CN110937108A - Double-section type flapping wing aircraft with actively folded wings capable of being unfolded - Google Patents
Double-section type flapping wing aircraft with actively folded wings capable of being unfolded Download PDFInfo
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- CN110937108A CN110937108A CN201910864263.XA CN201910864263A CN110937108A CN 110937108 A CN110937108 A CN 110937108A CN 201910864263 A CN201910864263 A CN 201910864263A CN 110937108 A CN110937108 A CN 110937108A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
Abstract
The invention provides a double-section type flapping wing aircraft capable of actively folding wings in a unfolding direction, which comprises: the airplane comprises an airplane body, two double-section wings which can be actively folded in the unfolding direction and are symmetrically arranged on two sides of the airplane body, and an empennage connected to the rear part of the airplane body, wherein the airplane body comprises a frame and a transmission mechanism in transmission connection with the double-section wings which can be actively folded in the unfolding direction; the transmission mechanism includes: the aircraft comprises a speed reduction gear set and two sets of double-shaking mechanisms in driving connection, wherein the two sets of double-shaking mechanisms are symmetrically arranged on the left side and the right side of the central axis of an aircraft body, and the speed reduction gear set drives the two sets of double-shaking mechanisms to transmit power for flapping of double-section type wings respectively. The invention has both flexibility and maneuverability and mobility, and improves the overall performance of the aircraft with the double-section wings.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a double-section type flapping wing aircraft with actively folded wings in a deployable direction.
Background
Unmanned Aerial Vehicle (UAV) is developed vigorously since the 90 s in the 20 th century, and the UAV plays a unique role in urban operations, single-soldier close range reconnaissance and the like on one hand, and plays a role in long-time and large-range continuous reconnaissance above a war zone, and becomes an important auxiliary of military operations. In the civil field, the application of the unmanned aerial vehicle is also very wide, and the current micro aircraft is applied to traffic monitoring and provides important support for relieving traffic; the miniature aircraft is applied to rescue and search and rescue, and in some dangerous occasions, people cannot arrive at the scene, so that the miniature aircraft can play a great role; the express delivery system is applied to transportation, and in the current electronic commerce era, the express delivery industry develops rapidly, and the miniature aircraft is considered to be used for transporting small packages in the current Shufeng express delivery and Amazon.
Aircraft are roughly classified into "fixed wing type", "rotor type", and "flapping wing type" in terms of flight principle. The flapping wing aircraft is an aircraft which imitates the flight of flying organisms in the nature and generates lift force through the flapping of wings, the flapping wing aircraft has high energy utilization rate and small volume, can integrate various flight performances, has peculiar imitative property and flight flexibility, has great advantage in the aspect of avoiding the flight of objects, and generates unsteady lift force which is much larger than the unsteady lift force of a fixed wing aircraft under the condition of low Reynolds number and is higher than a rotary wing aircraft in the aspect of propulsion efficiency. The development of aircraft that are as maneuverable and flexible as birds or insects has therefore become an important direction in the development of drones.
At present, the designed bionic flapping wing aircraft mostly adopts a flapping wing structure with single-section wings, and DelFly is researched and developed in 2008 by Dutch Dawlev-Tech university. The DelFly only has the weight of 3g and the wingspan of 10cm, so that the DelFly is the smallest micro flying robot in the world at that time, the DelFly can successfully fly in a windless laboratory, but the outdoor flying effect is not ideal due to the small weight and the relatively large windward area, in addition, the small size also limits the effective load which can be carried by the DelFly, and particularly, the DelFly cannot bear a battery with large capacity and various useful sensors, so the application value of the DelFly is greatly reduced. An aviation environment company in California of America shows a simulated Hummingbird flapping-wing aircraft named NanoHumingbird in 2011, the wingspan of the NanoHumingbird is 165mm, the weight of the NanoHumingbird is 19 g, the front flying speed reaches 6.7m/s, the aircraft can hover for a few minutes in the air and can be loaded with a camera for transmitting real-time pictures, and the successful development of the NanoHumingbird proves that the flapping-wing aircraft can hover in the air through flapping of wings, so that the aircraft has an important application prospect in the aspect of military reconnaissance. The bionic flapping-wing aircraft designed in the double-section-wing configuration mainly aims at the bionics of large-sized flying birds, such as seagulls, wild gooses and the like, the wings of the large-sized birds are relatively long, and the wings have a folding action in the flapping process, so that the flapping efficiency is improved. Compared with a single-section wing structure, the flapping wing with the double-section wing structure has better aerodynamic layout and flapping performance, is closer to the flapping characteristic of birds in the nature, and has better improvement on flight stability and flight efficiency, which is difficult to achieve by the single-section wing structure. Researchers of German Festo company successfully develop a gull Smartbird robot capable of stably flying by observing the flying characteristics of the gull, extracting the main motion characteristics of the gull, and adopting a symmetrical flapping four-bar mechanism to superpose a two-stage bar group to simulate the flapping action of the gull in 2011. Compared with the conventional flapping wing aircraft, the flying mode of the Smartbird is closer to that of large birds, and the Smartbird adopts a double-section wing structure, so that the flying wing aircraft has better low-speed flying stability and better gliding performance, simultaneously improves the energy utilization rate during flying, and is favorable for improving the endurance time. However, the wings of the aircraft have no transverse folding function, and have poor controllability in steering and obstacle avoidance, and the bionic performance needs to be further improved.
The Chinese patent CN103482064A adopts a double-section flapping wing, which is closer to large birds in appearance and flight mechanism than a single-section flapping wing aircraft, and has the advantages of simple structure, high efficiency, light weight and strong bearing capacity, but the wings are not transversely folded, so that the wings have low performance in steering and obstacle avoidance, and poor portability.
Chinese patent CN101549755A provides a straight foldable wing of flapping wing aircraft, which realizes the bionics feature of flying animals that depend on the turning of wing, and the wing can realize horizontal folding by means of a driving mechanism, and realizes the turning flight of flapping wing aircraft by means of the difference of two side areas by respectively changing the wing area of one side of the fuselage, but the wing of the bionic flapping wing aircraft is a single-section straight flapping structure, compared with a double-section flapping wing structure, the bionic flapping wing aircraft has low bionic degree, and the aerodynamic performance needs to be further improved.
The wings of the Chinese patent CN108945431A, such as real birds, can be folded in the plane by extension, so that the folding action of flying vertebrates can be accurately simulated. Compared with a double-section flapping wing structure, the bionic flapping wing structure has the advantages that the bionic performance and the pneumatic efficiency are required to be further improved.
Chinese patent CN101492094A discloses a flapping wing capable of being bent in one direction, wherein a spreading beam is divided into two sections, and an elastic material and a connecting sheet capable of deforming in one direction are respectively fixed on the upper surface and the lower surface of the divided section, so that the flapping wing can be completely unfolded when flapping downwards and partially folded when flapping upwards. The folding effect is completely passively generated by the elastic material under the action of pneumatic force, when the flapping frequency of the flapping wings is higher, the folding effect is weakened to a certain extent, the folding effect is limited by the flapping frequency, and the response to the change of the flapping frequency is uncontrollable; the aging and life of the elastomeric material directly affects the overall performance and life of the flapping wing. The existing flapping wing air vehicle has the following defects:
1) most of the existing flapping wing aircrafts are single-section straight flapping wings, cannot highly imitate bird flight, and have the disadvantages of weak imitative property, low pneumatic efficiency and poor flexibility and maneuverability.
2) The existing flapping wing aircraft adopting two-section type wings can have one folding on the wings in the flapping process
The folding action is carried out at a certain angle in the vertical direction, so that the aerodynamic efficiency and the flight stability of the aircraft can be improved, but the folding action cannot be carried out in the extending direction of the wings, so that the flexibility and the controllability in the aspects of turning and obstacle avoidance are not strong, and the portability is not good.
3) The existing flapping wing air vehicle with wings capable of being folded in the extending direction is mostly of a single-section structure, the flexibility and the maneuverability are better, and the space for further improvement is still available in the aspects of aerodynamics and bionic performance compared with a double-section wing.
Disclosure of Invention
The invention aims to provide a double-section type flapping wing aircraft with actively folded wings in the unfolding direction, so as to solve the problem that the flexibility, the maneuverability and the mobility cannot be considered in the prior art.
According to a first aspect of the invention, a two-segment flapping wing aircraft with actively foldable wings in a deployable direction comprises: the airplane comprises an airplane body, two double-section wings which can be actively folded in the unfolding direction and are symmetrically arranged on two sides of the airplane body, and an empennage connected to the rear part of the airplane body, wherein the airplane body comprises a frame and a transmission mechanism in transmission connection with the double-section wings which can be actively folded in the unfolding direction;
the transmission mechanism includes: the aircraft comprises a speed reduction gear set and two sets of double-shaking mechanisms in driving connection, wherein the two sets of double-shaking mechanisms are symmetrically arranged on the left side and the right side of the central axis of an aircraft body, and the speed reduction gear set drives the two sets of double-shaking mechanisms to transmit power for flapping of double-section type wings respectively.
Preferably, the rack comprises: the flapping device comprises a front frame, a middle frame, a rear frame, a main shaft and flapping shafts which are symmetrically arranged left and right, wherein mounting holes for shafts or gears are formed in the front frame, the middle frame and the rear frame, and the front frame, the middle frame and the rear frame are fixedly connected in sequence through the mounting holes by the main shaft and the flapping shafts which are symmetrically arranged left and right.
Preferably, the double rocking mechanism includes: the flapping mechanism comprises a first crank, a second crank, a first flapping connecting rod, a second flapping connecting rod, a first flapping rocker, a second flapping rocker, a first spline sleeve, a second spline sleeve, a first joint, an axial bevel gear and a radial bevel gear, wherein the first crank, the second crank and the second flapping gear are fixedly connected; the first spline sleeve and the first joint are fixedly arranged and can rotate around the flapping axis; the axial bevel gear is fixedly connected with the second spline sleeve, can rotate around the flapping axis and is meshed with the radial bevel gear, and the radial bevel gear is arranged at the lower part of the first connector.
Preferably, the deployable actively-folded two-piece wing comprises: the flapping controller comprises a second joint, a first main beam, a first rear beam, a second main beam, a third main beam, a second rear beam, an outer section wing and an outer section wing;
the first main beam is inserted into a notch of the first joint and is connected with the first joint through a revolute pair, and the second joint is sleeved on the flapping shaft and can rotate around the flapping shaft; the first rear beam is inserted into a notch of the second joint and is connected with the second joint through a revolute pair, the second main beam is connected with the middle part of the first main beam through the revolute pair, the second rear beam is connected with the first main beam and the first rear beam through revolute pairs respectively, and the third main beam is connected with the second main beam and the second rear beam through revolute pairs respectively; the outer section wing comprises three wing ribs which form angles with each other and is connected with the third main beam through a revolute pair; the first main beam, the first rear beam, the second main beam, the third main beam and the second rear beam form a link mechanism.
Preferably, the outer segment flapping controller comprises: the rocking bar, the first transmission rod, the V-shaped rod, the second transmission rod, the flapping control gear and the rotation-flapping conversion piece; rocker one end and radial bevel gear fixed connection, first transfer line passes through the revolute pair with the rocker and is connected, V type pole middle part is connected with the second back beam through the revolute pair, and one end is passed through the revolute pair and is connected with first transfer line, second transfer line one end is opened there is the through-hole, straight-teeth gear of other end fixed connection, the straight-teeth gear meshing of flapping control gear side and second transfer line one end to be connected with the third girder through the revolute pair.
Preferably, the two ends of the rotation-flapping conversion part are respectively provided with a notch, a sleeve is arranged in the notch, the sleeve is connected with the notch through a revolute pair, one end of the sleeve is sleeved on a shaft at the top of the outer section wing, and the other end of the sleeve is sleeved on a shaft at the side face of the flapping control gear.
Preferably, the rotation-flapping conversion part comprises a rod piece of a cuboid, the two ends of the rod piece of the cuboid are respectively provided with a notch which is perpendicular to each other, the sleeve which is provided with a round hole on the cylindrical surface is installed in the notch, the sleeve is connected with the hole of the notch through a revolute pair through the hole on the cylindrical surface, the sleeve at one end is sleeved on the shaft at the top of the outer section wing, the sleeve at the other end is sleeved on the shaft on the side surface of the flapping control gear, and the sleeves at the two ends can slide and rotate along the shaft.
Preferably, a short shaft is fixedly arranged on the side surface of the flapping control gear and is meshed with a straight gear at one end of the second transmission rod.
Preferably, the radial bevel gear is mounted on a circular truncated cone shaft at a lower portion of the first joint.
Preferably, the reduction gear set includes: the flapping wing device comprises a motor gear, a duplicate gear, a first flapping wing transmission gear and a second flapping wing transmission gear, wherein the motor gear is meshed with a large gear of the duplicate gear, the second flapping wing transmission gear is meshed with a small gear of the duplicate gear, and the first flapping wing transmission gear is meshed with the second flapping wing transmission gear.
The invention provides a double-section flapping wing aircraft capable of unfolding to an active folding wing, which is inspired from the flight mechanism of natural flying organisms, and integrates two functions of the unfolding to the folding wing and the double-section wing on the flapping wing aircraft, so that the wings can be transversely deformed and folded through a three-joint mechanism and can also perform double-section flapping in the vertical direction, thereby combining the advantages of the folding wing aircraft and the flapping wing aircraft, more perfectly simulating the flight characteristics of the natural organisms, having better bionic property, higher pneumatic efficiency, better flexibility and maneuverability in the aspects of steering and obstacle avoidance, and simultaneously improving the portability of the aircraft due to the folding characteristic and preventing the aircraft from being damaged.
Other characteristic features and advantages of the invention will become apparent from the following description of exemplary embodiments, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.
FIG. 1 is a top view of an embodiment of a two-piece ornithopter with deployable active folding wings according to the present invention;
FIG. 2 is a top view of a single wing fold in an embodiment of a two-section ornithopter of the present invention having deployable active folding wings;
FIG. 3 is an isometric view of a two-section ornithopter with deployable active folding wings according to an embodiment of the invention with the mid-frame, right first joint, radial bevel gear, and axial bevel gear removed from the fuselage;
FIG. 4 is a drive diagram of a gear set in an embodiment of a two-section ornithopter of the present invention with deployable active folding wings;
FIG. 5 is a front view of a two-section ornithopter with its left wing removed in an embodiment of the present invention with its wings actively folded in the deployed orientation;
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a bottom view of a two-piece ornithopter embodiment of the invention having deployable active folding wings;
FIG. 8 is an enlarged view of a portion of FIG. 7 at B;
FIGS. 9a and 9b are three views of a first joint in an embodiment of a two-piece ornithopter with deployable active folding wings in accordance with the invention;
FIG. 10 is an isometric view of a rotation-flapping transition for a two-section ornithopter embodiment of the invention having deployable active folding wings.
In the figure, 1, a front frame, 2, a middle frame, 3, a rear frame, 4, a main shaft, 5, a flapping shaft, 6, a motor gear, 7, a duplicate gear, 8, a first flapping wing transmission gear, 9, a second flapping wing transmission gear, 10, a first crank, 11, a second crank, 12, a first flapping connecting rod, 13, a second flapping connecting rod, 14, a first flapping rocker, 15, a second flapping rocker, 16, a first spline sleeve, 17, a second spline sleeve, 18, the main beam comprises a first joint, 19, an axial bevel gear, 20, a radial bevel gear, 21, a second joint, 22, a first main beam, 23, a first rear beam, 24, a second main beam, 25, a third main beam, 26, a second rear beam, 27, an outer section wing, 28, a rocker, 29, a first transmission rod, 30, a V-shaped rod, 31, a second transmission rod, 32, a flapping control gear, 33, a rotation-flapping conversion piece, 34 and a tail wing.
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. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The invention relates to a double-section type flapping wing aircraft capable of actively folding wings in a unfolding mode, which comprises a rack, a power device and a transmission device, wherein the rack provides an installation platform for the power device, the transmission device, two side wings and an empennage, and the power device arranged on the rack provides power for the two side wings through the transmission device, so that the two side wings can realize transverse three-joint folding in an extending and unfolding plane and two-section type flapping in the up-and-down direction. The wings of the ornithopter comprise two side wings and a tail wing. The two side wings can complete two-section type flapping actions, so that the flapping efficiency is improved; the two side wings can respectively realize the transverse folding of the three joints in the extending plane, the folding degrees of the two side wings are not related to each other, thereby realizing the more flexible and flexible steering and obstacle avoidance, saving the storage space by folding when not flying, being convenient for carrying and preventing damage; the steering of the flapping wing aircraft can be assisted by adjusting the angle of the tail wing.
As shown in fig. 1-9, the double-section flapping-wing aircraft with actively foldable wings comprises an airframe, flapping wings symmetrically arranged on two sides of the airframe, and a tail wing 34 connected to the rear of the airframe, wherein the airframe comprises a frame and a transmission mechanism for enabling the double-section flapping wings on the two sides of the airframe to move in a coordinated manner; the frame includes fore-stock 1, well frame 2, after-frame 3, main shaft 4 and bilateral symmetry's flapping axle 5, open the mounting hole that has axle or gear on fore-stock 1, well frame 2 and after-frame 3, main shaft 4 and two bilateral symmetry's flapping axle 5 pass through the mounting hole with fore-stock 1, well frame 2, after-frame 3 fixed connection in proper order, form a complete frame.
The transmission mechanism comprises a secondary reduction gear set and two sets of double-shaking mechanisms which are symmetrically distributed left and right, the secondary reduction gear set is composed of a motor gear 6, a duplicate gear 7, a first flapping wing transmission gear 8 and a second flapping wing transmission gear 9, the motor gear 6 is meshed with a large gear of the duplicate gear 7, the second flapping wing transmission gear 9 is meshed with a small gear of the duplicate gear 7, and the first flapping wing transmission gear 8 is meshed with the second flapping wing transmission gear 9, so that the rotation of the motor shaft is transmitted to the first flapping wing transmission gear and the second flapping wing transmission gear.
Two sets of double-rocking mechanisms are symmetrically arranged on the left side and the right side of a central axis of a machine body, taking the right side as an example, each double-rocking mechanism comprises a first crank 10, a second crank 11, a first flapping connecting rod 12, a second flapping connecting rod 13, a first flapping rocking rod 14, a second flapping rocking rod 15, a first spline sleeve 16, a second spline sleeve 17, a first joint 18, an axial bevel gear 19 and a radial bevel gear 20, the first crank 10, the second crank 11 and the second flapping gear are fixedly connected, the first flapping connecting rod 12 and the first crank 10 are connected through a rotating pair, the second flapping connecting rod 13 and the second crank 11 are connected through a rotating pair, the first flapping rocking rod 14 and the first flapping connecting rod 12 are connected through a rotating pair, the second flapping connecting rod 15 and the second flapping connecting rod 13 are connected through a rotating pair, the first flapping rocking rod 14 and the first spline sleeve 16 are fixedly connected, the second flapping rocking rod 15 is fixedly connected with a second spline sleeve 17, the first spline sleeve 16 and the second spline sleeve 17 are mounted on the flapping shaft 5 and can rotate around the flapping shaft 5, the first spline sleeve 16 is fixedly mounted with a first joint 18 and can rotate around the flapping shaft 5, so that two sets of crank rocking rod mechanisms driven by one gear are formed, power is transmitted for flapping of the two-section type wing respectively, the axial bevel gear 19 is fixedly connected with the second spline sleeve 17, can rotate around the flapping shaft 5 and is meshed with a radial bevel gear 20, the radial bevel gear 20 is mounted on a circular table shaft at the lower part of the first joint 18, and the rotation of the second crank can be converted into the reciprocating rotation of the radial bevel gear within a certain angle through the transmission of a connecting rod and the bevel gear.
The flapping wings comprise a second joint 21, a first main beam 22, a first rear beam 23, a second main beam 24, a third main beam 25, a second rear beam 26, an outer section wing 27 and an outer section wing flapping controller; the first main beam 22 is inserted into a notch of the first joint 18 and connected with the first joint 18 through a revolute pair, the second joint 21 is sleeved on the flapping axis 5 and can rotate around the flapping axis 5, the first back beam 23 is inserted into a notch of the second joint 21 and connected with the second joint 21 through a revolute pair, the second main beam 24 is connected with the middle part of the first main beam 22 through a revolute pair, the second back beam 26 is connected with the first main beam 22 and the first back beam 23 through revolute pairs respectively, the third main beam 25 is connected with the second main beam 24 and the second back beam 26 through revolute pairs respectively, the outer section wing 27 is provided with three wing ribs forming an angle with each other and connected with the third main beam 25 through a revolute pair, the whole wing can rotate around the flapping axis 5 through the first joint 18 and the second joint 21 to realize vertical flapping, the first back beam 22 is used as an active part, so that the first back beam 23 rotates around the revolute pair between the second joint 21, the wing can be deformed and folded in a transverse three-joint mode through a connecting rod mechanism consisting of a first main beam 22, a first rear beam 23, a second main beam 24, a third main beam 25 and a second rear beam 26, wherein a first joint is arranged between the first main beam 22 and the first joint 18, a second joint is arranged between the first main beam 22 and the second main beam 24, a third joint is arranged between the second main beam 24 and the third main beam 25, the first rear beams 23 of the flapping wings on the left side and the right side are not related to each other when rotating around a revolute pair arranged between the first rear beams and the second joint 21, the folding degrees of the flapping wings on the two sides can be different, so that the flapping wing areas on the two sides are different, the turning of the flapping wing aircraft is realized, the folding degrees of the flapping wings are the same, the flapping wing aircraft can fly through a narrow space and avoid obstacles, and the mechanical efficiency can be improved by.
The outer-section wing flapping controller comprises a rocker 28, a first transmission rod 29, a V-shaped rod 30, a second transmission rod 31, a flapping control gear 32 and a rotation-flapping conversion piece 33; one end of the rocker 28 is fixedly connected with the radial bevel gear 20, the first transmission rod 29 is connected with the rocker 28 through a revolute pair, the middle part of the V-shaped rod 30 is connected with the second rear beam 26 through a revolute pair, one end of the V-shaped rod is connected with the first transmission rod 28 through a revolute pair, one end of the second transmission rod 31 is provided with a round hole, the other end of the second transmission rod 31 is fixedly connected with a straight gear, a short shaft is fixedly installed on the side surface of the flapping control gear 32 and is meshed with the straight gear at one end of the second transmission rod 31 and is connected with the third main beam 25 through a revolute pair at the center, the reciprocating swing of the radial bevel gear 20 is transmitted to the second transmission rod 31 through the rocker 28, the first transmission rod 29 and the V-shaped rod 30 to enable the straight gear to reciprocate and further drive the flapping control gear 32 to reciprocate, the rotation-flapping conversion piece 33, install in the notch and open the sleeve that has the round hole on the face of cylinder, the sleeve passes through the hole on the face of cylinder and the hole of notch to be connected through the revolute pair, the sleeve cover of one end is epaxial at outer section wing 27 top, the sleeve cover of the other end is on the minor axis of flapping control gear 32 side, both ends sleeve all can be followed the axle and slided and rotate, just so with flapping control gear 32's reciprocating rotation convert outer section wing 27's upper and lower flapping, realize the two-section type flapping of flapping wing inner segment and outer section wing.
The embodiment is inspired from the flight mode of birds in biology, and the bionic flapping wing aircraft which is comparable to the flight capability of the birds in nature is realized by a mechanical mechanism by using a bionic method. In nature, in a flapping period, in a lower flapping stage, wings of large birds are completely unfolded and flap downwards to obtain larger lift force, in an upper flapping stage, the inner wings and the outer wings of the birds form a certain bending angle, and at the moment, the wingspan is reduced to form an upwards protruding peak, so that the resistance of upper flapping is reduced. Such a flying pattern significantly improves flying efficiency. In addition, the real bird wing can be bent up and down and also can be bent transversely in the extension plane, so that the functions of turning, obstacle avoidance and the like in a complex environment are realized. The flight mechanism of birds is simulated, and the corresponding mechanical structure is designed by using a mechanical design method, so that the flight efficiency can be improved, and the functions of the wings of the birds are realized.
Specifically, the working principle of a two-section flapping wing aircraft with actively folded wings in the unfolding direction is explained as follows: a double-section type flapping wing aircraft capable of actively folding wings in a unfolding direction comprises an aircraft body, flapping wings on two sides of the aircraft body and a tail wing connected to the rear part of the aircraft body, wherein the aircraft body comprises a rack and a transmission mechanism which enables the double-section type flapping wings on the two sides of the aircraft body to move in a coordinated manner; the flapping wing comprises a second joint, a first main beam, a first back beam, a second main beam, a third main beam, a second back beam, an outer wing and an outer wing flapping controller; the whole wing can rotate around a flapping shaft to realize up-and-down flapping by being connected to a first joint and a second joint, a first rear beam is used as a driving part to rotate around a revolute pair between the first rear beam and the second joint, and the wing can realize transverse three-joint deformation folding by a connecting rod mechanism consisting of the first main beam, the first rear beam, a second main beam, a third main beam and the second rear beam, wherein a first joint is arranged between the first main beam and the first joint, a second joint is arranged between the first main beam and the second main beam, a third joint is arranged between the second main beam and the third main beam, and the outer-section wing flapping controller comprises a rocker, a first transmission rod, a V-shaped rod, a second transmission rod, a flapping control gear and a rotation-flapping conversion part; the outer-section wing flapping controller converts the reciprocating rotation of the radial bevel gear into the up-and-down flapping of the outer-section wing, so that the function of the double-section type flapping wing aircraft with the three-joint deformable wing capable of being folded transversely is realized.
The embodiment of the double-section type flapping wing aircraft capable of actively folding wings in the unfolding direction can realize double-section type flapping, can also be transversely folded in the unfolding direction through the three-joint mechanism, and has the advantages of simple and compact mechanism, good bionic degree, high pneumatic efficiency, and good flight stability and controllability. The wings on two sides of the double-section type flapping wing aircraft capable of unfolding to the active folding wings can be transversely folded by means of the driving mechanism, the transverse folding of the two wings is not related to each other, the wing areas of the wings on the two sides are changed respectively, the flapping wing aircraft can be steered and fly by means of the difference of the wing areas on the two sides, the steering flexibility is good, turning and obstacle avoidance can be achieved more easily, the sizes of the wings are adjusted simultaneously according to different loads, and the mechanical efficiency can be improved. The double-section bionic flapping wing aircraft with the three-joint deformable wing can fold the wing in the extension direction, can save the storage space when the aircraft does not fly, is convenient to transport and carry, and prevents damage.
The above-described aspects may be implemented individually or in various combinations, and such variations are within the scope of the present invention.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A two-section flapping wing aircraft with expandable active folding wings comprises: the airplane comprises an airplane body, two actively foldable double-section wings in the unfolding direction and a tail wing (34) connected to the rear part of the airplane body, wherein the two symmetrically arranged double-section wings in the unfolding direction are arranged on two sides of the airplane body;
the transmission mechanism includes: the aircraft comprises a speed reduction gear set and two sets of double-shaking mechanisms in driving connection, wherein the two sets of double-shaking mechanisms are symmetrically arranged on the left side and the right side of the central axis of an aircraft body, and the speed reduction gear set drives the two sets of double-shaking mechanisms to transmit power for flapping of double-section type wings respectively.
2. The two-section flapping wing aircraft with deployable active folding wings of claim 1, wherein: the frame includes: fore-stock (1), well frame (2), after-frame (3), main shaft (4) and bilateral symmetry arrange's flapping axis (5), open the mounting hole that has axle or gear on fore-stock (1), well frame (2), after-frame (3), main shaft (4) and bilateral symmetry arrange's flapping axis (5) will through the mounting hole fore-stock (1), well frame (2), after-frame (3) are fixed connection in proper order.
3. The two-section flapping wing aircraft with deployable active folding wings of claim 2, wherein: the double-rocking mechanism includes: the flapping mechanism comprises a first crank (10), a second crank (11), a first flapping connecting rod (12), a second flapping connecting rod (13), a first flapping rocker (14), a second flapping rocker (15), a first spline sleeve (16), a second spline sleeve (17), a first joint (18), an axial bevel gear (19) and a radial bevel gear (20), wherein the first crank (10) and the second crank (11) are fixedly connected with the second flapping gear, the first flapping connecting rod (12) is connected with the first crank (10) through a revolute pair, the second flapping connecting rod (13) is connected with the second crank (11) through a revolute pair, the first flapping rocker (14) is connected with the first flapping connecting rod (12) through a revolute pair, the second flapping rocker (15) is connected with the second flapping connecting rod (13) through a revolute pair, and the first flapping rocker (14) is fixedly connected with the first flapping connecting rod (16), the second flapping rocker (15) is fixedly connected with a second spline sleeve (17), and the first spline sleeve (16) and the second spline sleeve (17) are installed on the flapping shaft (5) and can rotate around the flapping shaft (5); the first spline sleeve (16) and the first joint (18) are fixedly arranged and can rotate around the flapping shaft (5); the axial bevel gear (19) is fixedly connected with the second spline sleeve (17), can rotate around the flapping axis (5), and is meshed with the radial bevel gear (20), and the radial bevel gear (20) is installed at the lower part of the first joint (18).
4. The two-section flapping wing aircraft with deployable active folding wings of claim 3, wherein: the deployable actively-folded two-piece airfoil comprises: the flapping controller comprises a second joint (21), a first main beam (22), a first rear beam (23), a second main beam (24), a third main beam (25), a second rear beam (26), an outer section wing (27) and an outer section wing;
the first main beam (22) is inserted into a notch of the first joint (18) and is connected with the first joint (18) through a revolute pair, and the second joint (21) is sleeved on the flapping shaft (5) and can rotate around the flapping shaft (5); the first rear beam (23) is inserted into a notch of the second joint (21) and is connected with the second joint (21) through a revolute pair, the second main beam (24) is connected with the middle part of the first main beam (22) through a revolute pair, the second rear beam (26) is connected with the first main beam (22) and the first rear beam (23) through revolute pairs respectively, and the third main beam (25) is connected with the second main beam (24) and the second rear beam (26) through revolute pairs respectively; the outer section wing (27) comprises three wing ribs which form an angle with each other and is connected with the third main beam (25) through a revolute pair; the first main beam (22), the first rear beam (23), the second main beam (24), the third main beam (25) and the second rear beam (26) form a connecting rod mechanism.
5. The two-section flapping wing aircraft with deployable active folding wings of claim 4, wherein: the outer section wing flapping controller comprises: a rocker (28), a first transmission rod (29), a V-shaped rod (30), a second transmission rod (31), a flapping control gear (32) and a rotation-flapping conversion piece (33); rocker (28) one end and radial bevel gear (20) fixed connection, first transfer line (29) is connected through the revolute pair with rocker (28), V type pole (30) middle part is connected with second back-bearer (26) through the revolute pair, and one end is connected with first transfer line (29) through the revolute pair, open second transfer line (31) one end has the through-hole, straight-teeth gear of other end fixed connection, the straight-teeth gear meshing of flapping control gear (32) side and second transfer line (31) one end to be connected with third girder (25) through the revolute pair.
6. The two-section flapping wing aircraft with deployable active folding wings of claim 5, wherein: the two ends of the rotation-flapping conversion piece (33) are respectively provided with a notch, a sleeve is arranged in the notch, the sleeve is connected with the notch through a revolute pair, one end of the sleeve is sleeved on a shaft at the top of the outer section wing (27), and the other end of the sleeve is sleeved on a shaft on the side surface of the flapping control gear (32).
7. The two-section flapping wing aircraft with deployable active folding wings of claim 6, wherein: the rotation-flapping conversion part (33) comprises a cuboid rod piece, two ends of the cuboid rod piece are respectively provided with mutually vertical notches, the sleeve with a round hole on the cylindrical surface is installed in each notch, the sleeve is connected with the hole of each notch through a revolute pair through the hole on the cylindrical surface, the sleeve at one end is sleeved on the shaft at the top of the outer section wing (27), the sleeve at the other end is sleeved on the shaft on the side surface (32) of the flapping control gear, and the sleeves at two ends can slide and rotate along the shaft.
8. The two-section flapping wing aircraft with deployable active folding wings of claim 7, wherein: and a short shaft is fixedly arranged on the side surface of the flapping control gear (32) and is meshed with a straight gear at one end of the second transmission rod (31).
9. The dual-section ornithopter with actively folded wings according to claim 8, wherein: the radial bevel gear (20) is arranged on a circular truncated cone shaft at the lower part of the first joint (18).
10. The double-section flapping wing aircraft with deployable active folding wings of any one of claims 1-9, wherein: the reduction gear set includes: the flapping wing type electric vehicle is characterized by comprising a motor gear (6), a duplicate gear (7), a first flapping wing transmission gear (8) and a second flapping wing transmission gear (9), wherein the motor gear (6) is meshed with a large gear of the duplicate gear (7), the second flapping wing transmission gear (9) is meshed with a small gear of the duplicate gear (7), and the first flapping wing transmission gear (8) is meshed with the second flapping wing transmission gear (9).
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