Ground-air multi-mode co-driven three-shaft tailless flapping-wing air vehicle

Abstract

The invention belongs to the technical field of special ornithopters, and discloses a ground-air multi-mode co-driven three-shaft tailless ornithopter, which comprises a carbon rod skeleton, three groups of ornithopter movement assemblies, a vibration amplification assembly and a control sensing assembly, the vibration amplification assembly is fixedly installed at the bottom of the carbon rod framework, and the control sensing assembly is fixedly installed in the middle of the carbon rod framework and used for controlling flapping of the flapping wing movement assembly in the air and pacing jumping of the vibration amplification assembly on the ground, so that flying of the three-axis tail-free flapping wing aircraft in the air and moving of the three-axis tail-free flapping wing aircraft on the ground are achieved. The low-noise concealment, the flight safety and the control stability in the flight process are guaranteed through the flexible wings, the ground movement capacity with lower power consumption is effectively guaranteed through the chassis passive pacing jumping mechanism, and great potential is achieved in the polling, reconnaissance and exploration application aspects of complex ground-air scenes such as jungles, pipelines and indoor environments.

Description

Technical Field

[0001] The invention belongs to the technical field of special flapping-wing aircraft, and in particular relates to a ground-to-air multi-mode co-driven three-axis tailless flapping-wing aircraft. Background Art

[0002] In the field of research on small and medium-sized aircraft, multi-mode tailless flapping-wing aircraft is an important research direction. Compared with tail-mounted flapping wings, tailless flapping wings have better flight stability and movement flexibility, and can achieve functions such as vertical take-off and landing, hovering in the air, and high-speed steering similar to rotorcraft. Compared with traditional rotorcraft that rely on high-speed rotating blades to provide lift, flapping-wing aircraft have significant advantages in flight noise, safety, and efficiency, and therefore show great application prospects in the fields of aerial inspection, bionic surveying and reconnaissance.

[0003] Conventional flapping-wing aircraft mostly adopt a large bird-like design with the main wing providing lift and the tail wing for directional control. Although this type of aircraft has a large load capacity and can reduce energy consumption through a gliding posture, its method of controlling steering through the tail wing has the problems of large turning radius, insufficient movement flexibility and poor anti-disturbance ability. The tailless flapping-wing aircraft, which mainly imitates small double-wing flapping-wing aircraft of small hummingbirds or other two-winged insects, obtains lift by flapping the wings downward or making the deformable wings flap back and forth, and then pushing the air downward. This does solve the problem of poor flexibility of tailless flapping-wing flight to a certain extent, and can achieve aerial movement modes such as hovering and vertical take-off and landing similar to rotorcraft to a certain extent. However, most of these aircraft rely on piezoelectric brakes or small motors to drive bionic wings for movement, and cannot carry large-capacity energy storage batteries. There are still shortcomings such as small load and short endurance.

[0004] Designing a special tailless flapping-wing aircraft with ground motion capabilities and optimized hovering time is an important way to increase the aircraft's endurance and expand its multi-scenario motion capabilities. However, this type of aircraft often uses different drives and drive mechanisms for the air and ground, has strict weight requirements, and has a series of problems such as complicated system design, difficult manufacturing, and difficult switching control between multiple modes. Summary of the invention

[0005] The purpose of the present invention is to provide a three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive to solve the above-mentioned technical problems.

[0006] In order to solve the above technical problems, the specific technical solution of a ground-to-air multi-mode co-driven three-axis tailless flapping-wing aircraft of the present invention is as follows: A three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive comprises a carbon rod frame, a flapping-wing motion component, a vibration amplification component and a control sensing component. Three groups of the flapping-wing motion components are symmetrically mounted around the carbon rod frame in a circular shape, the vibration amplification component is fixedly mounted at the bottom of the carbon rod frame, and the control sensing component is fixedly mounted in the middle of the carbon rod frame, and is used to control the flapping of the flapping-wing motion component in the air and the pacing and leaping of the vibration amplification component on the ground, thereby realizing the flight of the three-axis tailless flapping-wing aircraft in the air and the movement of the ground.

[0007] Furthermore, the carbon rod skeleton includes a central carbon rod and a connecting spiral arm, wherein the central carbon rod is vertically fixed at the center of the connecting spiral arm, and the connecting spiral arm has three support rods, and the ends of the three support rods are respectively connected to three groups of flapping-wing motion components.

[0008] Furthermore, the flapping-wing motion component includes a reduction group skeleton, a transmission gear, a crank gear, a crank rocker, a crank connecting rod, a hollow cup motor, a motor output gear, a vibration transmission carbon rod and a flexible wing component, the crank gear includes a left crank gear and a right crank gear, the crank rocker includes a left crank rocker and a right crank rocker, the crank connecting rod includes a left crank connecting rod and a right crank connecting rod, the main shaft of the reduction group skeleton is fixedly connected to the end of the support rod connecting the swing arm, the hollow cup motor is fixedly installed below the reduction group skeleton, the motor output gear, the transmission gear and the crank gear are rotatably installed above the reduction group skeleton, the hollow cup motor output shaft is coaxially fixedly connected to the motor output gear, the transmission gear is a coaxial double gear set, and the The motor output gear is meshed with the large gear of the transmission gear, the small gear of the transmission gear is meshed with the right crank gear, the right crank gear is meshed with the left crank gear, one end of the left crank connecting rod is rotatably connected to the upper side of the left crank gear, and the other end is rotatably connected to the left crank rocker, one end of the right crank connecting rod is rotatably connected to the upper side of the right crank gear, and the other end is rotatably connected to the right crank rocker, the crank connecting rod includes three connecting ends, the middle connecting end is rotatably connected to the main shaft of the reduction group skeleton, one side connecting end is fixedly connected to one end of the crank connecting rod, and the other side connecting end is connected to the flexible wing assembly, the upper end of the vibration transmission carbon rod is fixedly connected to the lower end of the support rod connecting the swing arm, and the other end is fixedly connected to the vibration amplification assembly.

[0009] Furthermore, the flexible wing assembly includes a polyester film wing surface and multiple carbon rod wing veins, a carbon rod wing vein is fixedly connected in parallel with a vibration transmitting carbon rod, one end of a carbon rod wing vein is connected to a crank connecting rod, the polyester film wing surface is connected between these two carbon rod wing veins, and the middle of the polyester film wing surface is reinforced and fixed by one or more carbon rod wing veins.

[0010] Furthermore, after the hollow cup motor is running, it drives the transmission gear to rotate, and then drives the crank gear to drive the crank connecting rod to move, and after two-stage gear reduction, the crank rocker is driven to reciprocate, and the left crank rocker and the right crank connecting rod respectively drive the two sets of flexible wing assemblies to unfold or close.

[0011] Furthermore, the vibration amplification component includes a pacing and jumping bracket, which includes three central brackets and three chassis brackets. One ends of the three central brackets are connected and fixedly connected to the bottom of the central carbon rod, and the other ends of the three central brackets are respectively connected to one end of the three chassis brackets, and the connection is fixedly connected to the bottom of the vibration transmission carbon rod. There is an angle between the central bracket and the chassis bracket to form a gripping structure. The medium and low frequency vibrations generated by the flapping motion component during flapping are amplified by the connecting swing arm and transmitted to the pacing and jumping bracket, converting the vibration into a pacing and jumping motion caused by the sudden friction change at the bottom of the pacing and jumping bracket and the overall center of gravity change, and the frequency and direction of the ground motion are controlled through three-axis coordination, so that the aircraft has ground motion capability.

[0012] Furthermore, in the ground motion mode, the pacing and jumping bracket is in close contact with the ground. At this time, the medium and low frequency flapping generated by the flapping motion component is not enough to make the aircraft take off, but the control sensing component controls the different frequency vibrations generated by the hollow cup motor to be amplified and transmitted to the pacing and jumping bracket through the connecting cantilever, so that the three-legged bracket produces independent tiny vibration jumps, and by controlling the speed to modulate the amplitude and frequency of each vibrating foot, the center of gravity will be shifted on the side with large amplitude, and the friction force generated by the contact with the ground will work together to achieve the pacing and jumping effect on the ground.

[0013] Furthermore, the control sensing component includes a flight control connecting plate, a flight control, a battery rack, a battery, an optical flow connecting plate, an optical flow module and a shock-absorbing washer. The flight control, battery and optical flow module are fixedly connected to the central carbon rod of the carbon rod frame through the flight control connecting plate, the battery rack and the optical flow connecting plate respectively. The flight control is fixedly connected to the flight control connecting plate through the shock-absorbing washer to reduce the impact of vibration on the flight control. The battery supplies power to the flight control and the optical flow module. The optical flow module provides a positioning function for the aircraft. The flight control has an onboard remote control receiver to provide a remote control function for the aircraft. The flight control is connected to the hollow cup motor through a signal line to control the flapping frequency of the flapping-wing motion component.

[0014] Furthermore, the flight control has its own six-axis gyroscope, which obtains the three-axis acceleration and acceleration information of the aircraft, and obtains the attitude information of the aircraft through low-pass filtering and quaternion complementary filtering, thereby realizing closed-loop control of the position loop and angular velocity loop of the aircraft's pitch angle and roll angle.

[0015] Furthermore, the flight control is equipped with a barometer, which cooperates with the optical flow module to provide the vertical and horizontal position information of the aircraft. The three-axis acceleration data of the barometer, optical flow module and gyroscope are fused through Kalman filtering to obtain accurate position positioning information, thereby further realizing closed-loop control of the overall speed loop and position loop of the aircraft.

[0016] The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive of the present invention has the following advantages: (1) The present invention realizes a three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-driving characteristics, including the structural design of the main carbon rod frame, flapping-wing motion components and vibration amplification components, as well as the hardware planning and control algorithm design of the flight control sensing component, and successfully realizes the independent motion control of the small flapping-wing aircraft in the air and the omnidirectional vibration leap function on the ground. The invention uses the same set of three-axis flapping-wing motion components to complete multiple motion modes of the tailless flapping-wing aircraft, such as vertical take-off and landing, hovering, stable movement in the air, and walking-style leap on the ground. Compared with traditional flapping-wing aircraft, it has significantly higher maneuverability, and the combination of air movement and ground movement can obtain a longer endurance time.

[0017] (2) The flapping-wing motion assembly designed in the present invention is driven by a coreless cup motor and is connected to the reduction group by an interference fit, thereby minimizing the weight of the drive mechanism. The output rocker of the reduction group can provide a maximum wing stroke angle of 120 degrees and a maximum flapping frequency of 25 Hz, effectively improving the problem of excessive deformation of the upper and lower edges of the tailless flapping-wing aircraft during high-speed wing flapping, resulting in curling of the lower wing surface and loss of lift.

[0018] (3) The flapping wing of the flapping motion assembly of the present invention adopts a trapezoidal polyester film as the wing surface, and uses 0.3 mm carbon rod wing veins to reinforce the bottom edge and diagonal lines of the trapezoidal wing surface, which ensures the flapping stiffness of the wing while retaining the passive deformation of the wing surface during flapping to the greatest extent, thereby improving lift efficiency.

[0019] (4) The vibration source of the vibration amplification component of the present invention is the same as the power source of the flight mode, both of which come from the hollow cup motor of the flapping-wing motion component, and are both driven by the flight control through PWM signal speed regulation. It only needs to adjust the throttle output to adjust to the flapping-wing motion mode. There is no need for a complex multi-mode switching mechanism and control system. It is efficient and simple, and the same drive is easy to control.

[0020] (5) The present invention expands the ground vibration leap function on the basis of the three-axis tailless flapping-wing aircraft. It adopts a connecting arm to amplify the low-frequency vibration of the flapping-wing motion component and transmits it to the chassis leap foot, thereby converting the longitudinal vibration into a tiny plane displacement. Only three drives are used to realize two motion modes, air and ground. The total weight of the aircraft is 38g, but it has flexible displacement capabilities and good endurance both in the air and on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the ground-to-air multi-mode co-drive three-axis tailless flapping-wing aircraft of the present invention; Figure 2 It is a schematic diagram of the structure of the flapping-wing motion assembly of the present invention; Figure 3 It is a schematic diagram of the skeleton structure of the reduction group of the present invention; Figure 4 It is a schematic diagram of the crank connecting rod structure of the present invention; Figure 5 It is a schematic diagram of the structure of the vibration amplification component of the present invention; Figure 6 It is a schematic diagram of the structure of the control perception component of the present invention; Explanation of the marks in the figure: 1, carbon rod skeleton; 11, central carbon rod; 12, connecting swing arm; 2, flapping wing motion component; 21, reduction group skeleton; 211, annular clamping structure; 22, transmission gear; 23, crank gear; 231, left crank gear; 232, right crank gear; 24, crank rocker; 241, left crank rocker; 242, right crank rocker; 25, crank connecting rod; 251, left crank connecting rod; 252, right crank connecting rod; 26. Coreless motor; 27. Motor output gear; 28. Vibration transmission carbon rod; 29. ​​Flexible wing assembly; 291. Polyester film wing surface; 292. Carbon rod wing veins; 3. Vibration amplification assembly; 31. Pacing and jumping bracket; 311. Center bracket; 312. Chassis bracket; 4. Control sensing assembly; 41. Flight control connecting plate; 42. Flight control; 43. Battery rack; 44. Battery; 45. Optical flow connecting plate; 46. Optical flow module; 47. Shock-absorbing gasket. DETAILED DESCRIPTION

[0022] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of a three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to the present invention in conjunction with the accompanying drawings.

[0023] like Figure 1 As shown, a three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive of the present invention comprises a carbon rod frame 1, a flapping-wing motion component 2, a vibration amplification component 3 and a control sensing component 4. Three groups of flapping-wing motion components 2 are symmetrically installed around the carbon rod frame 1 in a 120-degree ring shape, the vibration amplification component 3 is fixedly installed at the bottom of the carbon rod frame 1, and the control sensing component 4 is fixedly installed in the middle of the carbon rod frame 1, which is used to control the flapping of the flapping-wing motion component 2 in the air and the pace and leap of the vibration amplification component 3 on the ground, thereby realizing the flight of the three-axis tailless flapping-wing aircraft in the air and the movement on the ground.

[0024] The carbon rod skeleton 1 comprises a central carbon rod 11 and a connecting spiral arm 12. The central carbon rod 11 is vertically fixed at the center of the connecting spiral arm 12. The connecting spiral arm 12 has three support rods, and the ends of the three support rods are respectively connected to three groups of flapping-wing motion components 2.

[0025] like Figure 2 As shown, the flapping wing motion assembly 2 includes a reduction group skeleton 21, a transmission gear 22, a crank gear 23, a crank rocker 24, a crank connecting rod 25, a hollow cup motor 26, a motor output gear 27, a vibration transmission carbon rod 28 and a flexible wing assembly 29, the crank gear 23 includes a left crank gear 231 and a right crank gear 232, the crank rocker 24 includes a left crank rocker 241 and a right crank rocker 242, and the crank connecting rod 25 includes a left crank connecting rod 251 and a right crank connecting rod 252. Figure 3 As shown, the main shaft of the reduction group skeleton 21 is fixedly connected to the end of the support rod connected to the swing arm 12, and the reduction group skeleton 21 is provided with an annular clamping structure 211 below. The hollow cup motor 26 is connected to the annular clamping structure 211 by interference fit and reinforced by glue. The motor output gear 27, the transmission gear 22, and the crank gear 23 are rotatably installed above the reduction group skeleton 21. The output shaft of the hollow cup motor 26 is coaxially fixedly connected with the motor output gear 27. The transmission gear 22 is a coaxial double gear set. The motor output gear 27 is meshed with the large gear of the transmission gear 22. The small gear of the transmission gear 22 is meshed with the right crank gear 232. The right crank gear 232 is meshed with the left crank gear 231. One end of the left crank connecting rod 251 is rotatably connected to the upper side of the left crank gear 231, and the other end is rotatably connected to the left crank rocker 241. One end of the right crank connecting rod 252 is rotatably connected to the upper side of the right crank gear 232, and the other end is rotatably connected to the right crank rocker 242. like Figure 4 As shown, the crank connecting rod 25 includes three connecting ends, the middle connecting end is rotatably connected to the main shaft of the reduction group skeleton 21, one connecting end is fixedly connected to one end of the crank connecting rod 252, and the other connecting end is connected to the flexible wing assembly 29.

[0026] The upper end of the vibration transmission carbon rod 28 is fixedly connected to the lower end of the support rod connected to the swing arm 12, and the other end is fixedly connected to the vibration amplification component 3. The flexible wing component 29 includes a polyester film wing surface 291 and a plurality of carbon rod wing veins 292, one carbon rod wing vein 292 is fixedly connected in parallel with the vibration transmission carbon rod 28, and one end of a carbon rod wing vein 292 is connected to the crank connecting rod 252. The polyester film wing surface 291 is connected between the two carbon rod wing veins 292, and the middle of the polyester film wing surface 291 can be reinforced and fixed by one or more carbon rod wing veins 292.

[0027] When the coreless cup motor 26 is running, the transmission gear 22 is driven to rotate, and then the crank gear 23 is driven to drive the crank connecting rod 25 to move, and the crank rocker 24 is driven to reciprocate after two-stage gear reduction. The left crank rocker 241 and the right crank connecting rod 252 respectively drive the two sets of flexible wing assemblies 29 to unfold or close. The airflow flapping and stripping mechanism and the leading edge vortex mechanism of the tailless flapping wing aircraft are used to squeeze the airflow between the wings downward, providing lift for the aircraft and generating vibration at the same time. The flexible wing assembly 29 can perform a flapping opening and closing movement with a maximum stroke of 120 degrees and a maximum of 25hz. A single set of flexible wing assemblies 29 can provide a maximum lift of 14g.

[0028] like Figure 5 As shown, the vibration amplification component 3 includes a pacing and jumping bracket 31, and the pacing and jumping bracket 31 includes three center brackets 311 and three chassis brackets 312. One end of the three center brackets 311 is connected and fixedly connected to the bottom of the center carbon rod 11, and the other ends of the three center brackets 311 are respectively connected to one end of the three chassis brackets 312, and the connection is fixedly connected to the bottom of the vibration transmission carbon rod 28. There is an angle between the center bracket 311 and the chassis bracket 312 to form a gripping structure. The vibration source is the medium and low frequency vibration generated by the flapping motion component 2 during flapping, which is amplified by the connecting arm 12 and transmitted to the pacing and jumping bracket 31, converting the vibration into a pacing and jumping motion caused by the friction mutation at the bottom of the pacing and jumping bracket 31 and the overall center of gravity change, and the frequency and direction of the ground motion can be controlled through three-axis coordination, so that the aircraft has the ability to move on the ground.

[0029] In the ground motion mode, the pacing and jumping bracket 31 is in close contact with the ground. At this time, the medium and low frequency flapping generated by the flapping motion component 2 is not enough to make the aircraft take off, but the control sensing component 4 controls the different frequency vibrations generated by the hollow cup motor 26 to be amplified and transmitted to the pacing and jumping bracket 31 through the connecting cantilever 12, so that the three-legged bracket produces independent small vibration jumps. The amplitude and frequency of each vibrating foot can be modulated by controlling the rotation speed. The center of gravity will be shifted on the side with large amplitude, and the friction force generated by the contact with the ground will work together to achieve the pacing and jumping effect on the ground.

[0030] like Figure 6As shown, the control sensing component 4 includes a flight control connecting plate 41, a flight control 42, a battery rack 43, a battery 44, an optical flow connecting plate 45, an optical flow module 46 and a shock absorbing washer 47. The flight control 42, the battery 44 and the optical flow module 46 are fixedly connected to the central carbon rod 11 of the carbon rod frame 1 through the flight control connecting plate 41, the battery rack 43 and the optical flow connecting plate 45 respectively. The flight control 42 is fixedly connected to the flight control connecting plate 41 through the shock absorbing washer 47 to reduce the impact of vibration on the flight control 42. The battery 44 supplies power to the flight control 42 and the optical flow module 46, and the optical flow module 46 provides a positioning function for the aircraft. The flight control 42 has an onboard remote control receiver to provide a remote control function for the aircraft. The flight control 42 is connected to the hollow cup motor 26 through a signal line to control the flapping frequency of the flapping wing motion component.

[0031] In one embodiment, the flight control 42 can obtain the three-axis acceleration and acceleration information of the aircraft through its own six-axis gyroscope, obtain the attitude information of the aircraft through low-pass filtering and quaternion complementary filtering, and realize the closed-loop control of the position loop and angular velocity loop of the pitch angle and roll angle of the aircraft, laying the foundation for stable flight. In addition, the flight control 42 is equipped with a barometer, which can provide the vertical and horizontal position information of the aircraft in conjunction with the optical flow module. The three-axis acceleration data of the above sensor and the gyroscope can be fused through Kalman filtering to obtain more accurate position positioning information, and further realize the closed-loop control of the overall velocity loop and position loop of the aircraft.

[0032] In the aerial motion mode, a small flight controller 42 with a six-axis gyroscope is used to obtain the aircraft's attitude angle, three-axis acceleration and three-axis acceleration data through data collection and solution, and the cascade PID control method is used to realize the closed loop of the angular velocity loop and the angle loop of the aircraft's movement around the attitude angle axis, and the speed of the hollow cup motor 26 is adjusted through PWM output to control the flight of the aircraft. Furthermore, adjusting the target inclination angles of the pitch angle and the roll angle on the basis of the attitude loop can adjust the component of the lift in the horizontal direction, thereby realizing autonomous movement in the horizontal direction, and combining the barometer and optical flow module data to complete the closed-loop control of the overall speed loop, horizontal position loop and altitude loop during flight; in the ground motion mode, the pacing and jumping bracket 31 is in close contact with the ground. At this time, the medium and low frequency flapping generated by the flapping wing motion component 2 is not enough to make the aircraft take off, but the flight control 42 controls the different frequency vibrations generated by the hollow cup motor 26 to be amplified and transmitted to the bottom pacing and jumping bracket 31 through the connecting cantilever 12, so that the pacing and jumping bracket 31 produces independent small vibration jumps, and the amplitude and frequency of each vibration foot can be modulated by controlling the rotation speed. The center of gravity will be offset on the side with a large amplitude, and the friction generated by the contact with the ground will work together to achieve the pacing and leaping effect on the ground.

[0033] The aircraft is powered by a 1S lithium battery and is equipped with a Bluetooth serial port module and a remote control SBUS receiving module, which can achieve stable remote control aerial flight and ground movement effects. In addition, the flight control is equipped with communication protocols such as MavLink, and communicates with the host computer via the Bluetooth wireless serial port module to achieve 2Mbps data transmission within a range of 40m, which can undertake more complex planning and exploration tasks.

[0034] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive, characterized in that: The invention comprises a carbon rod frame (1), a flapping-wing motion component (2), a vibration amplification component (3) and a control perception component (4), wherein three groups of the flapping-wing motion components (2) are symmetrically mounted around the carbon rod frame (1) in a circular shape, the vibration amplification component (3) is fixedly mounted at the bottom of the carbon rod frame (1), and the control perception component (4) is fixedly mounted in the middle of the carbon rod frame (1) to control the flapping of the flapping-wing motion component (2) in the air and the pacing and leaping of the vibration amplification component (3) on the ground, thereby realizing the flight of the three-axis tailless flapping-wing aircraft in the air and the movement on the ground.

2. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 1, characterized in that: The carbon rod skeleton (1) comprises a central carbon rod (11) and a connecting spiral arm (12); the central carbon rod (11) is vertically fixed at the center of the connecting spiral arm (12); the connecting spiral arm (12) has three support rods, and the ends of the three support rods are respectively connected to three groups of flapping wing motion components (2).

3. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 2, characterized in that: The flapping-wing motion assembly (2) comprises a reduction group skeleton (21), a transmission gear (22), a crank gear (23), a crank rocker (24), a crank connecting rod (25), a hollow cup motor (26), a motor output gear (27), a vibration transmission carbon rod (28) and a flexible wing assembly (29), wherein the crank gear (23) comprises a left crank gear (231) and a right crank gear (232), and the crank rocker (24) comprises a left crank rocker (241) and a right crank rocker (242). The crank connecting rod (25) comprises a left crank connecting rod (251) and a right crank connecting rod (252); the main shaft of the reduction group skeleton (21) is fixedly connected to the end of the support rod connected to the swing arm (12); the hollow cup motor (26) is fixedly installed below the reduction group skeleton (21); the motor output gear (27), the transmission gear (22), and the crank gear (23) are rotatably installed above the reduction group skeleton (21); the output shaft of the hollow cup motor (26) is coaxially fixedly connected to the motor output gear (27); The transmission gear (22) is a coaxial double gear set, the motor output gear (27) meshes with the large gear of the transmission gear (22), the small gear of the transmission gear (22) meshes with the right crank gear (232), the right crank gear (232) meshes with the left crank gear (231), one end of the left crank connecting rod (251) is rotatably connected to the upper side of the left crank gear (231), and the other end is rotatably connected to the left crank rocker (241), and one end of the right crank connecting rod (252) is rotatably connected to the upper side of the left crank gear (231). It is connected to one side above the right crank gear (232), and the other end is rotationally connected to the right crank rocker (242). The crank connecting rod (25) includes three connection ends. The middle connection end is rotationally connected to the main shaft of the reduction group skeleton (21), one connection end is fixedly connected to one end of the crank connecting rod (25), and the other connection end is connected to the flexible wing component (29). The upper end of the vibration transmission carbon rod (28) is fixedly connected to the lower end of the support rod end connecting the swing arm (12), and the other end is fixedly connected to the vibration amplification component (3).

4. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 3, characterized in that: The flexible wing assembly (29) comprises a polyester film wing surface (291) and a plurality of carbon rod wing veins (292), wherein one carbon rod wing vein (292) is fixedly connected in parallel with a vibration transmitting carbon rod (28), one end of one carbon rod wing vein (292) is connected to a crank connecting rod (25), the polyester film wing surface (291) is connected between the two carbon rod wing veins (292), and the polyester film wing surface (291) is reinforced and fixed in the middle by one or more carbon rod wing veins (292).

5. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 4, characterized in that: After the hollow cup motor (26) is running, it drives the transmission gear (22) to rotate, and then drives the crank gear (23) to drive the crank connecting rod (25) to move, and after two-stage gear reduction, drives the crank rocker (24) to reciprocate, and the left crank rocker (241) and the right crank connecting rod (252) respectively drive the two sets of flexible wing components (29) to expand or close.

6. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 3, characterized in that: The vibration amplification component (3) comprises a pacing and jumping bracket (31), and the pacing and jumping bracket (31) comprises three central brackets (311) and three chassis brackets (312). One ends of the three central brackets (311) are connected and fixedly connected to the bottom of the central carbon rod (11). The other ends of the three central brackets (311) are respectively connected to one ends of three chassis brackets (312), and the connection points are fixedly connected to the bottom of the vibration transmission carbon rod (28). An angle is formed between the central bracket (311) and the chassis bracket (312), forming a gripping structure. The medium and low frequency vibrations generated by the flapping wing motion component (2) during flapping are amplified by the connecting arm (12) and transmitted to the pacing and jumping bracket (31), converting the vibrations into pacing and jumping motions caused by the friction mutation at the bottom of the pacing and jumping bracket (31) and the overall center of gravity change. The frequency and direction of the ground motion are controlled by three-axis coordination, so that the aircraft has ground motion capability.

7. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 6, characterized in that: In the ground motion mode, the walking and jumping bracket (31) is in close contact with the ground. At this time, the low and medium frequency flapping generated by the flapping wing motion component (2) is not enough to make the aircraft take off. However, the control sensing component (4) controls the hollow cup motor (26) to generate vibrations of different frequencies, which are amplified and transmitted to the walking and jumping bracket (31) through the connecting cantilever, so that the three-legged bracket generates independent small vibration jumps. By controlling the speed to modulate the amplitude and frequency of each vibrating foot, the side with large amplitude will produce a center of gravity offset, and the friction force generated by the contact with the ground will work together to achieve the walking and jumping effect on the ground.

8. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 3, characterized in that: The control sensing component (4) comprises a flight control connecting plate (41), a flight control (42), a battery rack (43), a battery (43), an optical flow connecting plate (45), an optical flow module (46) and a shock absorbing washer (47). The flight control (42), the battery (43) and the optical flow module (46) are fixedly connected to the central carbon rod (11) of the carbon rod frame via the flight control connecting plate (41), the battery rack (43) and the optical flow connecting plate (45), respectively. The flight control (42) is fixedly connected to the flight control connecting plate (41) via the shock absorbing washer (47) to reduce the influence of vibration on the flight control (42). The battery (43) supplies power to the flight control and the optical flow module (46). The optical flow module (46) provides a positioning function for the aircraft. The flight control (42) is provided with an onboard remote control receiver to provide a remote control function for the aircraft. The flight control (42) is connected to the hollow cup motor (26) via a signal line to control the flapping frequency of the flapping wing motion component (2).

9. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 8, characterized in that: The six-axis gyroscope provided in the flight control (42) obtains the three-axis acceleration and acceleration information of the aircraft through the six-axis gyroscope, obtains the attitude information of the aircraft through low-pass filtering and quaternion complementary filtering, and realizes closed-loop control of the position loop and angular velocity loop of the pitch angle and roll angle of the aircraft.

10. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive according to claim 8, characterized in that: The flight control (42) is provided with a barometer, which cooperates with an optical flow module (46) to provide vertical and horizontal position information of the aircraft. The three-axis acceleration data of the barometer, the optical flow module (46) and the gyroscope are fused through Kalman filtering to obtain accurate position positioning information, thereby further realizing closed-loop control of the overall speed loop and position loop of the aircraft.

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