CN117755538A - Flapping wing structure and aircraft - Google Patents

Abstract

The invention discloses a flapping wing structure and an aircraft, which comprise a fixed frame, a reciprocating assembly and a flapping wing assembly; the fixing frame comprises a rectangular frame, the reciprocating components can reciprocate along the longitudinal direction of the rectangular frame, the number of the flapping wing components is two, the two flapping wing components are symmetrically arranged on two opposite sides of the rectangular frame, and the flapping wing components comprise flapping wings, a first connecting rod and a second connecting rod; one end of the first connecting rod is rotationally connected with one side frame of the rectangular frame, and the other end of the first connecting rod is fixedly connected with the second connecting rod; the second connecting rod and the first connecting rod form an L-shaped structure, one end of the flapping wing penetrates through the second connecting rod and is fixedly connected with a driven bevel gear, a connecting shaft is rotatably arranged on the first connecting rod, a driving bevel gear is fixedly arranged at one end of the connecting shaft, and the driving bevel gear is meshed with the driven bevel gear. The flapping wing overturning device can realize flapping and overturning motions of the flapping wings at the same time, can realize the overturning motions of the flapping wings without other power, and simplifies a driving mechanism.

Description

Flapping wing structure and aircraft

Technical Field

The invention relates to the technical field of aircrafts, in particular to a flapping wing structure and an aircraft.

Background

In recent years, innumerable scholars and engineering technicians are beginning to realize the wide application prospect of micro unmanned aerial vehicles. The miniature unmanned aerial vehicle has obvious advantages in the fields of disaster relief, exploration, reconnaissance and the like. Due to the small size, the micro unmanned aerial vehicle can enter a complex space to execute special tasks. Compared with the ground micro-robot, the micro unmanned aerial vehicle has flight capability, so that the shortest path can be found under the complex environment without being limited by ground conditions, and the task target can be rapidly completed. Military scientists also deeply recognize the irreplaceable role of micro unmanned aerial vehicles in future digital and informative battlefields, and the development of the micro unmanned aerial vehicles has high scientific significance and engineering value.

The bionic flapping-wing miniature aircraft is an aircraft taking insects and birds as bionic objects, and compared with a rotor wing mechanism, a fixed wing mechanism and other mechanisms, the flapping-wing mechanism has remarkable flexibility, maneuverability and concealment.

For flapping wing aircraft, the design of the flapping wing mechanism is related to the aerodynamic performance and the flight efficiency of the whole aircraft. Most of the existing flapping wing aircrafts at home and abroad can only realize single flapping motion, and for overturning motion, most of the flapping wing aircrafts can only deform the flexible wings through aerodynamic force, so that passive adjustment can not be realized, active control can not be realized, and the movement force and the control force of the aircrafts are insufficient. The flapping wing air vehicle with controllable overturning motion mostly adopts a serial mechanism design, and a serial driving mechanism is redundant and has low efficiency.

Therefore, how to design a flapping wing structure capable of automatically performing overturning motion in the flapping motion process is one of the problems to be solved in the field at present.

Disclosure of Invention

The invention aims to provide a flapping wing structure and an aircraft, which are used for solving the defects in the prior art.

The invention provides a flapping wing structure, which comprises a fixed frame, a reciprocating assembly and a flapping wing assembly, wherein the fixed frame is provided with a plurality of connecting rods; the fixing frame comprises a rectangular frame, the reciprocating assemblies can reciprocate along the longitudinal direction of the rectangular frame, the number of the flapping wing assemblies is two, the two flapping wing assemblies are symmetrically arranged on two opposite sides of the rectangular frame, and each flapping wing assembly comprises a flapping wing, a first connecting rod and a second connecting rod; one end of the first connecting rod is rotationally connected with one side frame of the rectangular frame, and the other end of the first connecting rod is fixedly connected with the second connecting rod; the second connecting rod with the head rod constitutes L shape structure, the one end of flapping wing runs through the second connecting rod and a driven bevel gear fixed connection, rotate on the head rod and install a connecting axle, the one end fixed mounting of connecting axle has a driving bevel gear, driving bevel gear with driven bevel gear meshing, the other end of connecting axle and the one end fixed connection of a third connecting rod, the other end of third connecting rod with reciprocating assembly articulates.

Further, the fixing frame further comprises a first supporting rod and a second supporting rod, the first supporting rod is vertically arranged with the rectangular frame, the second supporting rod is vertically arranged at one end, far away from the rectangular frame, of the first supporting rod, and the second supporting rod is parallel to the rectangular frame; the reciprocating assembly comprises a fourth connecting rod, two ends of the fourth connecting rod are hinged to the two third connecting rods respectively, a fixing rod is arranged in the middle of the fourth connecting rod and hinged to one end of a sixth connecting rod through a fifth connecting rod, the other end of the sixth connecting rod penetrates through the rectangular frame and is hinged to the second supporting rod, and the sixth connecting rod can move along the longitudinal direction of the rectangular frame.

Further, the motor driving device further comprises a driving assembly, the driving assembly comprises a driving motor, a motor gear is arranged on an output shaft of the driving motor, the motor gear is meshed with a reduction gear, the reduction gear is hinged with the fourth connecting rod through a seventh connecting rod, and the hinge position of the seventh connecting rod and the reduction gear deviates from the center of the reduction gear.

Further, the fixing frame is fixedly connected with the shell of the aircraft.

The invention also provides an aircraft, which comprises two groups of the flapping wing structures, wherein the two groups of the flapping wing structures respectively form a front wing and a rear wing of the aircraft, a driving motor of the flapping wing structure is arranged on a bracket, the bracket is fixedly connected with a shell of the aircraft, and the two groups of the flapping wing structures are symmetrically arranged on two sides of the bracket.

Further, the bracket comprises two support plates which are arranged in parallel, and the support plates are arranged in parallel with the rectangular frame; the driving motor is fixedly arranged between the two supporting plates and is respectively positioned at two ends of the supporting plates, the output shafts of the driving motor are opposite in direction and respectively penetrate through the corresponding supporting plates and the corresponding motor gears to be fixedly connected, the reduction gears are respectively rotatably arranged on the two supporting plates and are positioned at one sides of the two supporting plates far away from each other, the center lines of the reduction gears are positioned on the same straight line, and the center lines of the reduction gears and the centers of the driving motor are positioned in the same plane.

Further, a phase difference adjusting structure is arranged between the two groups of flapping wing structures, the phase difference adjusting structure comprises a connecting block, a storage plate and an attitude sensor, two connecting lugs are arranged on the fourth connecting rod, two connecting lugs on the fourth connecting rod are oppositely arranged, the number of the connecting blocks is two, the connecting blocks are respectively rotatably arranged on the two connecting lugs of the fourth connecting rod, sliding grooves matched with the storage plate are formed in the opposite sides of the two connecting blocks, one end of the storage plate is slidably arranged between the two connecting blocks, the other end of the storage plate is hinged to the other two connecting lugs on the fourth connecting rod, and the attitude sensor is fixedly arranged on the storage plate.

Further, the edge of the attitude sensor is parallel to the edge of the object placing plate, the attitude sensor detects the inclination angle of the object placing plate relative to the fixing frame, the maximum value of the inclination angle is determined, and the actual phase difference of the two flapping wing structures is calculated according to the maximum value.

Further, the device also comprises a controller, wherein the controller is electrically connected with the attitude sensor and the driving motor; the controller is used for acquiring a target phase difference between the two flapping wing structures and calculating a phase difference value to be adjusted according to the actual phase difference; the controller is also used for adjusting the rotating speed of at least one driving motor according to the phase difference value until the actual phase difference is equal to the target phase difference.

Compared with the prior art, the flapping and overturning device can realize flapping and overturning motions of the flapping wings at the same time, can realize the overturning motions of the flapping wings without other power, simplifies a driving mechanism, can realize active control, and improves the motion force and the control force of an aircraft. The aircraft provided by the invention can realize real-time adjustment of the phase difference of the front wing and the rear wing in the flight process, and can well meet aerodynamic force requirements in different flight modes.

Drawings

FIG. 1 is a schematic view of a first embodiment of a flapping wing structure according to the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic view of a second embodiment of a flapping wing structure according to the present invention;

fig. 4 is a schematic structural view of an aircraft according to the present invention:

fig. 5 is a front view of fig. 4.

Reference numerals illustrate:

the device comprises a 1-fixing frame, a 2-wing assembly, a 101-rectangular frame, a 201-flapping wing, a 202-first connecting rod, a 203-second connecting rod, a 3-driven bevel gear, a 4-connecting shaft, a 5-driving bevel gear, a 6-third connecting rod, a 102-first supporting rod, a 103-second supporting rod, a 7-fourth connecting rod, a 8-fixing rod, a 9-fifth connecting rod, a 10-sixth connecting rod, a 11-driving motor, a 12-motor gear, a 13-reduction gear, a 14-seventh connecting rod, a 15-supporting plate, a 16-connecting block, a 17-placing plate, a 18-connecting lug and a 1601-sliding groove.

Detailed Description

The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In a first embodiment of the present invention:

the invention provides a flapping wing structure, which is shown in fig. 1 and 2, and comprises a fixing frame 1, a reciprocating assembly and two flapping wing assemblies 2; the fixing frame 1 comprises a rectangular frame 101, a rectangular hole is formed in the rectangular frame 101, and the rectangular frame 101 is used for directly or indirectly limiting the reciprocating assembly so that the reciprocating assembly can only reciprocate along the length direction of the rectangular hole of the rectangular frame 101.

The reciprocating members are capable of reciprocating in the longitudinal direction of the rectangular frame 101, where the longitudinal direction refers to the length direction of the rectangular frame 101, and the flapping and turning movements of the two flapping wing assemblies 2 are driven by the reciprocating movement of the reciprocating members. Two flapping wing assemblies 2 are symmetrically mounted on opposite sides of a rectangular frame 101. Specifically, the flapping wing mechanism is divided into a front-back direction, a left-right direction and an up-down direction; the front-back direction, the left-right direction and the up-down direction are perpendicular to each other, and the front-back direction, the left-right direction and the up-down direction are consistent with the front-back direction, the left-right direction and the up-down direction of the aircraft where the flapping wing structure is located. In practice, the longitudinal direction of the rectangular hole is the up-down direction, and the center line direction of the rectangular hole is the front-back direction. In particular embodiments, the two flapping wing assemblies 2 are distributed correspondingly from side to side along the vertical center plane.

The flapping wing assembly 2 comprises a flapping wing 201, a first connecting rod 202 and a second connecting rod 203; the two flapping wings 201 extend outwards in the left-right direction. One end of the first connecting rod 202 is rotationally connected with one side frame of the rectangular frame 101, the other end of the first connecting rod 202 is fixedly connected with the second connecting rod 203, specifically, one end of the first connecting rod 202 is rotationally connected with a long frame of the rectangular frame 101 through a pin shaft, the rotation center line of the first connecting rod 202 is vertical to the plane where the rectangular frame 101 is located, and the second connecting rod 203 is vertically fixed with the first connecting rod 202; the second connecting rod 203 and the first connecting rod 202 form an L-shaped structure, one end of the flapping wing 201 penetrates through the second connecting rod 203 and is fixedly connected with a driven bevel gear 3, the flapping wing 201 is conveniently rotated, a connecting handle is arranged along the length direction, the cross section of the connecting handle is cylindrical, the connecting handle penetrates through the second connecting rod 203 and is rotationally connected with the second connecting rod 203, the driven bevel gear 3 is fixedly arranged on the second connecting rod 203, one end of the first connecting rod 202 far away from the rotation center of the driven bevel gear 3 is rotationally provided with a connecting shaft 4, the connecting shaft 4 penetrates through and extends out of the first connecting rod 202, one end of the connecting shaft 4 is fixedly provided with a driving bevel gear 5, the driving bevel gear 5 is meshed with the driven bevel gear 3, the other end of the connecting shaft 4 is fixedly connected with one end of a third connecting rod 6, the other end of the third connecting rod 6 is hinged with a reciprocating assembly, when the reciprocating assembly reciprocates along the longitudinal direction of the rectangular frame 101, the third connecting rod 6 is driven to swing along the center line of the connecting shaft 4, the third connecting rod 6 can drive the first connecting rod 202 to swing back and forth along the swing center line of the swinging of the connecting shaft, so that the flapping wing 201 can be rotated, and meanwhile, the third connecting rod 6 drives the connecting shaft 4 to rotate, the connecting shaft 4 and the driven bevel gear 3 can be driven to rotate, and the driven bevel gear 3 can rotate, and the flapping wing 201 can rotate, and the driven bevel gear can rotate. The flapping wing 201 can turn over without other power, so that a driving mechanism is simplified, active control can be realized, and the movement force and the control force of the aircraft are improved.

As a preferred mode, the fixing frame 1 further comprises a first supporting rod 102 and a second supporting rod 103, wherein the first supporting rod 102 is vertically fixed with the rectangular frame 101, the first supporting rod 102 is arranged on one side of the rectangular frame 101 far away from the reciprocating assembly, the axis of the first supporting rod 102 is positioned in the same plane with the central line of the rectangular frame 101 in the width direction, the second supporting rod 103 is vertically arranged on one end of the first supporting rod 102 far away from the rectangular frame 101, and the second supporting rod 103 is parallel to the rectangular frame 101 and is arranged along the length direction of the rectangular frame 101; the reciprocating assembly comprises a fourth connecting rod 7, two ends of the fourth connecting rod 7 are respectively hinged with the two third connecting rods 6, a fixing rod 8 is arranged in the middle of the fourth connecting rod 7, the fixing rod 8 is hinged with one end of a sixth connecting rod 10 through a fifth connecting rod 9, and specifically, two ends of the fifth connecting rod 9 are respectively hinged with the fixing rod 8 and the sixth connecting rod 10. The other end of the sixth connection rod 10 is hinged to the second support rod 103 through the rectangular frame 101, and the sixth connection rod 10 is capable of swinging in the longitudinal direction of the rectangular frame 101. In particular, the sixth connecting rod 10 is connected to the inner wall of the rectangular frame 101 in a sliding fit. Through setting up first bracing piece 102, second bracing piece 103, dead lever 8, fifth connecting rod 9 and sixth connecting rod 10 can make reciprocating assembly more steady when moving along the longitudinal direction of rectangular frame 101, reduces and rocks about, rocks about for further reducing, can design the width of the inside casing of rectangular frame 101 into the size with the adaptation of sixth connecting rod 10. The number of the second supporting rods 103 can be set to two, the two second supporting rods 103 are respectively and oppositely arranged on two sides of the first supporting rod 102, the sixth connecting rod 10 is arranged between the two second supporting rods 103 and is hinged with the two second supporting rods 103, a first accommodating groove is formed in one hinged end of the sixth connecting rod 10 and the fifth connecting rod 9, the first accommodating groove is a U-shaped through groove, one end of the fifth connecting rod 9 is inserted into the first accommodating groove and is hinged with two side groove walls of the first accommodating groove, a second accommodating groove is formed in one end of the fixing rod 8, close to the fifth connecting rod 9, and is a U-shaped through groove, and one end of the fifth connecting rod 9 is inserted into the second accommodating groove and is hinged with two side groove walls of the second accommodating groove.

In order to achieve the limit of the reciprocating assembly, in other implementations, the fixing rod 8 may also be directly arranged to be slidingly connected along the rectangular frame 101, so that the fifth connecting rod 9 and the sixth connecting rod 10 are eliminated, and the structure can be simplified.

Embodiment two:

the present embodiment is further optimized based on the first embodiment, and the same parts as those of the first embodiment are not described in detail, please refer to fig. 3, and the present application further includes a driving assembly, wherein the driving assembly includes a driving motor 11, a motor gear 12 is disposed on an output shaft of the driving motor 11, the motor gear 12 is meshed with a reduction gear 13, the reduction gear 13 is hinged with the fourth connecting rod 7 through a seventh connecting rod 14, and a hinge position of the seventh connecting rod 14 and the reduction gear 13 deviates from a center of the reduction gear 13. With this arrangement, the rotation of the driving motor 11 can be converted into the reciprocation of the fourth link 7 in the longitudinal direction of the rectangular frame 101 through the motor gear 12, the reduction gear 13, and the seventh link 14. In some implementations, converting rotary cutting into reciprocating movement may also be accomplished by a crank linkage. It should be noted that, in order to achieve the above-described function, the reciprocation assembly is in the rectangular hole of the rectangular frame 101, and can achieve complete reciprocation when it is embodied.

The fixing frame 1 is fixedly connected with the shell of the aircraft. By fixedly connecting the fastening frame 1 to the outer shell of the aircraft, the flapping wing structure can be applied to the aircraft.

Embodiment III:

referring to fig. 4-5, the invention further provides an aircraft, which comprises two groups of flapping wing structures, wherein the two groups of flapping wing structures respectively form a front wing and a rear wing of the aircraft, a driving motor 11 of the flapping wing structure is arranged on a bracket, the bracket is fixedly connected with a shell of the aircraft, and the two groups of flapping wing structures are symmetrically arranged on two sides of the bracket. The bracket comprises two support plates 15 which are arranged in parallel, and the support plates 15 are arranged in parallel with the rectangular frame 101; the two driving motors 11 are fixedly installed between the two supporting plates 15 and are respectively located at two ends of the supporting plates 15, specifically, the two driving motors 11 are respectively located at the upper end and the lower end of the two supporting plates 15, the output shafts of the two driving motors 11 face opposite directions and respectively penetrate through the corresponding supporting plates 15 to be fixedly connected with the corresponding motor gears 12, the two reduction gears 13 are respectively rotatably installed on the two supporting plates 15 and are located at one side, away from each other, of the two supporting plates 15, the center lines of the two reduction gears 13 are located on the same straight line, and in particular, no power transmission exists between the two reduction gears 13, namely, the center lines of the two reduction gears 13 are collinear, but are installed through different shafts, and the two reduction gears can respectively rotate at different rotating speeds.

The center lines of the two reduction gears 13 are located in the same plane as the centers of the two driving motors 11. The ends of the two support plates 15 are also provided with connecting plates, and the two ends of the two support plates 15 are respectively connected by the two connecting plates, so that the support structure is more stable.

In order to realize carrying out real-time adjustment to the phase difference in the in-process of flight, this application has done following improvement, be equipped with a phase difference adjustment structure between two sets of flapping wing structures, phase difference adjustment structure includes connecting block 16, put thing board 17 and attitude sensor 19, be equipped with all being equipped with two engaging lugs 18 on the fourth connecting rod 7, two engaging lugs 18 on the two fourth connecting rods 7 set up relatively, connecting block 16 is two, two connecting blocks 16 rotate respectively and install on two engaging lugs 18 of a fourth connecting rod 7, specifically, two connecting blocks 16 are installed and are close to one side each other at two engaging lugs 18, and link to each other through the connecting axle between connecting block 16 and the engaging lugs, the spout with put thing board 17 adaptation has all been seted up to the opposite side of two connecting blocks 16, put one end slidable mounting of thing board 17 between two connecting blocks 16, put two engaging lugs 18 on thing board 17 and another fourth connecting rod 7 are articulated, attitude sensor 19 fixed mounting is on putting thing board 17. By the design, the object placing plate 17 can slide in the sliding groove 1601 and can rotate along the hinging position of the object placing plate 17 and the fourth connecting rod 7, so that conditions are provided for real-time adjustment of phase differences.

The edge of the attitude sensor 19 is parallel to the edge of the object placing plate 17, the attitude sensor 19 detects the inclination angle of the object placing plate 17 relative to the fixed frame 1, determines the maximum value of the inclination angle, and calculates the actual phase difference of the two flapping wing structures according to the maximum value.

The device also comprises a controller, wherein the controller is electrically connected with the attitude sensor 19 and the driving motor 11; the controller is used for acquiring a target phase difference between the two flapping wing structures and calculating a phase difference value to be adjusted according to the actual phase difference; the controller is further adapted to adjust the rotational speed of the at least one drive motor 11 based on the phase difference value until the actual phase difference equals the target phase difference. In particular, the adjustment of the phase difference may be achieved by adjusting the rotational speed of any one of the drive motors 11, or may be achieved by adjusting the rotational speeds of both of the drive motors 11 at the same time.

When the two driving motors 11 of the aircraft rotate, the front wing and the rear wing start flapping and rotate, and at this time, the two driving motors 11 have a phase difference, the posture sensor 19 detects the inclination angle of the object placing plate 17 relative to the fixed frame 1, determines the maximum value of the inclination angle, and calculates the actual phase difference of the two flapping wing structures according to the maximum value. When the phase difference needs to be adjusted, the controller calculates a phase difference value to be adjusted according to the actual phase difference, and adjusts the rotation speed of at least one driving motor 11 according to the phase difference value until the actual phase difference is equal to the target phase difference.

The aircraft provided by the invention can realize real-time adjustment of the phase difference of the front wing and the rear wing in the flight process, and can well meet aerodynamic force requirements in different flight modes.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims (9)

1. A flapping wing structure, characterized in that: comprises a fixing frame (1), a reciprocating assembly and a flapping wing assembly (2); the fixing frame (1) comprises a rectangular frame (101), the reciprocating assembly can reciprocate along the longitudinal direction of the rectangular frame (101), two flapping wing assemblies (2) are symmetrically arranged on two opposite sides of the rectangular frame (101), and the flapping wing assemblies (2) comprise flapping wings (201), a first connecting rod (202) and a second connecting rod (203); one end of the first connecting rod (202) is rotationally connected with one side frame of the rectangular frame (101), and the other end of the first connecting rod is fixedly connected with the second connecting rod (203); the second connecting rod (203) and the first connecting rod (202) form an L-shaped structure, one end of the flapping wing (201) penetrates through the second connecting rod (203) and is fixedly connected with a driven bevel gear (3), a connecting shaft (4) is rotatably installed on the first connecting rod (202), a driving bevel gear (5) is fixedly installed at one end of the connecting shaft (4), the driving bevel gear (5) is meshed with the driven bevel gear (3), the other end of the connecting shaft (4) is fixedly connected with one end of a third connecting rod (6), and the other end of the third connecting rod (6) is hinged with the reciprocating assembly.

2. A ornithopter structure according to claim 1, wherein: the fixing frame (1) further comprises a first supporting rod (102) and a second supporting rod (103), the first supporting rod (102) is vertically arranged with the rectangular frame (101), the second supporting rod (103) is vertically arranged at one end, far away from the rectangular frame (101), of the first supporting rod (102), and the second supporting rod (103) is arranged in parallel with the rectangular frame (101); the reciprocating assembly comprises a fourth connecting rod (7), two ends of the fourth connecting rod (7) are hinged to two third connecting rods (6) respectively, a fixing rod (8) is arranged in the middle of the fourth connecting rod (7), the fixing rod (8) is hinged to one end of a sixth connecting rod (10) through a fifth connecting rod (9), the other end of the sixth connecting rod (10) penetrates through the rectangular frame (101) to be hinged to the second supporting rod (103), and the sixth connecting rod (10) can move along the longitudinal direction of the rectangular frame (101).

3. A flapping wing structure according to claim 2, wherein: the novel electric motor is characterized by further comprising a driving assembly, the driving assembly comprises a driving motor (11), a motor gear (12) is arranged on an output shaft of the driving motor (11), the motor gear (12) is meshed with a reduction gear (13), the reduction gear (13) is hinged with the fourth connecting rod (7) through a seventh connecting rod (14), and the hinge joint of the seventh connecting rod (14) and the reduction gear (13) deviates from the center of the reduction gear (13).

4. A ornithopter structure according to claim 3, wherein: the fixing frame (1) is fixedly connected with the shell of the aircraft.

5. An aircraft, characterized in that: comprising two sets of the flapping wing structures according to claim 4, which respectively form a front wing and a rear wing of the aircraft, the drive motor (11) of the flapping wing structure being mounted on a support which is fixedly connected to the housing of the aircraft; the two groups of flapping wing structures are symmetrically arranged on two sides of the support.

6. The aircraft of claim 5, wherein: the bracket comprises two support plates (15) which are arranged in parallel, and the support plates (15) are arranged in parallel with the rectangular frame (101); the two driving motors (11) are fixedly arranged between the two supporting plates (15) and are respectively positioned at two ends of the supporting plates (15); the output shafts of the two driving motors (11) face opposite directions, respectively penetrate through the corresponding supporting plates (15) and are fixedly connected with the corresponding motor gears (12); the two reduction gears (13) are respectively rotatably mounted on the two support plates (15) and are positioned on one side, far away from each other, of the two support plates (15), the center lines of the two reduction gears (13) are positioned on the same straight line, and the center lines of the two reduction gears (13) and the centers of the two driving motors (11) are positioned in the same plane.

7. The aircraft of claim 6, wherein: a phase difference adjusting structure is arranged between the two groups of flapping wing structures, and the phase difference adjusting structure comprises a connecting block (16), a storage plate (17) and an attitude sensor (19); two connecting lugs (18) are arranged on the fourth connecting rod (7), and the two connecting lugs (18) on the two fourth connecting rods (7) are oppositely arranged; the two connecting blocks (16) are respectively rotatably arranged on two connecting lugs (18) of one fourth connecting rod (7), and sliding grooves (1601) matched with the object placing plates (17) are formed on opposite sides of the two connecting blocks (16); one end of the object placing plate (17) is slidably arranged between the two connecting blocks (16), and the other end of the object placing plate (17) is hinged with two connecting lugs (18) on the other fourth connecting rod (7); the attitude sensor (19) is fixedly arranged on the object placing plate (17).

8. The aircraft of claim 7, wherein: the edge of the attitude sensor (19) is parallel to the edge of the object placing plate (17), the attitude sensor (19) is used for detecting the inclination angle of the object placing plate (17) relative to the fixed frame (1) so as to determine the maximum value of the inclination angle, and the actual phase difference of the two flapping wing structures is calculated according to the maximum value.

9. The aircraft of claim 8, wherein: the device also comprises a controller, wherein the controller is electrically connected with the attitude sensor (19) and the driving motor (11); the controller is used for acquiring a target phase difference between the two flapping wing structures and calculating a phase difference value to be adjusted according to the actual phase difference; the controller is further configured to adjust the rotational speed of at least one of the drive motors (11) according to the phase difference value until the actual phase difference is equal to the target phase difference.