CN110562454B - A bionic flapping aircraft - Google Patents
A bionic flapping aircraft Download PDFInfo
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- CN110562454B CN110562454B CN201910807028.9A CN201910807028A CN110562454B CN 110562454 B CN110562454 B CN 110562454B CN 201910807028 A CN201910807028 A CN 201910807028A CN 110562454 B CN110562454 B CN 110562454B
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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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- Engineering & Computer Science (AREA)
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Abstract
本发明公开了一种仿生扑翼飞行器，包括动力传递机构、两组翅根扇动机构、两组翅根转动机构和一对翅膀；动力传递机构置于整个机构前部，其作用是将动力传递至翅根扇动机构，在翅根扇动机构的外围有翅根转动机构，一对翅膀对称设置在扑翼飞行器的两侧，并与翅根扇动机构相连，可以在翅根扇动机构的作用下实现扇动，也在翅根转动机构的作用下实现转动，为飞行器提供动力。本发明连杆的一端与第二齿轮的侧面偏心铰接、偏心的凸台与滑块后侧面的长条形孔配合连接，这样的结构使得机翼在扑动和扭转两个方向的转动都可控，扑翼飞行器运动方式更加贴近真实的鸟类，能够顺利完成悬停、横飞、转向等飞行操作。
The invention discloses a bionic flapping-wing aircraft, comprising a power transmission mechanism, two sets of wing root fanning mechanisms, two sets of wing root rotation mechanisms and a pair of wings; the power transmission mechanism is arranged in the front of the whole mechanism, and its function is to transmit the power To the wing root fanning mechanism, there is a wing root rotating mechanism on the periphery of the wing root fanning mechanism, a pair of wings are symmetrically arranged on both sides of the flapping aircraft, and are connected with the wing root fanning mechanism, which can be realized under the action of the wing root fanning mechanism Fanning is also realized under the action of the wing root rotating mechanism to provide power for the aircraft. In the present invention, one end of the connecting rod is eccentrically hinged with the side of the second gear, and the eccentric boss is cooperatively connected with the elongated hole on the rear side of the slider. This structure enables the wing to rotate in both directions of flapping and torsion. The movement of the flapping aircraft is closer to that of real birds, and it can successfully complete flight operations such as hovering, horizontal flight, and steering.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a bionic flapping wing aircraft.
Background
At present, the research on the bionic robot is carried out abroad, but China starts late, the achievement is few, the effect is poor, and on the other hand, in future battlefields, unmanned combat, information combat, low-loss zero-casualty are taken as main development trends, so that bee-colony-type bionic ammunition is promoted, and the all-round, ultra-short-distance and accurate combat is realized.
The size of the micro aircraft is within 20 cm, the micro aircraft is a subject cross product, and the micro aircraft can simulate bird flight and autonomously cruise to perform target identification autonomous decision and return data by applying micro-electro-mechanical, bionics, encrypted wireless communication, a bionic aerodynamic foundation, a flexible wing, a guidance device and a micro control technology. The micro aircraft comprises various types such as bird-imitating aircraft and insect-imitating aircraft, and the micro aircraft is most easily developed into bionic ammunition. The development of the micro aircraft provides a foundation for creating a bee colony type bionic weapon, so that the development of the national defense industry is greatly promoted, and the technology is applied to exploration and disaster relief and toxic gas detection, so that the wide civil prospect of the micro aircraft can be embodied.
Feng Gaoyu et al, university of electronic technology, in the design and optimization of wings of a hummingbird-like flapping-wing micro flying robot, provides a hummingbird-like aircraft which uses a four-bar linkage mechanism for transmission, has wing freedom only including rotation of a wing root in the vertical direction, is too different from a real hummingbird wing, cannot complete forward and backward operations, cannot control self rolling, has high sensitivity to external interference and poor stability. Although the airfoil is of a resilient material, the airfoil has limited deformation during flapping of the airfoil, resulting in a very inefficient generation of lift, which is noisy when it is sufficient to counter gravity. The structural defects described above directly result in the hummingbird vehicle hovering at most for a short time, destabilizing with slight disturbances, so that the vehicle is not controllable and does not have the potential to develop into a "swarm" vehicle.
Very small hummingbirds can hover and have high air flight skills, but the related research of the current flapping wing air vehicle has great defects compared with hummingbirds in nature: the flapping wing air vehicle cannot stably hover, the wings of the flapping wing air vehicle are far less flexible than the wings of the hummingbirds, the wings cannot generate large lift force when the wings have small mass due to the materials and the structures of the wings, and the hummingbirds are large in size and difficult to control due to the defects of the mechanical structure for driving the wings to flap and the materials of the mechanical structure.
Disclosure of Invention
The invention aims to provide a bionic flapping wing aircraft, which solves the problem that wings of the flapping wing aircraft are not flexible enough, so that the motion mode of the wings is closer to real birds, and the bionic flapping wing aircraft conforms to the theory of bionics.
The technical solution for realizing the purpose of the invention is as follows:
a bionic flapping wing aircraft comprises a power transmission mechanism, two groups of wing root fanning mechanisms, two groups of wing root rotating mechanisms and a pair of wings, wherein the power transmission mechanism comprises a motor, a first gear, a second gear, a connecting rod, a sliding block and two guide rails, an output shaft of the motor is connected with the first gear, the first gear is meshed with the second gear, one end of the connecting rod is eccentrically hinged with the side surface of the second gear, the other end of the connecting rod is hinged with the front side surface of the sliding block, the rear side surface of the sliding block is provided with two power transmission arms which are arranged in parallel and provided with elongated holes, the sliding block is vertically provided with two through holes in a penetrating manner from the lower end surface to the upper end surface, and the two guide rails respectively penetrate through the two through holes and are in interference fit with the;
each group of the fin-root fanning mechanisms comprises a first bevel gear, a second bevel gear and a metal shaft, wherein an eccentric boss is arranged on the back surface of the first bevel gear, the boss extends into one strip-shaped hole, the first bevel gear is meshed with the second bevel gear, and the metal shaft is a central shaft of the second bevel gear;
each group of wing root rotating mechanisms comprises a steering engine, a third gear and a fourth gear, an output shaft of the steering engine is fixedly connected with the third gear, the third gear is meshed with the fourth gear, the fourth gear is provided with a central through hole, a pair of radial through holes with the same central axis are formed in the surface of the central through hole along the radial direction to the outer tooth surface of the fourth gear, and the metal shaft is inserted into the pair of radial through holes;
each wing in the pair of wings is fixedly connected with a corresponding metal shaft.
Further, the diameter of the first gear is smaller than the diameter of the second gear.
Further, the diameter of the third gear is smaller than the diameter of the fourth gear.
Further, the wing includes a frame and an airfoil.
Further, the frame is made of carbon fibers, and the airfoil is made of Kevlar fibers.
Furthermore, each metal shaft comprises a shaft sleeve, and each wing is fixedly connected with the corresponding metal shaft through the shaft sleeve.
Compared with the prior art, the invention has the remarkable advantages that:
(1) one end of the connecting rod is eccentrically hinged with the side surface of the second gear, and the eccentric boss is matched and connected with the elongated hole on the rear side surface of the sliding block, so that the rotation of the wings in two directions of flapping and twisting can be controlled, the motion mode of the flapping wing aircraft is closer to real birds, and the flying operations such as hovering, transverse flying, steering and the like can be smoothly completed;
(2) the wing comprises a frame and an airfoil, wherein the frame is made of carbon fiber, the airfoil is made of Kevlar fiber, and the weight of the wing is greatly reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a bionic flapping wing aircraft.
FIG. 2 is a schematic structural diagram of the bionic ornithopter of the invention without wings.
Fig. 3 is a schematic view of a wing structure according to the present invention.
Fig. 4 is a schematic structural view of the power transmission mechanism of the present invention.
Fig. 5 is a schematic structural view of the fin-root fanning mechanism of the present invention.
Fig. 6 is a schematic structural view of the wing root rotating mechanism of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1-2, the embodiment provides a bionic flapping wing aircraft, which includes a power transmission mechanism 2, two sets of wing root flapping mechanisms 3, two sets of wing root rotating mechanisms 4, and a pair of wings 1; the power transmission mechanism 2 is arranged at the front part of the whole mechanism and is used for transmitting power to the wing root fanning mechanism 3, the wing root rotating mechanism 4 is arranged at the periphery of the wing root fanning mechanism 3, the pair of wings 1 are symmetrically arranged at two sides of the flapping wing aircraft and are connected with the wing root fanning mechanism 3, fanning can be realized under the action of the wing root fanning mechanism 3, rotation can be realized under the action of the wing root rotating mechanism 4, and power is provided for the aircraft.
As shown in fig. 3, wing 1 is composed of frame 101 and airfoils 102, frame 101 functions to support and spread airfoils 102, and airfoils 102 generate lift to the entire mechanism under air resistance.
As shown in fig. 4, the power transmission mechanism 2 includes a motor 201, a first gear 202, a second gear 203, a connecting rod 204, a slider 205, and a guide rail 206, the motor 201 drives the first gear 202 to rotate, the second gear 203 engaged with the first gear 202 rotates with the first gear 202, the second gear 203 is hinged to one end of the connecting rod 204, the other end of the connecting rod 204 is hinged to the slider 205, the rear side of the slider 205 has two power transmission arms 205-1 with elongated holes arranged in parallel, the slider 205 is disposed on the guide rail 206, the slider 205 can slide along the guide rail 206, when the second gear 203 rotates, one end of the connecting rod 204 is driven to move, and the other end of the connecting rod 204 pushes the slider 205 to slide along the guide rail 206.
As shown in fig. 5, the first set of fin-root fanning mechanism 3 comprises a first bevel gear 301, a second bevel gear 303, a metal shaft 305 and a shaft sleeve 305-1, the rear side surface of a sliding block 205 of the power transmission mechanism 1 is provided with two parallel power transmission arms 205-1 provided with elongated holes, the back surface of the first bevel gear 301 is provided with an eccentric boss 301-1, the boss 301-1 extends into one of the elongated holes, each boss 301-1 is correspondingly inserted into the elongated hole on the sliding block, when the sliding block 205 slides along a guide rail 206, under the action of the boss 301-1, the first bevel gear 301 swings at an amplitude of about 120 degrees, the second bevel gear 303 is engaged with the first bevel gear 301, the second bevel gear 303 rotates along with the first bevel gear 301, the metal shaft 305 is a central axis of the second bevel gear 303, the shaft sleeve 305-1 fixedly connected to the metal shaft 305 swings along with the metal shaft 305, the other end of the shaft sleeve 305-1 is connected with the frame 101 of the wing 1, and the shaft sleeve 305-1 drives the wing 1 to fan to generate lift force. The second group of fin-root fanning mechanism consists of a third bevel gear 302, a fourth bevel gear 304, a metal shaft 306 and a shaft sleeve 306-1, and the structure of the second group of fin-root fanning mechanism is consistent with that of the first group of fin-root fanning mechanism.
As shown in fig. 6, the first group of wing root rotating mechanism 4 includes a steering gear 401, a third gear 403 and a fourth gear 402. An output shaft of the steering engine 401 is fixedly connected with a third gear 403, the third gear 403 is externally meshed with a fourth gear 402, the fourth gear 402 is driven to rotate when the third gear 403 rotates, the fourth gear 402 is provided with a central through hole 402-1, a pair of radial through holes 402-2 with the same central axis are formed in the surface of the central through hole 402-1 along the radial direction towards the external tooth surface of the fourth gear 402, and two ends of the metal shaft 305 are in clearance fit with the radial through holes 402-2 on the fourth gear 402; when the fourth gear 402 rotates, the axial direction of the metal shaft 305 changes along with the rotation of the fourth gear 402, so that the normal direction of the wing 1, that is, the direction of the lifting force, can be changed. The second group of wing root rotating mechanism 4 comprises a steering gear 404, a fifth gear 405 and a sixth gear 406, and the structure of the second group of wing root rotating mechanism is consistent with that of the first group of wing root rotating mechanism.
With reference to fig. 1 and 3, the frame 101 of the wing 1 is made of carbon fibre and the material of the airfoil 302 is kevlar. The fourth gear 402 of the power transmission mechanism 2, the wing-flapping mechanism 3 and the wing-rotating mechanism 1 is formed by 3D printing of photosensitive resin, and the metal shaft 305 of the wing-flapping mechanism 3 is made of an aluminum alloy material.
The working process and principle of the invention are as follows: the motor 201 drives the first gear 202 to rotate, the second gear 203 meshed with the first gear 202 rotates along with the first gear 202, the second gear 203 drives the connecting rod 204 to move, the other end of the connecting rod 204 drives the sliding block 205 to move, when the sliding block 205 slides along the guide rail 206, taking the first group of wing-moving mechanisms 3 as an example, under the action of the boss 301-1, the first bevel gear 301 swings at an amplitude of about 120 degrees, the second bevel gear 303 is meshed with the first bevel gear 301, the second bevel gear 303 rotates along with the first bevel gear 301, the metal shaft 305 is a central shaft of the second bevel gear 303 and rotates along with the second bevel gear 303, the shaft sleeve 305-1 fixedly connected to the metal shaft 305 swings along with the metal shaft 305, the other end of the shaft sleeve 305-1 is connected with the frame 101 of the wing 1, and the shaft sleeve 305-1 drives the wing 1 to move in a swinging manner to generate a flapping motion so as to provide; meanwhile, taking the first group of wing root rotating mechanism 4 as an example, the steering engine 401 drives the third gear 403 to rotate, the third gear 403 rotates to drive the fourth gear 402 to rotate, the fourth gear 402 drives the metal shaft 305 therein to axially change, the shaft sleeve 305-1 fixedly connected to the metal shaft 305 rotates along with the metal shaft 305, the other end of the shaft sleeve 305-1 is connected with the frame 101 of the wing 1, the shaft sleeve 305-1 drives the wing 1 to rotate, and the steering engine 401 reciprocates at a small angle to enable the wing 1 to do reciprocating twisting motion, so that the lift force is provided.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910807028.9A CN110562454B (en) | 2019-08-29 | 2019-08-29 | A bionic flapping aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910807028.9A CN110562454B (en) | 2019-08-29 | 2019-08-29 | A bionic flapping aircraft |
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| CN110562454A CN110562454A (en) | 2019-12-13 |
| CN110562454B true CN110562454B (en) | 2021-05-04 |
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| CN201910807028.9A Active CN110562454B (en) | 2019-08-29 | 2019-08-29 | A bionic flapping aircraft |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086634B (en) * | 2020-01-08 | 2021-10-15 | 西安航空学院 | A dragonfly-like double flapping wing micro-aircraft |
| CN112441202B (en) * | 2020-12-15 | 2024-12-10 | 中国科学院合肥物质科学研究院 | A flapping-wing bionic steering mechanism |
| CN112693604B (en) * | 2021-01-31 | 2022-06-14 | 上海白林工业设计有限公司 | Bionic flapping wing aircraft |
| CN114394232B (en) * | 2022-01-24 | 2024-05-14 | 温州大学 | Flapping wing-flapping rotor wing multi-flight mode bionic aircraft |
| CN115027670A (en) * | 2022-06-27 | 2022-09-09 | 南京航空航天大学 | A mechanical flapping aircraft with variable flapping amplitude imitating insect wings |
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| CN107416202A (en) * | 2017-07-05 | 2017-12-01 | 北京航空航天大学 | Micro flapping wing air vehicle |
| CN110104173A (en) * | 2019-05-14 | 2019-08-09 | 吉林大学 | One kind plunderring torsional mode three-freedom miniature flapping wing aircraft |
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2019
- 2019-08-29 CN CN201910807028.9A patent/CN110562454B/en active Active
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|---|---|---|---|---|
| CN201415756Y (en) * | 2009-07-02 | 2010-03-03 | 中国科学院沈阳自动化研究所 | A flapping-wing fly-like robot |
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| CN110562454A (en) | 2019-12-13 |
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