Biomimetic flapping-wing aircraft

Abstract

A biomimetic flapping-wing aircraft, comprising: a framework (11); a front flapping wing assembly (21); a rear flapping wing assembly (22); a flapping transmission mechanism comprising two flapping transmission assemblies, which are respectively arranged close to a front end and a rear end of the framework (11) and are respectively configured to drive flapping wings of the front flapping wing assembly (21) and the rear flapping wing assembly (22) to make up-and-down flapping motions; a differential transmission mechanism, which is configured to drive the two flapping transmission assemblies to act; a differential adjusting mechanism, which is configured to adjust an output rotational speed(s) of one or two main transmission mechanisms (41, 42), so as to change flapping frequencies of the front flapping wing assembly (21) and / or the rear flapping wing assembly (22) and a flapping phase difference between the front flapping wing assembly (21) and the rear flapping wing assembly (22); and a driving electric motor (30), which is used for simultaneously driving the two main transmission mechanisms to act. By using one electric motor, the aircraft can control the flapping phase difference between the front flapping wing assembly (21) and the rear flapping wing assembly (22) and the flapping frequencies of the front flapping wing assembly (21) and the rear flapping wing assembly (22), and can thus better simulate a real motion condition of a dragonfly, thereby achieving a better biomimetic effect.

Description

Bionic flapping-wing aircraft Technical Field

[0001] The present invention belongs to the technical field of aircraft, and in particular relates to a bionic flapping-wing aircraft. Background Art

[0002] Flapping-wing aircraft are small aircraft designed based on bionic principles, characterized by excellent flexibility, high efficiency, light weight, low noise, and good stealth. Compared with fixed-wing and rotary-wing aircraft, flapping-wing aircraft combine the advantages of both, with higher energy efficiency, and have broad potential applications in both military and civilian fields. Existing insect-like flapping-wing aircraft generally use single-wing or double-wing flapping, but generally only achieve simple up-and-down flapping movements and cannot adjust flight state in real time. The low degree of bionics leads to low flight efficiency, poor flexibility, and poor stability.

[0003] Summary of the Invention

[0004] The purpose of the present invention is to provide a bionic flapping-wing aircraft which can realize complex flapping movements of double wings and has a high degree of bionics.

[0005] The present invention is achieved through the following technical solutions:

[0006] Bionic flapping-wing aircraft, including:

[0007] skeleton;

[0008] A front flapping wing assembly is provided at the front end of the frame, and two flapping wings of the front flapping wing assembly are respectively hingedly connected to the frame;

[0009] A rear flapping wing assembly is provided at the rear end of the frame, and two flapping wings of the rear flapping wing assembly are respectively hingedly connected to the frame;

[0010] The flapping transmission mechanism includes two sets of flapping transmission assemblies respectively arranged at the front and rear ends of the frame, and the flapping transmission assemblies are respectively used to drive the flapping wings of the front flapping wing assembly and the rear flapping wing assembly to perform up and down flapping motions;

[0011] A differential transmission mechanism includes two sets of main transmission mechanisms and a differential adjustment mechanism. The two sets of main transmission mechanisms are respectively connected to the two sets of flapping transmission assemblies for driving the two sets of flapping transmission assemblies. The differential adjustment mechanism is used to adjust the output speed of one or both sets of main transmission mechanisms to change the flapping frequency of the front flapping wing assembly and / or the rear flapping wing assembly and the flapping phase difference between the two sets.

[0012] The driving motor is arranged on the frame and is used to drive the two sets of main transmission mechanisms to move simultaneously.

[0013] In some embodiments, the main transmission mechanism includes a planetary gear train and a planetary transmission gear, the planetary gear train includes a sun gear assembly, planetary gears, and a ring gear that are meshed and connected in sequence, the sun gear assembly and the planetary transmission gear are coaxially arranged, the sun gear assembly is rotationally connected to the skeleton, and the planetary transmission gear is rotationally connected to the rotating shaft of the sun gear assembly;

[0014] The drive motor drives the sun gear assembly to rotate, and the planetary transmission gear is connected to the planetary gear, so that the planetary gear can drive the planetary transmission gear to rotate when it revolves around the sun gear assembly. The planetary transmission gear is in transmission connection with the flapping transmission mechanism;

[0015] The ring gear in at least one set of the main transmission mechanisms is rotatable, and the differential adjustment mechanism adjusts the rotation speed of the planetary transmission gear in the main transmission mechanism by limiting the rotation of the ring gear or releasing the restriction on the rotation of the ring gear.

[0016] In some embodiments, the gear rings of one set of the main transmission mechanisms are fixedly connected to the frame, and the gear rings of the other set of the main transmission mechanisms are rotatable.

[0017] In some embodiments, the sun gear assembly includes a first sun gear and a second sun gear arranged coaxially, the first sun gear is arranged on one side of the ring gear, the planetary gear and the second sun gear are meshed and connected, and the drive motor simultaneously drives the first sun gears of the two main transmission mechanisms to rotate.

[0018] In some embodiments, the differential adjustment mechanism includes a differential drive assembly and a guide rod, wherein the guide rod is hinged to the frame at an intermediate position, one end of the guide rod is arranged at a position where the gear ring can rotate, and a clamping member capable of engaging with a clamping groove provided on the corresponding gear ring is provided at the end of the guide rod;

[0019] The differential drive assembly is used to drive the guide rod to rotate along the hinge point, so that the clamping piece can be engaged with the clamping groove to limit the rotation of the gear ring, or the clamping piece can be disengaged from the clamping groove to release the rotation restriction on the gear ring.

[0020] In some embodiments, the differential drive assembly includes a servo and a connecting rod assembly fixedly mounted on a frame, the connecting rod assembly including a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to a driving member of the servo, and the other end is connected to the second connecting rod through a ball rotating pair, and the other end of the second connecting rod is connected to one end of the guide rod through a ball rotating pair.

[0021] In some embodiments, an elastic member is provided between the guide rod and the frame, and the elastic member is used to provide the guide rod with a force to move the end of the guide rod provided with the clamping member toward the gear ring.

[0022] In some embodiments, the flapping transmission assembly includes a flapping transmission gear, a flapping shaft, and two sets of flapping wing drive assemblies, and the flapping wing drive assembly includes a flapping wing bracket, a rocker arm, and a rocker;

[0023] The flapping transmission gear is meshed with the planetary transmission gear, the flapping shaft is in transmission connection with the flapping transmission gear, the flapping shaft is rotationally connected to the frame, the flapping wings are respectively hinged to the corresponding flapping wing brackets, the two rocker arms are in transmission connection with the flapping shaft at one end, the rocker is fixedly connected to the other end of the corresponding rocker arm, and the flapping wings are respectively provided with transmission matching parts;

[0024] When the flapping shaft drives the rocking arm to rotate, the rocking arm cooperates with the transmission matching piece to drive the flapping wing to perform an up and down flapping motion.

[0025] In some embodiments, the transmission fitting includes two slide bars arranged on the flapping wing, and one end of the rocker extends into and is arranged between the two slide bars.

[0026] In some embodiments, further comprising a torsion drive mechanism;

[0027] The torsion drive mechanism includes a torsion transmission gear, a torsion transmission rod connecting two flapping-wing brackets, and a crank connecting rod rotatably connected to the torsion transmission rod at one end. The other end of the crank connecting rod is transmission-connected to the torsion transmission gear. The torsion transmission gear is transmission-connected to the rotating shaft of the sun gear assembly. The torsion transmission gear, the crank connecting rod, the flapping-wing bracket and the frame form a crank-connecting rod mechanism.

[0028] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0029] The aircraft uses a single motor to control the flapping phase difference and flapping frequency between the front and rear flapping wing assemblies, and can also achieve twisting movements of the double wings while achieving flapping. This can better simulate the real movement of a dragonfly and have a better bionic effect, thereby improving the aerodynamic performance of the aircraft, improving flight efficiency, and flight flexibility and stability, enabling it to complete more complex flight maneuvers to meet the needs of performing various difficult tasks in various complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] FIG1 is a schematic structural diagram of an embodiment of a bionic flapping-wing aircraft according to the present invention.

[0032] FIG2 is a partial schematic diagram of point A in FIG1 .

[0033] FIG3 is a structural arrangement diagram of a flapping transmission mechanism and a differential transmission mechanism in one embodiment of a bionic flapping-wing aircraft according to the present invention.

[0034] FIG4 is a schematic structural diagram of a differential adjustment mechanism in one embodiment of the bionic flapping-wing aircraft of the present invention.

[0035] FIG5 is a schematic diagram of the transmission structure between the drive motor and the main transmission mechanism in one embodiment of the bionic flapping-wing aircraft of the present invention.

[0036] FIG6 is a schematic structural diagram of the main transmission mechanism of an embodiment of the bionic flapping-wing aircraft of the present invention.

[0037] Wherein: 11, skeleton, 12, fixed frame; 21, front flapping wing assembly, 22, rear flapping wing assembly, 201, flapping wing; 30, drive motor, 301, first transmission gear, 302, second transmission gear, 303, third transmission gear; 41, first main transmission mechanism, 411, rotating ring gear, 42, second main transmission mechanism, 421, fixed ring gear, 401, planetary transmission gear, 402, first sun gear, 403, second sun gear, 404, planetary gear, 405, clamping groove; 501, guide rod, 511, clamping part, 502, servo, 503, first connecting rod, 504, second connecting rod, 505, elastic member; 601, flapping transmission gear, 602, flapping shaft, 603, flapping wing bracket, 604, rocker arm, 605, rocker, 606, slide rod; 701. Twist the transmission gear, 702. Twist the transmission rod, 703. Crank connecting rod. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0039] In order to achieve better bionic effects for the aircraft and enable it to more closely reproduce the actual flight movements of a dragonfly, the aircraft can adjust the flapping frequency of the front flapping wing assembly and / or the rear flapping wing assembly and the phase difference between the flapping movements while realizing flapping movements. This makes the aircraft's flight movements more flexible and enables it to perform various movements and postures that cannot be performed by existing flapping-wing aircraft.

[0040] Based on the functions of the above-mentioned aircraft, referring to Figures 1 and 3, the bionic flapping-wing aircraft in this embodiment includes a skeleton 11, a front flapping-wing assembly 21, a rear flapping-wing assembly 22, a flapping transmission mechanism, a differential transmission mechanism and a drive motor 30.

[0041] Wherein, the front flapping wing assembly 21 is arranged at the front end of the skeleton 11, and the two flapping wings 201 of the front flapping wing assembly 21 are respectively hinged with the skeleton. The rear flapping wing assembly 22 is arranged at the rear end of the skeleton 11, and the two flapping wings 201 of the rear flapping wing assembly 22 are respectively hinged with the skeleton.

[0042] The flapping transmission mechanism is used to drive the flapping wings in the front flapping wing assembly and the rear flapping wing assembly to perform up and down flapping motions, respectively, and includes two sets of flapping transmission assemblies respectively arranged at the front and rear ends of the skeleton 11. The two sets of flapping transmission assemblies are respectively connected to the front flapping wing assembly 21 and the rear flapping wing assembly 22 for transmission.

[0043] The differential transmission mechanism includes two sets of main transmission mechanisms and a differential adjustment mechanism. The two sets of main transmission mechanisms are respectively connected to the two sets of flapping transmission components arranged at the front and rear ends, and are used to drive the two sets of flapping transmission components to move. When the flapping transmission components move, they respectively drive the front flapping wing component 21 and the rear flapping wing component 22 to move.

[0044] The differential adjustment mechanism is used to adjust the output speed of one or both main transmission mechanisms to alter the flapping frequency of the front and / or rear flapping wing assemblies and create a flapping phase difference between them. The flapping frequency here refers to the number of up and down flapping motions a flapping wing completes within a given timeframe, while the flapping phase refers to the angle of the flapping wing relative to the horizontal plane. Therefore, the flapping phase difference can be understood as the difference between the flapping angles of the front and rear flapping wing assemblies.

[0045] The driving motor 30 is arranged on the frame 11 and is used to drive the two sets of main transmission mechanisms to move simultaneously.

[0046] The flight action realization process of the bionic flapping-wing aircraft is as follows:

[0047] Two main transmission mechanisms are simultaneously driven by a drive motor, which in turn drives two flapping transmission assemblies. When the flapping transmission assemblies are in operation, the flapping wings of the corresponding front and rear flapping wing assemblies are driven to flap up and down. Generally, because the transmission ratio between the main transmission mechanism and the flapping transmission assembly remains constant, the flapping frequency of the front and rear flapping wing assemblies and the phase difference between them should be constant when driven by the same drive motor. In the present invention, by providing a differential adjustment mechanism, the output speed of one or both main transmission mechanisms can be adjusted, thereby varying the flapping frequency of the front and rear flapping wing assemblies and the flapping phase difference between them, thereby achieving improved biomimetic performance.

[0048] In one embodiment, referring to Figure 6, the main transmission mechanism includes a planetary gear train and a planetary transmission gear 401, wherein the planetary gear train includes a sun gear assembly, a planetary gear 404 and a ring gear that are meshed and connected in sequence, the sun gear assembly and the planetary transmission gear 401 are coaxially arranged, and the sun gear assembly is rotationally connected to the skeleton 11 through its rotating shaft. A fixed frame 12 is provided on one side of the skeleton 11, and the rotating shaft of the sun gear assembly is connected to the fixed frame 12 and is rotationally connected to the fixed frame 12 to achieve a stable arrangement of the sun gear assembly on the skeleton; the planetary transmission gear 401 is rotationally connected to the rotating shaft of the sun gear assembly, that is, the planetary transmission gear 401 can rotate around the rotating shaft of the sun gear assembly.

[0049] The drive motor 30 drives the sun gear assemblies in the two main transmission mechanisms to rotate. When the sun gear assemblies rotate, the planetary gears 404 rotate and revolve around the sun gear assemblies. Since the planetary transmission gears are relatively arranged on the outside of the planetary gears, the planetary transmission gears 401 and the planetary gears 404 are connected by a transmission rod (not shown in the figure). In this way, when the planetary gears revolve around the sun gear assemblies, they can drive the planetary transmission gears 401 to rotate; the planetary transmission gears 401 serve as the output end of the main transmission mechanism and are connected to the flapping transmission assembly, thereby driving the flapping wings of the front flapping wing assembly and the rear flapping wing assembly to flap up and down simultaneously.

[0050] In one embodiment, the sun gear assembly includes a first sun gear 402 and a second sun gear 403 arranged coaxially. The first sun gear 402 and the second sun gear 403 are respectively connected to the rotating shaft of the sun gear assembly. The first sun gear 402 is arranged on one side of the ring gear, and the planetary gear 404 is meshed with the second sun gear 403. The drive motor drives the two main transmission mechanisms by simultaneously driving the first sun gears 402 of the two main transmission mechanisms to rotate.

[0051] Here, an intermediate transmission mechanism is provided between the drive motor 30 and the two sets of main transmission mechanisms for transmission connection. Referring to Figure 5, the intermediate transmission mechanism includes a first transmission gear 301 connected to the output shaft of the drive motor 30, a second transmission gear 302 meshing with the first transmission gear, and a third transmission gear 303 meshing with the second transmission gear, wherein the third transmission gear 303 is respectively meshed with the first sun gears 402 in the two sets of main transmission mechanisms to realize driving of the two sets of main transmission mechanisms.

[0052] In this embodiment, the process of adjusting the rotational speed of the planetary transmission gears in the main transmission mechanism is described by taking a structure in which the ring gears in one main transmission mechanism are freely rotatable and the ring gears in another main transmission mechanism are fixed. Here, the main transmission mechanism in which the ring gears are freely rotatable is referred to as the first main transmission mechanism 41, and the main transmission mechanism in which the ring gears are fixed is referred to as the second main transmission mechanism 42. The freely rotatable ring gear is referred to as the rotating ring gear 411, and the ring gear fixed to the frame or fixed frame is referred to as the fixed ring gear 421, for ease of reference in the figures.

[0053] During adjustment, the differential adjustment mechanism restricts the rotation of the ring gear or releases the rotation restriction of the ring gear, so that the rotating ring gear can switch between free rotation and fixed states. When the ring gear is fixed, the output speed of the two sets of main transmission mechanisms remains unchanged. When the rotation restriction of the ring gear is released, the ring gear rotates under the action of the planetary gears, thereby reducing the speed of the planetary gears in the set of main transmission mechanisms. At this time, the speed of the planetary transmission gears of the set of main transmission mechanisms will also decrease accordingly, resulting in different output speeds between the two sets of main transmission mechanisms, thereby changing the flapping frequency of the front and rear flapping wing assemblies and the flapping phase difference between the two.

[0054] In one embodiment, referring to Figures 4 and 6, the differential adjustment mechanism includes a differential drive assembly and a guide rod 501, the guide rod 501 is hinged to the skeleton 11 at an intermediate position, one end of the guide rod 501 is set to the position of the rotating rotating ring gear 411 that can rotate, and a clamping member 511 that can cooperate with the clamping groove 405 set on the corresponding ring gear is set at the end of the guide rod 501; the differential drive assembly is used to drive the guide rod 501 to rotate along the hinge point, performing a lever-like movement, so that the clamping member 511 on the guide rod 501 can be clamped into the clamping groove 405 of the ring gear to limit the rotation of the ring gear, or the clamping member can be disengaged from the clamping groove to release the rotation restriction of the ring gear.

[0055] Here, the number of the clamping grooves 405 can be multiple, and the multiple clamping grooves 405 are evenly distributed along the circumferential direction of the gear ring, so that the clamping member can be clamped into the clamping groove more conveniently.

[0056] The differential drive assembly includes a servo 502 fixed to the frame 11 and a connecting rod assembly. The connecting rod assembly includes a first connecting rod 503 and a second connecting rod 504. One end of the first connecting rod 503 is connected to the driver of the servo 502, and the other end is connected to the second connecting rod 504 via a ball-and-socket joint. The other end of the second connecting rod 504 is connected to one end of the guide rod 501 via a ball-and-socket joint. When the servo drives its driver, the connecting rod assembly drives the guide rod to move along its hinge point, similar to a lever.

[0057] An elastic member 505 is provided between the guide rod 501 and the frame 11. The elastic member 505 is a spring provided between the guide rod and the frame. The spring provides the guide rod with a force to move the end of the guide rod provided with the clamping member toward the gear ring. In this way, when the servo drives the guide rod to move, the stability and reliability of the clamping action of the clamping member can be guaranteed.

[0058] Of course, the ring gears in both sets of main transmission mechanisms can also be set to be able to rotate freely, and then the rotation and fixed state of the ring gears can be controlled by using two sets of differential adjustment mechanisms, which can also achieve the adjustment of different output speeds between the two sets of main transmission mechanisms.

[0059] In one embodiment, referring to FIG. 2 , the flapping transmission assembly includes a flapping transmission gear 601 , a flapping shaft 602 and two sets of flapping wing drive assemblies, each of which is connected to a flapping wing 201 for controlling the movement of the corresponding flapping wing.

[0060] The flapping-wing drive assembly includes a flapping-wing bracket 603 , a rocker arm 604 and a rocker 605 .

[0061] The flapping transmission gear 601 is meshed with the planetary transmission gear 401, the flapping shaft 602 is transmission-connected to the flapping transmission gear 601, and the flapping shaft 602 is rotationally connected to the skeleton 11, so that when the flapping transmission gear rotates, the flapping shaft can be driven to rotate.

[0062] The flapping wings 201 are hinged to the corresponding flapping wing brackets 603 respectively, and the two rocker arms 604 are connected to the flapping shaft 602 at one end. The rotation of the flapping shaft drives the rocker arm to rotate. The rocker 605 is fixedly connected to the other end of the corresponding rocker arm 604 and rotates with the rocker arm 604.

[0063] Transmission fittings are respectively provided on the flapping wings 201. When the flapping shaft drives the rocker arm to rotate, the rocker 605 cooperates with the transmission fittings to drive the flapping wings to perform up and down flapping motions.

[0064] Here, the transmission matching parts can be two sliding rods 606 set on the flapping wing. The two sliding rods 606 are set in parallel and spaced apart. One end of the rocker 605 is inserted between the two sliding rods 606. In this way, when the rocker arm rotates, the rocker drives the flapping wing hinged to the flapping wing bracket to flap up and down through the sliding rod.

[0065] In one embodiment, the bionic flapping-wing aircraft is provided with a twisting drive mechanism so that the flapping wings can not only flap up and down but also twist within a certain range along the flapping axis.

[0066] The torsion drive mechanism includes a torsion transmission gear 701, a torsion transmission rod 702 connecting the two flapping-wing supports, and a crank connecting rod 703 rotatably connected to the torsion transmission rod at one end. The other end of the crank connecting rod 703 is in transmission connection with the torsion transmission gear 701, and the torsion transmission gear 701 is connected to the rotating shaft of the sun gear assembly, enabling the torsion transmission gear to rotate with the rotating shaft of the sun gear assembly. The torsion transmission gear 701, crank connecting rod 703, flapping-wing supports 603, and frame 11 form a crank-connecting rod mechanism. When the torsion transmission gear rotates with the rotating shaft of the sun gear assembly, it drives the crank connecting rod to operate. Under the action of the crank connecting rod, the flapping-wing supports on both sides of the torsion transmission rod are driven to repeatedly rotate about the flapping axis, achieving torsion motion of the flapping wings within a certain range.

[0067] Based on the description of the bionic flapping-wing aircraft structure in the above embodiments, the bionic flapping-wing aircraft uses a single drive motor to achieve the flapping and twisting movements of the front and rear flapping-wing assemblies, and can adjust the flapping frequency and phase difference of the front and rear flapping-wing assemblies, so that it can more realistically simulate the flight movements of a dragonfly, thereby improving the aerodynamic performance of the aircraft, making it suitable for road monitoring, disaster relief, field search and rescue, enemy reconnaissance, environmental monitoring, agricultural surveys and many other fields, with the characteristics of few drive sources, high flexibility and high flight efficiency.

[0068] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0069] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of the present invention does not necessarily imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical" and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0070] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0071] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A bionic flapping-wing aircraft, characterized in that: include: skeleton; A front flapping wing assembly, wherein the front flapping wing assembly is arranged at the front end of the frame, and two flapping wings of the front flapping wing assembly are respectively hingedly connected to the frame; A rear flapping wing assembly, wherein the rear flapping wing assembly is arranged at the rear end of the frame, and two flapping wings of the rear flapping wing assembly are respectively hingedly connected to the frame; The flapping transmission mechanism comprises two groups of flapping transmission components respectively arranged at the front end and the rear end of the frame, and the flapping transmission components are respectively used to drive the flapping wings in the front flapping wing component and the rear flapping wing component to perform up and down flapping motions; A differential transmission mechanism, comprising two sets of main transmission mechanisms and a differential adjustment mechanism, wherein the two sets of main transmission mechanisms are respectively connected to the two sets of flapping transmission assemblies for driving the two sets of flapping transmission assemblies to move; the differential adjustment mechanism is used to adjust the output speed of one or two sets of main transmission mechanisms to change the flapping frequency of the front flapping wing assembly and / or the rear flapping wing assembly and the flapping phase difference between the two; A driving motor is arranged on the frame and is used to drive two sets of main transmission mechanisms to move simultaneously.

2. The bionic flapping-wing aircraft according to claim 1, characterized in that: The main transmission mechanism includes a planetary gear train and a planetary transmission gear, the planetary gear train includes a sun gear assembly, a planetary gear and a ring gear that are meshed and connected in sequence, the sun gear assembly and the planetary transmission gear are coaxially arranged, the sun gear assembly is rotationally connected to the skeleton, and the planetary transmission gear is rotationally connected to the rotating shaft of the sun gear assembly; The driving motor drives the sun gear assembly to rotate, and the planetary transmission gear is connected to the planetary gear, so that the planetary gear can drive the planetary transmission gear to rotate when it revolves around the sun gear assembly, and the planetary transmission gear is in transmission connection with the flapping transmission mechanism; The ring gear in at least one set of the main transmission mechanism is rotatable, and the differential adjustment mechanism adjusts the rotation speed of the planetary transmission gear in the main transmission mechanism by limiting the rotation of the ring gear or releasing the restriction on the rotation of the ring gear.

3. The bionic flapping-wing aircraft according to claim 2, characterized in that: The gear rings of one set of the main transmission mechanisms are fixedly connected to the frame, and the gear rings of the other set of the main transmission mechanisms are rotatable.

4. The bionic flapping-wing aircraft according to claim 2, characterized in that: The sun gear assembly includes a first sun gear and a second sun gear which are coaxially arranged. The first sun gear is arranged on one side of the ring gear. The planetary gear is meshedly connected with the second sun gear. The driving motor drives the first sun gears of the two main transmission mechanisms to rotate simultaneously.

5. The bionic flapping-wing aircraft according to claim 2 or 3, characterized in that: The differential adjustment mechanism includes a differential drive assembly and a guide rod, wherein the guide rod is hinged to the frame at an intermediate position, one end of the guide rod is arranged at a position where the gear ring can rotate, and a clamping piece capable of cooperating with a clamping groove arranged on the corresponding gear ring is arranged at the end of the guide rod; The differential drive assembly is used to drive the guide rod to rotate along the hinge point, so that the clamping piece can be engaged in the clamping groove to limit the rotation of the gear ring, or the clamping piece can be disengaged from the clamping groove to release the rotation restriction on the gear ring.

6. The bionic flapping-wing aircraft according to claim 5, characterized in that: The differential drive assembly includes a servo and a connecting rod assembly fixedly arranged on a frame, the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to the driving member of the servo, and the other end is connected to the second connecting rod through a ball rotating pair, and the other end of the second connecting rod is connected to one end of the guide rod through a ball rotating pair.

7. The bionic flapping-wing aircraft according to claim 5, characterized in that: An elastic member is arranged between the guide rod and the frame, and the elastic member is used to provide the guide rod with a force to move one end of the guide rod provided with the clamping member toward the gear ring.

8. The bionic flapping-wing aircraft according to claim 2, characterized in that: The flapping transmission assembly includes a flapping transmission gear, a flapping shaft and two sets of flapping wing drive assemblies, and the flapping wing drive assembly includes a flapping wing bracket, a rocker arm and a rocker; The flapping transmission gear is meshed with the planetary transmission gear, the flapping shaft is transmission-connected with the flapping transmission gear, the flapping shaft is rotationally connected with the frame, the flapping wings are respectively hinged with the corresponding flapping wing brackets, two rocker arms are transmission-connected with the flapping shaft at one end, the rocker is fixedly connected to the other end of the corresponding rocker arm, and the flapping wings are respectively provided with transmission fittings; When the flapping shaft drives the rocking arm to rotate, the rocking arm cooperates with the transmission matching piece to drive the flapping wing to perform an up and down flapping motion.

9. The bionic flapping-wing aircraft according to claim 8, characterized in that: The transmission matching part comprises two slide bars arranged on the flapping wing, and one end of the rocker extends into and is arranged between the two slide bars.

10. The bionic flapping-wing aircraft according to claim 8, characterized in that: Also included is a torsion drive mechanism; The torsion drive mechanism includes a torsion transmission gear, a torsion transmission rod connecting two flapping-wing brackets, and a crank connecting rod rotatably connected to the torsion transmission rod at one end. The other end of the crank connecting rod is transmission-connected to the torsion transmission gear. The torsion transmission gear is transmission-connected to the rotating shaft of the sun gear assembly. The torsion transmission gear, the crank connecting rod, the flapping-wing bracket and the frame form a crank-connecting rod mechanism.

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