CN109421931B

CN109421931B - Tandem type multi-flapping-wing flight device and flapping-wing aircraft

Info

Publication number: CN109421931B
Application number: CN201710732408.1A
Authority: CN
Inventors: 周袭明
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-08-23
Filing date: 2017-08-23
Publication date: 2022-07-29
Anticipated expiration: 2037-08-23
Also published as: CN109421931A

Abstract

The invention relates to the technical field of aircrafts, in particular to a tandem type multi-flapping-wing flying device and a flapping-wing aircraft. The tandem type multi-flapping wing flying device comprises an airplane frame, a flapping wing driving mechanism and a plurality of flapping wing groups, wherein the plurality of flapping wing groups are distributed at intervals along the direction from the front end of the airplane frame to the rear end of the airplane frame; the flapping wing group comprises two symmetrically arranged flapping wing aircraft wings; the flapping wing driving mechanism is used for flapping the wings of the flapping wing aircraft; the flapping wing aircraft wing comprises a flapping wing sector, wherein the flapping wing sector comprises an end truss, a plurality of supporting rods and a covering, the number of the supporting rods is multiple, the supporting rods are fixed on the end truss, and the supporting rods are used for supporting and fixing the covering. The ornithopter comprises a tandem multi-ornithopter flight device. The invention increases the thrust of the ornithopter and is beneficial to increasing the flight performance of the ornithopter.

Description

Tandem type multi-flapping-wing flight device and flapping-wing aircraft

Technical Field

The invention relates to the technical field of aircrafts, in particular to a tandem type multi-flapping-wing flying device and a flapping-wing aircraft.

Background

The flapping wing aircraft is also called a flapping wing aircraft, and refers to an aircraft with wings flapping up and down like wings of birds and insects and heavier than air, wherein the flapping wings not only generate lift force, but also generate forward driving force. Modern flapping wing air vehicle is divided into bird-like flapping wings and insect-like flapping wings in principle, and takes a micro unmanned flapping wing as a main part. The flapping frequency of the bird-imitating flapping wings is low, the wing areas are large, the bird-imitating flapping wings are similar to birds to fly, and the manufacture is relatively easy; the flapping frequency of the insect-imitating flapping wings is high, the wing area is small, the manufacturing difficulty is high, and hovering can be conveniently realized. The bionic ornithopter has great advantages in military and civil use and becomes a hot point of development. However, the thrust generated by the wings of the flapping-wing aircraft adopted by the existing flapping-wing aircraft is small, and the flight performance of the flapping-wing aircraft is limited.

Disclosure of Invention

The invention aims to provide a tandem multi-flapping-wing flying device and a flapping-wing aircraft, and aims to solve the technical problems that in the prior art, the thrust generated by wings of the adopted flapping-wing aircraft is small, and the flight performance of the flapping-wing aircraft is limited.

The invention provides a tandem multi-flapping wing flying device which comprises an airplane frame, a flapping wing driving mechanism and a plurality of flapping wing groups, wherein a plurality of flapping wing machines are distributed at intervals along the direction from the front end of the airplane frame to the rear end of the airplane frame; the flapping wing group comprises two symmetrically arranged flapping wing aircraft wings; the flapping wing driving mechanism is used for enabling the wings of the flapping wing aircraft to flap; the flapping wing aircraft wing comprises a flapping wing sector, wherein the flapping wing sector comprises an end truss, supporting rods and a covering, the number of the supporting rods is multiple, the supporting rods are fixed on the end truss, and the supporting rods are used for supporting and fixing the covering.

The invention also provides a flapping-wing aircraft which comprises the tandem multi-flapping-wing flying device.

Compared with the prior art, the invention has the beneficial effects that:

the flexibility of the wings of the ornithopter can be properly increased after the wings of the ornithopter are added on the wing body of the wings of the ornithopter; in addition, after the two adjacent support rods are arranged in a vertically staggered mode, the shape of the cross section of the skin perpendicular to the axis of the support rods is in a shape of a broken line, so that a flow guiding effect can be achieved, the gas flow in the spreading direction can be rectified when the wings of the ornithopter move, the airflow is guided to the rear of the wings of the ornithopter, the air flow pushed to the rear of the ornithopter is increased, the thrust of the ornithopter is increased, and the flight performance of the ornithopter is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an aircraft frame according to an embodiment of the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a top view of FIG. 2;

fig. 4 is a schematic perspective view of an aircraft frame according to an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is a schematic view of a configuration of a first embodiment of the present invention;

FIG. 7 is a front view of a first embodiment of the present invention;

FIG. 8 is a top view of a first embodiment of the present invention;

FIG. 9 is an enlarged partial view at B of FIG. 8;

FIG. 10 is a schematic structural diagram of a supporting rod according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a wing of an ornithopter according to one embodiment of the present invention;

FIG. 12 is an enlarged partial view at K of FIG. 11;

FIG. 13 is a schematic structural diagram of a flapping wing driving mechanism according to an embodiment of the present invention;

FIG. 14 is an enlarged partial schematic view at L of FIG. 13;

FIG. 15 is a schematic structural diagram of a flapping wing driving mechanism according to an embodiment of the present invention;

FIG. 16 is an enlarged view of a portion of FIG. 15 at C;

FIG. 17 is a schematic structural diagram of a flapping wing driving mechanism according to an embodiment of the present invention;

FIG. 18 is an enlarged view of a portion of FIG. 17 at D;

FIG. 19 is a schematic structural diagram of a fixed wing of an ornithopter according to a second embodiment of the present invention;

FIG. 20 is a schematic structural view of a fixed wing of an ornithopter according to a second embodiment of the present invention without a fixed wing skin;

FIG. 21 is an enlarged partial schematic view at E of FIG. 20;

FIG. 22 is an enlarged partial schematic view at F of FIG. 20;

FIG. 23 is an enlarged partial view of FIG. 20 at G;

FIG. 24 is a schematic structural view of a rib according to a second embodiment of the present invention;

FIG. 25 is a schematic view of another perspective of a rib according to a second embodiment of the present invention;

fig. 26 is a schematic structural diagram of an ornithopter according to a second embodiment of the present invention.

FIG. 27 is an enlarged partial schematic view at H of FIG. 26;

FIG. 28 is a schematic structural view of a tail wing of an ornithopter according to a second embodiment of the present invention;

FIG. 29 is a schematic view of another view of the tail of an ornithopter according to the second embodiment of the present invention;

FIG. 30 is a schematic view of a further view of the empennage of an ornithopter provided in accordance with a second embodiment of the present invention;

fig. 31 is a schematic structural view of an elevator in the second embodiment of the present invention (elevator skin not shown);

fig. 32 is a schematic structural view of an elevator from another view angle according to a second embodiment of the present invention;

FIG. 33 is an enlarged partial view at I of FIG. 32;

FIG. 34 is a schematic structural diagram of a horizontal stabilizer (a stabilizer skin is not shown) according to a second embodiment of the present invention;

FIG. 35 is an enlarged partial schematic view at J of FIG. 34;

FIG. 36 is a schematic view of a fin structure of a stabilizer according to a second embodiment of the present invention;

FIG. 37 is a schematic view of another perspective of a fin of a stabilizer according to a second embodiment of the present invention;

FIG. 38 is an isometric view of an ornithopter according to a second embodiment of the invention;

FIG. 39 is a front view of a second embodiment of the ornithopter of the present invention;

FIG. 40 is a top view of a second embodiment of the ornithopter of the present invention;

FIG. 41 is a schematic structural view of a flapping wing power unit coupled to a plurality of flapping wing drive mechanisms according to one embodiment of the present invention;

FIG. 42 is a schematic structural diagram of a tandem multi-flapping-wing aircraft, according to an embodiment of the invention.

In the figure: 100-flapping wing power device; 110-a bottom support shelf; 120-a top support shelf; 130-side support brackets; 131-a first side support frame; 132-a second side support; 133-third side support shelf; 140-rib support shelf; 200-support; 201-handpiece frame; 202-handpiece fixing rod; 203-handpiece support bar; 204-tail frame; 205-tail connection frame; 206-wing frame; 207-blowing means; 208-a fan support bar; 210-a fixed seat; 220-a support base; 300-a first transmission mechanism; 301-end truss; 302-support rods; 303-covering the skin; 304-ribs; 305-a first stringer; 306-a second stringer; 307-third stringer; 308-a fourth stringer; 309-fifth stringer; 310-a driving wheel; 320-a driven wheel; 330-a transmission; 400-a second transmission mechanism; 401-fixed wing skin; 402-a spar; 403-ribs; 404-upper edge strip; 405-lower border strip; 406-oblique struts; 407-leading edge support member; 408-leading edge curved end; 409-a stabilizing clamping groove; 410-a link portion; 411 — first drive link; 412-a second drive link; 415-a trailing edge support member; 416-stringer; 420-a connecting part; 421-a sliding block; 422-connecting block; 500-ornithopter wings; 501-wing body; 510-a wing attachment frame; 520-a first wing sub-frame; 530-a second wing sub-frame; 600-a limiting part; 601-horizontal stabilizer; 602-vertical tail; 603-elevators; 604-stabilizer spars; 605-stabilizer rib; 606-stabilizer stringers; 607-stabilizer top edge strip; 608-stabilizing the lower edge strip of the surface; 609-oblique strut; 610-a limiting groove; 611-elevator spars; 612-elevator rib; 613-drive motor; 614-first link; 615-a second link; 616-tail frame; 617-horizontal rear wing; 618-straight strut; 619-edge strip in the middle of the stabilizing surface; 620-fan fixing shell; 630-a fan arrangement; 700-an aircraft frame; 701-fuselage frame; 702-a coupling; 703-hinge axis; 704-ornithopter wings, 705-ornithopter fixed wings, 706-ornithopter empennage; 707-1 st flapping wing set; 709-3 rd flapping wing group.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically coupled, directly coupled, indirectly coupled through an intermediary, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

Referring to fig. 41 to 42, an embodiment of the present invention provides a tandem multi-flapping wing flight device, including an aircraft frame, a flapping wing driving mechanism, and a plurality of flapping wing sets; the flapping wing groups are distributed at intervals along the direction from the front end of the airplane frame to the rear end of the airplane frame; the flapping wing sets include two symmetrically arranged flapping wing wings 704, that is, the two flapping wing wings 704 in each flapping wing set are symmetrical about a lengthwise axis of the aircraft frame. The distance between two adjacent flapping wing groups is equal.

Please refer to fig. 1 and fig. 2; in this embodiment, the aircraft frame includes a fuselage frame 701, a nose frame 201, a tail frame 204, a tail link 205, a wing frame 206, and a blower 207; the machine head frame 201 is connected with the front part of the machine body frame 701; the handpiece frame 201 is used for supporting a handpiece; the tail connecting frame 205 is connected with the tail of the fuselage frame 701; the tail frame 204 is connected with a tail connecting frame 205, and the tail frame 204 is used for supporting the tail of the ornithopter; wing frames 206 are respectively connected to two sides of the fuselage frame 701, and the wing frames 206 are used for mounting wings of the ornithopter; the blowing device 207 is arranged on the handpiece frame 201, and the blowing device 207 can provide airflow pushing force towards the lower part of the handpiece frame 201. The ornithopter fixed wing is arranged at the top of the fuselage frame and is close to the front part of the fuselage frame; the flapping wing driving mechanism is used for enabling the wings of the flapping wing aircraft to flap.

The airplane frame provided by the invention is divided into a fuselage frame 701, a nose frame 201, a tail frame 204 and a wing frame 206; wherein, each frame can be processed alone, transportation and assembly for the holistic equipment of flapping wing machine is comparatively simple and convenient because each component can process the assembly alone.

Meanwhile, an air blowing device 207 is arranged on the handpiece frame 201, and the air blowing device 207 can provide an air flow pushing force towards the lower part of the handpiece frame 201. When the airplane lands, the blowing device 200 starts to operate, the nose direction of the ornithopter tilts forward, the part of the frame body close to the tail of the airplane lands firstly, and then the part gradually contacts with the ground from the tail direction to the nose direction, and the stability and the safety of the landing of the ornithopter are guaranteed. In addition, when the ornithopter flies, since the blowing device 207 can provide an airflow propelling force toward the lower side of the head frame 201, it can play a role of providing an auxiliary lifting force.

Referring to fig. 5, as a preferred embodiment of the present invention, the blowing device 207 includes a fan supporting rod 208, a fan fixing housing 620 and a fan device 630, the fan supporting rod 208 is connected to the machine head frame 201, two end portions of the fan supporting rod 208 are respectively connected to the fan fixing housing 620, the fan device 630 is installed in the fan fixing housing 620, and the fan device 630 can provide an airflow pushing force toward a lower portion of the machine head frame 201 to ensure that a position of the machine body frame near the tail of the flapping wing aircraft lands first when the flapping wing aircraft lands.

As a preferred embodiment of the present invention, both end portions of the blower fixing case 620 are respectively provided with a concave opening for receiving the blower device 630. During specific application, the fan fixing shell 620 and the fan supporting frame 610 adopt a detachable connection mode, the fan fixing shell has the characteristic of being convenient to replace, and the fan devices 630 can be respectively installed at the concave openings at the two ends of the fan fixing shell 620 to play a role in promoting airflow thrust.

As a preferred embodiment of the present invention, the blower device employs an electric ducted fan. Compared with an isolated fan with the same diameter, the ducted fan can generate larger lift force, and the fan is annularly arranged in the ducted duct, so that the pneumatic sound of the fan can be prevented from being spread outwards, and the ducted fan is compact in structure and high in safety.

Referring to fig. 1 to 4, as a preferred embodiment of the present invention, the fuselage frame 701 includes a bottom support frame 110, a top support frame 120 and two side support frames 130, the top support frame 120 is located above the bottom support frame 110, two side support frames 130 are provided, one side support frame 130 is respectively disposed at two sides of the top support frame 120 and the bottom support frame 110, and the side support frames 130 are respectively connected to the top support frame 120 and the bottom support frame 110.

In a preferred embodiment of the present invention, the bottom support shelf 110 comprises two parallel sub-shelves, and the top support shelf 120 comprises two parallel sub-shelves, and the two sub-shelves forming the bottom support shelf 110 and the two sub-shelves forming the top support shelf 120 are arranged in parallel.

Referring to fig. 2-4, as a preferred embodiment of the present invention, the side support frame 130 has a triangular structure, which has a stable structure and can provide a stable support. In specific implementation, two side support frames 130 are provided, and are respectively located at two sides of the bottom support frame 110 and the top support frame 120. The side support frames 130 include a first side support frame 131, a second side support frame 132 and a third side support frame 133, wherein the first side support frame 131 is located at a position far away from the bottom support frame 110 and the top support frame 120, one end of the second side support frame 132 is connected to the first side support frame 131, and the other end of the second side support frame 132 is connected to a branch frame in the top support frame 120. The third side supporting bracket 133 is connected to the first side supporting bracket 131, and the other end of the third side supporting bracket 133 is connected to a branch bracket of the bottom supporting bracket 110. The first side support bracket 131, the second side support bracket 132 and the third side support bracket 133 can form a triangular support, so that the structure is more stable.

In addition, in this embodiment, the second side supporting frame 132 and the third side supporting frame 133 are provided in plurality, and the plurality of second side supporting frames 132 and the plurality of third side supporting frames 133 extend along the length direction of the fuselage and are provided at equal intervals, thereby providing uniform supporting force in the length direction of the fuselage.

As a preferred embodiment of the present invention, the prong spacing of the two top cradles 120 is smaller than the prong spacing of the two bottom cradles 110. In addition, still include rib support frame 140, many rib support frames 140 set up between top support frame 120 and bottom support frame 110, because the interval of two top support frames 120 is less than the interval of two bottom support frames 110, rib support frame 140, top support frame 120 and bottom support frame 110 can form the triangle-shaped structure, reinforcing wall cloth support frame and bottom support frame 110's support intensity. Meanwhile, a plurality of rib supports 140 are also provided between the sub-supports of the two bottom links and between the sub-supports of the two top links; the effect of increasing the joint strength of the two bottom connecting frames and the two top connecting frames is also achieved. In this embodiment, considering that the distance between the two top support frames 120 is small, some fasteners or locking members may be used to increase the strength between the two top support frames 120.

The plurality of rib supporters 140 are uniformly arranged along the length direction (i.e., the length direction of the body) of the top and

bottom supporters

120 and 110, thereby providing uniform supporting strength to the top and

bottom supporters

120 and 110.

As a preferred embodiment of the present invention, the handpiece frame 201 includes a tapered structure having a tip portion and a connection portion connected to the body frame 701. The nose frame 201 is configured as a conical structure, which further utilizes flow guidance to reduce air resistance during flight.

More specifically, the handpiece frame 201 includes handpiece fixing rods 202, the number of the handpiece fixing rods 202 is preferably 5, one ends of the 5 handpiece fixing rods 202 are connected together, and the other ends of the 5 handpiece fixing rods 202 are respectively unfolded and connected with the corresponding sub-frame of the top support frame 120, the sub-frame of the bottom support frame 110 and the side support frame 130, so as to form a conical structure.

In addition, in order to increase the supporting strength of each of the head fixing rods 202, the head frame 201 further includes a plurality of head supporting rods 203, and the plurality of head supporting rods 203 are disposed between the respective head fixing rods, so as to increase the supporting strength of the head fixing rods 202.

In a preferred embodiment of the present invention, there are two wing frames 206, the wing frames 206 are in a triangular structure, and the wing frames 206 are respectively connected to the side support frames 130 and the top support frame 120 which are located on the same side of the fuselage frame 701. The triangular structure has the characteristic of stable structure and can provide stable support.

In a preferred embodiment of the present invention, the wing frame 206 includes a wing connection frame 510 and a first wing sub-frame 520 and a second wing sub-frame 530, the first wing sub-frame 520 and the second wing sub-frame 530 are respectively disposed in plural, and the plural first wing sub-frames 520 and the plural second wing sub-frames 530 are disposed at intervals.

The wing connection frame 510 is located at the side of the bottom support frame 110 and the top support frame 120, the wing connection frame 510 is parallel to the bottom support frame 110 and the top support frame 120, and the height of the wing connection frame 510 is higher than that of the top support frame 120. Two ends of the first wing sub-frame 520 are respectively connected with the wing connecting frame 510 and the side support frame 130, specifically, the first side support frame 131 of the wing connecting frame 510 and the side support frame 130 is connected. The two ends of the second wing sub-frame 530 are respectively connected to the wing connecting frame 510 and the top supporting frame 120. In particular the wing attachment frame 510 and the sub-frame in the top support frame 120. After the installation is completed, the wing connection frame 510, the first wing sub-frame 520 and the second wing sub-frame 530 form a triangular support structure, and the structure has strong stability and can provide stable support for the fixed wing.

In addition, in the present embodiment, the plurality of first wing sub-frames 520 and the plurality of second wing sub-frames 530 extend along the length direction of the fuselage and are disposed at equal intervals, thereby providing uniform supporting force in the length direction of the fuselage.

As a preferred embodiment of the present invention, two tail connection frames 205 are provided, and are respectively connected to the tail of the fuselage frame 701; specifically, two tail connecting frames 205 are respectively connected with two branch frames in the bottom support frame 110, two tail frames 204 are respectively connected with the two tail connecting frames 205, and the tail frames 204 are used for supporting the empennage of the ornithopter.

In the flapping wing flight frame provided by the invention, the whole body is divided into a machine body frame 701, a machine head frame 201, a machine tail frame 204, a machine tail connecting frame 205 and a wing frame 206, each part can be independently produced and assembled, and finally the parts are transported to a general assembly workshop to be integrally assembled, each frame and the connecting frame can be connected in a welding mode, and can also be detachably connected by some connecting pieces, wherein each frame can be independently processed, transported and assembled, and as each component part can be independently processed and assembled, the whole assembly of the flapping wing aircraft is simpler and more convenient.

In addition, the fuselage frame 701 is formed by connecting the bottom support frame 110, the top support frame 120 and the side support frames 130;

the machine head frame 201 is formed by connecting a machine head fixing rod 202 and a machine head supporting rod 203;

the wing frame 206 is formed by connecting a wing connecting frame 510, a first wing sub-frame 520 and a second wing sub-frame 530;

compared with the problems of complex structure and heavy weight of the fuselage in the prior art, the parts of the invention have simple structure, high supporting strength and light weight, thereby reducing the weight of the ornithopter.

In this embodiment, the ornithopter wing comprises a wing body 501 and an ornithopter sector. Referring to fig. 6 to 12, the flapping wing sector includes an end truss 301, a plurality of support rods 302 and a skin 303, the number of the support rods 302 is multiple, the plurality of support rods 302 are fixed on the end truss 301, and the plurality of support rods 302 are used for supporting and fixing the skin 303; the plurality of support rods 302 are distributed in parallel at intervals along the length direction of the end truss 301, and two adjacent support rods 302 are arranged in a vertically staggered manner in the height direction of the end truss 301. Specifically, along the length direction of the end truss 301, a plurality of support rods 302 are arranged at equal intervals, that is, the distance between two adjacent support rods 302 is equal; the axial directions of the support rods 302 are parallel. The length direction of the end truss 301 is parallel to the span direction of the wing body 501 of the flapping wing. The width direction of the end truss 301 is parallel to the chord direction of the wing body 501 of the flapping wing.

When the flapping wing sector provided by the embodiment of the invention is used, after the flapping wing sector is added on the wing body 501 of the flapping wing aircraft wing, the flexibility of the flapping wing aircraft wing can be properly increased; in addition, after the two adjacent support rods 302 are arranged in a vertically staggered manner, the shape of the cross section of the skin 303 perpendicular to the axis of the support rods 302 is a broken line shape, so that the flow guiding effect can be achieved, and when the wings of the ornithopter move, the gas flow in the spreading direction can be rectified, the gas flow is guided to the rear of the wings of the ornithopter, the gas flow pushed to the rear of the ornithopter is increased, so that the thrust of the ornithopter is increased, and the flight performance of the ornithopter is favorably improved.

In the optional scheme of this embodiment, the number of the supporting rods 302 is 3-6. Specifically, in this embodiment, the number of the support rods 302 is 5. It should be noted that the number of the supporting rods 302 in this embodiment is not limited to the number described above, and the specific number may also be determined according to actual conditions, for example, 7.

In an alternative scheme of this embodiment, the projections of the axes of three consecutive adjacent support rods 302 on the reference plane form three points, the bending angle formed by sequentially connecting the three points along the length direction of the end truss 301 is not less than 136 °, the bending angle is less than 180 °, and the reference plane is perpendicular to the axes of the support rods 302. The skin 303 passes around the plurality of support rods 302 in sequence, so that the skin 303 can be unfolded and a bending angle is formed. Specifically, the projection of the cross section of the skin 303 on the reference plane is in a shape of a broken line, and an angle C formed between two adjacent lines in the broken line shape is a bending angle. The closed figure formed by connecting the three points is an isosceles triangle. It should be noted that, since the skin is inclined downward in fig. 8, there are two lines above the support bar in fig. 3.

In the flapping process of the wings of the ornithopter, the wings of the ornithopter are flexibly deformed, the flexible deformation of the wings of the ornithopter generates thrust and resistance, and the area of the wings of the ornithopter is increased along with the reduction of the bending angle, so that the profile resistance of the wings is increased. When the bending angle of the flapping wing is equal to 156 degrees, the increment of thrust caused by the increased flow guiding effect of the bending angle of the flapping wing is larger than the increment of the profile resistance of the wing type, and at the moment, the thrust of the flapping wing is maximum.

In an alternative to this embodiment, the support rods 302 are inserted into the end trusses 301. Specifically, the supporting rod 302 is mounted on the end truss 301 by means of insertion and is fixed to the end truss 301 by means of gluing, which is beneficial to reducing the weight of the flapping wing sector.

In an alternative to this embodiment, the end truss 301 comprises a profile frame and a plurality of ribs 304 disposed on the interior of the profile frame. Specifically, the profile frame is protruding pentagon frame construction, and many ribs 304 and protruding pentagon frame construction fixed connection realize protruding pentagon frame construction's stability through many ribs 304. The convex pentagonal frame structure comprises a first stringer 305, a second stringer 306, a third stringer 307, a fourth stringer 308 and a fifth stringer 309 which are connected in sequence. The second stringer 306 and the fifth stringer 309 are respectively fixed at two ends of the first stringer 305, and the length direction of the second stringer 306 and the length direction of the fifth stringer 309 are both perpendicular to the length direction of the first stringer 305; one end of the third stringer 307 is fixedly connected to one end of the second stringer 306, the other end of the third stringer 307 is fixedly connected to one end of the fourth stringer 308, and the other end of the fourth stringer 308 is fixedly connected to the fifth stringer 309. The second stringer 306 and the fifth stringer 309 are of equal length; the third 307 and fourth 308 stringers are of equal length. The length of the first stringer 305 is greater than the length of the third stringer 307, and the length of the third stringer 307 is greater than the length of the fifth stringer 309.

In an alternative to this embodiment, the convex pentagonal frame structure is made of wood. It should be noted that, in this embodiment, the convex pentagonal frame structure is not limited to be made of wood, and other types of materials can be used to reduce the weight of the convex pentagonal frame structure, and this embodiment is not described in detail for other light-weight materials.

In an optional solution of this embodiment, the skin 303 is a nylon cloth. By adopting the nylon cloth, on one hand, the waterproof flapping wing is used for preventing water, and on the other hand, the weight of the flapping wing sector is reduced.

In an alternative to this embodiment, the support rods 302 are tapered tubes. The use of a conical tube further contributes to the reduction of the weight of the flapping wing sector. It should be noted that the tapered tube is not specifically described in the prior art.

Specifically, the conical tube is a carbon fiber conical tube; that is to say, the material of conical tube is carbon fiber, and conical tube is the hollow tube. The carbon fiber conical tube has the characteristics of small density, light weight, high strength and long service life, thereby being beneficial to prolonging the service life of the flapping wing sector. Carbon Fiber (CF for short) is a new type of Fiber material of high strength and high modulus Fiber with Carbon content above 95%. It is made up by stacking organic fibres of flake graphite microcrystals along the axial direction of fibre, and making carbonization and graphitization treatment so as to obtain the invented microcrystal graphite material. The carbon fiber is flexible outside and rigid inside, has lighter weight than metal aluminum, higher strength than steel, corrosion resistance and high modulus, and is an important material in national defense, military industry and civil use.

It should be noted that, in this embodiment, the tapered tube is not limited to the carbon fiber tapered tube, and other types of tapered tubes may be used, and the embodiment is not described in detail for other types of tapered tubes.

In an alternative to this embodiment, the forward end of skin 303 is next to first stringer 305 of end truss 301. The back end of the skin 303 is formed by splicing a plurality of concave arcs.

In this embodiment, the number of the flapping wing sectors on each flapping wing is multiple, the multiple flapping wing sectors are distributed at equal intervals along the span direction of the wing body 501, and the multiple flapping wing sectors are close to the wing tip of the wing body 501 and far away from the wing root of the wing body 501. The flapping wing sector is fixedly connected with the rear edge of the wing. In the swinging process of the whole wing body structure, the flapping wing sectors can swing along with the wing body to provide thrust and lift, and the resistance of the wings of the ornithopter is small when the ornithopter flaps, so that the ornithopter is favorable for taking off and flying.

Please refer to fig. 13 and 14; the tandem multi-flapping wing flight device also comprises a flapping wing power device 100; the flapping wing driving mechanism comprises a support 200, a first transmission mechanism 300 and a second transmission mechanism 400;

the first transmission mechanism 300 is installed on the support 200, the first transmission mechanism 300 is connected with the flapping wing power device 100, and the first transmission mechanism 300 is driven by the flapping wing power device 100.

The second transmission mechanism 400 has a connecting rod portion 410 and a connecting portion 420, one end of the connecting rod portion 410 is connected to the first transmission mechanism 300 through a shaft, the other end of the connecting rod portion 410 is movably connected to the connecting portion 420, and the connecting portion 420 is slidably mounted on the support 200. The flapping wing power device 100 drives the first transmission mechanism 300 to operate, and the first transmission mechanism 300 drives the connecting part 420 to reciprocate along the height direction of the support 200 through the connecting rod part 410 in the second transmission mechanism 400;

the two ends of the connecting part 420 are respectively connected with the symmetrically arranged ornithopter wings 500, the connecting part 420 reciprocates along the height direction of the support 200, and then the two ornithopter wings 500 are driven to flap, so that sufficient lift force is generated, and the stable flight of the aircraft is guaranteed. The flapping wing power device of the flapping wing aircraft is powered by a battery; the battery is mounted on the body frame.

As shown in fig. 17, as a preferred embodiment of the present invention, the first transmission mechanism 300 includes a driving wheel 310, a driven wheel 320 and a transmission member 330, the transmission member 330 is used for connecting the driving wheel 310 and the driven wheel 320, and the driving wheel 310 and the driven wheel 320 are movably connected to the support 200, respectively. It should be noted that, the movable connection here means that the driving wheel 310 is connected with the support 200 through a shaft, and the driven wheel 320 is also connected with the support 200 through a shaft, so that the driving wheel 310 and the driven wheel 320 can rotate around the corresponding shafts respectively. In an embodiment, the driving wheel 310 is driven by the flapping wing power device 100, and the driving wheel 310 is connected to the driven wheel 320 through the transmission member 330, so that the driving wheel 310 can drive the driven wheel 320 to rotate synchronously through the transmission member 330.

The flapping wing power unit 100 described above preferably employs an electric motor. A motor is mounted on the support 200 and the motor drives the capstan 310 for rotation via a shaft.

As a preferred embodiment of the present invention, when the driving wheel 310 and the driven wheel 320 are arranged, the driving wheel 310 is disposed above the support 200, the driven wheel 320 is disposed below the support 200, and the driving wheel 310 is positioned right above the driven wheel 320 to ensure the stability of the transmission.

As a preferred embodiment of the present invention, the transmission member 330 is a chain or a belt. In this embodiment, the driving wheel 310 and the driven wheel 320 are driven by a chain, and the driving member 330 is driven by a chain, which has the advantage of no slipping and thus ensures the stability of the driving.

As a preferred embodiment of the present invention, the support 200 includes a fixed seat 210 and a support seat 220, the support seat 220 is vertically disposed on the fixed seat 210, the fixed seat 210 is configured to be rotatably connected with a driven wheel 320 through a shaft, the support seat 220 is configured to be movably connected with the driving wheel 310 through a shaft, and the support seat 220 is further configured to be slidably connected with a connecting portion 420 so that the connecting portion 420 slides up and down along a height direction of the support seat 220, and the fixed seat 210 and the support seat 220 mainly play a role in supporting and connecting the connecting portion 420.

As shown in fig. 14, as a preferred embodiment of the present invention, the link portion 410 includes a first transmission link 411 and a second transmission link 412, the first transmission link 411 is used for being movably connected with the driven wheel 320 through a shaft, one end of the second transmission link 412 is movably connected with the first transmission link 411 through a shaft, and the other end of the second transmission link 412 is movably connected with the connecting portion 420.

When the driven wheel 320 in the first transmission mechanism 300 rotates, the first transmission link 411 is driven to rotate by the shaft, the first transmission link 411 drives the second transmission link 412 to move by the shaft, and the second transmission link 412 can drive the connecting part 420 to reciprocate in the height direction of the supporting seat 220 because the connecting part 420 is slidably connected with the supporting seat 220 in the supporting seat 200.

As a preferred embodiment of the present invention, the connecting part 420 includes a sliding block 421 and a connecting block 422, the sliding block 421 is slidably connected to the supporting seat 220 in the supporting seat 200, the connecting block 422 is fixed to the sliding block 421, and the connecting block 422 is used to connect the second transmission link 412 and the ornithopter wing 500. The second transmission link 412 can drive the connecting block 422 and the sliding block 421 to reciprocate in the height direction of the supporting base 220. Because the two ornithopter wings 500 are respectively connected with the connecting block 422, the sliding block 421 can drive the two ornithopter wings 500 to synchronously flap when moving in a reciprocating manner, so that the motion consistency of the two ornithopter wings 500 is guaranteed, sufficient lift force is further provided for the ornithopter, and the flying stability of the ornithopter is guaranteed.

As a preferred embodiment of the present invention, the end of the sliding block 421 near the support 200 is connected to the support seat 220 in the support 200 by a way of a slot and a sliding rail. During concrete implementation, can set up the draw-in groove at the tip that sliding block 421 is close to support 200, set up the slide rail on supporting seat 220, the draw-in groove can cooperate with the slide rail to be connected, and wherein, the slide rail extends along supporting seat 220 direction of height to guarantee sliding block 421 can be along supporting seat 220 direction of height reciprocating motion. Of course, the opposite arrangement may also be adopted, that is, a sliding rail is disposed at an end of the sliding block 421 close to the support 200, and a locking groove is disposed on the support seat 220, wherein the locking groove extends along the height direction of the support seat 220, so as to ensure that the sliding block 421 can reciprocate along the height direction of the support seat 220.

It should be noted that the end of the sliding block 421 near the support 200 and the support seat 220 in the support 200 can also be connected by other conventional methods. For example, a guide hole may be provided on the sliding block 421, a guide shaft may be provided on the support 200, the guide shaft is vertically disposed on the fixing seat 210, the sliding block 421 can be sleeved on the guide shaft through the guide hole, and the above-mentioned connection structure may also achieve that the sliding block 421 performs reciprocating movement along the vertical direction (i.e. the height direction of the supporting seat 220).

As shown in fig. 17 and 18, as a preferred embodiment of the present invention, the flapping wing driving mechanism provided in this embodiment further includes a limiting portion 600, the limiting portion 600 is disposed on the support 200, and the limiting portion 600 is used for limiting the transmission member 330.

During specific implementation, two limiting portions 600 are arranged, the two limiting portions 600 are respectively arranged on two sides of the supporting seat 220 in the supporting seat 200, and the two limiting portions 600 can respectively limit two sides of the transmission member 330, so that the transmission member 330 can move according to a required track, the situation that the transmission member 330 deviates from a moving track is guaranteed, and the transmission safety is guaranteed. Meanwhile, the limiting part 600 is connected with the supporting seat 220 in a bolt connection mode, and a plurality of holes for penetrating bolts can be arranged on the supporting seat 220, so that the tension of the transmission member 330 can be adjusted by changing the installation position of the limiting part 600 on the supporting seat 220.

In a preferred embodiment of the present invention, the position-limiting portion 600 has a position-limiting groove 610, and the position-limiting groove 610 is used for accommodating the transmission member 330. In specific implementation, the width of the limiting groove 610 is matched with the width of the transmission member 330, so that the limiting groove 610 is used for limiting the motion track of the transmission member 330 (particularly a chain), the influence on transmission caused by deformation caused by external interference or the transmission member 330 is reduced, and the stable motion of the wing 500 of the ornithopter cannot be guaranteed.

The tandem multi-flapping wing flying device comprises at least one flapping wing driving mechanism. Since the flapping wing driving mechanism has been described in detail above, it will not be described in detail here.

When a plurality of flapping wing driving mechanisms are adopted, the flapping wing driving mechanisms are sequentially arranged at intervals from the machine head to the machine tail, only one flapping wing power device 100 in one flapping wing driving mechanism is reserved in each flapping wing driving mechanism, preferably, the flapping wing power device 100 in one flapping wing driving mechanism at the machine head end or the machine tail end is reserved, and the driving wheels 310 in each flapping wing driving mechanism are connected through shafts, so that the driving wheels 310 can synchronously rotate; similarly, the driven wheels 320 are connected through shafts to ensure that the driven wheels 320 can synchronously rotate, and the driven wheels 320 are connected with the second transmission mechanisms 400 to drive the wings 500 of the ornithopter to synchronously flap through the second transmission mechanisms 400, so that the flapping consistency is ensured, stable lift force is provided for the ornithopter, and the ornithopter can stably fly.

In this embodiment, the number of groups of flapping wings is 3, that is, the number of wings of the ornithopter is 6. From the front end of the aircraft frame to the rear end of the aircraft frame, the 3 flapping wing groups are the 1 st flapping wing group 707, the 2 nd flapping wing group and the 3 rd flapping wing group 709 in sequence.

The mode of flapping of the 3 flapping wing groups can be that the 1 st flapping wing group flaps downwards, the 2 nd flapping wing group flaps upwards, and the 3 rd flapping wing group flaps downwards. When the flapping mode is adopted, the thrust generated by 3 flapping wing groups is larger.

Referring to fig. 41, in this embodiment, the number of the flapping wing driving mechanisms is 3, and 3 flapping wing groups correspond to 3 flapping wing driving mechanisms one by one, that is, 1 flapping wing driving mechanism drives two flapping wing of 1 flapping wing group to flap synchronously. The 3 flapping wing driving mechanisms are driven by the same flapping wing power device. The flapping wing power device simultaneously drives the driving wheels of the 3 flapping wing driving mechanisms to rotate through the coupling 702. The wing body 501 is hinged to the wing frame, and when the flapping wing driving mechanism makes the wing body flap, the flapping wing body can rotate around the hinge shaft 703.

It should be noted that, in order to realize different flapping conditions of 3 flapping wing groups (i.e. the flapping modes of the 3 flapping wing groups), the initial positions of the sliding blocks 421 in the flapping wing driving mechanisms corresponding to each flapping wing group in the height direction of the supporting base 220 may be different.

The tandem flapping wing flying device provided by the embodiment can solve the problem of wavy flight by arranging a plurality of flapping wing groups, so that the flying process is more stable, the problem of gust damping is solved, and the anti-crosswind capability is strong.

Example two

The second embodiment of the invention provides a flapping-wing aircraft, which comprises a tandem multi-flapping-wing flight device provided by the first embodiment; the ornithopter further comprises ornithopter fixed wings 705 and ornithopter tail 706.

Referring to fig. 19-25, in this embodiment, the ornithopter fixed wing includes a fixed wing skin 401, a spar 402 and a rib 403; the number of the spars 402 is multiple, and the spars 402 are arranged in parallel at intervals; the number of the ribs 403 is multiple, and the multiple ribs 403 are arranged in parallel at intervals; the wing beam 402 passes through the wing rib 403, and the wing beam 402 is fixedly connected with the wing rib 403; the spars 402 are hollow tubes extending in the chord direction from the leading edge of the fixed wing to the trailing edge of the fixed wing, and the diameters of the spars 402 are gradually reduced, i.e., the diameters of the spars 402 are different, and the spar 402 at the leading edge of the fixed wing has the largest diameter and the spar 402 at the leading edge of the fixed wing has the smallest diameter. Note that the pipe diameter refers to the pipe outer diameter. Specifically, the fixed wing skin is supported by the wing spar and the wing rib together, and the fixed wing skin is fixedly connected with the wing spar and the wing rib respectively; a plurality of wing beams 402 are arranged in parallel at intervals along the chord direction of the fixed wing of the ornithopter, namely, the length direction of the wing beams 402 is parallel to the span direction of the fixed wing of the ornithopter; the plurality of ribs 403 are arranged in parallel at intervals in the spanwise direction of the fixed wing of the ornithopter, that is, the length direction of the ribs 403 is parallel to the chord direction of the fixed wing of the ornithopter. In this embodiment, the number of spars is 3.

According to the fixed wing of the ornithopter, the structure of the fixed wing is rearranged and simplified, the hollow pipe is used as the wing beam 402 to reduce the weight, the pipe diameters of the wing beams 402 are gradually reduced in the wing chord direction of the fixed wing to optimize the distribution condition of the wing beams 402 of the fixed wing, the weight can be reduced by better utilizing the structural height of the wing, and the performance of bearing the bending moment and the shearing force of the wing is also ensured, so that the fixed wing is beneficial to improving the flight performance of the ornithopter in takeoff and landing.

In an alternative embodiment, the rib 403 includes an upper edge strip 404, a lower edge strip 405, and a support structure; the upper edge strip 404 is positioned above the lower edge strip 405, the upper edge strip 404 is fixedly connected with the lower edge strip 405, and the strut structure is arranged between the upper edge strip 404 and the lower edge strip 405. Specifically, the airfoil shape of the fixed wing of the ornithopter is a plano-convex airfoil shape; that is, the upper edge strip 404 is arcuate and the lower edge strip 405 is linear; one end of the upper edge strip 404 is fixedly connected with one end of the lower edge strip 405, and the other end of the upper edge strip 404 is fixedly connected with the other end of the lower edge strip. The strut structure is located in the space formed between the upper rim strip 404 and the upper rim strip 404.

In an alternative embodiment, the upper edge strip 404 and the lower edge strip 405 are of a unitary structure. Specifically, the upper edge strip 404 and the lower edge strip 405 are formed by an integral molding process, which is advantageous for improving the stability of the wing rib 403.

In an alternative embodiment of this embodiment, the pillar structure includes a plurality of oblique pillars 406, the oblique pillars 406 are disposed at an angle with respect to the chord direction of the fixed wing of the ornithopter, and one end of the oblique pillars 406 is fixedly connected to the upper edge strip 404, and the other end of the oblique pillars 406 is fixedly connected to the lower edge strip 405. Specifically, the plurality of diagonal struts 406 are arranged in a broken line shape, which facilitates the supporting function of the upper edge strip 404 and the lower edge strip 405, and enhances the stability of the wing rib 403.

In an alternative version of this embodiment, the ornithopter fixed wing further comprises a leading edge support member 407 for supporting the fixed wing skin 401; the leading edge support member 407 is mounted on the spar 402 at the leading edge of the fixed wing, i.e. the leading edge support member 407 is fixed to the spar 402 with the largest tube diameter at the leading edge of the fixed wing of the ornithopter. Specifically, the number of leading edge support members 407 is plural, and the plural leading edge support members 407 are provided at regular intervals along the longitudinal direction of the spar 402. The leading edge support member 407 has a leading edge curved end 408, the leading edge curved end 408 being the same shape as the leading edge of the fixed wing of the ornithopter.

In an alternative embodiment of this embodiment, the top of the front edge support member 407 and the upper edge strip 404 are both provided with a stabilizing slot 409; the fixed wing of the ornithopter further comprises a front edge stabilizing beam; the leading edge stabilizing beam snaps into stabilizing snap-in groove 409, connecting leading edge support member 407 and upper ledge 404 to ensure the stability of leading edge support member 407.

In an alternative of this embodiment, the ornithopter fixed wing further comprises a trailing edge support member 415 for supporting the fixed wing skin 401; trailing edge support members 415 are mounted to spars 402 at the trailing edge of the fixed wing, that is, trailing edge support members 415 are fixed to spars 402 having the smallest diameter at the trailing edge of the fixed wing of the ornithopter. Specifically, the number of trailing edge support members 415 is plural, and the plural trailing edge support members 415 are provided at regular intervals along the longitudinal direction of the spar 402.

It should be noted that, in this embodiment, the top of the rear edge support member and the upper edge strip may be provided with a stable clamping groove; the ornithopter fixed wing may further comprise a trailing edge stabilizing beam; the rear edge stabilizing beam is clamped in the stabilizing clamping groove to connect the rear edge supporting member and the upper edge strip so as to ensure the stability of the rear edge supporting member.

In an alternative embodiment, the ornithopter fixed wing further includes a stringer 416, the length direction of the stringer 416 is parallel to the length direction of the spar, and the stringer is also fixedly connected to the rib. A trailing edge support member 415 is also secured to the stringer.

In an alternative embodiment, the material of the spar 402 is an aluminum alloy. It should be noted that, in this embodiment, the material of the wing spar 402 is not limited to aluminum alloy, and other forms of light metals may be freely selected according to actual conditions to achieve the function of reducing the fixed wing; for other forms of light metal, detailed descriptions are not repeated in this embodiment.

In an alternative embodiment, the rib 403 is made of aluminum alloy. It should be noted that in this embodiment, the material of the wing rib 403 is not limited to aluminum alloy, and other forms of light metals may be freely selected according to actual conditions to achieve the function of reducing the fixed wing; the present embodiment of other types of light metal will not be described in detail.

In an optional scheme of this embodiment, the stationary wing skin 401 is made of nylon cloth. It should be noted that in this embodiment, the material of the fixed wing skin 401 is not limited to nylon cloth, and other forms of fixed wing skin 401 may be freely selected according to actual working conditions, so as to achieve the functions of waterproofing and lightening the fixed wing; the details of the embodiment of the fixed-wing skin 401 in other forms are not repeated.

Referring to fig. 26 and 27, in this embodiment, an aircraft frame 700 is fixedly attached to a spar 402 of a fixed wing of an ornithopter. It should be noted that in this embodiment, the aspect ratio of the fixed wing of the ornithopter may be 11.00, 7.69 or 6.27.

Referring to fig. 28 to 37, in this embodiment, the tail of the ornithopter includes a horizontal rear wing 617 and a vertical rear wing 602, and the aircraft frame 700 is fixedly connected to the horizontal rear wing 617 of the tail of the ornithopter.

The horizontal tail wing comprises a horizontal stabilizer 601 and an elevator 603, and the elevator 603 is arranged at the rear edge of the horizontal stabilizer 601; a connecting rod driving device is arranged on the horizontal stabilizing surface 601 and is used for adjusting the pitch angle of the elevator; the horizontal stabilizer 601 comprises a plurality of stabilizer wing spars 604 arranged in parallel at intervals along the chord direction of the horizontal tail wing, and a plurality of stabilizer wing ribs 605 arranged in parallel at intervals along the span direction of the horizontal tail wing; the stabilizer spar 604 penetrates through the stabilizer rib 605, and the stabilizer spar 604 is fixedly connected with the stabilizer rib 605; the stabilizer spars 604 are hollow tubes, and the tube diameter of the stabilizer spar 604 nearest the leading edge of the horizontal stabilizer 601 is greater than the tube diameters of the other stabilizer spars 604, i.e., only the stabilizer spar 604 nearest the leading edge of the horizontal stabilizer 601 has the largest tube diameter among the plurality of stabilizer spars 604, and the tube diameters of the other stabilizer spars 604 are smaller than the tube diameter of the stabilizer spar 604 nearest the leading edge of the horizontal stabilizer 601. The pipe diameter refers to the pipe outer diameter. Specifically, vertical tail 602 is fixedly connected to the horizontal tail. The horizontal stabilizer 601 is provided to give the flapping machine proper static stability. Pitching of the ornithopter can be realized through the arranged elevator. The length direction of the stabilizer wing beam 604 is consistent with the wingspan direction of the horizontal tail wing; the length direction of stabilizer rib 605 coincides with the chord direction of the horizontal rear wing. In this embodiment, the number of stabilizer spars 604 is three. The number of elevators is two.

The ornithopter tail wing provided by the embodiment adopts the hollow pipe form through the stabilizer wing beam 604 so as to reduce the weight of the horizontal tail wing, and the pipe diameter of the stabilizer wing beam 604 closest to the front edge of the horizontal stabilizer 601 is larger than the pipe diameters of other stabilizer wing beams 604, so that the distribution condition of the plurality of stabilizer wing beams 604 can be optimized, and the design structure of the horizontal tail wing can be optimized, so that the longitudinal stability and the maneuverability of the ornithopter are improved.

In an alternative embodiment of this embodiment, horizontal stabilizer 601 further includes a plurality of stabilizer stringers 606, the length directions of the plurality of stabilizer stringers 606 are parallel to each other, and the length direction of stabilizer stringer 606 is the same as the length direction of the stabilizer spar.

In an alternative embodiment of this embodiment, stabilizer rib 605 includes stabilizer upper edge strip 607, stabilizer lower edge strip 608, and stabilizer strut structure; stabilizing surface upper edge strip 607 is positioned above stabilizing surface lower edge strip 608, stabilizing surface upper edge strip 607 is fixedly connected with stabilizing surface lower edge strip 608, and stabilizing surface pillar structure is installed between stabilizing surface upper edge strip 607 and stabilizing surface lower edge strip 608. Specifically, stabilizing face upper edge 607 is arcuate and stabilizing face lower edge 608 is linear; one end of the stabilizing surface upper edge 607 is fixedly connected with one end of the stabilizing surface lower edge 608, and the other end of the stabilizing surface upper edge 607 is fixedly connected with the other end of the stabilizing surface lower edge 608. The stabilizer brace structure is located in the space formed between the stabilizer top edge 607 and the stabilizer top edge 607.

In an optional scheme in this embodiment, the stabilizing surface upper edge strip 607 and the stabilizing surface lower edge are an integral structure.

In an optional scheme in this embodiment, the stabilizer strut structure includes a plurality of oblique struts 609, the oblique struts 609 form an included angle with the chord direction, and one end of the oblique strut 609 is fixedly connected to the stabilizer upper edge strip 607, and the other end of the oblique strut 609 is fixedly connected to the stabilizer lower edge strip 608. Specifically, the plurality of stabilizer struts are distributed in a detached configuration, which facilitates a support effect for stabilizer top edge 607 and stabilizer bottom edge 608, and enhances the stability of stabilizer rib 605.

In an alternative version of this embodiment, stabilizer rib 605 further includes a stabilizer intermediate bead 619, where stabilizer intermediate bead 619 is positioned between stabilizer upper bead 607 and stabilizer lower bead 608. The stabilizing surface middle edge 619 is connected to the stabilizing surface upper edge 607 via a straight strut 618, and the stabilizing surface middle edge 619 is connected to the stabilizing surface lower edge 608 via a straight strut 618.

In an alternative embodiment, horizontal stabilizer 601 further includes a stabilizer skin supported by stabilizer spar 604 and stabilizer rib 605, i.e., the stabilizer skin is supported by both stabilizer spar 604 and stabilizer rib 605, and the stabilizer skin is fixedly connected to stabilizer spar 604 and stabilizer rib 605, respectively.

In an alternative solution in this embodiment, the elevator comprises a plurality of elevator spars 611 arranged in parallel at intervals, and a plurality of elevator ribs 612 arranged in parallel at intervals in the spanwise direction of the horizontal tail wing; the length direction of the elevator wing beam is parallel to the wingspan direction of the horizontal tail wing; the elevator spars pass through elevator ribs 612 and are fixedly connected to elevator ribs 612.

In an alternative to this embodiment, the elevator further comprises an elevator skin, which is supported by the elevator spars and elevator ribs 612.

In an alternative scheme of this embodiment, the link driving device includes a driving motor 613, a first link 614 and a second link 615, a housing of the driving motor 613 is fixedly connected to the horizontal stabilizer 601, a motor shaft of the driving motor 613 is fixedly connected to one end of the first link 614, the other end of the first link 614 is hinged to one end of the second link 615, and the other end of the second link 615 is hinged to the elevator. Specifically, the elevator ribs 612 at both ends of the elevator in the longitudinal direction are hinged to the horizontal stabilizer 601, respectively, so that the pitch angle of the elevator can be adjusted when the driving motor 613 of the rod flapping wing power unit is operated. The longitudinal direction of the first link 614 is perpendicular to the axial direction of the motor shaft of the drive motor 613 of the link drive device; the second link 615 has a length direction perpendicular to the axial direction of the motor shaft of the drive motor 613 of the link drive device.

In the alternative in this embodiment, vertical tail 602 includes a tail frame 616 and a tail skin that wraps around tail frame 616. The empennage frame 616 is aluminum alloy, and the empennage skin is made of waterproof nylon cloth. The tail frame 616 is made of a hollow tube.

In an alternative embodiment of this embodiment, the stabilizing face rib 605 is made of an aluminum alloy.

In an alternative embodiment, the stabilizer spar 604 and the elevator spar are both made of aluminum alloy. It should be noted that in this embodiment, the material of the stabilizer wing spar 604 and the material of the elevator wing spar are not limited to aluminum alloy, and other forms of light metals can be freely selected according to actual conditions to achieve the function of reducing the horizontal tail wing; the detailed description of the embodiments of the light metal in other forms is omitted.

In an alternative embodiment, the stabilizing wing rib 605 and the elevator wing rib 612 are both made of aluminum alloy. It should be noted that, in this embodiment, the material of the stabilizing surface wing rib 605 and the material of the elevator wing rib 612 are not limited to aluminum alloy, and other forms of light metals can be freely selected according to actual working conditions to achieve the function of reducing the horizontal tail; the details of the embodiment of the light metal in other forms are not repeated.

In the optional scheme of this embodiment, the material of the skin of the stabilizing surface and the material of the skin of the elevator are both nylon cloth. It should be noted that in this embodiment, the material of the stabilizing surface skin and the material of the elevator skin surface are not limited to nylon cloth, and other types of materials may be freely selected according to actual working conditions to achieve the functions of waterproofing and lightening the fixed wing; the present embodiment does not need to be described in detail for other types of materials.

In this embodiment, the ornithopter may be an unmanned ornithopter or a manned ornithopter.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tandem multi-flapping wing flying device is characterized by comprising an airplane frame, a flapping wing driving mechanism and a plurality of flapping wing groups, wherein the flapping wing groups are distributed at intervals along the direction from the front end of the airplane frame to the rear end of the airplane frame; the flapping wing group comprises two symmetrically arranged flapping wing aircraft wings; the flapping wing driving mechanism is used for enabling the wings of the flapping wing aircraft to flap; the flapping wing aircraft wing comprises a flapping wing sector, wherein the flapping wing sector comprises an end truss, a plurality of support rods and a skin, the number of the support rods is multiple, the support rods are fixed on the end truss, and the support rods are used for supporting and fixing the skin; the aircraft frame comprises a nose frame, a fuselage frame and a wing frame; the two sides of the fuselage frame are respectively connected with the wing frames, and the wing frames are used for mounting the wings of the ornithopter; the air blowing device is arranged on the handpiece frame and can provide airflow pushing force towards the lower part of the handpiece frame;

the support rods are distributed in parallel at intervals along the length direction of the end truss, and two adjacent support rods are arranged in a vertically staggered manner in the height direction of the end truss; the projection of the axes of three continuous adjacent support rods on a reference plane forms three points, the bending angle formed by sequentially connecting the three points along the length direction of the end truss is not less than 136 degrees, the bending angle is less than 180 degrees, and the reference plane is perpendicular to the axes of the support rods.

2. The tandem multi-flapping flight apparatus of claim 1, further comprising a flapping power plant; the flapping wing driving mechanism comprises a support, a first transmission mechanism and a second transmission mechanism; the first transmission mechanism is arranged on the support and is driven by the flapping wing power device; the second transmission mechanism is provided with a connecting rod part and a connecting part, one end of the connecting rod part is connected with the first transmission mechanism shaft, the other end of the connecting rod part is movably connected with the connecting part, the connecting part is slidably mounted on the support, and the first transmission mechanism drives the connecting part to reciprocate along the height direction of the support through the connecting rod part in the second transmission mechanism; two ends of the connecting part are respectively connected with the two symmetrically arranged wings of the ornithopter, and the two wings of the ornithopter are driven to flap through the connecting part.

3. The tandem multi-flapping-wing flying device of claim 2, wherein the first transmission mechanism comprises a driving wheel, a driven wheel and a transmission member connected with the driving wheel and the driven wheel, and the driving wheel and the driven wheel are respectively movably connected with the support.

4. The tandem multi-flapping flight apparatus of claim 3, wherein the transmission member comprises a chain or a belt.

5. The tandem multi-flapping-wing aircraft of claim 3, wherein the support comprises a fixed base and a support base, the support base is vertically disposed on the fixed base, the fixed base is configured to be movably connected with the driven wheel, and the support base is configured to be movably connected with the driving wheel.

6. The tandem multi-flapping-wing flying device of claim 3, wherein the linkage portion comprises a first transmission linkage and a second transmission linkage, the first transmission linkage is connected with the driven wheel through a shaft, and two ends of the second transmission linkage are movably connected with the first transmission linkage and the connecting portion respectively.

7. The tandem multi-flapping wing aircraft of claim 6, wherein the connecting portion comprises a sliding block and a connecting block, the sliding block is slidably connected with the support, the connecting block is fixed on the sliding block, and the connecting block is used for connecting the second transmission link and the flapping wings.

8. An ornithopter comprising a tandem multi-ornithopter flight device as claimed in any one of claims 1 to 7.