Flapping wing type bionic aircraft

Abstract

The invention discloses a flapping wing type bionic aircraft, and relates to the technical field of aircrafts, the flapping wing type bionic aircraft comprises a mounting rack, a flapping wing driving mechanism is fixedly mounted in the mounting rack, the output end of the flapping wing driving mechanism is fixedly connected with wings, and a pitching mechanism is movably mounted at the bottom of the mounting rack; the output end of the pitching mechanism is movably provided with a deflection mechanism, the bottom of the deflection mechanism is provided with a flapping wing adjusting mechanism, and the output end of the flapping wing adjusting mechanism is fixedly connected with the bottoms of the wings. The flight stability and accuracy of the aircraft are improved, the flight speed of the aircraft is also improved, in addition, the flapping wing driving mechanism is simple in structure and light in weight, the requirement of the flapping wing driving mechanism for the light weight can be met, and the endurance time of the aircraft is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a flapping-wing biomimetic aircraft. Background Art

[0002] A flapping-wing biomimetic aircraft is a type of unmanned aircraft that mimics the flapping motion mechanism of birds, insects, or other flying animals in nature. Its core design inspiration comes from the high efficiency, maneuverability, and environmental adaptability of biological flight. Compared with traditional fixed-wing or rotary-wing aircraft, a flapping-wing aircraft generates lift and thrust by periodically flapping the wing surface, and can perform complex maneuvers such as hovering, sharp turning, and reverse flight in a low Reynolds number environment. Therefore, it has unique advantages in the fields of micro-unmanned aircraft, covert reconnaissance, and narrow space exploration.

[0003] Chinese patent document with publication number CN113602491A discloses a transmission mechanism assembly for a flapping-wing aircraft, which records that "the transmission mechanism assembly has a gear support, at which a gear is rotatably supported about a gear axis, the gear is non-rotatably connected to a crankshaft, the crankshaft has an intermediate section extending coaxially with the gear axis and end regions adjoining the intermediate section on both sides, wherein the end regions and the intermediate section respectively occupy an angle between 0 degrees and 90 degrees and engage into a guide groove of an assigned hinge member, the hinge member is pivotally supported about a swing axis at a hinge support connected to the gear support, and the hinge support is pivotally supported about a corresponding support axis at the gear support. According to the present invention, the hinge support is connected to a coupling strut".

[0004] However, there are still the following defects or problems in combination with the prior art: The transmission mechanism of traditional aircraft has a complex structure and many transmission components, resulting in the aircraft being heavy and affecting the endurance time of the aircraft. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to provide a flapping-wing biomimetic aircraft.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A flapping-wing bionic aircraft, comprising a mounting frame, wherein a flapping-wing driving mechanism is fixedly installed inside the mounting frame, an output end of the flapping-wing driving mechanism is fixedly connected to a wing, a pitching mechanism is movably installed at the bottom of the mounting frame, a yawing mechanism is movably installed at an output end of the pitching mechanism, a flapping-wing adjusting mechanism is arranged at the bottom of the yawing mechanism, an output end of the flapping-wing adjusting mechanism is fixedly connected to the bottom of the wing, a power supply mechanism is arranged at the bottom of the flapping-wing adjusting mechanism, a fixing frame is fixedly installed at the top of the mounting frame, and a flight control board is fixedly installed on an upper surface of the fixing frame.

[0008] Preferably, the mounting frame includes a first mounting plate, support rods are fixedly connected to four corners of the first mounting plate, a second mounting plate is fixedly connected to a middle part of the support rods, and a third mounting plate is fixedly connected to a bottom of the support rods.

[0009] Preferably, the flapping-wing driving mechanism includes a brushless motor, the brushless motor is fixedly installed on a lower surface of the third mounting plate, an output shaft is fixedly connected to an output end of the brushless motor, a first gear is fixedly sleeved on an outer wall of the output shaft, a first transmission shaft and a second transmission shaft are rotatably connected between the third mounting plate and the second mounting plate, a stepped gear is fixedly sleeved on an outer wall of the first transmission shaft, a lower part of the stepped gear meshes with the first gear, a third gear is fixedly sleeved on an outer wall of the second transmission shaft, and the third gear meshes with an upper part of the stepped gear;

[0010] A top end of the second transmission shaft is fixedly connected to a first rocker arm, an eccentric end of the first rocker arm is movably connected to a connecting rod, the other end of the connecting rod is movably connected to a translation member, the translation member is slidably connected to the first mounting plate, teeth are arranged on both sides of the translation member, fifth gears are meshed with the teeth on both sides of the translation member, a rotating shaft is fixedly sleeved in a middle of each fifth gear, the rotating shaft is rotatably connected to the second mounting plate, a swinging member is fixedly sleeved on an outer wall of the rotating shaft, one end of the swinging member is fixedly connected to a swinging rod, and an outer wall of the swinging rod is fixedly connected to a top of the wing.

[0011] Preferably, a sliding groove is formed on an upper surface of the first mounting plate, a sliding member is fixedly connected to an upper surface of the translation member, the sliding member penetrates through the sliding groove and extends to the upper surface of the first mounting plate, and the sliding member is slidably connected to the first mounting plate through the sliding groove.

[0012] Preferably, the pitching mechanism includes a connecting member fixedly installed on the lower surface of the second mounting plate. A swing arm is rotatably connected to the outer wall of the connecting member. Both ends of the swing arm are fixedly connected with connecting bars. The outer wall of the connecting bar is fixedly connected with a mounting frame. A first motor is fixedly installed on the outer wall of the mounting frame. The output end of the first motor is fixedly connected with a second swing arm. The other end of the second swing arm is fixedly connected with a first connecting rod. The other end of the first connecting rod is fixedly connected with the first mounting plate.

[0013] Preferably, the yaw mechanism includes a swing bar. The connecting bar is rotatably connected to the swing bar. The other end of the swing bar is fixedly connected with a lower mounting plate. A second motor is fixedly installed on the lower surface of the lower mounting plate. The output end of the second motor is fixedly connected with a third swing arm. The other end of the third swing arm is fixedly connected with a second connecting rod. One end of the connecting bar is fixedly connected with a fixed bar. The other end of the second connecting rod is fixedly connected with the bottom of the fixed bar.

[0014] Preferably, the flapping adjustment mechanism includes a third motor fixedly installed at the bottom of the lower mounting plate. The output end of the third motor is fixedly connected with a swing plate. Both ends of the swing plate are movably sleeved with swing arms. The other end of the swing arm is rotatably connected to the swing arm. The bottom outer wall of the swing arm is fixedly connected with the bottom of the wing.

[0015] Preferably, the swing arm includes an upper arm. The bottom of the upper arm is movably sleeved with a lower arm. The other end of the lower arm is movably sleeved with the swing plate. The lower arm is fixedly connected with the bottom of the wing. The top of the upper arm is movably sleeved with a universal ball head. The swing arm is rotatably sleeved with the universal ball head.

[0016] Preferably, the power supply mechanism includes a fixed frame fixedly connected with the lower mounting plate. A battery is fixedly installed on the outer wall of the fixed frame. The battery is electrically connected to the flight control board. The brushless motor, the first motor, the second motor, and the third motor are all electrically connected to the flight control board.

[0017] Preferably, both sides of the top outer wall of the mounting frame are fixedly connected with mounting rods. A housing is arranged on the outer wall of the mounting frame. The housing is fixedly connected with the mounting frame through the mounting rods.

[0018] The beneficial effects of the present invention are:

[0019] 1. In the present invention, through the design of the flapping wing drive mechanism, the aircraft combines a connecting rod drive structure with a gear drive structure, improving the flight stability and accuracy of the aircraft, and also increasing the flight speed of the aircraft. In addition, the structure of the flapping wing drive mechanism is simple, and the weight of the flapping wing drive mechanism is light, which can meet the requirement of the flapping wing drive mechanism for a light weight. Moreover, due to the combination of gear drive and connecting rod drive, a high flapping frequency of the wing is also ensured.

[0020] 2. In the present invention, through the design of the pitching mechanism, the first motor drives the second rocker arm to swing, and the second rocker arm pulls the first connecting rod; when the first connecting rod swings downward, the right side of the swing arm swings downward, and the left side of the swing arm swings upward. The swing arm drives the first motor to move upward through the connecting bar and the mounting frame; when the first connecting rod swings upward, the right side of the swing arm swings upward, and the left side of the swing arm swings downward. The swing arm drives the first motor to move downward through the connecting bar and the mounting frame, that is, the up and down movement of the aircraft is controlled by the first motor.

[0021] 3. In the present invention, through the design of the yaw mechanism, the second motor is started, and the second motor drives the third rocker arm to swing. The third rocker arm pulls the second connecting rod; when the third rocker arm swings to the side away from the fixed bar, at this time the swing bar drives the lower mounting plate and the second motor to yaw towards the side close to the fixed bar; when the third rocker arm swings to the side close to the fixed bar, at this time the swing bar drives the lower mounting plate and the second motor to yaw towards the side away from the fixed bar, that is, the left and right yaw movement of the aircraft is controlled by the second motor.

[0022] 4. In the present invention, through the design of the flapping wing adjustment mechanism, the third motor works, the third motor drives the swing plate to rotate, the swing plate drives the swing arms on both sides to swing, and the swing arms control the yaw of the bottom of the wing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of a flapping wing bionic aircraft of the present invention.

[0024] Figure 2 It is a schematic structural diagram of a mounting frame of a flapping wing bionic aircraft of the present invention.

[0025] Figure 3 It is a schematic structural diagram of a mounting frame and a flapping wing drive mechanism of a flapping wing bionic aircraft of the present invention.

[0026] Figure 4 It is a front view of a flapping wing drive mechanism of a flapping wing bionic aircraft of the present invention.

[0027] Figure 5 It is a schematic structural diagram of a connecting rod and a translation member of a flapping wing bionic aircraft of the present invention.

[0028] Figure 6 Schematic diagram of the pitch mechanism, yaw mechanism, and flapping wing adjustment mechanism of a flapping wing bionic aircraft according to the present invention.

[0029] Figure 7 Front view of the pitch mechanism of a flapping wing bionic aircraft according to the present invention.

[0030] Figure 8 Schematic diagram of the yaw mechanism of a flapping wing bionic aircraft according to the present invention.

[0031] Figure 9 Front view of the flapping wing adjustment mechanism of a flapping wing bionic aircraft according to the present invention.

[0032] Figure 10 Schematic diagram of the swing plate of a flapping wing bionic aircraft according to the present invention.

[0033] Figure 11 Schematic diagram of the swing arm of a flapping wing bionic aircraft according to the present invention.

[0034] Figure 12 Schematic diagram of the swing rod, wing, and lower arm of a flapping wing bionic aircraft according to the present invention.

[0035] Figure 13 Rear view of the mounting frame and flapping wing drive mechanism of a flapping wing bionic aircraft according to the present invention.

[0036] Figure 14 Schematic diagram of the mounting rod and housing of a flapping wing bionic aircraft according to the present invention.

[0037] Reference numerals in the figure: 1, mounting frame; 101, first mounting plate; 102, support rod; 103, second mounting plate; 104, third mounting plate; 105, chute;

[0038] 2, flapping wing drive mechanism; 201, brushless motor; 202, output shaft; 203, first gear; 204, first transmission shaft; 205, stepped gear; 207, second transmission shaft; 208, third gear; 209, first rocker arm; 210, connecting rod; 211, translation member; 212, fifth gear; 213, rotating shaft; 214, swinging member; 215, sliding member; 216, swing rod;

[0039] 3, pitch mechanism; 301, connecting member; 302, swing arm; 303, connecting bar; 304, mounting frame; 305, first motor; 306, second rocker arm; 307, first connecting rod;

[0040] 4. Yaw mechanism; 401. Swing bar; 402. Lower mounting plate; 403. Second motor; 404. Third rocker arm; 405. Fixed bar; 406. Second connecting rod;

[0041] 5. Flapping wing adjustment mechanism; 501. Third motor; 502. Swing plate; 503. Swing arm; 5031. Upper arm; 5032. Lower arm; 5033. Universal ball head;

[0042] 6. Power supply mechanism; 601. Fixed frame; 602. Battery; 7. Mounting rod; 8. Fixed bracket; 9. Flight control board; 10. Wing; 11. Housing. Specific embodiments

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0044] As shown in the attached Figure 1 to the attached Figure 14 figure:

[0045] A flapping-wing bionic aircraft includes a mounting frame 1. Inside the mounting frame 1, a flapping-wing driving mechanism 2 is fixedly installed. The output end of the flapping-wing driving mechanism 2 is fixedly connected to a wing 10. At the bottom of the mounting frame 1, a pitching mechanism 3 is movably installed. The output end of the pitching mechanism 3 is movably installed with a yaw mechanism 4. At the bottom of the yaw mechanism 4, a flapping-wing adjustment mechanism 5 is provided. The output end of the flapping-wing adjustment mechanism 5 is fixedly connected to the bottom of the wing 10. At the bottom of the flapping-wing adjustment mechanism 5, a power supply mechanism 6 is provided. At the top of the mounting frame 1, a fixed bracket 8 is fixedly installed. On the upper surface of the fixed bracket 8, a flight control board 9 is fixedly installed.

[0046] As shown in the attached Figure 2 figure, the mounting frame 1 includes a first mounting plate 101. At the four corners of the first mounting plate 101, support rods 102 are fixedly connected. In the middle of the support rods 102, a second mounting plate 103 is fixedly connected. At the bottom of the support rods 102, a third mounting plate 104 is fixedly connected.

[0047] As shown in the attached Figure 3 to the attached Figure 5 and the attached Figure 12As shown in the figure, the flapping wing drive mechanism 2 includes a brushless motor 201. The brushless motor 201 is fixedly installed on the lower surface of the third mounting plate 104. The output end of the brushless motor 201 is fixedly connected with an output shaft 202. A first gear 203 is fixedly sleeved on the outer wall of the output shaft 202. A first transmission shaft 204 and a second transmission shaft 207 are rotatably connected between the third mounting plate 104 and the second mounting plate 103. A stepped gear 205 is fixedly sleeved on the outer wall of the first transmission shaft 204. The lower part of the stepped gear 205 meshes with the first gear 203. A third gear 208 is fixedly sleeved on the outer wall of the second transmission shaft 207. The third gear 208 meshes with the upper part of the stepped gear 205;

[0048] The top end of the second transmission shaft 207 is fixedly connected with a first rocker arm 209. The eccentric end of the first rocker arm 209 is movably connected with a connecting rod 210. The other end of the connecting rod 210 is movably connected with a translation member 211. The translation member 211 is slidably connected with the first mounting plate 101. Tooth teeth are arranged on both sides of the translation member 211. Fifth gears 212 are meshed with the tooth teeth on both sides of the translation member 211. A rotating shaft 213 is fixedly sleeved in the middle of the fifth gear 212. The rotating shaft 213 is rotatably connected with the second mounting plate 103. A swinging member 214 is fixedly sleeved on the outer wall of the rotating shaft 213. One end of the swinging member 214 is fixedly connected with a swinging rod 216. The outer wall of the swinging rod 216 is fixedly connected with the top of the wing 10; A chute 105 is formed on the upper surface of the first mounting plate 101. A sliding member 215 is fixedly connected with the upper surface of the translation member 211. The sliding member 215 penetrates through the chute 105 and extends to the upper surface of the first mounting plate 101. The sliding member 215 is slidably connected with the first mounting plate 101 through the chute 105.

[0049] The flight control board 9 controls the brushless motor 201 to start. The brushless motor 201 drives the first gear 203 to rotate through the output shaft 202. The first gear 203 meshes with the stepped gear 205. The first gear 203 drives the first transmission shaft 204 to rotate through the stepped gear 205. The upper part of the stepped gear 205 meshes with the third gear 208. The stepped gear 205 drives the second transmission shaft 207 to rotate through the third gear 208. The second transmission shaft 207 drives the first rocker arm 209 to swing. The first rocker arm 209 drives the translation member 211 to translate back and forth in the horizontal direction through the connecting rod 210. The translation member 211 drives the rotating shaft 213 to rotate through the fifth gear 212. The rotating shaft 213 drives the wing 10 to swing back and forth through the swinging member 214 and the swinging rod 216;

[0050] In the above technical solution, through the design of the flapping drive mechanism 2, the aircraft combines a link transmission structure with a gear transmission structure, improving the flight stability and accuracy of the aircraft, and also increasing the flight speed of the aircraft. In addition, the flapping drive mechanism of the present invention is relatively light in weight, capable of meeting the requirements of the flapping drive mechanism for a relatively light mechanism weight. Moreover, due to the combination of gear transmission and link transmission, a relatively high flapping frequency of the wing 10 is also ensured.

[0051] As shown in the attached Figure 6 to the attached Figure 7 As shown in the figure, the pitching mechanism 3 includes a connecting member 301, which is fixedly installed on the lower surface of the second mounting plate 103. The outer wall of the connecting member 301 is rotatably connected to a swing arm 302. Both ends of the swing arm 302 are fixedly connected with connecting bars 303. The outer wall of the connecting bar 303 is fixedly connected with a mounting frame 304. The outer wall of the mounting frame 304 is fixedly installed with a first motor 305. The output end of the first motor 305 is fixedly connected with a second swing arm 306. The other end of the second swing arm 306 is fixedly connected with a first connecting rod 307. The other end of the first connecting rod 307 is fixedly connected with the first mounting plate 101.

[0052] In the above technical solution, when it is necessary to control the pitching movement of the aircraft in the up and down directions, the flight control board 9 controls the first motor 305 to start. The first motor 305 drives the second swing arm 306 to swing, and the second swing arm 306 pulls the first connecting rod 307;

[0053] When the first connecting rod 307 swings downward, the right side of the swing arm 302 swings downward, and the left side of the swing arm 302 swings upward. The swing arm 302 drives the first motor 305 to move upward through the connecting bar 303 and the mounting frame 304;

[0054] When the first connecting rod 307 swings upward, the right side of the swing arm 302 swings upward, and the left side of the swing arm 302 swings downward. The swing arm 302 drives the first motor 305 to move downward through the connecting bar 303 and the mounting frame 304, that is, the up and down movement of the aircraft is controlled by the first motor 305.

[0055] As shown in the attached Figure 7 to the attached Figure 8 As shown in the figure, the yaw mechanism 4 includes a swinging bar 401. The connecting bar 303 is rotatably connected to the swinging bar 401. The other end of the swinging bar 401 is fixedly connected with a lower mounting plate 402. The lower surface of the lower mounting plate 402 is fixedly installed with a second motor 403. The output end of the second motor 403 is fixedly connected with a third swing arm 404. The other end of the third swing arm 404 is fixedly connected with a second connecting rod 406. One end of the connecting bar 303 is fixedly connected with a fixing bar 405. The other end of the second connecting rod 406 is fixedly connected with the bottom of the fixing bar 405.

[0056] In the above technical solution, when it is necessary to control the yaw movement of the aircraft in the left and right directions, the flight control board 9 controls the second motor 403 to start. The second motor 403 drives the third rocker arm 404 to swing, and the third rocker arm 404 pulls the second connecting rod 406;

[0057] When the third rocker arm 404 swings to the side away from the fixed bar 405, at this time, the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to yaw towards the side close to the fixed bar 405;

[0058] When the third rocker arm 404 swings to the side close to the fixed bar 405, at this time, the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to yaw towards the side away from the fixed bar 405, that is, the yaw movement of the aircraft in the left and right directions is controlled by the second motor 403.

[0059] As shown in the appendix Figure 9 to the appendix Figure 12 As shown, the flapping wing adjustment mechanism 5 includes a third motor 501. The third motor 501 is fixedly installed at the bottom of the lower mounting plate 402. The output end of the third motor 501 is fixedly connected with a swing plate 502. Swing arms 503 are movably sleeved at both ends of the swing plate 502. The other end of the swing arm 503 is rotatably connected to the swing arm 302. The outer wall of the bottom of the swing arm 503 is fixedly connected to the bottom of the wing 10.

[0060] In the above technical solution, the flight control board 9 controls the third motor 501 to work. The third motor 501 drives the swing plate 502 to rotate. The swing plate 502 drives the swing arms 503 on both sides to swing. The swing arm 503 controls the yaw of the bottom of the wing 10.

[0061] As shown in the appendix Figure 8 to the appendix Figure 11 As shown, the swing arm 503 includes an upper arm 5031. A lower arm 5032 is movably sleeved at the bottom of the upper arm 5031. The other end of the lower arm 5032 is movably sleeved with the swing plate 502. The lower arm 5032 is fixedly connected to the bottom of the wing 10. A universal ball head 5033 is movably sleeved at the top of the upper arm 5031. The swing arm 302 is rotatably sleeved with the universal ball head 5033.

[0062] In the above technical solution, when the swing plate 502 drives the swing arm 503 to swing, the lower arm 5032 can move in the through hole of the swing plate 502. The swing plate 502 drives the lower arms 5032 on both sides to swing;

[0063] Through the design of the universal ball head 5033, when the yaw mechanism 4 yaws, the universal ball head 5033 can rotate on the upper arm 5031 to ensure that the swing arm 503 can yaw within a certain included angle.

[0064] As shown in the appendix Figure 7 and the appendixFigure 13 - 14 As shown: The power supply mechanism 6 includes a fixed frame 601, the fixed frame 601 is fixedly connected to the lower mounting plate 402, a battery 602 is fixedly installed on the outer wall of the fixed frame 601, the battery 602 is electrically connected to the flight control board 9, and the brushless motor 201, the first motor 305, the second motor 403, and the third motor 501 are all electrically connected to the flight control board 9.

[0065] In the above technical solution, the battery 602 provides the working power supply for each motor and the flight control board 9 in the aircraft, and the flight control board 9 is the main controller of each motor in the aircraft. The battery 602, the flight control board 9, the brushless motor 201, the first motor 305, the second motor 403, and the third motor 501 are all conventional products in the prior art, which are mature technologies in this field and have been fully disclosed. Therefore, they are not repeated in the specification.

[0066] As shown in the attached Figure 13 to the attached Figure 14 As shown, both sides of the top outer wall of the mounting frame 1 are fixedly connected with mounting rods 7, and a housing 11 is arranged on the outer wall of the mounting frame 1. The housing 11 is fixedly connected to the mounting frame 1 through the mounting rods 7.

[0067] In the above technical solution, the housing 11 can adopt an extremely lightweight material printed by 3D printing, effectively reducing the weight, and camera, millimeter wave radar and other sensor components can be installed on the outer wall of the housing 11.

[0068] Specific usage mode and function of this embodiment:

[0069] When the present invention is in use, the flight control board 9 controls the brushless motor 201 to start. The brushless motor 201 drives the first gear 203 to rotate through the output shaft 202. The first gear 203 meshes with the stepped gear 205. The first gear 203 drives the first transmission shaft 204 to rotate through the stepped gear 205. The upper part of the stepped gear 205 meshes with the third gear 208. The stepped gear 205 drives the second transmission shaft 207 to rotate through the third gear 208. The second transmission shaft 207 drives the first rocker arm 209 to swing. The first rocker arm 209 drives the translation member 211 to translate back and forth in the horizontal direction through the connecting rod 210. The translation member 211 drives the rotating shaft 213 to rotate through the fifth gear 212. The rotating shaft 213 drives the wing 10 to swing back and forth through the swinging member 214 and the swinging rod 216;

[0070] Through the design of the flapping wing drive mechanism 2, the aircraft combines the link transmission structure and the gear transmission structure, improving the flight stability and accuracy of the aircraft, and also increasing the flight speed of the aircraft. In addition, the flapping wing drive mechanism of the present invention is relatively light in weight, capable of meeting the requirements of the flapping wing drive mechanism for a relatively light mechanism weight. And because of the combination of gear transmission and link transmission, it also ensures a relatively high flapping frequency of the wing 10.

[0071] Please refer to the above structure and process for Figure 1 - 5 .

[0072] When it is necessary to control the pitching motion of the aircraft in the up and down direction, the flight control board 9 controls the first motor 305 to start. The first motor 305 drives the second rocker arm 306 to swing, and the second rocker arm 306 pulls the first connecting rod 307;

[0073] When the first connecting rod 307 swings downward, the right side of the swing arm 302 swings downward, and the left side of the swing arm 302 swings upward. The swing arm 302 drives the first motor 305 to move upward through the connecting bar 303 and the mounting frame 304;

[0074] When the first connecting rod 307 swings upward, the right side of the swing arm 302 swings upward, and the left side of the swing arm 302 swings downward. The swing arm 302 drives the first motor 305 to move downward through the connecting bar 303 and the mounting frame 304, that is, the up and down motion of the aircraft is controlled by the first motor 305;

[0075] Please refer to the above structure and process for Figure 6 - 7 .

[0076] When it is necessary to control the yaw motion of the aircraft in the left and right directions, the flight control board 9 controls the second motor 403 to start. The second motor 403 drives the third rocker arm 404 to swing, and the third rocker arm 404 pulls the second connecting rod 406;

[0077] When the third rocker arm 404 swings to the side away from the fixed bar 405, at this time the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to yaw towards the side close to the fixed bar 405;

[0078] When the third rocker arm 404 swings to the side close to the fixed bar 405, at this time the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to yaw towards the side away from the fixed bar 405, that is, the yaw motion of the aircraft in the left and right directions is controlled by the second motor 403;

[0079] Please refer to the above structure and process for Figure 8 .

[0080] By controlling the third motor 501 to work through the flight control board 9, the third motor 501 drives the swing plate 502 to rotate, the swing plate 502 drives the swing arms 503 on both sides to swing, and the swing arms 503 control the yaw of the bottom of the wing 10;

[0081] Please refer to the above structure and process for Figure 9 - 12 .

[0082] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. A flapping-wing bionic aircraft, including a mounting frame (1), characterized in that, Inside the mounting frame (1), a flapping wing driving mechanism (2) is fixedly installed. The output end of the flapping wing driving mechanism (2) is fixedly connected to a wing (10). At the bottom of the mounting frame (1), a pitching mechanism (3) is movably installed. The output end of the pitching mechanism (3) is movably installed with a yawing mechanism (4). At the bottom of the yawing mechanism (4), a flapping wing adjusting mechanism (5) is provided. The output end of the flapping wing adjusting mechanism (5) is fixedly connected to the bottom of the wing (10). At the bottom of the flapping wing adjusting mechanism (5), a power supply mechanism (6) is provided. At the top of the mounting frame (1), a fixing frame (8) is fixedly installed. On the upper surface of the fixing frame (8), a flight control board (9) is fixedly installed.

2. The flapping-wing bionic aircraft according to claim 1, characterized in that, The mounting frame (1) includes a first mounting plate (101). At the four corners of the first mounting plate (101), support rods (102) are fixedly connected. In the middle of the support rods (102), a second mounting plate (103) is fixedly connected. At the bottom of the support rods (102), a third mounting plate (104) is fixedly connected.

3. The flapping-wing bionic aircraft according to claim 2, characterized in that, The flapping wing driving mechanism (2) includes a brushless motor (201). The brushless motor (201) is fixedly installed on the lower surface of the third mounting plate (104). The output end of the brushless motor (201) is fixedly connected to an output shaft (202). An outer wall of the output shaft (202) is fixedly sleeved with a first gear (203). Between the third mounting plate (104) and the second mounting plate (103), a first transmission shaft (204) and a second transmission shaft (207) are rotatably connected. An outer wall of the first transmission shaft (204) is fixedly sleeved with a stepped gear (205). The lower part of the stepped gear (205) meshes with the first gear (203). An outer wall of the second transmission shaft (207) is fixedly sleeved with a third gear (208). The third gear (208) meshes with the upper part of the stepped gear (205). The top end of the second transmission shaft (207) is fixedly connected to a first rocker arm (209). An eccentric end of the first rocker arm (209) is movably connected to a connecting rod (210). The other end of the connecting rod (210) is movably connected to a translation member (211). The translation member (211) is slidably connected to the first mounting plate (101). Tooth teeth are provided on both sides of the translation member (211). The tooth teeth on both sides of the translation member (211) are engaged with fifth gears (212). In the middle of each fifth gear (212), a rotating shaft (213) is fixedly sleeved. The rotating shaft (213) is rotatably connected to the second mounting plate (103). An outer wall of the rotating shaft (213) is fixedly sleeved with a swinging member (214). One end of the swinging member (214) is fixedly connected to a swinging rod (216). The outer wall of the swinging rod (216) is fixedly connected to the top of the wing (10).

4. The flapping-wing bionic aircraft according to claim 3, characterized in that, A chute (105) is formed on the upper surface of the first mounting plate (101). A sliding member (215) is fixedly connected to the upper surface of the translation member (211). The sliding member (215) penetrates through the chute (105) and extends to the upper surface of the first mounting plate (101). The sliding member (215) is slidably connected to the first mounting plate (101) through the chute (105).

5. The flapping-wing bionic aircraft according to claim 3, characterized in that, The pitching mechanism (3) includes a connecting member (301). The connecting member (301) is fixedly installed on the lower surface of the second mounting plate (103). A swing arm (302) is rotatably connected to the outer wall of the connecting member (301). Connecting bars (303) are fixedly connected to both ends of the swing arm (302). A mounting frame (304) is fixedly connected to the outer wall of the connecting bar (303). A first motor (305) is fixedly installed on the outer wall of the mounting frame (304). The output end of the first motor (305) is fixedly connected to a second swing arm (306). The other end of the second swing arm (306) is fixedly connected to a first connecting rod (307). The other end of the first connecting rod (307) is fixedly connected to the first mounting plate (101).

6. The flapping-wing bionic aircraft according to claim 5, wherein, The yawing mechanism (4) includes a swinging bar (401). The connecting bar (303) is rotatably connected to the swinging bar (401). The other end of the swinging bar (401) is fixedly connected to a lower mounting plate (402). A second motor (403) is fixedly installed on the lower surface of the lower mounting plate (402). The output end of the second motor (403) is fixedly connected to a third swing arm (404). The other end of the third swing arm (404) is fixedly connected to a second connecting rod (406). A fixing bar (405) is fixedly connected to one end of the connecting bar (303). The other end of the second connecting rod (406) is fixedly connected to the bottom of the fixing bar (405).

7. The flapping-wing bionic aircraft according to claim 6, characterized in that, The flapping adjustment mechanism (5) includes a third motor (501). The third motor (501) is fixedly installed at the bottom of the lower mounting plate (402). The output end of the third motor (501) is fixedly connected to a swinging plate (502). Swing arms (503) are movably sleeved at both ends of the swinging plate (502). The other end of the swing arm (503) is rotatably connected to the swing arm (302). The bottom outer wall of the swing arm (503) is fixedly connected to the bottom of the wing (10).

8. The flapping-wing bionic aircraft according to claim 7, wherein, The swing arm (503) includes an upper arm (5031). A lower arm (5032) is fixedly sleeved at the bottom of the upper arm (5031). The other end of the lower arm (5032) is movably sleeved with the swinging plate (502). The lower arm (5032) is fixedly connected to the bottom of the wing (10). A universal ball head (5033) is movably sleeved at the top of the upper arm (5031). The swing arm (302) is rotatably sleeved with the universal ball head (5033).

9. The flapping-wing bionic aircraft according to claim 7, characterized in that, The power supply mechanism (6) includes a fixed frame (601), the fixed frame (601) is fixedly connected to the lower mounting plate (402), a battery (602) is fixedly installed on the outer wall of the fixed frame (601), the battery (602) is electrically connected to the flight control board (9), and the brushless motor (201), the first motor (305), the second motor (403), and the third motor (501) are all electrically connected to the flight control board (9).

10. A flapping-wing bionic aircraft according to claim 1, characterized in that, Both sides of the top outer wall of the mounting frame (1) are fixedly connected with mounting rods (7), and a housing (11) is arranged on the outer wall of the mounting frame (1), and the housing (11) is fixedly connected to the mounting frame (1) through the mounting rods (7).

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