Dual-motor-driven ornithopter
By using a dual-motor driven dihedral and wing root angle control mechanism, combined with flexible wings and a gimbal design, the problem of adjusting pitch, roll, and yaw angles during flight of flapping-wing aircraft has been solved, improving lift and energy utilization, and achieving high maneuverability and lightweight design.
Patent Information
- Application Number
- CN202511646971.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-11
- Publication Date
- 2026-02-24
AI Technical Summary
Existing flapping-wing aircraft have difficulty adjusting pitch, roll and yaw angles during flight, and have low energy efficiency.
It employs a dual-motor driven dihedral angle control mechanism and wing root angle control mechanism, combined with flexible wings and transmission components, to achieve symmetrical movement and independent control of the wings. It uses POM material and carbon fiber structure, and adds universal joints to reduce the load on the servo motors.
It improves the lift and energy utilization of flapping-wing aircraft, achieves high maneuverability control with multiple degrees of freedom, and reduces energy loss and structural weight.
Smart Images
Figure CN121553362A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aircraft technology, and in particular to a dual-motor driven flapping-wing aircraft. Background Technology
[0002] Ornithoptering aircraft mimic the flight patterns of birds or insects in nature, generating lift and thrust through periodic wing flapping. They are characterized by high maneuverability, low noise, and strong environmental adaptability. Compared to fixed-wing and rotary-wing aircraft, ornithoptering aircraft exhibit significantly improved aerodynamic efficiency in low Reynolds number environments (such as confined spaces and low-speed flight), and hold great potential, particularly in fields such as complex urban environmental monitoring, disaster relief, and military reconnaissance.
[0003] The current propulsion methods for flapping-wing aircraft mainly include: single-motor drive, which synchronously drives both wings through a mechanical transmission mechanism. It has a simple structure but low degree of freedom of control, making it difficult to independently adjust the motion parameters of the left and right wings, thus limiting maneuverability; dual-motor drive, where each wing is driven by an independent motor, which can independently control parameters such as flapping frequency and phase difference, and achieve multi-degree-of-freedom control such as pitch and yaw; and piezoelectric / electromagnetic drive, which is suitable for milligram-level micro aircraft, but has low output torque and limited load capacity, making it difficult to support additional functional modules (such as cameras and sensors).
[0004] The payload capacity of an ornithopter directly determines its functional expandability (such as carrying cameras and sensors). However, existing dual-motor solutions suffer from excessively high ineffective payloads due to material redundancy, complex mechanisms, and low energy density, making it difficult to achieve a balance between high maneuverability and lightweight design. Furthermore, most existing ornithopter aircraft use rigid wing structures, which cannot adjust airfoil curvature or angle of attack during flight, resulting in low energy efficiency. Summary of the Invention
[0005] This invention provides a dual-motor driven flapping-wing aircraft to solve the technical problems of existing flapping-wing aircraft, such as difficulty in adjusting pitch, roll and yaw angles during flight and low energy utilization.
[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A dual-motor driven flapping-wing aircraft includes a dihedral angle control mechanism, a wing root angle control mechanism at the bottom of the dihedral angle control mechanism, and flapping-wing mechanisms symmetrically distributed at the top of the dihedral angle control mechanism. The flapping-wing mechanism includes a fixed frame, a drive assembly, and a transmission assembly. The transmission assembly, driven by the drive assembly, can drive the first wing and the second wing to move symmetrically.
[0007] Optionally, the drive assembly includes a motor disposed at the bottom of the fixed frame, an output gear connected to the output shaft of the motor, and the output gear located at the top of the fixed frame; the transmission assembly includes a first gear, a second gear, and a stepped gear, the stepped gear including a large gear and a small gear, the large gear meshing with the output gear, the small gear meshing with the first gear, the first gear meshing with the second gear, and the first gear and the second gear being symmetrically arranged relative to the central axis of the fixed frame; the transmission assembly further includes a first connecting rod, a second connecting rod, a first hinge, and a second hinge, one end of the first connecting rod being hinged to the first gear and the other end being hinged to the end of the first hinge, one end of the second connecting rod being hinged to the second gear and the other end being hinged to the end of the second hinge, the middle portion of the first hinge being hinged to the middle portion of the second hinge; the first hinge is connected to the leading edge rod of the first wing, the leading edge rod of the first wing driving the first wing to flap, the second hinge is connected to the leading edge rod of the second wing, the leading edge rod of the second wing driving the second wing to flap.
[0008] Optionally, the first connecting rod and the second connecting rod are symmetrically arranged with respect to the central axis of the fixed frame, and the hinge position of the first connecting rod and the first gear does not coincide with the center of the first gear, and the hinge position of the second connecting rod and the second gear does not coincide with the center of the second gear.
[0009] Optionally, the dihedral control mechanism includes a first servo motor mounted on a carbon fiber rod. A first servo motor rocker arm is provided on the top of the first servo motor. The first servo motor rocker arm is rotatably connected to a first swing arm. The first swing arm and a second swing arm are symmetrically arranged relative to the carbon fiber rod, and the first swing arm and the second swing arm are meshed by gears. When the first servo motor rocker arm drives the first swing arm to swing, the second swing arm will move symmetrically with the first swing arm.
[0010] Optionally, the top of the first swing arm and the top of the second swing arm are respectively provided with flapping wing mechanisms, and the flapping wing mechanisms on the first swing arm and the second swing arm are symmetrically arranged. The first swing arm and the second swing arm are provided with bosses, and square carbon fiber rods are connected between the bosses and the corresponding fixing frames.
[0011] Optionally, a first fixing member and a second fixing member are installed on the carbon fiber rod, and the first swing arm and the second swing arm are installed between the first fixing member and the second fixing member.
[0012] Optionally, the wing root angle control mechanism includes a second servo mounted on a carbon fiber rod, with a second servo rocker arm at the bottom of the second servo. The second servo rocker arm is connected to a long rod to drive the long rod to rotate.
[0013] Optionally, the end of the first swing arm is connected to a first universal joint, the end of the second swing arm is connected to a second universal joint, the first universal joint and the second universal joint are respectively connected to the wing rotation shaft, and the two ends of the long rod are provided with through holes for inserting the wing rotation shaft.
[0014] Optionally, the dual-motor driven flapping-wing aircraft further includes landing gear, which includes a transition member and a first round rod, a second round rod, and a third round rod respectively connected to the transition member, and the carbon fiber rod can be inserted into the transition member.
[0015] The beneficial effects of the above-described technical solution of the present invention are as follows: In the above scheme, the dual-motor driven flapping-wing aircraft adopts an X-wing shape, which has greater lift than traditional flapping-wing aircraft and higher energy utilization. Through the cooperation of the dihedral angle control mechanism, the wing root angle control mechanism and the dual motors, many high-maneuverability actions can be achieved. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of the dual-motor driven flapping-wing aircraft of the present invention; Figure 2 This is a schematic diagram of the flapping wing mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of the motor, output gear, and mounting bracket of the present invention; Figure 4 This is a top view of the flapping wing mechanism of the present invention; Figure 5 This is a schematic diagram of the transmission of the flapping wing mechanism of the present invention; Figure 6 This is a schematic diagram of the dihedral angle control mechanism of the present invention; Figure 7 This is a schematic diagram of the wing root angle control mechanism of the present invention; Figure 8 This is a schematic diagram of the landing gear structure of the present invention.
[0017] [Figure Labels]
[0018] 1. First gear; 2. Second gear; 3. Stepped gear; 4. Fixing frame; 5. First wing; 6. Second wing; 7. First link; 8. Second link; 9. First hinge; 10. Second hinge; 11. Output gear; 12. Motor; 13. Leading edge rod of first wing; 14. Leading edge rod of second wing; 15. Wing vein; 16. Carbon fiber rod; 17. First swing arm; 18. Second swing arm; 19. First universal joint ; 20. Second universal joint; 21. First fixing component; 22. Second fixing component; 23. First servo motor; 24. First servo motor rocker arm; 25. First auxiliary clamping component; 26. Second auxiliary clamping component; 27. Long rod; 28. Second servo motor; 29. Second servo motor rocker arm; 30. Third auxiliary clamping component; 31. Fourth auxiliary clamping component; 32. First round rod; 33. Second round rod; 34. Third round rod; 35. Transition component. Detailed Implementation
[0019] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.
[0020] like Figures 1 to 8 As shown, an embodiment of the present invention provides a dual-motor driven flapping-wing aircraft, including a dihedral angle control mechanism. A wing root angle control mechanism is provided at the bottom of the dihedral angle control mechanism, and flapping-wing mechanisms are symmetrically distributed at the top of the dihedral angle control mechanism. The flapping-wing mechanism includes a fixed frame 4, a drive assembly, and a transmission assembly. Under the drive of the drive assembly, the transmission assembly can drive the first wing 5 and the second wing 6 to move symmetrically.
[0021] like Figures 2 to 5As shown, the drive assembly includes a motor 12 disposed at the bottom of the fixed frame 4, an output gear 11 connected to the output shaft of the motor 12, and the output gear 11 located at the top of the fixed frame 4; the transmission assembly includes a first gear 1, a second gear 2, and a stepped gear 3, the stepped gear 3 including a large gear and a small gear, the large gear meshing with the output gear 11, the small gear meshing with the first gear 1, the first gear 1 meshing with the second gear 2, and the first gear 1 and the second gear 2 being symmetrically arranged relative to the central axis of the fixed frame 4; the transmission assembly also includes a first connecting rod 7, a second connecting rod 8, a third connecting rod 9, and a fourth connecting rod 10. The system consists of a two-link linkage 8, a first hinge 9, and a second hinge 10. One end of the first link 7 is hinged to the first gear 1, and the other end is hinged to the end of the first hinge 9. One end of the second link 8 is hinged to the second gear 2, and the other end is hinged to the end of the second hinge 10. The middle part of the first hinge 9 is hinged to the middle part of the second hinge 10. The first hinge 9 is connected to the leading edge rod 13 of the first wing, which drives the first wing 5 to flap. The second hinge 10 is connected to the leading edge rod 14 of the second wing, which drives the second wing 6 to flap.
[0022] like Figure 4 As shown, the first connecting rod 7 and the second connecting rod 8 are symmetrically arranged with respect to the central axis of the fixed frame 4, and the hinge position of the first connecting rod 7 and the first gear 1 does not coincide with the center of the first gear 1, and the hinge position of the second connecting rod 8 and the second gear 2 does not coincide with the center of the second gear 2.
[0023] The main materials of the dual-motor driven flapping-wing aircraft are POM material, carbon fiber and aviation sound insulation cotton. The first wing 5 and the second wing 6 are flexible and made of aviation sound insulation cotton. The first wing 5 and the second wing 6 are provided with wing veins 15 cut from carbon fiber plates to improve lift.
[0024] like Figure 6 As shown, the dihedral control mechanism includes a first servo motor 23 mounted on a carbon fiber rod 16. A first servo motor rocker arm 24 is provided on the top of the first servo motor 23. The first servo motor rocker arm 24 is rotatably connected to a first swing arm 17 via a steel shaft. The first swing arm 17 and the second swing arm 18 are symmetrically arranged relative to the carbon fiber rod 16, and the first swing arm 17 and the second swing arm 18 are meshed with gears. When the first servo motor rocker arm 24 drives the first swing arm 17 to swing, the second swing arm 18 will move symmetrically with the first swing arm 17 to realize the change of the dihedral angle of the aircraft, thereby realizing pitch motion.
[0025] The top of the first swing arm 17 and the top of the second swing arm 18 are respectively provided with flapping wing mechanisms, and the flapping wing mechanisms on the first swing arm 17 and the second swing arm 18 are symmetrically arranged. The motor 12 is fixed to the first swing arm 17 and the second swing arm 18 by screws. The first swing arm 17 and the second swing arm 18 are provided with bosses, which are distributed around the motor 12, and square carbon fiber rods are connected between the bosses and the corresponding fixing frame 4.
[0026] like Figure 6 As shown, a first fixing member 21 and a second fixing member 22 are installed on the carbon fiber rod 16. The first swing arm 17 and the second swing arm 18 are installed between the first fixing member 21 and the second fixing member 22 via steel shafts. The first servo motor 23 is installed on the carbon fiber rod 16 via a first auxiliary clamping member 25 and a second auxiliary clamping member 26.
[0027] like Figure 7 As shown, the wing root angle control mechanism includes a second servo 28 mounted on a carbon fiber rod 16. The second servo 28 is mounted on the carbon fiber rod 16 via a third auxiliary clamp 30 and a fourth auxiliary clamp 31. A second servo rocker arm 29 is provided at the bottom of the second servo 28. The second servo rocker arm 29 is connected to a long rod 27 to drive the long rod 27 to rotate, thereby changing the position of the wing roots on both sides of the aircraft to achieve a roll effect.
[0028] like Figure 6 and Figure 7 As shown, the end of the first swing arm 17 is connected to a first universal joint 19, and the end of the second swing arm 18 is connected to a second universal joint 20. The first universal joint 19 and the second universal joint 20 are respectively connected to the wing rotation shaft. The long rod 27 has through holes at both ends for inserting the wing rotation shaft. With the wing root position unchanged, changes in the dihedral angle will generate a large load on the servo motors, leading to heat generation. By adding a universal joint structure to the wing rotation shaft, the additional load caused by the deformation of the wing rotation shaft can be reduced, i.e., the load on the first servo motor 23 and the second servo motor 28 can be reduced, thus reducing energy loss.
[0029] like Figure 8 As shown, the dual-motor driven flapping-wing aircraft also includes landing gear, which includes a transition member 35 and a first round rod 32, a second round rod 33, and a third round rod 34 respectively connected to the transition member 35. The carbon fiber rod 16 can be inserted into the transition member 35. The landing gear can protect the aircraft and reduce collisions during takeoff and landing.
[0030] In the above scheme, the dual-motor driven flapping-wing aircraft adopts an X-wing shape, which has greater lift than traditional flapping-wing aircraft and higher energy utilization. Through the cooperation of the dihedral angle control mechanism, the wing root angle control mechanism and the dual motors, many high-maneuverability actions can be achieved. The hollowing out and weight reduction of the parts realize the lightweighting of the aircraft. CNC machining, the use of POM material, and the fixing methods such as pins and screws ensure the structural accuracy and strength. By setting up universal joints, the load on the servo motors is greatly reduced. The drag dominated by the rotation shaft stress is changed to the small friction of the universal joint, which solves the problem of servo motor heat generation, reduces energy loss, and makes the overall control of the aircraft more consistent.
[0031] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A dual-motor driven flapping-wing aircraft, characterized in that, It includes a dihedral angle control mechanism, a wing root angle control mechanism is provided at the bottom of the dihedral angle control mechanism, and flapping wing mechanisms are symmetrically distributed at the top of the dihedral angle control mechanism; The flapping wing mechanism includes a fixed frame, a drive assembly, and a transmission assembly. Under the drive of the drive assembly, the transmission assembly can drive the first wing and the second wing to move symmetrically.
2. The dual-motor driven flapping-wing aircraft according to claim 1, characterized in that, The drive assembly includes a motor disposed at the bottom of the fixed frame, an output gear connected to the output shaft of the motor, and the output gear being located at the top of the fixed frame; The transmission assembly includes a first gear, a second gear, and a stepped gear. The stepped gear includes a large gear and a small gear. The large gear meshes with the output gear, the small gear meshes with the first gear, and the first gear meshes with the second gear. The first gear and the second gear are symmetrically arranged relative to the central axis of the fixed frame. The transmission assembly further includes a first connecting rod, a second connecting rod, a first hinge, and a second hinge. One end of the first connecting rod is hinged to the first gear, and the other end is hinged to the end of the first hinge. One end of the second connecting rod is hinged to the second gear, and the other end is hinged to the end of the second hinge. The middle part of the first hinge is hinged to the middle part of the second hinge. The first hinge is connected to the leading edge rod of the first wing, and the leading edge rod of the first wing drives the first wing to flap. The second hinge is connected to the leading edge rod of the second wing, and the leading edge rod of the second wing drives the second wing to flap.
3. The dual-motor driven flapping-wing aircraft according to claim 2, characterized in that, The first connecting rod and the second connecting rod are symmetrically arranged with respect to the central axis of the fixed frame, and the hinge position of the first connecting rod and the first gear does not coincide with the center of the first gear, and the hinge position of the second connecting rod and the second gear does not coincide with the center of the second gear.
4. The dual-motor driven flapping-wing aircraft according to claim 1, characterized in that, The dihedral control mechanism includes a first servo motor mounted on a carbon fiber rod. A first servo motor rocker arm is provided on the top of the first servo motor. The first servo motor rocker arm is rotatably connected to a first swing arm. The first swing arm and a second swing arm are symmetrically arranged relative to the carbon fiber rod, and the first swing arm and the second swing arm are meshed by gears. When the first servo motor rocker arm drives the first swing arm to swing, the second swing arm will move symmetrically with the first swing arm.
5. The dual-motor driven flapping-wing aircraft according to claim 4, characterized in that, The top of the first swing arm and the top of the second swing arm are respectively provided with flapping wing mechanisms, and the flapping wing mechanisms on the first swing arm and the second swing arm are symmetrically arranged. The first swing arm and the second swing arm are provided with bosses, and square carbon fiber rods are connected between the bosses and the corresponding fixing frames.
6. The dual-motor driven flapping-wing aircraft according to claim 4, characterized in that, The carbon fiber rod is equipped with a first fixing member and a second fixing member, and the first swing arm and the second swing arm are installed between the first fixing member and the second fixing member.
7. The dual-motor driven flapping-wing aircraft according to claim 4, characterized in that, The wing root angle control mechanism includes a second servo mounted on a carbon fiber rod. A second servo rocker arm is provided at the bottom of the second servo, and the second servo rocker arm is connected to a long rod to drive the long rod to rotate.
8. The dual-motor driven flapping-wing aircraft according to claim 7, characterized in that, The first swing arm is connected to a first universal joint at its end, and the second swing arm is connected to a second universal joint at its end. The first universal joint and the second universal joint are respectively connected to the wing rotation shaft. The long rod has through holes at both ends for inserting the wing rotation shaft.
9. The dual-motor driven flapping-wing aircraft according to claim 4, characterized in that, The dual-motor driven flapping-wing aircraft also includes landing gear, which includes a transition member and a first round rod, a second round rod, and a third round rod respectively connected to the transition member. The carbon fiber rod can be inserted into the transition member.