Flapping device and ornithopter

Abstract

The application relates to the technical field of bionic aircraft, and particularly discloses a wing vibration device and a flapping-wing aircraft. The wing vibration device comprises a support assembly, a driving assembly, a transmission rod and an output assembly. The support assembly comprises first, second and third support plates which are arranged in parallel and at intervals. The first and second support plates are detachably connected through a first fastener, and the second and third support plates are detachably connected through a second fastener. The driving assembly comprises a driving mechanism and an output wheel. The first end of the transmission rod is eccentrically arranged on the output wheel. The output assembly comprises two oppositely arranged output mechanisms. The input ends of the two output mechanisms are connected to the second end of the transmission rod. The driving assembly drives the output ends of the two output mechanisms to swing through the transmission rod. The support assembly of the wing vibration device is convenient to disassemble and assemble, can be disassembled and assembled at a high frequency, has low cost, and can provide sufficient support for the driving assembly, the transmission rod and the output assembly.

Description

Technical Field

[0001] This invention relates to the field of biomimetic aircraft technology, and in particular to a flapping wing device and a flapping-wing aircraft. Background Technology

[0002] Birds, insects, and bats have flight efficiency far exceeding current human flight technology, allowing them to fly higher and farther with minimal energy consumption. Therefore, flapping-wing aerodynamics, under certain conditions, is significantly superior to aerodynamics based on fixed-wing theory. A flapping-wing aircraft, like a bird, generates lift and forward propulsion through the active movement of its wings, flying by flapping its wings. Compared to fixed-wing and rotary-wing flight, flapping-wing flight offers advantages such as takeoff from a stationary position or small area, good flight maneuverability, a certain degree of hovering performance, and lower energy consumption for long-distance flight. Especially for flapping-wing aircraft mimicking hummingbirds, high-frequency, periodic, and repeatable wing-blowing actuation is typically required within limited volume and mass, resulting in complex airframes and transmission structures. Many existing flapping-wing designs rely on a high proportion of custom-made parts, specialized machining components, or complex assembly relationships, leading to high manufacturing costs, long development cycles, and significant difficulty in replication. Furthermore, flapping-wing aircraft require numerous tests, and existing structures cannot meet the high-frequency disassembly and assembly requirements of these tests.

[0003] Therefore, a flapping wing device and aircraft are needed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a flapping wing device and a flapping-wing aircraft that can be easily assembled and disassembled, which is beneficial to improving the ease of assembly and disassembly during the test process, and has good structural strength.

[0005] On one hand, the present invention provides a wing-beating device, the wing-beating device comprising: A support assembly, comprising a first support plate, a second support plate, and a third support plate arranged in parallel and spaced apart, wherein the first support plate and the second support plate are detachably connected by a first fastener, and the second support plate and the third support plate are detachably connected by a second fastener. A drive assembly, comprising a drive mechanism and an output wheel, wherein the drive mechanism is connected to the first support plate, the output wheel is connected to the output end of the drive mechanism, and the output wheel is rotatably mounted on the second support plate; A transmission rod, the first end of which is eccentrically rotatably mounted on the output wheel, and the second end of which is slidably mounted on the second support plate and / or the third support plate; An output component is disposed between the second support plate and the third support plate. The output component includes two output mechanisms disposed opposite to each other. The input ends of the two output mechanisms are connected to the second end of the transmission rod. The drive component drives the output ends of the two output mechanisms to swing through the transmission rod.

[0006] As an optional technical solution, the second end of the transmission rod is provided with a slide rod, the extension direction of the slide rod is parallel to the axis of rotation of the transmission rod; the second support plate is provided with a first slide groove, the third support plate is provided with a second slide groove, and the two ends of the slide rod are respectively slidably disposed in the first slide groove and the second slide groove.

[0007] As an optional technical solution, a first sliding sleeve is provided in the first sliding groove, and a second sliding sleeve is provided in the second sliding groove, with the two ends of the sliding rod sliding in the first sliding sleeve and the second sliding sleeve respectively.

[0008] As an optional technical solution, the output mechanism includes an input link, a transition link, and an output link. The middle part of the input link is rotatably connected to the second support plate and / or the third support plate. The first end of the input link is provided with a first sliding groove, which is slidably engaged with the slide bar. The first end of the output link is rotatably disposed on the second support plate and / or the third support plate. The two ends of the transition link are respectively rotatably connected to the second end of the input link and the middle part of the output link.

[0009] As an optional technical solution, the two input links are located on both sides of the slide bar along its own thickness direction.

[0010] As an optional technical solution, the transition link has an arc-shaped structure.

[0011] As an optional technical solution, the drive assembly further includes a reduction mechanism connected between the drive mechanism and the output wheel.

[0012] As an optional technical solution, the reduction mechanism includes a first gear, a second gear, a third gear, and a fourth gear. The first gear is fixedly disposed at the output end of the drive mechanism. The second gear and the third gear are coaxially fixed and have different numbers of teeth. The fourth gear is fixedly disposed with the output wheel. The first gear meshes with the second gear, and the third gear meshes with the fourth gear.

[0013] As an optional technical solution, the bracket assembly further includes a fourth support plate, which is spaced apart from the first support plate on the side away from the second support plate, and the fourth support plate is connected to the first support plate by a third fastener. The drive assembly is connected to the fourth support plate, the second gear is rotatably mounted on the fourth support plate, and the fourth gear is rotatably mounted on the third support plate.

[0014] As an optional technical solution, the first fastener is a screw or a locking pin; And / or, the second fastener is a screw or a locking pin.

[0015] The wing-vibrating device provided by this invention has at least the following beneficial effects: The flapping device provided by this invention includes a support assembly, a drive assembly, a transmission rod, and an output assembly. The support assembly includes a first support plate, a second support plate, and a third support plate arranged in parallel and spaced apart. The first and second support plates are detachably connected by a first fastener, and the second and third support plates are detachably connected by a second fastener. The drive assembly includes a drive mechanism and an output wheel. The drive mechanism is connected to the first support plate, and the output wheel is connected to the output end of the drive mechanism. The output wheel is rotatably mounted on the second support plate. The first end of the transmission rod is eccentrically rotatably mounted on the output wheel, and the second end of the transmission rod is slidably mounted on the second support plate and / or the third support plate. The output assembly is located between the second and third support plates and includes two output mechanisms arranged opposite to each other. The input ends of both output mechanisms are connected to the second end of the transmission rod. The drive assembly drives the output ends of the two output mechanisms to swing through the transmission rod. This support assembly for the vibrating wing device includes a first support plate and a second support plate connected by a first fastener, and a second connecting plate and a third connecting plate connected by a second fastener. This improves the ease of assembly and disassembly of the support assembly, enabling it to meet the high-frequency assembly and disassembly requirements of the vibrating wing device during testing, and reduces the cost of the vibrating wing device. Furthermore, the support assembly provides sufficient support for the drive assembly, transmission rod, and output assembly, thereby improving the overall structural strength of the vibrating wing device.

[0016] On the other hand, the present invention provides a flapping-wing aircraft, including wings and flapping devices as described in any of the above embodiments, wherein two wings are provided, and the two wings are connected one-to-one to the output ends of the two output mechanisms.

[0017] As an optional technical solution, the flapping-wing aircraft also includes a linear direction controller, an angle direction controller, and a footboard. The angle direction controller is connected to the end of the support assembly away from the drive assembly, the linear direction controller is connected to the end of the angle direction controller away from the flapping device, and the footboard is connected to the end of the linear direction controller away from the angle direction controller.

[0018] The flapping-wing aircraft provided by this invention has at least the following beneficial effects: The flapping-wing aircraft provided by the present invention, by setting the above-mentioned flapping device, can reduce the cost of flapping-wing aircraft, improve the ease of assembly and disassembly of flapping-wing aircraft during the research and development process, thereby improving the research and development convenience of flapping-wing aircraft, and the above-mentioned flapping device can improve the structural strength of flapping-wing aircraft, thereby improving the performance of flapping-wing aircraft. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the first structure of the wing-vibrating device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the second structure of the wing-beating device in an embodiment of the present invention; Figure 3 This is an exploded view of the wing-beating device in an embodiment of the present invention; Figure 4 This is a schematic diagram of the output component of the wing-beating device in an embodiment of the present invention; Figure 5 This is a schematic diagram of a portion of the output component of the wing-beating device in an embodiment of the present invention; Figure 6 This is a schematic diagram of the first structure of the flapping-wing aircraft in an embodiment of the present invention; Figure 7 This is a schematic diagram of the second structure of the flapping-wing aircraft in an embodiment of the present invention.

[0020] In the picture: 1. Wing flapping device; 2. Wing; 3. Linear direction controller; 4. Angle direction controller; 5. Legs; 11. First support plate; 12. Second support plate; 121. First sliding sleeve; 122. First protective sleeve; 13. Third support plate; 131. Second sliding sleeve; 132. Second protective sleeve; 14. Fourth support plate; 15. First screw; 16. First nut; 17. Second screw; 18. Second nut; 19. Third screw; 110. Third nut; 1111. Third protective sleeve; 20. Drive assembly; 21. Drive motor; 22. Output wheel; 23. Reduction mechanism; 231. First gear; 232. Second gear; 2321. Pin; 233. Third gear; 234. Fourth gear; 24. Central bearing; 30. Transmission rod; 31. Slide rod; 40. Output component; 41. Output mechanism; 411. Input link; 412. Transition link; 413. Output link; 414. Intermediate link; 415. Metal washer. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0025] like Figures 1 to 7 As shown, this embodiment provides a flapping wing device 1, which includes a support assembly, a drive assembly 20, a transmission rod 30, and an output assembly 40. The support assembly includes a first support plate 11, a second support plate 12, and a third support plate 13 arranged in parallel at intervals. The first support plate 11 and the second support plate 12 are detachably connected by a first fastener, and the second support plate 12 and the third support plate 13 are detachably connected by a second fastener. The drive assembly 20 includes a drive mechanism and an output wheel 22. The drive mechanism is connected to the first support plate 11, and the output wheel 22 is connected to the first support plate 11. At the output end of the drive mechanism, the output wheel 22 is rotatably mounted on the second support plate 12; the first end of the transmission rod 30 is eccentrically mounted on the output wheel 22, and the second end of the transmission rod 30 is slidably mounted on the second support plate 12 and / or the third support plate 13; the output assembly 40 is disposed between the second support plate 12 and the third support plate 13, and the output assembly 40 includes two output mechanisms 41 disposed opposite to each other, the input ends of the two output mechanisms 41 are connected to the second end of the transmission rod 30, and the drive assembly 20 drives the output ends of the two output mechanisms 41 to swing through the transmission rod 30.

[0026] Specifically, in this embodiment, the support assembly of the vibrating wing device 1 includes a first support plate 11 and a second support plate 12 connected by a first fastener, and also includes a second support plate 12 and a third support plate 13 connected by a second fastener. This improves the ease of assembly and disassembly of the support assembly, meets the high-frequency assembly and disassembly requirements of the vibrating wing device 1 during testing, and reduces the cost of the vibrating wing device 1. The drive assembly 20 includes a drive mechanism and an output wheel 22. The drive mechanism is connected to the first support plate 11, the output wheel 22 is rotatably mounted on the second support plate 12, and the output assembly 40 is disposed between the second support plate 12 and the third support plate 13. Thus, the support assembly can provide sufficient support for the drive assembly 20, the transmission rod 30, and the output assembly 40, thereby improving the overall structural strength of the vibrating wing device 1 and enhancing its performance.

[0027] Optionally, in this embodiment, the output wheel 22 is rotatably connected to the second support plate 12 via the central bearing 24.

[0028] Optionally, in this embodiment, the first support plate 11, the second support plate 12, and the third support plate 13 are all formed using 3D printing technology, which can further reduce the cost of the support assembly. Further, optionally, in this embodiment, the first support plate 11, the second support plate 12, and the third support plate 13 are all provided with weight-reducing holes, which can reduce the overall weight of the flapping wing device 1 and facilitate the lightweight design of the flapping wing device 1.

[0029] Optionally, in this embodiment, the first support plate 11, the second support plate 12 and the third support plate 13 are made of polylactic acid (PLA), which is environmentally friendly, sustainable, safe, biocompatible, easy to process and has excellent physical properties.

[0030] Furthermore, a slide rod 31 is provided at the second end of the transmission rod 30, and the extension direction of the slide rod 31 is parallel to the axis of rotation of the transmission rod 30; the second support plate 12 is provided with a first slide groove, the third support plate 13 is provided with a second slide groove, and the two ends of the slide rod 31 are slidably disposed in the first slide groove and the second slide groove, respectively.

[0031] Specifically, in this embodiment, a slide rod 31 is provided at the second end of the transmission rod 30. The two ends of the slide rod 31 are slidably disposed in the first slide groove of the second support plate 12 and the second slide groove of the third support plate 13, respectively. Thus, the first slide groove and the second slide groove can provide guidance for the sliding of the slide rod 31, ensuring the smooth sliding of the transmission rod 30.

[0032] Optionally, in this embodiment, both the first slide and the second slide extend along the first direction. When the flapping device is working, the vertical direction is the first direction, ensuring that the output end of the output link 413 can swing around the horizontal direction, thereby ensuring the swing of the wing connected to the output link 413.

[0033] Optionally, in this embodiment, a slide rod 31 is fixedly provided at the second end of the transmission rod 30, and the slide rod 31 can slide along the first slide groove and the second slide groove.

[0034] Furthermore, such as Figures 1 to 3 As shown, a first sliding sleeve 121 is provided in the first sliding groove, and a second sliding sleeve 131 is provided in the second sliding groove. The two ends of the sliding rod 31 slide in the first sliding sleeve 121 and the second sliding sleeve 131 respectively.

[0035] Specifically, in this embodiment, the first slide groove is a first blind groove, the second slide groove is a second blind groove, the first sliding sleeve 121 is disposed in the first blind groove, the second sliding sleeve 131 is disposed in the second blind groove, and the two ends of the slide rod 31 are respectively slidably disposed in the first sliding sleeve 121 and the second sliding sleeve 131. The first sliding sleeve 121 and the second sliding sleeve 131 are both metal parts, which can ensure that the first sliding sleeve 121 and the second sliding sleeve 131 have good structural strength, which is beneficial to extending the service life.

[0036] Optionally, in this embodiment, the first sliding sleeve 121 is interference-fitted with the first blind groove, and the second sliding sleeve 131 is interference-fitted with the second blind groove.

[0037] Furthermore, such as Figure 4 As shown, the output mechanism 41 includes an input link 411, a transition link 412, and an output link 413. The middle part of the input link 411 is rotatably connected to the second support plate 12 and / or the third support plate 13. The first end of the input link 411 is provided with a first sliding groove, which is slidably engaged with the slide rod 31. The first end of the output link 413 is rotatably disposed on the second support plate 12 and / or the third support plate 13. The two ends of the transition link 412 are respectively rotatably connected to the second end of the input link 411 and the middle part of the output link 413.

[0038] Specifically, in this embodiment, the middle part of the input link 411 is rotatably connected to the second support plate 12 and the third support plate 13 via the first rotating shaft. The first end of the input link 411 is provided with a first sliding groove, which is slidably engaged with the slide rod 31. The first end of the output link 413 is rotatably set on the second support plate 12 and the third support plate 13 via the second rotating shaft. The two ends of the transition link 412 are rotatably connected to the second end of the input link 411 and the middle part of the output link 413, respectively. When the drive unit drives the output wheel 22 to rotate, the output wheel 22 drives the slide rod 31 at the second end of the transmission rod 30 to slide along the first sliding sleeve 121 and the second sliding sleeve 131. Since the slide rod 31 is slidably engaged with the first sliding groove of the input link 411, it can drive the input link 411 to rotate relative to the first rotating shaft. Then, it can drive the output link 413 to rotate around the second rotating shaft through the transition link 412, thereby driving the external wing 2, which is fixedly connected to the output link 413, to vibrate.

[0039] Optionally, in this embodiment, the middle part of the input link 411 is rotatably connected to the second support plate 12 and the third support plate 13 via the first rotating shaft, and a first protective pad is provided between the input link 411 and the second support plate 12, and between the input link 411 and the third support plate 13, which can reduce the wear of the input link 411 and thus extend its service life.

[0040] Optionally, in this embodiment, the first end of the output link 413 is rotatably mounted on the second support plate 12 and the third support plate 13 via the second rotating shaft, and a second protective pad is provided between the output link 413 and the second support plate 12, and between the output link 413 and the third support plate 13, which can reduce the wear of the output link 413 and thus extend its service life.

[0041] Optionally, in this embodiment, the output mechanism 41 further includes an intermediate connecting rod 414, which is connected between the intermediate rotating shaft and the second end of the input connecting rod 411. Two output connecting rods 413 are provided, which are spaced apart. The first end of the transition connecting rod 412 is located between the intermediate connecting rod 414 and the input connecting rod 411, and the second end of the transition connecting rod 412 is located between the two output connecting rods 413. A third protective pad is provided between the first end of the transition connecting rod 412 and the intermediate connecting rod 414, and between the second end of the transition connecting rod 412 and the input connecting rod 411. A fourth protective pad is provided between the second end of the transition connecting rod 412 and the two output connecting rods 413. This can reduce the wear of the transition connecting rod 412 and extend the service life of the vibrating wing device 1.

[0042] Optionally, in this embodiment, the input link 411, the transition link 412, the intermediate link 414, and the output link 413 are all metal parts.

[0043] Optionally, in this embodiment, a weight-reducing hole is provided between the input link 411, the transition link 412, the intermediate link 414 and the output link 413, which will not be described in detail here.

[0044] Optionally, in this embodiment, the first protective pad, the second protective pad, the third protective pad, and the fourth protective pad are all metal gaskets 415, which can reduce wear and extend service life.

[0045] Furthermore, the two input links 411 are located on both sides of the slide bar 31 along its own thickness direction.

[0046] Specifically, in this embodiment, two output mechanisms 41 are disposed at both ends of the transmission rod 30, which can improve the force balance of the transmission rod 30, thereby improving the performance of the wing-vibrating device 1.

[0047] Furthermore, such as Figure 4 As shown, the transition link 412 has an arc-shaped structure.

[0048] Specifically, in this embodiment, by setting the transition link 412 to an arc-shaped structure, the force on the transition link 412 can be optimized, thereby improving the output effect of the output mechanism 41 and enhancing the performance of the wing-vibrating device 1.

[0049] Furthermore, such as Figures 1 to 3as well as Figure 5 As shown, the drive assembly 20 also includes a reduction mechanism 23, which is connected between the drive assembly and the output wheel 22.

[0050] Specifically, in this embodiment, the driving mechanism is a drive motor 21. By providing a reduction mechanism 23 between the drive motor 21 and the output wheel 22, the high speed of the drive motor 21 can be converted into a lower speed and a larger torque required to drive the wing 2.

[0051] Optionally, in this embodiment, the drive motor 21 is a brushless motor. Compared with traditional brushed motors, brushless motors have a longer lifespan, higher efficiency, and lower noise, which can improve the performance of the wing-vibrating device 1.

[0052] Furthermore, such as Figure 5 As shown, the reduction mechanism 23 includes a first gear 231, a second gear 232, a third gear 233, and a fourth gear 234. The first gear 231 is fixedly disposed at the output end of the drive mechanism. The second gear 232 and the third gear 233 are coaxially fixed and have different numbers of teeth. The fourth gear 234 is fixedly disposed with the output wheel 22. The first gear 231 and the second gear 232 mesh, and the third gear 233 and the fourth gear 234 mesh.

[0053] Specifically, in this embodiment, the first gear 231 is fixedly mounted on the output shaft of the drive motor 21. The second gear 232 and the third gear 233, which have different numbers of teeth, are coaxially mounted. The fourth gear 234 and the output wheel 22 are fixedly mounted. The first gear 231 and the second gear 232 mesh, and the third gear 233 and the fourth gear 234 mesh. The torque output by the drive motor 21 is transmitted to the second gear 232 through the first gear 231. The second gear 232 and the third gear 233 are coaxially fixed and rotate at the same speed. The second gear 232 and the third gear 233 have different numbers of teeth. Specifically, the second gear 232 has fewer teeth than the third gear 233, and the third gear 233 meshes with the fourth gear 234, thereby reducing the speed of the fourth gear 234 and increasing the torque. Alternatively, in this embodiment, the number of teeth of the first gear 231, the second gear 232, the third gear 233, and the fourth gear 234 can be specifically set according to actual use, and no specific limitation is made here.

[0054] Furthermore, the bracket assembly also includes a fourth support plate 14, which is spaced apart from the first support plate 11 on the side away from the second support plate 12, and the fourth support plate 14 is connected to the first support plate 11 by a third fastener. The drive assembly 20 is connected to the fourth support plate 14, the second gear 232 is rotatably mounted on the fourth support plate 14, and the fourth gear 234 is rotatably mounted on the third support plate 13.

[0055] Specifically, in this embodiment, the fourth support plate 14 is spaced apart from the first support plate 11 on the side away from the second support plate 12, and the fourth support plate 14 is connected to the first support plate 11 by a third fastener, thereby improving the structural strength of the bracket assembly. The drive motor 21 is fixedly mounted on the fourth support plate 14, and the output shaft of the drive motor 21 extends through the fourth support plate 14 into the space between the fourth support plate 14 and the first support plate 11. The second gear 232 is rotatably mounted between the first support plate 11 and the fourth support plate 14, and the second gear 232 meshes with the first gear 231; the second gear 232's... After passing through the first support plate 11, the gear shaft extends to the space between the first support plate 11 and the second support plate 12. The third gear 233 is fixedly mounted on the gear shaft of the second gear 232, so that the third gear 233 is rotatably mounted in the space between the first support plate 11 and the second support plate 12. The fourth gear 234 is rotatably mounted on the second support plate 12, and the fourth gear 234 is fixedly connected to the output wheel 22. The output wheel 22 is rotatably connected to the second support plate 12 through the central bearing 24, and the output wheel 22 passes through the second support plate 12, thereby making the transmission rod 30 located between the second support plate 12 and the third support plate 13.

[0056] Optionally, in this embodiment, there are three of each of the second gear 232 and the third gear 233. The three second gears 232 are evenly distributed around the periphery of the first gear 231, and the three third gears 233 and the three second gears 232 are fixedly connected in a one-to-one correspondence, which can improve the reliability of the transmission.

[0057] Optionally, the second gear 232 and the third gear 233 are rotatably disposed between the first support plate 11 and the fourth support plate 14 via a pin 2321, without any specific limitation.

[0058] Furthermore, such as Figures 1 to 3 As shown, the first fastener is a screw or a locking pin; and / or, the second fastener is a screw or a locking pin.

[0059] Specifically, in this embodiment, a first sheath 122 is further provided between the first support plate 11 and the second support plate 12. The first sheath 122 is sandwiched between the first support plate 11 and the second support plate 12. The first fastener includes a first screw 15 and a first nut 16. The first screw 15 passes through the first support plate 11, the first sheath 122, and the second support plate 12 in sequence and is threadedly connected to the first nut 16, thereby connecting the first support plate 11 and the second support plate 12. Optionally, in this embodiment, multiple first fasteners and first sheaths 122 are provided. The multiple first fasteners are arranged circumferentially around the first support plate 11, and the multiple first sheaths 122 and the multiple first fasteners are provided in a one-to-one correspondence, thereby ensuring the stability and reliability of the connection between the first connecting plate and the second connecting plate, and facilitating disassembly and assembly.

[0060] Optionally, in this embodiment, the first sheath 122 and the second support plate 12 are integrally formed.

[0061] Specifically, in this embodiment, a second sheath 132 is further provided between the second support plate 12 and the third support plate 13. The second sheath 132 is sandwiched between the second support plate 12 and the third support plate 13. The second fastener includes a second screw 17 and a second nut 18. The second screw 17 passes through the second support plate 12, the second sheath 132 and the third support plate 13 in sequence and is threadedly connected to the second nut 18, thereby connecting the second support plate 12 and the third support plate 13. Optionally, in this embodiment, multiple second fasteners and multiple sheaths 132 are provided. The multiple second fasteners are arranged circumferentially around the second support plate 12, and the multiple second sheaths 132 and multiple second fasteners are provided in a one-to-one correspondence, thereby ensuring the stability and reliability of the connection between the second connecting plate and the third connecting plate, and facilitating disassembly and assembly.

[0062] Optionally, in this embodiment, the second sheath 132 and the third support plate 13 are integrally formed.

[0063] Specifically, in this embodiment, a third sheath 1111 is further provided between the first support plate 11 and the fourth support plate 14. The third sheath 1111 is sandwiched between the first support plate 11 and the fourth support plate 14. The third fastener includes a third screw 19 and a third nut 110. The third screw 19 passes through the first support plate 11, the third sheath 1111, and the fourth support plate 14 in sequence and is threadedly connected to the third nut 110, thereby connecting the first support plate 11 and the fourth support plate 14. Optionally, in this embodiment, multiple third fasteners and third sheaths 1111 are provided. The multiple third fasteners are arranged circumferentially around the first support plate 11, and the multiple third sheaths 1111 and multiple third fasteners are provided in a one-to-one correspondence, thereby ensuring the stability and reliability of the connection between the first connecting plate and the fourth connecting plate, and facilitating disassembly and assembly.

[0064] Optionally, in this embodiment, the third sheath 1111 and the fourth support plate 14 are integrally formed.

[0065] Optionally, in this embodiment, the first fastener, the second fastener, and the third fastener may also be locking pins, etc., and no specific limitation is made here.

[0066] like Figure 6 and Figure 7 As shown, this embodiment also provides a flapping-wing aircraft, including wings 2 and the flapping device 1 described above. Two wings 2 are provided, each connected to one of the output ends of two output mechanisms 41. The flapping-wing aircraft provided in this embodiment, by incorporating the flapping device 1, can reduce the cost of the flapping-wing aircraft, improve the ease of assembly and disassembly during the development process, thereby enhancing the development convenience of the flapping-wing aircraft. Furthermore, the flapping device 1 can improve the structural strength of the flapping-wing aircraft, thus improving its performance.

[0067] Optionally, in this embodiment, the flapping-wing aircraft further includes a linear direction controller 3, an angle direction controller 4, and a footrest 5. The angle direction controller 4 is connected to the end of the support assembly away from the drive assembly 20, the linear direction controller 3 is connected to the end of the angle direction controller 4 away from the flapping device 1, and the footrest 5 is connected to the end of the linear direction controller 3 away from the angle direction controller 4.

[0068] Obviously, the above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A wing-vibrating device, characterized in that, include: The bracket assembly includes a first support plate (11), a second support plate (12), and a third support plate (13) arranged in parallel intervals. The first support plate (11) and the second support plate (12) are detachably connected by a first fastener, and the second support plate (12) and the third support plate (13) are detachably connected by a second fastener. The drive assembly (20) includes a drive mechanism and an output wheel (22). The drive mechanism is connected to the first support plate (11), and the output wheel (22) is connected to the output end of the drive mechanism. The output wheel (22) is rotatably mounted on the second support plate (12). A transmission rod (30) has its first end eccentrically rotatably mounted on the output wheel (22), and its second end slidably mounted on the second support plate (12) and / or the third support plate (13). The output component (40) is disposed between the second support plate (12) and the third support plate (13). The output component (40) includes two output mechanisms (41) disposed opposite to each other. The input ends of the two output mechanisms (41) are connected to the second end of the transmission rod (30). The drive component (20) drives the output ends of the two output mechanisms (41) to swing through the transmission rod (30).

2. The wing-vibrating device according to claim 1, characterized in that, The second end of the transmission rod (30) is provided with a slide rod (31), the extension direction of the slide rod (31) is parallel to the axis of rotation of the transmission rod (30); the second support plate (12) is provided with a first slide groove, the third support plate (13) is provided with a second slide groove, and the two ends of the slide rod (31) are respectively slidably disposed in the first slide groove and the second slide groove.

3. The vibrating wing device according to claim 2, characterized in that, The first slide groove is provided with a first slide sleeve (121), and the second slide groove is provided with a second slide sleeve (131). The two ends of the slide rod (31) slide in the first slide sleeve (121) and the second slide sleeve (131) respectively.

4. The wing-vibrating device according to claim 2, characterized in that, The output mechanism (41) includes an input link (411), a transition link (412), and an output link (413). The middle part of the input link (411) is rotatably connected to the second support plate (12) and / or the third support plate (13). The first end of the input link (411) is provided with a first sliding groove, which is slidably engaged with the slide rod (31). The first end of the output link (413) is rotatably disposed on the second support plate (12) and / or the third support plate (13). The two ends of the transition link (412) are respectively rotatably connected to the second end of the input link (411) and the middle part of the output link (413).

5. The vibrating wing device according to claim 4, characterized in that, The two input links (411) are located on both sides of the slide bar (31) along its own thickness direction.

6. The vibrating wing device according to claim 4, characterized in that, The transition link (412) has an arc-shaped structure.

7. The vibrating wing device according to claim 1, characterized in that, The drive assembly (20) further includes a reduction mechanism (23) connected between the drive assembly and the output wheel (22).

8. The vibrating wing device according to claim 7, characterized in that, The deceleration mechanism (23) includes a first gear (231), a second gear (232), a third gear (233), and a fourth gear (234). The first gear (231) is fixedly disposed at the output end of the drive mechanism. The second gear (232) and the third gear (233) are coaxially fixed and have different numbers of teeth. The fourth gear (234) is fixedly disposed with the output wheel (22). The first gear (231) meshes with the second gear (232), and the third gear (233) meshes with the fourth gear (234).

9. The vibrating wing device according to claim 8, characterized in that, The bracket assembly further includes a fourth support plate (14), which is spaced apart from the first support plate (11) on the side away from the second support plate (12). The fourth support plate (14) is connected to the first support plate (11) by a third fastener. The drive assembly (20) is connected to the fourth support plate (14). The second gear (232) is rotatably mounted on the fourth support plate (14), and the fourth gear (234) is rotatably mounted on the third support plate (13).

10. The wing-beating device according to any one of claims 1-9, characterized in that, The first fastener is a screw or a locking pin; And / or, the second fastener is a screw or a locking pin.

11. A flapping-wing aircraft, characterized in that, Includes wings (2) and a flapping device as described in any one of claims 1-10, wherein two wings (2) are provided, and the two wings (2) are connected one-to-one to the output ends of the two output mechanisms (41).

12. The flapping-wing aircraft according to claim 11, characterized in that, The flapping-wing aircraft also includes a linear direction controller (3), an angle direction controller (4), and a foot (5). The angle direction controller (4) is connected to the end of the support assembly away from the drive assembly (20). The linear direction controller (3) is connected to the end of the angle direction controller (4) away from the flapping device. The foot (5) is connected to the end of the linear direction controller (3) away from the angle direction controller (4).

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