A flapping wing aircraft with a multi-degree of freedom tail wing structure

Abstract

The utility model provides a kind of flapping wing aircraft with multi-degree-of-freedom tail wing structure, including frame, tail wing main part and tail wing driving mechanism, tail wing main part includes tail wing support, tail feather main body, tow rope guide wheel and tail feather elastic rope, tail feather main body is multiple and one end is hingedly connected in tail wing support one end in turn, tow rope guide wheel is two and is arranged in the middle position of tail wing support in parallel, tail feather elastic rope is connected on multiple tail feather main body in turn, the two tail feather main body of outermost side is equipped with the connecting portion extending to the other side of hinged end respectively;Tail wing driving mechanism includes tail wing connecting pipe subassembly, tow rudder, winding reel, tow rope, tail wing twist rudder and tail wing yaw rudder and tail wing pitch rudder.The utility model makes the tail wing structure designed by universal joint and drawstring structure can realize twist, pitch, yaw and opening and closing action independent control or combination control, to solve the problem of the current flapping wing aircraft tail wing mechanism movement freedom degree deficiency.

Description

Technical Field

[0001] This utility model relates to the field of flapping-wing aircraft, and in particular to a flapping-wing aircraft with a multi-degree-of-freedom tail structure. Background Technology

[0002] In recent years, with the continuous development of the low-altitude economy, micro-aircraft have emerged for various applications. Among them, flapping-wing aircraft have received widespread attention in fields such as surveying and disaster relief due to their strong flexibility, stealth capabilities, and excellent low-altitude flight performance. However, compared with birds, existing bird-inspired flapping-wing aircraft still cannot achieve the high maneuverability at low Reynolds numbers, such as the rapid climb, turning, and diving that birds exhibit.

[0003] Existing research indicates that the tail fin of birds serves more than just balance during flight. Thanks to the flexible tail structure, birds can dynamically adjust the folding degree of their wings according to actual flight conditions, simultaneously coordinating with the twisting, pitching, yaw, and opening / closing movements of the tail fin to create an efficient aerodynamic coupling effect, achieving highly maneuverable and low-energy flight. However, due to the insufficient degrees of freedom of tail fin movement in existing flapping-wing aircraft, the current technology cannot meet the needs of constructing an efficient wing-tail coordinated motion system. Utility Model Content

[0004] To address the problem of insufficient degrees of freedom in tail wing motion in existing technologies, this invention provides a flapping-wing aircraft with a multi-degree-of-freedom tail wing structure.

[0005] This utility model provides a flapping-wing aircraft with a multi-degree-of-freedom tail structure, including a frame, a tail fin body, and a tail fin drive mechanism. The tail fin body includes a tail fin support, tail feather bodies, traction rope guide wheels, and tail feather elastic ropes. Multiple tail feather bodies are sequentially hinged at one end to one end of the tail fin support. Two traction rope guide wheels are arranged side-by-side in the middle of the tail fin support. The tail feather elastic ropes are sequentially connected to the multiple tail feather bodies. The two outermost tail feather bodies each have a connecting portion extending towards the other side of the hinged end. The tail fin drive mechanism includes a tail fin connecting tube assembly rotatably connected to the frame at one end, a traction servo fixed to the frame, and a winding reel connected to the traction servo. The system comprises a traction rope wound on one end of the reel, a tail fin twist servo fixed to the frame, and tail fin yaw servos and tail fin pitch servos fixed to the left and right sides of the tail fin connecting tube assembly. The other end of the tail fin connecting tube assembly is connected to the other end of the tail fin support via a universal joint. The tail fin twist servo is hinged to one side of the tail fin connecting tube assembly via a first crank-connecting rod mechanism. The tail fin yaw servo is hinged to one side of the tail fin support via a second crank-connecting rod mechanism. The tail fin pitch servo is connected to the upper end of the universal joint via a third crank-connecting rod mechanism. The other end of the traction rope is divided into two parts, which pass over two traction rope guide wheels and are fixedly connected to the connecting parts of the two outermost tail feather bodies.

[0006] As a further improvement of this utility model, the tail wing bracket includes two upper and lower tail wing support plates, two support plates and two universal joint positioning plates. The upper and lower tail wing support plates are connected by the two support plates. One end of the two universal joint positioning plates is fixedly connected to the upper and lower tail wing support plates by screws, and the other end is connected to the upper and lower ends of the universal joint cross shaft respectively.

[0007] As a further improvement of this utility model, the tail feather body includes a tail feather fixing tube, a tail feather carbon rod, a tail feather skeleton, and a tail feather membrane. One end of the tail feather fixing tube is hinged to the two tail fin support plates, one end of the tail feather carbon rod is fixedly connected to the other end of the tail feather fixing tube, the other end of the tail feather carbon rod is fixedly connected to the tail feather skeleton, the tail feather membrane is attached to the tail feather skeleton, and the tail feather elastic cord is sequentially connected to multiple tail feather carbon rods.

[0008] As a further improvement of this utility model, the tail wing connecting tube assembly includes a tail wing fixing flange, a tail wing rotating round tube, a tail wing connecting sleeve, a tail wing square tube, and a tail universal joint fork. The tail wing connector is provided with a connecting flange on its periphery. The tail wing fixing flange is fixed on the frame and has a bearing embedded inside. One end of the tail wing rotating round tube is interference-fitted with the bearing in the tail wing fixing flange. The other end of the tail wing rotating round tube is connected to one end of the tail wing square tube through the tail wing connecting sleeve. The other end of the tail wing square tube is fixedly connected to the tail universal joint fork. The left and right ends of the universal cross shaft are hinged to the tail universal joint fork.

[0009] As a further improvement of this utility model, the traction rope passes through the tail wing fixing flange, the tail wing rotating round tube, the tail wing connecting sleeve, the tail wing square tube, the tail universal joint fork, and the universal cross shaft.

[0010] As a further improvement of this utility model, the frame is spliced ​​together from two carbon fiber plates arranged horizontally and vertically.

[0011] As a further improvement of this utility model, the flapping-wing aircraft also includes a power mechanism, wing assembly and wing drive mechanism fixed on the frame. The wing assembly consists of two sets respectively located on both sides of the frame. The power mechanism includes a brushless motor, a first gear connected to the output end of the brushless motor, a second gear meshing with the first gear, a third gear coaxial with the second gear, a fourth gear meshing with the third gear and a fifth gear connected to the fourth gear through a main shaft. The fourth gear and the fifth gear are respectively located on both sides of the frame, and a fourth crank-connecting rod mechanism is provided at each end of the main shaft.

[0012] As a further improvement of this utility model, the wing assembly includes a left wing and a right wing symmetrically arranged on both sides of the frame and having the same structure. The left wing includes a wing tip, a wing middle section, a wing tip, a wing swing block, a wing guide rod bracket, a wing guide rod, a cross slider, a first wing tie rod, a first wing connecting rod, a second wing tie rod, and a second wing connecting rod. Two wing guide rod brackets are fixed to the front and rear ends of the frame with screws. The wing guide rod is fixed between the two wing guide rod brackets by bearings. The cross slider passes through the wing guide rod and can slide back and forth along the wing guide rod. The wing swing block is fixed to the wing guide rod with screws. One end of the wing tip is connected to the wing... The wing swing block is hinged. One end of the first wing pull rod is hinged to the cross slider, and the other end is hinged to the middle of the wing tip. One end of the first wing connecting rod is hinged to the middle of the first wing pull rod, and the other end is hinged to one end of the second wing connecting rod. The two ends of the middle of the wing are respectively hinged to the other end of the wing tip and one end of the wing tip. One end of the second wing pull rod is hinged to the middle of the first wing connecting rod, and the other end is connected to the middle of the wing near the wing tip. The other end of the second wing connecting rod is hinged to the end of the wing tip near the middle of the wing. The free end of the fourth crank connecting rod mechanism is connected to the end of the wing tip near the wing swing block.

[0013] As a further improvement of this utility model, the wing drive mechanism includes a wing telescopic servo and a fifth crank-connecting rod mechanism. The wing telescopic servo is fixed to the end of the wing guide rod away from the wing swing block. One end of the fifth crank-connecting rod mechanism is connected to the output end of the telescopic servo, and the other end is hinged to the cross slider.

[0014] The beneficial effects of this utility model are: through the universal joint structure and the rope structure, the designed tail wing structure can achieve independent or combined control of torsion, pitch, yaw and opening / closing actions, so as to solve the problem of insufficient motion freedom of the tail wing mechanism of the current flapping wing aircraft. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to this utility model;

[0016] Figure 2 This is a schematic diagram of the frame structure of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to the present invention;

[0017] Figure 3 This is a schematic diagram of the tail drive mechanism of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to the present invention.

[0018] Figure 4 This is a schematic diagram of the tail support structure of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to the present invention;

[0019] Figure 5 This is a schematic diagram of the tail feather main body of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to this utility model;

[0020] Figure 6 This is a partial cross-sectional view of the tail fin body of a flapping-wing aircraft with a multi-degree-of-freedom tail fin structure according to the present invention;

[0021] Figure 7 This is a schematic diagram of the unfolding tail feathers of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to this utility model.

[0022] Figure 8 This is a schematic diagram of the tail feather folding structure of a flapping-wing aircraft with a multi-degree-of-freedom tail wing structure according to this utility model;

[0023] Figure 9 This is a schematic diagram of the power mechanism of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to this utility model;

[0024] Figure 10 This is a schematic diagram of the power mechanism of a flapping-wing aircraft with a multi-degree-of-freedom tail structure mounted on the frame according to the present invention;

[0025] Figure 11 This is a schematic diagram of the wing assembly of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to the present invention;

[0026] Figure 12 This is a schematic diagram of the wing drive mechanism of a flapping-wing aircraft with a multi-degree-of-freedom tail structure according to this utility model.

[0027] Reference numerals: 1-Frame; 2-Power mechanism; 201-Brushless motor; 202-First gear; 203-Second gear; 204-Third gear; 205-Fourth gear; 206-Fifth gear; 207-Main shaft; 208-Fourth crank-connecting rod mechanism; 3-Tail fin body; 301-Tail fin support plate; 302-Support plate; 303-Universal shaft positioning plate; 304-Tail feather fixing tube; 305-Traction rope guide wheel; 306-Tail feather carbon rod; 307-Tail feather skeleton; 308-Tail feather membrane; 309-Tail feather elastic rope; 4-Wing drive mechanism; 401-Wing telescopic servo; 402-Fifth crank-connecting rod mechanism; 5-Tail fin drive mechanism; 501-Tail fin fixing flange; 502-Tail fin rotating tube; 503 - Tail fin connecting sleeve; 504- Tail fin square tube; 505- Tail universal joint fork; 506- Traction servo; 507- Cable reel; 508- Traction rope; 509- Tail fin torsion servo; 510- Tail fin yaw servo; 511- Tail fin pitch servo; 512- Universal cross shaft; 513- First crank-connecting rod mechanism; 514- Second crank-connecting rod mechanism; 515- Third crank-connecting rod mechanism; 6- Wing assembly; 601- Wing tip; 602- Wing middle; 603- Wing tip; 604- Wing swing block; 605- Wing guide rod bracket; 606- Wing guide rod; 607- Cross slider; 608- First wing tie rod; 609- First wing connecting rod; 610- Second wing tie rod; 611- Second wing connecting rod. Detailed Implementation

[0028] In the description of this utility model, it should be understood that if there are descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientation or positional relationship, the orientation description may be based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing this utility model and simplifying the description, and is not intended to 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, it should not be construed as a limitation of this utility model.

[0029] In the description of this utility model, if there is a description of quantity, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself, while "above," "below," "within," etc. are understood to include the number itself. If there is a description of "first" or "second," it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0030] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0031] like Figures 1 to 12 As shown, this utility model discloses a flapping-wing aircraft with a multi-degree-of-freedom tail structure, including a frame 1, a tail wing body 3, and a tail wing drive mechanism 5. The tail wing body 3 includes a tail wing support, tail feather bodies, traction rope guide wheels 305, and tail feather elastic ropes 309. Multiple tail feather bodies are present, with one end sequentially hinged to one end of the tail wing support. Two traction rope guide wheels 305 are arranged side-by-side in the middle of the tail wing support. The tail feather elastic ropes 309 are sequentially connected to multiple tail feather bodies. The two outermost tail feather bodies each have a connecting portion extending towards the other side of the hinged end. The tail wing drive mechanism 5 includes a tail wing connecting tube assembly with one end rotatably connected to the frame 1, a traction servo 506 fixed to the frame 1, a winding reel 507 connected to the traction servo 506, and a winding reel 507 wound around the tail wing support 1. The traction rope 508 on the reel 507, the tail wing twist servo 509 fixed on the frame 1, and the tail wing yaw servo 510 and tail wing pitch servo 511 fixed on the left and right sides of the tail wing connecting tube assembly are all connected to the other end of the tail wing support via a universal joint 512. The tail wing twist servo 509 is hinged to one side of the tail wing connecting tube assembly via a first crank-connecting rod mechanism 513. The tail wing yaw servo 510 is hinged to one side of the tail wing support via a second crank-connecting rod mechanism 514. The tail wing pitch servo 511 is connected to the upper end of the universal joint 512 via a third crank-connecting rod mechanism 515. The other end of the traction rope 508 is divided into two parts, which pass through two traction rope guide wheels 305 and are fixedly connected to the connecting parts of the two outermost tail feather bodies.

[0032] In this utility model, the tail wing bracket includes two upper and lower tail wing support plates 301, two support plates 302, and two universal joint positioning plates 303. The upper and lower tail wing support plates 301 are connected to each other through the two support plates 302. One end of each of the two universal joint positioning plates 303 is fixedly connected to the upper and lower tail wing support plates 301 by screws, and the other end is connected to the upper and lower ends of the universal joint cross shaft 512 respectively.

[0033] In this invention, the tail feather body includes a tail feather fixing tube 304, a tail feather carbon rod 306, a tail feather skeleton 307, and a tail feather membrane 308. One end of the tail feather fixing tube 304 is hinged to the two tail fin support plates 301. One end of the tail feather carbon rod 306 is fixedly connected to the other end of the tail feather fixing tube 304, and the other end of the tail feather carbon rod 306 is fixedly connected to the tail feather skeleton 307. The tail feather membrane 308 is attached to the tail feather skeleton 307. The tail feather elastic cord 309 is sequentially connected to multiple tail feather carbon rods 306. During installation, the tail feather fixing tube 304 is symmetrical about the tail fin's central axis, with the installation height gradually decreasing towards both sides, causing the tail feathers to be stacked in a tile-like, layered manner.

[0034] In this utility model, the tail wing connecting pipe assembly includes a tail wing fixing flange 501, a tail wing rotating round tube 502, a tail wing connecting sleeve 503, a tail wing square tube 504, and a tail universal joint fork 505. The tail wing connector is provided with a connecting flange on its periphery. The tail wing fixing flange 501 is fixed on the frame 1 and has a bearing embedded inside. One end of the tail wing rotating round tube 502 is interference-fitted with the bearing in the tail wing fixing flange 501. The other end of the tail wing rotating round tube 502 is connected to one end of the tail wing square tube 504 through the tail wing connecting sleeve 503. The other end of the tail wing square tube 504 is fixedly connected to the tail universal joint fork 505. The left and right ends of the universal cross shaft 512 are hinged to the tail universal joint fork 505.

[0035] In this utility model, the traction rope 508 passes through the tail wing fixing flange 501, the tail wing rotating round tube 502, the tail wing connecting sleeve 503, the tail wing square tube 504, the tail universal joint fork 505, and the universal cross shaft 512.

[0036] In this invention, the frame 1 is spliced ​​together from two carbon fiber plates arranged horizontally and vertically.

[0037] In this utility model, the flapping-wing aircraft also includes a power mechanism 2, a wing assembly 6, and a wing drive mechanism 4 fixed on the frame 1. The wing assembly 6 consists of two sets respectively located on both sides of the frame 1. The power mechanism 2 includes a brushless motor 201, a first gear 202 connected to the output end of the brushless motor 201, a second gear 203 meshing with the first gear 202, a third gear 204 coaxial with the second gear 203, a fourth gear 205 meshing with the third gear 204, and a fifth gear 206 connected to the fourth gear 205 via a main shaft 207. The fourth gear 205 and the fifth gear 206 are respectively located on both sides of the frame 1. A fourth crank-connecting rod mechanism 208 is provided at each end of the main shaft 207.

[0038] In this utility model, the wing assembly 6 includes a left wing and a right wing symmetrically arranged on both sides of the frame 1 and having the same structure. The left wing includes a wing tip 601, a wing middle portion 602, a wing tip 603, a wing swing block 604, a wing guide rod bracket 605, a wing guide rod 606, a cross slider 607, a first wing pull rod 608, a first wing connecting rod 609, a second wing pull rod 610, and a second wing connecting rod 611. There are two wing guide rod brackets 605, which are fixed to the front and rear ends of the frame 1 by screws. The wing guide rod 606 is fixed between the two wing guide rod brackets 605 by bearings. The cross slider 607 passes through the wing guide rod 606 and can slide back and forth along the wing guide rod 606. The wing swing block 604 is fixed to the wing guide rod 606 by screws. One end of the wing tip 601 is connected to the wing swing block 604. The moving block 604 is hinged. One end of the first wing pull rod 608 is hinged to the cross slider 607, and the other end is hinged to the middle of the wing tip 601. One end of the first wing connecting rod 609 is hinged to the middle of the first wing pull rod 608, and the other end is hinged to one end of the second wing connecting rod 611. The two ends of the wing middle portion 602 are respectively hinged to the other end of the wing tip 601 and one end of the wing tip 603. One end of the second wing pull rod 610 is hinged to the middle of the first wing connecting rod 609, and the other end is connected to the wing middle portion 602 near the wing tip 601. The other end of the second wing connecting rod 611 is hinged to the wing tip 603 near the wing middle portion 602. The free end of the fourth crank connecting rod mechanism 208 is connected to the end of the wing tip 601 near the wing swing block 604.

[0039] In this utility model, the wing drive mechanism 4 includes a wing telescopic servo 401 and a fifth crank-connecting rod mechanism 402. The wing telescopic servo 401 is fixed to one end of the wing guide rod 606 away from the wing swing block 604. One end of the fifth crank-connecting rod mechanism 402 is connected to the output end of the telescopic servo, and the other end is hinged to the cross slider 607.

[0040] The wing drive mechanism 4 can convert the rotational motion of the wing extension servo 401 into the forward and backward sliding motion of the cross slider 607, thereby enabling the wing on one side to complete the folding motion.

[0041] This invention enables the designed tail fin structure to achieve independent or combined control of torsion, pitch, yaw, and opening / closing movements through a universal joint structure and a rope structure, thereby solving the problem of insufficient motion freedom of the tail fin mechanism in current flapping-wing aircraft.

[0042] During operation, when the aircraft is in the takeoff and climb phase, the controller controls the brushless motor 201 to accelerate forward rotation, thereby driving the wing assemblies 6 on both sides of the frame 1 to eventually maintain a 5Hz frequency up-and-down flapping motion. At this time, the controller controls the wing extension servo 401 of the wing drive mechanism 4 on both sides to swing at the same frequency, so that the reciprocating folding-extension motion and flapping motion of the wing assemblies 6 on both sides are executed simultaneously. At this time, the wingtip motion trajectory of the aircraft is "O" shaped, generating lift and thrust. At the same time, the controller controls the traction servo 506 of the tail drive mechanism 5 to rotate forward to a suitable angle and then remain stationary. At this time, the traction rope 508 will be pulled to tighten, thereby keeping the tail open. The controller also synchronously controls the tail pitch servo 511 in the tail drive mechanism 5, which controls the tail pitch motion, to rotate to a suitable angle, so that the tail is depressed.

[0043] During the takeoff and climb phase, the folding wings move in an "O"-shaped trajectory to provide sufficient lift and thrust for the aircraft. Meanwhile, the deformable tail fin, which moves in coordination with the folding wings, keeps the tail feathers open and depressed. This not only generates a downward aerodynamic torque, preventing stall due to excessive angle of attack caused by the forward movement of wing lift, but also increases the downwash velocity of the tail airflow, generating additional lift, increasing the aircraft's climb rate, and further shortening the time required for the aircraft to climb to the predetermined altitude.

[0044] When the aircraft is in the yaw turn phase, the controller controls the brushless motor 201 to rotate forward, driving the wing assemblies 6 on both sides of the frame 1 to flap up and down at a frequency of 5Hz. At this time, the controller controls the wing extension servo 401 on the same side as the aircraft's turn to rotate in the opposite direction, keeping the wing assembly 6 on that side in a folded state, while the wing extension servo 401 on the other side rotates forward, keeping the wing assembly 6 on that side in an extended state. At the same time, the controller controls the tail twist servo 509 fixed on the frame 1 to rotate in the opposite direction of the turn, driving the tail to twist in the direction of the tail pitch servo 511. At the same time, the controller controls the traction servo 506 in the tail to rotate forward to a suitable angle and then hold it still, thereby pulling the traction cable taut to keep the tail at its maximum opening area and continuously adjusting the twist angle of the tail according to the aircraft's bank angle.

[0045] During the yaw turn phase, the asymmetry in the area of ​​the wings on both sides of an aircraft will cause an asymmetry in the lift of the wings on both sides, which in turn will generate the roll moment required for the aircraft to turn. At this time, simultaneously controlling the tail feathers to the maximum area and controlling the tail to twist at a suitable angle in the opposite direction of the turn can not only maintain the balance of the aircraft during the turn, but also increase the angle of attack of the fuselage due to the twist of the tail, thereby reducing the aircraft's flight altitude loss caused by lift imbalance during the turn. In addition, the twisted tail can also generate a yaw moment around the center of gravity of the aircraft, enabling the aircraft to trigger the turn more efficiently.

[0046] During the dive phase, the controller reduces the speed of the brushless motor 201, lowering the flapping frequency of the wing assemblies 6 from 5Hz to 2-3Hz. Simultaneously, the controller reverses the rotation of the wing extension servos 401 of the wing drive mechanisms 4, keeping the wings folded. As lift decreases and the center of gravity shifts forward, the aircraft enters a dive attitude 1-2 seconds later. At this point, the controller reverses the rotation of the traction servo 506 in the tail fin to a suitable angle and holds it stationary. The tension of the traction rope 508 on the tail feather fixing tubes 304 on both sides of the tail fin decreases. At the same time, the tension of the tail feather elastic rope 309 on the tail feather carbon rods 306 causes the originally extended tail feathers to gradually retract towards the center. The tail fin area is significantly reduced, which reduces drag during the dive and accelerates the dive speed. Simultaneously, the controller dynamically controls the tail fin pitch servo 511 to rotate at a suitable angle according to the actual situation of the aircraft, allowing the deformable tail fin to dynamically adjust the pitch angle and maintain the balance of the aircraft.

[0047] During the dive phase, by controlling and reducing the speed of the brushless motor 201, the flapping frequency of the left and right wings is reduced. At the same time, the wing extension and retraction servos 401 on both sides of the wings are controlled to keep both wings in a folded state with the same wingspan area. This allows the aircraft to quickly enter the dive state. At this time, further control of the tail fin retraction and reduction of the tail feather area can further reduce the air resistance encountered by the aircraft during the dive, increase the dive speed, and effectively improve the aircraft's maneuverability.

[0048] This invention solves the problem of insufficient degrees of freedom of motion in the tail structure of current flapping-wing aircraft.

[0049] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A flapping-wing aircraft with a multi-degree-of-freedom tail structure, characterized in that: The system includes a frame, a tail fin body, and a tail fin drive mechanism. The tail fin body includes a tail fin support, tail feather bodies, traction rope guide pulleys, and tail feather elastic ropes. Multiple tail feather bodies are sequentially hinged at one end to one end of the tail fin support. Two traction rope guide pulleys are arranged side-by-side in the middle of the tail fin support. The tail feather elastic ropes are sequentially connected to the multiple tail feather bodies. The two outermost tail feather bodies each have a connecting portion extending towards the other side of the hinged end. The tail fin drive mechanism includes a tail fin connecting tube assembly rotatably connected to the frame at one end, and a component fixed to the frame. The system includes a traction servo, a reel connected to the traction servo, a traction rope wound on one end of the reel, a tail wing twist servo fixed to the frame, and tail wing yaw servos and tail wing pitch servos fixed to the left and right sides of the tail wing connecting tube assembly. The other end of the tail wing connecting tube assembly is connected to the other end of the tail wing support via a universal joint. The tail wing twist servo is hinged to one side of the tail wing connecting tube assembly via a first crank-connecting rod mechanism. The tail wing yaw servo is hinged to one side of the tail wing support via a second crank-connecting rod mechanism. The tail wing pitch servo is connected to the other end of the tail wing support via a second crank-connecting rod mechanism. The three-crank connecting rod mechanism is connected to the upper end of the universal joint shaft. The other end of the traction rope is divided into two branches, which pass over the two traction rope guide wheels and are fixedly connected to the connecting parts of the two outermost tail feather bodies. The tail fin support includes upper and lower tail fin support plates, two support plates, and two universal joint positioning plates. The upper and lower tail fin support plates are connected by the two support plates. One end of each of the two universal joint positioning plates is fixedly connected to the upper and lower tail fin support plates by screws, and the other end is connected to the upper and lower ends of the universal joint shaft, respectively. The tail fin connecting tube assembly... The device includes a tail fin fixing flange, a tail fin rotating round tube, a tail fin connecting sleeve, a tail fin square tube, and a tail universal joint fork. The tail fin connector is provided with a connecting flange on its periphery. The tail fin fixing flange is fixed to the frame and has a bearing embedded inside. One end of the tail fin rotating round tube is interference-fitted with the bearing in the tail fin fixing flange. The other end of the tail fin rotating round tube is connected to one end of the tail fin square tube through the tail fin connecting sleeve. The other end of the tail fin square tube is fixedly connected to the tail universal joint fork. The left and right ends of the universal joint cross shaft are hinged to the tail universal joint fork.

2. The flapping-wing aircraft with a multi-degree-of-freedom tail structure according to claim 1, characterized in that: The tail feather body includes a tail feather fixing tube, a tail feather carbon rod, a tail feather skeleton, and a tail feather membrane. One end of the tail feather fixing tube is hinged to the two tail fin support plates. One end of the tail feather carbon rod is fixedly connected to the other end of the tail feather fixing tube. The other end of the tail feather carbon rod is fixedly connected to the tail feather skeleton. The tail feather membrane is attached to the tail feather skeleton. The tail feather elastic cord is sequentially connected to multiple tail feather carbon rods.

3. The flapping-wing aircraft with a multi-degree-of-freedom tail structure according to claim 1, characterized in that: The traction rope passes through the tail fin fixing flange, tail fin rotating round tube, tail fin connecting sleeve, tail fin square tube, tail universal joint fork, and universal cross shaft.

4. The flapping-wing aircraft with a multi-degree-of-freedom tail structure according to claim 1, characterized in that: The frame is made of two carbon fiber plates arranged in a crisscross pattern.

5. The flapping-wing aircraft with a multi-degree-of-freedom tail structure according to claim 1, characterized in that: The flapping-wing aircraft also includes a power mechanism, wing assemblies, and wing drive mechanism fixed on the frame. The wing assemblies are in two sets, respectively located on both sides of the frame. The power mechanism includes a brushless motor, a first gear connected to the output end of the brushless motor, a second gear meshing with the first gear, a third gear coaxial with the second gear, a fourth gear meshing with the third gear, and a fifth gear connected to the fourth gear through a main shaft. The fourth gear and the fifth gear are respectively located on both sides of the frame. A fourth crank-connecting rod mechanism is provided at each end of the main shaft.

6. The flapping-wing aircraft with a multi-degree-of-freedom tail structure according to claim 5, characterized in that: The wing assembly includes a left wing and a right wing symmetrically arranged on both sides of the frame and having the same structure. The left wing includes a wing tip, a wing middle section, a wing tip, a wing swing block, a wing guide rod bracket, a wing guide rod, a cross slider, a first wing tie rod, a first wing connecting rod, a second wing tie rod, and a second wing connecting rod. Two wing guide rod brackets are fixed to the front and rear ends of the frame with screws. The wing guide rod is fixed between the two wing guide rod brackets by bearings. The cross slider passes through the wing guide rod and can slide back and forth along it. The wing swing block is fixed to the wing guide rod with screws. One end of the wing tip is hinged to the wing swing block. One end of the first wing lever is hinged to the cross slider, and the other end is hinged to the middle of the wing tip. One end of the first wing connecting rod is hinged to the middle of the first wing lever, and the other end is hinged to one end of the second wing connecting rod. The two ends of the middle of the wing are respectively hinged to the other end of the wing tip and one end of the wing tip. One end of the second wing lever is hinged to the middle of the first wing connecting rod, and the other end is connected to the middle of the wing near the wing tip. The other end of the second wing connecting rod is hinged to the end of the wing tip near the middle of the wing. The free end of the fourth crank connecting rod mechanism is connected to the end of the wing tip near the wing swing block.

7. The flapping-wing aircraft with a multi-degree-of-freedom tail structure according to claim 6, characterized in that: The wing drive mechanism includes a wing telescopic servo and a fifth crank-connecting rod mechanism. The wing telescopic servo is fixed to the end of the wing guide rod away from the wing swing block. One end of the fifth crank-connecting rod mechanism is connected to the output end of the telescopic servo, and the other end is hinged to the cross slider.

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