A ground-air multi-mode co-driven three-axis tailless ornithopter

Abstract

The application belongs to the technical field of special flapping-wing aircraft, and discloses a three-axis tailless flapping-wing aircraft with ground-air multi-mode and same drive, which comprises a carbon rod framework, flapping-wing movement assemblies, vibration amplification assemblies and control sensing assemblies; three groups of the flapping-wing movement assemblies are symmetrically installed around the carbon rod framework in a ring shape; the vibration amplification assemblies are fixedly installed at the bottom of the carbon rod framework; and the control sensing assemblies are fixedly installed in the middle of the carbon rod framework, which are used for controlling the flapping of the flapping-wing movement assemblies in the air and the pacing and jumping of the vibration amplification assemblies on the ground, so as to realize the flight in the air and the movement on the ground of the three-axis tailless flapping-wing aircraft. The flexible wings used in the application ensure the low-noise concealment, flight safety and control stability in the flight process, and the passive pacing and jumping mechanism of the chassis effectively ensures the ground movement ability with lower power consumption, so that the application has great potential in the inspection, reconnaissance and exploration applications in complex ground-air scenes such as jungles, pipelines and indoor environments.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of special flapping wing aircraft, and particularly relates to a three-axis tailless flapping wing aircraft with ground-air multi-mode same drive. BACKGROUND

[0002] In the field of small and medium-sized aircraft research, multi-mode tailless flapping wing aircraft is an important research direction. Compared with tail flapping wing aircraft, tailless flapping wing aircraft has better flight stability and movement flexibility, and can realize functions such as vertical take-off, air hovering and high-speed turning similar to rotary wing aircraft. Compared with traditional rotary wing aircraft which relies on high-speed rotating blades to provide lift, flapping wing aircraft has significant advantages in flight noise, safety and efficiency, and therefore has great application prospects in the fields of aerial inspection, bionic survey and reconnaissance.

[0003] Conventional flapping wing aircraft mostly adopts a large bird-like design that provides lift by a main wing and controls direction by a tail. Although this type of aircraft has a large load capacity and can reduce energy consumption through gliding attitude, it has problems of large turning radius, insufficient movement flexibility and poor disturbance resistance due to the turning control by the tail. The tailless flapping wing aircraft mainly imitates small hummingbirds or other small two-winged insects, which obtains lift by flapping the wings downward or making the deformable wings flap back and forth. This indeed solves the problem of poor flexibility of tailless flapping wing aircraft to a certain extent, and can achieve air movement modes such as hovering and vertical take-off similar to rotary wing aircraft to a certain extent. However, this type of aircraft mostly relies on piezoelectric brakes or small motors to drive the bionic wings to move, cannot carry large-capacity energy storage batteries, and still has problems of small load and short endurance.

[0004] Designing a special tailless flapping wing aircraft with ground movement function and optimized hovering time is an important way to increase the endurance of the aircraft and expand its multi-scene movement capability. However, this type of aircraft often uses different drives and drive mechanisms for air and ground, has strict weight requirements, and has a series of problems such as complex system design, high manufacturing difficulty and difficult multi-mode switching control. SUMMARY

[0005] The present application aims to provide a three-axis tailless flapping wing aircraft with ground-air multi-mode same drive to solve the above technical problems.

[0006] To solve the above technical problems, the specific technical scheme of the three-axis tailless flapping wing aircraft with ground-air multi-mode same drive of the present application is as follows:

[0007] A three-axis tailless flapping-wing aircraft capable of multi-mode operation between ground and air includes a carbon frame, flapping-wing motion components, a vibration amplification component, and a control and sensing component. The three sets of flapping-wing motion components are symmetrically arranged in a ring around the carbon frame. The vibration amplification component is fixedly installed at the bottom of the carbon frame, and the control and sensing component is fixedly installed in the middle of the carbon frame. It is used to control the flapping of the flapping-wing motion components in the air and the stepping 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 its movement on the ground.

[0008] Furthermore, the carbon rod frame includes a central carbon rod and a connecting rotor arm. The central carbon rod is vertically fixed at the center of the connecting rotor arm, and the connecting rotor arm has three support rods, the ends of which are respectively connected to three sets of flapping wing motion components.

[0009] Furthermore, the flapping wing motion assembly includes a reduction gear frame, transmission gears, crank gears, crank rocker arms, crank connecting rods, a hollow cup motor, a motor output gear, a vibration transmission carbon rod, and a flexible wing assembly. The crank gears include a left crank gear and a right crank gear; the crank rocker arms include a left crank rocker arm and a right crank rocker arm; the crank connecting rods include a left crank connecting rod and a right crank connecting rod. The main shaft of the reduction gear frame is fixedly connected to the end of the support rod connecting the rotating arm. The hollow cup motor is fixedly installed below the reduction gear frame. The motor output gear, transmission gear, and crank gear are rotatably installed above the reduction gear frame. The output shaft of the hollow cup motor is coaxially fixedly connected to the motor output gear. The transmission gear is a coaxial double gear set. The motor output gear meshes with the large gear of the transmission gear, the small gear of the transmission gear meshes with the right crank gear, the right crank gear meshes with the left crank gear, one end of the left crank connecting rod is rotatably connected to the side above the left crank gear, and the other end is rotatably connected to the left crank rocker arm, one end of the right crank connecting rod is rotatably connected to the side above the right crank gear, and the other end is rotatably connected to the right crank rocker arm, the crank connecting rod includes three connecting ends, the middle connecting end is rotatably connected to the main shaft of the reduction gear frame, one connecting end is fixedly connected to one end of the crank connecting rod, and the other 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 of the connecting arm, and the other end is fixedly connected to the vibration amplification assembly.

[0010] Furthermore, the flexible wing assembly includes a polyester film wing surface and multiple carbon rod wing veins. One carbon rod wing vein is fixedly connected in parallel with a vibration transmission carbon rod, and one end of the carbon rod wing vein is connected to the 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.

[0011] Furthermore, after the hollow cup motor is running, it drives the transmission gear to rotate, which in turn drives the crank gear to move the crank connecting rod. After two stages of gear reduction, the crank rocker arm is driven to reciprocate. The left crank rocker arm and the right crank connecting rod respectively drive the two sets of flexible wing assemblies to unfold or close.

[0012] Furthermore, the vibration amplification component includes a pacing and jumping support, which comprises three central supports and three ground supports. One end of the three central supports is connected to each other and fixedly connected to the bottom of the central carbon rod. The other end of each of the three central supports is connected to one end of the three ground supports, and the connection is fixedly connected to the bottom of the vibration transmission carbon rod. The central supports and the ground supports form an angle to form a ground gripping structure. The low-to-medium frequency vibrations generated by the flapping wing motion component during flapping are amplified by the connecting rotor and transmitted to the pacing and jumping support. The vibrations are converted into pacing and jumping motions caused by the frictional abrupt change at the bottom of the pacing and jumping support and the overall center of gravity shift. The frequency and direction of the ground motion are controlled by three-axis coordination, enabling the aircraft to have ground motion capabilities.

[0013] Furthermore, in ground motion mode, the pacing and jumping support is in close contact with the ground. At this time, the flapping wing motion component generates low-to-medium frequency flapping, which is insufficient to take off the aircraft. However, the control and sensing component controls the vibration of different frequencies generated by the hollow cup motor, which is amplified by the connecting cantilever and transmitted to the pacing and jumping support, so that the tripod support generates independent micro-vibration jumps. By controlling the rotation speed to modulate the amplitude and frequency of each vibrating foot, the side with the larger amplitude will have a center of gravity shift, and the friction generated by contact with the ground will work together to achieve the pacing and jumping effect on the ground.

[0014] Furthermore, the control and sensing components include a flight controller connection board, a flight controller, a battery rack, a battery, an optical flow connection board, an optical flow module, and vibration damping washers. The flight controller, battery, and optical flow module are fixedly connected to the central carbon rod of the carbon rod frame through the flight controller connection board, battery rack, and optical flow connection board, respectively. The flight controller is fixedly connected to the flight controller connection board through vibration damping washers to reduce the impact of vibration on the flight controller. The battery powers the flight controller and optical flow module. The optical flow module provides positioning functionality for the aircraft. The flight controller has an onboard remote controller receiver to provide remote control functionality for the aircraft. The flight controller is connected to the coreless motor via a signal line to control the flapping frequency of the flapping wing motion components.

[0015] Furthermore, the flight controller's built-in six-axis gyroscope obtains the aircraft's three-axis acceleration and acceleration information, and then uses low-pass filtering and quaternion complementary filtering to obtain the aircraft's attitude information, thereby realizing closed-loop control of the aircraft's pitch angle, roll angle, position loop, and angular velocity loop.

[0016] Furthermore, the flight controller is equipped with a barometer, which, together with the optical flow module, provides 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 velocity loop and position loop of the aircraft.

[0017] The ground-to-air multi-mode co-drive triaxial tailless flapping-wing aircraft of the present invention has the following advantages:

[0018] (1) This invention realizes a three-axis tailless flapping-wing aircraft with multi-mode ground and air drive characteristics, including the structural design of the main carbon frame, flapping wing motion components and vibration amplification components, as well as the hardware planning and control algorithm design of the flight control sensing components, and successfully realizes the independent motion control of the small flapping-wing aircraft in the air and the all-round vibration leap function on the ground. This invention completes multiple motion modes such as vertical take-off and landing, hovering, stable movement in the air and pacing leap on the ground through the same set of three-axis flapping-wing motion components. Compared with traditional flapping-wing aircraft, it has significantly higher maneuverability, and the combination of air movement and ground movement can achieve a longer endurance.

[0019] (2) The flapping wing motion component designed in this invention is driven by a hollow cup motor and is connected to the deceleration group by interference fit, which minimizes the weight of the drive mechanism. The output rocker of the deceleration group can provide a maximum wing surface stroke angle of 120 degrees and a flapping frequency of up to 25 Hz, which effectively improves the problem that the upper and lower edges of the tailless flapping wing aircraft deform too quickly during the high-speed flapping of the wings, causing the lower edge wing surface to curl and lose lift.

[0020] (3) The flapping wing of the flapping wing motion component of the present invention uses a trapezoidal polyester film as the wing surface, and uses 0.3mm carbon rod wing veins to reinforce the bottom edge and diagonal of the trapezoidal wing surface, so as to ensure the flapping stiffness of the wing and retain the passive deformation of the wing surface during flapping to the greatest extent, thereby improving the lift efficiency.

[0021] (4) The vibration source of the vibration amplification component of the present invention and the power source of the flight mode are the same, both of which come from the hollow cup motor of the flapping wing motion component, and both are driven by the flight controller through PWM signal speed regulation. Only the throttle output needs to be adjusted to switch to 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 type of drive is easy to control.

[0022] (5) Based on the three-axis tailless flapping wing aircraft, the present invention extends the ground vibration leap function. It uses the connecting rotor arm to amplify the low-frequency vibration of the flapping wing motion component and transmit it to the ground leap foot, converting the longitudinal vibration into a small planar displacement. It uses only three drives to realize two motion modes in the air and on the ground. The total weight of the aircraft is 38g, but it has flexible displacement ability and good endurance in both the air and on the ground. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural schematic diagram of the ground-to-air multi-mode co-drive triaxial tailless flapping-wing aircraft of the present invention;

[0024] Figure 2 This is a schematic diagram of the flapping wing motion component structure of the present invention;

[0025] Figure 3 This is a schematic diagram of the deceleration assembly frame structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the crank-connecting rod structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the vibration amplification component structure of the present invention;

[0028] Figure 6 This is a schematic diagram of the control sensing component structure of the present invention;

[0029] Explanation of markings in the diagram: 1. Carbon rod frame; 11. Central carbon rod; 12. Connecting rotor arm; 2. Flapping wing motion assembly; 21. Deceleration group frame; 211. Annular clamping structure; 22. Transmission gear; 23. Crank gear; 231. Left crank gear; 232. Right crank gear; 24. Crank rocker arm; 241. Left crank rocker arm; 242. Right crank rocker arm; 25. Crank connecting rod; 251. Left crank connecting rod; 252. Right crank connecting rod; 26. Hollow cup motor; 27. Motor output gear; 28. Vibration transmission carbon rod; 29. ​​Flexible wing assembly; 291. Polyester film wing surface; 292. Carbon rod wing pulse; 3. Vibration amplification assembly; 31. Walking and jumping support; 311. Central support; 312. Chassis support; 4. Control and sensing assembly; 41. Flight controller connection board; 42. Flight controller; 43. Battery rack; 44. Battery; 45. Optical flow connection board; 46. Optical flow module; 47. Shock-absorbing washer. Detailed Implementation

[0030] To better understand the purpose, structure, and function of this invention, the following detailed description of a three-axis tailless flapping-wing aircraft capable of multi-mode operation between ground and air is provided in conjunction with the accompanying drawings.

[0031] like Figure 1As shown, the present invention discloses a three-axis tailless flapping-wing aircraft capable of multi-mode operation in both air and ground, comprising a carbon frame 1, flapping-wing motion components 2, vibration amplification components 3, and control and sensing components 4. The three sets of flapping-wing motion components 2 are symmetrically arranged in a 120-degree ring around the carbon frame 1. The vibration amplification components 3 are fixedly installed at the bottom of the carbon frame 1, and the control and sensing components 4 are fixedly installed in the middle of the carbon frame 1. These components control the flapping-wing motion components 2 in the air and the vibration amplification components 3 on the ground, thereby enabling the three-axis tailless flapping-wing aircraft to fly in the air and move on the ground.

[0032] The carbon rod frame 1 includes 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 sets of flapping wing motion components 2.

[0033] like Figure 2 As shown, the flapping wing motion assembly 2 includes a reduction gear frame 21, a transmission gear 22, a crank gear 23, a crank rocker arm 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 arm 24 includes a left crank rocker arm 241 and a right crank rocker arm 242. 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 gear frame 21 is fixedly connected to the end of the support rod of the connecting arm 12. The reduction gear frame 21 has an annular clamping structure 211 below it. The hollow cup motor 26 is interference-fitted into the annular clamping structure 211 and reinforced with glue. The motor output gear 27, transmission gear 22, and crank gear 23 are rotatably mounted on the reduction gear frame 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 side above the left crank gear 231, and the other end is rotatably connected to the left crank rocker arm 241. One end of the right crank connecting rod 252 is rotatably connected to the side above the right crank gear 232, and the other end is rotatably connected to the right crank rocker arm 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 gear frame 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.

[0034] The upper end of the vibration transmission carbon rod 28 is fixedly connected to the lower end of the support rod connecting the rotating arm 12, and the other end is fixedly connected to the vibration amplification assembly 3. The flexible wing assembly 29 includes a polyester film wing surface 291 and multiple 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 the 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.

[0035] When the hollow cup motor 26 operates, it drives the transmission gear 22 to rotate, which in turn drives the crank gear 23 to move the crank connecting rod 25. After two stages of gear reduction, the crank rocker arm 24 reciprocates. The left crank rocker arm 241 and the right crank connecting rod 252 respectively drive the two sets of flexible wing assemblies 29 to unfold or close. Utilizing the airflow flapping and peeling mechanism and the leading-edge vortex mechanism of the tailless flapping wing aircraft, the airflow between the wings is squeezed downwards, providing lift to the aircraft while generating vibration. The flexible wing assembly 29 can perform flapping movements with a maximum stroke of 120 degrees and a maximum frequency of 25 Hz. A single flexible wing assembly 29 can provide up to 14g of lift.

[0036] like Figure 5 As shown, the vibration amplification component 3 includes a pacing and jumping support 31, which comprises three central supports 311 and three ground supports 312. One end of each of the three central supports 311 is connected and fixedly connected to the bottom of the central carbon rod 11. The other end of each central support 311 is connected to one end of each of the three ground supports 312, and the connection point is fixedly connected to the bottom of the vibration transmission carbon rod 28. An angle exists between the central supports 311 and the ground supports 312, forming a ground-gripping structure. The vibration source is the low-to-medium frequency vibration generated by the flapping wing motion component 2 during flapping. This vibration is amplified by the connecting rotor arm 12 and transmitted to the pacing and jumping support 31, converting the vibration into a pacing and jumping motion caused by the sudden friction change at the bottom of the pacing and jumping support 31 and the overall center of gravity shift. The frequency and direction of the ground motion can be controlled through three-axis coordination, enabling the aircraft to have ground motion capabilities.

[0037] In ground motion mode, the pacing and jumping support 31 is in close contact with the ground. At this time, the flapping wing motion component 2 generates low-to-medium frequency flapping, which is insufficient to make the aircraft take off. However, the control and sensing component 4 controls the vibration of different frequencies generated by the hollow cup motor 26, which is amplified by the connecting cantilever 12 and transmitted to the pacing and jumping support 31, so that the tripod support generates independent micro-vibration jumps. By controlling the rotation speed, the amplitude and frequency of each vibrating foot can be modulated. The side with the larger amplitude will have a center of gravity shift, and the friction generated by contact with the ground will work together to achieve the pacing and jumping effect on the ground.

[0038] like Figure 6As shown, the control and sensing component 4 includes a flight controller connection board 41, a flight controller 42, a battery rack 43, a battery 44, an optical flow connection board 45, an optical flow module 46, and a shock-absorbing washer 47. The flight controller 42, battery 44, and optical flow module 46 are fixedly connected to the central carbon rod 11 of the carbon rod frame 1 via the flight controller connection board 41, battery rack 43, and optical flow connection board 45, respectively. The flight controller 42 is fixedly connected to the flight controller connection board 41 via the shock-absorbing washer 47 to reduce the impact of vibration on the flight controller 42. The battery 44 supplies power to the flight controller 42 and the optical flow module 46. The optical flow module 46 provides positioning functionality for the aircraft. The flight controller 42 has an onboard remote controller receiver, providing remote control functionality for the aircraft. The flight controller 42 is connected to the hollow cup motor 26 via a signal line to control the flapping frequency of the flapping wing motion component.

[0039] In one embodiment, the flight controller 42 can obtain the aircraft's three-axis acceleration and acceleration information through its built-in six-axis gyroscope. After low-pass filtering and quaternion complementary filtering, the attitude information of the aircraft is obtained, realizing closed-loop control of the aircraft's pitch and roll angles, position loops, and angular velocity loops, laying the foundation for stable flight. In addition, the flight controller 42 is equipped with a barometer, which, together with the optical flow module, can provide the aircraft's vertical and horizontal position information. The three-axis acceleration data from the aforementioned sensors and gyroscopes can be fused through Kalman filtering to obtain more accurate position positioning information, further realizing closed-loop control of the aircraft's overall velocity and position loops.

[0040] In aerial motion mode, a small flight controller 42 with a six-axis gyroscope is used to acquire and calculate the attitude angle, three-axis acceleration, and three-axis acceleration data of the aircraft. The closed loop of the angular velocity loop and the angle loop of the aircraft's motion around the attitude angle axis are realized through the cascade PID control method. The speed of the hollow cup motor 26 is adjusted through PWM output to control the flight of the aircraft. Furthermore, by adjusting the target tilt angle of the pitch and roll angles based on the attitude loop, the horizontal component of the lift can be adjusted, thereby achieving autonomous horizontal movement. Combined with data from the barometer and optical flow module, closed-loop control of the overall velocity loop, horizontal position loop, and altitude loop during flight can be completed. In ground motion mode, the pacing jump bracket 31 is in close contact with the ground. At this time, the flapping wing motion component 2 generates low-to-medium frequency flapping, which is insufficient to take off the aircraft. However, the flight controller 42 controls the vibrations of different frequencies generated by the hollow cup motor 26, which are amplified by the connecting cantilever 12 and transmitted to the bottom pacing jump bracket 31, so that the pacing jump bracket 31 generates independent micro-vibration jumps. By controlling the rotation speed, the amplitude and frequency of each vibrating foot can be modulated. The side with the larger amplitude will have a center of gravity shift, and the friction generated by contact with the ground will work together to achieve the pacing jump effect on the ground.

[0041] The aircraft is powered by a 1S lithium battery and is equipped with a Bluetooth serial port module and a remote controller SBUS receiver module, enabling stable remote control for both aerial flight and ground movement. In addition, the flight controller is equipped with communication protocols such as MAVLink, and can achieve 2Mbps data transmission with the host computer within a 40m range via the Bluetooth wireless serial port module, allowing it to undertake more complex planning and exploration tasks.

[0042] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A three-axis tailless flapping-wing aircraft capable of ground-to-air multi-mode operation, characterized in that, The system includes a carbon rod frame (1), flapping wing motion components (2), vibration amplification components (3), and control sensing components (4). The three sets of flapping wing motion components (2) are symmetrically arranged in a ring around the carbon rod frame (1). The vibration amplification components (3) are fixedly installed at the bottom of the carbon rod frame (1), and the control sensing components (4) are fixedly installed in the middle of the carbon rod frame (1) to control the flapping wing motion components (2) in the air and the vibration amplification components (3) on the ground, thereby enabling the triaxial tailless flapping wing aircraft to fly in the air and move on the ground. The carbon rod frame (1) includes a central carbon rod (11) and a connecting rotor (12). The central carbon rod (11) is vertically fixed at the center of the connecting rotor (12). The connecting arm (12) has three support rods, the ends of which are respectively connected to three sets of flapping wing motion components (2); the flapping wing motion components (2) include a reduction gear frame (21), a transmission gear (22), a crank gear (23), a crank rocker arm (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 arm (24) includes a left crank rocker arm (241) and a right crank rocker arm (242). The crank connecting rod (25) includes a left crank connecting rod (251) and a right crank connecting rod (252). The main shaft of the reduction gear frame (21) is fixedly connected to the end of the support rod of the connecting arm (12). The hollow cup motor (26) is fixedly installed below the reduction gear frame (21). The motor output gear (27), transmission gear (22), and crank gear (23) are rotatably installed above the reduction gear frame (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 side above 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 side above the right crank gear (232), and the other end is rotatably connected to the right crank rocker (242). The crank connecting rod (25) includes three connecting ends. The middle connecting end is rotatably connected to the main shaft of the reduction gear frame (21). One connecting end is fixedly connected to one end of the crank connecting rod (25), and the other connecting end is connected to the flexible wing assembly (29). The upper end of the vibration transmission carbon rod (28) is fixedly connected to the lower end of the support rod of the connecting arm (12), and the other end is fixedly connected to the vibration amplification assembly (3).The vibration amplification component (3) includes a pacing and jumping support (31), which includes three central supports (311) and three base supports (312). One end of each of the three central supports (311) is connected to the bottom of the central carbon rod (11), and the other end of each central support (311) is connected to one end of each of the three base supports (312). The connection is fixedly connected to the bottom of the vibration transmission carbon rod (28). The central supports (311) and the base supports (312) form an angle to form a gripping structure. The low-to-medium frequency vibration generated by the flapping wing motion component (2) during flapping is amplified by the connecting rotor (12) and transmitted to the pacing and jumping support (31), converting the vibration into pacing and jumping motion caused by the sudden friction change at the bottom of the pacing and jumping support (31) and the overall center of gravity change. The frequency and direction of the ground motion are controlled by the three-axis coordination, enabling the aircraft to have ground motion capability.

2. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive capability according to claim 1, characterized in that, The flexible wing assembly (29) includes a polyester film wing surface (291) and multiple carbon rod wing veins (292). One carbon rod wing vein (292) is fixedly connected in parallel with a vibration transmission carbon rod (28). One end of the carbon rod wing vein (292) is connected to the crank connecting rod (25). The polyester film wing surface (291) is connected between the two carbon rod wing veins (292). The polyester film wing surface (291) is reinforced and fixed in the middle by one or more carbon rod wing veins (292).

3. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive capability according to claim 2, characterized in that, After the hollow cup motor (26) runs, it drives the transmission gear (22) to rotate, which in turn drives the crank gear (23) to drive the crank connecting rod (25) to move. After two-stage gear reduction, the crank rocker (24) is driven to reciprocate. 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.

4. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive as described in claim 1, characterized in that, In ground motion mode, the pacing and jumping support (31) is in close contact with the ground. At this time, the flapping wing motion component (2) generates low-to-medium frequency flapping, which is insufficient to make the aircraft take off. However, the control and sensing component (4) controls the vibration of different frequencies generated by the hollow cup motor (26), which is amplified by the connecting cantilever and transmitted to the pacing and jumping support (31), so that the tripod support generates independent micro-vibration jumps. By controlling the rotation speed, the amplitude and frequency of each vibrating foot are modulated. The side with the large amplitude will have a center of gravity shift, and the friction generated by contact with the ground will work together to achieve the pacing and jumping effect on the ground.

5. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive capability according to claim 1, characterized in that, The control and sensing component (4) includes a flight controller connection board (41), a flight controller (42), a battery rack (43), a battery (44), an optical flow connection board (45), an optical flow module (46), and a shock-absorbing washer (47). The flight controller (42), the battery (44), and the optical flow module (46) are fixedly connected to the central carbon rod (11) of the carbon rod frame through the flight controller connection board (41), the battery rack (43), and the optical flow connection board (45), respectively. The flight controller (42) is fixedly connected to the flight controller connection board (41) through the shock-absorbing washer (47) to reduce the impact of vibration on the flight controller (42). The battery (44) supplies power to the flight controller and the optical flow module (46). The optical flow module (46) provides positioning function for the aircraft. The flight controller (42) has an onboard remote controller receiver to provide remote control function for the aircraft. The flight controller (42) is connected to the hollow cup motor (26) through a signal line to control the flapping frequency of the flapping wing motion component (2).

6. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive capability according to claim 5, characterized in that, The flight controller (42) has a built-in six-axis gyroscope, which obtains the three-axis acceleration and acceleration information of the aircraft. After low-pass filtering and quaternion complementary filtering, the attitude information of the aircraft is obtained, realizing the closed-loop control of the position loop and angular velocity loop of the aircraft pitch angle and roll angle.

7. The three-axis tailless flapping-wing aircraft with ground-to-air multi-mode co-drive capability according to claim 5, characterized in that, The flight controller (42) is equipped with a barometer and, together with the optical flow module (46), provides the vertical and horizontal position information of the aircraft. The barometer, the optical flow module (46), and the three-axis acceleration data of the gyroscope are fused through Kalman filtering to obtain accurate position positioning information, thereby further realizing the closed-loop control of the overall velocity loop and position loop of the aircraft.

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