CN113148142B - Pneumatic folding bionic flapping wing micro-aircraft - Google Patents
Pneumatic folding bionic flapping wing micro-aircraft Download PDFInfo
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- CN113148142B CN113148142B CN202110434800.4A CN202110434800A CN113148142B CN 113148142 B CN113148142 B CN 113148142B CN 202110434800 A CN202110434800 A CN 202110434800A CN 113148142 B CN113148142 B CN 113148142B
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- flapping wing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention provides a pneumatic folding bionic flapping wing micro air vehicle, which comprises a vehicle body and bionic flapping wings symmetrically arranged on two sides of the vehicle body, wherein the bionic flapping wings are arranged on the two sides of the vehicle body; the bionic flapping wing comprises a wing tip, a wing membrane and a framework fixed on the wing membrane, the framework comprises a transverse framework and a longitudinal framework, the transverse framework comprises a multi-section hollow support, an air pipe penetrates through the hollow support, the air pipe is communicated with the air pump, the longitudinal framework comprises a multi-section support, the multi-section support is intersected with the end part of the support in the transverse framework at any angle, and a tension spring is connected between the intersected transverse framework and the longitudinal framework; the three vertexes of the wing tip are respectively connected with the end point of the transverse framework, one end of the spring and the rocker of the crank-rocker mechanism, and the other end of the spring is connected with the machine body. The flapping wing automatic folding device is designed based on the bionic appearance of the migratory beetles and the folding characteristics of the rear wings, and can more reliably realize the automatic folding and furling of the flapping wings and reduce the size of a machine body.
Description
Technical Field
The invention belongs to the technical field of design and manufacture of micro aircrafts, and particularly relates to a pneumatic folding bionic flapping wing micro aircraft.
Background
The concept of a micro-aerial vehicle (MAV) was first proposed by ostan in the last 90 s of the century, and has undergone the development for nearly 30 years, and the MAV has extremely important applications in military and civil aspects such as low-air military reconnaissance, anti-radiation and micro-attack weapons, target search and communication relaying, biochemical detection and calibration of dangerous areas, border cruising, traffic monitoring and the like. It is from this that there is a necessary real and strategic interest in the study of MAVs.
The size of the body of the micro aircraft is an important index for measuring whether the performance of the micro aircraft is superior or not, and the anti-reconnaissance performance of the micro aircraft is also an important index for measuring the performance of the micro aircraft. The size of the flapping wing of the micro air vehicle directly influences the size of the body of the micro air vehicle, and the size of the body can be reduced, the transportation of the micro air vehicle and the protection of the flapping wing are facilitated by researching the automatic folding and furling of the flapping wing.
Disclosure of Invention
The invention aims to provide a pneumatic folding bionic flapping wing micro air vehicle, which is based on the appearance of migratory beetles, the folding characteristic of the rear wings and the bionic appearance of the folding bionic wing micro air vehicle under the initiative of the idea of bionic engineering, more reliably realizes the automatic folding and furling of flapping wings, reduces the size of a vehicle body, and also has the advantage of anti-reconnaissance.
The purpose of the invention is realized by the following technical scheme:
a pneumatic folding bionic flapping wing micro air vehicle comprises a vehicle body A and bionic flapping wings symmetrically arranged on two sides of the vehicle body; the bionic flapping wing comprises a wing tip, a wing membrane 32 and a framework, the framework comprises a transverse framework positioned on the front part of the flapping wing profile and a longitudinal framework positioned in the flapping wing profile, the transverse framework comprises a plurality of sections of hollow supports fixed on the wing membrane, an air pipe penetrates through the hollow supports, the air pipe 27 is communicated with the air pump 2, the longitudinal framework comprises a plurality of sections of supports fixed on the wing membrane 32 and is intersected with the end part of the support in the transverse framework at any angle, and a tension spring 26 is connected between any point on the rear side of the intersected transverse framework and any point on one side, close to the fuselage, of the longitudinal framework; the wing tip is triangular, three vertexes are respectively connected with the end point of the transverse framework, one end of the spring 33 and the rocker 4 of the crank rocker mechanism, and the other end of the spring 33 is connected with the machine body A.
As a more preferable technical scheme, the bionic feet are further installed on two sides of the fuselage A and used as the landing gear of the fuselage, the landing gear comprises a left landing gear set 1 and a rear landing gear set 3, the left landing gear set 1 is located on two sides of the fuselage A, the left landing gear set 1 is welded in a hole in the left side of the fuselage A, and the rear landing gear set 3 is welded in a hole in the rear side of the fuselage A.
As a more preferable technical scheme of the invention, the two crankshaft and rocker mechanisms are symmetrically arranged along the left and back of a connecting line of the front end and the back end of the machine body and comprise connecting rods, rockers 4 and cranks, each crank comprises an external gear I7, a transmission wheel I8 and a transmission wheel II 9, the centers of circles of the external gears I7, the transmission wheel I8 and the transmission wheel II 9 are on the same straight line, the shaft of the motor is connected with an external gear II 13, the external gear II 13 is meshed with the external gear I8, the external gear I8 is meshed with an external gear III 18 of the other crankshaft and rocker mechanism, the connecting rods are rotatably connected at the eccentric positions of the transmission wheel I8 and the transmission wheel II 9, the transmission wheel I8 is fixedly connected to the external gear I7, the transmission wheel I8 and the transmission wheel II 9 are installed in the middle of the front end of the machine body through a support frame II 10, and the rockers 4 are rotatably connected to the upper portion of the front end of the machine body.
As a more excellent technical scheme of the invention: the flapping wing comprises a wing tip 23, a tension spring 26, an air pipe 27, a transverse framework, a longitudinal framework, a wing membrane 32 and a spring 33, wherein the transverse framework comprises a hollow bracket I25, a hollow bracket III 29 and a hollow bracket IV 30, the longitudinal framework comprises a bracket II 28 and a bracket V31, and one end of the bracket I25 is fixedly connected to one vertex of the wing tip; one side of the bracket II 28 close to the machine body is connected with the rear side of the other end of the bracket I25 through a tension spring; the hollow part at the other end of the bracket I25 is arranged corresponding to the hollow part at one end of the bracket III 29, and the lower part at one end of the bracket III 29 is fixedly connected with the upper end of the bracket II 28; the hollow part of the other end of the bracket III 29 is arranged corresponding to the hollow part of one end of the bracket IV 30, and one side of one end of the bracket V31, which is close to the machine body, is connected with the lower part of the other end of the bracket III 29 through a tension spring; the rear end of the bracket IV 30 is welded with the upper end of the bracket V31; the air pipe sequentially penetrates through the inner parts of the bracket I25, the bracket III 29 and the bracket IV 30; the wing membrane 32 is adhered to the surfaces of the wing tip 23, the bracket I25, the tension spring 26, the bracket II 28, the bracket III 29, the bracket IV 30 and the bracket V31.
As a more excellent technical scheme of the invention: the flapping wing profile is formed by arc lines with the arc radius R6 of 4.1mm-4.3mm and the arc straight line distance L19 of 7.5mm-8 mm; the arc radius R7 is 39.0mm-40.0mm, and the arc straight line distance L20 is 21.5mm-22 mm; the arc radius R8 is 26.0mm-27.0mm, and the arc straight line distance L21 is 20.0mm-21.0 mm; the arc radius R9 is 7.4mm-7.6mm, and the arc straight line distance L22 is 10.5mm-11 mm; the straight line L23 is 5.8mm-6.0 mm; r10: 0.19mm-0.21 mm; l24 is formed by connecting 7.0mm-7.2mm in sequence; the size of the bracket I25 consists of an arc radius R11 of 113.0mm-115.0mm, an arc linear distance L25 of 18.0mm-19.0mm and a linear distance L26 of 22.2mm-22.6 mm; the linear distance L2 between the size of the bracket II 28 and the size of the bracket II is 18.0mm-20.0 mm; the size of the bracket III 29 consists of an arc radius R12 of 40.0mm-41.0mm, an arc linear distance L28 of 18.0mm-20.0mm and a linear distance L29 of 18.0mm-20.0 mm; the size of the support IV 30 consists of an arc radius R13 of 25.0mm-26.0mm and an arc straight line distance L30 of 5.0mm-5.5 mm; the size of the bracket V31 is L31 and is 14.5mm-15.0 mm; the bracket I25, the bracket III 29 and the bracket IV 30 are hollow tubes, the outside tube diameter dimension is R14 mm-0.41mm, and the inside tube diameter dimension is R15 mm-0.22 mm-0.24 mm.
As a more excellent technical scheme of the invention: the rocker 4 is of a hollow structure, and the air pipe 27 penetrates through the interior of the rocker 4.
As a more excellent technical scheme of the invention: a groove b is formed in the machine body A, and the air pump 2 is fixedly arranged in the groove b.
As a more excellent technical scheme of the invention: the front part of the machine body A is provided with a hole d, and the motor 14 is arranged in the hole d.
As a more excellent technical scheme of the invention: the fin film 32 is a high elastic film.
As a more excellent technical scheme of the invention: the air pump 2 is an M20 DC motor small DC3V air pump.
As a more excellent technical scheme of the invention: the motor 14 is a hollow motor, specifically an 8520 motor.
As a more excellent technical scheme of the invention: the tension spring 26 is a tension spring with 0.05 x 0.6 x 3
As a more excellent technical scheme of the invention: the spring 33 is a 15 ° torsion spring of 0.3 x 2.5.
As a more excellent technical scheme of the invention: the air pipe 27 is a rubber pipe with the outer diameter of 0.22mm-0.24 mm.
As a more excellent technical scheme of the invention: the machine body A, the left landing gear set 1, the rear landing gear set 3, the rocker 4, the support frame, the wing tip and the framework are made of carbon fibers; the materials of the external gear I7, the transmission wheel I8, the transmission wheel II 9 and the external gear II 13 are POM plastics.
The beneficial effects are that:
the invention has the advantages of simple structure, coordinated and reliable operation, simplified structure of the flap-wing robot, soft action, low driving voltage, improved adaptability of the robot to the environment, reduced overall mass, conformity with the bionic concept and certain anti-reconnaissance property.
Drawings
FIG. 1 is an axonometric view of a pneumatic folding bionic flapping wing micro-aircraft;
FIG. 2 is an illustration of FIG. 1 showing various components of the fuselage;
FIG. 3 is an illustration of FIG. 2 showing various components of the fuselage;
FIG. 4 is an illustration of FIG. 3 showing various components of the fuselage;
FIG. 5 is an assembly instruction view of various parts of the fuselage 1;
FIG. 6 is an assembly instruction view of various parts of the fuselage, as shown in FIG. 2;
FIG. 7 is an assembly instruction view of various parts of the fuselage, shown in FIG. 3;
FIG. 8 is an exterior profile view of the fuselage of FIG. 1;
FIG. 9 is an exterior profile view of the fuselage 2;
FIG. 10 is an outer profile of the rocker arm of FIG. 1;
FIG. 11 is a view of the outer contour of the rocker arm of FIG. 2;
FIG. 12 is an external profile view of the support frame;
FIG. 13 is a profile view of the exterior of the connecting rod;
FIG. 14 is an isometric view of an ornithopter;
FIG. 15 is an indicating view of various components of the flapping wing;
FIG. 16 is an assembly indicating view of components of the flapping wing of FIG. 1;
FIG. 17 is an assembly instruction view of the flapping wing components of FIG. 2;
FIG. 18 is an external profile view of a fin membrane;
FIG. 19 is a view of the flapping wing support profile of FIG. 1;
FIG. 20 is a view of the flapping wing support profile of FIG. 2;
FIG. 21 is a schematic view of the flapping wings partially assembled with the fuselage;
FIG. 22 is a schematic view of the lowest point of flapping of the flapping wings;
FIG. 23 is a schematic view of the flapping wings fully stowed.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The invention provides a pneumatic folding bionic flapping wing micro air vehicle, which comprises a vehicle body A and bionic flapping wings symmetrically arranged on two sides of the vehicle body; the bionic flapping wing comprises a wing tip, a wing membrane 32 and a framework, the framework comprises a transverse framework positioned on the front part of the flapping wing profile and a longitudinal framework positioned in the flapping wing profile, the transverse framework comprises a plurality of sections of hollow supports fixed on the wing membrane, an air pipe penetrates through the hollow supports, the air pipe 27 is communicated with the air pump 2, the longitudinal framework comprises a plurality of sections of supports, the supports and the ends of the supports in the transverse framework are arranged and fixed on the wing membrane 32 in an intersecting way at any angle, and a tension spring 26 is connected between any point on the rear side of the intersected transverse framework and any point on one side of the longitudinal framework, which is close to the fuselage; the wing tip is triangular, three vertexes are respectively connected with the end point of the transverse framework, one end of the spring 33 and the rocker 4 of the crank rocker mechanism, and the other end of the spring 33 is connected with the machine body A.
In some embodiments, the bionic feet are further installed on two sides of the fuselage a, the bionic feet are used as landing gears of the fuselage, the landing gears comprise a left landing gear set 1 and a rear landing gear set 3 which are located on two sides of the fuselage, the left landing gear set 1 is welded in a hole in the left side of the fuselage a, and the rear landing gear set 3 is welded in a hole in the rear side of the fuselage a.
In some embodiments, the two crankshaft and rocker mechanisms are symmetrically arranged along the left and back of a connecting line of the front end and the back end of the machine body and comprise connecting rods, rockers 4 and cranks, each crank comprises an external gear I7, a transmission wheel I8 and a transmission wheel II 9, the centers of circles of the external gears I7, the transmission wheel I8 and the transmission wheel II 9 are located on the same straight line, the shaft of the motor is connected with an external gear II 13, the external gear II 13 is meshed with the external gear I8, the external gear I8 is meshed with an external gear III 18 of the other crankshaft and rocker mechanism, the connecting rods are rotatably connected to the eccentric positions of the transmission wheel I8 and the transmission wheel II 9, the transmission wheel I8 is fixedly connected to the external gear I7, the transmission wheel I8 and the transmission wheel II 9 are mounted in the middle of the front end of the machine body through a support frame II 10, and the rockers 4 are rotatably connected to the upper portion of the front end of the machine body.
In some embodiments, the flapping wing comprises a wing tip 23, a tension spring 26, an air pipe 27, a transverse framework, a longitudinal framework, a wing membrane 32 and a spring 33, wherein the transverse framework comprises a hollow bracket I25, a hollow bracket III 29 and a hollow bracket IV 30, the longitudinal framework comprises a bracket II 28 and a bracket V31, and one end of the bracket I25 is fixedly connected to one vertex of the wing tip; one side of the bracket II 28 close to the machine body is connected with the rear side of the other end of the bracket I25 through a tension spring; the hollow part at the other end of the bracket I25 is arranged corresponding to the hollow part at one end of the bracket III 29, and the lower part at one end of the bracket III 29 is fixedly connected with the upper end of the bracket II 28; the hollow part of the other end of the bracket III 29 is arranged corresponding to the hollow part of one end of the bracket IV 30, and one side of one end of the bracket V31 close to the machine body is connected with the lower part of the other end of the bracket III 29 through a tension spring; the rear end of the bracket IV 30 is welded with the upper end of the bracket V31; the air pipe sequentially penetrates through the inner parts of the bracket I25, the bracket III 29 and the bracket IV 30; the wing membrane 32 is adhered to the surfaces of the wing tip 23, the bracket I25, the tension spring 26, the bracket II 28, the bracket III 29, the bracket IV 30 and the bracket V31.
In some embodiments, the flapping wing profile is formed by a circular arc line with a circular arc radius R6 of 4.1mm-4.3mm and a circular arc straight line distance L19 of 7.5mm-8 mm; the arc radius R7 is 39.0mm-40.0mm, and the arc straight line distance L20 is 21.5mm-22 mm; the arc radius R8 is 26.0mm-27.0mm, and the arc straight line distance L21 is 20.0mm-21.0 mm; the arc radius R9 is 7.4mm-7.6mm, and the arc straight line distance L22 is 10.5mm-11 mm; the straight line L23 is 5.8mm-6.0 mm; r10: 0.19mm-0.21 mm; l24 is formed by connecting 7.0mm-7.2mm in sequence; the size of the bracket I25 consists of an arc radius R11 of 113.0mm-115.0mm, an arc linear distance L25 of 18.0mm-19.0mm and a linear distance L26 of 22.2mm-22.6 mm; the linear distance L2 between the size of the bracket II 28 and the size of the bracket II is 18.0mm-20.0 mm; the size of the bracket III 29 consists of an arc radius R12 of 40.0mm-41.0mm, an arc linear distance L28 of 18.0mm-20.0mm and a linear distance L29 of 18.0mm-20.0 mm; the size of the bracket IV 30 consists of an arc radius R13 of 25.0mm-26.0mm and an arc straight line distance L30 of 5.0mm-5.5 mm; the size of the bracket V31 is L31 and is 14.5mm-15.0 mm; the bracket I25, the bracket III 29 and the bracket IV 30 are hollow tubes, the outside tube diameter dimension is R14 mm-0.41mm, and the inside tube diameter dimension is R15 mm-0.22 mm-0.24 mm.
In some embodiments, the rocker 4 is a hollow structure, and the air pipe passes through the inside of the rocker 4.
In some embodiments, a groove b is formed in the body a, and the air pump is fixedly mounted in the groove b.
In some embodiments, a hole d is formed in the front of the body a, and the motor is installed in the hole d.
In some embodiments, the fin film 32 is a highly elastic film.
In some embodiments, the air pump 2 is a M20 DC motor miniature DC3V air pump.
In some embodiments, the motor 14 is a hollow motor, specifically a 8520 motor.
In some embodiments, the tension spring 26 is a 0.05 x 0.6 x 3 tension spring
In some embodiments, the spring 33 is a 15 ° torsion spring of 0.3 x 2.5.
In some embodiments, the air tube 27 is a rubber tube with an outer diameter of 0.22mm to 0.24 mm.
In some embodiments, the fuselage a, the left landing gear set 1, the rear landing gear set 3, the rocker 4, the support frame, the wing tip, and the skeleton are made of carbon fiber; the materials of the external gear I7, the transmission wheel I8, the transmission wheel II 9 and the external gear II 13 are POM plastics.
Example 1 an ornithopter micro-aircraft is shown in figures 1 to 21.
As shown in FIG. 1, the present embodiment comprises a fuselage A, a left flapping wing B and a rear flapping wing C, wherein the left flapping wing B and the rear flapping wing C are symmetrical about the centerline of the fuselage a-a; the hole m on the wing tip I23 in the left flapping wing B is movably connected with the hole f2 on the rocker I21 in the machine body A through a pin 22; the hole n on the wing tip II 24 in the rear flapping wing C is movably connected with the hole f1 on the rocker II 4 in the machine body A through a pin 22; the spring 33 on the left flapping wing B is welded at the p point on the wing tip on the left side, and is welded at the q point on the support frame IV 20 on the back side. The two air pipes 27 are provided, the head ends of the two air pipes are connected to an air inlet of the air pump 2, the two air pipes respectively penetrate through holes h2 and h1 in the upper portions of the rocker I21 and the rocker II 4 at the left side and the rear side, then penetrate out of the rocker I21 and the rocker II 4, then respectively pass through the wing tip I23 and the wing tip II 24, are fixed by glue at the positions, and sequentially penetrate through the hollow support I25, the support III 29 and the support IV 30.
As shown in fig. 2 to 13, the machine body a is composed of a left landing gear set 1, an air pump 2, a rear landing gear set 3, a rocker II 4, a positioning pin I5, a support frame I6, an external gear I7, a transmission wheel I8, a transmission wheel II 9, a support frame II 10, a positioning pin II 11, a connecting rod I12, an external gear II 13 and a coreless motor 14. The device comprises a support frame III 15, a transmission wheel III 16, a transmission wheel IV 17, an external gear III 18, a connecting rod II 19, a support frame IV 20, a rocker I21 and a positioning pin III 22. Holes a1, a2, a3, a4, a5 and a6 are uniformly distributed at the left rear side of the machine body A; a groove b is formed in the machine body A; holes c1 and c2 are respectively arranged on the support I6 and the support IV 20; the front side of the machine body A is provided with a motor hole d and holes e1 and e 4; holes e2 and e3 are respectively arranged on the support II 10 and the support III 15; holes f1, h1, i1, j1, f2, h2, i2 and j2 are respectively formed in the rocker II 4 and the rocker I21; holes k1 and k2 are formed in the outer gear I7 and the outer gear III 18 respectively; holes l1, k3, l2 and k5 are respectively arranged on the driving wheel I8 and the driving wheel II 9; holes l3 and k4, l4 and k6 are respectively formed in the driving wheel III 16 and the driving wheel IV 17; the peripheral outline of the fuselage A is that the circumference L1 of the fuselage: 24.5mm-25.5mm, L2: 27mm-28mm, R1: 70mm-71mm, L3: 7.5mm-8.5mm, R2: 4.5mm-5mm, L4: 27.0mm-28.0mm, R3: 75.0mm-76.0mm, L5: 24.5mm-25.5 mm; fuselage height L6: 11.5mm-12.5 mm; l7: 6.5mm-7.5mm,
1.45mm-1.55mm, L8: 4.7mm-5.1 mm; the left landing gear set 1 is welded in holes a1, a2 and a3 on the left side of the fuselage A; the rear set of landing gears 3 are welded into holes a4, a5, a6 in the rear side of fuselage a; the air pump 2 is fixedly assembled in the groove b of the machine body A; the hollow cup motor 14 is fixedly assembled in the hole d of the machine body A; the support frame I6, the support frame II 10, the support frame III 15 and the support frame IV 20 are symmetrically welded in the machine body A on the center line a-a; the rocker II 4 is movably linked in a hole c1 on the support frame I6 through a hole i1 by a positioning pin I5; the rocker I21 is movably linked in a hole c2 on the support frame IV 20 through a hole i2 by a positioning pin I5; the outer gear I7 is movably linked to the machine body A through a hole e1 by a positioning pin II 11; the external gear III 18 is movably linked to the machine body A through a hole e4 by a positioning pin II 11; the outer gear II 13 is welded on the hollow cup motor 14; the driving wheel I8 and the driving wheel II 9 are movably connected in a hole e1 on the machine body A, a hole k1 on the external gear I7 and a hole e2 on the support frame II 10 through a positioning pin II 11; the driving wheel III 16 and the driving wheel IV 17 are movably connected in a hole e4 on the machine body A, a hole k2 on the external gear III 18 and a hole e3 on the supporting frame III 15 through a positioning pin II 11; the outer gear I7 is bonded with the transmission wheel I8; outer coverThe gear III 18 is bonded with the driving wheel IV 17; the upper part of the connecting rod I12 passes through a hole j1 on the rocker II 4, and the lower part of the connecting rod I12 passes through a hole i1 on the driving wheel I8 and a hole i3 on the driving wheel II 9 respectively; the upper part of the connecting rod II 19 passes through a hole j2 on the rocker I21, and the lower part of the connecting rod II passes through a hole i2 on the driving wheel III 16 and a hole i4 on the driving wheel IV 17 respectively. The contour dimension of rocker II 4 is L9: 0.18mm-0.21mm, L10:4.7mm-4.8mm,
0.75mm-0.85mm、R4:0.38mm-0.42mm、
0.38mm-0.42mm、
0.30mm-0.32mm, L11: 1.0mm-1.1mm, L12:1.45mm-1.55 mm; the profile dimensions of the landing gear set 1 are, L13: 10.3mm-10.5mm, L14: 10.3mm-10.5mm, alpha: 129-131 mm,
1.48mm-1.52 mm; the profile size of the connecting rod I6 is 9.9mm-10.1mm of L15, 4.4mm-4.6mm of L16, 4.4mm-4.6mm of L17, 0.9mm-1.1mm of L18, 0.45mm-0.5mm of R5,
0.2mm-0.22mm。
As shown in fig. 14 to 21, the left flapping wing B and the rear flapping wing C are symmetrical structures about the center line of the micro aerial vehicle a-a, have the same structure and opposite directions, and are composed of a wing tip i 23, a wing tip ii 24, a bracket i 25, a tension spring 26, an air pipe 27, a bracket ii 28, a bracket iii 29, a bracket iv 30, a bracket v 31, a wing membrane 32 and a spring 33, wherein the wing tip i 23 is positioned on the left flapping wing B; wing tip II 24 is located on the rear flapping wing C. The bracket I25 is welded at the point o of the wing tip I23; the bracket II 28 is connected with the bracket I25 through a tension spring 26; the rear end of the bracket III 29 is welded with the upper end of the bracket II 28; the bracket V31 is connected with a bracket III 29 through a tension spring 26; the rear end of the bracket IV 30 is welded with the upper end of the bracket V31; the bracket I25, the bracket III 29 and the bracket IV 30 are hollow tube structures, and the air tube 27 sequentially penetrates through the brackets; the wing membrane 32 is adhered to the surfaces of the wing tip I23, the support I25, the tension spring 26, the support II 28, the support III 29, the support IV 30 and the support V31; the outer contour of the flapping wing is formed by the following arc radius R6: 4.1mm-4.3mm, and the arc straight line distance L19 is as follows: 7.5mm-8mm circular arc lines; the arc radius R7 is: 39.0mm-40.0mm, and the arc straight line distance L20 is as follows: 21.5mm-22mm circular arc line; the arc radius R8 is: 26.0mm-27.0mm, and the arc straight line distance L21 is as follows: 20.0mm-21.0mm circular arc line; the arc radius R9 is: 7.4mm-7.6mm, and the arc straight line distance L22 is as follows: a circular arc line of 10.5mm-11 mm; the line L23 is: 5.8mm-6.0 mm; r10: 0.19mm-0.21 mm; l24: 7.0mm-7.2mm in sequence; the size of the bracket I25 is determined by the following steps of: 113.0mm-115.0mm, arc straight line distance L25: 18.0mm-19.0mm, linear distance L26: 22.2mm-22.6 mm; bracket II 28 size is L2: 18.0mm-20.0 mm; the size of bracket III 29 is determined by the arc radius R12: 40.0mm-41.0mm, arc linear distance L28: 18.0mm-20.0mm, linear distance L29: 18.0mm-20.0 mm; stent iv 30 dimensions are defined by arc radius R13: 25.0mm-26.0mm, arc straight line distance L30: 5.0mm-5.5 mm; bracket v 31 has a dimension L31: 14.5mm-15.0 mm; support I25 and III 29, support IV 30 are hollow tubes, and outside pipe diameter size is R14: 0.39mm-0.41mm, inside pipe diameter size R15: 0.22mm-0.24 mm.
In the embodiment, the material of the machine body A, the left lifting frame group 1, the rear lifting frame group 3, the rocker II 4, the support frame I6, the support frame II 10, the positioning pin II 11, the connecting rod I12, the positioning pin II 14, the support frame III 15, the connecting rod II 19, the support frame IV 20, the rocker I21, the positioning pin III 22, the wing tip I23, the wing tip II 24, the support frame I25, the support frame II 28, the support frame III 29, the support frame IV 30 and the support frame V31 is carbon fiber; the material of the external gear I7, the driving wheel I8, the driving wheel II 9, the external gear II 13, the driving wheel III 16, the driving wheel IV 17 and the external gear III 18 is POM plastic, and the fin film 32 is a high-elasticity film. The modulus of the straight gear is 0.3, the number of teeth of the external gear I7 is 49, the number of teeth of the external gear II 13 is 9, and the number of teeth of the external gear III 18 is 49. The fin film 32 is a high-elasticity film; the air pump 2 is an M20 DC motor small DC3V air pump; the hollow cup motor (14) is an 8520 motor; the tension spring 26 is a tension spring of 0.05 x 0.6 x 3, and the spring 33 is a 15-degree torsion spring of 0.3 x 2.5; the air pipe 27 is a rubber pipe with the outer diameter of 0.22mm-0.24 mm.
The state of the pneumatic folding bionic flapping wing micro air vehicle for preparing wings on the ground is called as the A state, the A state is shown as figure 23, and the automatic wing spreading, flapping and wing collecting processes of the pneumatic folding bionic flapping wing micro air vehicle are as follows:
firstly, a wing spreading process:
when the takeoff signal is sent out, the state A is shown in fig. 23, and the left flapping wing B and the rear flapping wing C are in a furled state. When the control device sends out an electromagnetic signal, the air pump 2 starts to work and outputs air, the air enters the air pipe 27, the air pipe 27 is stressed and unfolded, the wing tip I23 is driven to rotate outwards and is opened through the rocker, and the spring 33 is in a stretching state at the moment; the air pipe 27 is continuously stressed and unfolded to pass through the bracket I25, the bracket II 28 and the bracket III 29 are driven to rotate outwards to be opened, and the tension spring 26 is in a tension state at the moment; the air pipe 27 is continuously stressed to be unfolded and passes through the bracket III 29, the bracket IV 30 and the bracket V31 are driven to rotate outwards to be opened, at the moment, the tension spring 26 is in a stretching state, and the flapping wings are completely unfolded.
Secondly, flapping process:
when the flapping wings are completely unfolded, as shown in figure 22, an electromagnetic control signal is sent out, and the hollow cup motor (14) starts to work; the hollow cup motor (14) firstly rotates clockwise to drive the outer gear II 13 to rotate clockwise; the external gear II 13 is meshed with the external gear I7, and the external gear I7 rotates anticlockwise under the driving of the external gear II 13; the external gear I7 and the external gear III 18 are meshed with each other, and the external gear III 18 rotates clockwise under the driving of the external gear I7; driven by the external gear I7 and the external gear III 18, the transmission wheel I8, the transmission wheel II 9 and the connecting rod I12 rotate anticlockwise, and the transmission wheel III 16, the transmission wheel IV 17 and the connecting rod II 19 rotate clockwise; driven by the anticlockwise rotation of the connecting rod I12 and the clockwise rotation of the connecting rod II 19, the rocker II 4 and the rocker I21 swing upwards; the left flapping wing B and the rear flapping wing C flap upwards under the driving of a rocker II 4 and a rocker I21; when the flapping wings flap to the highest point, the hollow cup motor (14) rotates anticlockwise to drive the outer gear II 13 to rotate anticlockwise; the outer gear II 13 is meshed with the outer gear I7, and the outer gear I7 rotates clockwise under the driving of the outer gear II 13; the external gear I7 and the external gear III 18 are meshed with each other, and the external gear III 18 rotates anticlockwise under the driving of the external gear I7; under the drive of the external gear I7 and the external gear III 18, the driving wheel I8, the driving wheel II 9 and the connecting rod I12 rotate clockwise, and the driving wheel III 16, the driving wheel IV 17 and the connecting rod II 19 rotate anticlockwise; under the drive of clockwise rotation of the connecting rod I12 and anticlockwise rotation of the connecting rod II 19, the rocker II 4 and the rocker I21 swing downwards; the left flapping wing B and the rear flapping wing C flap downwards under the driving of the rocker II 4 and the rocker I21, and a complete flapping process of the flapping wings is finished.
Thirdly, a fin collecting process:
when the aircraft finishes a flight task and prepares for wing collection, an electromagnetic control signal is sent out, the hollow cup motor (14) stops working, and the flapping wings do not flap any more; at the moment, the air pump stops pumping air, the air in the air pipe is dissipated, and the aerodynamic force disappears; because the tension spring 26 is still in a stretching state and is not balanced by pneumatic power any more, under the contraction action of the tension spring 26, the bracket V31 is retracted inwards and drives the bracket IV 30 to fold inwards; similarly, at the bracket I25, the bracket II 28 and the bracket III 29, due to the contraction force of the tension spring 26, the bracket II 28 drives the bracket III 29 to fold inwards while driving the bracket II 28 to retract inwards; at the wing tip I23, the spring 33 loses the balance of the aerodynamic force and generates a contraction force, thereby bringing the wing tip I23 to fold inwards, at which time the flapping wing retracts back to the A state, as shown in figure 23.
In the present invention, the "front" refers to the direction of the micro-aircraft advancing in flight,
since the innovation of the present invention is in the aircraft structure itself, the aircraft drive system, power source and control system are not included in the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a bionical flapping wing micro air vehicle is folded to pneumatic type which characterized in that: comprises a machine body and bionic flapping wings symmetrically arranged at two sides of the machine body; the bionic flapping wing comprises a wing tip, a wing membrane and a framework, the framework comprises a transverse framework positioned at the front part of the flapping wing profile and a longitudinal framework positioned in the flapping wing profile, the transverse framework is fixed on the wing membrane and comprises a multi-section hollow support, an air pipe penetrates through the hollow support, the air pipe is communicated with the air pump, the longitudinal framework is fixed on the wing membrane, the longitudinal framework comprises a multi-section support and is intersected with the end part of the hollow support at any angle, and a tension spring is connected between any point on the rear side of the intersected transverse framework and any point on one side, close to the machine body, of the longitudinal framework; the wing tip is triangular, three vertexes are respectively connected with the end point of the transverse framework, one end of the spring and a rocker of the crank rocker mechanism, and the other end of the spring is connected with the machine body.
2. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the both sides of fuselage still install bionical foot, bionical foot use as the undercarriage of fuselage, the undercarriage including left landing gear group and the back landing gear group that is located the fuselage both sides, left landing gear group welds in the left hole of fuselage, back landing gear group welds in the hole of fuselage rear side.
3. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the two crankshaft and rocker mechanisms are symmetrically arranged along the left and the back of a connecting line of the front end and the back end of the machine body and comprise connecting rods, rockers and cranks, each crank comprises an outer gear I, a driving wheel I and a driving wheel II, the circle centers of the outer gears I, the driving wheel I and the driving wheel II are on the same straight line, the shaft of a motor is connected with the outer gear II, the outer gear II is meshed with the outer gear I, the outer gear I is meshed with an outer gear III of another crankshaft and rocker mechanism, the connecting rods are rotatably connected at the eccentric positions of the driving wheel I and the driving wheel II, the driving wheel I is fixedly connected to the outer gear I, the driving wheel I and the driving wheel II are installed in the middle of the front end of the machine body through a supporting frame II, and the rockers are rotatably connected to the upper portion of the front end of the machine body.
4. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the flapping wing comprises a wing tip, a tension spring, an air pipe, a transverse framework, a longitudinal framework, a wing membrane and a spring, wherein the transverse framework comprises a hollow bracket I, a bracket III and a bracket IV; one side of the bracket II close to the machine body is connected with the rear side of the other end of the bracket I through a tension spring; the hollow part of the other end of the bracket I is arranged corresponding to the hollow part of one end of the bracket III, and the lower part of one end of the bracket III is fixedly connected with the upper end of the bracket II; the hollow part of the other end of the bracket III is arranged corresponding to the hollow part of one end of the bracket IV, and one side of one end of the bracket V, which is close to the machine body, is connected with the lower part of the other end of the bracket III through a tension spring; the rear end of the bracket IV is welded with the upper end of the bracket V; the air pipe sequentially penetrates through the inner parts of the bracket I, the bracket III and the bracket IV; the wing membrane is adhered to the surfaces of the wing tip, the support I, the tension spring, the support II, the support III, the support IV and the support V.
5. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the rocker is of a hollow structure, and the air pipe penetrates through the interior of the rocker.
6. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the inside of the machine body is provided with a groove, and the air pump is fixedly arranged in the groove.
7. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the front part of the machine body A is provided with a hole, and the motor is arranged in the hole.
8. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the fin film is a high-elasticity film.
9. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the machine body, the left lifting frame set, the rear lifting frame set, the rocker, the support frame, the wing tip and the framework are made of carbon fibers.
10. The pneumatic folding bionic flapping wing micro air vehicle of claim 1, wherein: the air pipe is a rubber pipe.
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