CN110371288B - Bionic flapping wing aircraft with adjustable flapping amplitude angle - Google Patents
Bionic flapping wing aircraft with adjustable flapping amplitude angle Download PDFInfo
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- CN110371288B CN110371288B CN201910703331.4A CN201910703331A CN110371288B CN 110371288 B CN110371288 B CN 110371288B CN 201910703331 A CN201910703331 A CN 201910703331A CN 110371288 B CN110371288 B CN 110371288B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 210000003746 feather Anatomy 0.000 description 2
- 230000002730 additional effect Effects 0.000 description 1
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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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Abstract
The invention relates to a bionic flapping wing aircraft with an adjustable flapping amplitude angle, which comprises an aircraft body, a flapping mechanism, two wing mechanisms, a tail wing mechanism, a microprocessor and a wireless communication module, wherein the flapping mechanism is arranged at the head part of the aircraft body, the two wing mechanisms are symmetrically arranged at the two sides of the flapping mechanism in a left-right mode, and the tail wing mechanism is arranged at the tail part of the aircraft body. During taking off, the first motor, the second motor and the third motor of the flapping mechanism are all started to work so as to provide larger power and be beneficial to taking off; after the takeoff is finished, stopping the rotation of the third motor, and continuing to rotate the first motor and the second motor; meanwhile, ground workers can change the rotation angles of the first motor and the second motor by operating the remote controller, primary flapping amplitude angle adjustment is completed, the flapping amplitude angle is reduced, the power requirement is reduced, energy is saved, and the flight cost is reduced.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a bionic flapping wing aircraft with an adjustable flapping amplitude angle.
Background
The flapping wing air vehicle is an air vehicle which generates lift force and forward force through active movement of wings like a bird, and flies by flapping of double wings in the flying process. It has very wide application prospect in the fields of military investigation, civil disaster relief and the like.
When the wings of the bionic flapping wing aircraft swing to the upper limit position and the lower limit position, included angles between the wings and the horizontal plane are respectively called as a flapping upper amplitude angle and a flapping lower amplitude angle, and the sum of the flapping upper amplitude angle and the flapping lower amplitude angle is called as a flapping amplitude angle.
At present, many mechanism designs are proposed for bionic flapping wing aircrafts, such as smartbin bird-imitating robot developed by the german festo company, which perfectly replicates the shape of birds and realizes flying and steering in the air, and the flapping mechanism is a crank-rocker mechanism, which is simple in structure and easy to realize, but has defects compared with the birds. Because the upper limit position and the lower limit position of the swinging of the rocker in the crank rocker mechanism are fixed, and the upper amplitude value and the lower amplitude value of the flapping wing are fixed, the flapping amplitude angle is fixed.
Generally, flapping amplitude angles are required to be large when a flapping wing aircraft takes off, and small after taking off. If the flapping amplitude angle is fixed, the fixed flapping amplitude angle is adopted after and during takeoff, the required power is large, the cost is high, and the device is not suitable for various natural environment changes such as strong wind, airflow and the like.
Disclosure of Invention
The invention aims to solve the technical problems, and provides a bionic flapping wing aircraft with an adjustable flapping amplitude angle.
The invention is realized by the following technical scheme:
a bionic flapping wing aircraft with an adjustable flapping amplitude angle comprises an aircraft body 1, a flapping mechanism 2, two wing mechanisms 3, a tail wing mechanism 4, a microprocessor and a wireless communication module, wherein the flapping mechanism 2 is installed at the head of the aircraft body 1, the two wing mechanisms 3 are installed at two sides of the flapping mechanism 2 in a bilateral symmetry mode, and the tail wing mechanism 4 is installed at the tail of the aircraft body 1;
the machine body 1 comprises a machine frame 5, a first fixing frame 6, a second fixing frame 7, a first fixing plate 8, a second fixing plate 9, a fourth fixing plate 19, a first bearing rod 10, a second bearing rod 11, a third bearing rod 12, a fourth bearing rod 13, a fifth bearing rod 14 and a sixth bearing rod 141 are arranged in the machine frame 5, and the first fixing frame 6 and the second fixing frame 7 are respectively connected with the machine frame 5; the first fixing frame 6 is provided with a first connecting frame 15, the second fixing frame 7 is provided with a second connecting frame 16, and the third fixing plate 18 is provided with a third connecting frame 21; the first fixing plate 8 is connected with the second connecting frame 16, the second fixing plate 9 is connected with the second connecting frame 16, and the second fixing plate 9 is positioned below the first fixing plate 8; the first bearing rod 10, the second bearing rod 11 and the third bearing rod 12 are respectively connected with a second connecting frame 16, and the fourth bearing rod 13 is movably connected with the second connecting frame 16; two ends of the fifth bearing rod 14 are respectively connected with the first fixing frame 6 and the second fixing frame 7, and two ends of the sixth bearing rod 141 are respectively connected with the first fixing frame 6 and the second fixing frame 7; a plurality of fixing rods 17 are arranged between the first fixing frame 6 and the second fixing frame 7, and two ends of each fixing rod 17 are respectively connected with the first fixing frame 6 and the second fixing frame 7;
the flapping mechanism 2 comprises a first motor 30, a second motor 31, a third motor 32, a first gear 22, a second gear 23, a third gear 24, a fourth gear 25, a fifth gear 26, a sixth gear 27, a seventh gear 28, an eighth gear 29, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35, a fourth connecting rod 36, a fifth connecting rod 37, a sixth connecting rod 38, a seventh connecting rod 39, an eighth connecting rod 40, a ninth connecting rod 41, a tenth connecting rod 42, a first sliding block 49 and a second sliding block 50, wherein the first motor 30 and the second motor 31 are both mounted on the first fixing plate 8, and the third motor 32 is mounted on the second fixing plate 9; the first gear 22 is connected with a rotating shaft of a first motor 30, the fourth gear 25 is meshed with the first gear 22, and the fourth gear 25 is connected with the first bearing rod 10; the second gear 23 is connected with a rotating shaft of a second motor 31, the fifth gear 26 is meshed with the second gear 23, and the fifth gear 26 is connected with the second bearing rod 11; the third gear 24 is connected with a rotating shaft of a third motor 32, the sixth gear 27 is meshed with the third gear 24, and the sixth gear 27 and the seventh gear 28 are respectively connected with the fourth bearing rod 13; the eighth gear 29 meshes with the seventh gear 28; one end of the first connecting rod 33 is connected with the fourth gear 25, one end of the second connecting rod 34 is connected with the eighth gear 29, and the other end of the first connecting rod 33 is hinged with the other end of the second connecting rod 34; one end of a fourth connecting rod 36 is hinged with the other end of the first connecting rod 33 and the other end of the second connecting rod 34 respectively, and the other end of the fourth connecting rod 36 is hinged with a fifth connecting rod 37; the fourth connecting rod 36 is provided with a first sliding block 49, and the first sliding block 49 is hinged with the sixth bearing rod 141; one end of the third connecting rod 35 is hinged with the second connecting rod 34, and the other end is hinged with the fifth connecting rod 37; one end of a sixth connecting rod 38 is connected with the fifth gear 26, one end of a seventh connecting rod 39 is connected with the seventh gear 28, the other end of the sixth connecting rod 38 is hinged with the other end of the seventh connecting rod 39, one end of an eighth connecting rod 40 is hinged with the other end of the sixth connecting rod 38 and the other end of the seventh connecting rod 39 respectively, and the other end of the eighth connecting rod 40 is hinged with a tenth connecting rod 42; the eighth connecting rod 40 is provided with a second sliding block 50, and the second sliding block 50 is hinged with the fifth bearing rod 14; one end of a ninth connecting rod 41 is hinged with the seventh connecting rod 39, and the other end is hinged with a tenth connecting rod 42;
the wing mechanism 3 includes a plurality of wing surface support frames 43, the wing surface support frames 43 are respectively disposed on the tenth connecting rod 42 and the eighth connecting rod 40, and the wing surface support frames 43 are respectively connected with the tenth connecting rod 42 and the eighth connecting rod 40.
The wireless communication module is electrically connected with the microprocessor, and the microprocessor is electrically connected with the first motor 30, the second motor 31, the third motor 32 and the steering engine 44 respectively.
Further, a fixing ring 20 is arranged in the head of the frame 5.
Further, a third fixing plate 18 is arranged at the tail of the frame 5.
Further, the frame 5 is a-shaped.
Further, the first connecting frame 15 and the second connecting frame 16 are both X-shaped.
Further, the first fixing frame 6 and the second fixing frame 7 are both oval.
Furthermore, the wing support frame is arc-shaped.
Further, the tail wing panel 48 has a fan shape.
Compared with the prior art, the invention has the following main beneficial effects:
(1) The invention overcomes the technical defect that the flapping amplitude angle in the prior art is a fixed value, and the adjustable flapping amplitude angle is realized by structurally arranging the flapping mechanism. During taking off, the first motor, the second motor and the third motor of the flapping mechanism are all started to work so as to provide larger power and be beneficial to taking off; after taking off, stopping the rotation of the third motor, and continuously rotating the first motor and the second motor; meanwhile, a ground worker can enable the first motor and the second motor to rotate by operating the remote controller to drive the first gear and the second gear to rotate, and further drive the fourth gear and the fifth gear to rotate, and further drive the first connecting rod and the sixth connecting rod to rotate. After the first connecting rod and the sixth connecting rod rotate, the position of one end of the first connecting rod connected with the fourth gear changes, and the position of one end of the sixth connecting rod connected with the fifth gear changes, namely the flapping upper amplitude value and the flapping lower amplitude value change, so that the adjustment of the flapping amplitude angle is completed. The rotation angles of the first motor and the second motor are controlled, so that the position of one end of the first connecting rod connected with the fourth gear and the position of one end of the sixth connecting rod connected with the fifth gear are controlled, the flapping amplitude angle is adjustable, the power requirement is reduced, the energy is saved, the flying cost is reduced, and the wind-driven flapping-driving-type air vehicle can adapt to various natural environment changes such as strong wind and air flow.
(2) The wing mechanism comprises a plurality of wing surface supporting frames, the wing surface supporting frames are respectively arranged on the tenth connecting rod and the eighth connecting rod, and the wing surface supporting frames are respectively connected with the tenth connecting rod and the eighth connecting rod. The airfoil surface support frame is prepared for simulating bird feathers, namely a framework is built for the skin. A plurality of airfoil support frames constitute streamlined with tenth connecting rod, eighth connecting rod, ninth connecting rod respectively, are favorable to the flight, can simulate birds flight action more accurately, reduce the ability loss.
(3) The tail wing mechanism comprises a steering engine, a steering engine rotary table, an eleventh connecting rod, a tail wing connecting frame and a tail wing plate, wherein the steering engine rotary table, the eleventh connecting rod, the tail wing connecting frame and the tail wing plate are sequentially connected. Ground staff can control the rotation direction of steering wheel through operating remote controller, makes the pivot of steering wheel clockwise or anticlockwise rotation, drives steering wheel carousel clockwise or anticlockwise rotation, and then drives eleventh connecting rod clockwise or anticlockwise rotation, and then drives the luffing motion of tail wing board, reaches the additional action of adjusting flight attitude.
(4) The invention can realize adjustable flapping amplitude angle, reduce power requirement and flight cost, has simple structure and low manufacturing cost and has important market value.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a schematic view of the mechanism of the main body 1 of the present invention
FIG. 3 is a schematic view of the structure of the flapping mechanism 2 of the present invention
FIG. 4 is a schematic view of the wing mechanism 3 of the present invention
FIG. 5 is a schematic view of the structure of the tail unit 4 of the present invention
In the figure:
1-a fuselage; 2-a flapping mechanism; 3-a wing mechanism; 4-a tail mechanism; 5-a frame; 6-a first fixed frame; 7-a second fixed frame; 8-a first fixing plate; 9-a second fixing plate; 10-a first bearing rod; 11-a second bearing rod; 12-a third bearing bar; 13-a fourth bearing rod; 14-a fifth bearing rod; 141-sixth bearing rod 141; 15-a first link; 16-a second link; 17-a fixation rod; 18-a third fixing plate; 19-a fourth fixing plate; 20-a fixed ring; 21-a third connecting frame; 22-a first gear; 23-a second gear; 24-a third gear; 25-a fourth gear; 26-fifth gear; 27-a sixth gear; 28-seventh gear; 29-eighth gear; 30-a first motor; 31-a second motor; 32-a third motor; 33-a first link; 34-a second link; 35-a third link; 36-a fourth link; 37-a fifth link; 38-a sixth link; 39-seventh link; 40-an eighth link; 41-ninth link; 42-tenth link; 43-airfoil support frame; 44-a steering engine; 45-steering engine turntable; 46-an eleventh connecting rod; 47-tail connection frame; 471-first mounting hole; 48-a tail wing panel; 49 — first slider; 50-second slider.
Detailed Description
The technical scheme of the invention is further specifically explained by combining the drawings in the specification.
As shown in fig. 1 to 5, a bionic flapping wing aircraft with adjustable flapping amplitude angle comprises a fuselage 1, a flapping mechanism 2, two wing mechanisms 3, a tail wing mechanism 4, a microprocessor and a wireless communication module, wherein the flapping mechanism 2 is installed at the head of the fuselage 1, the two wing mechanisms 3 are installed at two sides of the flapping mechanism 2 in a bilateral symmetry manner, and the tail wing mechanism 4 is installed at the tail of the fuselage 1;
the machine body 1 comprises a machine frame 5, a first fixing frame 6, a second fixing frame 7, a first fixing plate 8, a second fixing plate 9, a fourth fixing plate 19, a first bearing rod 10, a second bearing rod 11, a third bearing rod 12, a fourth bearing rod 13, a fifth bearing rod 14 and a sixth bearing rod 141 are arranged in the machine frame 5, and the first fixing frame 6 and the second fixing frame 7 are respectively connected with the machine frame 5; the first fixing frame 6 is provided with a first connecting frame 15, the second fixing frame 7 is provided with a second connecting frame 16, and the third fixing plate 18 is provided with a third connecting frame 21; the first fixing plate 8 is connected with the second connecting frame 16, the second fixing plate 9 is connected with the second connecting frame 16, and the second fixing plate 9 is positioned below the first fixing plate 8; the first bearing rod 10, the second bearing rod 11 and the third bearing rod 12 are respectively connected with a second connecting frame 16, and the fourth bearing rod 13 is movably connected with the second connecting frame 16; two ends of the fifth bearing rod 14 are respectively connected with the first fixing frame 6 and the second fixing frame 7, and two ends of the sixth bearing rod 141 are respectively connected with the first fixing frame 6 and the second fixing frame 7; a plurality of fixing rods 17 are arranged between the first fixing frame 6 and the second fixing frame 7, and two ends of each fixing rod 17 are respectively connected with the first fixing frame 6 and the second fixing frame 7;
the flapping mechanism 2 comprises a first motor 30, a second motor 31, a third motor 32, a first gear 22, a second gear 23, a third gear 24, a fourth gear 25, a fifth gear 26, a sixth gear 27, a seventh gear 28, an eighth gear 29, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35, a fourth connecting rod 36, a fifth connecting rod 37, a sixth connecting rod 38, a seventh connecting rod 39, an eighth connecting rod 40, a ninth connecting rod 41, a tenth connecting rod 42, a first sliding block 49 and a second sliding block 50, wherein the first motor 30 and the second motor 31 are both mounted on the first fixing plate 8, and the third motor 32 is mounted on the second fixing plate 9; the first gear 22 is connected with a rotating shaft of a first motor 30, the fourth gear 25 is meshed with the first gear 22, and the fourth gear 25 is connected with the first bearing rod 10; the second gear 23 is connected with a rotating shaft of a second motor 31, the fifth gear 26 is meshed with the second gear 23, and the fifth gear 26 is connected with the second bearing rod 11; the third gear 24 is connected with a rotating shaft of a third motor 32, the sixth gear 27 is meshed with the third gear 24, and the sixth gear 27 and the seventh gear 28 are respectively connected with the fourth bearing rod 13; the eighth gear 29 meshes with the seventh gear 28; one end of the first connecting rod 33 is connected with the fourth gear 25, one end of the second connecting rod 34 is connected with the eighth gear 29, and the other end of the first connecting rod 33 is hinged with the other end of the second connecting rod 34; one end of a fourth connecting rod 36 is hinged with the other end of the first connecting rod 33 and the other end of the second connecting rod 34 respectively, and the other end of the fourth connecting rod 36 is hinged with a fifth connecting rod 37; the fourth connecting rod 36 is provided with a first sliding block 49, and the first sliding block 49 is hinged with a sixth bearing rod 141; one end of the third connecting rod 35 is hinged with the second connecting rod 34, and the other end is hinged with the fifth connecting rod 37; one end of a sixth connecting rod 38 is connected with the fifth gear 26, one end of a seventh connecting rod 39 is connected with the seventh gear 28, the other end of the sixth connecting rod 38 is hinged with the other end of the seventh connecting rod 39, one end of an eighth connecting rod 40 is hinged with the other end of the sixth connecting rod 38 and the other end of the seventh connecting rod 39 respectively, and the other end of the eighth connecting rod 40 is hinged with a tenth connecting rod 42; the eighth connecting rod 40 is provided with a second sliding block 50, and the second sliding block 50 is hinged with the fifth bearing rod 14; one end of a ninth connecting rod 41 is hinged with the seventh connecting rod 39, and the other end is hinged with a tenth connecting rod 42;
the wing mechanism 3 includes a plurality of wing surface support frames 43, the wing surface support frames 43 are respectively disposed on the tenth connecting rod 42 and the eighth connecting rod 40, and the wing surface support frames 43 are respectively connected with the tenth connecting rod 42 and the eighth connecting rod 40.
The wireless communication module is electrically connected with the microprocessor, and the microprocessor is electrically connected with the first motor 30, the second motor 31, the third motor 32 and the steering engine 44 respectively.
Preferably, the wireless communication module and the microprocessor are both mounted on the first fixing plate 8.
Specifically, the first fixing frame 6, the second fixing frame 7, the first connecting frame 15 and the second connecting frame 16 are all vertically arranged, the first fixing plate 8, the second fixing plate 9 and the fourth fixing plate 19 are all horizontally arranged, and the fixing rods 17 are all horizontally arranged.
Specifically, first fixed frame 6, second fixed frame 7 are located inside frame 5, first fixed frame 6, second fixed frame 7 respectively with frame 5 is connected, can strengthen frame 5 and first fixed frame 6, second fixed frame 7 connection stability, are favorable to improving fuselage 1 stability.
Specifically, first fixed frame 6 is provided with first link 15, and second fixed frame 7 is provided with second link 16, and first fixed plate 8, second fixed plate 9 are connected with second link 16 respectively, and second fixed plate 9 is located first fixed plate 8 below, can strengthen first fixed plate 8 and second fixed plate 9 connection stability, are favorable to improving fuselage 1 stability.
Specifically, during takeoff, the first motor 30, the second motor 31 and the third motor 32 are all started to work, so that the output power is increased, and the takeoff is facilitated.
Specifically, the wing mechanism 3 includes a plurality of wing surface support frames 43, the wing surface support frames 43 are respectively disposed on the tenth connecting rod 42 and the eighth connecting rod 40, and the wing surface support frames 43 are respectively connected with the tenth connecting rod 42 and the eighth connecting rod 40.
Specifically, the airfoil support 43 is prepared for simulating bird feathers, i.e., a skeleton is built for the skin. A plurality of airfoil support frames 43 constitute streamlined with tenth connecting rod, eighth connecting rod, ninth connecting rod respectively, are favorable to the flight, can simulate birds flight action more accurately, reduce the ability loss.
Specifically, fin mechanism 4 includes steering wheel 44, steering wheel carousel 45, eleventh connecting rod 46, fin link 47 and tail wing board 48, steering wheel 44 pivot, steering wheel carousel 45, eleventh connecting rod 46, fin link 47 and tail wing board 48 connect gradually, steering wheel 44 install in fourth fixed plate 19, steering wheel 44 with microprocessor electric connection.
Specifically, the wireless communication module can receive a control signal sent by a ground worker remote controller, and the wireless communication module sends the control signal to the microprocessor. Ground staff can control the rotation direction of steering wheel 44 through operating the remote controller, makes steering wheel 44's pivot clockwise or anticlockwise rotation, drives steering wheel carousel 45 clockwise or anticlockwise rotation, and then drives eleventh connecting rod 46 clockwise or anticlockwise rotation, and then drives the luffing motion of tail wing panel 48, reaches the auxiliary action to flight attitude control.
Further, a fixing ring 20 is arranged in the head of the frame 5.
Specifically, the fixing ring 20 is connected with the head of the frame 5, so that the connection stability of the head of the frame 5 can be enhanced.
Further, a third fixing plate 18 is arranged at the tail of the frame 5.
Specifically, the third fixing plate 18 is vertically disposed.
Further, the frame 5 is a-shaped.
Furthermore, the first connecting frame 15 and the second connecting frame 16 are both in an X shape, so that the connection stability of the first fixing frame 6 and the second fixing frame 7 can be enhanced.
Further, the first fixing frame 6 and the second fixing frame 7 are both oval.
Further, the wing support frame is arc-shaped.
Further, the tail wing panel 48 has a fan shape.
In operation, the first motor 30 of the present embodiment rotates to rotate the first gear 22. The fourth gear 25 is engaged with the first gear 22, and the rotation of the first gear 22 drives the fourth gear 25 to rotate. One end of the first link 33 is connected to the fourth gear 25, and the fourth gear 25 rotates to drive the first link 33 to rotate up and down. The second motor 31 rotates to rotate the second gear 23. The fifth gear 26 is engaged with the second gear 23, and the second gear 23 rotates to drive the fifth gear 26 to rotate. One end of the sixth link 38 is connected to the fifth gear 26, and the fifth gear 26 rotates to drive one end of the sixth link 38 to rotate up and down. The third motor 32 rotates to rotate the third gear 24. The sixth gear 27 is engaged with the third gear 24, and the third gear 24 rotates to drive the sixth gear 27 to rotate. The sixth gear 27 and the seventh gear 28 are respectively connected to the fourth bearing rod 13, and the sixth gear 27 rotates to drive the seventh gear 28 to rotate. The eighth gear 29 is engaged with the seventh gear 28, and the seventh gear 28 rotates to rotate the eighth gear 29. One end of the seventh link 39 is connected to the seventh gear 28, and the seventh gear 28 can drive the seventh link 39 to rotate up and down when rotating. One end of the second link 34 is connected to the eighth gear 29, and when the eighth gear 29 rotates, the second link 34 can be driven to rotate up and down.
Specifically, one end of the fourth connecting rod 36 is hinged to the other end of the first connecting rod 33 and the other end of the second connecting rod 34, and the first connecting rod 33 and the second connecting rod 34 rotate up and down to drive the fourth connecting rod 36 and the fifth connecting rod 37 to rotate up and down, respectively, so as to realize the up-and-down flapping motion of the flapping mechanism 2 and further realize the up-and-down flapping motion of the wing mechanism 3.
Specifically, one end of the eighth connecting rod 40 is hinged to the other end of the sixth connecting rod 38 and the other end of the seventh connecting rod 39 respectively, and the sixth connecting rod 38 and the seventh connecting rod 39 rotate up and down to drive the eighth connecting rod 40 to rotate up and down respectively, so as to drive the tenth connecting rod 42 to rotate up and down, so that the flapping mechanism 2 and the wing mechanism 3 can flap up and down.
Specifically, the third link 35 serves as a folding wing. One end of the third link 35 is hinged to the second link 34, and the other end is hinged to the fifth link 37. The second link 34 and the fifth link 37 move up and down to respectively drive the third link 35 to move up and down. When the third connecting rod 35 moves up and down, the included angle between the third connecting rod 35 and the fifth connecting rod 37 can be enlarged or reduced, the stress area of the wing mechanism 3 can be reduced or enlarged, and the stress size of the bionic flapping wing aircraft can be flexibly adjusted.
Specifically, the ninth link 41 serves as a folding wing. One end of the ninth connecting rod 41 is hinged with the seventh connecting rod 39, and the other end is hinged with the tenth connecting rod 42. The seventh link 39 and the tenth link 42 move up and down to respectively drive the ninth link 41 to move up and down. When the ninth connecting rod 41 moves up and down, the included angle between the ninth connecting rod 41 and the tenth connecting rod 42 can be enlarged or reduced, the stress area of the wing mechanism 3 can be reduced or enlarged, and the stress size of the bionic flapping wing aircraft can be flexibly adjusted.
Specifically, the wireless communication module can receive a control signal sent by a ground worker remote controller, and the wireless communication module sends the control signal to the microprocessor. The microprocessor sends corresponding control signals to the first motor 30, the second motor 31 and the third motor 32 respectively, controls the first motor 30, the second motor 31 and the third motor 32 to rotate for a certain angle, further controls the first gear 22, the second gear 23 and the third gear 24 to rotate for a certain angle, further controls the up-and-down rotation amplitude of the first connecting rod 33, the second connecting rod 34, the third connecting rod 35, the fourth connecting rod 36, the fifth connecting rod 37, the sixth connecting rod 38, the seventh connecting rod 39, the eighth connecting rod 40, the ninth connecting rod 41 and the tenth connecting rod 42, namely controls the flapping-wing upper amplitude and the flapping-wing lower amplitude of the wing mechanism 3, and finally realizes the control of the flapping amplitude angle.
Specifically, when the bionic flapping wing aircraft takes off, a worker can operate the remote controller and send a control signal to the wireless communication module, so that the first motor 30, the second motor 31 and the third motor 32 are all started to work, and the output power is increased. At this time, the fourth gear 25, the first link 33, the second link 34, and the eighth gear 29 constitute a first set of five-bar mechanism, and the first slider 49 and the fourth link 36 constitute a first set of two-stage bar set; the fifth gear 26, the sixth link 38, the seventh link 39 and the seventh gear 28 form a second set of five-rod mechanism, and the second slider 50 and the eighth link 40 form a second set of two-stage rod set; the first set of five-rod mechanism, the first set of second-level rod group, the second set of five-rod mechanism and the second set of second-level rod group form a driving mechanism of the flapping mechanism 2. Meanwhile, the first motor 30, the second motor 31 and the third motor 32 are all rotated, so that the output power is increased, larger power is provided, and the takeoff is facilitated.
After the bionic flapping wing aircraft finishes taking off, ground workers can operate the remote controller again and send control signals to the wireless communication module, so that the third motor 32 stops rotating, and the first motor 30 and the second motor 31 continue to rotate; meanwhile, the ground worker can change the rotation angles of the first motor 30 and the second motor 31 by operating the remote controller, and further change the rotation angles of the first gear 22 and the second gear 23. At this time, the eighth gear 29, the second link 34, and the first link 33 constitute a first four-bar mechanism; the seventh gear 28, the seventh connecting rod 39 and the sixth connecting rod 38 form a second set of four-bar mechanism; the first set of four-bar mechanism and the second set of four-bar mechanism form a driving mechanism of the flapping mechanism 2.
The first motor 30 and the second motor 31 rotate to drive the first gear 22 and the second gear 23 to rotate, and further drive the fourth gear 25 and the fifth gear 26 to rotate, and further drive the first link 33 and the sixth link 38 to rotate. After the first connecting rod 33 and the sixth connecting rod 38 rotate, the position of the end of the first connecting rod 33 connected with the fourth gear 25 changes, and the position of the end of the sixth connecting rod 38 connected with the fifth gear 26 changes, that is, the upper flapping amplitude and the lower flapping amplitude change, so that the adjustment of the flapping amplitude angle is completed once, and the reduction of the flapping amplitude angle can be realized, the power requirement is reduced, the energy is saved, and the flight cost is reduced.
Specifically, the rotation angles of the first motor 30 and the second motor 31 are controlled, so that the position of the end of the first connecting rod 33 connected with the fourth gear 25 and the position of the end of the sixth connecting rod 38 connected with the fifth gear 26 are controlled, and the flapping amplitude angle is adjustable.
When the steering is needed, the ground worker can operate the remote controller, and first, the first motor 30 is controlled to rotate to drive the first gear 22 to rotate by an angle, and then the fourth gear 25 is driven to rotate by an angle, for example, the fourth gear 25 is driven to rotate to the highest position. Then, the second motor 31 is controlled to rotate, so as to rotate the second gear 23 and further rotate the fifth gear 26 by an angle, for example, to rotate the fifth gear 26 to the lowest position. Finally, the first motor 30 and the second motor 31 are both stopped, the third motor 32 is rotated, the seventh gear 28 and the eighth gear 29 are rotated, the seventh link 39 and the second link 34 are rotated up and down, and the third link 35, the fifth link 37, the ninth link 41 and the tenth link 42 are rotated up and down. Because the fourth gear 25 rotates to the highest position and the fifth gear 26 rotates to the lowest position, the left flapping amplitude angle is smaller than the right flapping amplitude angle, the left flapping speed is smaller than the right flapping speed, a speed difference is formed, and the bionic flapping wing aircraft turns left.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications and equivalent changes made according to the technical spirit of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A bionic flapping wing aircraft with an adjustable flapping amplitude angle comprises an aircraft body, a flapping mechanism, two wing mechanisms, a tail wing mechanism, a microprocessor and a wireless communication module, wherein the flapping mechanism is installed at the head of the aircraft body, the two wing mechanisms are installed on two sides of the flapping mechanism in a bilateral symmetry manner, and the tail wing mechanism is installed at the tail of the aircraft body;
the machine body comprises a rack, a first fixing frame, a second fixing frame, a first fixing plate, a second fixing plate, a fourth fixing plate, a first bearing rod, a second bearing rod, a third bearing rod, a fourth bearing rod, a fifth bearing rod and a sixth bearing rod are arranged in the rack, and the first fixing frame and the second fixing frame are respectively connected with the rack; the first fixing frame is provided with a first connecting frame, the second fixing frame is provided with a second connecting frame, the first fixing plate is connected with the second connecting frame, the second fixing plate is connected with the second connecting frame, and the second fixing plate is positioned below the first fixing plate; the first bearing rod, the second bearing rod and the third bearing rod are respectively connected with the second connecting frame, and the fourth bearing rod is movably connected with the second connecting frame; two ends of a fifth bearing rod are respectively connected with the first fixed frame and the second fixed frame, and two ends of a sixth bearing rod are respectively connected with the first fixed frame and the second fixed frame; a plurality of fixed rods are arranged between the first fixed frame and the second fixed frame, and two ends of each fixed rod are respectively connected with the first fixed frame and the second fixed frame;
the flapping mechanism comprises a first motor, a second motor, a third motor, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, a first sliding block and a second sliding block, wherein the first motor and the second motor are both arranged on the first fixing plate, and the third motor is arranged on the second fixing plate; the first gear is connected with a rotating shaft of the first motor, the fourth gear is meshed with the first gear, and the fourth gear is connected with the first bearing rod; the second gear is connected with a rotating shaft of a second motor, the fifth gear is meshed with the second gear, and the fifth gear is connected with the second bearing rod; the third gear is connected with a rotating shaft of a third motor, the sixth gear is meshed with the third gear, and the sixth gear and the seventh gear are respectively connected with the fourth bearing rod; the eighth gear is meshed with the seventh gear; one end of the first connecting rod is connected with the fourth gear, one end of the second connecting rod is connected with the eighth gear, and the other end of the first connecting rod is hinged with the other end of the second connecting rod; one end of the fourth connecting rod is hinged with the other end of the first connecting rod and the other end of the second connecting rod respectively, and the other end of the fourth connecting rod is hinged with the fifth connecting rod; the fourth connecting rod is provided with a first sliding block, and the first sliding block is hinged with the sixth bearing rod; one end of the third connecting rod is hinged with the second connecting rod, and the other end of the third connecting rod is hinged with the fifth connecting rod; one end of a sixth connecting rod is connected with the fifth gear, one end of a seventh connecting rod is connected with the seventh gear, the other end of the sixth connecting rod is hinged with the other end of the seventh connecting rod, one end of an eighth connecting rod is hinged with the other end of the sixth connecting rod and the other end of the seventh connecting rod respectively, and the other end of the eighth connecting rod is hinged with a tenth connecting rod; the eighth connecting rod is provided with a second sliding block, and the second sliding block is hinged with the fifth bearing rod; one end of the ninth connecting rod is hinged with the seventh connecting rod, and the other end of the ninth connecting rod is hinged with the tenth connecting rod;
the wing mechanism comprises a plurality of wing surface supporting frames, the wing surface supporting frames are respectively arranged on a tenth connecting rod and an eighth connecting rod, and the wing surface supporting frames are respectively connected with the tenth connecting rod and the eighth connecting rod;
the tail wing mechanism comprises a steering engine, a steering engine rotary table, an eleventh connecting rod, a tail wing connecting frame and a tail wing plate, a rotating shaft of the steering engine, the steering engine rotary table, the eleventh connecting rod, the tail wing connecting frame and the tail wing plate are sequentially connected, the steering engine is mounted on the fourth fixing plate, a first mounting hole is formed in the middle of the tail wing connecting frame, a third fixing plate is arranged at the tail of the rack, a third connecting frame is arranged on the third fixing plate, the first mounting hole is connected with the end portion of the third connecting frame, and the steering engine is electrically connected with the microprocessor;
the wireless communication module is electrically connected with the microprocessor, and the microprocessor is electrically connected with the first motor, the second motor, the third motor and the steering engine respectively.
2. The bionic ornithopter with the adjustable flapping amplitude angle of claim 1, wherein: a fixing ring is arranged in the head of the frame.
3. The bionic flapping wing aircraft with the adjustable flapping amplitude angle of claim 1 or 2, wherein the bionic flapping wing aircraft comprises: the frame is A-shaped.
4. The bionic flapping wing aircraft with the adjustable flapping amplitude angle of claim 1 or 2, wherein: the first connecting frame and the second connecting frame are both X-shaped.
5. The bionic flapping wing aircraft with the adjustable flapping amplitude angle of claim 1 or 2, wherein: the first fixing frame and the second fixing frame are both oval.
6. The bionic flapping wing aircraft with the adjustable flapping amplitude angle of claim 1 or 2, wherein: the airfoil support frame is arc-shaped.
7. The bionic flapping wing aircraft with the adjustable flapping amplitude angle of claim 1 or 2, wherein: the tail wing plate is fan-shaped.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910703331.4A CN110371288B (en) | 2019-07-31 | 2019-07-31 | Bionic flapping wing aircraft with adjustable flapping amplitude angle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910703331.4A CN110371288B (en) | 2019-07-31 | 2019-07-31 | Bionic flapping wing aircraft with adjustable flapping amplitude angle |
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| CN110371288B true CN110371288B (en) | 2022-10-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112141332A (en) * | 2020-09-27 | 2020-12-29 | 武汉科技大学 | Five pole flapping wing aircraft in space based on just gentle coupling |
| CN113212749B (en) * | 2021-07-08 | 2021-10-01 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN114735211B (en) * | 2022-03-24 | 2023-01-20 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20030044625A (en) * | 2001-11-30 | 2003-06-09 | 주식회사 뉴로스 | Power-Driven Ornithopter Piloted by Remote Controller |
| CN107554782B (en) * | 2017-08-08 | 2019-08-02 | 武汉科技大学 | It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle |
| CN108945430B (en) * | 2018-07-16 | 2022-04-12 | 武汉科技大学 | Bionic flapping-folding-active torsion hybrid-driven flapping wing aircraft |
| CN109573019A (en) * | 2018-12-25 | 2019-04-05 | 哈尔滨工业大学（深圳） | A kind of imitative insect minisize flapping wing aircraft |
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