Bionic flapping wing aircraft based on double-crank coaxial zero-phase transmission

Abstract

The invention discloses a bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission, which comprises an aircraft body, a flapping-wing transmission mechanism, a flapping-wing transmission mechanism and a transmission mechanism, the two cranks are arranged in tandem and are positioned in the mounting positions; the transmission shaft is positioned in the mounting position and is respectively connected with the two cranks in the same phase; the two flapping wings are positioned outside the mounting position; the positioning shaft is in transmission connection with the two flapping wings and is positioned above the transmission shaft; one end of the connecting rod is rotationally connected with the transmission shaft, and the other end extends upwards and is rotationally connected with the positioning shaft; and the driving mechanism is arranged in the mounting position and is connected with the crank positioned at the rear position, so that the two flapping wings are driven to synchronously flap at zero phase by driving the crank to rotate. Through transmission of the coaxial and same-phase double cranks, it is ensured that the front crank and the rear crank synchronously rotate without phase deviation all the time; under the transmission action of the two cranks on the driving force, the two flapping wings can lift simultaneously, so that the left and right flapping wings are ensured to generate symmetrical lift force, and the overall flight performance of the aircraft is improved.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft, and in particular to a bionic flapping-wing aircraft based on a double-crank coaxial zero-phase transmission. Background Art

[0002] Bionic aircraft mainly achieve flight in the air by simulating the flight modes of birds or other flying organisms; compared with rotor and fixed-wing aircraft, flapping-wing aircraft have excellent aerodynamic performance at low Reynolds numbers, low cost, small size, light weight, good concealment, and are easy to carry; the flapping phase of the wings is crucial for flight performance. However, common bionic aircraft use simple flapping mechanisms, driving the wings to flap up and down through motors to generate lift and thrust, but it is easy to have asymmetry and out-of-synchronization in the movement of the left and right flapping wings, resulting in the loss of balance of the aircraft and reducing the flight performance of the aircraft.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by the present application is to provide a bionic flapping-wing aircraft based on a double-crank coaxial zero-phase transmission in view of the above-mentioned defects of the prior art, aiming to achieve zero-phase synchronization of the two flapping wings and improve the flight performance of the aircraft.

[0005] The technical solution adopted by the present application to solve the technical problem is as follows:

[0006] A bionic flapping-wing aircraft based on a double-crank coaxial zero-phase transmission, which includes a fuselage, and an installation position is provided on the fuselage. It further includes:

[0007] Two cranks; the two cranks are arranged one in front of the other and are both located within the installation position;

[0008] A transmission shaft, located within the installation position and connected to the two cranks in the same phase;

[0009] Two flapping wings, located outside the installation position;

[0010] A positioning shaft, connected to the two flapping wings in transmission and located above the transmission shaft;

[0011] A connecting rod, one end of which is rotatably connected to the transmission shaft, and the other end extends upward and is rotatably connected to the positioning shaft;

[0012] A driving mechanism, arranged within the installation position and connected to the rear crank to drive the crank to rotate, thereby driving the two flapping wings to flap in zero-phase synchronization.

[0013] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive, wherein the mounting position is recessed downward from the top surface of the fuselage to form a groove.

[0014] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive, wherein the mounting position is close to the head of the fuselage and far from the tail of the fuselage.

[0015] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive, wherein the drive mechanism includes:

[0016] A driver;

[0017] A reduction unit connected to the drive shaft of the driver; the output shaft of the reduction unit is connected to the crank at the rear position.

[0018] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive further includes:

[0019] A positioning mechanism respectively connected to the two flapping wings and rotatably connected to the positioning shaft;

[0020] A bracket located within the mounting position and disposed on the fuselage; the bracket is respectively assembled with the crank, the drive mechanism and the positioning mechanism.

[0021] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive, wherein the positioning mechanism includes:

[0022] A first positioning member connected to one of the flapping wings and rotatably connected to the bracket;

[0023] A first extension portion provided on the first positioning member and rotatably connected to the positioning shaft;

[0024] A second positioning member connected to the other flapping wing and rotatably connected to the bracket;

[0025] A second extension portion provided on the second positioning member and rotatably connected to the positioning shaft.

[0026] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive, wherein a first accommodation space is formed by enclosing between the rear side of the first extension portion and the first positioning member, a second accommodation space is formed by enclosing between the front side of the second extension portion and the second positioning member, the first extension portion is located within the second accommodation space, and the second extension portion is located within the first accommodation space.

[0027] The bionic flapping-wing aircraft based on a double-crank coaxial zero-phase drive further includes:

[0028] The first clamping rod has one end inserted into the first positioning member and coincides with the central axis of the first positioning member; a first clamping position is provided at the rear side of the first clamping rod, and one of the flapping wings is located within the first clamping position;

[0029] The second clamping rod has one end inserted into the second positioning member and coincides with the central axis of the second positioning member; a second clamping position is provided at the rear side of the second clamping rod, and the other flapping wing is located within the second clamping position.

[0030] For the bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission, wherein the bracket includes:

[0031] The first clamping member is clamped to the body at its front side; the crank in the front position is rotatably connected to the first clamping member;

[0032] The second clamping member is clamped to the body at its lower side; the second clamping member is located between the first clamping member and the drive mechanism;

[0033] The rigid connecting member is respectively connected to the first clamping member and the second clamping member, and together with the first clamping member and the second clamping member encloses an accommodation cavity; the two cranks, the transmission shaft and the connecting rod are all located within the accommodation cavity;

[0034] Two supporting portions are provided on the second clamping member and both extend upwardly; both of the two supporting portions are in transmission connection with the positioning mechanism.

[0035] For the bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission, wherein the head of the body is in an isosceles trapezoid shape; when the body is horizontally arranged, the upper base of the isosceles trapezoid is vertically arranged.

[0036] Advantageous effects: In this application, through the transmission of the coaxial and co-phase double cranks, it can be ensured that the front and rear two cranks always rotate synchronously without generating relative phase deviation; then, under the transmission of the driving force of the two cranks to the drive mechanism, the two flapping wings can rise and fall simultaneously, ensuring that the left and right two flapping wings generate symmetric lift forces, making the flight more stable, reducing the deviation caused by the asynchronous phase of the flapping wings, and thus improving the overall flight performance of the aircraft. Description of the Drawings

[0037] Figure 1 is a reference view of the usage state of the bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission when the body in this application is in a horizontal state;

[0038] Figure 2 is a schematic structural view of the bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission in this application;

[0039] Figure 3 is Figure 2 a partial enlarged schematic view of part A in

[0040] Figure 4 a schematic structural view of the bracket described in the present application;

[0041] Figure 5 a schematic structural view of the positioning mechanism described in the present application;

[0042] Figure 6 a schematic assembly structural view of two cranks, the connecting rod, the transmission shaft and the positioning shaft in the present application;

[0043] Figure 7 a schematic exploded structural view of the tail wing described in the present application. Detailed Embodiment

[0044] To make the objectives, technical solutions and effects of the present application clearer and more definite, the following further describes the present application in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] Those skilled in the art of the present technology can understand that unless specifically stated, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present application means the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more related listed items.

[0046] Those skilled in the art of the present technology can understand that unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as herein.

[0047] The present application provides a bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission, such as Figure 1 , Figure 2 ,Figure 3 and Figure 6 As shown in Figure 6 , it includes: a body 1, two cranks (2 and 3), a transmission shaft 4, two flapping wings 5, a positioning shaft 6, a connecting rod 7, and a driving mechanism 8; an installation position 100 is provided on the body 1; the two cranks are arranged one in front of the other and are both located at the installation position 100; the transmission shaft 4 is located within the installation position 100 and is connected to the two cranks in the same phase respectively; the two flapping wings 5 are both located outside the installation position 100; the positioning shaft 6 is in transmission connection with the two flapping wings 5 and is located above the transmission shaft 4; one end of the connecting rod 7 is rotatably connected to the transmission shaft 4, and the other end of the connecting rod 7 extends upward and is rotatably connected to the positioning shaft 6; the driving mechanism 8 is arranged within the installation position 100 and is connected to the rear crank 3 to drive the two flapping wings 5 to flap synchronously with zero phase difference by driving the rotation of the crank.

[0048] Specifically, the two cranks are distributed front and rear and are both sleeved on the transmission shaft 4; the two cranks are installed in the same phase on the transmission shaft 4. The driving mechanism 8 is connected to the rear crank 3 and drives the rear crank 3 to rotate; the rear crank 3 drives the transmission shaft 4 to drive the front crank 2 to achieve zero-phase difference transmission.

[0049] The lower end of the connecting rod 7 is sleeved on the transmission shaft 4 and can rotate relative to the transmission shaft 4; the upper end of the connecting rod 7 is sleeved on the positioning shaft 6 and can rotate relative to the positioning shaft 6; when the transmission shaft 4 rotates, the lower end of the connecting rod 7 swings accordingly, and the upper end of the connecting rod 7 moves in the vertical direction, thereby converting the rotational motion into a linear reciprocating motion. The positioning shaft 6 is assembled with the two flapping wings 5 at the same time, and as the positioning shaft 6 moves up and down linearly, the two flapping wings 5 flap up and down synchronously.

[0050] In this application, the cranks are arranged on both the front side and the rear side of the connecting rod 7, and the two cranks are arranged in the same phase and have a coaxial structure. When the driving mechanism 8 provides a driving force to the rear crank 3 to drive the rear crank 3 to rotate, the front crank 2 can provide additional torque support to ensure that both ends of the transmission shaft 4 can output power smoothly, avoid the delay effect caused by single-end drive, enable the two flapping wings 5 to flap precisely synchronously, avoid the transmission shaft 4 alone bearing the torque burden, and make the overall operation of the aircraft smoother.

[0051] It can be seen that through the transmission of the coaxial and in-phase double cranks in this application, it is possible to ensure that the front and rear cranks always rotate synchronously without relative phase deviation. Then, under the transmission of the driving forces of the two cranks to the driving mechanism 8, the two flapping wings 5 can rise and fall simultaneously, ensuring that the left and right flapping wings 5 generate symmetric lift forces, making the flight more stable, reducing the offset caused by the asynchronous phases of the flapping wings 5, and thus improving the overall flight performance of the aircraft.

[0052] Meanwhile, the combination of the double-crank transmission and the connecting rod 7 in this application can accurately control the amplitude, frequency, and rhythm of the movement of the flapping wing 5 by adjusting the size of the crank, the length of the connecting rod 7, and the position of the connection point between the connecting rod 7 and the transmission shaft 4, etc.

[0053] For example, when the length of the crank increases, the amplitude of the flapping wing 5 increases, and the swinging angle of the flapping wing 5 becomes larger, which is suitable for generating a greater lift force; when the length of the crank decreases, the amplitude of the flapping wing 5 decreases, and the swinging angle of the flapping wing 5 decreases, reducing energy consumption and being more suitable for high-speed flight. When the length of the connecting rod 7 increases, the amplitude of the flapping wing 5 increases, the swinging angle of the flapping wing 5 increases, and the flapping frequency decreases, which is more suitable for low-speed cruising or stable flight modes; when the length of the connecting rod 7 decreases, the amplitude of the flapping wing 5 decreases, and the flapping frequency increases, which is more suitable for high-speed flight modes.

[0054] The mounting position 100 is used to accommodate the two cranks, the transmission shaft 4, the connecting rod 7, and the driving mechanism 8. In one embodiment of this application, the mounting position 100 is arranged to be recessed downward from the top surface of the airframe 1 to form a groove.

[0055] Specifically, the mounting position 100 is a groove structure, so that mainly the flapping wings 5 are distributed on the periphery of the airframe 1 in terms of appearance, while the two cranks, the transmission shaft 4, the connecting rod 7, and the driving mechanism 8 are all accommodated and hidden by the mounting position 100 and do not protrude outside the periphery of the frame, avoiding the protruding structure from affecting the aerodynamic layout, which can reduce the overall center of gravity of the aircraft, make the aircraft more streamlined, and improve flight stability.

[0056] In addition, if the two cranks, the transmission shaft 4, the connecting rod 7, and the driving mechanism 8 are all exposed outside the airframe 1, during flight, it may be affected by foreign objects (such as insects, debris, etc.), and the flight may be disturbed badly and unable to operate normally. The design of the groove structure of the mounting position 100 can also reduce the noise during operation, especially during high-speed flight, which helps to reduce the noise interference generated by the transmission between the two cranks, the transmission shaft 4, the connecting rod 7, and the driving mechanism 8.

[0057] In one embodiment of the present application, the end of the connecting rod 7 that mates with the transmission shaft 4 has a larger diameter, while the end of the connecting rod 7 that mates with the positioning shaft 6 has a smaller diameter, and the diameter of the end of the connecting rod 7 that mates with the transmission shaft 4 is greater than the diameter of the end that mates with the positioning shaft 6.

[0058] Since the transmission shaft 4 is in rotational motion, the end of the connecting rod 7 close to the transmission shaft 4 needs to bear a relatively large torque and angular acceleration. Therefore, designing the diameter of the end of the connecting rod 7 that mates with the transmission shaft 4 to be larger can increase the force-bearing area, reduce stress concentration, improve rigidity, and prevent wear or deformation. The motion of the positioning shaft 6 is linear motion and not high-speed rotation. Therefore, designing the diameter of the end of the connecting rod 7 close to the positioning shaft 6 to be smaller can reduce the mass, improve the response speed, and avoid affecting the flapping effect due to excessive inertia.

[0059] In one embodiment of the present application, the mounting position 100 is close to the head of the body 1 and far from the tail of the body 1.

[0060] Specifically, especially for the flapping-wing 5 aircraft, the center of gravity of the aircraft is usually located at the front of the fuselage. And because the overall weight of the crank, the transmission shaft 4, the connecting rod 7, and the drive mechanism 8 is relatively heavy, therefore, designing the mounting position 100 at a position close to the head of the body 1 and far from the tail of the body 1 helps to shift the center of gravity forward and maintain flight balance; while the tail of the aircraft is usually designed to be a lighter structure to reduce air resistance and improve maneuverability.

[0061] The length of the mounting position 100 along the longitudinal axis of the body 1 is greater than the overall length of the crank, the transmission shaft 4, the connecting rod 7, and the drive mechanism 8, so that there can be a certain gap between the rear side of the drive mechanism 8 and the body 1, avoiding the vibration of the drive mechanism 8 directly affecting the body 1.

[0062] As Figure 1 shown, the drive mechanism 8 includes a driver 81 and a reduction unit 82; the reduction unit 82 is connected to the drive shaft of the driver 81; the output shaft of the reduction unit 82 is connected to the crank 3 located at the rear. The reduction unit 82 is used to meet specific motion requirements by changing the rotational speed and torque of the output shaft; the drive shaft of the driver 81, through connection with the reduction unit 82, converts the high rotational speed of the driver 81 into a low rotational speed output, transmits power, reduces the rotational speed, and increases the torque.

[0063] Two mounting holes are provided on the crank. For the rear crank 3, one mounting hole is used to assemble the output shaft of the reduction unit 82, and the other mounting hole is used to assemble the transmission shaft 4. For the front crank 2, one mounting hole is used to assemble the transmission shaft 4, and the other mounting hole is used to assemble with the body 1 to support the crank and ensure the zero-phase difference rotation of the two cranks.

[0064] Anti-slip planes are provided at both ends of the transmission shaft 4, and mounting planes are correspondingly provided on the inner walls of the mounting holes of the crank corresponding to the transmission shaft 4, so that the contact surface between the transmission shaft 4 and the crank includes not only a curved surface but also a plane, thereby reducing the relative slip between the transmission shaft 4 and the crank and ensuring the stability of the transmission of the transmission shaft 4.

[0065] As Figure 3 , Figure 4 and Figure 5 shown, the bionic flapping-wing 5 aircraft based on double-crank coaxial zero-phase transmission further includes a positioning mechanism 9 and a bracket 10. The positioning mechanism 9 is respectively connected to the two flapping wings 5 and is rotatably connected to the positioning shaft 6. The bracket 10 is located within the mounting position 100 and is provided on the body 1. The bracket 10 is respectively assembled with the crank, the drive mechanism 8 and the positioning mechanism 9.

[0066] Specifically, the positioning mechanism 9 is used to connect the positioning shaft 6 to the two flapping wings 5 and space the flapping wings 5 from the positioning shaft 6 to ensure that the two flapping wings 5 can flap normally without interfering with each other. The bracket 10 is used to support the drive mechanism 8, the crank, the transmission shaft 4 and the connecting rod 7 to ensure the stability of the installation of these structures on the body 1.

[0067] As Figure 5 shown, the positioning mechanism 9 includes: a first positioning member 91, a first extension portion 92, a second positioning member 93 and a second extension portion 94. The first positioning member 91 is connected to one of the flapping wings 5 and is rotatably connected to the bracket 10. The first extension portion 92 is provided on the first positioning member 91 and is rotatably connected to the positioning shaft 6. The second positioning member 93 is connected to the other flapping wing 5 and is rotatably connected to the bracket 10. The second extension portion 94 is provided on the second positioning member 93 and is rotatably connected to the positioning shaft 6.

[0068] Specifically, the first positioning member 91 is both connected to the flapping wing 5 and respectively assembled and connected to the bracket 10 and the positioning shaft 6, so as to realize the driving of the flapping wing 5 by the positioning shaft 6. The first positioning member 91 is movably connected to the bracket 10 through a first rotating shaft 17; one end of the first extension portion 92 is sleeved on the positioning shaft 6, and the other end is fixedly connected to the first positioning member 91. When the positioning shaft 6 moves up and down reciprocally, under the limiting effect of the first rotating shaft 17 on the first positioning member 91, the end of the first extension portion 92 connected to the positioning shaft 6 is the power point, the first rotating shaft 17 is the fulcrum, and the whole formed by the first positioning member 91 and the first extension portion 92 generates rotation around the first rotating shaft 17, so as to realize the up and down flapping of the flapping wing 5 connected to the first positioning member 91. Similarly, the second positioning member 93 is movably connected to the bracket 10 through a second rotating shaft 18; when the positioning shaft 6 moves up and down reciprocally, the second extension portion 94 drives the second positioning member 93 to rotate around the second rotating shaft 18, realizing the up and down flapping of the flapping wing 5 connected to the second positioning member 93.

[0069] It should be noted that the end of the first positioning member 91 away from the first extension portion 92 extends outwards beyond the bracket 10 and the body 1 and is assembled with the corresponding flapping wing 5; the end of the second positioning member 93 away from the second extension portion 94 extends outwards beyond the bracket 10 and the body 1 and is assembled with the corresponding flapping wing 5, so as to ensure that the installation of the two flapping wings 5 on the first positioning member 91 and the second positioning member 93 will not cause adverse interference to the up and down flapping flight. The first positioning member 91 and the first extension portion 92 are of an integrally formed structure, and the second positioning member 93 and the second extension portion 94 are also of an integrally formed structure.

[0070] The front sides of the two flapping wings 5 are in the same plane without front and back offset. Specifically, a first accommodation space 910 is formed by enclosing between the rear side of the first extension portion 92 and the first positioning member 91, a second accommodation space 930 is formed by enclosing between the front side of the second extension portion 94 and the second positioning member 93, the first extension portion 92 is located in the second accommodation space 930, and the second extension portion 94 is located in the first accommodation space 910.

[0071] It can be seen that in the present application, the first extension portion 92 and the second extension portion 94 are both assembled with the positioning shaft 6, and the first extension portion 92 and the second extension portion 94 are arranged in a front-back dislocation along the axial direction of the positioning shaft 6. The second extension portion 94 is received in the first accommodation space 910, and the first extension portion 92 is received in the second accommodation space 930 respectively. After the two flapping wings 5 are assembled with the first positioning member 91 and the second positioning member 93, the front sides of the two flapping wings can be in the same plane without front-back offset.

[0072] As Figure 1 , Figure 2 and Figure 3 shown, the bionic flapping wing 5 aircraft based on the double-crank coaxial zero-phase transmission further includes a first clamping rod 11 and a second clamping rod 12; one end of the first clamping rod 11 is inserted into the first positioning member 91 and coincides with the central axis of the first positioning member 91; a first clamping position is provided at the rear side of the first clamping rod 11, and one of the flapping wings 5 is located in the first clamping position; one end of the second clamping rod 12 is inserted into the second positioning member 93 and coincides with the central axis of the second positioning member 93; a second clamping position is provided at the rear side of the second clamping rod 12, and the other flapping wing 5 is located in the second clamping position.

[0073] Specifically, the first clamping rod 11 and the second clamping rod 12 are both used to assemble the corresponding flapping wings 5, so as to drive the corresponding flapping wings 5 to flap up and down by the rotation of the first positioning member 91 and the second positioning member 93.

[0074] The central axis of the first clamping rod 11 coincides with the central axis of the first positioning member 91, and the central axis of the second clamping rod 12 coincides with the central axis of the second positioning member 93. At the same time, the front side of the first clamping rod 11 is flush with the front side of the second clamping rod 12 and is located in the same plane, so that the installation angles of the two flapping wings 5 are both 0°. As a result, no initial inclination will be generated after the two flapping wings 5 are installed, the flapping wings 5 can be completely parallel to the longitudinal axis of the fuselage 1, and there will be no additional angle of attack when the flapping wings 5 are in the initial state (that is, when the fuselage 1 is horizontally arranged). The change of the angle of attack of the flapping wings 5 is more regular, similar to the symmetric flapping of insects, and the lift generated during the flapping process is more balanced and stable.

[0075] The first clamping rod 11 and the second clamping rod 12 have the same structure and are both square structures; when the fuselage 1 is horizontally arranged, the front side of the first clamping rod 11 is vertically arranged, and the front side of the second clamping rod 12 is also vertically arranged to ensure that there is no additional angle of attack when the flapping wings 5 are in the initial state, so that the flapping wings 5 can provide greater rear thrust.

[0076] As Figure 4As shown, the bracket 10 includes: a first clamping member 101, a second clamping member 102, a rigid connecting member 103 and two supporting portions 104; the front side of the first clamping member 101 is clamped on the body 1; the crank 2 located in the front position is rotatably connected to the first clamping member 101; the lower side of the second clamping member 102 is clamped on the body 1; the second clamping member 102 is located between the first clamping member 101 and the driving mechanism 8; the rigid connecting member 103 is connected to the first clamping member 101 and the second clamping member 102 respectively, and together with the first clamping member 101 and the second clamping member 102, forms a accommodating cavity 300; the two cranks, the transmission shaft 4 and the connecting rod 7 are all located in the accommodating cavity 300; two supporting portions 104 are arranged on the second clamping member 102, and are both extended upward; the two supporting portions 104 are both transmission-connected to the positioning mechanism 9.

[0077] Specifically, a first clamping position is provided at the front side of the first clamping member 101, and the first clamping position is used to accommodate the machine body 1, so that the first clamping member 101 is clamped on the machine body 1. The first clamping member 101 is also rotatably connected with the crank 2 located at the front position, so that while the crank 2 located at the front position can rotate normally under the drive of the transmission shaft 4, the crank 2 located at the front position is supported by the first clamping member 101, so as to ensure that the two cranks rotate synchronously with zero phase difference.

[0078] The second clamping member 102 is provided with a second clamping position at the bottom thereof, and the second clamping position is used to accommodate the machine body 1, so that the second clamping member 102 is clamped on the machine body 1. The second clamping member 102 is connected to the first clamping member 101 through the rigid connecting member 103, so as to form the accommodating cavity 300, and the two cranks, the transmission shaft 4 and the connecting rod 7 are all accommodated in the accommodating cavity 300. The second clamping member 102 is also used to support and install the driving mechanism 8; specifically, the driving mechanism 8 is located on the side of the second clamping member 102 away from the crank, and the output shaft of the reduction unit 82 passes through the second clamping member 102 and is connected to the crank 3 located at the rear position.

[0079] The two support parts 104 are symmetrically arranged, and there is a gap between the two support parts 104 to avoid interference between the flapping of the two flapping wings 5. One of the support parts 104 is used to assemble the first rotating shaft 17, and the other support part 104 is used to assemble the second rotating shaft 18. The extension line of the positioning axis 6 is located between the two support parts 104, and the vertical distance between the two support parts 104 is equal.

[0080] like Figure 1 , Figure 2 andFigure 3 As shown, the bionic flapping-wing 5 aircraft based on double-crank coaxial zero-phase transmission further includes an extension part 13 and two support rods 14; the extension part 13 is arranged at the top of the fuselage 1 and close to the tail of the fuselage 1; the two support rods 14 are symmetrically distributed on the left and right sides of the fuselage 1; the extension part 13 and the fuselage 1 are of an integrally formed structure. One of the support rods 14 is respectively connected to the extension part 13 and one of the support parts 104, and the other support rod 14 is respectively connected to the extension part 13 and the other support part 104.

[0081] In this application, by adding two support rods 14 and respectively connecting the support rods 14 to the bracket 10 and the extension part 13, the structural stability is enhanced and the force distribution is optimized, ensuring that the fuselage 1 will not deform during high-speed movement and improving the overall structural strength. The movement of the flapping wing 5 will apply periodic loads to the fuselage 1, especially the inertial force driven by the crank and the reaction force generated by the aerodynamic force; and the design of the support rod 14 can help share these forces, so that the fuselage 1 does not bear excessive bending or torsional loads, avoiding fatigue damage of the fuselage 1 and improving durability.

[0082] The tail of the fuselage 1 is upturned, there is a slot on the tail of the fuselage 1, and a tail wing 15 and a driving machine 16 are arranged in the slot. The driving machine 16 is located in front of the tail wing 15 and connected to the tail wing 15 to drive the tail wing 15 to rotate. When the fuselage 1 is horizontally arranged, the rotation of the tail wing 15 is a rotation along the vertical plane. As Figure 7 shown, the tail wing 15 includes a tail wing body 151 and two top rods 152. The two top rods 152 are symmetrically arranged and are located at the bottom of the tail wing body 151 to support the tail wing body 151; the driving machine 16 is a servo motor, and the driving machine 16 is respectively connected to the two top rods 152, so as to drive the rotation of the two top rods 152 to drive the rotation of the tail wing body 151.

[0083] The tail wing body 151 is of an isosceles trapezoid structure, and the upper base of the tail wing body 151 is arranged forward and the lower base is arranged backward; that is, the leading edge of the tail wing body 151 is narrower and the area is smaller, reducing unnecessary aerodynamic interference and making the response of the aircraft more stable and accurate; while the rear end of the tail wing body 151 is wider and the area is larger. When the tail wing body 151 deflects, it can generate a greater control moment, improving maneuverability and flight efficiency. At the same time, compared with a rectangular tail wing 15 or a tail wing 15 of other shapes, the trapezoidal tail wing 15 can reduce unnecessary wing surface area.

[0084] Initially, that is, when the body 1 is in a horizontal state, the tail body 151 is tilted upward (that is, the tail of the tail body 151 is higher than the head); when the aircraft takes off or is stationary, the aerodynamic force has not yet fully acted on the body 1, and the head of the body 1 is prone to sinking; and the tilted tail of the tail body 151 will generate an upward aerodynamic moment to resist the sinking of the head of the body 1, so that the aircraft remains in a horizontal state. At the same time, when the aircraft dives upward, the body 1 is prone to be pressed down, and the tilted tail of the tail body 151 can generate additional lifting force to prevent sinking; when the aircraft dives downward, the body 1 is prone to tilt upward, and the tilted tail of the tail body 151 can reduce lift and avoid excessive elevation angle.

[0085] In one embodiment of the present application, the head of the fuselage 1 is in the shape of an isosceles trapezoid; when the fuselage 1 is arranged horizontally, the upper base of the isosceles trapezoid is arranged vertically. The design of the isosceles trapezoid nose helps to reduce the frontal wind resistance of the aircraft, provides a gradual streamline, and makes the airflow smoothly transition along the head surface of the fuselage 1, reducing turbulence. When the fuselage 1 is arranged horizontally, such as Figure 1 As shown, the upper base 200 of the isosceles trapezoid is arranged vertically, so that when the head of the body 1 is subjected to impact, the force distribution is more uniform, the risk of deformation is reduced, and the impact of the airflow on the head of the body 1 during flapping is reduced, so that the airflow can flow more smoothly along the body 1 and avoid unnecessary pitch disturbances of the aircraft.

[0086] In summary, the present application provides a bionic flapping-wing aircraft based on double-crank coaxial zero-phase transmission, which includes: a body, on which a mounting position is provided; two cranks; the two cranks are arranged one after the other and are both located in the mounting position; a transmission shaft, located in the mounting position, and respectively connected to the two cranks in phase; two flapping wings, located outside the mounting position; a positioning shaft, which is transmission-connected to the two flapping wings and is located above the transmission shaft; a connecting rod, one end of which is rotatably connected to the transmission shaft, and the other end of which extends upward and is rotatably connected to the positioning shaft; a driving mechanism, which is arranged in the mounting position and connected to the crank located in the rear position, so as to drive the two flapping wings to flap synchronously with zero phase by driving the crank to rotate. In the present application, the transmission of the coaxial and in-phase double cranks can ensure that the front and rear cranks always rotate synchronously without any relative phase deviation. Then, under the transmission of the driving force of the two cranks to the driving mechanism, the two flapping wings can rise and fall at the same time, ensuring that the left and right flapping wings generate symmetrical lift, making the flight more stable, reducing the deviation caused by the asynchronous phase of the flapping wings, and thus improving the overall flight performance of the aircraft.

[0087] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0088] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0089] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0091] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0092] Of course, the above description of the embodiments of the present invention is relatively detailed, but it should not be construed as a limitation on the protection scope of the present invention. The present invention may have other various implementation manners. Based on this implementation manner, other implementation manners obtained by those of ordinary skill in the art without any creative work belong to the protection scope of the present invention. The protection scope of the present invention shall be subject to the appended claims.

Claims

1. A bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission, comprising a body, on which a mounting position is provided, characterized in that: It also includes: Two cranks; the two cranks are arranged one in front and one in the back, and both are located in the installation position; A transmission shaft is located in the installation position and is respectively connected to the two cranks in phase; two flapping wings, located outside the mounting position; A positioning shaft, connected to the two flapping wings and located above the transmission shaft; A connecting rod, one end of which is rotatably connected to the transmission shaft, and the other end of which extends upward and is rotatably connected to the positioning shaft; The driving mechanism is arranged in the installation position and connected with the crank located at the rear position, so as to drive the crank to rotate and drive the two flapping wings to flap synchronously with zero phase.

2. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 1, characterized in that: The installation position is recessed downward from the top surface of the body to form a groove.

3. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 1, characterized in that: The installation position is close to the head of the machine body and away from the tail of the machine body.

4. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 1, characterized in that: The driving mechanism comprises: Driver; The reduction unit is connected to the driving shaft of the driver; and the output shaft of the reduction unit is connected to the crank located at the rear position.

5. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 1, characterized in that: It also includes: A positioning mechanism, connected to the two flapping wings respectively, and rotatably connected to the positioning shaft; A bracket is located in the installation position and is arranged on the machine body; the bracket is respectively assembled with the crank, the driving mechanism and the positioning mechanism.

6. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 5, characterized in that: The positioning mechanism comprises: A first positioning member connected to one of the flapping wings and rotatably connected to the bracket; A first extension portion, disposed on the first positioning member and rotatably connected to the positioning shaft; A second positioning member is connected to the other flapping wing and is rotatably connected to the bracket; The second extension portion is disposed on the second positioning member and is rotatably connected to the positioning shaft.

7. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 6, characterized in that: A first accommodating space is formed between the rear side of the first extension part and the first positioning member, a second accommodating space is formed between the front side of the second extension part and the second positioning member, the first extension part is located in the second accommodating space, and the second extension part is located in the first accommodating space.

8. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 6, characterized in that: It also includes: A first clamping rod, one end of which is inserted into the first positioning member and coincides with the central axis of the first positioning member; a first clamping position is provided at the rear side of the first clamping rod, and one flapping wing is located in the first clamping position; One end of the second clamping rod is inserted into the second positioning member and coincides with the central axis of the second positioning member; a second clamping position is arranged at the rear side of the second clamping rod, and another flapping wing is located in the second clamping position.

9. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 5, characterized in that: The support comprises: A first clamping member, the front side of which is clamped on the machine body; a crank located at the front is rotatably connected to the first clamping member; A second clamping member, the lower side of which is clamped on the machine body; the second clamping member is located between the first clamping member and the driving mechanism; A rigid connecting member, connected to the first clamping member and the second clamping member respectively, and enclosed with the first clamping member and the second clamping member to form an accommodating cavity; the two cranks, the transmission shaft and the connecting rod are all located in the accommodating cavity; Two support parts are arranged on the second clamping member and are both extended upward; the two support parts are both transmission-connected with the positioning mechanism.

10. The bionic flapping-wing aircraft based on double crank coaxial zero-phase transmission according to claim 1, characterized in that: The head of the machine body is in an isosceles trapezoid; when the machine body is arranged horizontally, the upper base of the isosceles trapezoid is arranged vertically.

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