CN110143279B - Two-section flexible variant bionic flapping wing aircraft - Google Patents
Two-section flexible variant bionic flapping wing aircraft Download PDFInfo
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- CN110143279B CN110143279B CN201910353866.3A CN201910353866A CN110143279B CN 110143279 B CN110143279 B CN 110143279B CN 201910353866 A CN201910353866 A CN 201910353866A CN 110143279 B CN110143279 B CN 110143279B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention discloses a two-section flexible variant bionic flapping wing aircraft. It includes: the flapping wing control system comprises a flapping wing driving device, a tail wing, a machine body framework, a machine body cross beam, a power supply and control module, a skin and two flapping wing structures which are arranged on two sides of the machine body framework in an axisymmetric mode; each flapping wing structure comprises: a main wing, an aileron, a main wing joint, and an aileron joint; the flapping wing driving device comprises a brushless motor, two gear sets, two cranks and two connecting rods; the brushless motor is fixed on the machine body framework, an output shaft of the brushless motor is coaxially connected with a gear to transmit power to two gear sets, the two gear sets are symmetrically distributed on the machine body framework, two cranks are respectively connected with the two gear sets, and one ends of the two connecting rods are respectively connected with the two cranks; the other ends of the two connecting rods are respectively connected with the main wings of the two flapping wing structures. The invention can realize flapping wing actions with high bionics degree and improve the stability of flight.
Description
Technical Field
The invention relates to the field of aerospace, in particular to a two-section flexible variant bionic flapping wing aircraft.
Background
The bird-imitating flapping-wing aircraft is a novel aircraft capable of flying like a bird by flapping wings, has the advantages of small volume, light weight, good concealment, good flexibility, simple operation, convenient carrying and the like, and has very attractive application prospects, such as aerial photography monitoring, information collection, disaster search and rescue, airport bird repelling and the like.
Flapping flight of birds in nature is mainly composed of three basic movements: up and down swing motion, twisting motion and bending folding motion. The flapping wing has the advantages that the flying characteristics of birds are combined, the up-and-down swinging motion, the twisting motion and the bending folding motion are organically combined together, so that the flapping wing generates larger lift force and thrust force, the aerodynamic efficiency can be improved, and the aerodynamic efficiency of the flapping wing cannot be maximized by the single swinging motion and the single twisting motion.
The bird-like flapping wing aircraft is an aircraft which can generate lift force and thrust force simultaneously only by virtue of the flexible flapping wings, and has strong imitative property. At present, the flapping wing aircraft of domestic and international development is mostly single-section flapping wing structure, relies on the rigidity leading edge to drive flexible wing flapping and chord to the torsion realization flight from top to bottom, for example: along with further research, MIT and other schools develop ornithopter which is passively bent by means of inertia force, but still performs high-frequency flapping flight; german FESTO company designs Smart bird with actively bent wings, but requires hybrid power (helium and electric charging); the active deformation flapping wings with wings bent under the control of steering engines are designed in the skilful and the like, but the active deformation flapping wings are complex in structure and too large in mass to fly.
Chinese patent CN107150804A adopts a single-section flapping wing aircraft, simulates three motions of wing flapping, torsion and back and forth sweeping when birds fly, and provides enough thrust and lift force for the flapping wing aircraft. Because the flapping wings of the aircraft are in a straight flapping mode, the appearance bionics degree is not high.
Chinese patent CN106043692A provides a bird-imitating two-section flapping wing integrating flapping wings with functions of flapping, twisting and bending folding, wherein a driving mechanism is a plane crank rocker, and a front steering engine and a rear steering engine are adopted to respectively control the up-down swinging and the left-right turning of a tail wing. Although the multi-degree-of-freedom motion can be realized, the driving parts are more, the mass is large, the structure is complex, and the miniaturization is difficult.
The Chinese patent CN101417708A divides the flapping wing surface into an inner wing section and an outer wing section, and the angle limiter is arranged on the front wing rib and the rear wing rib to control the folding angle of the front wing section and the rear wing section, so as to realize the twisting phenomenon in the flapping process of the flapping wing. However, the angle of attack of the flapping wings can only be set to a certain fixed value by arranging the angle limiter, and the angle of attack cannot be flexibly adjusted according to the flow velocity of the incoming flow.
Most of the existing flapping-wing aircrafts are single-section straight flapping-wing type flapping wings, which cannot highly imitate bird flight and are not high in confusion. In addition, the existing two-section flapping wing aircraft has the advantages of multiple driving pieces, large mass, complex structure and difficulty in miniaturization, the articulation control of the inner wing and the outer wing has certain difficulty, and the flying stability is difficult to guarantee.
Disclosure of Invention
The embodiment of the invention provides a two-section flexible variant bionic flapping wing aircraft which can realize high-bionic flapping wing actions and improve the flying stability.
In a first aspect, an embodiment of the present invention provides a two-segment flexible variant bionic flapping wing aircraft, including: the flapping wing control system comprises a flapping wing driving device, a tail wing, a machine body framework, a machine body cross beam, a power supply and control module, a skin and two flapping wing structures which are arranged on two sides of the machine body framework in an axisymmetric mode; fuselage crossbeam and power and control module set up on the fuselage skeleton, each flapping wing structure includes: a main wing, an aileron, a main wing joint, and an aileron joint; the main wing takes the main wing joint as a rotating shaft and rotates around the fuselage skeleton relatively, the ailerons are connected with the main wing through aileron joints and rotate around the main wing relatively, and the empennage is fixedly connected at the rear end of a fuselage cross beam; the skin covers the two flapping wing structures;
the flapping wing driving device comprises a brushless motor, two gear sets, two cranks and two connecting rods; the brushless motor is fixed on the machine body framework, an output shaft of the brushless motor is coaxially connected with a gear to transmit power to the two gear sets, the two gear sets are symmetrically distributed on the machine body framework, the two cranks are respectively connected with the two gear sets, and one ends of the two connecting rods are respectively connected with the two cranks; the other ends of the two connecting rods are respectively connected with the main wings of the two flapping wing structures.
Furthermore, the main wing comprises a main wing rod, a main wing linkage rod, a main wing joint connecting plate, a main wing rod connecting piece, a front baffle and a main wing skin covering the main wing;
one end of the main wing rod is rotatably connected with the connecting rod through the main wing rod connecting piece; the other end of the main wing rod is connected with the main wing joint connecting plate, and the main wing joint connecting plate is perpendicular to the main wing rod connecting piece; one end of the main wing linkage rod is connected with the main wing joint connecting plate and hinged with the ailerons, the other end of the main wing linkage rod is hinged with the through hole of the front baffle, and the front baffle is arranged on the machine body framework.
Further, the main wing further includes: the main wing reinforcing rod, the main wing auxiliary rod, the rotating block and the binding belt;
one end of the main wing reinforcing rod and one end of the main wing auxiliary rod are connected with the main wing joint connecting plate; the other ends of the main wing reinforcing rod and the main wing auxiliary rod are hinged with the fuselage cross beam through the rotating block; the main wing linkage rod and the main wing rod are fixed through the binding belt.
Further, the flap comprises: the aileron comprises an aileron rod, an aileron skin covering the aileron and an aileron joint connecting plate, wherein the aileron rod is hinged with one end of the main wing linkage rod through the aileron joint connecting plate.
Further, the flap further comprises: the auxiliary aileron rod is hinged with one end of the main wing linkage rod through the aileron joint connecting plate.
Furthermore, a plurality of connecting plate mounting holes are formed in the aileron joint connecting plate, the swing auxiliary plate is fixedly connected to the aileron joint connecting plate, connecting ropes penetrate through the connecting plate mounting holes, and one ends of the aileron rod and the aileron auxiliary rod are fixedly connected to the aileron joint connecting plate through the connecting ropes.
Further, the tail fin includes: the aircraft comprises a fuselage framework, a first empennage steering engine, a second empennage steering engine, an empennage connecting rod, a steering engine rocker arm, a fuselage tail plate, a tail wing plate and an empennage skin, wherein a first empennage vein, a second empennage vein and a third empennage vein are arranged on one side of the fuselage framework, and a fourth empennage vein, a fifth empennage vein and a sixth empennage vein are arranged on the other side of the fuselage framework; the tail plate is connected with the cross beam of the machine body; the first tail wing steering engine and the second tail wing steering engine are fixed on two sides of the tail board and symmetrically arranged by taking the cross beam of the machine body as a center;
one end of the empennage connecting rod is connected with the first empennage steering engine, the other end of the empennage connecting rod is connected with the empennage plate, the empennage plate is connected with the tail plate, and the first empennage vein, the second empennage vein, the third empennage vein, the fourth empennage vein, the fifth empennage vein and the sixth empennage vein are connected with the empennage plate.
Furthermore, one end of the tail wing connecting rod is connected with a steering engine rocker arm of the first tail wing steering engine through a pin shaft, and the other end of the tail wing connecting rod is connected with a connecting rod mounting hole of a tail wing plate through a pin shaft;
the lengths of the first empennage vein, the second empennage vein and the third empennage vein are reduced in sequence; the lengths of the fourth empennage vein, the fifth empennage vein and the sixth empennage vein are sequentially reduced;
the empennage skin wraps the first empennage vein, the second empennage vein, the third empennage vein, the fourth empennage vein, the fifth empennage vein and the sixth empennage vein.
Furthermore, the first empennage vein and the fourth empennage vein are symmetrically arranged, and the included angle between the first empennage vein and the fourth empennage vein is 50 degrees;
the second empennage vein and the fifth empennage vein are symmetrically arranged, and the included angle between the second empennage vein and the fifth empennage vein is 50 degrees;
the third empennage vein and the sixth empennage vein are symmetrically arranged, and the included angle between the third empennage vein and the sixth empennage vein is 50 degrees.
Furthermore, an included angle between the first tail wing steering engine and the second tail wing steering engine is 60 degrees.
In the embodiment of the invention, the flapping wing driving device adopts the crank rocker mechanism as the driving device, the main wing and the ailerons are linked through the aileron joint to realize the flapping wing action with high bionics degree, the two flapping wing structures are completely symmetrical, the flapping wing actions at two sides are realized by taking the crank rocker mechanism as the driving device, the structure of the mechanism is compact, the transmission mode can ensure the complete symmetry of the two flapping wing structures, and the flying stability is improved. Each flapping wing structure is a double-joint (namely a main wing joint and an aileron joint) and a two-section flapping wing, the ailerons are linked with the main wing, the flapping mode has bionic performance, and the lift force and the thrust required by the normal flight of the aircraft can be improved to the maximum extent.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.
FIG. 1 is a plan development view of a two-segment flexible variant bionic flapping wing aircraft provided by an embodiment of the invention;
FIG. 2 is a front view of a two-segment flexible variant bionic flapping wing aircraft provided by an embodiment of the invention;
FIG. 3 is a first side view of a two-piece flexible variant bionic ornithopter provided by an embodiment of the invention;
FIG. 4 is a second side view of a two-piece flexible variant bionic ornithopter provided by an embodiment of the invention;
fig. 5 is a schematic structural diagram of a tail wing of a two-section flexible variant bionic ornithopter provided by the embodiment of the invention.
Description of reference numerals:
the flapping wing aircraft comprises a flapping wing driving device 1, a main wing 2, an aileron 3, a tail wing 4, a fuselage skeleton 5, a fuselage cross beam 6, a main wing joint 7, an aileron joint 8, a power supply and control module 9 and a skin 10;
101 brushless motor, 102 gear set, 103 crank, 104 connecting rod;
201 main wing rod, 202 main wing linkage rod, 203 main wing reinforcing rod, 204 main wing auxiliary rod, 205 main wing joint connecting plate, 206 main wing rod connecting piece, 207 rotating block, 208 ribbon, 209 front baffle plate and 210 main wing skin;
301 aileron rod, 302 aileron auxiliary rod, 303 aileron skin, 304 aileron joint connection plate, 305 connection plate mounting hole, 306 swing auxiliary plate;
401 a first empennage steering engine, 402 a second empennage steering engine, 403 empennage connecting rods, 404 steering engine rocker arms, 405 connecting rod mounting holes, 406 pin shafts, 407 engine tail plates, 408 empennage plates, 409 a first empennage vein, 410 a second empennage vein, 411 a third empennage vein and 412 empennage skin.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
FIG. 1 is a plan development view of a two-segment flexible variant bionic flapping wing aircraft provided by an embodiment of the invention; FIG. 2 is a front view of a two-segment flexible variant bionic flapping wing aircraft provided by an embodiment of the invention; FIG. 3 is a first side view of a two-piece flexible variant bionic ornithopter provided by an embodiment of the invention; FIG. 4 is a second side view of a two-piece flexible variant bionic ornithopter provided by an embodiment of the invention; fig. 5 is a schematic structural diagram of a tail wing of a two-section flexible variant bionic ornithopter provided by the embodiment of the invention. The following explains a two-segment flexible variant bionic flapping wing aircraft provided by the embodiment of the invention with reference to fig. 1-5.
As shown in fig. 1-4, the two-segment flexible variant ornithopter comprises: the flapping wing aircraft comprises a flapping wing driving device 1, a main wing 2, an aileron 3, a tail wing 4, a fuselage framework 5, a fuselage cross beam 6, a main wing joint 7, an aileron joint 8, a power supply and control module 9 and a skin 10; the flapping wing driving device 1 is fixedly connected to a machine body framework 5, and the main wing 2 rotates around the machine body framework 5 relatively by taking a main wing joint 7 as a rotating shaft. The ailerons 3 are connected with the main wing 2 through aileron joints 8 and rotate around the main wing 2 relatively, the empennage 4 is fixedly connected at the rear end of the fuselage crossbeam 6, and the flying pose of the aircraft can be adjusted by adjusting the up-and-down motion of empennage veins on the empennage plate. The flapping wing driving device 1 provides power of the flapping wing, the power is transmitted to the main wing rod 201, the aileron rod 301 moves synchronously with the main wing rod under the driving of aileron joints, and the characteristics of the up-and-down motion are the same as those of birds. The tail 4 is used for adjusting the flight attitude of the ornithopter. The power supply and control module 9 can be powered by a commercial battery with large capacity and small weight, can reach the maximum load capacity, and can also realize wireless exchange of data by a commercial wireless transceiver and a remote controller to control the aircraft.
The flapping wing driving device 1 is a space crank rocker mechanism, and specifically comprises a brushless motor 101, a gear set 102, a crank 103, a connecting rod 104 and the brushless motor 101 which are fixed on a frame 5 of a machine body, wherein an output shaft of the brushless motor 101 is coaxially connected with a gear to transmit power to the gear set 102. The gear sets 102 are symmetrically distributed on the fuselage skeleton 5. The cranks 103 on both sides are respectively fixedly connected with the gear set 102, and the two connecting rods 104 distributed on both sides are respectively connected with the corresponding cranks 103 through pin shafts.
The wings are two-section type, and the swing auxiliary plate 306 is driven by the main wing linkage rod 202 to realize the up-and-down flapping of the aileron rod 301. Specifically, the method comprises the following steps: the main wing 2 comprises a main wing rod 201, a main wing linkage rod 202, a main wing reinforcing rod 203, a main wing auxiliary rod 204, a main wing joint connecting plate 205, a main wing rod connecting piece 206, a rotating block 207, a cable tie 208, a front baffle 209 and a main wing skin 210. A main wing rod connecting piece 206 is fixedly connected to the fuselage end of the main wing rod 201 in parallel, and one end of the main wing rod connecting piece 206 is connected with the connecting rod 104 through a pin shaft and can rotate relatively. The aileron end of the main wing rod is fixedly connected with a main wing joint connecting plate 205. The main wing joint connecting plate 205 is perpendicular to the main wing rod connecting piece, so that flapping of the main wing and the aileron are ensured to be in a vertical plane. One ends of the main wing stiffener 203, the main wing stiffener 202, and the main wing stiffener 204 are bonded to the main wing knuckle attachment plate 205 by quick dry glue. The other end of the main wing stiffener 203 is bonded to a turning block 207, and the turning block 207 is hinged to the end of the fuselage cross beam 6 by a pin shaft. One end of the main wing linkage rod 202 is hinged on a swing auxiliary plate 406 on the aileron joint connecting plate 404 through a pin shaft, and the other end is hinged on a through hole of the front baffle 209 through a pin shaft. The main wing linkage rod 202 and the main wing linkage rod 201 are fixed by a bandage 208 at the mutual contact position, so that the synchronous movement of the main wing linkage rod 201 and the main wing linkage rod 202 can be realized. Finally, a main wing skin 210 is covered on the main wing 2, and the main wing skin 210 has certain flexibility, so that the wing can generate enough lift force in the process of flapping up and down.
The aileron 3 comprises an aileron rod 301, an aileron auxiliary rod 302, an aileron skin 303 and an aileron joint connecting plate 304, wherein the aileron joint connecting plate 304 is provided with a plurality of connecting plate mounting holes 305, and the swing auxiliary plate 306 is fixedly connected to the aileron joint connecting plate 304 through a nylon rope and strong glue. Nylon ropes are threaded in the connecting plate mounting holes 305, then the aileron rods 301 and 302 are fixed by strong glue, one ends of the aileron rods are fixed on the aileron joint connecting plate 304, and finally the aileron skin 303 is covered on the aileron 3. The aileron skin 303 also has certain flexibility, so that the aileron 3 can generate certain flexible deformation in the process of up-and-down flapping of the wing, and larger thrust is generated.
As shown in fig. 5, two steering engines are used in the tail wing mechanism to control the pitch and yaw of the tail wing, and the wings at the tail end of the tail wing are in a scissor-like shape, similar to the tail of a swallow. The empennage 4 specifically comprises a first empennage steering engine 401, a second empennage steering engine 402, an empennage connecting rod 403, a steering engine rocker arm 404, a connecting rod mounting hole 405, a pin shaft 406, an empennage plate 407, a empennage plate 408, a first empennage vein 409, a second empennage vein 410, a third empennage vein 411 and an empennage skin 412; the aircraft tail plate 407 is fixedly connected with the aircraft body cross beam 6, the first empennage steering engine 401 and the second empennage steering engine 402 are fixed on two sides of the aircraft tail plate 407, the first empennage steering engine 401 and the second empennage steering engine 402 are symmetrically arranged by taking the aircraft body cross beam 6 as a center, and an installation included angle between the two steering engines is 60 degrees. One end of the tail wing connecting rod 403 is connected with the steering engine rocker arm of the first tail wing steering engine 401 through a pin shaft, and the other end is connected with a connecting rod mounting hole 405 of the tail wing plate 408 through a pin shaft 406. The tail wing plate 408 is connected with the tail plate 407 through an adhesive tape, so that the tail wing plate 308 can move up and down under the drive of the tail wing connecting rod 403. And (3) fixedly connecting the three empennage veins with a tail wing plate by using nylon ropes and strong glue respectively, wherein the first empennage vein 409 is longest, the second empennage vein 410 times shorter, and the third empennage vein 411 is shortest, and finally completely wrapping the empennage veins by using an empennage skin 412. Similarly, the cross beam of the machine body is taken as a symmetry axis, three empennage veins are also placed on the other side of the machine body, and the symmetry angle is 50 degrees. When the first tail wing steering engine 401 and the second tail wing steering engine 402 work synchronously, the left tail wing connecting rod 403 and the right tail wing connecting rod 403 move in the same direction, and the tail wing plates 408 can be driven to swing up and down to adjust the flight pitching attitude of the aircraft; when the motion directions of the left empennage connecting rod 403 and the right empennage connecting rod 403 are opposite, the empennage skins 412 on the left empennage vein and the right empennage vein can form pressure difference, so that the bionic flapping wing aircraft can deflect. Adopt forked tail scissors formula appearance through the fin, can effectively control the flight gesture of aircraft, overcome current flapping wing unmanned aerial vehicle and be difficult to the problem of the flight of simulation true birds. The posture adjustment of the empennage is realized by controlling the dovetail wing shape through two steering engine driving connecting rods, so that the action of the empennage is more flexible, the empennage is more like the empennage of birds, and the control is more convenient.
In specific operation, the main wing rod 201, the aileron rod 301 and the main wing linkage rod 202 may be made of 3K carbon fiber tubes with a diameter of 0.004 m, and the main wing reinforcing rod 203, the main wing auxiliary rod 204 and the aileron auxiliary rod 302 may be made of 3K carbon fiber tubes with a diameter of 0.002 m. The empennage veins can be a 3K carbon fiber tube with the diameter of 0.001 meter, and the rest parts are made of ABS resin materials through a 3D printing technology.
The working principle of the two-section flexible variant bionic flapping wing air vehicle is briefly described as follows: all parts of the flapping wing air vehicle are in bilateral axial symmetry relative to the fuselage skeleton 5. When the flapping wing driving device works, the brushless motor 101 in the flapping wing driving device 1 rotates anticlockwise, torque is transmitted to the gear sets 102 on the two sides, symmetrical rotating motion is achieved, and the two cranks 103 are fixed on the gear sets 102 on the two sides respectively and drive the connecting rod 104 to move up and down. The main wing linkage rod 202 can drive the swing auxiliary plate 306 on the aileron joint connecting plate 304 to indirectly drive the aileron rod 301, so that the aileron rod 301 swings up and down around the aileron joint 8, and finally the aileron 3 flaps up and down. The combined effect of the up and down flapping of the main wing 2 and the ailerons 3 achieves a flapping wing action similar to birds. The power supply and control module 9 also drives two steering engines in the tail wing 4, when the first tail wing steering engine 401 and the second tail wing steering engine 402 work synchronously, the left tail wing connecting rod 403 and the right tail wing connecting rod 403 move towards the same direction, and the tail wing plate 408 can be driven to swing up and down, so that the purpose of adjusting the flight pitching attitude of the aircraft is achieved, wherein the tail wing plate 408 is in a scissor shape. When the motion directions of the left empennage connecting rod 403 and the right empennage connecting rod 403 are opposite, the empennage skins 412 on the left empennage vein and the right empennage vein can form pressure difference to indirectly drive the tail wing plates 408 connected with the empennage skins to deflect left and right, and the turning action of the bionic ornithopter is realized.
In the embodiment, the spatial crank rocker is used as the driving mechanism, so that the mechanism is compact, the required mechanism space is small, and the bilateral symmetry is good compared with a planar crank rocker mechanism. Secondly, the two-section flexible variant flapping wing air vehicle designed by the invention can realize two-section up-and-down flapping, has simple structure and high bionic degree, and is easy to realize miniaturization. And thirdly, a scissor type empennage model of a swallow is adopted in the empennage mechanism. The motion direction of tail fin veins is controlled by the left steering engine and the right steering engine, so that the flight attitude of the aircraft can be controlled.
It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For the device embodiments, reference may be made to the description of the method embodiments in the relevant part. Embodiments of the invention are not limited to the specific steps and structures described above and shown in the drawings. Those skilled in the art may make various changes, modifications and additions to, or change the order between the steps, after appreciating the spirit of the embodiments of the invention. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of an embodiment of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
Embodiments of the present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. For example, the algorithms described in the specific embodiments may be modified without departing from the basic spirit of the embodiments of the present invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. A two-section flexible variant bionic flapping wing aircraft is characterized by comprising: the flapping wing aircraft comprises a flapping wing driving device (1), a tail wing (4), a fuselage framework (5), a fuselage cross beam (6), a power supply and control module (9), a skin (10) and two flapping wing structures which are arranged on two sides of the fuselage framework (5) in an axisymmetric manner; fuselage crossbeam (6) and power and control module (9) set up on fuselage skeleton (5), each flapping wing structure includes: a main wing (2), an aileron (3), a main wing joint (7), and an aileron joint (8); the main wing (2) rotates around the fuselage skeleton (5) relatively by taking the main wing joint (7) as a rotating shaft, the ailerons (3) are connected with the main wing (2) through aileron joints (8) and rotate around the main wing (2) relatively, and the tail wing (4) is fixedly connected at the rear end of a fuselage cross beam (6); the skin (10) covers the two flapping wing structures;
the flapping wing driving device (1) comprises a brushless motor (101), two gear sets (102), two cranks (103) and two connecting rods (104); the brushless motor (101) is fixed on the machine body framework (5), an output shaft of the brushless motor (101) is coaxially connected with a gear and transmits power to the two gear sets (102), the two gear sets (102) are symmetrically distributed on the machine body framework (5), the two cranks (103) are respectively connected with the two gear sets (102), and one ends of the two connecting rods (104) are respectively connected with the two cranks (103); the other ends of the two connecting rods (104) are respectively connected with the main wings (2) of the two flapping wing structures;
the main wing (2) comprises a main wing rod (201), a main wing linkage rod (202), a main wing joint connecting plate (205), a main wing rod connecting piece (206), a front baffle plate (209) and a main wing skin (210) covering the main wing (2);
one end of the main wing rod (201) is rotatably connected with the connecting rod (104) through the main wing rod connecting piece (206); the other end of the main wing rod (201) is connected with the main wing joint connecting plate (205), and the main wing joint connecting plate (205) is perpendicular to the main wing rod connecting piece (206); one end of the main wing linkage rod (202) is connected with the main wing joint connecting plate (205) and hinged with the aileron (3), the other end of the main wing linkage rod is hinged with a through hole of the front baffle (209), and the front baffle (209) is arranged on the fuselage framework (5);
the main wing (2) further comprises: a main wing reinforcing rod (203), a main wing auxiliary rod (204), a rotating block (207) and a cable tie (208);
one end of the main wing reinforcing rod (203) and one end of the main wing auxiliary rod (204) are connected with the main wing joint connecting plate (205); the other ends of the main wing reinforcing rod (203) and the main wing auxiliary rod (204) are hinged with the fuselage cross beam (6) through the rotating block (207);
the main wing linkage rod (202) and the main wing rod (201) are fixed through the cable tie (208).
2. The two-segment flexible variant biomimetic ornithopter according to claim 1, characterized in that the aileron (3) comprises: the aileron comprises an aileron rod (301), an aileron skin (303) covering the aileron (3) and an aileron joint connecting plate (304), wherein the aileron rod (301) is hinged with one end of the main wing linkage rod (202) through the aileron joint connecting plate (304).
3. The two-segment flexible variant biomimetic ornithopter according to claim 2, characterized in that the aileron (3) further comprises: the auxiliary aileron rod (302), the auxiliary aileron rod (302) is hinged with one end of the main wing linkage rod (202) through the joint connection plate (304).
4. The two-section flexible variant bionic ornithopter according to claim 3, wherein the aileron joint connecting plate (304) is provided with a plurality of connecting plate mounting holes (305), the swing auxiliary plate (306) is fixedly connected to the aileron joint connecting plate (304), connecting ropes are threaded in the connecting plate mounting holes (305), and the aileron rod (301) and one end of the aileron auxiliary rod (302) are fixedly connected to the aileron joint connecting plate (304) through the connecting ropes.
5. The two-segment flexible variant bionic ornithopter according to claim 4, wherein the tail (4) comprises: the aircraft comprises a first empennage steering engine (401), a second empennage steering engine (402), an empennage connecting rod (403), a steering engine rocker arm (404), an aircraft tail plate (407), a empennage plate (408) and an empennage skin (412), wherein a first empennage vein (409), a second empennage vein (410) and a third empennage vein (411) are arranged on one side of a fuselage skeleton (5), and a fourth empennage vein, a fifth empennage vein and a sixth empennage vein are arranged on the other side of the fuselage skeleton (5);
wherein the tail plate (407) is connected with the fuselage cross beam (6); the first tail wing steering engine (401) and the second tail wing steering engine (402) are fixed on two sides of the tail board (407) and symmetrically arranged by taking the cross beam (6) of the machine body as a center;
one end of empennage connecting rod (403) with first empennage steering engine 401 is connected, the other end with empennage plate (408) meet, and empennage plate (408) meet with tail board (407), first empennage vein (409), second empennage vein (410), third empennage vein (411), fourth empennage vein, fifth empennage vein and sixth empennage vein with empennage plate (408) is connected.
6. The two-section flexible variant bionic ornithopter as claimed in claim 5, wherein one end of the tail connecting rod (403) is connected with the steering engine rocker arm of the first tail steering engine (401) through a pin shaft, and the other end of the tail connecting rod is connected with a connecting rod mounting hole (405) of a tail wing plate (408) through a pin shaft (406);
the lengths of the first empennage vein (409), the second empennage vein (410) and the third empennage vein (411) are reduced in sequence; the lengths of the fourth empennage vein, the fifth empennage vein and the sixth empennage vein are sequentially reduced;
the empennage skin (412) wraps the first empennage vein (409), the second empennage vein (410), the third empennage vein (411), the fourth empennage vein, the fifth empennage vein, and the sixth empennage vein.
7. The two-segment flexible variant bionic ornithopter according to claim 6, wherein the first empennage vein (409) and the fourth empennage vein are symmetrically arranged, and the included angle between the first empennage vein and the fourth empennage vein is 50 degrees;
the second empennage vein (410) and the fifth empennage vein are symmetrically arranged, and the included angle between the second empennage vein and the fifth empennage vein is 50 degrees;
the third empennage vein (411) and the sixth empennage vein are symmetrically arranged, and the included angle between the third empennage vein and the sixth empennage vein is 50 degrees.
8. The two-section flexible variant bionic ornithopter according to claim 7, wherein an included angle between the first tail steering engine (401) and the second tail steering engine (402) is 60 degrees.
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| CN110481775B (en) * | 2019-10-17 | 2020-01-31 | 北京航空航天大学 | flapping wing mechanism capable of changing wing area |
| CN113173247B (en) * | 2021-05-07 | 2022-12-09 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN113148147B (en) * | 2021-05-28 | 2022-04-01 | 哈尔滨工业大学（深圳） | Folding tail wing for flapping wing flying robot |
| CN113232856A (en) * | 2021-06-17 | 2021-08-10 | 东莞理工学院 | Passive deformation flapping wing structure |
| CN113335524B (en) * | 2021-07-26 | 2022-10-18 | 北京工业大学 | Flapping wing aircraft with spherical hinge empennage device |
| CN115636086A (en) * | 2022-12-23 | 2023-01-24 | 中国空气动力研究与发展中心高速空气动力研究所 | Flapping wing aircraft and rolling flight method thereof |
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