A quad-wing flapping-wing aircraft with a symmetrical pulley-type linear drive mechanism and its control method

Abstract

This invention discloses a quad-wing flapping-wing aircraft with a symmetrical wheeled linear drive mechanism and its control method, relating to the field of flapping-wing aircraft technology. It includes a frame, a power input unit, a tail fin drive unit, a wing drive unit, and a triboelectric sensing unit. The triboelectric sensing unit is connected to the wing drive unit, and the wing drive unit is connected to the power drive unit. The power drive unit is mounted on the frame, and the lower part of the frame is connected to the tail fin drive unit. This invention employs the aforementioned quad-wing flapping-wing aircraft and control method with a symmetrical wheeled linear drive mechanism. The power input unit can amplify the flapping amplitude of the crank rocker arm; simultaneously, the flapping-wing aircraft integrates a triboelectric sensing unit, which facilitates attitude control of the tail fin drive unit, enabling roll, yaw, and hovering movements.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft technology, and in particular to a quad-wing flapping-wing aircraft with a symmetrical wheeled linear drive mechanism and a control method thereof. Background Technology

[0002] In recent years, the low-altitude economy has experienced rapid development, with a surge in demand for micro-aircraft in practical applications such as low-altitude observation, emergency rescue, and close-range operations. These scenarios place clear demands on the core performance of these aircraft—ensuring stable lift maintenance during hovering. Among them, quadruple-wing flapping aircraft, with their inherent advantage of balanced lift distribution through coordinated flapping of multiple wings, have become crucial equipment for meeting hovering stability requirements. The synchronization of wing flapping in their transmission mechanism and its adaptability to hovering conditions directly determine the upper limit of the aircraft's flight performance.

[0003] Existing quad-wing flapping aircraft mostly rely on crank-rocker mechanisms for flapping. The inherent motion characteristics of these mechanisms limit the flapping amplitude, resulting in insufficient lift and thrust output, which affects the normal flight of the aircraft. Furthermore, although existing quad-wing flapping aircraft can achieve various flight functions, few have the ability to detect their own frequency in real time and adjust flight parameters accordingly. The control parameters are fixed, making it difficult to adapt to complex flight requirements. Summary of the Invention

[0004] The purpose of this invention is to provide a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism and a control method therefor, solving the problems of low flapping amplitude of the crank-rocker mechanism and lack of real-time frequency detection and parameter adjustment in existing four-wing flapping-wing aircraft.

[0005] To achieve the above objectives, the present invention provides a quad-wing flapping-wing aircraft with a symmetrical wheeled linear drive mechanism, comprising a frame, a power input unit, a tail fin drive unit, a wing drive unit, and a triboelectric sensing unit. The triboelectric sensing unit is connected to the wing drive unit, the wing drive unit is connected to the power drive unit, the power drive unit is mounted on the frame, and the lower part of the frame is connected to the tail fin drive unit.

[0006] Preferably, the tail fin drive unit includes a tail fin fixed plate and a tail fin movable plate. The tail fin movable plate includes a tail fin movable left plate, a tail fin movable middle plate, and a tail fin movable right plate. Electromagnetic servo motor one, electromagnetic servo motor two, and electromagnetic servo motor three are respectively provided on the tail fin movable right plate, the tail fin movable middle plate, and the tail fin movable left plate. Electromagnetic servo motor three, electromagnetic servo motor two, and electromagnetic servo motor one are respectively fixed to the end and middle of the tail fin fixed plate. The upper part of the tail fin fixed plate is connected to a fixed support through a positioning groove. The upper part of the fixed support is connected to a ninth carbon fiber rod. The other end of the ninth carbon fiber rod is connected to a fixed frame.

[0007] Preferably, the fixing frame is connected to the fixing ring, the fixing frame is connected to the positioning hole at the end of the frame through the eighth carbon fiber rod, the frame is configured as a symmetrical structure, the end of the frame is configured as a W-shaped structure, the frame is provided with multiple mounting holes, and the right end of the frame is provided with an extension platform, which is connected to the power input unit.

[0008] Preferably, the power input unit consists of a brushless motor, a first gear connected to the brushless motor, a second gear meshing with the first gear, a third gear meshing with the second gear, and a fourth gear meshing with the third gear. The fourth gear and the third gear are both connected to the frame via a second carbon fiber rod, and the frame is connected to the second gear via a first carbon fiber rod.

[0009] Preferably, both the third gear and the fourth gear are connected to a crank-rocker mechanism. The crank-rocker mechanism includes a large pulley and a connecting rod. One end of the connecting rod is connected to the third gear and the fourth gear via a third carbon fiber rod. The connecting rod is connected to the large pulley via a fourth carbon fiber rod. The large pulley is connected to the frame via a fifth carbon fiber rod. A left small pulley and a right small pulley are respectively provided at both ends of the large pulley. The groove of the right small pulley is connected to the groove of the large pulley by a rubber band in reverse connection. The groove of the large pulley is connected to the groove of the left small pulley by a rubber band in normal connection. Both the left small pulley and the right small pulley are connected to the frame via a sixth carbon fiber rod.

[0010] Preferably, both the left and right small pulleys are connected to the seventh carbon fiber rod through connecting holes. Both the seventh and eighth carbon fiber rods are connected to the wing drive unit. The wing drive unit includes a wing membrane, on which the triboelectric sensing unit is attached.

[0011] Preferably, the triboelectric sensing unit includes a polytetrafluoroethylene film and a copper film. The copper film is disposed on one side of the wing film and the side opposite to the flapping wings. The upper side of one side of the copper film is connected to the polytetrafluoroethylene film. The copper film is connected to the flight control chip through a wire.

[0012] A control method for a quad-wing flapping-wing aircraft with a symmetrical pulley-type linear drive mechanism, including a hovering control method, a yaw control method, and a roll control method;

[0013] The hovering control method includes the following steps:

[0014] Step 1: The flight control chip adjusts the brushless motor to maintain a stable speed, drives the wing drive unit, increases the wing flapping frequency to 15Hz and maintains this frequency.

[0015] Step 2: The triboelectric sensing unit generates triboelectric signals and transmits them to the flight control chip, which then controls the tail servo to maintain the initial position.

[0016] Step 3: After receiving the signal, the flight control chip controls the electromagnetic servos. Electromagnetic servos 1, 2, and 3 output no angle. The middle movable plate of the tail fin maintains its initial position, and the left and right movable plates of the tail fin maintain their initial attitude without generating additional torque. The flapping wing mechanism of the four wings maintains a horizontal state to achieve stable hovering.

[0017] Preferably, the roll control method includes the following steps:

[0018] Step 1: The flight control chip synchronizes control commands to prevent the electromagnetic servo in the middle of the tail fin from wobbling.

[0019] Step 2: Control the electromagnetic servo on the left and right sides of the tail fin to work together to drive the left and right movable panels of the tail fin to swing in opposite directions.

[0020] Step 3: By swinging the left and right movable tail fins in opposite directions, a suitable rolling torque is generated to achieve the rolling motion of the aircraft.

[0021] Preferably, the yaw control method includes the following steps:

[0022] Step 1: The flight control chip synchronously outputs control commands to control the electromagnetic servo motor 2 to swing, driving the middle movable plate of the tail fin to swing at a certain angle.

[0023] Step 2: Control electromagnetic servo motor 1 and electromagnetic servo motor 3 to prevent oscillation, and keep the right and left movable tail fin panels in their initial state;

[0024] Step 3: By combining the angle deflection of the tail fin's center plate with the lift of the wings, a suitable yaw moment is generated, ultimately achieving the yaw motion of the aircraft.

[0025] Therefore, this invention employs a four-wing flapping aircraft and its control method based on a symmetrical pulley-type linear transmission mechanism. By optimizing the transmission ratio of the power input unit, the flapping amplitude is significantly amplified. Simultaneously, the elastic deformation of the rubber band compensates for power transmission deviations in real time, achieving synchronous and efficient flapping of both pairs of wings. The flapping frequency electrical signal is collected in real time by a triboelectric sensing unit integrated into the wing film, achieving precise matching between the pulley speed and the wing flapping state. Simultaneously, multiple sets of electromagnetic servos are linked to adjust the angle of the tail fin's movable plate, enabling precise and flexible control of roll, yaw, and hovering movements, meeting the flight stability requirements under complex operating conditions.

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a four-winged flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0028] Figure 2 This is a schematic diagram of the frame structure of a four-wing flapping wing with a symmetrical pulley-type linear drive mechanism according to the present invention.

[0029] Figure 3 This is a schematic diagram of the power input section of a four-winged flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention. Figure 1 ;

[0030] Figure 4 This is a schematic diagram of the power input section of a four-winged flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention. Figure 2 ;

[0031] Figure 5 This is a schematic diagram of the crank-rocker mechanism of a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0032] Figure 6 This is a schematic diagram of the wing drive section of a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0033] Figure 7 This is a schematic diagram of the tail wing drive section of a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0034] Figure 8 This is a schematic diagram of the flight control chip for a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0035] Figure 9 This is a flowchart of a control method for hovering control of a quad-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0036] Figure 10 This is a flowchart of a control method for roll control of a quad-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0037] Figure 11 This is a flowchart of a control method for yaw control of a quad-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0038] Figure 12 This is a flowchart of the flight control chip for a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0039] Figure 13This is a schematic diagram of the flight control chip for a four-wing flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to the present invention.

[0040] Figure Labels

[0041] 1. Frame, 2. Power input unit, 3. Crank-rocker mechanism, 4. Wing drive unit, 5. Tail fin drive unit, 6. Triboelectric sensing unit, 7. Brushless motor, 8. First gear, 9. Second gear, 10. Third gear, 11. Fourth gear, 12. Connecting rod, 13. Large gear, 14. Rubber band, 15. Sixth carbon fiber rod, 16. Left small pulley, 17. Right small pulley, 18. Fifth carbon fiber rod, 19. Fourth carbon fiber rod, 20. 21. Third carbon fiber rod, 22. Second carbon fiber rod, 23. First carbon fiber rod, 24. Fixing ring, 25. Fixing frame, 26. Wing membrane, 27. Eighth carbon fiber rod, 28. Seventh carbon fiber rod, 29. Ninth carbon fiber rod, 30. Fixing support, 31. Tail fin fixing plate, 32. Electromagnetic servo one, 33. Electromagnetic servo two, 34. Electromagnetic servo three, 35. Right movable tail fin plate, 36. Middle movable tail fin plate, 37. Left movable tail fin plate. Detailed Implementation

[0042] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0043] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0044] Example

[0045] Please see Figures 1-13This invention provides a four-wing flapping aircraft with a symmetrical pulley-type linear transmission mechanism and its control method. The aircraft includes a frame 1, a power input unit 2, a tail fin drive unit 5, wing drive units 4, and a triboelectric sensing unit 6. The triboelectric sensing unit 6 assists in the attitude control of the tail fin drive unit 5, enabling roll, yaw, and hovering movements. The triboelectric sensing unit 6 is connected to the wing drive unit 4, which is connected to the power drive unit. The power drive unit is mounted on the frame 1, and the lower part of the frame 1 is connected to the tail fin drive unit 5. The flapping amplitude is amplified by a crank-rocker mechanism 3, and the elastic deformation of the rubber band 14 compensates for power transmission deviations in real time, ultimately achieving synchronous flapping of the two pairs of wings and improving the adaptability of the transmission structure to hovering conditions.

[0046] The tail wing drive unit 5 includes a tail wing fixed plate 30 and a tail wing movable plate. The tail wing movable plate includes a tail wing movable left plate 36, a tail wing movable middle plate 35, and a tail wing movable right plate 34. Electromagnetic servo motor 1 31, electromagnetic servo motor 2 32, and electromagnetic servo motor 33 are respectively installed on the tail wing movable right plate 34, tail wing movable middle plate 35, and tail wing movable left plate 36. Electromagnetic servo motor 33, electromagnetic servo motor 2 32, and electromagnetic servo motor 1 31 are respectively fixed to the end and middle of the tail wing fixed plate 30. The tail wing fixed plate 30 is provided with pre-designed holes for positioning and installation of the electromagnetic servo motors. The upper part of the tail wing fixed plate 30 is connected to the fixed support 29 through a positioning groove. The upper part of the fixed support 29 is connected to the ninth carbon fiber rod 28. The other end of the ninth carbon fiber rod 28 is connected to the fixed frame 24.

[0047] The fixing frame 24 is connected to the fixing ring 23. The fixing frame 24 is connected to the positioning hole at the end of the frame 1 through the eighth carbon fiber rod. The frame 1 is configured as a symmetrical structure. The end of the frame 1 is configured as a W-shaped structure. The frame 1 is provided with multiple mounting holes. The right end of the frame 1 is provided with an extension platform, which is connected to the power input unit 2.

[0048] The power input unit 2 consists of a brushless motor 7, a first gear 8 connected to the brushless motor 7, a second gear 9 meshing with the first gear 8, a third gear 10 meshing with the second gear 9, and a fourth gear 11 meshing with the third gear 10. The fourth gear 11 and the third gear 10 are both connected to the frame 1 via a second carbon fiber rod 21. The frame 1 is connected to the second gear 9 via a first carbon fiber rod 22.

[0049] Both the third gear 10 and the fourth gear 11 are connected to the crank-rocker mechanism, which includes a large pulley 13 and a connecting rod 12. One end of the connecting rod 12 is connected to the third gear 10 and the fourth gear 11 via a third carbon fiber rod 20. The connecting rod 12 is connected to the large pulley 13 via a fourth carbon fiber rod 19. The large pulley 13 is connected to the frame 1 via a fifth carbon fiber rod 18. The two ends of the large pulley 13 are respectively provided with a left small pulley 15, a sixth carbon fiber rod 16, and a right small pulley 17. The groove of the right small pulley 17 is connected to the groove of the large pulley 13 by a rubber band in reverse connection. The groove of the large pulley 13 is connected to the groove of the left small pulley 16 by a rubber band 14 in the forward connection. Both the left small pulley 16 and the right small pulley 17 are connected to the frame 1 via the sixth carbon fiber rod.

[0050] Both the left small pulley 16 and the right small pulley 17 are connected to the seventh carbon fiber rod 27 through connecting holes. The seventh carbon fiber rod 27 and the eighth carbon fiber rod 26 are both connected to the wing drive unit 4. The wing drive unit 4 includes a wing membrane 25, on which a triboelectric sensing unit 6 is attached.

[0051] The principle behind triboelectric nanogenerators generating electrical signals is based on triboelectric charging. Copper film, as a metallic material, acts as an electrode and easily loses electrons, becoming positively charged; polytetrafluoroethylene (PTFE) film easily gains electrons, becoming negatively charged. When the two materials rub against each other, the principle of triboelectric charging transfers electrons, thereby generating electrical signals such as current.

[0052] The triboelectric sensing unit 6 includes a polytetrafluoroethylene (PTFE) film and a copper film. The copper film is disposed on one side of the wing film 25, and the copper film on the opposite side of the wing film 25 is connected to the PTFE film. The triboelectric sensing unit 6 is connected to the flight control chip via wires. When the wing film 25 flaps and separates, the metallic copper film easily loses electrons and becomes positively charged, while the PTFE film easily gains electrons and becomes negatively charged, resulting in electron transfer and generating an electrical signal. The electrical signal is input to the integrated attitude calculation function of the flight control chip via wires. The flight control chip uses this signal to extract parameters such as wing flapping frequency, dynamically corrects the pulley speed and tail servo angle, and ultimately achieves precise control of flight attitude.

[0053] A control method for a quadcopter flapping-wing aircraft with a symmetrical wheeled linear drive mechanism includes hovering control, yaw control, and roll control. Attitude control is achieved by controlling the tail fin. Real-time sensing of wing flapping state is achieved using triboelectric signals. A triboelectric sensing unit 6, composed of a PTFE film and a copper film on the wing membrane 25, collects triboelectric signals generated by wing contact and separation, replacing some external sensor functions and reducing system complexity and weight. Simultaneously, the triboelectric signals serve as a real-time input source for a dynamic matching algorithm of transmission parameters, ensuring flight stability during hovering.

[0054] The hovering control method includes the following steps: When the aircraft needs to achieve hovering, the flight control chip first adjusts the brushless motor 7 to maintain a stable speed, driving the wing drive units 4 on both sides of the frame 1 to increase the wing flapping frequency to 15Hz and maintain this frequency to ensure continuous lift and thrust. At the same time, the triboelectric sensing unit 6 generates a triboelectric signal and transmits it to the flight control chip. Based on this signal, the flight control chip confirms that the wing lift is stable and then controls the tail servo to maintain its initial position, without generating additional torque to interfere with the hovering attitude. Simultaneously, after receiving the signal, the flight control chip controls the electromagnetic servo of the tail drive unit 5. Electromagnetic servo 2 32 outputs no angle, keeping the middle movable plate of the tail fin in its initial position. Electromagnetic servo 33 and electromagnetic servo 1 on both sides also output no angle, driving the left movable plate 36 and the right movable plate 34 of the tail fin to maintain their initial attitude without generating additional torque. The four-wing flapping mechanism remains in a horizontal state to achieve stable hovering.

[0055] During the hovering phase, the brushless motor 7 drives the wings to flap synchronously at a constant speed, avoiding lift fluctuations that cause the fuselage to bounce. Real-time signal feedback from the triboelectric sensing unit 6 allows the flight control chip to dynamically correct the wing flapping frequency, ensuring dynamic stability during hovering. After receiving the signal, the flight control chip controls all electromagnetic servos on the tail to maintain a stable state without unnecessary interference, ensuring balanced force on the tail, reducing energy consumption, and extending hovering time. The overall control logic is simple and precise, effectively maintaining the aircraft's horizontal attitude and meeting the core requirements for long-term stable hovering in low-altitude observation and close-range operations.

[0056] The roll control method includes the following steps: When the aircraft performs a roll motion, the flight control chip synchronously controls the tail fin electromagnetic servo 2 32 to remain stationary, keeping the central movable plate of the tail fin in the middle position; it also controls electromagnetic servo 1 31 and electromagnetic servo 33 to work together, driving the left movable plate 36 and the right movable plate 34 of the tail fin to swing in opposite directions. Through the coordinated action of the opposing swings of the left movable plate 36 and the right movable plate 34 of the tail fin, a suitable roll torque is generated, ultimately achieving the roll motion of the aircraft.

[0057] During the roll phase, the brushless motor 7 drives the wings to flap stably at a frequency of 15Hz, providing a sufficient and stable lift and thrust foundation for the roll. Real-time signal feedback from the triboelectric sensing unit 6 enables the flight control chip to dynamically correct the wing flapping frequency and identify the current attitude, ensuring dynamic stability during the roll process. The central movable plate of the tail fin maintains its central position to avoid interference from excess torque, while the opposite swinging of the left movable plate 36 and the right movable plate 34 of the tail fin accurately generates roll torque, while ensuring balanced force on the tail fin and preventing fuselage deviation.

[0058] The yaw control method includes the following steps: When the aircraft needs to achieve yaw motion, the flight control chip synchronously outputs control commands: controlling electromagnetic servo 2 32 to swing, driving the central movable plate of the tail fin to swing at a certain angle; controlling electromagnetic servo 1 and electromagnetic servo 33 to remain stationary, keeping the left movable plate 36 and the right movable plate 34 of the tail fin in their initial positions. Through the coordinated action of the angle deflection of the central plate of the tail fin and the stable lift / thrust of the wings, a suitable yaw torque is generated, ultimately achieving the yaw motion of the aircraft.

[0059] During the yaw phase, the brushless motor 7 drives the wings to flap stably at a frequency of 15Hz, providing a sufficient and stable lift and thrust foundation for yaw. Real-time signal feedback from the triboelectric sensing unit 6 enables the flight control chip to dynamically correct the wing flapping frequency and identify the current attitude, ensuring dynamic stability during yaw. The oscillation of electromagnetic servo 2 32 can accurately generate yaw torque, while the oscillation-free operation of electromagnetic servo 1 31 and electromagnetic servo 33 can avoid interference from excess torque, while ensuring balanced force on the tail and preventing fuselage deviation. This cooperative control method makes the generation of yaw torque more efficient, effectively shortens the adjustment time of the predetermined yaw angle, and improves the accuracy and response speed of yaw attitude control.

[0060] Flight control chip control process: First, the quaternion is initialized as the attitude description reference. Then, the electrical signal generated by the triboelectric nanogenerator and the sensor measurement data are acquired synchronously. Based on these data, the error is calculated and the quaternion is updated. After normalization, it is converted into intuitive Euler angles. Finally, the control command is output to the servo to be controlled. At the same time, the process loop returns to the stage of acquiring sensor measurement data, forming a closed-loop control, thereby realizing real-time and precise control of the system attitude.

[0061] Therefore, this invention employs a four-wing flapping aircraft and its control method based on a symmetrical pulley-type linear transmission mechanism. It utilizes a combined transmission design of a crank-rocker mechanism and a rubber band tension adaptive adjustment structure. The reciprocating motion characteristics of the crank-rocker provide the basic power, and the transmission ratio optimization of the symmetrical pulley assembly significantly amplifies the flapping amplitude. Simultaneously, the elastic deformation of the rubber band compensates for power transmission deviations in real time. This solves the problem of limited flapping amplitude in traditional flapping mechanisms and avoids insufficient lift / thrust caused by uneven power distribution, achieving synchronous and efficient flapping of both pairs of wings. This significantly improves the aircraft's aerodynamic efficiency and power output stability, enhancing its adaptability to hovering conditions. The flapping frequency electrical signal is collected in real time by a triboelectric sensing unit integrated into the wing film. Combined with the dynamic matching algorithm of the transmission parameters built into the flight control chip, precise matching between the pulley speed and the wing flapping state is achieved. Simultaneously, multiple electromagnetic servos are linked to adjust the angle of the tail fin's movable plate, enabling precise and flexible control of roll, yaw, and hovering movements, meeting the flight stability requirements under complex conditions.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A quadruped flapping-wing aircraft with a symmetrical pulley-type linear drive mechanism, characterized in that: It includes a frame, a power input unit, a tail fin drive unit, a wing drive unit, and a triboelectric sensing unit. The triboelectric sensing unit is connected to the wing drive unit, and the wing drive unit is connected to the power input unit. The power input unit is mounted on the frame, and both sides of the frame are connected to the tail fin drive unit. The tail fin drive unit includes a tail fin fixed plate and a tail fin movable plate. The tail fin movable plate includes a tail fin movable left plate, a tail fin movable middle plate, and a tail fin movable right plate. Electromagnetic servo motor one, electromagnetic servo motor two, and electromagnetic servo motor three are respectively provided on the tail fin movable right plate, the tail fin movable middle plate, and the tail fin movable left plate. Electromagnetic servo motor three, electromagnetic servo motor two, and electromagnetic servo motor one are fixed to the front end, middle, and rear end of the tail fin fixed plate in sequence. The upper part of the tail fin fixed plate is connected to the fixed support through a positioning groove. The upper part of the fixed support is connected to the ninth carbon fiber rod. The other end of the ninth carbon fiber rod is connected to the fixed frame. The fixing frame is connected to the fixing ring, and the fixing frame is connected to the positioning hole at the end of the frame through the eighth carbon fiber rod. The frame is configured as a symmetrical structure, and the end of the frame is configured as a W-shaped structure. The frame is provided with multiple mounting holes, and the right end of the frame is provided with an extension platform, which is connected to the power input unit. The power input unit consists of a brushless motor, a first gear connected to the brushless motor, a second gear meshing with the first gear, a third gear meshing with the second gear, and a fourth gear meshing with the third gear. The fourth gear and the third gear are both connected to the frame via a second carbon fiber rod, and the frame is connected to the second gear via a first carbon fiber rod. Both the third gear and the fourth gear are connected to a crank-rocker mechanism, which includes a large pulley and a connecting rod. One end of the connecting rod is connected to the third gear and the fourth gear via a third carbon fiber rod. The connecting rod is connected to the large pulley via a fourth carbon fiber rod. The large pulley is connected to the frame via a fifth carbon fiber rod. A left small pulley and a right small pulley are respectively provided at both ends of the large pulley. The groove of the right small pulley is connected to the groove of the large pulley by a rubber band in reverse connection. The groove of the large pulley is connected to the groove of the left small pulley by a rubber band in normal connection. Both the left small pulley and the right small pulley are connected to the frame via a sixth carbon fiber rod. Both the left and right small pulleys are connected to the seventh carbon fiber rod through connecting holes. Both the seventh and eighth carbon fiber rods are connected to the wing drive unit. The wing drive unit includes a wing membrane, on which the triboelectric sensing unit is attached.

2. A quadruped flapping-wing aircraft with a symmetrical pulley-type linear transmission mechanism according to claim 1, characterized in that: The triboelectric sensing unit includes a polytetrafluoroethylene (PTFE) film and a copper film. The copper film is disposed on one side of the wing film, and the other side of the wing film is connected to the PTFE film. The PTFE film is connected to the upper side of the copper film, and the copper film is connected to the flight control chip through a wire.

3. A control method for a quadruped flapping-wing aircraft with a symmetrical pulley-type linear drive mechanism, using the quadruped flapping-wing aircraft with a symmetrical pulley-type linear drive mechanism as described in claim 2, characterized in that: This includes hovering control methods, yaw control methods, and roll control methods; The hovering control method includes the following steps: Step 1: The flight control chip adjusts the brushless motor to maintain a stable speed, drives the wing drive unit, increases the wing flapping frequency to 15Hz and maintains 15Hz flapping. Step 2: The triboelectric sensing unit generates triboelectric signals and transmits them to the flight control chip, which then controls the tail servo to maintain the initial position. Step 3: After receiving the signal, the flight control chip controls the electromagnetic servos. Electromagnetic servos 1, 2 and 3 output no angle. The middle plate of the tail fin remains in its initial position. The left and right plates of the tail fin maintain their initial attitude and do not generate additional torque. The four-wing flapping-wing aircraft maintains a horizontal state and achieves stable hovering. The roll control method includes the following steps: Step 1: The flight control chip synchronizes control commands to prevent the electromagnetic servo motor 2 in the middle of the tail fin from swaying. Step 2: Control the electromagnetic servo motor 3 on the left side of the tail fin and the electromagnetic servo motor 1 on the right side of the tail fin to work together to drive the left and right movable plates of the tail fin to swing in opposite directions. Step 3: By swinging the left and right movable tail fins in opposite directions, a suitable rolling torque is generated to achieve the rolling motion of the aircraft. Yaw control methods include the following steps: Step 1: The flight control chip synchronously outputs control commands to control the electromagnetic servo motor 2 to swing, driving the tail fin's movable center plate to swing at a certain angle. Step 2: Control electromagnetic servo motor 1 and electromagnetic servo motor 3 to prevent oscillation, and keep the right and left movable tail fin panels in their initial state; Step 3: By combining the angle deflection of the tail fin's center plate with the lift of the wings, a suitable yaw moment is generated, ultimately achieving the yaw motion of the aircraft.

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