CN110316371B - Synchronous direct-acting four-flapping-wing aircraft with rotatable blades - Google Patents
Synchronous direct-acting four-flapping-wing aircraft with rotatable blades Download PDFInfo
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- CN110316371B CN110316371B CN201910651164.3A CN201910651164A CN110316371B CN 110316371 B CN110316371 B CN 110316371B CN 201910651164 A CN201910651164 A CN 201910651164A CN 110316371 B CN110316371 B CN 110316371B
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Abstract
The invention relates to the field of flapping wing aircrafts and flying robots, in particular to a synchronous direct-rotating four-flapping wing aircraft with rotatable blades. Including the flapping wing, the slide, the connecting piece, first reduction gear, step motor, drive mechanism, the second reduction gear, motor and fuselage frame, the installation of fuselage frame symmetry all around is fixed with the slide of four vertical directions, four connecting pieces are sliding connection respectively on four slides, four flapping wings are connected respectively and can rotate relatively on four connecting pieces, the flapping wing includes the flapping wing frame, and install the rotatable blade in the flapping wing frame, still be provided with the torsional spring in the flapping wing frame and be used for the restoration of blade, drive mechanism connects on four connecting pieces, the motor that sets up on fuselage frame drives drive mechanism motion after slowing down through the second reduction gear and makes four connecting pieces synchronous upper and lower slides, four step motor that set up respectively on four connecting pieces drive four flapping wings rotation respectively after slowing down through four first reduction gears.
Description
Technical Field
The invention relates to the field of flapping wing aircrafts and flying robots, in particular to a synchronous direct-rotating four-flapping wing aircraft with rotatable blades.
Background
The flight mode of the aircraft comprises three flight modes of a fixed wing, a rotor wing and a flapping wing, wherein the flapping wing flight is a flight mode adopted by natural flight organisms, the upper flapping and the lower flapping of double wings are mainly utilized to simultaneously generate lift force and thrust force, and the flight mode has the main characteristic that the lifting, hovering and propelling functions are integrated, meanwhile, the flight mode has strong maneuverability and flexibility, and is more suitable for executing flight around obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency.
At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. The flapping wing driving mechanism can be divided into a multi-degree-of-freedom flapping wing driving mechanism and a single-degree-of-freedom flapping wing driving mechanism, the multi-degree-of-freedom flapping wing driving mechanism can realize a complex motion form, but the mechanism is relatively large and complex, the single-degree-of-freedom flapping wing driving mechanism only needs to realize flapping motion, and the trailing edge of the fixed wing forms an attack angle which changes along with the flapping of the wing to realize the twisting motion.
However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft. Meanwhile, most of the conventional flapping-wing flight chess can not realize vertical take-off and landing and hovering in the air, and the flexibility and the maneuverability are not good enough.
Disclosure of Invention
The invention aims to provide a synchronous direct-rotating type four-flapping-wing aircraft with rotatable blades, which remarkably reduces the resistance of the flapping wing resetting process of the flapping-wing aircraft, improves the aerodynamic efficiency, conveniently realizes vertical take-off and landing, can quickly switch the flight direction, and has good flight flexibility and maneuverability, so as to solve the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a synchronous direct-acting four flapping wing aircraft of rotatable blade, includes flapping wing, slide, connecting piece, first reduction gear, step motor, drive mechanism, second reduction gear, motor and fuselage frame, the installation of fuselage frame symmetry all around is fixed with the slide of four vertical directions, four the connecting piece is sliding connection respectively four on the slide, four the flapping wing is connected respectively four but just relative rotation on the connecting piece, the flapping wing includes the flapping wing frame to and install rotatable blade in the flapping wing frame, still be provided with the torsional spring in the flapping wing frame and be used for the restoration of blade, drive mechanism connects four on the connecting piece, set up the motor on the fuselage frame through set up on the fuselage frame drive after the second reduction gear slows down the drive mechanism motion makes four connecting pieces synchronous vertical sliding, the four stepping motors respectively arranged on the four connecting pieces respectively drive the four flapping wings to rotate after being decelerated by the four first speed reducers respectively arranged on the four connecting pieces.
Further, a blade mounting hole, a blade limiting beam and a flapping wing rotating shaft are arranged on the flapping wing frame, the blade comprises a blade windward side, a blade leeward side and a blade rotating shaft, the blade windward side and the blade leeward side are oppositely arranged, the blade rotating shaft is arranged on the blade, the connecting piece is provided with a slide way hole and a flapping wing rotating shaft hole, the axis of the slide way hole is perpendicular to the axis of the flapping wing rotating shaft hole, the slide way is inserted into the slide way hole and can slide, and the flapping wing rotating shaft is inserted into the flapping wing rotating shaft hole and can rotate; the blade rotating shaft is inserted into the blade mounting hole and can rotate, the torsional spring is sleeved on the blade rotating shaft, and two ends of the torsional spring are respectively close to the flapping wing frame and the windward side of the blade; when the torsion spring is in a compressed state, the leeward side of the blade is close to the blade limiting beam.
Furthermore, the transmission mechanism comprises a push rod, a cam, a transmission shaft, a push rod shaft and a push rod support are arranged on the push rod, a cam rotating hole and a cam curved surface are formed in the cam, the top of the push rod shaft in the vertical direction is downward and tightly abutted against the cam curved surface, the four connecting pieces are arranged on the push rod support, and the transmission shaft is connected with the cam rotating hole and the second speed reducer.
Furthermore, the curved surface of the cam is a ruled surface, and the plain line of the ruled surface is parallel to the axis of the rotating hole of the cam.
Further, still including being used for making the spring that the connecting piece resets, four the spring suit is respectively in four on the slide, the spring both ends are close to respectively the connecting piece with the fuselage frame sets up, the spring is compression state.
Further, the flapping wing rotating shaft is installed on an output shaft of the first speed reducer, and an output shaft of the stepping motor is installed in an input hole of the first speed reducer.
Further, the output shaft of the motor is mounted in the second reducer input hole.
Further, the flapping wing frame also comprises at least one of a reinforcing vertical beam, a reinforcing cross beam and a reinforcing oblique beam which are used for reinforcing the strength of the flapping wing frame.
Furthermore, the blade limiting beam, the reinforcing vertical beam, the reinforcing cross beam and the reinforcing oblique beam are all of hollow structures; the blade limiting beam, the reinforcing vertical beam, the reinforcing cross beam and the reinforcing oblique beam are made of engineering plastics or carbon fiber.
Further, the number of the blades installed in each flapping wing frame is more than 1.
A synchronous direct-acting four-flapping-wing aircraft with rotatable blades is characterized by comprising a flapping-wing frame, blades, torsional springs, slideways, connecting pieces, a first speed reducer, a stepping motor, springs, push rods, cams, a transmission shaft, a second speed reducer, a motor and a fuselage frame, wherein the flapping-wing frame is provided with blade mounting holes, blade limiting beams and flapping-wing rotating shafts, the blades are provided with blade windward sides, blade rotating shafts and blade leeward sides, the connecting pieces are provided with slideway holes and flapping-wing rotating shaft holes, the axes of the slideway holes are vertical to the axes of the flapping-wing rotating shaft holes, the push rods are provided with push rod shafts and push rod supports, the cams are provided with cam rotating holes and cam curved surfaces, the four slideways in vertical directions are symmetrically arranged and fixed on the periphery of the fuselage frame, the four connecting pieces are respectively sleeved on the four slideways through the slideway holes and can slide, the four springs are respectively sleeved on the four slideways, one end of each spring, the other end of the flapping wing frame is tightly leaned on the frame of the machine body, the spring is in a compressed state, the four flapping wing frames are respectively inserted in the flapping wing rotating shaft holes of the four connecting pieces and can rotate through the flapping wing rotating shafts, the blade rotating shafts are inserted in the blade mounting holes and can rotate, the torsion springs are sleeved on the blade rotating shafts, one ends of the torsion springs are leaned on the flapping wing frames, the other ends of the torsion springs are leaned on the windward sides of the blades, the torsion springs are in a compressed state, the leeward sides of the blades are leaned on the blade limiting beams, the number of the blades mounted in each flapping wing frame is one, the flapping wing rotating shafts are mounted on the output shafts of the first speed reducers, the output shafts of the stepping motors are mounted in the input holes of the first speed reducers, the four first speed reducers and the four stepping motors are respectively mounted and fixed on the four connecting, the transmission shaft is installed on the output shaft of the second speed reducer, the output shaft of the motor is installed in the input hole of the second speed reducer, the second speed reducer and the motor are installed and fixed on the frame of the machine body, the curved surface of the cam is a ruled surface, the plain line of the ruled surface is parallel to the axis of the rotating hole of the cam, the difference between the maximum value and the minimum value of the distance between the plain line of the ruled surface of the cam and the axis of the rotating hole of the cam is the working stroke of the flapping wing frame, the flapping wing frame is provided with a reinforced vertical beam, a reinforced cross beam and a reinforced oblique beam, and the blade limiting beam, the reinforced vertical beam, the reinforced cross beam and the reinforced oblique beam all adopt.
The working principle of the invention is as follows: when the motor is started, the motor is decelerated by the second reducer to drive the transmission shaft and the cam to continuously rotate, the push rod drives the connecting piece and the four flapping wing frames to perform reciprocating synchronous translation under the combined action of the rotation of the cam and the compression spring, the flapping wing working state is realized when the flapping wing frames perform translation close to the transmission shaft, the blades are abutted against the blade limiting beam on the leeward side under the action of the torsion spring, the windward side of the blades is vertical to the movement direction of airflow, the airflow directly acts on the windward side of the blades to obtain the maximum aerodynamic force, meanwhile, the stepping motor is decelerated by the first reducer to drive the flapping wing frames to rotate, the inclination angle of the blades is changed, the positive pressure of the airflow acting on the windward side of the blades is the lifting force and the thrust force, and the change of the inclination angle can be decomposed; when the flapping wing frame moves horizontally away from the transmission shaft, the flapping wing is in a resetting state, and at the moment, airflow directly acts on the leeward surface of the blade, so that the blade overcomes the elasticity of the torsion spring and then rotates around the rotating shaft of the blade until the leeward surface of the blade is basically parallel to the movement direction of the airflow, therefore, the air resistance borne by the flapping wing in the resetting process is the minimum, and the torsion spring is further compressed in the resetting process; when the resetting stroke of the flapping wing is finished, the blade rotates around the blade rotating shaft under the action of the restoring elasticity of the torsion spring to be in an initial state, namely a working state. When the four stepping motors adjust the airfoil surfaces of the four flapping wings to be in a horizontal state, the vertical take-off and landing function can be realized, and if the aerodynamic force generated by the four flapping wings is equal to the weight and the resistance of the whole machine, hovering in the air can be realized; the four groups of lift forces and thrust forces can enable the unmanned aerial vehicle to generate resultant force and couple in any direction of space, so that the unmanned aerial vehicle can be rapidly switched to fly in any direction.
Compared with the prior art, the invention has the following remarkable advantages:
1. the synchronous direct-rotating four-flapping-wing aircraft with the rotatable blades is characterized in that the flapping wings are linearly translated, and the rotatable blades controlled by the torsional springs are designed, so that the blades of the flapping wings move upwind in the largest area to obtain the largest aerodynamic force in the working state, and automatically rotate under the action of airflow until the blades are parallel to the airflow direction in the reset state, thereby greatly reducing the resistance and achieving the purpose of improving the aerodynamic efficiency of the flapping-wing flight.
2. According to the synchronous direct-acting type four-flapping-wing aircraft with the rotatable blades, the rotatable blades in the direct-acting type flapping wings are automatically switched between the working state and the reset state under the action of the torsion spring and the airflow, a complex mechanical mechanism and an electronic control system are not needed, and the synchronous direct-acting type four-flapping-wing aircraft with the rotatable blades is simple in structure and good in reliability.
3. The synchronous direct-rotating type four-flapping-wing aircraft with the rotatable blades synchronously controls the four flapping wings to move vertically and straightly back and forth through the motor, the flapping wings on two sides are synchronous, the action consistency is good, the control system is simpler, each flapping wing inclination angle is independently controlled through the stepping motor, so that the vertical take-off and landing and the air hovering can be realized, particularly, the flying can be quickly switched to any direction, and therefore, the unmanned aerial vehicle with the flapping wings has good flexibility and maneuverability.
4. The synchronous direct-rotating four-flapping-wing aircraft with the rotatable blades has the advantages of simple structure, good processing manufacturability and low production cost, and can be widely applied to various small aircrafts and unmanned aerial vehicles flying at low Reynolds numbers.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of a synchronous direct-acting rotary-vane four-flapping-wing aircraft according to embodiment 1 of the present invention.
FIG. 2 is a detailed structural diagram of a synchronous direct-acting four-flapping-wing aircraft with rotatable blades, which is provided with only one flapping wing in a working state.
FIG. 3 is a detailed structure diagram of a synchronous direct-acting four-flapping-wing aircraft with rotatable blades, which is provided with only one flapping wing in a reset state.
FIG. 4 is a detail section view of the flapping wing operation state of the synchronous direct-acting four-flapping-wing aircraft with rotatable blades.
FIG. 5 is a detail section view of the flapping wing reset state of the synchronous direct-acting four-flapping-wing aircraft with rotatable blades.
FIG. 6 is a schematic view of the structure of the flapping wing frame of the synchronous direct-acting four-flapping wing aircraft with rotatable blades.
FIG. 7 is a schematic view of the structure of the blade of a synchronous direct-acting four-flapping-wing aircraft with rotatable blades.
FIG. 8 is a schematic structural diagram of a connecting piece of a synchronous direct-acting type four-flapping-wing aircraft with rotatable blades.
FIG. 9 is a schematic diagram of a push rod of a synchronous direct-acting four-flapping-wing aircraft with rotatable blades.
FIG. 10 is a schematic diagram of the structure of the cam of the synchronous direct-acting four-flapping-wing aircraft with rotatable blades.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1:
and (3) in combination with the figures 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the high-voltage wire routing inspection unmanned aerial vehicle adopting the synchronous direct-rotating type four-flapping-wing aircraft with rotatable blades. As shown in fig. 1, the synchronous direct-acting four-flapping-wing aircraft with rotatable blades in the application comprises a flapping wing frame 1, blades 2, a torsion spring 3, a slideway 4, a connecting piece 5, a first speed reducer 6, a stepping motor 7, a spring 8, a push rod 9, a cam 10, a transmission shaft 11, a second speed reducer 12, a motor 13 and a fuselage frame 14. As shown in fig. 5 and 6, the flapping wing frame 1 is provided with a blade mounting hole 101, a blade limit beam 102 and a flapping wing rotating shaft 103, and the blade 2 is provided with a blade windward side 201, a blade rotating shaft 202 and a blade leeward side 203. As shown in fig. 8, 9 and 10, the connecting member 5 is provided with a slide hole 501 and a flapping wing rotating shaft hole 502, the axis of the slide hole 501 is perpendicular to the axis of the flapping wing rotating shaft hole 502, the push rod 9 is provided with a push rod shaft 901 and a push rod bracket 902, the cam 10 is provided with a cam rotating hole 1001 and a cam curved surface 1002, and the difference between the maximum value and the minimum value of the distance between the ruled surface line of the cam curved surface 1002 and the axis of the cam rotating hole 1001 is the flapping wing working stroke. As shown in fig. 2, 7 and 10, four vertical slideways 4 are symmetrically installed and fixed around the fuselage frame 14, four connecting pieces 5 are respectively sleeved on the four slideways 4 through a slideway hole 501 and can slide, four springs 8 are respectively sleeved on the four slideways 4, one end of each spring 8 abuts against the upper end surface of the corresponding connecting piece 5, the other end of each spring 8 abuts against the fuselage frame 14, the springs 8 are in a compressed state, four flapping wing frames 1 are respectively inserted into flapping wing rotating shaft holes 502 of the four connecting pieces 5 through flapping wing rotating shafts 103 and can rotate, a blade rotating shaft 202 is inserted into the blade installation hole 101 and can rotate, torsion springs 3 are sleeved on the blade rotating shafts 202, one end of each torsion spring 3 abuts against the flapping wing frame 1, the other end of each torsion spring 3 abuts against the blade windward side 201, the blade leeward side 203 abuts against the blade limiting beam 102, the number of the blades 2 installed in each flapping wing frame 1 is four, the flapping wing rotating shaft 103 is arranged on an output shaft of a first speed reducer 6, an output shaft of a stepping motor 7 is arranged in an input hole of the first speed reducer 6, four first speed reducers 6 and four stepping motors 7 are respectively arranged and fixed on four connecting pieces 5, the four connecting pieces 5 are arranged and fixed on a push rod bracket 902, the top tip of a push rod shaft 901 in the vertical direction is downwards abutted against a cam curved surface 1002, a transmission shaft 11 is inserted and fixed in a cam rotating hole 1001, the transmission shaft 11 is arranged on an output shaft of a second speed reducer 12, an output shaft of a motor 13 is arranged in an input hole of the second speed reducer 12, the second speed reducer 12 and the motor 13 are both arranged and fixed on a machine body frame 14, the cam curved surface 1002 is a ruled surface, a ruled surface plain line is parallel to the axis of the cam rotating hole 1001, the difference between the maximum value and the minimum value of the distance between the ruled surface plain line, the flapping wing frame 1 is provided with a reinforced vertical beam 104, a reinforced cross beam 105 and a reinforced oblique beam 106, and the blade limiting beam 102, the reinforced vertical beam 104, the reinforced cross beam 105 and the reinforced oblique beam 106 are all of hollow structures and made of carbon fiber materials. After the high-voltage wire inspection unmanned aerial vehicle adopts the synchronous direct-rotating type four-flapping-wing aircraft with rotatable blades, the flapping-wing aircraft has small resistance, high pneumatic efficiency and good flexibility and maneuverability, so that obstacles can be quickly avoided to complete various detection and photographing operations with higher difficulty, compared with a rotor unmanned aerial vehicle, after the rotor unmanned aerial vehicle carries the same working load such as photographic equipment, the one-time flight time is increased by 20%, and longer flight time operation is realized.
Example 2:
this embodiment 2 provides a special unmanned aerial vehicle of high-rise fire extinguishing, its structure with embodiment 1, the difference is: the number of the blades 2 in each flapping wing frame 1 is 6, and the blade limit beams 102, the reinforced vertical beams 104, the reinforced cross beams 105 and the reinforced oblique beams 106 are all made of engineering plastics. A high-rise fire extinguishing special unmanned aerial vehicle adopting a synchronous direct-acting four-flapping-wing aircraft with rotatable blades is disclosed. The flapping wing comprises a flapping wing frame 1, blades 2, a torsion spring 3, slide ways 4, connecting pieces 5, a first speed reducer 6, a stepping motor 7, springs 8, a push rod 9, a cam 10, a transmission shaft 11, a second speed reducer 12, a motor 13 and a machine body frame 14, wherein the flapping wing frame 1 is provided with a blade mounting hole 101, a blade limiting beam 102 and a flapping wing rotating shaft 103, the blades 2 are provided with a blade windward side 201, a blade rotating shaft 202 and a blade leeward side 203, the connecting pieces 5 are provided with slide way holes 501 and flapping wing rotating shaft holes 502, the axis of each slide way hole 501 is vertical to the axis of each flapping wing rotating shaft hole 502, the push rod 9 is provided with a push rod shaft 901 and a push rod support 902, the cam 10 is provided with a cam rotating hole 1001 and a cam curved surface 1002, the four slide ways 4 in the vertical direction are symmetrically arranged and fixed on the periphery of the machine body frame 14, the four connecting pieces 5 are respectively sleeved on the four slide ways 4 through the slide way holes, one end of a spring 8 abuts against the upper end face of the connecting piece 5, the other end abuts against the body frame 14, the spring 8 is in a compressed state, four flapping wing frames 1 are respectively inserted into flapping wing rotating shaft holes 502 of the four connecting pieces 5 through flapping wing rotating shafts 103 and can rotate, the blade rotating shafts 202 are inserted into blade mounting holes 101 and can rotate, torsional springs 3 are sleeved on the blade rotating shafts 202, one ends of the torsional springs 3 abut against the flapping wing frames 1, the other ends of the torsional springs abut against the windward sides 201 of the blades, the torsional springs 3 are in a compressed state, the leeward sides 203 of the blades abut against the blade limiting beams 102, the number of the blades 2 mounted in each flapping wing frame 1 is six, the flapping wing rotating shafts 103 are mounted on the output shaft of the first speed reducer 6, the output shaft of the stepping motor 7 is mounted in the input hole of the first speed reducer 6, the four first speed reducers 6 and the four, the four connecting pieces 5 are installed and fixed on the push rod bracket 902, the top points of the push rod shaft 901 in the vertical direction are downward and tightly abutted against the cam curved surface 1002, the transmission shaft 11 is inserted and fixed in the cam rotating hole 1001, the transmission shaft 11 is installed on the output shaft of the second speed reducer 12, the output shaft of the motor 13 is installed in the input hole of the second speed reducer 12, the second speed reducer 12 and the motor 13 are both installed and fixed on the machine body frame 14, the cam curved surface 1002 is a ruled surface, the plain line of the ruled surface is parallel to the axis of the cam rotating hole 1001, the difference between the maximum value and the minimum value of the distance between the plain line of the ruled surface of the cam curved surface 1002 and the axis of the cam rotating hole 1001 is the working stroke of the flapping wing frame 1, the flapping wing frame 1 is provided with the reinforced, the reinforced vertical beams 104, the reinforced cross beams 105 and the reinforced oblique beams 106 are all of hollow structures and made of engineering plastic materials. After the synchronous direct-rotating type four-flapping-wing aircraft with the rotatable blades is adopted by the special unmanned aerial vehicle for high-rise fire extinguishment, due to the fact that the flapping wings are large in lifting force and thrust, small in flapping wing resistance, high in pneumatic efficiency, very good in flexibility and maneuverability, capable of quickly responding to high-rise emergency situations, capable of quickly flying to fire points in high-rise and narrow spaces, and capable of hovering in the air to accurately and continuously extinguish fire at fire points.
Example 3:
this embodiment 3 provides an agricultural plant protection unmanned aerial vehicle, and its structure is with embodiment 1, and the difference is: the number of the blades 2 in each flapping wing frame 1 is 8, and the blade limit beams 102, the reinforced vertical beams 104, the reinforced cross beams 105 and the reinforced oblique beams 106 are all made of engineering plastics. An agricultural plant protection unmanned aerial vehicle adopting a synchronous direct-rotating type four-flapping-wing aircraft with rotatable blades comprises a flapping wing frame 1, blades 2, a torsion spring 3, slideways 4, connecting pieces 5, a first speed reducer 6, a stepping motor 7, a spring 8, a push rod 9, a cam 10, a transmission shaft 11, a second speed reducer 12, a motor 13 and a body frame 14, wherein the flapping wing frame 1 is provided with blade mounting holes 101, blade limiting beams 102 and flapping wing rotating shafts 103, the blades 2 are provided with blade windward sides 201, blade rotating shafts 202 and blade leeward sides 203, the connecting pieces 5 are provided with slideway holes 501 and flapping wing rotating shaft holes 502, the axes of the slideway holes 501 are vertical to the axes of the flapping wing rotating shaft holes 502, the push rod 9 is provided with a push rod shaft 901 and a push rod support 902, the cam 10 is provided with a cam rotating hole 1001 and a cam curved surface 1002, the four slideways 4 in vertical directions are symmetrically arranged and fixed around the body frame 14, the four connecting pieces 5 are respectively sleeved on the four slideways 4 through the slideway holes 501, four springs 8 are respectively sleeved on four slide ways 4, one end of each spring 8 is abutted against the upper end face of each connecting piece 5, the other end of each spring 8 is abutted against the frame 14 of the machine body, the springs 8 are in a compression state, four flapping wing frames 1 are respectively inserted into flapping wing rotating shaft holes 502 of the four connecting pieces 5 through flapping wing rotating shafts 103 and can rotate, the blade rotating shafts 202 are inserted into blade mounting holes 101 and can rotate, torsion springs 3 are sleeved on the blade rotating shafts 202, one ends of the torsion springs 3 are abutted against the flapping wing frames 1, the other ends of the torsion springs 3 are abutted against the windward sides 201 of the blades, the torsion springs 3 are in a compression state, the leeward sides 203 of the blades are abutted against the blade limiting beams 102, the number of the blades 2 mounted in each flapping wing frame 1 is 8, the flapping wing rotating shafts 103 are mounted on the output shafts of the first speed reducers 6, the output shafts of the stepping motors 7 are mounted in the input holes of the, the four connecting pieces 5 are installed and fixed on the push rod bracket 902, the top points of the push rod shaft 901 in the vertical direction are downward and tightly abutted against the cam curved surface 1002, the transmission shaft 11 is inserted and fixed in the cam rotating hole 1001, the transmission shaft 11 is installed on the output shaft of the second speed reducer 12, the output shaft of the motor 13 is installed in the input hole of the second speed reducer 12, the second speed reducer 12 and the motor 13 are both installed and fixed on the machine body frame 14, the cam curved surface 1002 is a ruled surface, the plain line of the ruled surface is parallel to the axis of the cam rotating hole 1001, the difference between the maximum value and the minimum value of the distance between the plain line of the ruled surface of the cam curved surface 1002 and the axis of the cam rotating hole 1001 is the working stroke of the flapping wing frame 1, the flapping wing frame 1 is provided with the reinforced, the reinforced vertical beams 104, the reinforced cross beams 105 and the reinforced oblique beams 106 are all of hollow structures and made of engineering plastic materials. After the agricultural plant protection unmanned aerial vehicle adopts the synchronous direct-acting four-flapping-wing aircraft with the rotatable blades, due to the facts that the thrust of the working stroke of the flapping wings is large, the resistance of the flapping wings is small, the pneumatic efficiency is high, the synchronism of the motion of the flapping wings is good, the flexibility and the maneuverability are very good, the multifunctional responses of fertilizer spreading, powder spraying, pollination assisting and the like can be efficiently and quickly completed, the endurance time is long, and compared with a rotor unmanned aerial vehicle, when the same working load is applied, the one-time flight time is increased by 20%, and long-time flight work is realized.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. Synchronous direct-acting four-flapping-wing aircraft with rotatable blades is characterized by comprising flapping wings, slideways (4), connecting pieces (5), a first speed reducer (6), a stepping motor (7), a transmission mechanism, a second speed reducer (12), a motor (13) and an aircraft body frame (14), wherein the slideways (4) in four vertical directions are symmetrically arranged on the periphery of the aircraft body frame (14), the four connecting pieces (5) are respectively and slidably connected onto the four slideways (4), the four flapping wings are respectively connected onto the four connecting pieces (5) and can rotate relatively, each flapping wing comprises a flapping-wing frame (1) and rotatable blades (2) arranged in the flapping-wing frame (1), torsion springs (3) are further arranged in the flapping-wing frame (1) and used for resetting the blades (2), and the transmission mechanism is connected onto the four connecting pieces (5), the motor (13) arranged on the machine body frame (14) drives the transmission mechanism to move after being decelerated by the second speed reducer (12) arranged on the machine body frame (14) so as to enable the four connecting pieces (5) to synchronously slide up and down, and the four stepping motors (7) respectively arranged on the four connecting pieces (5) respectively drive the four flapping wings to rotate after being decelerated by the four first speed reducers (6) respectively arranged on the four connecting pieces (5);
the flapping wing type wind power generation device is characterized in that a blade mounting hole (101), a blade limiting beam (102) and a flapping wing rotating shaft (103) are formed in the flapping wing frame (1), the blade (2) comprises a blade windward side (201), a blade leeward side (203) and a blade rotating shaft (202) which are arranged on the blade (2), the blade windward side and the blade leeward side are arranged oppositely, a sliding channel hole (501) and a flapping wing rotating shaft hole (502) are formed in the connecting piece (5), the axis of the sliding channel hole (501) is perpendicular to the axis of the flapping wing rotating shaft hole (502), the sliding channel (4) is inserted into the sliding channel hole (501) and can slide, and the flapping wing rotating shaft (103) is inserted into the flapping wing rotating shaft hole (502) and can rotate; the blade rotating shaft (202) is inserted into the blade mounting hole (101) and can rotate, the torsion spring (3) is sleeved on the blade rotating shaft (202), and two ends of the torsion spring (3) are respectively close to the flapping wing frame (1) and the windward side (201) of the blade; when the torsion spring (3) is in a compressed state, the leeward side (203) of the blade is close to the blade limiting beam (102).
2. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 1, wherein:
the transmission mechanism comprises a push rod (9), a cam (10) and a transmission shaft (11), wherein the push rod (9) is provided with a push rod shaft (901) and a push rod support (902), the cam (10) is provided with a cam rotating hole (1001) and a cam curved surface (1002), the top of the push rod shaft (901) in the vertical direction is tightly abutted to the cam curved surface (1002) downwards, the four connecting pieces (5) are arranged on the push rod support (902), and the transmission shaft (11) is connected with the cam rotating hole (1001) and the second speed reducer (12).
3. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 2, wherein: the cam curved surface (1002) is a ruled surface, and the plain line of the ruled surface is parallel to the axis of the cam rotating hole (1001).
4. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 3, wherein: still including being used for making spring (8) that connecting piece (5) reset, four spring (8) suit is four respectively on slide (4), spring (8) both ends are close to respectively connecting piece (5) and fuselage frame (14) set up, spring (8) are compression state.
5. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 4, wherein: the flapping wing rotating shaft (103) is installed on an output shaft of the first speed reducer (6), and an output shaft of the stepping motor (7) is installed in an input hole of the first speed reducer (6).
6. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 2, wherein: and an output shaft of the motor (13) is arranged in an input hole of the second speed reducer (12).
7. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 6, wherein: the flapping wing frame (1) further comprises at least one of a reinforcing vertical beam (104), a reinforcing cross beam (105) and a reinforcing oblique beam (106) for reinforcing the strength of the flapping wing frame (1).
8. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 7, wherein: the blade limiting beam (102), the reinforcing vertical beam (104), the reinforcing cross beam (105) and the reinforcing oblique beam (106) are all hollow structures; the blade limiting beam (102), the reinforcing vertical beam (104), the reinforcing cross beam (105) and the reinforcing oblique beam (106) are made of engineering plastics or carbon fiber.
9. The synchronous direct-acting rotary-vane four-flapping-wing aircraft of claim 8, wherein: the number of the blades (2) arranged in each flapping wing frame (1) is more than 1.
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| CN110316371B true CN110316371B (en) | 2021-03-02 |
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| CN1541893A (en) * | 2003-04-29 | 2004-11-03 | 魏顶启 | Airfoil having holes and flaps for ornithopter |
| CN101020502B (en) * | 2007-01-24 | 2013-04-10 | 田顺强 | Flapping wing unit of flapping wing aircraft |
| RU2349507C2 (en) * | 2007-04-23 | 2009-03-20 | Анатолий Степанович Васильев | Flapping wing flight vehicle universal drive |
| CN102211667B (en) * | 2011-04-14 | 2013-04-03 | 西北工业大学 | Flapping wing driving mechanism of two-level parallel gear reduction |
| CN102229359B (en) * | 2011-06-09 | 2013-04-17 | 西北工业大学 | Cylindrical cam flapping wing driving mechanism |
| CN106005405B (en) * | 2016-07-18 | 2019-01-25 | 上海交通大学 | It is a kind of with the high frequency flapping wing Bionic insect flight device controllably passively reversed |
| CN106494617B (en) * | 2016-09-28 | 2018-09-21 | 南京航空航天大学 | One kind can VTOL flapping wing aircraft and its flight control method |
| CN108190013B (en) * | 2018-02-11 | 2021-01-15 | 陆昌新 | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time |
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