Tail wing structure of a flapping-wing robot

Abstract

The present invention relates to a tail wing structure of a flapping-wing robot, which includes a yaw mechanism, a pitch mechanism and a connecting mechanism. The yaw mechanism includes a yaw servo, a yaw servo rocker arm, a yaw rocker arm and a yaw rudder surface; the pitch mechanism includes a pitch servo, a pitch servo rocker arm and a pitch surface; the connecting mechanism includes a pitch servo fixing plate, a tail wing flat plate and a fuselage. The present invention uses a spherical plain bearing and a connecting rod structure to realize the pitch motion function of the tail wing, uses a flexible material, a servo rocker arm and a yaw rocker arm to realize the yaw motion function of the tail wing, and combines the yaw structure and the pitch structure by using the tail wing flat plate to form an overall tail wing mechanism. When the present invention can achieve pitch motion, the yaw motion will not be affected, realizing the decoupling of the pitch action and the yaw action. At the same time, both the yaw control servo and the pitch control servo are installed on the fuselage, reducing the tail wing structural parts and reducing the load force during the tail wing movement, having the advantages of compact structure and strong adjustment ability.

Description

Technical Field

[0001] The present invention belongs to the technical field of flapping-wing aircraft, and specifically relates to a tail-wing structure of a flapping-wing robot. Background Art

[0002] Currently, most of the aircrafts used in rescue operations are fixed-wing and multi-rotor. The horizontal takeoff and landing distance of fixed-wing aircrafts is relatively long, and the unstable airflows in disaster-stricken areas will have a greater impact on them, with low energy utilization rate, which limits their wide application. Multi-rotor robots are highly flexible, but have a low payload-to-self-weight ratio, low energy utilization rate, and short endurance time. However, with the development of aerodynamic theory, new technologies and new materials, and new mechatronic technologies, flapping-wing aircrafts have gradually come into view. Flapping-wing aircrafts have the advantages of low cost and high endurance, and can also adapt to complex airflows by adjusting the wings.

[0003] The wings and tail wings of birds in the animal kingdom are complex structures with multiple degrees of freedom. Due to material and technological limitations, most artificial flapping-wing robots are simplified mechanisms. Their wings can only meet the requirements of lift and thrust. For the turning motion of flapping-wing robots, it can only be achieved through the tail wing.

[0004] The functions that the tail wing needs to achieve are yaw motion and pitch motion. In the existing tail-wing design structures, there are two common types. One type is that the tail wing is a single plane, and two motions are achieved through roll and pitch. The realization and installation of roll motion are difficult. After being coupled with pitch motion, the motor control accuracy is high, and an algorithm is also required for decoupling. The other type is that the tail wing is two planes, with the horizontal plane achieving pitch motion and the vertical plane achieving yaw motion. This type of tail-wing structure has low control accuracy for the motor and is easy to implement.

[0005] Chinese Patent CN 118270259 A discloses a flapping-wing aircraft with multi-domain motion capabilities, which involves an integrated tail-wing structure with a fixed pitch plane and yaw rudder plane, and cannot complete the combined motion of yaw motion and pitch motion simultaneously.

[0006] In the existing tail-wing structures that can achieve independent pitch and yaw motions, they are all in a series layout. For example, a water-air amphibious bionic flapping-wing robot with chordal bimodality disclosed in Chinese Patent CN 119262358 A involves a simple series mechanism, placing one of the servo motors for motion on the tail-wing motion mechanism, increasing the load of the other servo motor, and also increasing the mass of the tail-wing structure and the inertia moment.

[0007] In addition, the motion of the existing tail-wing structures generally adopts the form of direct motor drive. The tail-wing structure driven directly by the motor will transfer all the impact loads received to the motor, which is easy to cause damage to the motor. Summary of the Invention

[0008] In order to overcome the deficiencies of the prior art, the present invention provides a tail wing structure for a flapping-wing robot. The present invention provides a tail wing structure with simple structure and flexible control, in which the pitching motion and yaw motion are completely independent, which not only simplifies the tail wing structure, reduces the weight, but also improves the driving efficiency.

[0009] The technical solution adopted by the present invention is as follows:

[0010] A tail wing structure for a flapping-wing robot, the tail wing structure comprising a yaw mechanism, a pitching mechanism and a connecting mechanism,

[0011] The yaw mechanism includes a yaw servo, a yaw servo rocker arm, a yaw rocker arm and a yaw rudder surface;

[0012] The pitching mechanism includes a pitching servo, a pitching servo rocker arm and a pitching surface;

[0013] The connecting mechanism includes a pitching servo fixing plate, a tail wing flat plate and a fuselage;

[0014] The pitching servo is connected to the fuselage through the pitching servo fixing plate, the output shaft of the pitching servo is fixedly connected to the pitching servo rocker arm, the pitching servo rocker arm is matched with a first joint bearing, the first joint bearing is connected to a second joint bearing through a pitching connecting rod, the second joint bearing is matched with a first pitching connecting member, the first pitching connecting member is fixedly connected to the pitching surface, the pitching surface is simultaneously fixedly connected to a second pitching connecting member, and the second pitching connecting member is hinged to a third pitching connecting member through a pitching surface connecting shaft;

[0015] The tail wing flat plate is fixedly connected to the fuselage, the yaw servo is fixedly connected to the tail wing flat plate, and the output end of the yaw servo is connected to the yaw servo rocker arm; a flexible connection is adopted between the yaw servo rocker arm and the yaw rocker arm; the yaw rocker arm is connected to the yaw rudder surface.

[0016] The setting of the joint bearing allows a little error in the vertical direction between the pitching servo rocker arm and the first pitching connecting member. During the flight of the flapping-wing robot, the instantaneous force received by the tail wing and a part of it is relatively high. Due to the limitations of materials and weight, the stiffness of the materials of the tail wing part is not very high and there is elastic deformation. The use of joint bearings can reduce the influence brought by elastic deformation.

[0017] Preferably, the yaw rudder surface is composed of carbon fiber tubes through corresponding yaw connecting members. The carbon fiber tubes include a first carbon fiber tube, a second carbon fiber tube and a third carbon fiber tube, and the yaw connecting members include a first yaw connecting member, a second yaw connecting member, a third yaw connecting member and a fourth yaw connecting member;

[0018] The first yaw connecting piece cooperates with the second pitch connecting piece and the fourth yaw connecting piece respectively. The fourth yaw connecting piece cooperates with the first carbon fiber tube. There is a fixed connection between the first carbon fiber tube and the yaw rocker arm. The first carbon fiber tube is connected to the second carbon fiber tube through the second yaw connecting piece. The second carbon fiber tube is connected to the third carbon fiber tube through the third yaw connecting piece.

[0019] Preferably, the yaw servo rocker arm is a straight rocker arm. The flexible material is a flexible steel wire rope, including a first plastic-coated steel wire rope and a second plastic-coated steel wire rope. The first plastic-coated steel wire rope and the second plastic-coated steel wire rope have the same length.

[0020] Preferably, one end of the flexible steel wire rope is connected to the yaw rocker arm, and the other end is connected to the straight rocker arm. The distance from the connection point of the straight rocker arm to the rotation center of the straight rocker arm is the same as the distance from the yaw rocker arm to the rotation center of the yaw rudder surface. The flexible steel wire rope also bypasses the pitch plane connection shaft, and a limiting shoulder is machined on the shaft of the pitch plane connection shaft.

[0021] When the flexible steel wire rope bypasses the pitch plane connection shaft and the carbon plate undergoes a pitching motion, the yaw rocker arm undergoes displacement. At this time, the bending point of the flexible steel wire rope approaches the axis of the connection shaft, and the length of the steel wire rope hardly changes before and after the pitching motion. There is still an effective connection between the servo straight rocker arm and the yaw rocker arm. Within the upper and lower limits of the pitching motion, the flexible steel wire rope always bends around the connection shaft without affecting the occurrence of the yaw motion. In this way, the complete decoupling of the yaw motion and the pitching motion is achieved, and they do not affect each other. The setting of the limiting shoulder can limit the crosstalk of the flexible steel wire rope on the shaft and ensure that there is no interference during the sliding of the flexible steel wire rope on the shaft.

[0022] Preferably, the pitch servo is bolted to the fuselage of the flapping-wing robot through a pitch servo fixing plate.

[0023] Preferably, the pitch servo rocker arm is fitted with a first spherical plain bearing through bolts and sleeves.

[0024] Preferably, the first pitch connecting piece is fixedly connected to the pitch plane through bolts, and the first pitch connecting piece is perpendicular to the pitch plane.

[0025] Preferably, there is an interference fit between the pitch plane connection shaft and the second pitch connecting piece, and a clearance fit between the pitch plane connection shaft and the third pitch connecting piece. The axis of the pitch plane connection shaft is parallel to the wingspan horizontal plane.

[0026] Preferably, the first yaw connecting piece and the second pitch connecting piece are fitted through a sleeve and a bearing. The inner ring of the bearing has an interference fit with the sleeve, and the sleeve has an interference fit with the second pitch connecting piece. The outer ring of the bearing has an interference fit with the first yaw connecting piece. During the yaw motion, dynamic and static separation can be achieved, and at the same time, the bearing can be fully positioned.

[0027] Preferably, the first yaw connecting member is provided with a through hole, and the first yaw connecting member is in interference fit with the fourth yaw connecting member through the through hole; the yaw rocker arm is fixedly connected to the first carbon fiber tube by bolts.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. The present invention adopts a connecting rod form for driving, which can share the impact load and make the mechanism more stable; the output motion of the motor is transmitted to the tail wing structure through the connecting rod. The impact load received by the tail wing during flight, the impact in the same plane as the connecting rod is transmitted to the motor, and the impact not in the same plane as the connecting rod is transmitted to the fuselage, which can effectively avoid the impact during the movement process and extend the service life of the motor;

[0030] 2. In the present invention, both the pitch servo and the yaw servo are fixedly connected to the fuselage, which simplifies the tail wing structure, reduces the mass of the tail wing, reduces the inertial load on the motor, and improves the driving efficiency;

[0031] 3. The pitch plane (pitch carbon plate) and the yaw control surface of the present invention can be independently controlled. The composite motion can be completed by simply controlling the servo. That is, for the structural design of the present invention, only the rotation angles of the respective motors need to be controlled, without considering the mutual influence between the two motions, which greatly reduces the requirement for the control accuracy of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is an isometric structural schematic diagram of the present invention;

[0033] Figure 2 is a left-side structural schematic diagram of the present invention;

[0034] Figure 3 is a rear-side structural schematic diagram of the present invention;

[0035] Figure 4 is a structural schematic diagram of the present invention with a yaw angle of 0 degrees and a pitch angle of 30 degrees;

[0036] Figure 5 is a structural schematic diagram of the present invention with a yaw angle of 0 degrees and a nose-up angle of 30 degrees;

[0037] Figure 6 is a structural schematic diagram of the present invention with a left yaw angle of 30 degrees and a pitch angle of 0 degrees;

[0038] Figure 7 is a structural schematic diagram of the present invention with a right yaw angle of 30 degrees and a pitch angle of 0 degrees;

[0039] Figure 8 is a structural schematic diagram of the present invention with a left yaw angle of 30 degrees and a pitch angle of 30 degrees;

[0040] Figure 9It is a schematic diagram of the structure with a 30-degree right yaw angle and a 30-degree elevation angle of the present invention. Detailed implementation manners

[0041] The technical solutions of the present invention will be further specifically described below through embodiments. These embodiments are for the purpose of illustrating the present invention and are not intended to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0042] Refer to Figures 1 to 3 , a tail wing structure of a flapping-wing robot, the tail wing structure includes a yaw mechanism, a pitch mechanism and a connecting mechanism.

[0043] The yaw mechanism includes a yaw servo 17, a yaw servo rocker arm 8, a yaw rocker arm 12 and a yaw control surface 11; a flexible connection is adopted between the yaw servo rocker arm 8 and the yaw rocker arm 12.

[0044] The yaw control surface 11 is composed of carbon fiber tubes through corresponding yaw connectors. The carbon fiber tubes include a first carbon fiber tube 11-1, a second carbon fiber tube 11-2 and a third carbon fiber tube 11-3. The yaw connectors include a first yaw connector 13, a second yaw connector 19, a third yaw connector 22 and a fourth yaw connector 20.

[0045] The yaw servo rocker arm 8 is a straight-shaped rocker arm. The flexible material is a flexible steel wire rope, including a first plastic-coated steel wire rope 9 and a second plastic-coated steel wire rope 14. The first plastic-coated steel wire rope 9 and the second plastic-coated steel wire rope 14 have the same length.

[0046] The pitch mechanism includes a pitch servo 3, a pitch servo rocker arm 5 and a pitch control surface (pitch carbon plate) 10; the pitch control surface is a plane formed by the pitch carbon plate.

[0047] The connecting mechanism includes a pitch servo fixing plate 2, a tail wing flat plate 7 and a fuselage 1.

[0048] The pitch servo 3 is bolted to the flapping robot fuselage 1 through the pitch servo fixing plate 2. The output shaft of the pitch servo 3 is fixedly connected to the pitch servo rocker arm 5. The pitch servo rocker arm 5 is fitted with the first joint bearing 4 through a bolt and a sleeve. The first joint bearing 4 is connected to the second joint bearing 23 through the pitch connecting rod 6. The second joint bearing 23 is fitted with the first pitch connecting member 18. Among them, the first pitch connecting member 18 is fixedly connected to the pitch surface 10 by bolts, and the first pitch connecting member 18 is perpendicular to the pitch surface 10. The advantage of the joint bearing is that it allows a little error between the pitch servo rocker arm 5 and the first pitch connecting member 18 in the vertical direction. During the flight of the flapping robot, the instantaneous force on the tail wing and part of the wing is relatively high. Due to the limitations of materials and weight, the stiffness of the materials of the tail wing part is not very high, and there is elastic deformation. Using the joint bearing can reduce the influence brought by the elastic deformation. The pitch surface 10 is also fixedly connected to the second pitch connecting member 21. One end of the second pitch connecting member 21 is machined with a through hole. The second pitch connecting member 21 and the third pitch connecting member 16 are hinged through the pitch surface connecting shaft 15. The pitch surface connecting shaft 15 is in interference fit with the second pitch connecting member 21, and the pitch surface connecting shaft 15 is in clearance fit with the third pitch connecting member 16, and the axis is parallel to the wingspan horizontal plane.

[0049] When the pitch servo 3 deflects, it drives the pitch servo rocker arm 5 to swing, and pushes or pulls the first pitch connecting member 18 through the pitch connecting rod 6 to rotate around the pitch surface connecting shaft 15, thereby completing the pitch movement of the pitch surface 10 of the tail wing module.

[0050] The fin flat plate 7 is fixedly connected to the fuselage 1. The yaw servo 17 is fixedly connected to the fin flat plate 7, and the output end of the yaw servo 17 is connected to the straight rocker arm 8. The first yaw connecting piece 13 and the second pitch connecting piece 21 are fitted with each other through a sleeve and a bearing. The inner ring of the bearing is in interference fit with the sleeve, and the sleeve is in interference fit with the second pitch connecting piece 21, while the outer ring of the bearing is in interference fit with the first yaw connecting piece 13. In this way, dynamic and static separation can be achieved during yaw movement, and at the same time, the bearing can be fully positioned and can bear the axial force generated during flight while rotating. A through hole is provided at one end of the first yaw connecting piece 13, and the first yaw connecting piece 13 is in interference fit with the fourth yaw connecting piece 20 through the through hole. One end of the fourth yaw connecting piece 20 is fitted with the first carbon fiber tube 11-1, and the yaw rocker arm 12 is fixedly connected to the first carbon fiber tube 11-1 by bolts. The other end of the first carbon fiber tube 11-1 is adhesively bonded to the second yaw connecting piece 19. The other end of the second yaw connecting piece 19 is bonded to the second carbon fiber tube 11-2, and the other end of the second carbon fiber tube 11-2 is bonded to the third yaw connecting piece 22. After the other end of the third yaw connecting piece 22 is bonded to the third carbon fiber tube 11-3, the yaw control surface 11 is formed. The yaw rocker arm 12 and the straight rocker arm 8 are flexibly connected by flexible steel wires 9 and 14. One end of the steel wire is connected to the yaw rocker arm 12, and the other end is connected to the straight rocker arm 8. The distance from the connecting point of the straight rocker arm to the rotation center of the rocker arm is the same as the distance from the yaw rocker arm to the rotation center of the control surface. The flexible steel wire also bypasses the pitch plane connecting shaft 15. The flexible steel wire is bent at the pitch plane connecting shaft 15. When the pitch plane moves, the flexible steel wire bends around the pitch plane connecting shaft 15, and the change in the length of the steel wire is very small. The movement of the straight rocker arm 8 can still be stably transmitted to the yaw rocker arm 12. The flexible condition can ensure the transmission of movement at any angle. Even at the limit of the pitch movement, the yaw movement can still proceed normally. A limiting shoulder is machined on the pitch plane connecting shaft 15. When the yaw movement occurs, it restricts the crosstalk of the flexible wire in the direction perpendicular to the rotation axis, preventing the crosstalk of the flexible steel wire from causing transmission failure or mechanism jamming.

[0051] When the yaw servo 17 deflects, it drives the servo straight rocker arm 8 to rotate. One end of the servo straight rocker arm 8 pulls the flexible steel wire. The steel wire pulls the yaw rocker arm 12, driving the yaw control surface to rotate around the bearing axis. The two flexible steel wires drive the fin yaw rocker arm back and forth, and the yaw control surface swings, thus completing the multi-faceted yaw movement of the fin module.

[0052] Among them, the flexible steel wire rope bypasses the connection shaft of the pitching plane, bends at the rotation shaft of the pitching member. When the pitching plane (carbon plate) makes a pitching motion, the yaw rocker arm 12 displaces. At this time, the bending point of the flexible steel wire rope approaches the axis of the connection shaft of the pitching plane, and the length of the flexible steel wire rope hardly changes before and after the pitching motion. The connection between the servo one-shaped rocker arm and the yaw rocker arm remains effective. Within the upper and lower limits of the pitching motion, the flexible steel wire rope always bends around the connection shaft of the pitching plane, without affecting the occurrence of the yaw motion. In this way, the complete decoupling of the yaw motion and the pitching motion is achieved, and they do not affect each other.

[0053] The shoulder processed on the connection shaft of the pitching plane of the present invention can limit the axial movement of the flexible steel wire rope on the shaft, ensuring that there is no interference during the sliding of the flexible steel wire rope on the shaft. Both the servo fixing plate 2 and the tail wing flat plate 7 are fixedly connected to the fuselage. The mass load of the servo is on the fuselage, reducing the tail wing components and reducing the mass, and improving the driving efficiency of the tail wing.

[0054] The state of the present invention at a yaw angle of 0 degrees and a pitch angle of 30 degrees is as Figure 4 shown. The state of the present invention at a yaw angle of 0 degrees and a nose-up angle of 30 degrees is as Figure 5 shown. The state of the present invention at a left yaw angle of 30 degrees and a pitch angle of 0 degrees is as Figure 6 shown. The state of the present invention at a right yaw angle of 30 degrees and a pitch angle of 0 degrees is as Figure 7 shown. The state of the present invention at a left yaw angle of 30 degrees and a pitch angle of 30 degrees is as Figure 8 shown. The state of the present invention at a right yaw angle of 30 degrees and a nose-up angle of 30 degrees is as Figure 9 shown. From Figures 4 to 9 it can be seen that when the yaw angle of the present invention is at any position between a left yaw angle of 30 degrees and a right yaw angle of 30 degrees, the pitching motion is not restricted and can move to any position between a pitch angle of 30 degrees and a nose-up angle of 30 degrees. Similarly, when the pitch angle is at any position between a pitch angle of 30 degrees and a nose-up angle of 30 degrees, the yaw motion is not affected either. The present invention has the characteristic of well achieving the complete decoupling of the yaw motion and the pitching motion.

[0055] The present invention uses a spherical plain bearing and a connecting rod structure to realize the pitching motion function of the tail wing, uses a flexible steel wire rope, a yaw servo rocker arm, and a yaw rocker arm to realize the yaw motion function of the tail wing, and combines the yaw mechanism and the pitching mechanism by using the tail wing flat plate to form an overall tail wing structure. When the present invention can achieve the pitching motion, the yaw motion will not be affected, realizing the decoupling of the pitching action and the yaw action. At the same time, both the yaw servo and the pitch servo are installed on the fuselage, reducing the tail wing structural parts and reducing the load force during the tail wing action, having the advantages of a compact structure and strong adjustment ability.

[0056] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tail wing structure of a flapping-wing robot, characterized in that: The tail structure includes a yaw mechanism, a pitch mechanism and a connecting mechanism. The yaw mechanism includes a yaw servo, a yaw servo rocker arm, a yaw rocker arm and a yaw rudder surface. The pitch mechanism includes a pitch servo, a pitch servo rocker arm and a pitch surface. The connecting mechanism includes a pitch servo fixing plate, a tail plane plate and a fuselage. The pitch servo is connected to the fuselage through the pitch servo fixing plate. The output shaft of the pitch servo is fixedly connected to the pitch servo rocker arm. The pitch servo rocker arm is engaged with a first joint bearing. The first joint bearing is connected to a second joint bearing through a pitch connecting rod. The second joint bearing is engaged with a first pitch connecting member. The first pitch connecting member is fixedly connected to the pitch surface. The pitch surface is also fixedly connected to a second pitch connecting member. The second pitch connecting member is hinged to a third pitch connecting member through a pitch surface connecting shaft. The tail plane plate is fixedly connected to the fuselage. The yaw servo is fixedly connected to the tail plane plate. The output end of the yaw servo is connected to the yaw servo rocker arm. A flexible connection is adopted between the yaw servo rocker arm and the yaw rocker arm. The yaw rocker arm is connected to the yaw rudder surface.

2. The tail structure of the flapping-wing robot according to claim 1, characterized in that: The yaw rudder surface is composed of carbon fiber tubes combined through corresponding yaw connecting members. The carbon fiber tubes include a first carbon fiber tube, a second carbon fiber tube and a third carbon fiber tube. The yaw connecting members include a first yaw connecting member, a second yaw connecting member, a third yaw connecting member and a fourth yaw connecting member. The first yaw connecting member is respectively engaged with the second pitch connecting member and the fourth yaw connecting member. The fourth yaw connecting member is engaged with the first carbon fiber tube. A fixed connection is established between the first carbon fiber tube and the yaw rocker arm. The first carbon fiber tube is connected to the second carbon fiber tube through the second yaw connecting member. The second carbon fiber tube is connected to the third carbon fiber tube through the third yaw connecting member.

3. The tail wing structure of the flapping-wing robot according to claim 1, wherein: The yaw servo rocker arm is a straight-shaped rocker arm. The flexible connection is a flexible steel wire rope, including a first plastic-coated steel wire rope and a second plastic-coated steel wire rope. The lengths of the first plastic-coated steel wire rope and the second plastic-coated steel wire rope are the same.

4. The tail wing structure of the flapping-wing robot according to claim 1, characterized in that: The pitch servo is bolted to the fuselage of the flapping-wing robot through the pitch servo fixing plate.

5. The tail wing structure of the flapping-wing robot according to claim 1, characterized in that: The pitch servo rocker arm is engaged with the first joint bearing through bolts and sleeves.

6. The tail wing structure of the flapping-wing robot according to claim 1, characterized in that: A fixed connection is established between the first pitch connecting member and the pitch surface through bolts, and the first pitch connecting member is perpendicular to the pitch surface.

7. The tail wing structure of the flapping-wing robot according to claim 1, wherein: An interference fit is adopted between the pitch surface connecting shaft and the second pitch connecting member, and a clearance fit is adopted between the pitch surface connecting shaft and the third pitch connecting member. The axis of the pitch surface connecting shaft is parallel to the wingspan horizontal plane.

8. The tail wing structure of the flapping-wing robot according to claim 2, characterized in that: A fit is adopted between the first yaw connecting member and the second pitch connecting member through a sleeve and a bearing. The inner ring of the bearing has an interference fit with the sleeve, while the sleeve has an interference fit with the second pitch connecting member. The outer ring of the bearing has an interference fit with the first yaw connecting member.

9. The tail wing structure of the flapping-wing robot according to claim 2, characterized in that: A through hole is provided on the first yaw connecting member. The first yaw connecting member has an interference fit with the fourth yaw connecting member through the through hole. A bolted fixed connection is established between the yaw rocker arm and the first carbon fiber tube.

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