A flapping wing aircraft with sweepable hyperbolic shaft controlled double wing flapping

Abstract

The application discloses a flapping-wing aircraft with sweepable hyperbolic shafts controlling double-wing flapping, and belongs to the technical field of aircrafts. The flapping-wing aircraft comprises a body frame, double-hyperbolic-shaft transmission flapping mechanisms, a disc-shaped cam sweep angle changing mechanism, left and right flapping wings and a tail rudder. The double-hyperbolic-shaft transmission flapping mechanisms are driven by a driving motor to rotate the double hyperbolic shafts. The double hyperbolic shafts are in a "positive S shape" and comprise a front hyperbolic shaft section and a rear hyperbolic shaft section. The two sections are connected to the inner ends of left and right bendable rocker members on the left and right sides of the body frame through left and right connecting rods respectively, and the outer ends of the left and right connecting rods are sequentially connected to wing root connecting members and flapping wings. The disc-shaped cam sweep angle changing mechanism comprises a disc-shaped cam, a sliding member, an elastic reset member and sweep connecting rods. The sliding member can slide forward and backward, and is in contact with the outer contour of the disc-shaped cam through the elastic reset member. The disc-shaped cam rotates to drive the sliding member to slide forward and backward reciprocatingly, and then the wing root connecting members and the flapping wings are driven to perform forward and backward sweep flapping movement through the sweep connecting rods on the two sides of the sliding member.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft, and in particular relates to a flapping-wing aircraft capable of controlling the flapping of two wings by sweeping a double crankshaft. Background Art

[0002] Flapping-wing aircraft are biomimetic aircraft that mimic the flight patterns of insects, birds, and bats. They offer advantages such as high efficiency, stealth, and the ability to flexibly change flight states. Compared to traditional fixed-wing and rotary-wing aircraft, they can quickly perform challenging maneuvers such as sharp turns and dives, making them particularly advantageous when flying in confined spaces. Flapping-wing aircraft hold broad application prospects in both military and civilian fields.

[0003] At present, bionic flapping-wing aircraft generally adopt typical mechanisms such as single crank double rocker, crank guide rod, double crank double rocker, etc. This type of transmission flapping mechanism can generally only realize simple up and down flapping of the aircraft's wings. Usually, the flapping drive mechanism of existing flapping-wing aircraft is relatively bloated as a whole and not conducive to miniaturization; and the flapping wings often have low spatial freedom, resulting in insufficient lift and unable to fly quickly and flexibly. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of most flapping-wing aircraft currently existing in that the flapping-wing drive mechanism is relatively bloated and complicated and the flapping wings have low spatial freedom, and to provide a flapping-wing aircraft with a swept double crankshaft to control the flapping of both wings.

[0005] A flapping-wing aircraft capable of sweeping a double crankshaft to control the flapping of wings, comprising: a body frame 1, a double crankshaft transmission flapping mechanism 2, a disc cam variable sweep angle mechanism 3, left and right flapping wings 4, and a tail rudder 5;

[0006] The double crankshaft transmission flapping mechanism 2 includes: a drive motor 20a, a double crankshaft 21, a left connecting rod 22a, a right connecting rod 22b, a left curved rocker 23a, a right curved rocker 23b, a curved rocker rotating shaft 10b, a curved rocker vertical shaft and a wing root connecting member 24;

[0007] The double crankshaft 21 is in a "positive S-shape" and is divided into a front crankshaft section 21a and a rear crankshaft section 21b, and is connected to the front of the fuselage along the front and rear vertical axes;

[0008] The driving motor 20a is fixed to the front of the machine frame 1, and one end of the double crankshaft 21 is fixedly connected to the output end of the driving motor 20a, and the other end is axially connected to the machine frame 1;

[0009] The inner and outer ends of the connecting rod are respectively hinged to the crankshaft section and the inner end of the bending rocker member;

[0010] The middle part of the bending rocker is connected to the left and right sides of the body frame 1 through the bending rocker shaft 10b, and its outer end is hinged to the wing root connector 24 through the bending rocker vertical axis; the outer end of the wing root connector 24 is fixedly connected to the flapping wing root;

[0011] The disc cam sweep angle variable mechanism 3 includes: a sweep servo 30, a disc cam 31, a sliding member 32, a sliding support shaft 10d, a transmission plate 33, a sweep link 34 and a spring 35;

[0012] The sweep servo 30 is fixed to the front of the body frame 1, and the disc cam 31 is fixed to the output shaft of the sweep servo 30;

[0013] The sliding support shaft 10d is fixed to the left and right sides of the body frame 1, and the two ends of the sliding member 32 are slidably connected to the middle part of the sliding support shaft 10d;

[0014] The transmission plate 33 is slidably connected to the left and right sides of the body frame 1, and the spring 35 provides the contact force between the transmission plate 33 and the sliding member 32;

[0015] The outer side of the transmission plate 33 is hinged to one end of the sweep link 34 via a vertical shaft, and the other end of the sweep link 34 is hinged to the connecting platform 24b of the wing root connector 24 via a vertical shaft;

[0016] The outer contour of the disc cam 31 contacts and cooperates with the limiting groove 32a on one side of the slider 32; the sweep servo 30 drives the disc cam 31 to rotate, the slider 32 moves forward and backward on the sliding support shaft 10d, and the sweep link 34 drives the flapping wing to sweep.

[0017] The body frame 1 includes a main support 10 and a connecting rod 12 . The front portion of the connecting rod 12 is fixedly connected to the rear portion of the main support 10 , and the rear portion of the connecting rod 12 is fixedly connected to the tail fin support 50 of the tail rudder 5 .

[0018] The bending rocker member rotation axis 10b and the sliding support axis 10d are coaxial and symmetrically fixed to the left and right sides of the main bracket 10;

[0019] The transmission plate 33 is slidably connected to the sliding support shaft 10d, one end of which is connected to the sliding member 32, and the other end is connected to a spring 35 sleeved on the sliding support shaft 10d, and the spring 35 is in a compressed state.

[0020] The left-bending rocker member 23a and the right-bending rocker member 23b are respectively connected to the sliding support shafts 10d fixed to the left and right sides of the main bracket 10 in a limited pivot connection.

[0021] The crank radii of the front crankshaft section 21a and the rear crankshaft section 21b of the double crankshaft 21 are equal and the phase difference is 180 degrees. Assuming that the crank length of the front crankshaft section 21a is , the crank length of the rear crankshaft section 21b is ,Right now Taking the left side as an example, assume that the projected length of the rotating axis of the double crankshaft 21 to the rotating axis of the bending rocker member 10b is The projected length from the bending rocker member rotation axis 10b to the hinge axis between the left bending rocker member 23a and the left connecting rod 22a is The projected length of the two axial holes of the left connecting rod 22a is , so the conditions for the smooth operation of the left crank rocker mechanism are: , the same applies to the right side.

[0022] The disc cam 31 can be divided into four areas, and the corresponding angles are ∠AOD, ∠AOB, ∠COD, and ∠COB, which together make up 360°. The points A, B, C, and D are all points on the contour of the disc cam 31, where the lengths of OB and OD are R, i.e., the base circle radius, the length of 0A is Rmax, and the length of 0C is Rmin, satisfying Rmax>R>Rmin.

[0023] The left and right flapping wings 4 include a left flapping wing 40 and a right flapping wing 41, and the two have the same structure; the left flapping wing 40 includes a left flapping wing skeleton 40a and a left flapping wing membrane 40b wrapped on its surface; the inner side of the left flapping wing skeleton 40a is fixedly connected to the left flapping wing connector 40c, which is fixedly connected to the outer end of the wing root connector 24 through the left flapping wing skeleton 40a.

[0024] The rudder 5 includes a tail support 50, a left servo 51a, a right servo 51b, a left horizontal rudder 55a, and a right horizontal rudder 55b, wherein the left servo 51a and the right servo 51b are fixed to the tail support 50; and the left horizontal rudder 55a and the right horizontal rudder 55b are connected to both sides of the tail support 50 along their symmetrical axes.

[0025] The present invention provides a flapping-wing aircraft capable of sweeping a double crankshaft to control the flapping of two wings, belonging to the technical field of aircraft. The aircraft comprises: a body frame, a double crankshaft transmission flapping mechanism, a disc cam sweep angle variable mechanism, left and right flapping wings, and a tail rudder. The double crankshaft transmission flapping mechanism is driven by a drive motor to rotate the double crankshaft; the double crankshaft is in a "positive S" shape and comprises a front crankshaft section and a rear crankshaft section. The two sections are connected to the inner ends of the left and right curved rocker members axially connected to the left and right sides of the body frame through a left connecting rod and a right connecting rod, respectively, and their outer ends are connected to the wing root connecting member and the flapping wings in turn; the disc cam sweep angle variable mechanism comprises a disc cam, a sliding member, an elastic reset member, and a sweep connecting rod. The sliding member can slide back and forth and is brought into contact with the outer contour of the disc cam by the elastic reset member. The rotation of the disc cam drives the sliding member to slide back and forth, and then drives the wing root connecting member and the flapping wings to perform a flapping motion that sweeps back and forth through the sweep connecting rods on both sides.

[0026] In summary, compared with the prior art, the present invention has the following beneficial effects and advantages:

[0027] 1) The flapping-wing aircraft of the present invention can realize the synchronous sweeping and flapping motion of both wings. The sweeping servo controls the frequency of the flapping motion, which is combined with the flapping motion of the wings to realize the "elliptical" and "figure-8" flapping motions of the wingtips.

[0028] 2) The flapping-wing aircraft of the present invention can use a single drive source drive motor to simultaneously drive the dual-crankshaft transmission flapping mechanism and the disc cam variable sweep angle mechanism, and the sweeping motion frequency of the disc cam variable sweep angle mechanism can be controlled by a speed reduction mechanism;

[0029] 3) The transmission flapping mechanism and the variable sweep angle mechanism of the flapping-wing aircraft of the present invention are compact in structure, which is conducive to the miniaturization of the overall structure and the control of the overall quality of the aircraft;

[0030] 4) The amplitude of the flapping-wing aircraft's variable sweep angle motion can be directly controlled by the Rmax and Rmin values ​​of the disc cam. When the disc cam rotates to an effective radius of R, the aircraft's flapping wing is in a 0° sweep angle state, and the duration ratio of the forward and backward sweep motions can be directly adjusted by adjusting the disc cam layout ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of a flapping-wing aircraft capable of controlling the flapping of wings by sweeping a double crankshaft according to the present invention;

[0032] Figure 2 This is a schematic diagram of the three-dimensional structure of the body frame of a flapping-wing aircraft capable of controlling the flapping of wings by sweeping a double crankshaft according to the present invention;

[0033] Figure 3 This is a schematic diagram of the exploded structure of a flapping-wing aircraft body frame capable of controlling the flapping of wings by sweeping a double crankshaft according to the present invention;

[0034] Figure 4 This is a three-dimensional schematic diagram of a double-crankshaft transmission flapping mechanism of a flapping-wing aircraft capable of sweeping double crankshafts to control double-wing flapping of the present invention;

[0035] Figure 5 This is a schematic diagram of the specific structure of a double crankshaft of a flapping-wing aircraft capable of sweeping a double crankshaft to control the flapping of wings of the present invention;

[0036] Figure 6 This is a schematic diagram of the operating principle of a double-crankshaft transmission flapping mechanism of a flapping-wing aircraft capable of sweeping double crankshafts to control double-wing flapping of the present invention;

[0037] Figure 7 This is a three-dimensional schematic diagram of a disc cam variable sweep angle mechanism for a flapping-wing aircraft capable of sweeping a double crankshaft to control the flapping of both wings according to the present invention;

[0038] Figure 8This is a schematic diagram of the specific scale and size structure of a disc cam for a flapping-wing aircraft capable of sweeping a double crankshaft to control the flapping of two wings according to the present invention;

[0039] Figure 9 This is a schematic diagram of the flapping 3D structure of a flapping-wing aircraft capable of controlling the flapping of both wings by sweeping a double crankshaft according to the present invention;

[0040] Figure 10 This is a schematic diagram of the connection between the flapping wings and the transmission flapping mechanism of a flapping-wing aircraft capable of controlling the flapping of both wings with a swept double crankshaft according to the present invention;

[0041] Figure 11 This is a schematic diagram of the specific structure of the horizontal tail of a flapping-wing aircraft with two wings and variable sweep angle according to the present invention;

[0042] Figure 12 This is a schematic diagram of the variable sweep angle motion of a flapping-wing aircraft with a swept double crankshaft to control the flapping of the wings. Figure 1 ;

[0043] Figure 13 This is a schematic diagram of the variable sweep angle motion of a flapping-wing aircraft with a swept double crankshaft to control the flapping of the wings. Figure 2 ;

[0044] Figure 14 This is a schematic diagram of the variable sweep angle motion of a flapping-wing aircraft with a swept double crankshaft to control the flapping of the wings. Figure 3 ;

[0045] Figure 15 This is a schematic diagram of the variable sweep angle motion of a flapping-wing aircraft with a swept double crankshaft to control the flapping of the wings. Figure 4 ;

[0046] Figure 16 This is a schematic diagram of a flapping-wing aircraft in a diving state with a swept double crankshaft to control the flapping of both wings according to the present invention;

[0047] Figure 17 This is a schematic diagram of an upward flapping state of a flapping-wing aircraft capable of controlling the flapping of both wings by sweeping a double crankshaft according to the present invention;

[0048] Figure 18 The present invention is a schematic diagram of a flapping-wing aircraft in a downward flapping state in which a double crankshaft can be swept to control the flapping of both wings.

[0049] In the accompanying drawings

[0050] 1. Machine frame; 10. Main frame; 10a. Front bracket; 10b. Rocker shaft; 10c. Rear bracket; 10d. Sliding support shaft; 10e. Middle bracket; 10f. Fixing slot; 11. Connecting fixture; 12. Connecting rod;

[0051] 2. Double-crankshaft transmission flapping mechanism; 20. Motor bracket; 20a. Drive motor; 20b. Pinion; 20c. Double-layer gear; 20d. Large gear; 20e. Fixing recess; 20f. Fixing screw; 21. Double crankshaft; 21a. Front crankshaft section; 21b. Rear crankshaft section; 22a. Left connecting rod; 22b. Right connecting rod; 23a. Left curved rocker; 23b. Right curved rocker; 24. Wing root connector; 24a. Flapping wing fixing slot; 24b. Connecting platform;

[0052] 3. Disc cam sweep angle mechanism; 30. Sweep servo; 31. Disc cam; 32. Slider; 32a. Limiting groove; 33. Transmission plate; 34. Sweep connecting rod; 35. Spring;

[0053] 4. Left and right flapping wings; 40. Left flapping wing; 40a. Left flapping wing skeleton; 40b. Left flapping wing membrane; 40c. Left flapping wing connector; 41. Right flapping wing;

[0054] 5. Tail rudder; 50. Tail wing bracket; 51a. Left servo; 51b. Right servo; 52a. Left rudder arm; 52b. Right rudder arm; 53a. Left tie rod; 53b. Right tie rod; 54a. Left connecting piece; 54b. Right connecting piece; 55a. Left horizontal rudder; 55b. Right horizontal rudder. DETAILED DESCRIPTION

[0055] Example 1

[0056] A flapping-wing aircraft capable of sweeping a double crankshaft to control the flapping of wings, comprising: a body frame 1, a double crankshaft transmission flapping mechanism 2, a disc cam variable sweep angle mechanism 3, left and right flapping wings 4, and a tail rudder 5, wherein:

[0057] The double crankshaft transmission flapping mechanism 2 includes: a drive motor 20a, a double crankshaft 21, a left connecting rod 22a, a right connecting rod 22b, a left curved rocker 23a, a right curved rocker 23b, a curved rocker rotating shaft 10b, a curved rocker vertical shaft and a wing root connecting member 24;

[0058] The double crankshaft 21 is in a "positive S-shape" and is divided into a front crankshaft section 21a and a rear crankshaft section 21b, and is connected to the front of the fuselage along the front and rear vertical axes;

[0059] The driving motor 20a is fixed to the front end of the machine frame 1, the front end of the double crankshaft 21 is fixedly connected to the output end of the driving motor 20a, and the rear end is axially connected to the machine frame 1;

[0060] The inner ends of the left connecting rod 22a and the right connecting rod 22b are hinged to the front crankshaft section 21a and the rear crankshaft section 21b respectively, and the outer ends of the two connecting rods are hinged to the inner ends of the left curved rocker member 23a and the right curved rocker member 23b respectively;

[0061] The middle portions of the left and right curved rocker members 23a and 23b are pivotally connected to the left and right sides of the fuselage frame 1 via the curved rocker member rotation axis 10b, and their outer ends are hinged to the wing root connector 24 via the curved rocker member vertical axis; the outer ends of the wing root connector 24 are fixedly connected to the flapping wing root;

[0062] The disc cam sweep angle variable mechanism 3 includes: a sweep servo 30, a disc cam 31, a sliding member 32, a sliding support shaft 10d, a transmission plate 33, a sweep link 34 and a spring 35;

[0063] The sweep servo 30 is fixedly connected to the fixing groove 10f at the front of the body frame 1, and the disc cam 31 is fixedly connected to the output shaft of the sweep servo 30;

[0064] The sliding support shaft 10d is fixed to the left and right sides of the body frame 1, and the two ends of the sliding member 32 are slidably connected to the middle part of the sliding support shaft 10d;

[0065] The transmission plate 33 is slidably connected to the left and right sides of the body frame 1. The transmission plate 33 is connected to both ends of the sliding member 32. The spring 35 provides contact force between the two. One end of the spring is connected to the body frame 1 and the other end is connected to the transmission plate 33.

[0066] The outer side of the transmission plate 33 is hinged to the front end of the sweep link 34 through a vertical shaft, and the rear end of the sweep link 34 is hinged to the connecting platform 24b of the wing root connector 24 through a vertical shaft;

[0067] The outer contour of the disc cam 31 contacts and cooperates with the limit groove 32a on the rear side of the sliding member 32; the sweep servo 30 drives the disc cam 31 to rotate, and the sliding member 32 moves forward and backward on the sliding support shaft 10d, driving the transmission plate 33 to slide forward and backward, and driving the wing root connector 24 and the flapping wing sweeping movement through the sweep link 34.

[0068] The fuselage frame 1 includes a main frame 10, a connecting fixture 11, and a connecting rod 12. The front portion of the connecting rod 12 is fixedly connected to the rear end of the main frame 10 via the connecting fixture 11, and the rear end is fixedly connected to the tail fin bracket 50 of the tail rudder 5. The main frame 10 includes front brackets 10a located on the left and right sides of its front portion, rear brackets 10c located on the left and right sides of its rear portion, and a fixing slot 10f located in the middle. The front brackets 10a and rear brackets 10c are respectively fixed to the bending rocker member shaft 10b and the sliding support shaft 10d.

[0069] The base plate, bracket and connecting fixture 11 on the main bracket 10 can be made of polyester material with high specific strength and specific stiffness, and the connecting rod 12 can be a hollow connecting rod made of carbon fiber material.

[0070] The bending rocker shaft 10b and the sliding support shaft 10d are coaxial and symmetrically fixed to the left and right sides of the main bracket 10; the transmission plate 33 is slidingly connected to the sliding support shaft 10d, its rear end is connected to the sliding member 32, and its front end is connected to the spring 35 sleeved on the sliding support shaft 10d, the spring 35 is in a compressed state, and the other end of the spring is connected to the front side of the rear bracket 10c of the body frame 1.

[0071] The left-bending rocker member 23a and the right-bending rocker member 23b are symmetrically limitedly pivotally connected to the sliding support shafts 10d fixed to the left and right sides of the main bracket 10, that is, they are only pivotally connected and do not slide forward and backward.

[0072] A gear reduction mechanism is further provided between the driving motor 20a and the double crankshaft 21 of the double crankshaft transmission flapping mechanism 2, which includes a motor bracket 20, a small gear 20b, a double-layer gear 20c, and a large gear 20d;

[0073] The motor bracket 20 is fixed to the front end of the main bracket 10 by a fixing screw 20f, and the drive motor 20a is fixed to the motor bracket 20, and its output shaft is fixed to the pinion 20b; the double-layer gear 20c and the large gear 20d are connected to the motor bracket 20 by a pin axis, and the pinion 20b is engaged with the end with large teeth of the double-layer gear 20c, and the large gear 20d is engaged with the end with small teeth of the double-layer gear 20c; the front end of the double crankshaft 21 is connected to the fixed concave platform 20e in the center of the large gear 20d by a pin, and the rear end of the double crankshaft 21 is axially connected to the middle bracket 10e located in the middle of the main bracket 10.

[0074] See attached Figure 6 The crank radii of the front crankshaft section 21a and the rear crankshaft section 21b of the double crankshaft 21 are equal and the phase difference is 180°. Assume that the crank length of the front crankshaft section 21a is , the crank length of the rear crankshaft section 21b is ,Right now Taking the left side as an example, assume that the projected length of the rotating axis of the double crankshaft 21 to the rotating axis of the bending rocker member 10b is The projected length from the bending rocker member rotation axis 10b to the hinge axis between the left bending rocker member 23a and the left connecting rod 22a is The projected length of the two axial holes of the left connecting rod 22a is , so the conditions for the smooth operation of the left crank rocker mechanism are: , the same applies to the right side;

[0075] In actual use, you can choose not to change Length, by changing 、 、 The length of the flapping wing can quickly adjust the parameters such as the flapping amplitude of the flapping wing and the upper and lower limit positions of the flapping wing. That is, the rotation of the double crankshaft 21 can simultaneously drive the movement of two left and right groups of crank rocker mechanisms with the same structure but a crank phase difference of 180 degrees. The left curved rocker member 23a and the right curved rocker member 23b are the rockers.

[0076] See also Figure 8 The disc cam 31 can be divided into four areas, and the corresponding angles of the four areas are ∠AOD, ∠AOB, ∠COD, and ∠COB. In this embodiment, ∠AOD, ∠AOB, ∠COD, and ∠COB are all 90°. The positive sweep angle corresponds to the angle of ∠AOD and ∠AOB, which is 180° in total. The negative sweep angle corresponds to the angle of ∠COD and ∠COB, which is 180° in total.

[0077] The angular velocity of the disc cam 31 is constant, so in this embodiment, the positive sweep angle and negative sweep angle states each occupy half of the sweep cycle; A, B, C, and D are all points on the contour of the disc cam 31.

[0078] The length of OB and OD is R, which is the radius of the base circle. That is, when B and D on the disc cam 31 contact the limit groove 32a, the flapping wing is in a state of a sweep angle of 0°. Figure 13 and attached Figure 15 ;

[0079] The length of 0A is Rmax, that is, when A on the disc cam 31 contacts the limit groove 32a, the flapping wing is in the front limit position of the sweeping motion. Figure 12 ;

[0080] The length corresponding to 0C is Rmin, that is, when C on the disc cam 31 contacts the limit groove 32a, the flapping wing is in the rear limit position of the sweeping motion. Figure 14 ;

[0081] Satisfying Rmax>R>Rmin and keeping other components unchanged, the amplitude of the flapping wing sweeping forward and backward can be changed by changing the sizes of Rmax and Rmin in the disc cam 31, and the distribution of the duration of the flapping wing sweeping forward and backward can be adjusted by adjusting the proportion of ∠AOD, ∠AOB, ∠COD, and ∠COB in 360°.

[0082] The left and right flapping wings 4 include a left flapping wing 40 and a right flapping wing 41, and the two have the same structure; the left flapping wing 40 includes a left flapping wing skeleton 40a made of carbon fiber material and a lightweight and high-density left flapping wing membrane 40b wrapped on its surface; the left flapping wing skeleton 40a is fixedly connected to the left flapping wing connector 40c on the inner side, and is fixedly connected to the flapping wing fixing groove 24a of the wing root connector 24 through the left flapping wing connector 40c. This connection method is also used on the right side.

[0083] The rudder 5 includes: an empennage bracket 50, a left servo 51a, a right servo 51b, a left rudder arm 52a, a right rudder arm 52b, a left tie rod 53a, a right tie rod 53b, a left connecting member 54a, a right connecting member 54b, a left horizontal rudder 55a, and a right horizontal rudder 55b. The left servo 51a and the right servo 51b are fixedly connected to the left and right sides of the front portion of the empennage bracket 50. The left horizontal rudder 55a and the right horizontal rudder 55b have the same structure and are connected to the left and right sides of the rear portion of the empennage bracket 50 along their axes of symmetry. The left connecting member 54a of the left horizontal rudder 55a is connected to the left rudder arm 52a via the left tie rod 53a. The left rudder arm 52a is mounted on the output shaft of the left servo 51a and is driven thereby. The right horizontal rudder 55b is connected to the right servo 51b in the same manner as the left side.

[0084] Example 2

[0085] In this embodiment, the spring 35 is in a compressed state, providing contact force between the transmission plate 33 and the sliding member 32. The spring 35 and the sliding member 32 are respectively located on the front and rear sides of the transmission plate 33;

[0086] In some other embodiments: the spring 35 is in a stretched state, but the spring 35 and the sliding member 32 are located on the same side of the transmission plate 33, one end of the spring 35 is fixed to the sliding member 32 and the other end is embedded in the body frame 1;

[0087] The transmission plate 33 is slidably connected to the left and right sides of the body frame 1, and its inner end is connected to the left and right ends of the sliding member 32. The spring 35 provides contact force between the transmission plate 33 and the sliding member 32 in a stretched state.

[0088] The mechanism motion process of the flapping-wing aircraft with a swept double crankshaft to control the flapping of wings of the present invention is as follows:

[0089] During operation, the drive motor 20a drives the small gear 20b to rotate, and in turn drives the double-layer gear 20c and the large gear 20d to rotate, and then drives the "positive S-shaped" double crankshaft 21 with one end fixed to the large gear 20d to rotate. The front crankshaft section 21a and the rear crankshaft section 21b of the double crankshaft 21 constitute two cranks with a phase difference of 180°, which drive the left curved rocker member 23a and the right curved rocker member 23b whose symmetry axis is connected to both sides of the fuselage to swing back and forth through the left connecting rod 22a and the right connecting rod 22b respectively, driving the wing root connecting members 24 on both sides to swing up and down, and then driving the left and right flapping wings 4 to flap.

[0090] When the wing flaps, the left curved rocker member 23a and the wing root connector 24 reciprocate around the curved rocker member rotation axis 10b, driving the sweep link 34 and the transmission plate 33 connected thereto to rotate around the sliding support axis 10d. The right side has the same structure as the left side and moves synchronously.

[0091] Under the action of the elastic force of the spring 35, the transmission plates 33 on the left and right sides are tightly connected with the two ends of the front side of the slider 32, and the limit groove 32a on the rear side of the slider 32 is tightly connected with the outer contour of the disc cam 31; during the flapping process of the wings, the sweeping servo 30 controls the rotation of the disc cam 31, so that the slider 32 reciprocates forward and backward along the sliding support shaft 10d, and the transmission plates 33 and the sweeping links 34 on both sides drive the wing root connectors 24 on both sides to rotate synchronously forward and backward around the bent rocker members hinged to them, thereby completing the synchronous forward and backward sweeping motion of the left and right flapping wings. The spatial combination of the sweeping motion and the flapping motion can realize the "elliptical" and "8-shaped" flapping motion of the flapping wings.

[0092] The specific operation process of the disc cam variable sweep angle mechanism 3 can be found in the attached Figure 8 , Attachment Figure 12 -Attached Figure 15 When the sweep servo 30 drives the disc cam 31 to rotate, the four points A, B, C, and D on the disc cam 31 contact the limit groove 32a of the sliding member 32 in sequence, as shown in the attached figure. Figure 12 , Attachment Figure 13 , Attachment Figure 14 , Attachment Figure 15 The variable sweep angle motion states of the middle disc cam variable sweep angle mechanism 3 correspond in sequence. The contact position of the disc cam 31 and the sliding member 32 goes from A to B, B to C, C to D and finally returns to A, completing a complete forward and backward sweep motion. Of course, A, B, C, and D can all be used as the starting points of the forward and backward sweep motion.

[0093] When the aircraft is flying, the left servo 51a and the right servo 51b can respectively control the raising and lowering of the left horizontal rudder 55a and the right horizontal rudder 55b to control the aircraft's flight movements such as pitch, yaw, roll, glide, and dive.

[0094] The flapping-wing aircraft of the present invention can realize the synchronous sweeping and flapping of both wings. The sweeping motion frequency is controlled by the sweeping servo so that it is combined with the flapping motion, and the "elliptical" and "8-shaped" flapping motions of the wingtips can be realized, providing sufficient flight power for the aircraft. The same driving source can also be used to simultaneously drive the movement of the double-crankshaft transmission flapping mechanism 2 and the disc cam variable sweep angle mechanism 3, and the sweeping motion frequency of the disc cam variable sweep angle mechanism 3 is controlled by the reduction mechanism to realize the "elliptical" or "8-shaped" flapping motion of the wingtips. The amplitude of the variable sweep angle motion can be directly controlled by the Rmax and Rmin values ​​of the disc cam, and the time ratio of the forward and backward sweeping motions can be directly adjusted by adjusting the layout ratio of the disc cam. In summary, the transmission flapping mechanism and the variable sweep angle mechanism of the flapping-wing aircraft have a compact structure, which is conducive to the miniaturization of the overall structure and the control of the overall quality of the aircraft.

Claims

1. A flapping-wing aircraft capable of controlling the flapping of wings by sweeping a double crankshaft, comprising: Airframe frame (1), double crankshaft transmission flapping mechanism (2), disc cam variable sweep angle mechanism (3), left and right flapping wings (4), tail rudder (5); The double crankshaft transmission flapping mechanism (2) comprises: a drive motor (20a), a double crankshaft (21), a left connecting rod (22a), a right connecting rod (22b), a left curved rocker component (23a), a right curved rocker component (23b), a curved rocker component rotating shaft (10b), a curved rocker component vertical shaft, and a wing root connecting component (24); The double crankshaft (21) is in a "positive S-shape" and is divided into a front crankshaft section (21a) and a rear crankshaft section (21b), and is connected to the front of the fuselage along the front and rear vertical axes; The driving motor (20a) is fixed to the front of the machine frame (1); one end of the double crankshaft (21) is fixedly connected to the output end of the driving motor (20a), and the other end is axially connected to the machine frame (1); The inner and outer ends of the connecting rod are respectively hinged to the crankshaft section and the inner end of the bending rocker member; The middle portion of the bending rocker is axially connected to the left and right sides of the body frame (1) through the bending rocker rotating shaft (10b), and the outer end thereof is hinged to the wing root connecting member (24) through the bending rocker vertical shaft; the outer end of the wing root connecting member (24) is fixedly connected to the flapping wing root; The disc cam sweep angle variable mechanism (3) comprises: a sweep servo (30), a disc cam (31), a sliding member (32), a sliding support shaft (10d), a transmission plate (33), a sweep connecting rod (34) and a spring (35); The sweep servo (30) is fixedly connected to the front portion of the body frame (1), and the disc cam (31) is fixedly connected to the output shaft of the sweep servo (30); The sliding support shaft (10d) is fixed to the left and right sides of the machine body frame (1), and the two ends of the sliding member (32) are slidably connected to the middle of the sliding support shaft (10d); The transmission disc (33) is slidably connected to the left and right sides of the body frame (1), and the spring (35) provides contact force between the transmission disc (33) and the sliding member (32); The outer side of the transmission plate (33) is hinged to one end of the sweep link (34) via a vertical shaft, and the other end of the sweep link (34) is hinged to the connecting platform (24b) of the wing root connecting member (24) via a vertical shaft; The outer contour of the disc cam (31) contacts and cooperates with the limiting groove (32a) on one side of the sliding member (32); the sweep servo (30) drives the disc cam (31) to rotate, the sliding member (32) moves forward and backward on the sliding support shaft (10d), and the sweep link (34) drives the flapping wing to sweep.

2. The flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 1, characterized in that: The body frame (1) comprises a main support (10) and a connecting rod (12), wherein the front portion of the connecting rod (12) is fixedly connected to the rear portion of the main support (10), and the rear portion of the connecting rod (12) is fixedly connected to the tail wing support (50) of the tail rudder (5).

3. A flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 1 or 2, characterized in that: The bending rocker member rotation axis (10b) and the sliding support axis (10d) are coaxial and symmetrically fixed to the left and right sides of the main bracket (10); The transmission disc (33) is slidably connected to the sliding support shaft (10d), one end of which is connected to the sliding member (32), and the other end of which is connected to a spring (35) sleeved on the sliding support shaft (10d), wherein the spring (35) is in a compressed state.

4. The flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 3, characterized in that: The left-bending rocker component (23a) and the right-bending rocker component (23b) are respectively connected to the sliding support shafts (10d) fixed to the left and right sides of the main bracket (10) in a limited axis manner.

5. The flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 4, characterized in that: The crank radii of the front crankshaft section (21a) and the rear crankshaft section (21b) of the double crankshaft (21) are equal, and the phase difference is 180 degrees. Assuming that the crank length of the front crankshaft section (21a) is , the crank length of the rear crankshaft section (21b) is ,Right now Taking the left side as an example, assume that the projected length from the rotating axis of the double crankshaft (21) to the rotating axis of the bending rocker member (10b) is The projected length from the bending rocker member rotation axis (10b) to the hinge axis between the left bending rocker member (23a) and the left connecting rod (22a) is , the projected length of the two shaft holes of the left connecting rod (22a) is , so the conditions for the smooth operation of the left crank rocker mechanism are: , the same applies to the right side.

6. The flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 5, characterized in that: The disc cam (31) can be divided into four areas, and the corresponding angles are ∠AOD, ∠AOB, ∠COD, and ∠COB, and the four together are 360°; the points A, B, C, and D are all points on the outline of the disc cam (31), wherein the lengths of OB and OD are R, i.e., the base circle radius, the length of 0A is Rmax, and the length of 0C is Rmin, satisfying Rmax>R>Rmin.

7. A flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 4, 5 or 6, characterized in that: The left and right flapping wings (4) include a left flapping wing (40) and a right flapping wing (41), both of which have the same structure. The left flapping wing (40) includes a left flapping wing frame (40a) and a left flapping wing membrane (40b) wrapped around the surface of the left flapping wing frame. The left flapping wing frame (40a) is fixedly connected to the left flapping wing connector (40c) on the inner side, and is fixedly connected to the outer end of the wing root connector (24) through the left flapping wing connector (40c).

8. The flapping-wing aircraft capable of sweeping double crankshafts to control flapping of wings according to claim 7, characterized in that: The tail rudder (5) comprises: a tail wing bracket (50), a left servo (51a), a right servo (51b), a left horizontal rudder (55a), and a right horizontal rudder (55b), wherein the left servo (51a) and the right servo (51b) are fixedly connected to the tail wing bracket (50); and the symmetry axes of the left horizontal rudder (55a) and the right horizontal rudder (55b) are connected to both sides of the tail wing bracket (50).

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