A multi-degree of freedom flapping wing aircraft

Abstract

The application discloses a multi-degree-of-freedom flapping-wing aircraft and belongs to the technical field of flapping-wing aircrafts. The flapping-wing aircraft comprises a driving assembly, a crank mechanism connected to the output end of the driving assembly through a fixing frame, a sliding mechanism arranged on the main frame, one end of the sliding mechanism connected to the crank mechanism, a lifting device connected to the other end of the sliding mechanism, flapping-wing assemblies connected to the two ends of the lifting device, a direction control assembly arranged at the end of the driving assembly and used for controlling the direction of the aircraft, and a power module used for providing power supply for the aircraft. When the front tail wing rotates, the tail wing moves left and right relative to the fuselage, thereby providing a large yawing moment. When the rear rudder motor rotates, the tail wing rotates around the central shaft parallel to the fuselage shaft, thereby providing a part of the yawing moment and the pitching moment, and the direction of the motion of the aircraft can be controlled at any time.

Description

Technical Field

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

[0002] Ornithopter aircraft are aircraft that generate lift and forward force through the active movement of their wings, much like birds. Their characteristics are: wings are the main means of movement, the reaction force of the wings striking the air is used as lift and forward force, and the flight direction is changed by changing the position of the tail.

[0003] Current biomimetic flapping-wing aircraft primarily mimic birds and insects, with most focusing on bird-based flapping-wing designs. Examples include FESTO's Smartbird and French aerospace engineer Edwin Van Ruymbeke's Metall, both of which have achieved significant success. Domestic universities have also made considerable progress in flapping-wing flight. Universities such as Harbin Institute of Technology, Northwestern Polytechnical University, Beijing University of Aeronautics and Astronautics, and Nanjing University of Aeronautics and Astronautics have successfully developed numerous prototypes, ranging from micro to medium-to-large-sized flapping-wing aircraft, and have expanded power sources from traditional batteries and motors to electrostatic drives and other methods. However, most of these are single-segment wings, differing significantly from the biomimetic characteristics of real bird flight and exhibiting some shortcomings. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom flapping wing aircraft that can mimic the flight mode of birds by having its wings spread during the lower stroke and folded during the upper stroke. It can also achieve the functions of climbing and turning through servo motors.

[0005] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution: A multi-degree-of-freedom flapping-wing aircraft, comprising: The drive assembly has an output end that passes through a fixed frame and is connected to a crank mechanism. The main frame is equipped with a sliding mechanism. One end of the sliding mechanism is connected to the crank mechanism, and the other end of the sliding mechanism is connected to a lifting device. Both ends of the lifting device are connected to flapping wing assemblies. A direction control component, located at the end of the drive component, 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 two-stage gear transmission mechanism. The motor is fixed by a motor mounting bracket, which is bolted to a mounting frame. The mounting frame is bolted to the main frame. 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.

[0007] Optionally, the secondary gear transmission mechanism includes a drive gear connected to the output end of the motor, the drive gear meshing with a drive shaft gear, a secondary drive shaft gear coaxially provided at one end of the drive shaft gear, the secondary drive shaft gear meshing with a driven shaft gear, the driven shaft gear having a driven shaft, the driven shaft being connected to a crank mechanism, and the other end of the drive shaft gear being rotatably connected to a fixed frame.

[0008] Optionally, the crank mechanism includes a crank with one end connected to the driven shaft, the other end of the crank being connected to the rod via a fastening bolt, and the rod being connected to one end of the second fisheye bearing, the other end of the second fisheye bearing being connected to a sliding mechanism.

[0009] Optionally, the direction control assembly includes a tail fin frame, a first servo motor, and a second servo motor. The motor is fixedly mounted on a loading platform. The tail fin frame is connected to the loading platform. The first servo motor is mounted on the tail fin frame and is connected to the second servo motor via a first servo motor accessory.

[0010] Optionally, the sliding mechanism includes a slider assembly and a slide groove, the slide groove being formed on the main frame, the slider assembly moving within the slide groove, and the lifting device being 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 arm connected to a lifting device, the swing arm being connected to an inner wing structural member, and the inner wing structural member being connected to an outer wing structural member. The end of the swing rod is connected to one end of the fisheye bearing by passing through the transverse slide groove of the main frame via a connector, and the other end of the fisheye bearing drives the outer wing structure via a carbon fiber rod.

[0013] Optionally, the inner wing structural component is composed of two wing components connected end to end by inner wing connectors, and the outer wing structural component is rotatably connected to the inner wing connectors via inner and outer wing connectors.

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

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The directional control component of this invention has the following characteristics: when the front tail fin rotates, the tail fin moves left and right relative to the fuselage, providing a large yaw torque; when the rear servo rotates, the tail fin rotates around a central axis parallel to the fuselage axis, providing a portion of the yaw torque and pitch torque, and can control the direction of its movement at any time. This invention uses a single motor to drive the aircraft, and transmits power to a crank-slider mechanism through a two-stage reduction gear to flap the wings on both sides. This ensures that the amplitude of the movement of the wings on both sides is the same, thus guaranteeing flight stability. Attached Figure Description

[0016] Figure 1 The diagram shown is a front view of the mechanism of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 2 The diagram shown is a schematic representation of the deployment of the multi-degree-of-freedom flapping-wing aircraft of the present invention. Figure 3 The diagram shown is a schematic diagram of the drive assembly structure of the multi-degree-of-freedom flapping-wing aircraft of the present invention. Figure 4 The diagram shown is a schematic of the crank-slider mechanism of the multi-degree-of-freedom flapping-wing aircraft of the present invention. Figure 5 The diagram shown is a schematic diagram of the tail fin assembly structure of the multi-degree-of-freedom flapping-wing aircraft of the present invention; Figure 6 The diagram shown is a schematic diagram of the inner wing portion of the flapping wing assembly of the multi-degree-of-freedom flapping wing aircraft of the present invention. Figure 7 The diagram shown is a schematic diagram of the loading platform structure for the multi-degree-of-freedom flapping-wing aircraft of the present invention. Figure 8 The diagram shown is a schematic diagram of the slider assembly structure of the multi-degree-of-freedom flapping-wing aircraft of the present invention; In the diagram: 1. Main frame; 2. Inner and outer wing connector 1; 3. Carbon fiber rod 1; 4. Inner and outer wing connector 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 connector 2; 11. Inner wing connector 4; 12. Inner and outer wing connector 3; 13. Inner wing connector 3; 14. Outer wing connector 1; 15. Outer wing connector 2; 16. Driven shaft gear; 17. Driven shaft; 18. Motor; 19. Mounting frame; 20. Drive gear; 1. Drive shaft gear; 22. Secondary drive shaft gear; 23. Drive rotating shaft; 24. Fisheye bearing II; 25. Crank; 26. Rod; 27. Slider assembly; 28. Slide rail; 29. ​​Lifting device; 30. Tail wing frame; 31. Servo I; 32. Servo accessory I; 33. Servo II; 34. Servo accessory II; 35. Inner wing connector I; 36. Inner and outer wing connector IV; 37. Battery; 38. Electronic speed controller; 39. Loading platform; 40. Rear main frame; 41. Slider section I; 42. Slider section II. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] like Figures 1-2 As shown, a multi-degree-of-freedom flapping-wing aircraft is disclosed, comprising: The drive assembly has an output end that passes through a fixed frame and is connected to a crank mechanism. The main frame is equipped with a sliding mechanism. One end of the sliding mechanism is connected to the crank mechanism, and the other end of the sliding mechanism is connected to a lifting device. Both ends of the lifting device are connected to flapping wing assemblies. A direction control component, located at the end of the drive component, is used to control the direction of the aircraft; The power module is used to provide power to the aircraft.

[0021] The drive assembly includes a motor and a two-stage gear transmission mechanism. The motor 18 is fixed by a motor mounting bracket 19, which is fixed to a mounting bracket 40 by bolts. The mounting bracket 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 mounting bracket 19 by screws. The motor mounting bracket 19 is fixed to the rear main frame by bolts. The motor selected is a Sunnysky X2212 KV2450 brushless DC motor, which weighs approximately 57g.

[0023] like Figure 3 As shown, the secondary gear transmission mechanism includes a drive gear 20 connected to the output end of the motor 18, the drive gear meshing with a drive shaft gear 21, a secondary drive shaft gear 22 coaxially provided at one end of the drive shaft gear, the secondary drive shaft gear meshing with a driven shaft gear 16, the driven shaft gear having a driven shaft 17, the driven shaft 17 being connected to a crank mechanism, and the other end of the drive shaft gear 21 being rotatably connected to a fixed frame 40.

[0024] The motor drive gear 20 is directly connected to the motor shaft of the brushless DC motor 18 via a set screw; the active rotating shaft 23 is connected to the active shaft large gear 21 via a set screw. The active rotating shaft is a gear shaft, and the active shaft small gear is a gear directly machined on the active shaft. The active rotating shaft 23 is connected to the front main frame 1 and the rear main frame 40 respectively via two bearings; the passive rotating shaft 17 is connected to the passive shaft large gear 16 via a set screw, and the passive rotating shaft 17 is connected to the front main frame 1 via a bearing. The gear module is 0.5, the large gear has 80 teeth, the small gear has 16 teeth, 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, a rod connected to the crank 25, one end of the rod being connected to a fisheye bearing 24, and the other end of the fisheye bearing 24 being connected to a sliding mechanism.

[0026] Optionally, the direction control assembly includes a tail fin frame, a first servo motor, and a second servo motor. The motor is fixedly mounted on a loading platform. The tail fin frame is connected to the loading platform. The first servo motor is mounted on the tail fin frame and is connected to the second servo motor via a first servo motor accessory.

[0027] Servo 1 31 is connected to the tail fin frame 30 by screws. The servo output shaft is connected to servo accessory 1 32. Servo accessory 1 32 and its upper part are connected by screws to fix servo 2 33. The output shaft of servo 2 33 is connected to servo accessory 2 34 and servo clamp. The five slots of the servo clamp are respectively inserted into 2mm carbon fiber rods of different lengths to form the tail fin. The servo model ES08D II was selected, which has the advantages of small weight, 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 formed on the main frame 1, the slider assembly 27 moves within the slide groove 28, and the lifting device 29 is connected to the slider assembly 27.

[0029] like Figure 8 As shown, the slider assembly 27 includes a first slider part 41 and a second slider part 42. The first slider part 41 is inserted into the slide groove 28, and the second slider part 42 is threadedly connected to the first slider part 41 on the other side of the slide groove 28, allowing the slider assembly 27 and the lifting device 29 to move up and down within the slide groove 28. The slider mechanism consists of the first slider part 41 and the second slider part 42. During installation, the first slider part 41 is first inserted into the slide groove 28 of the front main frame 1. The second slider part 42 and the lifting device are threadedly connected to the first slider part 41 on the other side of the slide groove, allowing the slider assembly and the lifting device 29 to move up and down within the slide groove 28. To ensure the wings flap as expected, the crank length and the effective stroke of the slide groove are set to 13.5 mm. The second slider part 42 and the lifting device are threadedly connected to the first slider part 41 on the other side of the slide groove, allowing the slider assembly and the lifting device 29 to move up and down within the slide groove 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, and the inner wing structure is connected to an outer wing structure. The end of the swing rod passes through a transverse groove of the main frame 1 and is connected to one end of a fisheye bearing 6. The other end of the fisheye bearing 6 drives the outer wing structure through a carbon fiber rod 3.

[0031] Specifically, the components include: inner wing connectors, inner and outer wing connectors, outer wing connectors, and carbon fiber rods. The left and right inner wing connectors 35 are connected to the lifting device 29 via bearings. One end of the connector is connected to the left and right fisheye bearings 6. 4mm carbon fiber rods 8 and 3.5mm carbon fiber rods 9 are inserted into the grooves at the other two ends, respectively. The other end of the 3.5mm carbon fiber rod 9 is inserted into the groove of the inner wing connector 10, and the other end of the 4mm carbon fiber rod 8 is inserted into the groove of the inner wing connector 13. The other end of the grooves of the inner wing connectors 10 and 13 are respectively inserted into the grooves of the inner wing connectors 7 and 3.5mm carbon fiber rods. Finally, the two carbon fiber rods are connected to the two grooves of the inner wing connector 11. Thus, the four inner wing connectors and the four carbon fiber rods together constitute the inner wing part. The other end of the fisheye bearing 6, which is connected to the inner wing connector 35, is connected to an aluminum rod. One end of the aluminum rod is inserted into a small groove in the front main frame and fixed by a nut connected to the thread on the aluminum rod. The other end of the aluminum rod is connected to the inner and outer wing connector 2 and is also fixed by a nut connected to the thread on the aluminum rod. A 4mm carbon fiber rod 3 is connected in the groove of the inner and outer wing connector 2. The other end of the carbon fiber rod 3 is inserted into the groove of the inner and outer wing connector 4. The inner and outer wing connector 4 is connected to the inner and outer wing connector 3 12 by an aluminum rod. A 3.5mm carbon fiber rod on the outer side of the inner wing is inserted into one groove of the inner and outer wing connector 3 12, and a 4mm carbon fiber rod 2 5 is inserted into the other groove 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 groove of the inner and outer wing connector 4 11. A 2.5mm aluminum rod is inserted into the other groove of the inner and outer wing connector 4 11. Together with the outer wing connector 1 14 and the outer wing connector 2 15, they form the outer wing part.

[0032] In this embodiment, the wingspan is 135cm, which is the distance between the farthest points of the left and right outer wings, and the length is 35.8cm, which is the distance from the front of the main frame to the farthest point of the tail fin. The two-segment wing can mimic the flapping motion of birds in real flight, achieving wing extension during the lower stroke and wing folding during the upper stroke. Compared with a single-segment wing, it has higher biomimetic performance and can perform highly maneuverable flight at low altitudes. It can also carry image sensors and other equipment on the loading platform to achieve functions such as reconnaissance, exploration, and search.

[0033] Optionally, the power module uses a battery 37, which is equipped with an ESC 38. The loading platform 39 is used to install components such as the battery 37 and the ESC 38. Subsequently, various components will be installed on the loading platform by passing through the holes using materials such as wire ties.

[0034] like Figure 3The motor 18 is fixed to the motor mounting bracket 19 by four bolts, and its motor drive gear 20 is connected to the motor shaft of the DC brushless motor 18. The motor drive gear 20 meshes with the large gear 21 of the drive shaft, and transmits power to the driven shaft through the meshing of the small gear 22 of the drive shaft and the large gear 16 of the driven shaft, thereby realizing two-stage gear reduction.

[0035] like Figure 4 The passive shaft 17 is fixed to the front main frame by bearings and connected to the crank by fastening screws at the end. One end of the fisheye bearing 24 is connected to the crank 25 and the other end is engaged 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 by threads. The two move up and down together in the slide groove 28. The lifting device 29 is equipped with bearings on both sides and connected to the inner wing connector 35, so that the inner wing connector 35 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 wing connector 35 is connected to end A of the fisheye bearing 6 and inserted into a small horizontal groove on the front main frame 1. This allows end A of the fisheye bearing 6 to reciprocate horizontally. End B of the fisheye bearing 6 is connected to the inner and outer wing connector 2 via an aluminum rod. The other end of the aluminum rod is inserted into a small vertical groove on the front main frame 1, allowing end B to reciprocate vertically. This enables the fisheye bearing 6 to rotate clockwise during the inner wing's ascent phase. Figure 1 It can be seen that the fisheye bearing 6, carbon fiber rod 3, carbon fiber rod 8, and inner and outer wing connector 12 together form a parallelogram, which enables the inner and outer wing connector 12 to rotate clockwise during the inner wing's ascent phase, thereby driving the outer wing to flap downwards. This allows the wings to extend during the lower stroke and fold during the upper stroke of the flapping motion.

[0036] The tail assembly employs a series-decoupling scheme, where each subsequent servo is fixed to the motion platform of the preceding servo, thus enabling independent movement of the two servos and facilitating calculations. The tail section consists of a basic frame composed of five carbon fiber rods, which is then covered with polyester fiber material. When the forward 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 a central axis parallel to the fuselage axis, providing some yaw and pitch moments, thereby achieving functions such as steering and changing the flight attitude. The flapping angle of the flapping wing is determined by the included angle between the two ends of the inner wing connector, which is about 40°. When the wing is outstretched, it is parallel to the ground with a flapping angle of 0° and an upward flapping angle of 40°, so that it can generate sufficient forward force and lift.

[0037] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom flapping-wing aircraft, characterized in that, include: Mainframe (1); The drive assembly has a crank mechanism connected to its output end through a fixed frame (19). The main frame (1) is provided with a sliding mechanism. One end of the sliding mechanism is connected to the crank mechanism, and the other end of the sliding mechanism is connected to a lifting device (29). The two ends of the lifting device are connected to left and right inner wing connectors (35). A direction control component, located at the end of the drive component, is used to control the direction of the aircraft; The power module is used to provide power to the aircraft; The sliding mechanism includes a slider assembly (27) and a slide groove (28). The slide groove (28) is opened on the main frame (1). The slider assembly (27) moves within the slide groove (28). The lifting device is connected to the slider assembly (27). The left and right inner wing connector 1 (35) and the lifting device (29) are connected by bearings. One end of the connector is connected to the left and right fisheye bearings 1 (6). The other two ends are inserted into the grooves of the connector 4 (8) and the 3.5mm carbon fiber rod 5 (9). The other end of the 3.5mm carbon fiber rod 5 (9) is inserted into the groove of the inner wing connector 2 (10). The other end of the 4mm carbon fiber rod 4 (8) is inserted into the groove of the inner wing connector 3 (13). The other end of the grooves of the inner wing connector 2 (10) and the inner wing connector 3 (13) are inserted into the grooves of the connector 3 (13) and the connector 2.5mm carbon fiber rod 3 (7) and the 3.5mm carbon fiber rod, respectively. These two carbon fiber rods are then connected to the two grooves of the inner wing connector 4 (11). In other words, the inner wing connector 1 (35), the inner wing connector 2 (10), the inner wing connector 3 (13), the inner wing connector 4 (11) and the four carbon fiber rods together constitute the inner wing part. The other end of the fisheye bearing 1 (6) connected to the inner wing connector 1 (35) is connected to the aluminum rod, and the other end of the aluminum rod is connected to the inner and outer wing connector 1 (2); the inner and outer wing connector 1 (2) is connected to the groove of the 4mm carbon fiber rod 1 (3), and the other end of the carbon fiber rod 1 (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) by the aluminum rod. The inner and outer wing connector 3 (12) has a 3.5mm carbon fiber rod inserted into one slot of the inner wing outer side and a 4mm carbon fiber rod 2 (5) inserted into the other slot to form the outer wing part. The inner wing outer side 3.5mm carbon fiber rod is also inserted into the slot of the inner and outer wing connector 4 (11). The inner and outer wing connector 4 (11) has a 2.5mm aluminum rod inserted into the other slot, together with the outer wing connector 1 (14) and the outer wing connector 2 (15) to form the outer wing part. One end of the inner wing connector (35) is connected to the A end of the fisheye bearing (6) and inserted into the horizontal small groove on the main frame (1), causing the A end of the fisheye bearing (6) to move back and forth in the horizontal direction. The B end of the fisheye bearing (6) is connected to the inner and outer wing connector (2) through an aluminum rod. The other end of the aluminum rod is inserted into the vertical small groove on the main frame (1), causing the B end to move back and forth in the vertical direction. The fisheye bearing (6), carbon fiber rod (3), carbon fiber rod (8), and inner and outer wing connector (12) together form a parallelogram, so that the inner and outer wing connector (12) can rotate simultaneously during the rising phase of the inner wing, thereby causing the outer wing to flap downwards, thus achieving the wing to spread during the lower stroke and fold during the upper stroke during the flapping process.

2. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that, The drive assembly includes a motor (18) and a secondary gear transmission mechanism. The motor (18) is fixed by a motor mounting bracket, which is fixed to a mounting bracket (19) by bolts. The mounting bracket (19) is fixed to the main frame (1) by bolts. The input end of the secondary gear transmission mechanism is connected to the output end of the motor (18), and the output end passes through the main frame (1) and is connected to the crank mechanism.

3. The multi-degree-of-freedom flapping-wing aircraft according to claim 2, characterized in that, The secondary gear transmission mechanism includes a drive gear (20) connected to the output end of the motor. The drive gear (20) meshes with a drive shaft gear (21). One end of the drive shaft gear (21) is coaxially provided with a secondary drive shaft gear (22). The secondary drive shaft gear (22) meshes with a driven shaft gear (16). The driven shaft gear (16) is provided with a driven shaft (17). The driven shaft (17) is connected to a crank mechanism. The other end of the drive shaft gear (21) is rotatably connected to a fixed frame (19).

4. The multi-degree-of-freedom flapping-wing aircraft according to claim 3, characterized in that, The crank mechanism includes a crank (25) with one end connected to the passive shaft (17), the other end of the crank (25) being connected to a rod (26) by a fastening bolt, and the rod (26) being connected to one end of a second fisheye bearing (24), the other end of which is connected to a sliding mechanism.

5. The multi-degree-of-freedom flapping-wing aircraft according to claim 2, characterized in that, The directional control assembly includes a tail fin frame (30), a first servo motor (31), and a second servo motor (33). The motor is fixedly mounted on a loading platform (39). The tail fin frame (30) is connected to the loading platform (39). The first servo motor (31) is mounted on the tail fin frame (30). The first servo motor (31) is connected to the second servo motor (33) through a first servo motor accessory (32).

6. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that, The slider assembly includes slider part one (41) and slider part two (42). Slider part one (41) is inserted into the slide groove (28). Slider part two (42) is threadedly installed with slider part one (41) on the other side of the slide groove (28), so that the slider assembly and the lifting device can move up and down in the slide groove (28).

7. The multi-degree-of-freedom flapping-wing aircraft according to claim 1, characterized in that, The power module uses a battery (37), and the battery (37) is equipped with an electronic speed controller (38).

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