A catapulted tube-launched flapping-wing flying device

Abstract

The application relates to the field of flapping-wing flying devices, and provides a launching type cylinder-loaded flapping-wing flying device, relates to the field of flapping-wing flying devices, and aims at the problems that current flapping-wing flying devices are mostly hand-throwing type and are unstable in flight state, and wings occupy large space when being stored, the device comprises a launching cylinder, a flapping-wing flying device and a launching mechanism, the flapping-wing flying device is arranged on a slide rail in the launching cylinder, and the launching mechanism is located at the tail of the launching cylinder; when launching, the launching mechanism launches the flapping-wing flying device out of the launching cylinder, the wings are passively unfolded and self-locked through linkage of the compression spring on the wing and the traction rod, and the tail wing is passively unfolded and self-locked through a torsion spring. The device reduces the storage space, improves the take-off stability and flight efficiency, the launching mechanism can be repeatedly used, and the application range is expanded.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing flight devices, and more specifically to a catapult-launched tube-mounted flapping-wing flight device. Background Technology

[0002] Bionic flapping-wing aircraft generate lift and thrust by mimicking the wing movements of flying animals in nature and utilizing unsteady aerodynamic principles. With their unique motion characteristics, micro flapping-wing aircraft possess stronger resistance to disturbances in complex airflow environments, providing new ideas for reconnaissance in confined spaces and collaborative group operations.

[0003] However, currently, micro flapping-wing aircraft require auxiliary devices for takeoff. Some auxiliary flight devices have been disclosed in the prior art, such as the catapult takeoff device disclosed in patent CN 202120339372.2, and the flapping-wing aircraft with a sweep-twist mechanism disclosed in patent CN202510267879.4. However, the catapult takeoff devices of these flapping-wing aircraft only have the function of takeoff and do not have the function of storage, which causes the wings of the flapping-wing aircraft to remain spread when stored, occupying a lot of space. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a catapult-type tube-mounted flapping-wing flight device. This device reduces storage space, improves takeoff stability and flight efficiency, and the catapult mechanism is reusable, thus expanding its applicability.

[0005] To solve the above problems, the following solution is adopted:

[0006] This invention proposes a catapult-launched tube-mounted flapping-wing flight device, comprising: a launch tube, a flapping-wing aircraft, and a catapult mechanism. The catapult mechanism includes a launch head, a housing, a lead screw, a helical nut, a cylindrical sleeve, a locating pin, a locating pin spring, a main spring, a base, a trigger, and a crank handle. The housing is fixed to the base. The lead screw is arranged along the axis of the housing, with one end extending outside the housing and connected to the crank handle, and the other end extending into the launch head. The launch head is slidably connected to the inner wall of the housing. The middle part of the lead screw is threadedly engaged with two helical nuts, and the inner rings of the two helical nuts are also engaged with the cylindrical sleeve through a locating pin and a locating pin spring. The cylindrical sleeve is threadedly engaged with the lead screw. The helical nuts are connected to the base through a main spring fitted on the lead screw. The trigger is mounted on the housing and positions the launch head.

[0007] The flapping-wing aircraft includes a fuselage, wings, and a tail. A pair of identical wings are symmetrically distributed on the left and right sides of the fuselage, and the tail is connected to the rear of the fuselage.

[0008] The launch tube is equipped with a slide rail, on which the flapping-wing aircraft is placed. The ejection mechanism is located at the tail of the launch tube, and the launch head of the ejection mechanism contacts the tail of the flapping-wing aircraft. The base is fixed to the launch tube.

[0009] As a further technical solution, the fuselage includes a servo frame, a servo, a servo rocker arm, an upper support rod, a lower support rod, a front connector, a rear connector, an adapter, a slide, a fixing groove, a tail fin support frame, and a compression spring.

[0010] The servo frame is connected to the tail fin support frame via two upper support rods and one lower support rod. A pair of servos are mounted on the servo frame; each servo is connected to a servo rocker arm, which drives the wing to flap up and down. The upper support rods are provided with a sliding groove and a fixing groove; the sliding groove and the fixing groove are connected by a compression spring sleeved on the upper support rod. The sliding groove is connected to the front connector, and the front connector is hinged to an adapter. The fixing groove is connected to the rear connector.

[0011] As a further technical solution, the wing includes a main joint, a secondary joint, a connector 1, an adapter 2, a traction rod, a main rod, a wing-breaking rod 1, a wing-breaking rod 2, a wing-breaking rod 3, a joint 1, a joint 2, a joint 3, a joint arm 1, a joint arm 2, a joint arm 3, and a traction line; the main joint is connected to the servo rocker arm, the main joint is hinged to the secondary joint, the other end of the secondary joint is fixedly connected to the main rod, connector 1, joint 1, joint 2, and joint 3 are respectively fixed to the main rod, connector 1 is hinged to adapter 2, one end of the traction rod is connected to adapter 2, and the other end is connected to adapter 1 on the fuselage, one end of joint arm 1 is hinged to joint 1, and the other end is fixedly connected to wing-breaking rod 1, one end of joint arm 2 is hinged to joint 2, and the other end is fixedly connected to wing-breaking rod 2, one end of joint arm 3 is hinged to joint 3, and the other end is fixedly connected to wing-breaking rod 3, and joint arm 1, joint arm 2, and joint arm 3 are respectively connected to the rear connector on the fuselage via traction lines.

[0012] As a further technical solution, the tail fin includes a tail fin mounting bracket 1, a tail fin mounting bracket 2, a torsion spring, and tail fin rods. Two identical tail fin mounting brackets 2 are located on both sides of the tail fin mounting bracket 1. All three are hinged to the tail fin support frame. The three tail fin rods are fixedly connected to the tail fin mounting bracket 1 and the tail fin mounting bracket 2 respectively. A torsion spring is installed between the tail fin mounting bracket 1 and the tail fin mounting bracket 2.

[0013] As a further technical solution, the tail fin is located above the contact point between the launch head and the tail fin support frame.

[0014] As a further technical solution, the trigger includes trigger one, trigger two, and trigger three; one end of trigger two is in contact with trigger one, and the other end is in contact with trigger three; the side of trigger three is connected to the outer casing by a trigger spring; trigger three is rotatably connected to the lower outer casing; and trigger one and trigger two are rotatably connected to the firing tube.

[0015] As a further technical solution, a groove is provided on the launch head, and the front end of the trigger three protrudes from the inner wall of the outer shell and cooperates with the groove under the elastic force of the trigger spring; there is a gap between trigger one and trigger two.

[0016] As a further technical solution, a positioning bead is provided on the surface where the launch head mates with the inclined nut.

[0017] As a further technical solution, the oblique nut is a semi-conical nut structure, and two oblique nuts are combined together to form a conical oblique nut.

[0018] As a further technical solution, one end of the positioning pin is fixed to the circular sleeve, and the other end is connected to the inclined nut through the positioning pin spring.

[0019] The working principle of this invention is as follows:

[0020] When stationary, the flapping-wing aircraft is placed inside the launch tube in a retracted position. The slide moves backward along the fuselage, and the compression springs on the fuselage are compressed. The traction rod pulls the main rod, causing the entire wing to close towards the fuselage, achieving passive wing folding. During launch, the flapping-wing aircraft is ejected from the launch tube. The compression springs on the fuselage are no longer restrained, causing the slide to slide forward along the fuselage. The traction rod pushes the main rod to move outward. Folding wing rod one, folding wing rod two, and folding wing rod three are pulled by the traction line to form fixed angles with the main rod, thereby achieving wing deployment. The compression springs remain compressed after sliding to the front, ensuring that the traction rod always pushes the main rod to deploy, forming a self-locking mechanism to ensure that the wing main rod does not tend to fold backward during flight.

[0021] Furthermore, when the flapping-wing aircraft is placed inside the launch tube, the second tail fin holder moves towards the first tail fin holder in the middle under the compression of the torsion spring, thus folding the tail fin. When the flapping-wing aircraft is launched, due to the lack of restraint, the torsion spring causes the second tail fin holder to unfold outward, thereby unfolding the entire tail fin. At the same time, when the spread angle is at its maximum, the torsion spring is still in a compressed state, forming a self-locking mechanism to ensure that the tail fin will not retract during flight.

[0022] Furthermore, the ejection mechanism is installed inside the launch tube and connected to the launch tube by bolts. In the stationary state, the front end of the launch head contacts the tail of the wing. Two inclined nuts cooperate with the cylindrical sleeve under the action of the positioning pin. Under the action of the positioning pin spring, the inclined nuts tend to move outward of the cylindrical sleeve. The initial position of the inclined nuts is inside the other end of the launch head. Under the action of the positioning bead, it is ensured that the inclined nuts will not slip out of the launch head, and the main spring is in a relaxed state.

[0023] Furthermore, during the compression of the main spring, the ejection mechanism manually rotates the crank handle to rotate the lead screw, causing the inclined nut to move along the lead screw towards the base, compressing the main spring. The side of the launch head has a groove, and under the action of the trigger spring, the front end of the trigger three protrudes from the lower outer shell. The launch head moves along the lead screw towards the base with the inclined nut until the launch head is locked by the trigger three. Continuing to rotate the crank handle, under the action of pressure, the inclined nut disengages from the inside of the launch head, and the positioning pin spring is no longer constrained, causing the inclined nut to separate outwards. Due to the action of the positioning pin, the inclined nut remains in a vertical state, and the inclined nut and the lead screw are no longer in a meshing state, thus stopping the compression.

[0024] Furthermore, when launching the flapping-wing aircraft, pulling trigger one causes trigger two to rotate trigger three counterclockwise. Trigger three loses its restraint on the launch head, and under the action of the main spring, pushes the inclined nut and the launch head to rapidly impact the front end along the lead screw. At the moment the launch head contacts the tail of the flapping-wing aircraft, the flapping-wing aircraft is ejected from the launch tube. Under the action of the compression spring on the fuselage, the traction rod pushes the main rod to unfold outward of the fuselage. Folding wing rod one, folding wing rod two, and folding wing rod three move to a fixed angle under the action of the traction line, thereby realizing the unfolding of the wings. Under the action of the torsion spring, the tail fin mounting bracket two unfolds outward of the fuselage, causing the tail fin rod to drive the tail fin to unfold.

[0025] Furthermore, after the ejection mechanism ejects the flapping-wing aircraft, the main spring ensures that the launch head returns to its initial position, and the inclined nut remains inside the launch head. When trigger one is released, trigger three rotates clockwise under the action of the trigger spring. The front end of trigger three still protrudes from the lower outer shell, ensuring that the ejection mechanism can be used repeatedly.

[0026] Compared with the prior art, the advantages and positive effects of this invention are:

[0027] (1) The flapping-wing aircraft of the present invention is installed on the slide rail in the launch tube, which reduces the footprint and makes it easy to store. The launch tube is equipped with a catapult mechanism. Under the action of the catapult mechanism, the flapping-wing aircraft is ejected from the launcher and takes off. In the catapult mechanism, due to the action of the positioning pin and the positioning pin spring, the inclined nut is kept in a clamped state inside the launch head. After the inclined nut is separated from the launch head, it is pushed to the outside and disengaged from the lead screw, which improves the working efficiency. The lead screw is used to compress the spring, which has high strength and high efficiency.

[0028] (2) The wings of the flapping-wing aircraft are passively deployed through the linkage of compression springs and traction rods. The tail fin is deployed under the action of torsion springs and achieves self-locking, which improves the stability of the flapping-wing aircraft during takeoff and improves flight efficiency. The articulated arms 1, 2 and 3 on the wings are connected to the fuselage through traction lines. When the wings are deployed, the traction lines are tightened because the length of the traction lines remains unchanged, so that articulated arms 1, 2 and 3 are pulled to their corresponding positions, ensuring the integrity of the wings deployment and improving flight efficiency.

[0029] (2) The linkage between the compression spring on the fuselage and the tow bar can drive the wings to fold towards the fuselage and push the wings to unfold. Since the compression spring is still in a compressed state after the wings are unfolded, it ensures that the wings will not fold backward during flight, thus forming a self-locking mechanism.

[0030] (4) During the launch of the flapping-wing aircraft, the tail fin can be deployed under the action of the torsion spring. Since the torsion spring is still in a compressed state when it is deployed to the maximum angle, it prevents the tail fin from contracting during flight and forming a self-locking mechanism. Attached Figure Description

[0031] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0032] Figure 1 This is a schematic diagram of the overall catapult-type tube-mounted flapping-wing flight device in Embodiment 1 of the present invention.

[0033] Figure 2 This is an internal schematic diagram of the catapult-type tube-mounted flapping-wing flight device in Embodiment 1 of the present invention.

[0034] Figure 3 This is a schematic diagram of the fuselage structure in Embodiment 1 of the present invention.

[0035] Figure 4 This is a schematic diagram of the wing in Embodiment 1 of the present invention.

[0036] Figure 5 This is a schematic diagram of the tail fin in Embodiment 1 of the present invention.

[0037] Figure 6 This is a schematic diagram of the wing in a retracted state in Embodiment 1 of the present invention.

[0038] Figure 7 This is a schematic diagram of the wing in the deployed state in Embodiment 1 of the present invention.

[0039] Figure 8 This is a schematic diagram of the overall ejection mechanism in Embodiment 1 of the present invention.

[0040] Figure 9 This is a schematic diagram of the internal structure of the ejection mechanism in Embodiment 1 of the present invention.

[0041] Figure 10 This is a side sectional view of the ejection mechanism in Embodiment 1 of the present invention.

[0042] Figure 11 This is a schematic diagram of the internal structure of the transmitter head in Embodiment 1 of the present invention.

[0043] Figure 12 This is a schematic diagram of the inclined nut in Embodiment 1 of the present invention.

[0044] In the diagram, 1. Flapping-wing aircraft; 2. Launch tube; 3. Ejection mechanism; 11. Fuselage; 12. Wing; 13. Tail fin; 111. Servo arm; 112. Servo; 113. Servo mount; 114. Upper support rod; 115. Adapter one; 116. Slide; 117. Fixing slot; 118. Lower support rod; 119. Tail fin support frame; 1110. Compression spring; 1111. Front connector; 1112. Rear connector; 121. Main joint; 122. Secondary joint; 123. Connector one; 124. Main rod; 125. Joint one; 126. Joint two; 127. Joint three; 128. Adapter two; 129. Towing rod; 121 0. Articulated Arm 1; 1211. Articulated Arm 2; 1212. Articulated Arm 3; 1213. Folding Wing Rod 1; 1214. Folding Wing Rod 2; 1215. Folding Wing Rod 3; 1216. Traction Line; 131. Tail Wing Mount 1; 132. Tail Wing Mount 2; 133. Tail Wing Rod; 134. Torsion Spring; 31. Launch Head; 32. Upper Outer Shell; 33. Lower Outer Shell; 34. Base; 35. Lead Screw; 36. Crank Handle; 37. Positioning Bead; 38. Round Sleeve; 39. Diagonal Nut; 310. Main Spring; 311. Positioning Pin Spring; 312. Positioning Pin; 313. Trigger 3; 314. Trigger Spring; 315. Trigger 2; 316. Trigger 1; Detailed Implementation

[0045] Example 1

[0046] As described in the background art, during the takeoff of the flapping-wing aircraft 1, there is an instability in the takeoff state, and the wings remain spread during storage, occupying a large space. Based on this, the present invention provides a catapult-type tube-mounted flapping-wing flight device, which mounts the flapping-wing aircraft 1 as a whole on the slide rail of the launch tube 2 to reduce the footprint and facilitate storage. The main spring 310 in the catapult mechanism 3 can eject the flapping-wing aircraft 1 to complete the takeoff. At the same time, the wings 12 of the flapping-wing aircraft 1 are passively deployed by the release of the compression spring 1110, and the tail fin 13 is deployed under the action of the torsion spring 134 and forms a self-locking mechanism, thereby improving takeoff stability and flight efficiency.

[0047] See Figure 1 and Figure 2 The ejection-type tube-mounted flapping-wing flight device disclosed in this embodiment mainly consists of three parts: flapping-wing aircraft 1, launch tube 2, and ejection mechanism 3. Among them, the launch tube 2 serves as the core structure for bearing and guiding, and is equipped with a slide rail inside. This provides a stable gliding path for the flapping-wing aircraft 1 and ensures that the launch attitude does not deviate through the adaptation design with the bottom of the flapping-wing aircraft 1. The flapping-wing aircraft 1 is placed on the slide rail in a horizontal attitude to achieve initial positioning. The ejection mechanism 3 is installed at the tail of the launch tube 2, and its front end contacts the tail of the flapping-wing aircraft 1. After triggering, it can release the pre-set kinetic energy and accelerate the flapping-wing aircraft 1 rapidly along the slide rail. Its bottom base 34 is fixedly connected to the tail of the launch tube 2 by high-strength bolts. The bolt pre-tightening force ensures the stability of the connection and effectively avoids vibration displacement during the ejection process.

[0048] The specific structure of the flapping-wing aircraft 1 and the catapult mechanism 3 is described below:

[0049] Furthermore, the flapping-wing aircraft 1 consists of a fuselage 11, wings 12 and tail 13. The fuselage 11 serves as the main structure, and a pair of wings 12 with identical geometric parameters are symmetrically distributed on both sides of the fuselage 11. They generate lift and thrust through periodic flapping, and the symmetrical design ensures the balance of aerodynamic loads on both sides. The tail 13 is connected to the tail of the fuselage 11 by rivets.

[0050] Specifically, the fuselage 11 adopts a composite support system in the middle, including a servo frame 113, servos 112, servo rocker arms 111, upper support rods 114, lower support rods 118, front connectors 1111, rear connectors 1112, adapters 115, slides 116, fixing slots 117, tail support frame 119, and compression springs 1110. A pair of servos 112 are fixed to the servo frame 113, which is installed at the front of the fuselage 11. The servo rocker arms 111 are connected to the servos 112, driving the wings to flap up and down. The middle of the fuselage is supported by two upper support rods. 114 is fixedly supported by a lower support rod 118. The slide groove 116 is installed on the upper support rod and can slide back and forth along the fuselage. The front connector 1111 is installed in the middle of the slide groove 116 and is hinged to the adapter. The fixing groove 117 is fixed on the upper support rod 114. The rear connector 1112 is installed in the middle of the fixing groove 117. The compression spring 1110 is sleeved on the upper support rod 114. One end of the compression spring 1110 is fixedly connected to the slide groove 116 and the other end is fixedly connected to the fixing groove 117. The end of the fuselage is fixed by the tail fin support frame.

[0051] Specifically, in a stationary state, the flapping-wing aircraft 1 is placed inside the launch tube 2. By compressing the compression spring 1110 on the compressor body 11, the slide 116 moves backward along the fuselage 11. Driven by the traction rod 129, the main rod 124 on the wing 12 is pulled to fold towards the fuselage 11, so that the entire wing 12 is retracted into the launch tube 2. The torsion spring 134 on the tail fin 13 is compressed, so that the tail fin fixing brackets 132 on both sides move towards the tail fin fixing bracket 131 in the middle, realizing the folding of the tail fin 13. In this way, the flapping-wing aircraft 1 can be placed completely inside the launch tube 2. The flapping-wing aircraft 1 is equipped with an ejection mechanism 3 at the rear. The bottom of the ejection mechanism 3 is equipped with a trigger. The flapping-wing aircraft 1 can be launched and taken off by pulling the trigger 316.

[0052] See Figure 3 The fuselage 11 of the flapping-wing aircraft 1 is composed of several key components working together, with the overall structure balancing power transmission and aerodynamic stability. The core load-bearing structure at the front is the servo frame 113, on which a pair of servos 112 are fixed by high-strength bolts. This provides a stable mounting base for the servos 112 and balances the center of gravity at the front of the fuselage 11 thanks to its lightweight design. The servo rocker arm 111 is rigidly connected to the output shaft of the servo 112 through a bushing, which can convert the rotational motion of the servo 112 into periodic oscillations, stably driving the wing 12 to complete the up-and-down flapping motion.

[0053] Furthermore, the front ends of the two upper support rods 114 and the lower support rod 118 are fixedly connected to the servo frame 113, while the rear ends are connected to the tail support frame 119, forming a triangular stabilizing structure to enhance the torsional resistance of the fuselage 11. The middle of the two upper support rods 114 is fitted with a sliding groove 116, which can slide flexibly back and forth along the axial direction of the fuselage 11; the front connector 1111 embedded in the middle of its inner side forms a hinge structure with the adapter 115 through a pin, providing multi-angle adjustment redundancy for the flapping of the wing 12. The rear end of the upper support rod 114 is fixedly connected to the fixing groove 117 by welding. The rear connector 1112 installed in the middle forms a corresponding support relationship with the front connector 1111. The compression spring 1110, which is sleeved on the outside of the upper support rod 114, is connected to the end face of the slide groove 116 by a hook at one end and abuts against the inside of the fixing groove 117 at the other end. It can not only use elastic potential energy to buffer the impact force when the slide groove 116 slides, but also maintain the relative position stability of the front connector 1111 and the rear connector 1112 through pre-tightening force. The end of the fuselage 11 is rigidly fixed by the tail fin support frame 119. The tail fin support frame 119 adopts an embedded connection design with the upper support rod 114 and the lower support rod 118, which reduces the overall weight while ensuring the structural response speed and control stability of the tail fin 13 during attitude adjustment. The compression spring 1110 is linked with the traction rod 129 to drive the wing 12 to fold toward the fuselage 11, and can also push the wing 12 to unfold. After the wing 12 is unfolded, the compression spring 1110 is still in a compressed state, which can prevent the wing 12 from folding backward during flight, forming a self-locking effect.

[0054] See Figure 4The wing 12 comprises a main joint 121, a secondary joint 122, a first connector 123, a second adapter 128, a traction rod 129, a main rod 124, a first wing-folding rod 1213, a second wing-folding rod 1214, a third wing-folding rod 1215, a first joint 125, a second joint 126, a third joint 127, a first articulated arm 1210, a second articulated arm 1211, a third articulated arm 1212, and a traction cable 1216. These components are interconnected by hinges or fixed connections, working together to achieve the folding and unfolding of the wing 12. One end of the main joint 121 is fixedly connected to the servo rocker arm 111, and the other end is hinged to the secondary joint 122 via a pin. The other end of the secondary joint 122 is fixedly connected to the main rod 124. This connection allows the main rod 124 to move flexibly under the action of the main joint 121 and the secondary joint 122. Connector 123, joint 125, joint 2 126, and joint 3 127 are fixedly mounted on the main rod 124. Connector 123 is hinged to adapter 2 128, which is connected to one end of the traction rod 129. The other end of the traction rod 129 is connected to adapter 115 on the fuselage 11. Joint 125 is hinged to one end of articulated arm 1210, and the other end of articulated arm 1210 is fixedly connected to wing-breaking rod 1213. Joint 2 126 is hinged to one end of articulated arm 2 1211, and the other end of articulated arm 2 1211 is fixedly connected to wing-breaking rod 2 1214. Joint 3 127 is hinged to one end of articulated arm 3 1212, and the other end of articulated arm 3 1212 is fixedly connected to wing-breaking rod 3 1215. Meanwhile, articulated arm 1210, articulated arm 2 1211, and articulated arm 3 1212 are also connected to the rear connector 1112 on the fuselage 11 via traction lines 1216.

[0055] Specifically, when the flapping-wing aircraft 1 is stationary, see Figure 6 The wing 12 is placed inside the launch tube 2 in a retracted position. At this time, the slide 116 on the fuselage 11 moves backward along the fuselage 11, the compression spring 1110 is in a compressed state, and the traction rod 129 pulls the main rod 124 in this state. The main rod 124 drives the secondary joint 122 and the main joint 121 to retract inward, thereby driving the entire wing 12 to move closer to the fuselage 11. As the main rod 124 moves, joint one 125, joint two 126, and joint three 127 also move closer to the fuselage 11. Joint arm one 1210, joint arm two 1211, and joint arm three 1212 lose the support force for unfolding, and wing-folding rod one 1213, wing-folding rod two 1214, and wing-folding rod three 1215 also naturally retract, realizing the passive folding of the wing 12.

[0056] During the launch of flapping-wing aircraft 1, see Figure 7After being ejected from launch tube 2, the compression spring 1110 on fuselage 11 is no longer constrained, pushing slide 116 along fuselage 11 towards the front end. The movement of slide 116 changes the direction of force on traction rod 129, from pulling main rod 124 to pushing main rod 124 to move outward of fuselage 11. Main rod 124 drives secondary joint 122 and main joint 121 to unfold outward. During this process, joint 125, joint 2 126, and joint 3 127 move outward with main rod 124, and joint arm 1210, joint arm 2 1211, and joint arm 3 1212 gradually rotate under the traction of traction line 1216. Folding wing rod 1213, folding wing rod 2 1214, and folding wing rod 3 1215 unfold accordingly, forming a fixed angle with main rod 124, completing the unfolding of wing 12. After the compression spring 1110 slides to the front end, it remains in a compressed state and continues to push the traction rod 129, keeping the main rod 124 in an unfolded state to form a self-locking mechanism, ensuring that the main rod 124 of the wing 12 will not tend to fold backward during flight.

[0057] See Figure 5 The tail fin 13 consists of a tail fin mounting bracket 131, a tail fin mounting bracket 2 132, a torsion spring 134, and tail fin rods 133. Two identical tail fin mounting brackets 2 132 are located on either side of tail fin mounting bracket 131. All three are hinged to the tail fin support frame via a rotating shaft. The three tail fin rods 133 are fixedly connected to tail fin mounting bracket 131 and the two tail fin mounting brackets 2 132, respectively. A torsion spring 134 is installed between tail fin mounting bracket 131 and each tail fin mounting bracket 2 132. When the flapping-wing aircraft 1 is placed inside the launch tube 2, constrained by the inner wall of the launch tube 2, the two tail fin mounting brackets 2 132 are forced to move closer to the central tail fin mounting bracket 131. During the process, the torsion spring 134 between the tail fin mounting bracket 131 and the tail fin mounting bracket 2 132 is compressed and stores energy. The three tail fin rods 133 also move together with the mounting brackets, thus realizing the overall folding of the tail fin 13 to adapt to the narrow space of the launch tube 2. When the flapping-wing aircraft 1 is launched and breaks free from the constraint of the launch tube 2, the torsion spring 134 begins to release energy under the action of elasticity, driving the two tail fin mounting brackets 2 132 to rotate outward around the hinge point, thereby pulling the tail fin rods 133 connected to them to unfold synchronously, so that the entire tail fin 13 gradually transitions from the folded state to the working state. When the tail fin 13 unfolds, it presents a fan shape, and the maximum unfolding angle of the tail fin 13 is 100°.

[0058] It is worth noting that when the tail fin 13 is deployed to its maximum spanwise angle, the torsion spring 134 is not fully reset and is still in a certain compressed state. This design forms an effective self-locking structure, which can provide continuous outward thrust to the tail fin mounting bracket 132, ensuring that the tail fin 13 will not contract due to airflow disturbance or vibration during the flight of the flapping-wing aircraft 1, and always maintain a stable aerodynamic shape.

[0059] Further, see Figure 8 - Figure 12 The ejection mechanism 3 in this embodiment includes a launch head 31, a lower outer shell 33, an upper outer shell 32, a lead screw 35, a bevel nut 39, a cylindrical sleeve 38, a positioning pin 312, a positioning pin spring 311, a main spring 310, a base 34, a trigger 1 316, a trigger 2 315, a trigger 313, a trigger spring 314, a positioning bead 37, and a crank handle 36. The upper outer shell 32 and the lower outer shell 33 are fixed together by bolts, and both are fixed to the base 34. The lead screw 35 is located at... At the center of the ejection mechanism 3, the launch head 31 is fitted onto the lead screw 35. Six positioning beads 37 are installed on the other end of the launch head 31. Two identical helical nuts 39 are engaged with the cylindrical sleeve 38 via positioning pins 312. A positioning pin spring 311 is connected to the outside of the positioning pin 312, which can drive the helical nuts 39 to move away from the cylindrical sleeve 38. One end of the main spring 310 is connected to the helical nuts 39, and the other end is connected to the base 34. The other end of the lead screw 35 is engaged with the crank handle 36.

[0060] One end of the trigger 2 315 is in contact with trigger 1 316, and the other end is in contact with trigger 3 313. The side of trigger 3 313 is connected to the lower housing 33 by trigger spring 314. Trigger 3 313 is rotatably connected to the lower housing 33. Trigger 1 316 and trigger 2 315 are mounted on the firing tube and rotatably connected to the firing tube.

[0061] It should be further noted that the aforementioned inclined nut 39 is a semi-conical nut structure, and two inclined nuts 39 combined together form a conical inclined nut 39; for details, please refer to [link to relevant documentation]. Figure 12 .

[0062] In a stationary state, the ejection mechanism 3 is bolted to the inside of the launch tube 2, with the front end of the launch head 31 in contact with the tail of the wing 12. Two inclined nuts 39, limited by the positioning pin 312, engage with the cylindrical sleeve 38. The positioning pin spring 311 constantly applies a thrust, causing the inclined nuts 39 to tend to move outwards from the cylindrical sleeve 38. At this time, the inclined nuts 39 are located inside the other end of the launch head 31, the positioning bead is locked in a specific position to prevent the inclined nuts 39 from slipping out of the launch head 31, and the main spring 310 is in a naturally relaxed state, maintaining a stable initial posture for the entire mechanism.

[0063] During the compression of spring 1110, the operator manually rotates the crank handle 36, which drives the lead screw 35 to rotate. The threaded transmission of the lead screw 35 causes the inclined nut 39 to move along the lead screw 35 towards the base 34, thereby compressing the main spring 310. The firing head 31 has a groove on its side. Under the elastic force of the trigger spring 314, the front end of trigger three 313 protrudes from the lower outer shell 33. There is a gap between trigger one 316 and trigger two 315 to ensure that trigger three 313 does not interfere with trigger one 316 when it protrudes. As the inclined nut 39 moves, the firing head 31 also moves along the lead screw 35 towards the base 34 until the groove on the side of the firing head 31 is caught by trigger three 313, temporarily fixing its position. Continuing to rotate the crank handle, the pressure forces the inclined nut 39 to disengage from inside the firing head 31. At this point, the positioning pin spring 311 is no longer constrained, pushing the inclined nut 39 outwards. Due to the restriction of the locating pin 312, the inclined nut 39 remains in a vertical position, but the threaded engagement with the lead screw 35 is released, and the compression process of the main spring 310 stops.

[0064] When the flapping-wing aircraft 1 is launched, trigger 316 is pulled, which, through mechanical linkage, drives trigger 315, causing trigger 313 to rotate counterclockwise. Trigger 313 releases its constraint on the launch head 31. The main spring 310 instantly releases its stored elastic potential energy, pushing the inclined nut 39 and the launch head 31 rapidly forward along the lead screw 35. The moment the launch head 31 contacts the tail of the flapping-wing aircraft 1, the enormous impact force ejects the flapping-wing aircraft 1 from the launch tube 2. Simultaneously, the wings 12 and tail fins 13 of the flapping-wing aircraft 1 unfold under its own structural action, enabling flight.

[0065] After ejecting from the flapping-wing aircraft 1, the launch head 31 is pushed back to its initial position under the continuous action of the main spring 310. The inclined nut 39 has two possible outcomes: either it returns to the inside of the launch head 31, or, because the inclined nut 39 does not engage with the thread of the lead screw 35, it cannot enter the launch head 31. In this case, the reverse crank 36 rotates the lead screw 35, causing the inclined nut 39 to engage with the thread of the lead screw 35, thus returning it to the inside of the launch head 31. Releasing trigger 316 causes trigger 313 to rotate clockwise and reset under the force of trigger spring 314. Its front end protrudes from the lower outer shell 33 again, restoring its constraint on the launch head 31. The entire ejection mechanism 3 returns to its initial operational state, ensuring that ejection operations can be repeated multiple times.

[0066] The working principle of this invention is as follows:

[0067] When stationary, the flapping-wing aircraft 1 is retracted into the launch tube 2. The wings 12 contract due to the compression spring 1110, and the traction rod 129 pulls the main rod 124 to fold the wings 12. The tail fin 13 is constrained by the wall of the launch tube 2, and the tail fin fixing frame 132 moves towards the center, compressing the torsion spring 134 and folding the tail fin 13. The main spring 310 of the ejection mechanism 3 is in a relaxed state. After pulling the trigger 316, the main spring 310 of the ejection mechanism 3 releases energy, propelling the flapping-wing aircraft. 1. The aircraft ejects along the slide rail; after detaching from the launch tube 2, the compression spring 1110 of the wing 12 pushes the slide 116 forward, and the traction rod 129 changes from pulling to pushing, driving the main rod 124 of the wing 12 and the wing-folding rod to unfold. The compression spring 1110 remains compressed to achieve self-locking; the torsion spring 134 of the tail wing 13 is released, driving the tail wing fixing frame 132 to rotate outward and unfold. The torsion spring 134 does not fully reset, thus forming self-locking; after ejection, the ejection mechanism 3 resets and can be reused.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A catapult launched, tube borne ornithopter flight device characterized by, The application relates to a launching barrel, a flapping-wing aircraft and a launching mechanism. The launching mechanism comprises a launching head, a shell, a screw rod, an inclined nut, a round sleeve, a positioning pin, a positioning pin spring, a main spring, a base, a trigger and a crank handle, the shell is fixed with the base, the screw rod is arranged along the axis of the shell, one end of the screw rod extends out of the shell and is connected with the crank handle, the other end of the screw rod extends into the launching head, the launching head is slidably connected with the inner wall of the shell, the middle part of the screw rod is threadedly connected with the two inclined nuts, the inner ring of the two inclined nuts is further connected with the round sleeve through the positioning pin, the positioning pin spring and the round sleeve, the round sleeve is threadedly connected with the screw rod, the inclined nut is connected with the base through the main spring sleeved on the screw rod, and the trigger is arranged on the shell and is used for positioning the launching head. The flapping-wing aircraft comprises a fuselage, wings and a tail wing, a pair of identical wings are symmetrically arranged on the left and right sides of the fuselage, and the tail wing is connected with the tail part of the fuselage. The launching barrel is internally provided with a sliding rail, the flapping-wing aircraft is placed on the sliding rail, the launching mechanism is arranged at the tail part of the launching barrel, the launching head of the launching mechanism is in contact with the tail part of the fuselage of the flapping-wing aircraft, and the base is fixed with the launching barrel.

2. The catapulted tube-launched flapping-wing flying device of claim 1, wherein, The fuselage comprises a rudder frame, rudders, a rudder rocker arm, a sliding groove, a fixed groove and a tail wing support frame, the rudder frame is connected with the tail wing support frame through two upper support rods and a lower support rod, a pair of rudders are arranged on the rudder frame, each rudder is connected with the rudder rocker arm and drives the wings to flap up and down, the sliding groove and the fixed groove are arranged on the upper support rod, the sliding groove is connected with the front connecting piece through the compression spring sleeved on the upper support rod, the sliding groove is connected with the front connecting piece, the front connecting piece is hingedly connected with the adapter head one, and the fixed groove is connected with the rear connecting piece.

3. The catapulted tube-launched ornithopter of claim 2, wherein, The wing comprises a main joint, a secondary joint, a connecting piece one, an adapter head two, a traction rod, a main rod, a wing folding rod one, a wing folding rod two, a wing folding rod three, a joint one, a joint two, a joint three, a joint arm one, a joint arm two and a joint arm three, the main joint is connected with the rudder rocker arm, the main joint is hingedly connected with the secondary joint, the other end of the secondary joint is fixedly connected with the main rod, the connecting piece one, the joint one, the joint two and the joint three are fixed on the main rod, the connecting piece one is hingedly connected with the adapter head two, one end of the traction rod is connected with the adapter head two, the other end of the traction rod is connected with the adapter head one on the fuselage, one end of the joint arm one is hingedly connected with the joint one, the other end of the joint arm one is fixedly connected with the wing folding rod one, one end of the joint arm two is hingedly connected with the joint two, the other end of the joint arm two is fixedly connected with the wing folding rod two, one end of the joint arm three is hingedly connected with the joint three, the other end of the joint arm three is fixedly connected with the wing folding rod three, and the joint arm one, the joint arm two and the joint arm three are connected with the rear connecting piece on the fuselage through traction lines.

4. The catapulted tube-launched ornithopter of claim 2, wherein, The tail wing comprises a tail wing fixing frame one, a tail wing fixing frame two, a torsion spring and tail wing rods, two identical tail wing fixing frame twos are arranged on the left and right sides of the tail wing fixing frame one, the three are hingedly connected with the tail wing support frame, the three tail wing rods are fixedly connected with the tail wing fixing frame one and the tail wing fixing frame two, and the torsion spring is arranged between the tail wing fixing frame one and the tail wing fixing frame two.

5. The catapulted tube-launched ornithopter of claim 4, wherein, The tail wing is arranged above the contact position of the launching head and the tail wing support frame.

6. The catapulted tube-launched flapping-wing flying device of claim 1, wherein, The trigger comprises a trigger one, a trigger two and a trigger three. The trigger two is in contact with the trigger one at one end and in contact with the trigger three at the other end, the trigger three is connected between the lateral surface and the shell through the trigger spring, the trigger three is rotationally connected with the shell, the trigger one and the trigger two are rotationally connected with the launching cylinder.

7. The catapulted tube-launched flapping-wing flying device of claim 6, wherein, The launching head is provided with a groove, the front end of the trigger three protrudes from the inner wall of the shell and cooperates with the groove under the elastic force of the trigger spring; there is a gap between the trigger one and the trigger two.

8. The catapulted tube-launched flapping-wing flying device of claim 1, wherein, The positioning bead is arranged on the surface of the launching head matched with the inclined nut.

9. The catapulted tube-launched flapping-wing flying device of claim 1, wherein, The inclined nut is a half-cone nut structure, and two inclined nuts are combined to form a conical inclined nut.

10. The catapulted tube-launched flapping-wing flying device of claim 9, wherein, One end of the positioning pin is fixed on the circular sleeve, and the other end is connected with the inclined nut through the positioning pin spring.

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