Flapping wing type bionic aircraft

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of aircraft technology, and in particular to a flapping-wing bionic aircraft. Background Technology

[0002] Flapping-wing biomimetic aircraft are a type of unmanned aerial vehicle (UAV) that mimics the flapping motion of birds, insects, or other flying animals in nature. Their core design inspiration comes from the efficiency, maneuverability, and environmental adaptability of biological flight. Compared to traditional fixed-wing or rotary-wing aircraft, flapping-wing aircraft generate lift and thrust through the periodic flapping of their wings, enabling them to perform complex maneuvers such as hovering, sharp turns, and reverse flight in low Reynolds number environments. Therefore, they possess unique advantages in fields such as micro-drones, covert reconnaissance, and confined space exploration.

[0003] Chinese patent document CN113602491A discloses a transmission mechanism assembly for a flapping-wing aircraft, describing that "the transmission mechanism assembly has a gear support, at which a gear is rotatably supported about a gear axis, the gear being anti-rotatably connected to a crankshaft, the crankshaft having an intermediate section extending coaxially with the gear axis and end regions adjacent to the intermediate section on both sides, wherein the end regions and the intermediate section occupy an angle between 0 degrees and 90 degrees respectively and engage in guide grooves of an associated hinge member, the hinge member being oscillatingly supported about a swing axis at a hinge bracket connected to the gear support, and the hinge bracket being oscillatingly supported about a corresponding bracket axis at the gear support. According to this invention, the hinge bracket is connected to a coupling support."

[0004] However, the following defects or problems still exist when combined with existing technologies: the transmission mechanism of traditional aircraft is complex and has many transmission components, which makes the aircraft bulky and affects its endurance. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a flapping-wing bionic aircraft.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A flapping-wing biomimetic aircraft includes a mounting frame. A flapping-wing drive mechanism is fixedly mounted inside the mounting frame. A wing is fixedly connected to the output end of the flapping-wing drive mechanism. A pitch mechanism is movably mounted at the bottom of the mounting frame. A yaw mechanism is movably mounted at the output end of the pitch mechanism. A flapping-wing adjustment mechanism is provided at the bottom of the yaw mechanism. The output end of the flapping-wing adjustment mechanism is fixedly connected to the bottom of the wing. A power supply mechanism is provided at the bottom of the flapping-wing adjustment mechanism. A fixed frame is fixedly mounted at the top of the mounting frame. A flight control board is fixedly mounted on the upper surface of the fixed frame.

[0008] Preferably, the mounting bracket includes a first mounting plate, with support rods fixedly connected to each of the four corners of the first mounting plate, a second mounting plate fixedly connected to the middle of the support rods, and a third mounting plate fixedly connected to the bottom of the support rods.

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

[0010] A first rocker arm is fixedly connected to the top end of the second drive shaft. A connecting rod is movably connected to the eccentric end of the first rocker arm. A translation component is movably connected to the other end of the connecting rod. The translation component is slidably connected to the first mounting plate. Teeth are provided on both sides of the translation component. A fifth gear is meshed with the teeth on both sides of the translation component. A rotating shaft is fixedly sleeved in the middle of the fifth gear. The rotating shaft is rotatably connected to the second mounting plate. A swinging component is fixedly sleeved on the outer wall of the rotating shaft. A swinging rod is fixedly connected to one end of the swinging component. The outer wall of the swinging rod is fixedly connected to the top of the wing.

[0011] Preferably, the upper surface of the first mounting plate is provided with a sliding groove, and the upper surface of the translation member is fixedly connected with a sliding member. The sliding member extends through the sliding groove to the upper surface of the first mounting plate, and the sliding member is slidably connected to the first mounting plate through the sliding groove.

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

[0013] Preferably, the oscillation mechanism includes an oscillating bar, the connecting bar is rotatably connected to the oscillating bar, the other end of the oscillating bar is fixedly connected to a lower mounting plate, a second motor is fixedly mounted on the lower surface of the lower mounting plate, a third rocker arm is fixedly connected to the output end of the second motor, a second connecting rod is fixedly connected to the other end of the third rocker arm, a fixing bar is fixedly connected to one end of the connecting bar, and the other end of the second connecting rod is fixedly connected to the bottom of the fixing bar.

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

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

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

[0017] Preferably, mounting rods are fixedly connected to both sides of the top outer wall of the mounting frame, and an outer shell is provided on the outer wall of the mounting frame, the outer shell being fixedly connected to the mounting frame through the mounting rods.

[0018] The beneficial effects of this utility model are as follows:

[0019] 1. In this utility model, through the design of the flapping wing drive mechanism, the aircraft combines the linkage transmission structure with the gear transmission structure, which improves the stability and accuracy of the aircraft's flight and also increases the aircraft's flight speed. In addition, the flapping wing drive mechanism has a simple structure and is lightweight, which can meet the requirements of a lightweight flapping wing drive mechanism. Furthermore, the combination of gear transmission and linkage transmission also ensures a high flapping frequency of the wings.

[0020] 2. In this utility model, through the design of the pitch mechanism, the first motor drives the second rocker arm to swing, and the second rocker arm pulls the first connecting rod; when the first connecting rod swings downward, the right side of the rocker arm swings downward and the left side of the rocker arm swings upward, and the rocker arm drives the first motor to move upward through the connecting bar and the mounting frame; when the first connecting rod swings upward, the right side of the rocker arm swings upward and the left side of the rocker arm swings downward, and the rocker arm drives the first motor to move downward through the connecting bar and the mounting frame, that is, the first motor controls the vertical movement of the aircraft.

[0021] 3. In this utility model, through the design of the swaying mechanism, the second motor starts, the second motor drives the third rocker arm to swing, and the third rocker arm pulls the second connecting rod; when the third rocker arm swings away from the fixed bar, the sway bar drives the lower mounting plate and the second motor to sway towards the fixed bar; when the third rocker arm swings towards the fixed bar, the sway bar drives the lower mounting plate and the second motor to sway away from the fixed bar, that is, the second motor controls the left and right swaying motion of the aircraft.

[0022] 4. In this utility model, through the design of the flapping wing adjustment mechanism, the third motor works, the third motor drives the swing plate to rotate, the swing plate drives the swing arms on both sides to swing, and the swing arms control the bottom sway of the wings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a flapping-wing bionic aircraft according to the present invention.

[0024] Figure 2 This is a schematic diagram of the mounting frame for a flapping-wing bionic aircraft according to the present invention.

[0025] Figure 3 This is a schematic diagram of the mounting frame and flapping wing drive mechanism of a flapping-wing bionic aircraft according to the present invention.

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

[0027] Figure 5 This is a schematic diagram of the connecting rod and translation component of a flapping-wing bionic aircraft according to this utility model.

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

[0029] Figure 7 This is a front view of the pitching mechanism of a flapping-wing bionic aircraft according to this utility model.

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

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

[0032] Figure 10 This is a schematic diagram of the oscillating plate of a flapping-wing bionic aircraft according to the present invention.

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

[0034] Figure 12 This is a schematic diagram of the swing arm, wings, and lower arm of a flapping-wing bionic aircraft according to this utility model.

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

[0036] Figure 14 This is a schematic diagram of the mounting rod and outer shell of a flapping-wing bionic aircraft according to this utility model.

[0037] The diagram labels are as follows: 1. Mounting bracket; 101. First mounting plate; 102. Support rod; 103. Second mounting plate; 104. Third mounting plate; 105. Slide groove;

[0038] 2. Flapping Wing Drive Mechanism; 201. Brushless Motor; 202. Output Shaft; 203. First Gear; 204. First Transmission Shaft; 205. Stepped Gear; 207. Second Transmission Shaft; 208. Third Gear; 209. First Rocker Arm; 210. Connecting Rod; 211. Translation Component; 212. Fifth Gear; 213. Rotation Shaft; 214. Oscillating Component; 215. Sliding Component; 216. Oscillating Rod;

[0039] 3. Pitch mechanism; 301. Connector; 302. Swing arm; 303. Connecting bar; 304. Mounting frame; 305. First motor; 306. Second rocker arm; 307. First connecting rod;

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

[0041] 5. Flapping Wing Adjustment Mechanism; 501. Third Motor; 502. Swing Plate; 503. Swing Arm; 5031. Upper Arm; 5032. Lower Arm; 5033. Universal Ball Joint;

[0042] 6. Power supply mechanism; 601. Fixing frame; 602. Battery; 7. Mounting rod; 8. Fixing bracket; 9. Flight control board; 10. Wings; 11. Shell. Detailed Implementation

[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0044] As attached Figure 1 To be continued Figure 14 As shown:

[0045] A flapping-wing biomimetic aircraft includes a mounting frame 1. A flapping-wing drive mechanism 2 is fixedly installed inside the mounting frame 1. A wing 10 is fixedly connected to the output end of the flapping-wing drive mechanism 2. A pitch mechanism 3 is movably installed at the bottom of the mounting frame 1. A yaw mechanism 4 is movably installed at the output end of the pitch mechanism 3. A flapping-wing adjustment mechanism 5 is provided at the bottom of the yaw mechanism 4. The output end of the flapping-wing adjustment mechanism 5 is fixedly connected to the bottom of the wing 10. A power supply mechanism 6 is provided at the bottom of the flapping-wing adjustment mechanism 5. A fixed frame 8 is fixedly installed at the top of the mounting frame 1. A flight control board 9 is fixedly installed on the upper surface of the fixed frame 8.

[0046] As attached Figure 2 As shown, the mounting bracket 1 includes a first mounting plate 101, with support rods 102 fixedly connected to each of the four corners of the first mounting plate 101, a second mounting plate 103 fixedly connected to the middle of the support rods 102, and a third mounting plate 104 fixedly connected to the bottom of the support rods 102.

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

[0048] A first rocker arm 209 is fixedly connected to the top end of the second drive shaft 207. A connecting rod 210 is movably connected to the eccentric end of the first rocker arm 209. A translation member 211 is movably connected to the other end of the connecting rod 210. The translation member 211 is slidably connected to the first mounting plate 101. Teeth are provided on both sides of the translation member 211, and a fifth gear 212 meshes with the teeth on both sides of the translation member 211. A rotating shaft 213 is fixedly sleeved in the middle of the fifth gear 212. The rotating shaft 213 is rotatably connected to the second mounting plate 103. Next, a swing member 214 is fixedly sleeved on the outer wall of the rotating shaft 213. One end of the swing member 214 is fixedly connected to a swing rod 216. The outer wall of the swing rod 216 is fixedly connected to the top of the wing 10. A groove 105 is provided on the upper surface of the first mounting plate 101. A sliding member 215 is fixedly connected to the upper surface of the translation member 211. The sliding member 215 extends through the groove 105 to the upper surface of the first mounting plate 101. The sliding member 215 is slidably connected to the first mounting plate 101 through the groove 105.

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

[0050] In the above technical solution, through the design of the flapping wing drive mechanism 2, the aircraft combines the linkage transmission structure with the gear transmission structure, which improves the stability and accuracy of the aircraft's flight and also increases the aircraft's flight speed. In addition, the flapping wing drive mechanism of this utility model is relatively light in weight, which can meet the requirements of the flapping wing drive mechanism for a lighter structure. Furthermore, due to the combination of gear transmission and linkage transmission, a higher flapping frequency of the wings 10 is also ensured.

[0051] As attached Figure 6 To be continued Figure 7 As shown, the pitch mechanism 3 includes a connector 301, which is fixedly installed on the lower surface of the second mounting plate 103. A swing arm 302 is rotatably connected to the outer wall of the connector 301. Both ends of the swing arm 302 are fixedly connected to a connecting strip 303. A mounting frame 304 is fixedly connected to the outer wall of the connecting strip 303. A first motor 305 is fixedly installed on the outer wall of the mounting frame 304. A second rocker arm 306 is fixedly connected to the output end of the first motor 305. A first connecting rod 307 is fixedly connected to the other end of the second rocker arm 306. The other end of the first connecting rod 307 is fixedly connected to the first mounting plate 101.

[0052] In the above technical solution, when it is necessary to control the pitch motion of the aircraft in the vertical direction, the flight control board 9 controls the first motor 305 to start, the first motor 305 drives the second rocker arm 306 to swing, and the second rocker arm 306 pulls the first connecting rod 307.

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

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

[0055] As attached Figure 7 To be continued Figure 8 As shown, the oscillating mechanism 4 includes an oscillating bar 401, a connecting bar 303 rotatably connected to the oscillating bar 401, a lower mounting plate 402 fixedly connected to the other end of the oscillating bar 401, a second motor 403 fixedly mounted on the lower surface of the lower mounting plate 402, a third rocker arm 404 fixedly connected to the output end of the second motor 403, a second connecting rod 406 fixedly connected to the other end of the third rocker arm 404, a fixing bar 405 fixedly connected to one end of the connecting bar 303, and the other end of the second connecting rod 406 fixedly connected to the bottom of the fixing bar 405.

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

[0057] When the third rocker arm 404 swings away from the fixed bar 405, the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to swing closer to the fixed bar 405.

[0058] When the third rocker arm 404 swings towards the side closer to the fixed bar 405, the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to sway away from the fixed bar 405, that is, the second motor 403 controls the aircraft to sway left and right.

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

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

[0061] As attached Figure 8 To be continued Figure 11 As shown, the swing arm 503 includes an upper arm 5031, a lower arm 5032 fixedly sleeved at the bottom of the upper arm 5031, the other end of the lower arm 5032 being movably sleeved with the swing plate 502, the lower arm 5032 being fixedly connected to the bottom of the wing 10, and a universal ball joint 5033 movably sleeved at the top of the upper arm 5031. The swing arm 302 is rotatably sleeved with the universal ball joint 5033.

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

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

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

[0065] In the above technical solution, the battery 602 provides working power to the motors and flight control board 9 inside the aircraft. The flight control board 9 is the main controller of the motors inside the aircraft. The battery 602, flight control board 9, brushless motor 201, first motor 305, second motor 403, and third motor 501 are all conventional products in the prior art. They are mature technologies in the field and have been fully disclosed. Therefore, they will not be described again in the specification.

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

[0067] In the above technical solution, the outer shell 11 can be made of ultra-lightweight 3D printed material to effectively reduce weight, and the outer wall of the outer shell 11 can be used to install sensor components such as cameras and millimeter-wave radar.

[0068] The specific usage and function of this embodiment are as follows:

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

[0070] By designing the flapping wing drive mechanism 2, the aircraft combines the linkage transmission structure with the gear transmission structure, which improves the stability and accuracy of the aircraft's flight and also increases the aircraft's flight speed. In addition, the flapping wing drive mechanism of this utility model is lightweight, which can meet the requirements of a lightweight flapping wing drive mechanism. Furthermore, the combination of gear transmission and linkage transmission also ensures a high flapping frequency of the wings 10.

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

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

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

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

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

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

[0077] When the third rocker arm 404 swings away from the fixed bar 405, the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to swing closer to the fixed bar 405.

[0078] When the third rocker arm 404 swings towards the side closer to the fixed bar 405, the swing bar 401 drives the lower mounting plate 402 and the second motor 403 to sway away from the fixed bar 405, that is, the second motor 403 controls the aircraft to sway left and right.

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

[0080] The flight control board 9 controls the operation of the third motor 501, which drives the swing plate 502 to rotate. The swing plate 502 drives the swing arms 503 on both sides to swing, and the swing arms 503 control the bottom yaw of the wing 10.

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

[0082] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A flapping-wing biomimetic aircraft, comprising a mounting frame (1), characterized in that, The mounting frame (1) is fixedly installed with a flapping wing drive mechanism (2). The output end of the flapping wing drive mechanism (2) is fixedly connected to a wing (10). The bottom of the mounting frame (1) is movably installed with a pitch mechanism (3). The output end of the pitch mechanism (3) is movably installed with a yaw mechanism (4). The bottom of the yaw mechanism (4) is provided with a flapping wing adjustment mechanism (5). The output end of the flapping wing adjustment mechanism (5) is fixedly connected to the bottom of the wing (10). The bottom of the flapping wing adjustment mechanism (5) is provided with a power supply mechanism (6). The top of the mounting frame (1) is fixedly installed with a fixed frame (8). The upper surface of the fixed frame (8) is fixedly installed with a flight control board (9). The mounting bracket (1) includes a first mounting plate (101), and a support rod (102) is fixedly connected to each of the four corners of the first mounting plate (101). A second mounting plate (103) is fixedly connected to the middle of the support rod (102), and a third mounting plate (104) is fixedly connected to the bottom of the support rod (102). The flapping wing drive mechanism (2) includes a brushless motor (201), which is fixedly installed on the lower surface of the third mounting plate (104). The output end of the brushless motor (201) is fixedly connected to an output shaft (202). A first gear (203) is fixedly sleeved on the outer wall of the output shaft (202). A first transmission shaft (204) and a second transmission shaft (207) are rotatably connected between the third mounting plate (104) and the second mounting plate (103). A stepped gear (205) is fixedly sleeved on the outer wall of the first transmission shaft (204). The lower part of the stepped gear (205) meshes with the first gear (203). A third gear (208) is fixedly sleeved on the outer wall of the second transmission shaft (207). The third gear (208) meshes with the upper part of the stepped gear (205). The top end of the second drive shaft (207) is fixedly connected to a first rocker arm (209). The eccentric end of the first rocker arm (209) is movably connected to a connecting rod (210). The other end of the connecting rod (210) is movably connected to a translation component (211). The translation component (211) is slidably connected to the first mounting plate (101). Both sides of the translation component (211) are provided with teeth. Both sides of the translation component (211) are meshed with a fifth gear (212). The middle part of the fifth gear (212) is fixedly sleeved with a rotating shaft (213). The rotating shaft (213) is rotatably connected to the second mounting plate (103). The outer wall of the rotating shaft (213) is fixedly sleeved with a swing component (214). One end of the swing component (214) is fixedly connected to a swing rod (216). The outer wall of the swing rod (216) is fixedly connected to the top of the wing (10).

2. The flapping-wing bionic aircraft according to claim 1, characterized in that, The upper surface of the first mounting plate (101) is provided with a sliding groove (105), and the upper surface of the translation member (211) is fixedly connected with a sliding member (215). The sliding member (215) extends through the sliding groove (105) to the upper surface of the first mounting plate (101), and the sliding member (215) is slidably connected to the first mounting plate (101) through the sliding groove (105).

3. The flapping-wing bionic aircraft according to claim 1, characterized in that, The pitch mechanism (3) includes a connector (301), which is fixedly installed on the lower surface of the second mounting plate (103). A swing arm (302) is rotatably connected to the outer wall of the connector (301). A connecting strip (303) is fixedly connected to both ends of the swing arm (302). A mounting frame (304) is fixedly connected to the outer wall of the connecting strip (303). A first motor (305) is fixedly installed on the outer wall of the mounting frame (304). A second rocker arm (306) is fixedly connected to the output end of the first motor (305). A first connecting rod (307) is fixedly connected to the other end of the second rocker arm (306). The other end of the first connecting rod (307) is fixedly connected to the first mounting plate (101).

4. A flapping-wing biomimetic aircraft according to claim 3, characterized in that, The oscillation mechanism (4) includes an oscillating bar (401), a connecting bar (303) is rotatably connected to the oscillating bar (401), and a lower mounting plate (402) is fixedly connected to the other end of the oscillating bar (401). A second motor (403) is fixedly mounted on the lower surface of the lower mounting plate (402). A third rocker arm (404) is fixedly connected to the output end of the second motor (403). A second connecting rod (406) is fixedly connected to the other end of the third rocker arm (404). A fixing bar (405) is fixedly connected to one end of the connecting bar (303), and the other end of the second connecting rod (406) is fixedly connected to the bottom of the fixing bar (405).

5. A flapping-wing biomimetic aircraft according to claim 4, characterized in that, The flapping wing adjustment mechanism (5) includes a third motor (501), which is fixedly installed on the bottom of the lower mounting plate (402). The output end of the third motor (501) is fixedly connected to a swing plate (502). Both ends of the swing plate (502) are movably sleeved with swing arms (503). The other end of the swing arm (503) is rotatably connected to the swing arm (302). The bottom outer wall of the swing arm (503) is fixedly connected to the bottom of the wing (10).

6. A flapping-wing biomimetic aircraft according to claim 5, characterized in that, The swing arm (503) includes an upper arm (5031), a lower arm (5032) is fixedly sleeved at the bottom of the upper arm (5031), the other end of the lower arm (5032) is movably sleeved with the swing plate (502), the lower arm (5032) is fixedly connected to the bottom of the wing (10), and a universal ball head (5033) is movably sleeved at the top of the upper arm (5031). The swing arm (302) is rotatably sleeved with the universal ball head (5033).

7. A flapping-wing bionic aircraft according to claim 5, characterized in that, The power supply mechanism (6) includes a fixed frame (601), which is fixedly connected to the lower mounting plate (402). A battery (602) is fixedly installed on the outer wall of the fixed frame (601). The battery (602) is electrically connected to the flight control board (9). The brushless motor (201), the first motor (305), the second motor (403), and the third motor (501) are all electrically connected to the flight control board (9).

8. A flapping-wing biomimetic aircraft according to claim 1, characterized in that, Mounting rods (7) are fixedly connected to both sides of the top outer wall of the mounting frame (1). The outer wall of the mounting frame (1) is provided with a shell (11), and the shell (11) is fixedly connected to the mounting frame (1) through the mounting rods (7).

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