rod 5 is inserted into the other notch to form the outer wing part, at the same time, the 3.5mm carbon fiber rod on the outer side of the inner wing is also inserted into the notch of the inner and outer wing connector 4 11, and a 2.5mm aluminum rod is inserted into the other notch of the inner and outer wing connector 4 11, which together with the outer wing connector 1 14 and the outer wing connector 2 15 constitute the outer wing part.

[0032] The other ends of the fisheye bearing 2 and the fisheye bearing 3 6 connected to the inner wing connector 1 35 are connected to an aluminum rod, one end of the aluminum rod is inserted into the small slide groove of the front main frame, and is fixed by a nut and a thread connection on the aluminum rod, and the other end of the aluminum rod is connected to the inner and outer wing connector 1 2, and is also fixed by a nut and a thread connection on the aluminum rod; a 4mm carbon fiber rod 3 is connected to the groove of the inner and outer wing connector 1 2, and the other end of the carbon fiber rod is inserted into the groove of the inner and outer wing connector 2 4, the inner and outer wing connector 2 4 is connected to the inner and outer wing connector 3 12 through an aluminum rod, a 3.5mm carbon fiber rod on the outer side of the inner wing is inserted into one of the notches of the inner and outer wing connector 3 12, and a 4mm carbon fiber rod 5 is inserted into the other notch to form the outer wing part, at the same time, the 3.5mm carbon fiber rod on the outer side of the inner wing is also inserted into the notch of the inner and outer wing connector 4 11, and a 2.5mm aluminum rod is inserted into the other notch of the inner and outer wing connector 4 11, which together with the outer wing connector 1 14 and the outer wing connector 2 15 constitute the outer wing part.

[0033] In this embodiment, the wingspan is 135 cm, which is the distance between the farthest ends of the left and right outer wings, and the length is 35.8 cm, which is the distance between the front end of the main frame and the farthest end of the tail wing. The two-section wing can imitate the flapping motion mode of bird flight in reality, and realize the wings stretching in the downstroke and folding in the upstroke during the flapping process. Compared with the single-section wing, it has higher bionic performance, can perform high-maneuverability flight at low altitude, and can carry image sensors and other equipment on the loading platform to realize reconnaissance, exploration, search and other functions.

[0034] Optionally, the power module uses a battery 37, and the battery 37 is equipped with an electric regulator 38. The loading platform 39 is used to install components such as the battery 37 and the electric regulator 38, and various components will be installed on the loading platform later by passing materials such as wire through holes.

[0035] like Figure 3 The motor 18 is fixed to the motor fixing frame 19 by four bolts, and its motor driving gear 20 is connected to the motor shaft of the brushless DC motor 18; the motor driving gear 20 is meshed with the driving shaft large gear 21, and the power is transmitted to the passive shaft through the meshing of the driving shaft small gear 22 and the passive shaft large gear 16, thereby realizing the secondary gear reduction.

[0036] like Figure 4 , the passive shaft 17 is fixed to the front main frame through a bearing, and is connected to the crank by a fastening screw at the end. One end of the fisheye bearing 24 is connected to the crank 25, and the other end cooperates with the slider assembly 27 to convert the rotational motion of the crank into the reciprocating motion of the slider assembly. The lifting device 29 is connected to the slider assembly through a thread, and the two move up and down in the slide groove 28 together. Bearings are installed on both sides of the lifting device 29 and are connected to the inner and outer wing connecting pieces 14, so that the inner and outer wing connecting pieces 14 can convert the up and down reciprocating motion of the lifting device 29 into the flapping of the inner wing; like Figure 1 , Figure 2 , Figure 6 One end of the inner and outer wing connecting piece 14 is connected to the A end of the fisheye bearing 6 and inserted into the small horizontal slide groove on the front main frame 1, which can drive the A end of the fisheye bearing 6 to reciprocate in the horizontal direction. The B end of the fisheye bearing 6 is connected to the inner and outer wing connecting piece 2 4 and the inner and outer wing connecting piece 3 12 through an aluminum rod. The other end of the aluminum rod is inserted into the small vertical slide groove on the front main frame 1, which can drive the B end to reciprocate in the vertical direction, so that the fisheye bearing 6 can rotate clockwise during the inner wing rising stage. Figure 1 It can be seen that the fisheye bearing 6, the carbon fiber rod 3, the carbon fiber rod 8, and the inner and outer wing connecting parts 12 form a parallelogram as a whole, so that the inner and outer wing connecting parts 12 can simultaneously rotate clockwise during the inner wing rising stage, thereby driving the outer wing to flap downward, thereby achieving the wings stretching in the downstroke and folding in the upstroke during the flapping process.

[0037] The tail assembly adopts a serial decoupling solution, that is, the rear servo is fixed on the motion platform of the front servo, so as to realize the independent movement of the two servos, which is easy to solve. The tail part is composed of 5 carbon fiber rods to form a basic skeleton, and then covered with polyester fiber material. When the front servo rotates, the tail moves left and right relative to the fuselage, providing a large yaw moment; when the rear servo rotates, the tail rotates around the central axis parallel to the fuselage axis, providing a part of the yaw moment and pitch moment, thereby realizing functions such as steering and changing movement posture; The flapping angle of the wing is determined by the angle between the two ends of the inner wing connector, which is about 40°. When the wings are stretched, they are parallel to the ground, the flapping angle is 0, and the upward flapping angle is 40°, which enables it to generate sufficient forward force and lift.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom flapping-wing aircraft, characterized in that: include: A driving assembly, wherein the output end of the driving assembly is connected to a crank mechanism through a fixed frame, the main frame is provided with a sliding mechanism, one end of the sliding mechanism is connected to the crank mechanism, the other end of the sliding mechanism is connected to a lifting device, and both ends of the lifting device are connected to flapping wing assemblies; A direction control component, which is arranged at the end of the driving component and is used to control the direction of the aircraft; The power module is used to provide power to the aircraft.

2. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that: The driving assembly includes a motor and a two-stage gear transmission mechanism, the motor is fixed by a motor fixing frame, the motor fixing frame is fixed to the fixing frame by bolts, the fixing frame is fixed to the main frame by bolts, the input end of the two-stage gear transmission mechanism is connected to the output end of the motor, and the output end passes through the main frame and is connected to the crank mechanism.

3. The multi-degree-of-freedom flapping-wing aircraft according to claim 2, characterized in that: The two-stage gear transmission mechanism includes a driving gear connected to the output end of the motor, the driving gear is meshed with a driving shaft gear, one end of the driving shaft gear is coaxially provided with a secondary driven shaft gear, the secondary driven shaft gear is meshed with a driven shaft gear, the driven shaft gear is provided with a driven shaft, the driven shaft is connected to the crank mechanism, and the other end of the driving shaft gear is rotatably connected to a fixed frame.

4. The multi-degree-of-freedom flapping-wing aircraft according to claim 3, characterized in that: The crank mechanism comprises a crank connected to the driven shaft at one end, the other end of the crank is connected to the rod by a fastening bolt, and the rod is connected to one end of the fisheye bearing 2, and the other end of the fisheye bearing 2 is connected to the sliding mechanism.

5. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that: The direction control component includes a tail wing frame, a first servo, and a second servo. The motor is fixedly provided with a loading platform. The tail wing frame is connected to the loading platform. The first servo is arranged on the tail wing frame. The first servo is connected to the second servo through a first servo accessory. The second servo is connected to an inner wing connector one through a second servo accessory.

6. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that: The sliding mechanism comprises a slider assembly and a slide groove, wherein the slide groove is arranged on the main frame, the slider assembly moves in the slide groove, and the lifting device is connected to the slider assembly.

7. The multi-degree-of-freedom flapping-wing aircraft according to claim 6, characterized in that: The slider assembly includes a slider part one and a slider part two, wherein the slider part one is inserted into the slide groove, and the slider part two is threadedly mounted with the slider part one on the other side of the slide groove, so that the slider assembly and the lifting device can move up and down in the slide groove.

8. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that: The flapping wing assembly includes a swing rod connected to the lifting device, the swing rod is connected to an inner wing structure, and the inner wing structure is connected to an outer wing structure. The end of the swing rod passes through the transverse slide groove of the main frame through a connecting piece and is connected to one end of the fisheye bearing one, and the other end of the fisheye bearing one drives the outer wing structure through a carbon fiber rod one.

9. The multi-degree-of-freedom flapping-wing aircraft according to claim 8, characterized in that: The inner wing structural member is composed of a head and a tail connected in sequence through an inner wing connecting member, and the outer wing structural member is rotatably connected to the inner wing connecting member through the inner and outer wing connecting members.

10. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that: The power module uses a battery, and the battery is equipped with an electric regulator.

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