CN111348184A

CN111348184A - Flapping wing structure and aircraft

Info

Publication number: CN111348184A
Application number: CN202010196402.9A
Authority: CN
Inventors: 姬冰; 赵景太; 杨帆
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2020-06-30
Anticipated expiration: 2040-03-19
Also published as: LU101753B1; CN111348184B

Abstract

The invention relates to a flapping wing structure and an aircraft, which comprise a rack, wherein wing assemblies are respectively rotatably arranged on two sides of the rack and can swing back and forth in the horizontal direction; the wing assembly comprises a swing arm and a wing plate member, the swing arm is rotatably connected with the rack, and the swing arm can swing in a horizontal plane; the swing arm is rotationally connected with the wing plate component, the rotation axis of the wing plate component is horizontal, and the wing plate component can swing within a set angle range relative to the swing arm; when the whole wing assembly swings towards the set horizontal direction: the wing member can be rotated to an extreme position in a direction opposite to the set horizontal direction with its own rotation axis as a rotation center so that the extending direction of the wing member is opposite to the advancing direction of the wing assembly.

Description

Flapping wing structure and aircraft

Technical Field

The invention belongs to the technical field of aircrafts, and particularly relates to a flapping wing structure and an aircraft.

Background

The flapping wing aircraft is an aircraft developed according to the flying structure and principle of birds and insects, and compared with the traditional fixed wing aircraft and rotor aircraft, the flapping wing aircraft has the characteristics of high flying efficiency, capability of realizing vertical landing and the like. The flapping wing aircraft has strong function expansibility, plays an important role in many fields, and particularly has great practical value when the wingspan is less than 150 mm. However, the inventor believes that the existing flapping wing aircraft has the following defects:

(1) the inertia force generated by the reciprocating motion of the wings and the air resistance borne by the wing surfaces have great influence on the flapping frequency of the aircraft, and the requirement on the torque of a motor is high.

(2) The attitude control of the flapping wing aircraft can not be rapidly and effectively carried out, and the flexibility of the aircraft can not achieve the ideal effect.

Disclosure of Invention

The invention aims to provide a flapping wing structure and an aircraft, which can solve the problems that the flapping frequency of the wings of the existing flapping wing aircraft is greatly influenced by inertia force and air resistance, the attitude of the aircraft is not flexible and the like.

In order to achieve the above object, a first aspect of the present invention provides an flapping wing structure, which includes a frame, and wing assemblies rotatably mounted on two sides of the frame, respectively, and capable of swinging back and forth in a horizontal direction to flap.

The wing assembly comprises a swing arm and a wing plate member, the swing arm is rotatably connected with the rack, and the swing arm can swing in a horizontal plane; the swing arm is connected with the wing plate component in a rotating mode, the rotating axis of the wing plate component is horizontal, and the wing plate component can swing within a set angle range relative to the swing arm.

When the whole wing assembly swings towards the set horizontal direction: the wing member can be rotated to an extreme position in a direction opposite to the set horizontal direction with its own rotation axis as a rotation center so that the extending direction of the wing member is opposite to the advancing direction of the wing assembly. The wing plate component can provide rising power when the wing assembly swings back and forth.

As a further definition of the first aspect of the invention, the flap member is swingable between a first extreme position and a second extreme position, the relative position of the first or second extreme position to the frame being adjustable to vary the maximum angle at which the flap member swings in different directions.

As a further limitation of the first aspect of the present invention, the wing plate member includes a wing beam, one end of the wing beam is rotatably connected to the swing arm, a ball head is sleeved on one end of the wing beam close to the swing arm, a crank link mechanism is respectively disposed on each side of the rack, a crank in the crank link mechanism is a driving part, a link is a driven part, a tail end of the link is sleeved outside the ball head on the same side of the rack, and the ball head can be driven by the link to perform reciprocating translation along a horizontal direction.

As a further limitation of the first aspect of the present invention, each side of the frame is provided with two crank-link mechanisms, and the two crank-link mechanisms are respectively arranged at two sides of the wing assembly along the swinging direction; the tail ends of the two crank connecting rods are respectively sleeved outside the ball heads on the same side.

A second aspect of the invention provides an aircraft comprising an ornithopter structure as described above.

The beneficial effects of one or more technical schemes are as follows:

(1) the flapping-wing air vehicle realizes the front and back flapping of the wing assembly by adopting the reciprocating swinging mode of the wing assembly along the rack in the horizontal plane, can generate continuous positive lift force with smaller fluctuation amplitude compared with the up and down flapping mode of the wing assembly in the traditional flapping-wing structure, and simultaneously can greatly reduce the influence of air resistance during flapping and improve the working efficiency.

(2) The wing assembly is formed by adopting the swing arms and the wing plate members, and when the wing assembly is overall beaten along the horizontal direction, the wing plate members can rotate along the swing arms within a set angle range, so that the wing plate members can rotate for a certain angle towards the direction opposite to the overall movement direction of the wing assembly when receiving air resistance.

Because the wing plate component can rotate along the swing arm, when the wing component swings in different directions integrally, the air resistance can generate vertical upward component force at the side of the wing plate component subjected to the air resistance, and lift force is provided for the whole flapping wing structure.

(3) The double motors are driven simultaneously, so that the problem of insufficient motor output torque caused by reciprocating motion inertia force and air resistance borne by the wing surface under the high-frequency motion of the wing can be effectively solved.

(4) The wing plate component can swing between the first limit position and the second limit position, and the relative position of the first limit position or the second limit position and the frame can be adjusted, so that the forward and backward swing angle range of the wing plate component can be adjusted when the wing plate component swings forwards and backwards along the horizontal direction, and the flapping wing structure can generate action processes of pitching, yawing, hovering and the like.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic view of the overall structure in embodiment 1 of the present invention;

fig. 2 is a schematic structural view of a rack in embodiment 1 of the present invention;

FIG. 3 is a schematic structural view of a torsion limiting module according to embodiment 1 of the present invention;

fig. 4 is a schematic view of a two-stage planetary reduction structure adopted by a reduction module in embodiment 1 of the present invention;

FIG. 5 is a schematic structural view of a bevel gear set according to embodiment 1 of the present invention;

FIG. 6 is a schematic structural view of a crank link mechanism, a swing arm, and the like in embodiment 1 of the present invention;

FIG. 7 is a schematic view of the wing assembly swung back to an extreme position in accordance with embodiment 1 of the present invention;

FIG. 8 is a schematic view of the wing assembly swinging forward to the extreme position in accordance with embodiment 1 of the present invention;

fig. 9 is a schematic view of the principle of lift generation by the wing assembly in embodiment 1 of the present invention.

In the figure: 11. a first motor mount; 12. a second motor mount; 13. a first support beam; 14. a second support beam; 15. a reduction gearbox fixing pin hole; 16. a drive bearing bore; 21. a first motor; 22. a second motor; 23. a controller; 31. a first planetary reduction gearbox; 32. a second planetary reduction gearbox; 33. a 10-tooth planetary gear; 34. a 15-tooth sun gear; 41. a first bevel gear set; 42. a second bevel gear set; 43. a first drive lever; 44. a second transmission rod; 45. a first bevel gear; 46. a second bevel gear; 51. a first crank link mechanism; 52. a second crank link mechanism; 53. a third crank link mechanism; 54. a fourth crank link mechanism; 55. a first swing arm; 56. a second swing arm; 57. a first ball head; 58. a second ball head; 59. a crank; 510. a connecting rod; 61. a first fixed baffle plate; 62. a second fixed baffle plate; 63. a first movable stopper; 64. a second movable stopper; 65. a first torsion limit steering engine; 66. a second torsion limiting steering engine; 71. a first airfoil; 72. a second airfoil; 73. a first spar; 74. a second spar.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

For convenience of description, the words "up, down, left and right" when appearing in the present invention merely indicate correspondence with the up, down, left and right directions of the drawings themselves, and are not limiting of structure, but merely for convenience of description and simplified description, and do not indicate or imply that the referenced apparatus or component must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting of the present invention.

Example 1

As shown in fig. 1 to 9, the embodiment provides an flapping wing structure, which includes a frame, where two sides of the frame are respectively rotatably installed with wing components, and the wing components can swing back and forth in a horizontal direction to realize flapping; the wing assembly comprises a swing arm and a wing plate component, and the swing arm is rotatably connected with the frame so that the wing assembly can swing integrally along the horizontal direction; the swing arm is connected with the wing plate component in a rotating mode, the rotating axis of the wing plate component is horizontal, and the wing plate component can swing within a set angle range relative to the swing arm.

When the whole wing assembly swings towards the set horizontal direction, the wing plate component can rotate to the limit position towards the direction opposite to the set horizontal direction by taking the rotation axis of the wing plate component as the rotation center, so that the extending direction of the wing plate component is opposite to the advancing direction of the wing assembly, and the wing plate component can provide rising power when the wing assembly swings back and forth.

The structure of each part is described in detail in the following with reference to the attached drawings:

a frame: as shown in fig. 2, the frame includes two motor bases and two support beams, specifically, the motor bases are divided into a first motor base 11 and a second motor base 12; the support beams are divided into a first support beam 13 and a second support beam 14. Two side surfaces of the motor base are provided with a reduction gearbox fixing pin hole 15 and a transmission bearing hole 16 which are respectively used for fixing a reduction gearbox module and a transmission bearing, and the transmission bearing is used for reducing the influence of friction force in the transmission process. The supporting beam is used for fixing the relative positions of the two motor bases and is also used for mounting the swing arm.

Specifically, a first swing arm 55 and a second swing arm 56 are rotatably mounted on the first support beam and the second support beam, respectively.

The wing plate component: as shown in fig. 1, the wing plate member is arranged obliquely downwards, and the wing plate member can be subjected to reverse air resistance in the process of swinging horizontally along with the swing arm, and further can rotate to the limit position in the direction away from the movement direction of the swing arm. The wing member is pivotable between a first extreme position and a second extreme position, the relative position of the first or second extreme position to the frame being adjustable to vary the maximum angle at which the wing member is pivotable in different directions. The rotation axis of the wing plate component is positioned on the upper half part of the wing plate component by taking the vertical direction as a reference.

The wing plate components are arranged on two sides of the frame in a bilateral symmetry mode and consist of wing spars and wing surfaces. Specifically, the wing member on one side is composed of a first airfoil 71 and a first spar 73. The wing member on the other side is comprised of a second wing panel 72 and a second spar 74. The first airfoil 71 and the second airfoil 72 are made of PET films with good longitudinal and transverse stretching degree. Taking the first spar 73 as an example: the inner ends of the first wing beams 73 are respectively provided with a limiting piece, and are connected with the torsion limiting module by keeping the same axis with the first ball heads 57.

Correspondingly, a stop tab is provided at the inner end of the second spar 74 and is connected to the torsion-limiting module coaxially with the second ball head 58.

A torsion limiting module: the torsion limiting module is used for limiting a first limit position and a second limit position when the wing plate component rotates along the swing arm.

A rotary driving part is fixed at one end of the swing arm far away from the rack, an output shaft of the rotary driving part is arranged far away from the swing arm, a sleeve is fixedly arranged at a shell in the rotary driving part, and the sleeve and the output shaft of the rotary driving part are coaxially arranged; the wing plate component comprises a wing beam, the wing beam and the output shaft respectively extend into the inner cavity of the sleeve, the wing beam is rotatably connected with the sleeve, the surface of the output shaft of the inner wall of the sleeve is fixedly provided with a first blocking piece and a second blocking piece, the end part of the wing beam is provided with a limiting piece, and the limiting piece rotates between the first blocking piece and the second blocking piece along with the wing beam. The first blocking piece is arranged on one side close to the advancing direction of the rack, the second blocking piece is arranged on one side far away from the advancing direction of the rack, the output shaft of the rotary driving piece rotates to drive the second blocking piece to move, so that the included angle range between the first blocking piece and the second blocking piece is changed, and the swing range of the wing plate component along the self rotating axis is changed.

In this embodiment, the rotary driving element may be a torsion limiting steering engine, wherein one side is a first torsion limiting steering engine 65, and the other side is a second torsion limiting steering engine 66. In other embodiments, the rotary driving member may take other structural forms, which can be set by those skilled in the art, and will not be described herein.

Specifically, as shown in fig. 6, the first blocking piece is a fixed structure, and the second blocking piece is a movable structure. On one side of the frame, the torsion limiting module is composed of a first fixed baffle 61, a first movable baffle 63 and a first torsion limiting steering engine 65. And the torsion limiting module is composed of a second fixed baffle plate 62, a second movable baffle plate 64 and a second torsion limiting steering engine 66 on the other side of the rack.

First torsion restriction steering wheel 65 is fixed connection on the second swing arm, and first movable separation blade 63 is fixed on the steering wheel output shaft, can adjust its position through the rotation of steering wheel, and first fixed separation blade 61 is fixed on the sleeve of steering wheel shell department, and its position does not receive the rotatory influence of steering wheel. When the wing surface is twisted to a certain degree under the action of air resistance, the limiting sheet on the wing beam is limited by the first fixed blocking sheet 61 or the first movable blocking sheet 63, so that the twisting angle is limited, and the purpose of controlling the twisting angle is further achieved by controlling the rotation of the steering engine.

A crank link mechanism: one end of the wing beam is rotatably connected with the swing arm, and one end of the wing beam close to the swing arm is sleeved with a ball head; each side of the rack is respectively provided with a crank link mechanism, a crank 59 in the crank link mechanism is a driving part, a connecting rod 510 is a driven part, the tail end of the connecting rod is sleeved outside a ball head on the same side of the rack, and the ball head can be driven by the connecting rod to move in a reciprocating manner along the horizontal direction. The crank-link mechanism can provide power for horizontal swinging of the ball head and the wing assembly.

Two crank connecting rod mechanisms are arranged on each side of the rack, and the two crank connecting rod mechanisms are respectively arranged on two sides of the wing component along the swinging direction; the tail ends of the two crank connecting rods are respectively sleeved outside the ball heads on the same side.

Correspondingly, the crank-link mechanisms are a first crank-link mechanism 51, a second crank-link mechanism 52, a third crank-link mechanism 53 and a fourth crank-link mechanism 54, respectively.

A power mechanism: and the output end of the power mechanism can provide rotary driving torque for a crank in the crank connecting rod mechanism.

In an embodiment, a powertrain system includes a motor, a speed reduction module, and a transmission module that ultimately outputs torque to a crank in a crank linkage.

A motor: the two motors are divided into a first motor 21 installed at the first motor base 11 and a second motor 22 installed at the second motor base 12.

Taking the power mechanism on one side of the swing direction of the wing assembly as an example: is composed of a first motor 21 and a controller 23. The controller 23 receives and sends control signals to adjust the rotating speed of the first motor 21, so as to achieve the purpose of controlling the beating frequency.

In some embodiments, the motor is a coreless motor with a load rotation speed of 30000RPM, the motor is driven by an MOS transistor, and the controller 23 is composed of a main control chip minimum system, a power module, a wireless communication module, and the like, and generates a PWM wave to adjust the rotation speed of the motor, thereby achieving the purpose of controlling the beating frequency.

In other embodiments, the type, driving mode, rotation speed adjusting mode, etc. of the motor may be set by a person skilled in the art, and are not limited herein.

A deceleration module: each motor is provided with a speed reducing module, and in the embodiment, the speed reducing module can adopt a planetary speed reducing box, that is, the output end of the first motor 21 is connected with the input end of the first planetary speed reducing box 31, and the output end of the second motor 22 is connected with the input end of the second planetary speed reducing box 32.

As shown in fig. 3, the first planetary reduction gearbox 31 adopts a two-stage planetary reduction structure, and the number of teeth is selected as follows: 40 tooth boxes, 10 tooth planet gears 33 and 15 tooth sun gears 34, so that the reduction transmission ratio of each stage is 5:1, and the total reduction transmission ratio of the reduction box is 25: 1.

A transmission module: each planetary reduction box is respectively connected with a transmission module, and the following description can select one side of the first planetary reduction box 31 to be used, and the side transmission module is composed of a first bevel gear set 41 and a first transmission rod 43. The first bevel gear set 41 consists of a first bevel gear 45 and a second bevel gear 46, and transmits the rotation of 90 degrees, and then the first transmission rod 43 is connected to change the rotation from single-ended output to double-ended output.

Correspondingly, the transmission module on the other side is composed of a second bevel gear set 42 and a second transmission rod 44.

The working principle is as follows:

as shown in fig. 9, with the left position as the forward direction, the wing assembly swings forward as set to swing left and backward as set to swing right; take the first airfoil and the first spar as examples:

when the wing assembly is entirely at the rightmost side, the first airfoil is initially at the left side of the first spar, and when the wing assembly is entirely moved to the left, the air resistance forces the first airfoil to rotate along the first spar such that the first airfoil is at the right side of the first spar; at the moment, the airflow impacts the lower surface of the first airfoil surface, so that a component force which faces upwards vertically is generated at the first airfoil surface, and then the lifting power is provided for the whole wing assembly and the flapping wing structure.

When the wing assembly is swung to the far left, the first airfoil is initially to the right of the first spar, and when the wing assembly is moved generally to the right, the first airfoil moves in the opposite direction to that described above, but also generates lift.

Lifting: the front and rear twisting angles of the flapping are kept the same and fixed, PWM waves with different duty ratios are generated by the controller 23 to adjust the rotating speed of the driving motor, so that the flapping frequency is changed, and the lifting motion of the mechanism is further realized. The whole flapping wing structure and the aircraft can ascend by fast flapping of the wing assembly, when the flapping speed of the wing assembly is too low, the gravity of the flapping wing structure is larger than the lifting force generated by flapping, and the whole flapping wing structure can descend under the action of the gravity.

Pitching: and meanwhile, two torsion limiting motors are controlled, the positions of two variable blocking pieces at two sides of the rack are adjusted (the relative positions of the two variable blocking pieces are not changed), so that the front and back torsion angles of the first airfoil surface and the second airfoil surface are inconsistent, different thrust is generated, and the pitching motion of the mechanism can be further realized.

Yawing: and simultaneously controlling the two torsion limiting motors, adjusting the positions of the two variable blocking pieces (paying attention to change the relative positions of the two variable blocking pieces), and enabling the torsion angles of the first airfoil surface and the second airfoil surface to be inconsistent, so that different thrust is generated, and further the yaw movement of the mechanism can be realized.

Hovering: the front and rear torsion angles of the flapping are kept the same and fixed, the rotating speed of the driving motor is kept unchanged, and the gravity of the flapping wing structure is equal to the lifting force generated by the flapping, so that the mechanism can hover.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. A flapping wing structure is characterized by comprising a rack, wherein wing assemblies are respectively rotatably arranged on two sides of the rack and can swing back and forth in the horizontal direction;

the wing assembly comprises a swing arm and a wing plate member, the swing arm is rotatably connected with the rack, and the swing arm can swing in a horizontal plane; the swing arm is rotationally connected with the wing plate component, the rotation axis of the wing plate component is horizontal, and the wing plate component can swing within a set angle range relative to the swing arm;

when the whole wing assembly swings towards the set horizontal direction: the wing plate component can rotate to a limit position in a direction opposite to a set horizontal direction by taking a self rotation axis as a rotation center, so that the extending direction of the wing plate component is opposite to the advancing direction of the wing assembly, and the wing plate component can provide rising power when the wing assembly swings back and forth.

2. The flapping wing structure of claim 1 wherein the wing member is swingable between a first extreme position and a second extreme position, the relative position of the first or second extreme position to the frame being adjustable to vary the maximum angle at which the wing member swings in different directions.

3. The flapping wing structure of claim 1 wherein the wing member is disposed obliquely downward, the wing member being capable of being subjected to counter-directional air resistance during horizontal swinging with the swing arm and further being rotated to an extreme position in a direction away from the swing arm;

the rotation axis of the wing plate component is positioned on the upper half part of the wing plate component by taking the vertical direction as a reference.

4. The flapping wing structure of claim 1, wherein a rotary driving member is fixed to one end of the swing arm, which is far away from the frame, an output shaft of the rotary driving member is arranged far away from the swing arm, a housing of the rotary driving member is fixed to a sleeve, and the sleeve and the output shaft of the rotary driving member are coaxial;

the wing plate component comprises a wing beam, the wing beam and the output shaft respectively extend into the inner cavity of the sleeve, the wing beam is rotatably connected with the sleeve, the surface of the output shaft of the inner wall of the sleeve is fixedly provided with a first blocking piece and a second blocking piece, the end part of the wing beam is provided with a limiting piece, and the limiting piece rotates between the first blocking piece and the second blocking piece along with the wing beam.

5. The flapping wing structure of claim 4, wherein the first blocking piece is arranged at one side close to the advancing direction of the frame, the second blocking piece is arranged at one side far away from the advancing direction of the frame, and the rotation of the output shaft can drive the second blocking piece to move so as to change the included angle range between the first blocking piece and the second blocking piece.

6. The flapping wing structure of claim 1 wherein the wing panel assembly comprises a wing spar, one end of the wing spar is rotatably connected with the swing arm, and a ball head is sleeved on one end of the wing spar close to the swing arm;

the ball head is driven by the connecting rod to move in a reciprocating manner along the horizontal direction.

7. The flapping wing structure of claim 6, wherein two crank link mechanisms are provided on each side of the frame, the two crank link mechanisms are respectively provided on both sides of the wing assembly along the swinging direction, and the ends of the two crank links are respectively sleeved outside the ball heads on the same side.

8. The flapping wing structure of claim 7, wherein the frame is provided with a power mechanism, an output of the power mechanism being capable of providing rotary drive torque to a crank of the crank linkage.

9. The flapping wing structure of claim 8, wherein there are two sets of power mechanisms, each set of power mechanisms simultaneously driving two crank-link mechanisms on the same side of the wing assembly in the flapping direction.

10. An aircraft comprising an ornithopter structure according to any one of claims 1 to 9.