CN1081155C - The ornithopter - Google Patents

Abstract

The present invention relates to a flapping wing airplane which comprises an airplane cabin, wings, an empennage, a landing frame, a power system, a transmission system and an operation and control system, wherein the wings comprise a pair of upper straight wings and a pair of flapping wings above the airplane cabin; the upper straight wings and the flapping wings are connected with the airplane cabin through a supporting frame of the flapping wings; the upper straight wings are arranged on the top of the supporting frame of the flapping wings, and a pair of flapping wings extend outwards at both sides of the supporting frame of the flapping wings. The flapping wings have the structure that a concave spherical joint at the end part of a main middle beam is connected with a convex spherical joint on a transmission device on the supporting frame so as to form a spherical joint, and under the action of the transmission system, the spherical joint vertically flaps in a cambered mode.

Description

orthopter

technical field

The field to which the invention belongs is aircraft, in particular a flapping-wing aircraft.

Background technique

The orthopter plane relies on the flapping of the flapping wings to fly. As early as when humans learned to fly, they started with the flapping flight of birds. However, due to the flight mechanics involved, the manufacturing process of flapping flight is too complicated and too precise, which has exceeded the scope of professional design. No true orthopter was ever built.

Among existing aircraft, rigid straight-wing aircraft and rotary-wing helicopters have their own limitations, although the technology is quite mature. The former relies on the engine to drive the propeller to obtain thrust, and the lift is generated by means of wings to fly, take off or Landing requires a flat dedicated site; the latter relies on the engine to drive the rotor and the tail anti-torsion propeller to generate lift and thrust to fly. Although it can take off and land at a fixed point, once the engine fails and the propeller loses power, the two will face the same situation. It's possible the plane crashed.

Contents of the invention

The purpose of the present invention is to manufacture a kind of flapping-wing aircraft that generates lift and thrust by fluttering up and down of two wings. This aircraft has the skill of flying like a bird flapping its wings, and can hover and fly backwards in the air. After taking off, the engine can be turned off, and the aerodynamic device of human body power and flapping wings can be used to fly. It does not need a special site, and can take off and land at fixed points on the ground or water. Its basic weight is about 80-100 kilograms, and its maximum take-off weight is about 250-280 kilograms. It is an amphibious type, with a maximum take-off weight of about 300 kilograms, and a 25-50 horsepower engine.

To achieve the purpose of the present invention, the present invention provides a flapping wing aircraft, comprising a power system, a transmission device, a control system, a cabin, a landing gear, a wing, and an empennage, wherein the wing includes an upper Straight wing and flapping wing, the upper straight wing is located at the top of the flapping wing support frame, and the flapping wing extends outward on both sides of the flapping wing support frame, it is characterized in that: the flapping wing includes a spar, The spar joint, the palm spar, the palm joint and the palm, wherein: the spar includes a retractable main spar, a middle spar and a front spar, and the three extend from the supporting frame to the flapping wing tip in turn; one end of the main spar is connected to The flapping wing supporting frame is connected flexibly, and the other end is connected with the middle spar through the spar joint; one end of the front spar is connected with the other end of the middle spar through the spar joint, and the other end of the front spar is connected with the palm spar; the palm spar Including palm-wing front beam, palm-wing middle beam and palm-wing rear beam; palm joints include palm front segment, palm middle segment and palm rear segment; palm-wing front beam and palm-wing rear beam are controllable telescopic beams; one end of palm-wing beam and wing The beam is movably connected, and the other end is connected to the wing palm through the palm joint; the wing palm includes the palm plate, palm ring, palm tendons, and palm fingers. It is fixed on the palm plate to form a wing-palm fan; the palm ring is stuck in the U-shaped palm-wing center beam to strengthen the strength between the wing palm and the main wing.

The main spar of the flapping wing can include a main front beam, a main center beam and a main rear beam; the main joints of the wing spar joints include a main front section, a main middle section, and a main rear section; the main front beam and the main rear beam are telescopic Beams, one end of which is connected to the flapping wing support frame, and the other end is connected to the main front section and the main rear section; the main middle beam is also a telescopic beam, and one end is a convex ball joint, which is connected to the transmission device. The concave ball joint of the ball joint is matched to form a ball joint; the other end passes through the main middle section and connects with the main middle section in the middle; the main middle section is a spherical joint, which is the fulcrum of the main center beam and the fulcrum of the flapping wing Joints: under the action of the moment of the main center beam, the main joints can rotate up and down, left and right, thereby driving the flapping wings to flutter up and down, back and forth.

The wing spar in the flapping wing can include the front beam, the center beam and the middle rear beam; the middle joint of the spar joint includes the middle front section) and the middle rear section; one end of the middle front beam is connected with the main front section, and the other end It is connected with the middle and front section; one end of the middle and rear beam is connected with the main rear section, and the other end is connected with the middle and rear section; the center beam is the extension of the main center beam in the middle wing beam section; when the flapping wing is under the action of the moment of the main center beam When flapping up and down, the middle spar and the middle joint make the wing center of the flapping wing shift back and forth, that is, when flapping upwards, it flaps from the rear bottom to the front and upwards; The orbit is spiral.

The front spar of described flapping wing can comprise front front beam, front middle beam and front and rear beam; Controlled telescopic beam; one end of the front front beam is connected with the middle and front section, and the other end is connected with the front and front section; one end of the front and rear beams is connected with the middle and rear section, and the other end is connected with the front and rear sections; the front and middle beam is the main The extension of the middle beam in the front spar section, the front middle section at the end is the central node of the flapping wing; the tension line pillar located in the center of the front middle section supports the transverse tension line and the longitudinal tension line to strengthen the flapping wing. Rigidity and strength; the front spar and front joints are operated by the left and right wing discs, and the two wings can be stretched forward and backward.

The flapping-wing aircraft of the invention has strong maneuverability, stability and safety. It is easy to operate, economical and practical, and can be used for air travel, traffic management, forest, farmland protection and various aerial operations. It is an ideal air vehicle for industries, mines, enterprises, government agencies and families. intelligence.

Other objects and advantages of the present invention will be appreciated by those skilled in the art from the following detailed description. And the detailed description part has only introduced the best embodiment of the present invention, and purpose is to provide the best way of implementing the present invention, more precisely, the structural component protection scope of commonly used two-seater type flapping wing aircraft includes single-seater Type and multi-seat structural components only have a slight increase or decrease in size, so the present invention also has other different embodiments, and various improvements can be made to the present invention without departing from the essence of the present invention. To achieve the same purpose, therefore, the drawings and detailed description are only explanatory and should not limit the present invention.

Overview of the drawings:

Fig. 1 is the perspective view of the whole structure of the flapping wing aircraft of the embodiment of the present invention.

Fig. 2 is the perspective view of the structure of the ring gear of the power system of the orthopter of the present invention.

Fig. 3 is a structural perspective view of an elliptical track transmission device of an orthopter aircraft according to another embodiment of the present invention.

Fig. 4 is a structural perspective view of a push-pull arm transmission device of a flapping-wing aircraft according to another embodiment of the present invention.

Fig. 5 is a structural perspective view of a central shaft transmission device of a flapping-wing aircraft according to another embodiment of the present invention.

Fig. 6 is a perspective view of the airfoil structure of the flapping-wing aircraft of the present invention.

Fig. 7 is a perspective view of an airfoil structure of a flapping-wing aircraft according to another embodiment of the present invention.

Fig. 8 is a perspective view of the main frame and the control system of the orthopter of the present invention.

Fig. 9 is a structural diagram of the retractable traveling undercarriage of a flapping-wing aircraft according to another embodiment of the present invention.

Fig. 10 is a front view of the flapping wing angle and the wing palm running track of the flapping-wing aircraft of the present invention.

Fig. 11 is a plan view showing the main wing of the orthopter aircraft of the present invention stretching forward and sweeping back and the empennage upturned and pressed down.

Fig. 12 is the top view of the wing surface aerodynamic device leading edge flap of the flapping wing aircraft of the present invention, trailing edge flap and wingtip control.

Fig. 13 is a top view showing the forward sweep of the flapping wing of the present invention.

Fig. 14 is a perspective view of the overall structure of four flapping wings of a flapping-wing aircraft according to another embodiment of the present invention.

Fig. 15 is a perspective view of the control system and structure of a flapping-wing aircraft according to another embodiment of the present invention.

Fig. 16 is a structural diagram of a transmission system of a center wheel of an orthopter aircraft according to another embodiment of the present invention.

Fig. 17 is a side view flight mechanics diagram of the flapping wing aircraft of the present invention.

Fig. 18 is a side view flight mechanics diagram of the flapping wing on the flapping wing aircraft of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Fig. 1-2 and 6-13 have shown an embodiment of flapping wing aircraft 200 of the present invention, and it is made of upper straight wing A, flapping wing support frame B, cabin C, flapping wing D, empennage E, amphibious landing gear F , power system, transmission system and control system.

The upper straight wings A are a pair of planar wings whose fronts are arched upwards and form an anhedral angle of about 15° from the middle to both ends. Fastened, the front part is socketed with the frame front pipe fittings 112, 113 by the elevation angle buckle 12, and the elevation angle of the upper straight wing A can be adjusted by the upper straight wing elevation angle controller 34 on the right side of the cabin within the scope of plus or minus 30°. When flying with flapping wings, the upper straight wing can balance and increase the lift, just like the role of the carapace wing in the take-off and flight of a carapace insect, especially when flying at high frequency and fast, the upper straight wing cooperates with the rear part The propeller propeller can improve the stability of the orthopter. The wing can be made into a plane wing from a flexible material, or can be made into an air bag wing filled with an inert gas. As an auxiliary wing, it can also be removed.

The flapping wing support frame B is arranged in the middle part of the fuselage, and consists of four vertical pipes 112, 113, 114, 115, the top of which is connected with the upper straight wing A, and the bottom is connected with the cabin C. In the middle of the vertical pipes or The lower part is connected with four transverse pipes 74, 74' and 76, 76' to form the main spar supporting the left and right flapping wings; on both sides of the frame, there is an annular transmission device G, which can provide power for the flapping wings and also calibrate the flapping wings. The original trajectory of the wing motion (see Figure 2).

In Fig. 8, the nacelle C is located between the supporting frame B and the amphibious undercarriage F, and is mainly connected by four longitudinal pipes 138, 139, 140, 141 and two elliptical pipes 142, 143 at the front and rear. The front and rear ends of the pipe fittings are respectively connected with a U-shaped pipe fitting 144, 145. At the bend of the U-shaped pipe fitting, there are four curved pipes 146, 147, 148, 149, 150, 151, 152, 153 at the top and bottom. It is connected with a U-shaped pipe, and the other end is connected with an oval pipe to form a streamlined cabin frame. In addition to the power system and the control system, there are driver and passenger seats in the front and rear of the engine room. In front of the driver's seat are the instrument panels for altimeter, airspeed meter, magnetic compass and other instruments (not shown in the figure). .

In Figures 1, 2 and 6, the flapping wing D includes a left flapping wing D ₁ and a right flapping wing D ₂ , which are respectively located on both sides of the fuselage. The flapping wing D is composed of main spars 74, 75, 76, main joints 77, 78, 79; middle spars 80, 81, 82, middle joints 83, 84; front spars 85, 86, 87, front joints 88, 89, 90; palm spars 91, 92, 93; palm joints 94, 95 , 96 and wing palms, their structures and connections are as follows:

1) The main spar and the main joint are respectively composed of the main front spar 74, the main middle spar 75, the main rear spar 76, the main front section 77, the main middle section 78, and the main rear section 79. The main front beam and the main rear beam are telescopic beams, one end of which is connected to the frame B, and the other end is connected to the main front section and the main rear section; the main middle beam is also a telescopic beam, and one end is a convex ball joint and a ring transmission device The concave ball joints on the top are socketed to form a ball joint 16, and the other end passes through the main joint, and is socketed with the main middle section in the middle; the main middle section is also a spherical joint, which is the fulcrum of the main center beam, and the main joint 77, 78 and 79 are the fulcrum joints of the flapping wing. Under the action of the moment from the main center beam, the main joint ball rotates up and down to make the flapping wing flutter up and down;

2) The middle spar and the middle joint are composed of the middle front beam 80 , the center beam 81 , the middle rear beam 82 , the middle front section 83 , and the middle rear section 84 . One end of the middle front beam and the middle rear beam are respectively connected with the main front section and the main rear section, and the other ends are respectively connected with the middle front section and the middle rear section; Under the action of the center beam moment, the role of the middle spar and the middle joint section is to make the wing center of the flapping wing shift back and forth when the flapping wing flutters up and down, that is, when the flapping wing flutters upwards, it flutters from the rear bottom to the front and upwards, and when it flutters downward, it moves forward and backward. When flying from the upper front to the lower rear, the trajectory of the wingtips passing through the space is spiral;

3) The front spar and the front joint are respectively composed of the front front beam 85 , the front center beam 86 , the front and rear beams 87 , the front front section 88 , the front middle section 89 , and the front and rear sections 90 . The front and rear beams are controllable telescopic beams, one end of which is connected with the middle front section and the middle rear section respectively; The extension of the front spar section, the end is the front middle section, the effect of the front spar and the front joint section is that under the manipulation of the left and right wing discs 31, 32, the two wings can be stretched forward and backward;

4) The palm wing beam and the palm joint are composed of the palm wing front beam 91 , the palm wing middle beam 92 , the palm wing rear beam 93 , the front section 94 , the middle section 95 , and the back section 96 . The palm-wing front beam and the palm-wing rear beam are controllable telescopic beams, and one end of them is connected with the anterior and posterior segments respectively; the other end is connected with the anterior segment and the posterior segment respectively. The middle beam of the palm wing is a U-shaped beam, and one end is connected with the front middle section; Wing palm can be stretched back and forth;

5) Wing palm is composed of palm disc 97, palm ring 98, palm tendons 99, palm fingers D ₁ -D ₉ . The palm plate is sleeved on the outside of the ball in the palm, and the palms and fingers pass through the palm tendons and the palm ring respectively, and are fixed on the palm plate to form a wing-palm fan; the palm ring 98 is stuck in the U-shaped palm-wing middle beam, which can strengthen the wings. Strength between palm and main wing;

6) The front middle section 89 is the center node of the flapping wing, and the center of the node is the tension line pillar 100, which supports the transverse tension line 101 and the longitudinal tension line 102, which can be used to strengthen the rigidity and strength of the flapping wing.

Fig. 3 shows another embodiment of the airfoil structure of the flapping wing aircraft of the present invention. In this embodiment, the main spar 74, 74 ', 76, 76 ' is connected with the main wing rings 239, 239 ' on both sides of the fuselage, and the center of the beam 241, 241 ' of the main wing ring is a spherical rotating shaft 240, 240 ', The axis passes through the central axis 10 and is connected with the main beams 138 and 139 of the cabin. When turning the main wing ring up and down at a certain angle, the positive and negative elevation angles of the flapping wing D' can be changed; forward-swept wings.

Fig. 7 shows another embodiment of the airfoil structure of the flapping wing aircraft of the present invention. In this embodiment, flapping wing D-1 is a rigid wing. Consists of main wing and wing palm. The main wing is composed of main spars 74, 75, 76, main joints 77, 78, 79, fixed airfoil 128, movable airfoil 129, and main wing disc 130; , the palm-wing disc 97 is composed of the palm-wing fixed surface 131, and the palm-wing disc 97 is sandwiched in the middle of the main wing disc 130. Under the action of the wing palm control device, the palm wing can be stretched forward and swept back; in addition, there is an elevation angle strut on the main middle section ball, and the end is a front stay wire, and the two ends of the stay wire respectively pass through the main front section, and the main The rear joint end pulley links to each other (not shown) with the elevation angle control panel 47, and under the effect of the elevation angle control device, the change of the flapping wing elevation angle can be realized.

Empennage E is a retractable fan-shaped empennage, is positioned at the rear portion of fuselage, is connected with nacelle C by empennage main beam 126, (referring to Fig. 1,11) between empennage front beam 103 and center beam 104 is fixed airfoil. Inside the central sill is a telescopic wing surface, the middle part of the empennage is a triangular support frame 105, the top of the frame is an upper stabilizing wing 106, and the left and right sides are extension arms 107, 107'. The inside of the support frame is the empennage telescopic strut (108). The empennage positive and negative elevation angle rocker 109 at the front end is snapped together with the spherical clamp 127 at the end of the empennage main beam 126 to form an upturning and downward pressing, which can be zoomed in and out. Scalloped airfoil.

2 and 8 have shown the three-wheeled amphibious undercarriage F adopted by the flapping-wing aircraft 200 of the present invention. Landing, after the airbag frame 124 and 125, 125 ' are installed on the front wheel and the main wheel, (the inert gas lighter than air can be filled in the airbag), this landing gear can not only make the aircraft on the ground but also on the water surface drive, take off or land. Below the main beam 71 of the main landing gear, a screw propeller 70 is set, and the front end of the propeller is a table-shaped gear 68, which meshes at right angles with the table-shaped gear 69 on the center shaft of the main landing gear; on the left side of the nacelle A propeller control rod 72 is connected to the drive shaft of the propeller 70 . After the main landing gear wheels 6, 6' are started, the propeller control lever 72 is pushed forward, and the transmission gear of the propeller meshes with the transmission gear on the central shaft of the main landing gear to provide the propeller 70 with the aircraft on the water surface. Driving power.

In addition, FIG. 9 also shows an embodiment of another telescopic traveling undercarriage _F1 of the orthopter of the present invention. The landing gear _F1 is driven by the pedal plate 132 on the main beam of the front wheel under the action of human power to pull two lifting cables 133 and 134 on the plate, and the lifting cable 133 is divided into 4 pulling cables and passes through them respectively. The pulleys on both sides of the landing gear main beam 135 and 135 ′ are fixed on both sides of the landing gear telescopic beam 136 and 136 ′ top; On both sides of the front wheel telescopic beam 137. In addition, the transmission wheel 3 on the left side of the gearbox 2 is connected with the transmission wheel 120 through the transmission belt 4 . The outside of transmission wheel 120 is platform combination gear 121 and 122, and gear 122 is meshed with landing gear transmission wheel 5 with the coaxial platform gear 123 of telescopic shaft 220, provides power for ground driving; When aircraft is taking off or landing, When the landing gear needs to be raised, the foot pedal 17 can be stepped on to drive the foot pedal 132 to rotate with the power of the lower limbs. Under the pulling force of the lifting cables 133 and 134, the main beams 135 and 135' of the landing gear rise upward or the telescopic beams 136 and 136 ' protrudes downward. The mechanical power can also be transmitted through the transmission wheel 21 on the transmission central shaft to lift the landing gear F ₁ . After the landing gear rises to a certain height, pull the landing gear lifting control lever 221 to lock the pedal plate 132 backward, and the landing gear is limited to a certain height. The rise of the landing gear is convenient to increase the angle of the flapping wing and improve the lift. Useful for takeoff and landing.

Fig. 1 and Fig. 2 have represented the power system of the flapping-wing aircraft 200 of the present invention, and the power source of this aircraft is divided into mechanical power and human body power two parts:

1) The mechanical power system is to install a 25-50 horsepower piston engine 1 at the bottom of the engine room. The power wheel of this engine can be divided into two roads to transmit when power transmission, one road is to be passed to driven wheel 24 by transmission belt, then is passed to propeller running wheel 25 by transmission belt 28, for propeller 26, provides push-back reserve power; It is transmitted to the gear box 2 through the transmission shaft, and the left and right transmission wheels are separated after the combination of the internal gears of the transmission box. The left side transmission wheel 3 is connected with the main landing gear transmission wheel 5 through the transmission belt 4, which can provide the ground for the aircraft before and after take-off and landing. Or the power of running on the water; the right transmission wheel is connected with the transmission wheel 9 on the transmission center shaft 10 through the transmission belt 8, and provides power for the annular transmission device on both sides of the flapping wing frame;

2) the human body power transmission system is at the front end of the cabin, and a human body power transmission device is arranged, and it is made of left and right foot pedals 17,17 ', large roulette 18, small roulette 19. The big roulette is connected with the roulette 21 on the transmission center shaft through the gear chain 20, which can provide the human flapping power for the annular transmission device; the small roulette is connected with the coaxial roulette 23 on the gearbox through the gear chain 22, It can provide human power for the aircraft to travel on the ground or on the water. After the aircraft is lifted into the air, the engine can be turned off, and the human body power and the aerodynamic device on the flapping wing can be used to fly in the air. After removing the engine 1 on the aircraft, the gear box 2 and other attachments of mechanical power, the aircraft becomes a manpower flapping-wing aircraft.

Fig. 1-2 has shown the transmission system of the flapping wing aircraft 200 of the present invention, and this system is a kind of annular transmission device G, is arranged on the left and right sides of the flapping wing support frame B, is constituted by the annular chassis and the annular track chassis of the annular track 11. There is a grooved pulley in the middle of the circular track, and a disc is fixed on the inner and outer sides of the pulley, and each disc is symmetrically distributed with four rolling wheels tangent to the inner and outer planes of the circular track (not shown in the figure). Show), so form a rolling wheel 12 on the circular track, the outside of the wheel is fixed on the endless chain 13, and the endless chain is to be connected with the gears 14, 15 up and down of the circular track chassis (see Fig. 2). The outer side of the ring chain is fixed with a concave ball joint, which is socketed with the convex joint at the end of the main center beam to form a ball joint 16 that can rotate 90° up and down, left and right. Under the action of the engine, the transmission The transmission wheel 9 on the central shaft will drive the transmission gear discs 14, 14' and 15, 15' on the ring gear G to rotate, and the rolling wheels 12 and 12' on the ring gear chain will run back and forth, up and down along the ring track , when the rolling wheel moves from bottom to front on the circular track, the flapping wings will flutter from the top to the rear; The rear flaps to the front, and the trajectory of the wingtips in flight is spiral. We call this flapping-wing flying method without artificial manipulation of pure mechanical movement, which is called the original flapping-wing flying method (or called horizontal power flight).

In addition, Fig. 3 shows another embodiment of the flapping wing aircraft of the present invention. In this embodiment, the upper straight wing A is a detachable auxiliary wing, which can be installed or removed from the connection points 116, 117, 118, 119 on both sides of the fuselage according to the needs of the flight. The fuselage is composed of the support frame B and the cabin C to form a closed streamlined fuselage BC. In this embodiment, the transmission system is a kind of elliptical track transmission device G ₁ , which is arranged on both sides of the streamlined body BC and can be used to replace the annular transmission device G. 176 constitutes an elliptical orbit, in which a central axis 10 is arranged, the two ends of the central axis are telescopic arms 168, 168 ', and the front end of the telescopic arm has a rolling wheel 192, the inner side of the rolling wheel is a support wheel 196, and the outer side is a concave The ball joint is socketed with the convex ball joint at the end of the main center beam to form a ball joint 16 that can rotate 90° up, down, left, and right. Under the action of the engine, the transmission wheel 9 on the transmission central shaft drives the telescopic arm to run on the elliptical track. When the rolling wheel 192 at the end of the telescopic arm moves from bottom to top on the rear half elliptical track, the flapping wing moves forward from top to bottom. Downward movement; when the rolling wheel 192 runs from top to bottom on the front semi-elliptical orbit, the flapping wing moves upward from bottom to back, and under the action of the reaction force of the flapping wing, when the telescopic arm runs on the upper semi-elliptical orbit, the supporting wheel 196 orbits along the small ellipse shape. When the telescopic arm is running on the lower semi-elliptical orbit, the rolling wheel 192 is running on the large elliptical inner ring orbit. Under the action of the elliptical orbital transmission system, when the flapping wings are fluttering, the trajectory of the wingtips in the space is spiral, which is A flapping-wing flight mode without human manipulation and control is called the original flapping-wing flight mode.

Meanwhile, FIG. 4 also shows another embodiment of the transmission system of the orthopter aircraft 200 of the present invention. The system is composed of a push-pull arm transmission device _G2 , which is arranged on the left and right sides of the flapping wing support frame B, and can be used to replace the ring transmission device G and the elliptical track transmission device _G1 . The system is powered by the central shaft 10 and the central shaft. Arms 166, 166' form a central crankshaft. The power arm of the central axis is a telescopic arm, and the telescopic rod 167 of the power arm is connected with the drive wheel 169 inside the force arm through a backguy. The pulleys 170 , 171 are connected to a moving plate 172 . The rear portion of the moving plate is connected with the diamond-shaped push-pull rod 173, and on both sides of the diamond-shaped push-pull rod backseat 174, a stay wire is respectively connected with the argument winch 177. On both sides of the support frame B, a vertical track 178, 178' is respectively arranged, and a pulley 179, 180 is respectively arranged at the upper and lower ends of the track, and a grooved pulley moving plate 181, 181 ' is arranged in the inside of the track to move on the track. Moving up and down, a flapping wing drawing wire 182 is connected on the outside of the moving plate 181, and the two ends of the drawing wire pass through the pulleys 179, 180 at the upper and lower ends of the vertical track respectively and are connected with the upper and lower rings 183, 183' of the main joint. In addition, the power arm of the central axis is connected to the push-pull arm 185 through a ball joint 184 , and the end of the push-pull arm is a rotatable ball joint 186 fixed on the inner side of the orbital moving disk 181 . On both sides of the central shaft rotating wheel 9, a drive wheel 187, 187' is respectively connected to the drive wheels 189, 189' through chains 188, 188'. A coaxial wheel 190, 190' is respectively arranged on the drive wheels 189, 189' to be connected with the ball joint 16 at the end of the main middle joint by a push-pull rod. Move back and forth. Under the action of the engine, the transmission wheel 9 on the transmission central shaft will drive the central crankshaft to rotate. When the central shaft power arm 166, 166' moves from top to bottom, the push-pull arm 185 will move the moving disk on the track 181 is pulled from top to bottom. At this time, under the upward pulling force of the flapping wing drawing wire, the flapping wing is pulled from bottom to top. Push, so that when the flapping wing flutters downward, it flutters from the front to the rear, and the trajectory of the wingtips in flight is spiral. This kind of flapping wing flight without human manipulation and control is called primitive flapping. Wing flight mode or be called horizontal power flight mode.

FIG. 5 shows another embodiment of the transmission system of the orthopter aircraft 200 of the present invention. The system is composed of a central axis transmission device _G3 , which is arranged on the left and right sides of the flapping wing support frame B, and can be used to replace the ring transmission device G, the elliptical track transmission device _G1 and the push-pull arm transmission device _G2 . This device is to constitute central crankshaft by central shaft 10 and central shaft power arm 194,194'. The power arm of the central axis is a telescopic arm, and the telescopic rod 195 of the power arm is connected with the turning wheel 197 on the inner side of the force arm by a backguy. The pulleys 198 , 199 are connected to the moving plate 205 . The rear portion of the moving plate is connected with the rhombic push-pull rod 201, and a stay wire is connected with the argument capstan 204 on both sides of the rhombic push-pull rod rear pressure 202,202'. A transmission wheel 206, 206' is respectively arranged on both sides of the central shaft transmission wheel 9 to be connected with transmission wheels 208, 208' through chains 207, 207'. A coaxial wheel 209 is arranged on the driving wheel 208, which is connected with the ball joint 16 at the end of the main middle section by a push-pull rod. The end of the ball joint 16 is a rotating wheel 210, which is stuck in the guide rail and can move forward and backward. The end of the central axis power arm is connected with the push-pull arm 212, 212' through the ball joint 211, 211', and the end of the push-pull arm is a rotatable joint 213, 213' and an arched support 214, 214' on the main joint connected. Under the action of engine power, the transmission wheel 9 on the transmission central shaft will drive the central crankshaft to rotate. When the central crankshaft power arm moves from top to bottom, the push-pull arm pulls the flapping wings from top to bottom. At the same time, the transmission wheels 209, 209 The push-pull rod on the ′ pushes the ball joint 16 from front to back, so that the flapping wing flutters from the upper front to the lower back when it flaps downward; when the central axis power arm moves from bottom to top, the push-pull arm moves the flapping wing from bottom Push up, and at the same time, the drive wheel push-pull rod pulls the ball joint 16 at the end of the main middle joint from back to front, so that the flapping wing will pounce on the front from the lower rear when it flutters upwards. The trajectory of the wingtips in the air is spiral, and this flapping-wing flight mode without human manipulation is called the original flapping-wing flight mode or the horizontal power flight mode. When the argument winch handles 215, 215' are pulled downward, under the action of the stay wires 203, 203', the diamond-shaped push-pull rod shrinks and drives the moving plate to move backward, and the turntable at the front of the moving plate pulls the rotating wheel 197 downward through the stay wire. Turning handle on the top, rotating wheel 197 rotates downwards, at this moment, central axis power arm telescoping rod 195,195 ' stretches outwards, makes the angle of flapping wing increase, otherwise, upwards pulls angle winch handle 215,215 ’, the central axis power arm telescopic rod 195, 195 ′ shrinks inwardly, so that the argument of the flapping wing is reduced.

6-13 show the control system of the orthopter 200 of the present invention. The system is mainly for the manipulation and control of the main wing, wing palm, elevation angle control device, wingtip control device, leading edge flap and trailing edge flap control device, flapping wing frequency, argument and empennage.

In Fig. 2, 6, 8, 11, the main wing is the main wing part from the main spar to the front joint section. Its manipulation and control are that on the girder of the nose landing gear, a left-wing control panel 31 and a right-wing control panel 32 are housed. The backguy 148 of right wing control panel is fixed on the front front section 88 of the right wing front joint by flapping wing support bridge 40 one ends, and the other end is fixed on the front and rear joint 90, (left wing and right wing are identical). There is a left wing disc control handle 29 and a right wing disc control handle 30 respectively on the left and right sides below the steering wheel 110. The front front beams 85, 85' shrink inwardly, and the front and rear beams 87, 87' stretch out. At this time, the left and right main wings stretch forward, the center of gravity of the aircraft moves backward, the nose lifts up at a positive elevation angle, and the aircraft enters the climbing state upwards; (See Figure 6) When the control handles of the left and right wing discs are pulled back simultaneously, the left and right main wings of the aircraft shrink backward, the center of gravity of the aircraft moves forward, the nose tilts downward into a negative elevation angle, and the aircraft enters a dive state downward. When the right handle is pushed forward and the left handle is pulled back, the right wing stretches forward and the left wing shrinks back (see Figure 11). The left handle does not move at the original position, and when the right handle is pulled back, the aircraft loses balance and circles to the right, otherwise, it circles to the left; when the left and right handles return to their original positions and are locked, the aircraft returns to the original flapping wing flight state and performs a straight line at a constant speed flight.

Fig. 2,8,13 have shown the manipulation and control of wing palm. Above the left and right wing control panels of the main beam of the front landing gear, there are respectively a left palm control panel 35 and a right wing control panel 36. The pull wire 149 of the right wing control panel passes through the flapping wing support bridge 40, and one end is fixed on the palmar joint 94, the other end is fixed on the back joint 96 of the palm, (the left palm and the right palm are the same) below the steering wheel, on the outside of the left and right wing disc control handles, there is a left palm control handle 33 and a right palm control handle 34 respectively, if the original Flapping wing flight is regarded as a straight-line flight at a constant speed, and at this time all the acting forces and moments are in a balanced state. If this balance is disturbed by an external force, a torque needs to be generated to restore the balance. During the flapping process, the forward and backward movement of the wing palm can accomplish these two functions, namely maintaining balance and restoring balance after the balance is broken. For example, when the aircraft is longitudinally unbalanced, that is, the front is heavy and the rear is light, and the nose is tilted downward, the left and right wing palm control handles can be pushed forward at the same time. Extend the palms forward at the same time, overcome the forward movement of the center of gravity of the aircraft, and maintain the balance of the aircraft. (See Figure 13) When the aircraft appears to be heavy at the rear and light at the front, and the nose is tilted up, the left and right wing palms will simultaneously pull the handles backward. balance. When the aircraft is horizontally unbalanced, if the lift of the left wing is greater than that of the right wing, and the aircraft tilts to the right, the palm of the right wing can be pushed forward, and the palm of the left wing can be pulled back. At this time, the palm of the right wing stretches forward, and the palm of the left wing moves backward Sweep, the aircraft begins to bank to the left, regaining lateral balance, and vice versa. The balance of above-mentioned aircraft, according to the needs of flight, wing palm also can cooperate action with main wing, empennage.

Figures 6 and 8 show the manipulation of the elevation angle control device. The device is composed of the elevation angle control hand plate 43, hand brake 44, hand buckle 45, control panel 46, control panel pedal buckle 49, rear pull wire 216, and the elevation angle control rocking plate 47 and rocker at the lower part of the main middle section on both sides of the cabin. 48, rocking bar flange 165, rocking bar tensioner 217, front backguy 218 are made up of (seeing Fig. 8, Fig. 6). The two ends of the front stay wire are respectively fixed on the upper and lower parts of the front of the palm, then pass through the pulleys at the upper and lower ends of the palm disc pillar 219, then pass through the pulleys at the upper and lower parts of the rear of the palm, and turn back through the pulleys at the upper and lower parts of the palm disc 97 , the middle part is connected with the elevation angle control rocking plate 47; the two ends of the backstay wire are fixed on the rocking bar 48 ends, then pass through the pulleys and flapping wing support bridges on the main front section and the main rear section, and the middle part is in phase with the elevation angle control hand plate 43 connect. In the original flapping wing flight state, the leading edge and trailing edge of the flapping wing can be regarded as approximately horizontal up and down movement, and the elevation angle of the flapping wing can be regarded as zero degree. The flying speed can change the elevation angle when the flapping wings flutter up and down, that is, hold the elevation angle control handle, press the hand button 45 at the front end of the handle with your thumb, and the hand brake 44 will spring up. At this time, the rocker loses the downward force of the hand brake cable The pulling force is pulled into the rocker flange holder by the rocker tensioner, so under the action of the front and rear displacement of the middle spar, when the flapping wing flutters from bottom to top, the rocker flange is driven by the middle spar from the front to the rear. Moving backward, the rocker 48 stuck on the flange card seat drives the rocking plate 47 to rotate backward. Under the action of the tension of the front cable, the front edge of the flapping wing is lifted upwards, and the rear edge is pressed down. The elevation angle of the flapping wing Increase to a positive elevation angle; when the flapping wing flutters from top to bottom, the rocker flange on the middle spar is driven by the middle spar to move from back to front, and the rocker 48 stuck on the flange holder Drive the rocking plate 47 to rotate forward, under the action of the pulling force of the front cable, the front edge of the flapping wing is pressed down, and the rear edge is raised upwards, the elevation angle of the flapping wing decreases, and becomes a negative elevation angle, and the difference between the positive and negative elevation angles is about +30° ~-30°, move the rocker flange on the center spar back and forth to adjust the positive and negative elevation angles. When holding the elevation angle control handle, four fingers can be used to close the hand brake, and the hand buckle will automatically close the hand brake. At this time, the rocker is detached from the flange seat under the downward pull of the hand brake cable, so the elevation angle changes. Controlled by the elevation control hand panel in the cabin. When the handle is pulled up, the flapping wings will be at a positive elevation angle, and when the handle is pushed down, the flapping wings will be at a negative elevation angle. When stepping on the control panel foot button 49, the steering wheel 110 can rotate the control panel 46 to control the elevation angle of the flapping wing. For a flapping-wing aircraft, the control of the flapping-wing elevation angle is very important. If the flapping-wing elevation angle can be adjusted flexibly, good flight results will be achieved.

Simultaneously, Fig. 6, 8, 13 have also shown the manipulation of wingtip control device, and this device is by the wingtip control panel 50 of cabin both sides, wingtip control hand brake 51, wingtip control hand buckle 52, rear stay wire 155 and The wing tip control rocking plate 54 on the elevation control rocking plate top, rocking bar 55, wing tip controlling rocking bar flange 56, rocking bar tensioner 156, front backguy 157 are formed. The front backstay middle part of the wingtip is connected with the control panel 54, then passes through the upper and lower pulleys of the palm panel, and the two ends are respectively fixed on the upper and lower ends of the wingtip rocking handle 158. In the original flapping flight, the wingtip and the entire wing flutter from top to bottom. When holding the handle of the wingtip control panel and pressing the hand button 52 at the end of the handle with the thumb, the wingtip controls the hand brake. 51 is bounced, at this time, the wingtip control rocker loses the pulling force of the handbrake cable, and is pulled into the flange seat of the rocker by the rocker tensioner, so under the action of the displacement of the front spar, when the flapping wing moves from top to bottom When flapping downwards, the wingtips are pressed down and bent inward; when the flapping wings are flapping upwards, the wingtips are tilted upwards. When holding the wingtip control handle and four fingers forcefully close the hand brake, the hand buckles the automatic handle On the brake buckle, at this moment, the wingtip control rocker breaks away from the flange seat under the pulling force of the hand brake backguy, so the change of the wingtip is controlled by the wingtip control panel 50 in the cabin. When the handle is pulled up, the wingtips press down and bend inward. When you press down, the wingtips will tilt upwards. When you put your hand in the middle and lock it, the wingtips will return to their original position. During flapping flight and gliding, adjust the flapping wingtips to obtain the best aerodynamic force and Reduces wingtip vortices.

Figures 6, 8, and 13 illustrate the manipulation of the leading and trailing edge flap controls:

1) The control of the leading edge flap control device is composed of the flap pedal plate 57 on the right side of the cabin, the control cable 159, the leading edge flap 58, and the leading edge flap rocker 59. The leading edge flap is attached to the leading edge of the flapping wing at ordinary times. When stepping down on the flap foot plate 57, the lower end of the rocker arm below the flapping wing leading edge is pulled back by the pull wire, and the upper end pushes the leading edge flap forward at the same time. The front and bottom are unfolded; when the pedal plate loses its pedaling force, the leading edge flap is attached to the leading edge of the flapping wing. Usually when the aircraft climbs, lands or has a large elevation angle, the leading edge flaps are deployed to increase the camber of the wing surface, improve lift or prevent stalling.

2) The control of the trailing edge flap control device consists of the trailing edge flap control rods 73, 73' on the left and right sides of the cabin, the control cable 160, the trailing edge flaps 60, 60', and the rear flap rocker arms 61, 61' composed of. When the control lever is pulled back, the lower end of the rocker arm on the front beam of the trailing edge flap is pulled downward, at this time, the trailing edge flap is pressed down and bent inward; when the control lever is pushed forward, the The upper part of the rocker arm is pulled upwards. At this time, the trailing edge flaps are tilted upwards. Usually, when the aircraft takes off, climbs or lands, the trailing edge flaps are pressed down to maintain sufficient lift when the aircraft is flying at a low speed.

Manipulation and control of flapping wing frequency (referring to Fig. 2): there is a flapping wing frequency frequency modulation device 62 at the front part of gearbox 2, and this device divides the frequency of flapping wing 8～60 times per second into four gears (Fig. Not shown in the middle), controlled by the FM control lever 63. When the FM control lever is pulled from front to back to the first gear, the frequency of flapping wings can reach 8 to 15 times per second, which is a slow gear; when the FM control lever is pulled to the second gear, the frequency can reach 8 to 15 times per second. 15-30 times, this gear is a low-speed gear; when the FM control lever is pulled to third gear, the frequency of flapping wings can reach 30-50 times per second, this gear is a medium-speed gear; when the FM control lever is pulled to In the fourth gear, the frequency of flapping wings can reach more than 60 times per second, and this gear is a high-speed gear. The reason why the flapping-wing aircraft can break through the barrier of flapping-wing frequency and achieve high-frequency flight is different from the flapping-wing flying method of birds. It is difficult for most birds to break through the flapping-wing frequency of more than 10 times per second. , while most insects fly at a frequency of more than 50 flaps per second. The reason is not only physiological, but also the limitation of the airfoil structure and the way of flapping the wings. When a bird flaps its wings in flight, the entire wing can be seen as a whole flapping downwards when flapping downwards. When flapping upwards, the wing surface is no longer lifted up as a whole, but the humerus is lifted first, and then the forelimbs are very fast. Jump to the highest point quickly, so that the up and down flapping completes a cycle, which is difficult to achieve in less than 10 milliseconds. The difference between this flapping-wing aircraft and the way of flapping wings of birds is that the flapping of the two wings of the flapping-wing aircraft is no longer a pure up-and-down flapping, but in a transmission device, such as an annular transmission device G or an elliptical track transmission. Under the action of device G ₁ , etc., the two wings flutter up and down while accompanied by rotation (see Figure 10), so that the resistance generated when a bird pounces up is turned into a lift force, and at the same time, it also overcomes the high-frequency vibration of the two wings. When flapping up and down, the resonance phenomenon will bring destructive force to the material, thereby increasing the frequency of flapping wings. Flapping wing flutters up and down and every completes a cycle, and transmission system plays a leading role, for example, in the present embodiment, (referring to Fig. 2) because the power of annular transmission device G originates from motor, the transmission wheel 14,14 of this device lower end 'About every 3 revolutions, the rolling wheel on the track of the circular transmission device drives the ball joint to run up and down, left and right, and then the two wings flutter up and down to complete a cycle. Another example, in the elliptical track transmission device G ₁ (see Figure 3) , every time the telescopic arm runs in the orbit, it will drive the flapping wing to move up and down for one cycle. If the normal operating speed of the engine is set at 5000 revolutions per minute, then under the action of the elliptical orbit transmission device _G1 , the flapping wing will The frequency of flapping wings can be as high as more than 3000 times per minute.

The argument of flapping wing is manipulated and controlled (referring to Fig. 2, 8, 10) by the argument pedal plate 37,37 ' of both sides of the nacelle. The two ends of the argument angle control line 38, 38' pass through the main front beam 74 respectively, and are fixed on the main front section 77 and the main rear section 79 with the main back beam 76. The other two ends are combined into one and fixed on the argument pedal plate 37. Between the main front section and the main front girder, between the main rear section and the main rear girder, there are flapping wing support bridges 40 and 41 respectively. Except for the argument angle control guy wires, all the flapping wing control guy wires are laid on the bridge deck. There is an angle pedal 42 at the front end of the angle pedal plate, and a pedal buckle 39 is arranged in the middle of the pedal, when the pedal 42 is stepped on, the main spar shrinks inward, and the flapping wing support bridge arches upwards , At this moment, the argument of the flapping wing increases; When the pedal lost the stepping force, the pedal buckle 39 locked the pedal plate 37. At this time, the argument of the flapping wing is also limited. Under the effect of the pedal power, the pedal disc 37 can limit the argument angle in three gears, so that the argument angle can be changed in the range of 45°～90°.

Fig. 1, 8, 11 have shown the manipulation and the control of empennage, there is an empennage pitch control rod 64 on the left side of nacelle, and the two ends of empennage pitch control stay wire 161 are respectively fixed on the upper and lower ends of empennage rocking arm 109, and the middle part and control rod 64 phase connections. The upper end of the control rod 64 is the empennage elevation angle control hand buckle 65, and the tail retraction control pedal 66 is on the left front of the cabin, and the front end of the pedal is a pedal buckle 67, and the pedal stay wire 162 is fixed through the empennage main beam 126 On the empennage telescoping strut 108. When adjusting the elevation angle of the empennage, the thumb presses the control hand button 65 downwards, and the elevation angle control lever is pushed forward, and at this moment, the trailing edge of the empennage is upwards; Press down; when the lever handle loses the pressure of the thumb, the elevation control lever will be locked, and the tail will be fixed in a certain state of upturned, horizontal or pressed down; when the surface of the tail needs to shrink, use the left foot to Depress the control pedal 66 forward, and the control pull wire pulls the empennage telescopic compression bar 108 downwards. At this time, the stretch arms on the left and right sides of the empennage shrink inwardly, so the retractable airfoil is pressed into the empennage triangle by the telescopic compression bar 108. Inside the support frame 105, a lower stabilizer is formed, and the empennage is retracted (see FIG. 11). After the pedal loses the pedal power, the telescopic pressure bar loses the downward pulling force, and the left and right extension arms of the empennage eject the compressed wing surface, so the wing area is enlarged. When the pedal is stepped on to a certain strength, the sole of the front foot is tilted upwards, the pedal buckle pops up, and the pedal is locked. At this time, the expansion and contraction of the tail wing is also limited. Under the control of the tail stretching foot pedal, the size of the tail area can be expanded and contracted in the range of 3:1.

Fig. 14 shows another embodiment of an orthopter aircraft 200-1 of the present invention. The difference between this embodiment 200-1 and the above-mentioned embodiment 200 mainly lies in the wing and the movement mode of the wing (see FIGS. 1 and 3 ). The aircraft has four wings AD ₁ , AD ₁ ′ and AD ₂ , AD ₂ ′ (also two or eight wings). The shape of the wing is similar to that of a bird's wing, or it can be other shapes. Such as the front portion of the wing AD ₁ has transom 222, the rear portion is arranged with slats 223, the middle part of the main spar 224 is the wing disc 225, the inner side of the wing disc is the main wing, and the outer side is the wing palm 226. The two ends at central axis 10 are inline telescoping arms 227,227 ' (also can be that cross adorns eight wings). At the ends of the telescoping arms are scroll wheels 228, 228' and 229, 229'. For example, the root of the main spar of the AD ₁ wing passes through the rolling wheel 228, and is folded back into a 90-degree angle to be connected with the guide wheel 231 on the guide disc 230 on the rear side of the elliptical track _G1 . The guide disc 230 can move up and down, inside and out, and is used to change the elevation angle and wing shape of the wing to adapt to the needs of flight. When the guide disc controller handle 237, 237' is pulled upward, the leading edge of the wing is pressed downward to form a negative elevation angle; elevation angle. Respectively there is a wing palm controller handle 238, 238 ′ on the left and right sides of the steering wheel 110 to adjust the expansion and contraction of the wing palm. When the handle of the wing palm controller is pushed backward at the same time, the guide plate moves outward, and under the action of the drawing wires 233, 233' and 234, 234' at the rear of the wing surface, the wing palm shrinks backward; when the wing is pulled forward at the same time When the palm controls the handles 238, 238', the guide disc moves inwardly, and under the effect of the drawing wires 235, 235' and 236, 236' at the front of the wing, the palm of the wing stretches forward. When the right handle 238 is pulled backward and the left handle 238' is pushed forward, the two wing palms on the right side of the fuselage shrink backward, and the left two wing palms stretch forward. vice versa. When under the action of engine power, the rotating wheel 9 on the central shaft drives the telescopic arms 227, 227' to run on the elliptical track _G1 , the upper wings _AD1 and _AD1 ' move from top to bottom and backwards and Wing palm is twisted downwards, and at this moment, under the effect of aerodynamic force, the gap between the slats 223, 223' at the wing rear is closed, and the louvers 222, 222' at the front are closed. The airflow acting on the airfoil is thrown to the rear and downward, producing a strong reactionary lift and thrust to the airfoil; at the same time, the lower wing AD ₂ , AD ₂ ′ moves forward from bottom to back and the palm is twisted upward , also under the action of the airflow, the gap between the slats at the rear of the wing and the air window at the front are opened by the airflow from above, reducing the resistance of the flapping on the wing. In the above movement, due to the function of the guide device, when the two wings move up and down, they keep the plane movement, and every time a rotation cycle is completed, the four wings on the left and right sides of the fuselage can flutter along the arc. Successively obtain sufficient lift and thrust. This movement mode can be referred to as the movement mode of four flapping wings, and further includes the movement modes of six and eight flapping wings.

Fig. 15 shows another embodiment of an orthopter aircraft 200-2 of the present invention.

In this embodiment, the flapping wings BD, BD' are a pair of split slats, and the trailing edges of the wings are arranged with slats 242, 242' in sequence. The root of the main spar 243, 243' stretches into the nacelle, and is connected to the rocking plate 244, 244' which can rotate up and down, left and right. An elevation angle rocker 245, 245' is arranged on the outside of the rocking plate, and is connected with an elevation angle controller 247 on the left side of the nacelle by stay wires 246, 246'. There is guide rod 248 to be connected with guide wheel 249 at the bottom of elevation angle controller. The guide wheel 249 is engaged with the transmission wheel 250 with the same diameter on the transmission central shaft 10 . Above the transmission wheels 250, 250 ', there is respectively a guide wheel 251, 251 ' with the same diameter to engage with it, and on the guide wheels 251, 251 ', a guide rod 252, 252 ' and a wing palm rocking arm 253, 253' connected. The palm rocker arm is connected to the main ribs 255, 255' of the palm respectively through stay wires 254, 254'. Under the effect of engine power, the transmission central shaft drives the flapping wings to start fluttering up and down, and simultaneously the drive wheels 250, 250 ' also drive the elevation angle drive guide wheels 249 and the wing palm drive guide wheels 251, 251 ' to start working. When the flapping wings BD and BD' flutter from top to bottom, the slats 242 and 242' at the trailing edge of the airfoil are closed under the action of the airflow below, and the leading edge of the airfoil is deflected downward under the action of the pitch angle controller. At the same time, the palm of the wing stretches forward and twists downward; when the flapping wings BD and BD' flutter from bottom to top, the airflow from above opens the slats on the trailing edge of the wing. Part of the airflow flows through the gap, and the leading edge of the airfoil is deflected upward to a positive pitch angle, and at the same time, the palm is swept back and twisted upward. The changes that occur on the wing surface when the flapping wing is flapping upwards are beneficial to reduce the resistance when flapping upwards, and can obtain partial lift and thrust. When closing the hand brake 256 on the handle of the elevation angle controller 247, the hand buckle 257 at the top of the handle pops up. Negative elevation angle, when pulled backward, the flapping wing becomes a positive elevation angle. In addition, wing rings 257, 257' are provided on both sides of the fuselage to adjust the forward sweep and sweep of the main wing. The wing rings are connected to the control panels 31, 32 on the main beam of the front landing gear through the stay wires 258, 258'. And by the steering wheel handle 29,30 below the steering wheel, when the steering wheel handle 29,30 is pushed forward at the same time, the flapping wings BD, BD' stretch forward simultaneously; when the two handles are pulled backward, the two wings are swept back simultaneously . In addition, telescopic rods 260, 260' control buckles 261, 261' are arranged on the central shaft power arms 259, 259', and two pull wires are arranged at the end of the buckle handle to respectively pass through the pulleys 262, 263 on both sides of the central shaft and move. Disk 264 is connected. The rear portion of the moving plate is connected with diamond-shaped push-pull rods 265, 265'. On both sides of the diamond-shaped push-pull rod rear seat 266, 266 ′, a pull wire 267, 267 ′ is connected with the argument controller handle 268, 268 ′. The argument angle of the flapping wing can be changed by the argument angle controller at three angles of 45°-60°-90°. When adjusting from 45° to 60°, hold the handle of the argument angle controller and run the flapping wing from bottom to top At this time, the four fingers forcefully close the hand brake 269, 269' and then release it. At this time, the telescopic rod control buttons 261, 261' on the power arm of the central axis break away from the 45° gear of the flapping wing, and the telescopic rod 260, 260' is in the flapping position. The wing stretches outward under the upward reaction force, and is locked at the 60° position by the control buckle; when the 90° is adjusted to 450°, when the flapping wing moves from top to bottom, four fingers forcefully close the hand brake and then release it. When the telescopic rod shrinks inward under the upward reaction force of the flapping wing, it is locked on the 45° gear by the control buckle. Adjusting the flapping angle is very useful when the aircraft takes off or lands.

Fig. 16 shows another embodiment of the center wheel transmission system of the orthopter aircraft of the present invention. This system is to constitute transmission device by center wheel 269 and guide rod 270, transmits flapping wing power. The main spar 271, 271' of the flapping wing is connected with the nacelle through the spherical rotating fulcrum 272, 272'. The inner end of the main spar is a telescopic structure, and the ends are spherical joints 273 , 273 ′, which are connected with the guide rod 270 through a ball seat 274 . At the joint of the ball seat and the guide rod, there is also a connecting rod 275 connected with the main wing mover 276 . Under the effect of mechanical power, the center wheel transmission will drive the flapping wings to flutter up and down, and the main wing mover handle 277 is pulled forward or backward, and the flapping wings can be stretched forward and swept back.

Figures 17 and 18 have shown the mechanics of flapping-wing flight, whether or not the flapping-wing aircraft can fly, and in what way, which makes people unconsciously think of birds in the sky. It seems that the flight of a bird is very simple. In fact, from the perspective of aerodynamics, the flapping flight of a bird is quite complicated. Like other aircraft, an orthopter also needs lift to overcome its own gravity and thrust to overcome forward resistance. Most modern aircraft generate thrust through the propeller of a turbojet or turbine engine, and rely on the pressure difference between the upper and lower sides of the rigid straight wing to generate lift to achieve air flight; the rotor helicopter uses a pair of huge rotors on the upper part of the fuselage. To generate lift, the thrust and pull generated by the rear tail rotor are used to form a balance moment opposite to the rotor reaction torque direction, so as to realize the flight of the helicopter in the air. But the flapping wing aircraft will realize the air flight, just needs the flapping wing to produce the lift to overcome its own weight, simultaneously will produce the thrust to resist the resistance of advancing. How does the flapping wing produce lift and thrust, and whether the lift and thrust produced by the flapping wing can overcome its own gravity and forward resistance, so that the aircraft can fly in the air. For example, under the action of the annular transmission device, the leading edge of the flapping wing D runs along the running track from A to B from top to bottom, and from B to A from bottom to top, completing a cycle (see Figure 17), when At a flapping frequency of 15 times per second, under the action of the elevation angle control device, at a certain moment from top to bottom from A to a, the aerodynamic force F acting at point 0 on the wing surface can be decomposed into lift F ₁ and resistance F ₂ , due to the downward pressure of the leading edge of the flapping wing to a negative elevation angle, it moves from the upper front A to the rear _B along an arc. An instant thrust. Therefore, the aerodynamic force F is inclined at an angle θ in front of the vertical direction of the point of action. The lift _F1 is inclined upward and forward, and the resistance _F2 is perpendicular to the lift _F1 along the direction of the airflow _V0 . Under the action of the flapping force of the flapping wing, the airflow flowing into the wing surface is accelerated and pushed to the rear lower C place of the wing. According to Newton's third law, the airflow will produce a reverse thrust of equal magnitude and opposite direction on the airfoil. Therefore, when the flapping wing flutters from A to B along the arc from top to bottom, it can generate enough lift and thrust.

When the flapping wing flutters from B to b from bottom to top (see Figure 18), due to the upward movement of the flapping wing, the airflow component V _s acting on the upper surface comes from the upper front, and at the same time, because the flapping wing is from the bottom While the upper side moves forward and upward along an arc at a positive elevation angle, the airflow Vm felt by the lower airfoil comes from the front and lower, because the airfoil is tilted upward to form a positive elevation angle, the resultant V ₀ of the airflow components acting on the upper and lower airfoils is biased below the parallel line , at the action point 0 of the lower airfoil, the aerodynamic force F deflects to the rear in the vertical direction, and is decomposed into the resistance F ₂ along the airflow V ₀ and the lift F ₁ perpendicular to the resistance F ₂ , it can be seen that the flapping wing is formed by B from bottom to top When jumping to A along the arc, the main thing produced is lift.

When the elevation angle of the flapping wing is in the horizontal state and the aircraft enters the original flapping wing flight, the flapping wing flaps from A to B from top to bottom, and the airflow is pushed to D at the rear and lower side. At this time, the thrust is relatively reduced and the lift is relatively increased. ; When jumping from B to A from bottom to top, the lift relatively decreases and the resistance increases relatively. At this time, the aircraft enters the state of uniform straight-line flight under the original flapping wing flight.

In the material selection of the flapping wing aircraft of the present invention, the pipe fittings that constitute the load support structure, such as the upper straight wing A, the flapping wing support frame B, the cabin C, the amphibious landing gear F, the flapping wing, the empennage spar, etc., are made of titanium Alloy, nylon, carbon fiber composite material or other similar aviation new materials.

By reading this description, those of ordinary skill in the art can see that the present invention can achieve all the above-mentioned purposes, and can make various improvements and equivalent substitutions to the present invention, so the protection scope of the present invention is as described in the claims , and not limited to the above description and elaboration, all changes and modifications within the scope of the claims belong to the protection scope of the present invention.

industrial application

The flapping-wing aircraft of the invention can be used for air travel, traffic management, protection of forests and farmland and various aerial operations, and is an ideal air vehicle and can also be used as an airplane model toy.

Claims (39)

1. a flapping wing aircraft, comprising power system, transmission device, control system, cabin, landing gear, wing, empennage, wherein, described wing comprises the upper straight wing that is arranged on cabin top and flapping wing, described upper The straight wing is located on the top of the flapping wing support frame, and the flapping wing extends outwards on both sides of the flapping wing support frame, and it is characterized in that: the flapping wing includes a spar, a spar joint, a wing palm beam, a palm Joints and wing palms, of which: The spar includes a retractable main spar, a middle spar and a front spar, and the three extend from the support frame (B) to the flapping wing tip in sequence; One end of the main spar is movably connected with the flapping wing supporting frame (B), and the other end is connected with the middle spar through the spar joint; one end of the front spar is connected with the other end of the middle spar through the spar joint, and the other end of the front spar is connected with the wing The palm beam is connected; The palm spar includes the palm wing front beam (91), the palm wing middle beam (92) and the palm wing rear beam (93); the palm joint includes the palm front segment (94), the palm middle segment (95) and the palm rear segment (96); The palm wing front beam (91) and the palm wing rear beam (93) are controllable telescopic beams; one end of the palm wing beam is flexibly connected to the wing beam, and the other end is connected to the wing palm through the palm joint; Wing palm comprises palm plate (97), palm ring (98), palm tendons (99), palm fingers (D1-D9), palm center plate (97) is socketed on the outside of palm middle section (95), palm fingers (D1-D9) D9) pass through the palm tendons (99) and the palm ring (98) respectively, and are fixed on the palm plate (97) to form a wing-palm fan; the palm ring (98) is stuck in the U-shaped palm-wing middle beam (92) to Strengthen the strength between the wing palm and the main wing. 2. by the described flapping wing aircraft of claim 1, it is characterized in that described flapping wing main spar comprises main front beam (74), main middle beam (75) and main rear beam (76); Joint comprises main front section (77), main middle section (78), main rear section (79); main front beam (74) and main back beam (76) are telescopic beams, and their one ends are respectively connected with flapping wing support frame ( B) is connected, and the other end is connected with the main front section (77) and the main rear section (78) respectively; the main middle beam (75) is also a telescopic beam, and one end is a convex ball joint, which is connected to The concave ball joint of the ball joint is matched to form a ball joint (16); its other end passes through the main middle joint (78), and is connected with the main middle joint (78) in the middle; the main middle joint (78) is a spherical joint, it It is the fulcrum of the main center beam (75), and also the fulcrum joint of the flapping wing; under the effect of the main center beam moment, the main joint (78) can rotate up and down, left and right, thereby driving the flapping wing to flutter up and down, front and back. 3. by the described flapping wing aircraft of claim 2, it is characterized in that described flapping wing middle spar comprises middle front beam (80), center beam 81) and middle rear beam (82); Joint comprises middle front section (83) and middle back section (84); One end of middle front beam (80) is connected with main front section (77), and the other end is connected with middle front section (83); middle back beam (82 ) is connected with the main rear section (79), and the other end is connected with the middle rear section (84); the center beam (81) is the extension of the main center beam (75) in the middle wing beam section; when the flapping wing is on the main When flapping up and down under the action of the center beam moment, the center spar and the middle joint cause the wing center of the flapping wing to shift back and forth, that is, when flapping upwards, it flaps from the rear bottom to the front and upward; , the track that the wingtip crosses is spiral. 4. by the described flapping wing aircraft of claim 3, it is characterized in that described flapping wing front spar comprises front front spar (85), front center beam (86) and front and rear beam (87); Described spar joint Front joint comprises front front section (88), front middle section (89) and front and rear section (90); Front front beam (85) and front and rear beam (87) all are controllable telescopic beams; Front front beam (85) One end is connected with the middle front section (83), and the other end is connected with the front front section (88); one end of the front and rear beams (87) is connected with the middle rear section (84), and the other end is connected with the front and rear sections (90) The front middle beam (86) is the extension of the main center beam (75) at the front spar section, and the front middle joint (89) positioned at its end is the central node of the flapping wing; the front middle joint (89) center is positioned at The tension line pillar (100) supports the transverse tension line (101) and the longitudinal tension line (102) to strengthen the rigidity and strength of the flapping wing; Both wings can be stretched forward and backward. 5. The flapping-wing aircraft according to claim 1, characterized in that said flapping wings (AD ₁ , AD ₁ ′, AD ₂ , AD ₂ ′) are four pieces under the action of an elliptical track transmission (G ₁ ). Rotating wing, the front part of the wing is provided with a transom (222), the rear part is arranged in sequence with a plurality of slats (223), the middle part of the wing is provided with a wing disc (225), the inner side of the wing disc is the main wing, and the outer side is the wing palm (226), which is similar in shape to a bird's wing. 6. by the described flapping wing aircraft of claim 1, it is characterized in that the main wing control device of described flapping wing is on the girder of nose landing gear, left wing control panel (31) and right wing control panel (32) are housed, The stay wire (148) of the left wing control panel passes through the left flapping wing support bridge (40), and one end is fixed on the front front joint (88) of the left wing front joint, and the other end is fixed on the front and rear joints (90). The left and right sides are respectively equipped with a left wing disc control handle (29) and a right wing disc control handle (30). 7. by the described flapping wing aircraft of claim 1, it is characterized in that the wing palm control device of described flapping wing, is to be provided with left and right wing palm control panels (35) and (36), the backguy (149) of the right wing palm control panel passes through the flapping wing support bridge (40), and one end is fixed on the front section of the palm (94), and the other end is fixed on the back section of the palm (96). The outside of the handle has a left or right wing palm control handle (33) and (34). 8. by the described flapping wing aircraft of claim 1, it is characterized in that the elevation angle control device of described flapping wing is to be controlled hand plate (43), hand brake (44), hand clasp (45) by the elevation angle on both sides of the cabin, Control panel (46), control panel foot buckle (49), rear cable (216) and elevation angle control rocker (47), rocker (48), rocker flange (165), rocker tensioner at the lower part of the main middle section (217), front backguy (218) are formed. 9. The flapping-wing aircraft according to claim 12, characterized in that the control device for the elevation angle of the four flapping wings further comprises four flapping wings swirling up and down, in the guiding device guide wheels (231, 231 ', 232, 232 ') under the effect of realizing the control device that twists up and down to generate propulsion with the transverse axis as the axis in the wing-palm motion. 10. The flapping-wing aircraft according to claim 1, characterized in that the wingtip control device of the flapping wing is composed of a wingtip control panel (50) on both sides of the cabin, a wingtip control hand brake (51), a wingtip Tip control handle (52), rear cable (155), wingtip control rocker (54), rocker (55), wingtip control rocker flange (56), rocker tensioner (156), front cable ( 157) composed of. 11. by the described flapping wing aircraft of claim 1, it is characterized in that the leading edge and trailing edge of described flapping wing are distributed with leading edge flap and trailing edge flap control device: The leading edge flap control device is composed of the flap pedal plate (57) on the right side of the cabin, the control cable (159), the leading edge flap (58), and the front flap rocker arm (59); Trailing edge flap control device is to be made of trailing edge flap control bar (73,73 '), control stay wire (160), trailing edge flap (60), rear flap rocking arm (61) by nacelle left and right sides. 12. By the described flapping wing aircraft of claim 1 or 2, it is characterized in that said transmission device is made of annular transmission device (G), and this transmission device constitutes the ring track chassis (11) by ring disc and ring track, in There is a grooved pulley in the middle of the circular track, and a disc is fixed on the inner and outer sides of the wheel. Four rolling wheels are symmetrically distributed on the upper and lower parts of each disc and are tangent to the inner and outer planes of the circular track, forming a circle on the circular track. Rolling roulette (12), the outside of rolling roulette is to be fixed on the ring chain (13), and ring chain is connected with the gear disc (14), (15) up and down of ring track chassis, and the outside of ring chain is fixed with concave shape. Ball joint, the concave joint is socketed with the convex joint at the end of the main center beam to form a spherical joint (16) that can rotate 90° up and down, left and right, and under the action of the ring transmission (G), the flapping wings The running track becomes an ellipse. 13. The flapping-wing aircraft according to claim 1 or 2, characterized in that the transmission device is composed of an elliptical track transmission device (G ₁ ), which is composed of a large elliptical wheel disc (175) and a small elliptical wheel Disk (176) constitutes an elliptical orbit, in which a central axis (10) is arranged, the two ends of the central axis are telescopic arms (168, 168 '), and a rolling wheel (192) is arranged at the front end of the telescopic arm. It is a support wheel (196), and the outside is a concave ball joint, which is socketed with the convex joint at the end of the main center beam to form a spherical joint (16) that can rotate 90° up and down and left and right. 14. The flapping-wing aircraft according to claim 13, characterized in that the said elliptical track transmission device (G ₁ ) is connected with the guide plate (230, 230') under the action of the telescopic arm (227, 227') of the central axis. Constitute the flapping wing balance guide transmission device, and limit the flapping wings on the left and right sides of the fuselage to maintain parallel and staggered movement during the arc up and down movement, so that the airflow can close the front air window (222) and rear slat (223) of the wing when flapping down , the front air window and the rear slats can be opened to increase the lift and reduce the drag when flying upwards, and the flapping form is a swirling motion. 15. The flapping-wing aircraft according to claim 1 or 2, characterized in that the transmission of the aircraft is a push-pull arm transmission (G ₂ ), which is composed of a central shaft (10) and a central shaft power arm (166) , 166 ') constitute the central crankshaft, the central axis power arm is a telescopic arm, and the telescopic link (167) of the power arm is connected with the drive wheel (169) on the inside of the force arm by a stay wire, and the rotating handle of the drive wheel (169) On, two stay wires are arranged to pass through the pulleys (170, 171) on both sides of the central shaft to be connected with the moving plate (172), the rear portion of the moving plate is connected with the rhombus push-pull rod (173), and the diamond-shaped push-pull rod rear seat ( Both sides of 174) are respectively provided with a stay wire to be connected with the argument capstan (177), and both sides of the support frame (B) are respectively provided with a vertical track (178, 178'), and a pulley is respectively arranged at the upper and lower ends of the track (179, 180), there is a grooved pulley moving plate (181, 181′) inside the track, which can move up and down on the track, and the outer side of the moving plate (181) is connected with the flapping wing drawing wire (182), and the two ends of the drawing wire pass through the The pulleys (179, 180) at the upper and lower ends of the vertical track are connected with the upper and lower rings (183, 183') of the main front section, the main middle section, and the main rear section. (185) is connected, and the end of push-pull arm is a rotatable ball joint (186) and is fixed on the inner side of track moving plate (181), and the both sides of center axis driving wheel (9) respectively has a driving wheel (187, 187') are connected with transmission wheels (189,189') by chains (188,188') respectively, and a coaxial wheel (190,190') is respectively arranged on the transmission wheels (189,189') by push-pull rods and The main middle section end ball joint (16) is connected, and the end of the ball joint (16) is a rotating wheel (191), which is stuck in the guide wheel to move forward and backward of the main spar when realizing the flapping motion. 16. The flapping-wing aircraft according to claim 1 or 2, characterized in that the transmission of the aircraft is a central shaft transmission (G ₃ ), in which the central shaft (10) and the central shaft power arm ( 194, 194 ') constitute the central crankshaft, and the end of the central axis power arm is connected with the push-pull arm (212, 212 ') through the ball joint (211, 211 '), and the end of the push-pull arm is a rotatable joint (213, 213') are connected to the arch supports (214, 214') on the main joint. 17. The flapping wing aircraft according to claim 15, characterized in that said flapping wing is a single flapping wing under the action of a central shaft transmission (G ₃ ). 18. _The flapping-wing aircraft according to claim 1 or 2, characterized in that, the flapping wings are four, 6 or 8 flapping wings. 19. By the described flapping-wing aircraft of claim 1 or 2, it is characterized in that said upper straight wing (A) is a detachable movable wing, which is disassembled and connected by the upper part of the fuselage according to the needs of the flight (116, 117, 118, 119) to disassemble. 20. A flapping-wing aircraft, comprising a power system, a transmission device, a control system, a cabin, a landing gear, a flapping wing, and an empennage, wherein the flapping wing is connected to the cabin through a flapping-wing support frame, and is mounted on the flapping-wing support frame The two sides extend outward, and it is characterized in that the flapping wing is composed of main spar, main joint, middle spar, middle joint, front spar, front joint, palm spar, palm joint and wing palm, wherein: Main wing spar comprises main front beam (74), main middle beam (75) and main back beam (76); Main joint comprises main front section (77), main middle section (78), main rear section (79); main front beam (74) and the main rear beam (76) are telescopic beams, and one end of them is connected with the flapping wing support frame (B) respectively, and the other end is connected with the main front section (77) and the main rear section (78) respectively; The middle beam (75) is also a telescopic beam, and one end is a convex ball joint, which cooperates with the concave ball joint on the transmission to form a ball joint (16); the other end passes through the main middle section (78), Connect with the main middle section (78) in the middle; The main joint (78) can rotate up and down and left and right, thereby driving the flapping wings to flutter up and down, back and forth; Middle spar comprises middle front beam (80), center beam (81) and middle rear beam (82); Middle joint comprises middle front joint (83) and middle rear joint (84); One end of middle front beam (80) is connected with main The front section (77) is connected, and the other end is connected with the middle front section (83); one end of the middle rear beam (82) is connected with the main rear section (79), and the other end is connected with the middle rear section (84); the center The beam (81) is the extension of the main center beam (75) in the middle spar section; when the flapping wing flutters up and down under the action of the main center beam moment, the middle spar and the middle joint make the wing center of the flapping wing move forward and backward. Position, that is, when flying upwards, it will jump from the rear to the upper side; when it is downwards, it will jump from the front to the lower side, and the track that the wingtips pass is a spiral shape; The front spar comprises front front beam (85), front middle beam (86) and front and rear beams (87); front joint comprises front front section (88), front middle section (89) and front and rear section (90); (85) and the front and rear beams (87) are all controllable telescopic beams; one end of the front front beam (85) is connected with the middle front joint (83), and the other end is connected with the front front joint (88); the front and rear beams ( One end of 87) is connected with the middle rear section (84), and the other end is connected with the front and rear sections (90); the front middle beam (86) is the extension of the main center beam (75) in the front spar section, and is located at its end The front middle section (89) is the central node of the flapping wing; the tension line pillar (100) at the center of the front middle section (89) supports the transverse tension line (101) and the longitudinal tension line (102) to strengthen the flapping wing Rigidity and strength; the front spar and the front joint are under the control of the left and right wing discs (31, 32), and the two wings can be stretched forward and backward; The palm spar includes the palm wing front beam (91), the palm wing middle beam (92) and the palm wing rear beam (93); the palm joint includes the palm front segment (94), the palm middle segment (95) and the palm rear segment (96); The palm-wing front beam (91) and the palm-wing rear beam (93) are controllable telescopic beams; one end of the palm-wing front beam (91) is connected with the front front section (88), and the other end is connected with the front section of the palm (94). Connect; one end of the palm-wing rear beam (93) is connected with the front and rear joints (90), and the other end is connected with the palm rear joint (96); the palm-wing middle beam (92) is a U-shaped beam, and its one end is connected with the front middle joint ( 83) are connected, and the other end is connected with the middle section of the palm (95), and the spar and the palm joint are controlled by the left and right wing palm control panels (35, 36), and the two wing palms can be stretched forward and swept back; Wing palm is made up of palm center plate (97), palm ring (98), palm tendons (99), and palm fingers (D1-D9). D1-D9) pass through the palm tendons (99) and the palm ring (98) respectively, and are fixed on the palm center plate (97) to form a wing-palm fan; the palm ring (98) is stuck in the U-shaped palm-wing middle beam (92) , to strengthen the strength between the wing palm and the main wing. 21. The flapping-wing aircraft according to claim 20, characterized in that the front portion of the flapping wing is provided with a transom (222), the rear portion is arranged with a plurality of slats (223) in sequence, and the middle part of the wing is provided with a wing disc (225), the inboard of wing disc is main wing, and the outside is wing palm (226), and its shape approximates bird's wing. 22. By the described flapping wing aircraft of claim 20, it is characterized in that said transmission device is made of annular transmission device (G), and this transmission device constitutes the annular track chassis (11) by annular disk and annular track, in annular track There is a grooved pulley in the middle, and a disc is fixed on the inner and outer sides of the wheel. Four rolling wheels are symmetrically distributed on the upper and lower parts of each disc and are tangent to the inside and outside of the circular track plane, forming a rolling wheel on the circular track. Disk (12), the outer side of the rolling wheel is fixed on the endless chain (13), and the annular chain is connected with the gear discs (14), (15) up and down on the annular track chassis, and the outer side of the annular chain is fixed with a concave ball joint , the concave joint is socketed with the convex joint at the end of the main center beam to form a spherical joint (16) that can rotate 90° up and down, left and right. Under the action of the ring transmission (G), the flapping wing moves The trajectory is elliptical. 23. The flapping-wing aircraft according to claim 20, characterized in that said transmission is made of an elliptical track transmission (G ₁ ), which is composed of a large elliptical wheel (175) and a small elliptical wheel ( 176) constitute an elliptical orbit, in which a central axis (10) is arranged, and the two ends of the central axis are telescopic arms (168, 168 '), and a rolling wheel (192) is arranged at the front end of the telescopic arm, and the inner side of the rolling wheel is a support Wheel (196), the outside is a concave ball joint, which is socketed with the convex joint at the end of the main center beam to form a spherical joint (16) that can rotate 90° up and down and left and right. 24. The flapping-wing aircraft according to claim 23, characterized in that the said elliptical track transmission device (G ₁ ) is connected with the guide plate (230, 230') under the action of the telescopic arm (227, 227') of the central axis. Constitute the flapping wing balance guide transmission device, and limit the flapping wings on the left and right sides of the fuselage to maintain parallel and staggered movement during the arc up and down movement, so that the airflow can close the front air window (222) and rear slat (223) of the wing when flapping down , the front air window and the rear slats can be opened to increase the lift and reduce the drag when flying upwards, and the flapping form is a swirling motion. 25. The flapping-wing aircraft according to claim 20, characterized in that the transmission of the aircraft is a push-pull arm transmission (G ₂ ), which is composed of a central axis (10) and a central axis power arm (166, 166) ') constitute the central crankshaft, the central axis power arm is a telescopic arm, and the telescoping link (167) of the power arm is connected with the drive wheel (169) inside the force arm by a backguy, on the rotating handle of the drive wheel (169), There are two stay wires passing through the pulleys (170, 171) on both sides of the central shaft to be connected with the moving plate (172), the rear part of the moving plate is connected with the diamond-shaped push-pull rod (173), and the diamond-shaped push-pull rod rear seat (174) The two sides of each have a stay wire to be connected with the argument capstan (177), respectively have a vertical track (178, 178 ') on both sides of the support frame (B), and a pulley (179') is respectively arranged at the upper and lower ends of the track. , 180), there is a grooved pulley moving plate (181, 181′) inside the track, which can move up and down on the track, the outer side of the moving plate (181) is connected with the flapping wing drawing (182), and the two ends of the drawing pass through the vertical The pulleys (179, 180) at the upper and lower ends of the track are connected with the upper and lower rings (183, 183') of the main front section, the main middle section, and the main rear section. In addition, the power arm of the central axis is connected to the push-pull arm (185) through the ball joint (184). ), the end of the push-pull arm is a rotatable ball joint (186) fixed on the inner side of the track moving disc (181), and the two sides of the central shaft drive wheel (9) each have a drive wheel (187, 187′ ) are respectively connected with drive wheels (189, 189 ') through chains (188, 188 '), and a coaxial wheel (190, 190 ') is respectively arranged on the drive wheels (189, 189 ') by a push-pull rod and the main center Joint end ball joint (16) is connected, and the end of ball joint (16) is a rotating wheel (191), is stuck in the guide wheel and moves forward and backward of main spar when realizing flapping wing motion. 26. The flapping-wing aircraft according to claim 20, characterized in that the transmission of the aircraft is a central shaft transmission (G ₃ ), in which the central shaft (10) and the central shaft power arm (194, 194') constitutes the central crankshaft, and the end of the central axis power arm is connected with the push-pull arm (212, 212') through a ball joint (211, 211 '), and the end of the push-pull arm is a rotatable joint (213, 213' ) is connected with the arch support (214, 214') on the main joint. 27. The flapping wing aircraft according to claim 26, characterized in that said flapping wing is a single flapping wing under the action of a central shaft transmission (G ₃ ). 28. The flapping-wing aircraft according to claim 20, characterized in that, the number of flapping wings is 2, 4, 6 or 8. 29. by the described flapping wing aircraft of claim 20, it is characterized in that described flapping wing aircraft also comprises a pair of upper straight wing, and described upper straight wing (A) is arranged on fuselage top, in order to keep the flapping wing flying Balanced, its front portion is upwards arched, and is approximately 15 ° of dihedrals from the middle to both ends, and its elevation angle can be adjusted within ± 30 ° by the straight wing elevation angle controller (34) on the right side of the cabin. 30. The flapping-wing aircraft according to claim 1, 2 or 29, characterized in that said upper straight wing further comprises an airbag wing filled with inert gas. 31. The flapping-wing aircraft according to claim 1, 2 or 20, characterized in that the power system of the flapping-wing aircraft uses the engine (1) at the rear of the cabin as the power source, and the engine power wheel is transmitted in two ways The power is transmitted to the propeller (26) arranged at the rear of the fuselage to provide backup rear thrust; the other is transmitted to two transmission wheels, one side of the transmission wheel provides the power for the aircraft to drive on the ground before and after takeoff and landing, and the other side of the transmission wheel provides the thrust. wing power. 32. By the described flapping-wing aircraft of claim 1, 2 or 20, it is characterized in that described power system is the human body power transmission system, is provided with the human body power transmission device at the cabin front, and it is made of left and right pedals ( 17, 17'), a large roulette (18), and a small roulette (19), the big roulette is connected with the roulette (21) on the transmission center shaft through a gear chain (20) to provide human power for flapping wings The small wheel is connected with the coaxial wheel (23) on the gearbox through the gear chain (22), providing human body power for driving on the ground. 33. The flapping-wing aircraft according to claim 1, 2 or 20, characterized in that, the engine (1), the gear box (2) and the accessory devices of the mechanical power thereof are removed from the aircraft, and the aircraft is Human-powered flapper aircraft. 34. by the described flapping wing aircraft of claim 1,2 or 20, it is characterized in that, described aircraft has a kind of flapping wing frequency FM device (62), and this device divides the frequency of flapping wing 8-60 times per second Become four gears, controlled by the FM control lever (63). 35. The flapping-wing aircraft according to claim 1, 2 or 20, characterized in that, said aircraft has a flapping-wing angle control device, which can limit the flapping-wing angle in three gears, so that It changes in the range of 45°-90°. 36. The flapping-wing aircraft according to claim 1, 2 or 20, characterized in that, the empennage of the aircraft is a retractable fan-shaped empennage (E), and the empennage front beam (103) and the middle beam (104) Between is fixed airfoil, is retractable airfoil within the central sill, and the middle part of empennage is a triangular support frame, (105), and the frame top is to move up fixed wing (106), and left and right sides are extension arms (107, 107 '), The inside of the support frame is the empennage telescopic strut (108), and the front end empennage elevation angle rocker (109) is engaged with the spherical clamp (127) at the end of the empennage main beam (126) to form an upturned and downwardly pressed, adjustable Zoom in on the fan-shaped airfoil. 37. The flapping-wing aircraft according to claim 1, 2 or 20, characterized in that, the landing gear (F) of the flapping-wing aircraft is an amphibious landing gear, and the landing gear wheel (7, 6, 6 ' ) are respectively equipped with streamlined airbags (124), (125, 125 '), and the undercarriage girder (71) bottom is provided with screw propeller (70). 38. The flapping-wing aircraft according to claim 1, 2 or 20, characterized in that the landing gear is a retractable landing gear (F ₁ ), which can be raised and lowered by a lifting cable, or mechanically Power lift landing gear. 39. A flapping-wing aircraft, comprising a power system, a transmission device, a control system, a cabin, a landing gear, a flapping wing, and an empennage, wherein the flapping wing is connected to the cabin through a flapping-wing support frame, and is mounted on the flapping-wing support frame. The two sides extend outward, and it is characterized in that: the flapping wing includes a spar, a spar joint, a wing palm beam, a palm joint and a wing palm, wherein: The spar includes a retractable main spar, a middle spar and a front spar, and the three extend from the support frame (B) to the flapping wing tip in sequence; One end of the main spar is movably connected with the flapping wing supporting frame (B), and the other end is connected with the middle spar through the spar joint; one end of the front spar is connected with the other end of the middle spar through the spar joint, and the other end of the front spar is connected with the wing The palm beam is connected; The palm spar includes the palm wing front beam (91), the palm wing middle beam (92) and the palm wing rear beam (93); the palm joint includes the palm front segment (94), the palm middle segment (95) and the palm rear segment (96); The palm wing front beam (91) and the palm wing rear beam (93) are controllable telescopic beams; one end of the palm wing beam is flexibly connected to the wing beam, and the other end is connected to the wing palm through the palm joint; Wing palm comprises palm plate (97), palm ring (98), palm tendons (99), palm fingers (D1-D9), palm center plate (97) is socketed on the outside of palm middle section (95), palm fingers (D1-D9) D9) pass through the palm tendons (99) and the palm ring (98) respectively, and are fixed on the palm plate (97) to form a wing-palm fan; the palm ring (98) is stuck in the U-shaped palm-wing middle beam (92) to Strengthen the strength between the wing palm and the main wing.

Images