CN112278231B

CN112278231B - Double-section flapping wing aircraft frame

Info

Publication number: CN112278231B
Application number: CN202010985882.7A
Authority: CN
Inventors: 杜昌平; 杨睿; 郑耀; 宋广华; 叶志贤; 陈俊胤; 韩建福; 张泽坤; 王思鹏
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2020-09-18
Filing date: 2020-09-18
Publication date: 2022-05-17
Anticipated expiration: 2040-09-18
Also published as: CN112278231A

Abstract

The invention discloses a double-section flapping wing aircraft frame which comprises a frame middle plate, a frame rear plate, a frame supporting plate, an electric fitting module, an upper framework, a lower framework, a tail vane module and a frame tail plate. The invention designs a double-section flapping wing aircraft frame, which fixes each frame plate by taking three carbon fiber rods as a framework and provides a mounting plane for a flight control engine and a steering engine. The invention solves the problem that the flight quality is reduced because the tail rigidity is insufficient and the control force of the tail rudder is weaker under the influence of the flapping impact of the flapping wings in the air; compared with a structural mode that a single main beam or a main beam is additionally supported, the three carbon fiber rods are adopted as the framework, the structure is simple, the assembly is convenient, the integral rigidity is improved, the shape change of the tail rudder in the flapping process due to insufficient rigidity of the aircraft body is small, and the flight control difficulty is reduced.

Description

Double-section flapping wing aircraft frame

Technical Field

The invention relates to a flapping wing mechanism, in particular to a double-section flapping wing aircraft frame.

Background

Compared with a single-end flapping wing aircraft, the double-section flapping wing aircraft can fold wings at the upper flapping stage and stretch the wings at the lower flapping stage in the flapping process, has the characteristics of high flying efficiency, low noise, strong appearance imitativeness and the like, and has wide development prospect.

However, in a two-section flapping wing aircraft, due to the difference between the difference in the moment when the wings flap up and down and the moment when the wings flap down, the impact load caused by the difference in the flapping rate when the wings flap up and down may cause the fuselage to flutter significantly. The flight speed of the double-section ornithopter is low relative to that of a fixed-wing aircraft, so that the rudder effect of the control rudder is relatively weak, and the control force of the control rudder and the control rudder at the tail part of the aircraft is greatly influenced particularly due to obvious fluttering of the fuselage of the ornithopter and insufficient rigidity of the fuselage.

In application No. CN110481774A, the rear half of the fuselage is supported by only one main beam, and the rigidity is weak, and the tail has weak bending and torsion resistance. In the flying process, the tail part is deformed under the action of inertia force due to the shaking formed by the flapping motion; meanwhile, the change of the wind resistance borne by the tail rudder is large due to the shaking, and the rudder effect is greatly influenced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the double-section flapping wing aircraft frame which is simple in structure and high in reliability. The structure of the invention can improve the control force of the control surface of the existing double-section flapping wing air vehicle, ensure the rigidity of the air vehicle body, reduce the deformation of the tail part, enhance the flexibility and widen the application scene.

The invention adopts the following specific scheme for solving the technical problems:

a double-section flapping wing aircraft frame comprises a frame middle plate, a frame rear plate, a frame supporting plate, an electric fitting module, an upper framework, a lower framework, a tail vane module and a frame tail plate;

the upper framework is symmetrically arranged relative to the rack, and the lower framework is positioned in a symmetric plane of the rack and below the upper framework; the upper framework and the lower framework are carbon fiber frameworks; the surfaces of the rack middle plate, the rack rear plate, the rack supporting plate and the rack tail plate are parallel to each other and are fixed on the upper framework and the lower framework; the electric fitting module and the tail vane module are both fixed on the upper framework; the electric fitting module is positioned in the middle of the frame and used for aircraft power management and flight power and control plane control; the tail rudder module is positioned at the tail part of the frame and is used for actuating the elevator and the rudder.

In the above technical solution, further, the electrical module includes: the system comprises an electric fitting mounting plate, a WIFI module, a GPS module, a remote control receiver, a power management module and a flight controller;

the GPS module is fixedly arranged at the front end of the electric fitting mounting plate;

the power management module and the WIFI module are respectively positioned on two sides of the electric mounting plate;

the flight controller is fixed in the center of the electric fitting mounting plate and is parallel to a plane where the upper framework is located;

the remote control receiver is located above the flight controller.

Further, the tail vane module includes: the tail vane comprises a tail vane mounting plate, a steering engine, a tail vane yaw rotating plate, a lifting rudder and a tail vane lifting rotating plate; the steering engine is fixedly arranged on the tail vane mounting plate;

the tail vane lifting rotating plates are symmetrically fixed at the front end of the lifting rudder; the lower end of the tail vane lifting rotating plate is connected with the steering engine through a ball joint hinge; the upper end of the tail rudder lifting and rotating plate is hinged with the tail rudder yawing and rotating plate, and the tail rudder lifting and rotating plate can rotate around the tail rudder yawing and rotating plate;

the front part of the tail rudder yaw rotating plate is hinged with the rack tail plate, and the tail rudder yaw rotating plate can rotate around a hinged point;

the flight controller controls the steering engine to rotate, pulls the ball joint hinge, enables the tail vane lifting and rotating plate and the lifting rudder to rotate around the hinged joint of the tail vane lifting and rotating plate and the lifting rudder respectively, and realizes the actuation of the lifting rudder and the rudder.

Furthermore, the upper framework comprises two carbon fiber frameworks, the lower framework comprises one carbon fiber framework, the axes of all the carbon fiber frameworks are not parallel to each other, and the plane formed by the two carbon fiber frameworks of the upper framework is perpendicular to the symmetrical plane of the machine body.

Furthermore, the front end of the electric fitting mounting plate is fixed on the stand plate of the rack through a self-locking nylon binding belt to limit the front and back movement of the electric fitting mounting plate relative to the rack; the two sides of the electric installation plate are fixed with the upper framework through self-locking nylon ribbons, so that the flight controller and the upper framework are on the same plane.

Furthermore, two sides of the tail vane mounting plate are fixed with the upper framework through self-locking nylon ties.

Further, the rack middle plate, the rack rear plate, the rack supporting plate, the upper framework, the lower framework, the rack tail plate, the electric fitting mounting plate, the tail vane mounting plate and the tail vane elevating rotating plate are carbon fiber plate processing products; the tail rudder yaw rotating plate is a high-hardness aluminum machining product, and the high-hardness aluminum is 7075 aluminum alloy.

The invention has the beneficial effects that:

the double-section flapping wing aircraft frame is simple in structure and convenient and fast to assemble, the three carbon fiber frameworks are connected with each frame plate, the rigidity of the tail of the frame is improved on the premise that the weight is not obviously increased, the deformation of the tail of the flapping wing aircraft in the flight process is reduced, the control force of a tail rudder of the aircraft is improved, and the flexibility of the aircraft is enhanced.

According to the double-section flapping wing aircraft frame, the axes of the three carbon fiber frameworks are not parallel to each other, so that the moving range of each frame plate can be limited in the primary assembly process, and the difficulty in further debugging the position of each frame plate is reduced. The planes of the two upper frameworks are perpendicular to the symmetrical plane of the airplane body, so that a stable mounting plane is provided for the flight control and the tail steering engine, and the installation and the positioning are convenient.

Drawings

The invention is further illustrated with reference to the following figures and examples. The drawings are schematic and should not be construed as limiting the invention in any way, and other drawings may be derived from those drawings by those skilled in the art without inventive effort. Wherein:

FIG. 1 is a schematic representation of a two-section ornithopter frame application of the present invention;

FIG. 2 is a schematic view of a two-section ornithopter frame configuration of the present invention;

FIG. 3 is a right side view of the two-section ornithopter frame of the present invention;

FIG. 4 is a top plan view of a two-section ornithopter frame of the present invention;

FIG. 5 is a schematic diagram of an electrical module assembly;

FIG. 6 is a schematic view of the tail vane module assembly;

FIG. 7 is a graph of the torque displacement experienced by the aft plate of the frame of the two-section ornithopter of the present invention;

FIG. 8 is a graph of torque displacement of a single main beam versus a tailboard of the rack;

FIG. 9 is a pressure displacement plot of the aft plate of the two-section ornithopter frame of the present invention;

FIG. 10 is a graph of pressure displacement of a single main beam versus a frame tail plate;

wherein, 1, a middle plate of the rack; 2. a frame back plate; 3. a frame supporting plate; 4. an electrical fitting module; 5. mounting a framework; 6. a lower framework; 7. a tail vane module; 8. a rack tail plate; 401. mounting a panel by an electric fitting; 402 a WIFI module; a GPS module; 404. a remote control receiver; 405. a power management module; 406. a flight controller; 701. a tail vane mounting plate; 702. a steering engine; 703. a tail rudder yaw rotating plate; 704. an elevating rudder; 705. the tail vane lifts and rotates the board.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The utility model provides a two section flapping wing aircraft frame, includes frame medium plate 1, frame back plate 2, frame fagging 3, denso module 4, goes up skeleton 5, lower skeleton 6, tail rudder module 7, frame tailboard 8.

As shown in fig. 2, the upper frame 5 is symmetrically installed with respect to the frame, and the lower frame 6 is located in the symmetrical plane of the frame and below the upper frame 5.

As shown in fig. 5, the electrical module 4 includes: the system comprises an electric device mounting plate 401, a WIFI module 402, a GPS module 403, a remote control receiver 404, a power management module 405 and a flight controller 406; the GPS module 403 is fixedly mounted at the front end of the electric device mounting plate 401; the power management module 405 and the WIFI module 402 are respectively located on two sides of the electrical installation board 401; the flight controller 406 is fixed at the center of the electrical installation board 401; the remote control receiver 404 is located above the flight controller 406.

As shown in fig. 6, the tail vane module 7 includes: a tail vane mounting plate 701, a steering engine 702, a tail vane yaw rotating plate 703, an elevating rudder 704 and a tail vane elevating rotating plate 705; the steering engine 702 is fixedly arranged in a corresponding mounting hole of the tail vane mounting plate 701; the tail vane elevating rotating plate 705 is symmetrically fixed at the front end of the elevating rudder 704; a front hole of the tail rudder yaw rotating plate 703 is hinged with the rack tail plate 8, and the tail rudder yaw rotating plate 703 can rotate around the front hole; the uppermost hole of the tail rudder elevator rotating plate 705 is hinged with the horizontal hole of the tail rudder yaw rotating plate 703, and the tail rudder elevator rotating plate 705 can rotate around the uppermost hole; the surfaces of the rack middle plate 1, the rack rear plate 2, the rack supporting plate 3 and the rack tail plate 8 are parallel to each other and are fixed on the two upper frameworks 5 and the lower framework 6 by adhesives.

The electric fitting module 4 is located in the middle of the frame, as shown in fig. 3, the electric fitting mounting plates 401 are mounted on two planes where the upper frames 5 are located, and the front ends of the electric fitting mounting plates 401 are close to the frame supporting plates 3.

As shown in fig. 4, the front end of the electric fitting mounting plate 401 is fixed with the cross bar on the stand supporting plate 3 of the rack through a self-locking nylon tie, so that the front and back movement of the electric fitting mounting plate 401 relative to the rack is limited; the two sides of the electric installation plate 401 are fixed with the upper framework 5 through self-locking nylon ribbons, so that the flight controller 406 and the upper framework 5 are arranged on the same plane.

The tail vane module 7 is positioned at the tail part of the frame; two sides of the tail rudder mounting plate 701 are fixed with the two upper frameworks 5 through self-locking nylon ties, and the steering engine 702 is fixed relative to the tail of the rack; holes below the tail vane lifting rotating plate 705 are respectively connected with the steering engine 702 through ball hinges. The steering engine 702 is controlled to rotate by the flight controller 406, and the ball joint hinge is pulled, so that the tail vane lifting rotating plate 705 and the lifting rudder 704 rotate around the hinged point respectively, and the actions of the lifting rudder and the rudder are realized.

The rack middle plate 1, the rack rear plate 2, the rack supporting plate 3, the upper framework 5, the lower framework 6, the rack tail plate 8, the electric fitting mounting plate 401, the tail rudder mounting plate 701 and the tail rudder lifting rotating plate 705 are carbon fiber plate processing products; the tail rudder yaw rotating plate 703 is a high-hardness aluminum machined product, and the high-hardness aluminum is 7075 aluminum alloy.

Force analysis as shown in fig. 7-10, the dual-section ornithopter frame of the present invention was modeled using SolidWorks software, the frame back plate 2 was fixed, and finite element analysis was performed by loading torque and pressure on the frame tail plate 8, respectively.

Loading torque: the frame back plate 2 is fixed, and the torque is loaded by 0.1N m on the outer circumference of the frame tail plate 8, as shown in figure 7, the maximum displacement of the double-section flapping wing aircraft frame is 9.497 m 10 on the tail part^-2mm. Compared with the single main beam, the maximum displacement of the tail of the rack is 4.057mm under the same loading condition as shown in fig. 8.

Loading pressure: the rear plate 2 of the frame is fixed, and the upper surface of the cross bar in the middle of the tail plate 8 of the frame is loaded with pressure 5N, as shown in figure 9, the maximum displacement of the frame of the double-section ornithopter is 1.116mm at the tail. Compared with the single main beam, as shown in fig. 10, under the same loading condition, the maximum displacement of the tail of the rack is 2.139 × 10¹mm。

Therefore, under the same load, the integral rigidity of the tail part of the double-section flapping wing aircraft frame adopting the three-main-beam design is obviously superior to that of the tail part adopting a single main beam.

Claims

1. A double-section flapping wing aircraft frame is characterized by comprising a frame middle plate (1), a frame rear plate (2), a frame supporting plate (3), an electric fitting module (4), an upper framework (5), a lower framework (6), a tail vane module (7) and a frame tail plate (8);

the upper framework (5) is symmetrically arranged relative to the rack, and the lower framework (6) is positioned in the symmetric plane of the rack and below the upper framework (5); the upper framework (5) and the lower framework (6) are carbon fiber frameworks; the surfaces of the rack middle plate (1), the rack rear plate (2), the rack supporting plate (3) and the rack tail plate (8) are parallel to each other and are fixed on an upper framework (5) and a lower framework (6); the electric fitting module (4) and the tail vane module (7) are fixed on the upper framework (5); the electric fitting module (4) is positioned in the middle of the rack and is used for aircraft power management and flight power and control plane control; the tail rudder module (7) is positioned at the tail part of the frame and is used for the actions of the elevator and the rudder;

go up skeleton (5) and include two carbon fiber skeleton, skeleton (6) include a carbon fiber skeleton down, and all carbon fiber skeleton's axle center is nonparallel each other, and go up the plane perpendicular to fuselage plane of symmetry that two carbon fiber skeletons of skeleton (5) formed.

2. The two-stage ornithopter frame according to claim 1, wherein the electrical module (4) comprises: the device comprises an electric device mounting plate (401), a WIFI module (402), a GPS module (403), a remote control receiver (404), a power management module (405) and a flight controller (406); the GPS module (403) is fixedly arranged at the front end of the electric fitting mounting plate (401);

the power management module (405) and the WIFI module (402) are respectively positioned at two sides of the electric fitting mounting plate (401);

the flight controller (406) is fixed in the center of the electric device mounting plate (401) and is parallel to the plane where the upper framework (5) is located;

the remote control receiver (404) is located above the flight controller (406).

3. The two-section ornithopter frame according to claim 2, wherein the tail rudder module (7) comprises: the tail vane device comprises a tail vane mounting plate (701), a steering engine (702), a tail vane yaw rotating plate (703), an elevating rudder (704) and a tail vane elevating rotating plate (705);

the steering engine (702) is fixedly arranged on the tail vane mounting plate (701);

the tail vane lifting rotating plate (705) is symmetrically fixed at the front end of the lifting rudder (704); the lower end of the tail rudder lifting and rotating plate (705) is connected with the steering engine (702) through a ball joint hinge, the upper end of the tail rudder lifting and rotating plate (705) is hinged with the tail rudder yawing and rotating plate (703), and the tail rudder lifting and rotating plate (705) can rotate around a hinged point of the tail rudder lifting and rotating plate and the tail rudder yawing and rotating plate (703);

the front part of the tail rudder yawing rotating plate (703) is hinged with the rack tail plate (8), and the tail rudder yawing rotating plate (703) can rotate around a hinged point;

the flight controller (406) controls the steering engine (702) to rotate, and pulls the ball joint hinge to enable the tail vane lifting rotating plate (705) and the lifting rudder (704) to rotate around the hinged point of the tail vane lifting rotating plate and the lifting rudder respectively, so that the lifting rudder and the rudder are actuated.

4. The two-section ornithopter frame as claimed in claim 2, wherein the front end of the electric fitting mounting plate (401) is fixed on the frame supporting plate (3) through self-locking nylon ties, and two sides of the electric fitting mounting plate are fixed with the upper framework through self-locking nylon ties.

5. The two-section ornithopter frame as claimed in claim 3, wherein the two sides of the tail rudder mounting plate (701) are fixed with the upper frame (5) by self-locking nylon ties.

6. The two-section ornithopter frame according to claim 3, wherein the frame middle plate (1), the frame rear plate (2), the frame supporting plate (3), the upper frame (5), the lower frame (6), the frame tail plate (8), the electric fitting mounting plate (401), the tail vane mounting plate (701), and the tail vane elevating rotating plate (705) are carbon fiber plate processed products; the tail rudder yaw rotating plate (703) is a high-hardness aluminum machining product, and the high-hardness aluminum is 7075 aluminum alloy.