CN112278271A - Vector control mechanism of micro hovering flapping-wing aircraft and aircraft - Google Patents
Vector control mechanism of micro hovering flapping-wing aircraft and aircraft Download PDFInfo
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- CN112278271A CN112278271A CN202011328592.1A CN202011328592A CN112278271A CN 112278271 A CN112278271 A CN 112278271A CN 202011328592 A CN202011328592 A CN 202011328592A CN 112278271 A CN112278271 A CN 112278271A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The present disclosure provides a vector control mechanism of a microminiature hovering flapping-wing aircraft and an aircraft with the vector control mechanism; the vector control mechanism includes: the aircraft comprises a rack, a rolling control mechanism, two pitching course control mechanisms and two wings which are symmetrically arranged on the left side and the right side of the rack; each wing comprises a wing membrane, a leading edge rod and a wing root rod, wherein the leading edge rod and the wing root rod are respectively fixed at two adjacent edges of the wing membrane; the wing root rods are arranged close to the rack and are positioned below the front edge rod; the rolling control mechanism comprises a parallelogram mechanism and a driving mechanism; the parallelogram mechanism comprises two servo rods symmetrically arranged on the left side and the right side of the rack and a translation rod arranged between the two servo rods, two ends of the translation rod are respectively hinged with one ends of the two servo rods, the other ends of the two servo rods are respectively hinged with the rack, and the driving mechanism drives the parallelogram mechanism to swing.
Description
Technical Field
The disclosure relates to the technical field of flapping-wing aircrafts, in particular to a vector control mechanism of a micro-miniature hovering flapping-wing aircraft and an aircraft.
Background
The micro hovering ornithopter takes the advantages of bionic flight mode, bionic shape, flexible and maneuvering flight capability and the like into consideration by domestic and foreign engineers, and particularly, a great deal of intensive research is carried out on the micro hovering ornithopter imitating hummingbirds, insects and the like and capable of hovering and flying organisms. In view of the existing design of the hovering implementation scheme, the hovering control scheme can be divided into two categories: wing vector control and tail control. The scheme of adopting the empennage to control hovering is to arrange the empennage at the rear part of the flapping wing and capture the high-speed jet flow at the trailing edge of the wing to obtain considerable control torque. The vector control scheme realizes control by changing the thrust vector of the flapping wing in various modes, and has the great defect that the inertia of a control mechanism is large, so that high requirements are provided for the driving force of a steering engine, and sometimes even the steering engine meeting the requirements cannot be obtained.
Disclosure of Invention
In order to solve at least one of the technical problems, the present disclosure provides a vector control mechanism of a micro-miniature hovering flapping wing aircraft and an aircraft.
According to one aspect of the disclosure, a vector control mechanism of a microminiature hovering ornithopter comprises: the aircraft comprises a rack, a rolling control mechanism, two pitching course control mechanisms and two wings which are symmetrically arranged on the left side and the right side of the rack;
each wing comprises a wing membrane, a leading edge rod and a wing root rod, wherein the leading edge rod and the wing root rod are respectively fixed at two adjacent edges of the wing membrane; the wing root rods are arranged close to the rack and are positioned below the front edge rod;
the rolling control mechanism comprises a parallelogram mechanism and a driving mechanism; the parallelogram mechanism comprises two servo rods symmetrically arranged on the left side and the right side of the rack and a translation rod arranged between the two servo rods, two ends of the translation rod are respectively hinged with one ends of the two servo rods, the other ends of the two servo rods are respectively hinged with the rack, and the driving mechanism drives the parallelogram mechanism to swing;
each pitching course control mechanism comprises a driving device, a pitching course connecting rod, a pitching course driving rod, a wing root rod flexible connecting piece and two flexible inhaul cables, one end of the pitching course driving rod is rotatably connected with a servo rod, the other end of the pitching course driving rod is slidably connected with the wing root rod, the servo rod and the wing root rod are connected through the wing root rod flexible connecting piece, one ends of the two flexible inhaul cables are respectively fixed on the pitching course driving rod, the other ends of the two flexible inhaul cables are respectively fixed on the pitching course connecting rod, the pitching course connecting rod is hinged with the rack, a hinged point of the pitching course connecting rod and the rack and a hinged point of the pitching course driving rod and the servo rod are both positioned between the two flexible inhaul cables, the driving device drives the pitching course connecting rod to; alternatively, the first and second electrodes may be,
each pitching course control mechanism comprises a driving device, a flexible connecting piece of a wing root rod, a pitching course connecting rod and two flexible inhaul cables, a follower rod is connected with the wing root rod through the flexible connecting piece of the wing root rod, the pitching course connecting rod is hinged with the rack, the hinged point of the pitching course connecting rod and the rack is positioned between the two ropes, the follower rod is provided with a sliding groove along the direction of the swinging axis, the groove walls at the two ends of the sliding groove are provided with inhaul cable holes which penetrate through the plurality of inhaul cables, the wing root rod is inserted in the sliding groove, one end of each of the two flexible inhaul cables is respectively fixed to the pitching course connecting rod, and the other end of each of the two flexible; the driving device drives the pitching course connecting rod to swing, and the wing root rod is driven by the two flexible inhaul cables to move in the sliding groove along the direction parallel to the swing axis of the follower rod.
According to at least one embodiment of the present disclosure, a sliding structure is disposed between the translational rod and the frame; the sliding structure comprises a sliding groove arranged along the length direction of the translation rod and a sliding block in sliding fit in the sliding groove.
According to at least one embodiment of the present disclosure, a slip ring is sleeved outside each wing root rod, and the two slip rings are respectively fixed to the two pitching heading driving rods.
According to at least one embodiment of the disclosure, each driving device comprises a pitching course steering engine fixed on a rack and a ball head connecting rod, wherein one end of the ball head connecting rod is hinged to the output end of the pitching course steering engine; and the other end of the ball head connecting rod is hinged with the pitching course connecting rod.
According to at least one embodiment of the present disclosure, the driving mechanism includes a roll steering engine, a roll driving rod and a roll connecting rod; two ends of the rolling driving rod are respectively fixed at the output end of the rolling steering engine and one end of the rolling connecting rod; the other end of the rolling connecting rod is hinged to the rack; the horizontal moving rod is provided with a vertical strip hole which is sleeved outside the rolling driving rod.
According to at least one embodiment of the present disclosure, the driving mechanism includes a roll steering engine, a roll driving rod and a roll connecting rod; one end of the rolling connecting rod is hinged to the rack; the other end of the rolling connecting rod and the output end of the rolling steering engine are both provided with vertical strip holes; the roll-over driving rod is fixed on the horizontal rod, and the two ends of the roll-over driving rod are both located in the strip holes.
According to at least one embodiment of the present disclosure, the rack includes four machine body penetrating rods distributed in a rectangular shape, and a top plate, a first middle plate, a second middle plate, a third middle plate and a bottom plate which are sequentially distributed from top to bottom; the four vertex angles of the top plate, the four vertex angles of the first middle plate, the four vertex angles of the second middle plate, the four vertex angles of the third middle plate and the four vertex angles of the bottom plate are respectively fixed on the four machine body penetrating rods; the two pitching course steering engines are fixed between the top plate and the first middle plate; the rolling steering engine is fixed between the second middle plate and the third middle plate; one ends of the two follow-up rods, which are far away from the translation rod, are hinged with the second middle plate respectively; the translation rod and the rolling driving rod are both positioned between the third middle plate and the bottom plate; the leading edge bar is located between the first intermediate plate and the second intermediate plate.
According to at least one embodiment of the present disclosure, the material of the flexible connecting member for the wing root rod is a 0.2mm glass fiber composite material sheet.
An aircraft, comprising: the vector control mechanism of the micro hovering flapping wing air vehicle comprises: and the wing driving mechanism drives the two wing flapping mechanisms.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is an overall block diagram of the present disclosure;
FIG. 2 is a partial enlarged view looking in the y-positive direction to the y-negative direction (with the airfoil membrane and leading edge bar omitted);
FIG. 3 is a schematic view of the flapping roll control mechanism movement of the present disclosure;
FIG. 4 is a schematic partial perspective view of FIG. 3 (omitting the airfoil membrane and leading edge rail);
FIG. 5 is a schematic view of the flapping pitch control mechanism movement of the present disclosure;
FIG. 6 is an enlarged partial view of FIG. 5 (with the airfoil membrane and leading edge rail omitted);
FIG. 7 is a schematic view of the movement of the flapping wing heading control mechanism of the present disclosure;
FIG. 8 is a schematic view of the simultaneous pitch and roll control mechanism motions of the flapping wings of the present disclosure;
FIG. 9 is an enlarged partial view of FIG. 8 (with the airfoil membrane and leading edge rail omitted);
FIG. 10 is a schematic structural view of a rack of the present disclosure;
FIG. 11 is a schematic view of a wing root shaft and a wing root shaft flexible connection of the present disclosure;
FIG. 12 is a schematic view of the pitch heading control mechanism of the present disclosure differing from that shown in FIGS. 1-7;
fig. 13 is a partial enlarged view of fig. 12 (with the wing membrane and leading edge bar omitted).
Reference numerals:
1-a machine body penetrates through the rod; 2-a first intermediate plate; 3-a wing drive mechanism; 4-ball head connecting rod; 5-pitching course connecting rod; 6-flexible inhaul cable; 7-a flexible wing root rod connector; 8-wing root bar; 9-an airfoil; 10-pitch course drive rod; 11-a follower rod; 12-a top plate; 13-pitching course steering engine; 14-middle plate two; 15-rolling steering engine; 16-middle plate three; 17-a roll drive rod; 18-a translation bar; 19-a base plate; 20-a flight control receiver; 21-a battery; 22-a slip ring; 23-a translation bar; 231-a chute; 24-roll link; 25-leading edge bar; 26-a slide block; 27-a sliding groove; 28-stay wire hole.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the wing root rod is driven to move in space under different control instructions by adopting a mode of mixing a parallelogram mechanism and a flexible inhaul cable, the deformation degree of the wing in the flapping process is directly changed, the control is direct vector force control, the generated control torque is very considerable, and a better control effect is achieved;
2. the aircraft adopts a mode of mixing the parallelogram mechanism and the flexible inhaul cable, thereby simplifying the complexity of the mechanism and reducing the weight of the aircraft;
3. the deformation of the flexible inhaul cable self-adaptive parallelogram mechanism is used, the adoption of a multi-layer frame design similar to a mechanical gyroscope is avoided, and the weight of the aircraft is further reduced;
4. the steering engine with the largest weight ratio is fixed on the rack, and compared with a method that a series mechanism is used for installing partial actuators on a movement mechanism, the control mechanism disclosed by the invention has smaller inertia, so that the requirement on the output torque of the steering engine is lower, and the steering engine with lighter weight can be selected; in addition, the smaller inertia enables the response speed of the control mechanism to be faster and the control effect to be better.
As shown in fig. 1 to 11, according to a first embodiment of the present disclosure, there is provided a vector control mechanism of a micro-miniature hovering flapping wing aircraft, comprising: the aircraft comprises a frame, a rolling control mechanism, two pitching course control mechanisms and two wings 9 which are symmetrically arranged at the left side and the right side of the frame;
each wing 9 comprises a wing membrane, a leading edge rod 25 and a wing root rod 8 which are respectively fixed at two adjacent edges of the wing membrane; the wing root rods 8 are all arranged close to the rack, and the wing root rods 8 are positioned below the leading edge rods 25;
the rolling control mechanism comprises a parallelogram mechanism and a driving mechanism; the parallelogram mechanism comprises two follower rods 11 symmetrically arranged on the left side and the right side of the rack and a translation rod 2318 arranged between the two follower rods 11, two ends of the translation rod 2318 are respectively hinged with one ends of the two follower rods 11, the other ends of the two follower rods 11 are respectively hinged with the rack, and the driving mechanism drives the parallelogram mechanism to swing; or, as shown in fig. 12, each pitching course control mechanism includes a driving device, a wing root rod flexible connecting member 7, a pitching course connecting rod 5 and two flexible inhaul cables 6, the follower rod 11 and the wing root rod 8 are connected by the wing root rod flexible connecting member 7, the pitching course connecting rod 5 is hinged to the frame, the hinged point of the pitching course connecting rod 5 and the frame is located between the two ropes, the follower rod 11 is provided with a sliding groove 27 along the direction of the swinging axis thereof, the groove walls at the two ends of the sliding groove 27 are provided with inhaul cable holes 28 penetrating through, the wing root rod 8 is inserted into the sliding groove 27, one ends of the two flexible inhaul cables 6 are respectively fixed to the pitching course connecting rod 5, and the other ends of the two flexible inhaul cables 6 respectively penetrate through the two inhaul cable holes 28 and are; the driving device drives the pitching course connecting rod 5 to swing, and the wing root rod 8 is driven to move in the sliding groove 231 along the direction parallel to the swing axis of the follower rod 11 through the two flexible inhaul cables 6.
The flexible connecting piece 7 of the wing root rod is capable of deforming at will, so that the pitching course driving rod 10 can be adaptive to the swinging deformation of the parallelogram mechanism, the flexible connecting piece 7 of the wing root rod can be made of the existing plastic material and other materials with elasticity, and in the embodiment, the flexible connecting piece 7 of the wing root rod is made of a 0.2mm glass fiber composite material sheet.
The driving mechanism can be realized by adopting the prior art, such as a steering engine, in the embodiment, the driving mechanism can comprise a rolling steering engine 15, a rolling driving rod 17 and a rolling connecting rod 24; two ends of the rolling driving rod 17 are respectively fixed at the output end of the rolling steering engine 15 and one end of the rolling connecting rod 24; the other end of the rolling connecting rod 24 is hinged with the frame; the translation rod 2318 is provided with a vertical long hole which is sleeved outside the rolling driving rod 17, or,
in at least one embodiment of the present disclosure, the drive mechanism may include a roll steering engine 15, a roll drive rod 17, and a roll link 24; one end of the rolling connecting rod 24 is hinged with the frame; the other end of the rolling connecting rod 24 and the output end of the rolling steering engine 15 are both provided with vertical strip holes; the roll driving rod 17 is fixed on the flat bar 2318, and both ends of the roll driving rod 17 are positioned in the strip holes.
Because the motion trail of the rolling driving rod 17 driven by the rolling steering engine 15 is inconsistent with the motion trail of the leveling rod 2318, specifically, the motion trail of the rolling driving rod 17 is an arc taking the rotation center of the rolling steering engine 15 as the center of circle, and the leveling rod 2318 does not rotate in the whole motion process, so that the problem of motion interference can be avoided by arranging the long holes. It should be noted that "vertical" refers to the Z direction of the coordinate system shown in fig. 1.
Because the leveling rod 2318 is positioned between the output end of the rolling steering engine 15 and the rolling connecting rod 24, the rolling driving rod 17 cannot bear the action of bending moment, and the structural rigidity is better.
The pitching course driving rod 10 is T-shaped, one end, far away from a cross arm of the pitching course driving rod 10, of a vertical arm of the pitching course driving rod 10 is connected with the corresponding wing root rod 8 in a sliding mode, the middle of the cross arm of the pitching course driving rod 10 is hinged with the corresponding follower rod 11, and two ends of the cross arm of the pitching course driving rod 10 are fixed to one end of each of the two flexible inhaul cables 6. The flexible inhaul cable 6 is a member capable of being bent and deformed flexibly, and has elasticity to a certain extent so as to avoid movement interference generated by pitching course control and rolling control, and in this embodiment, the flexible inhaul cable 6 is a braided fishing line made of PE material. By providing the pitch heading connecting rod 5 and the flexible cable 6 to drive the pitch heading driving rod 10 to rotate, the driving device can be fixed on the frame, and the driving device is prevented from being directly arranged on the follower rod 11.
The driving devices can be realized by adopting the prior art such as a steering engine, and in the embodiment, each driving device can comprise a pitching course steering engine 13 fixed on the frame and a ball head connecting rod 4 with one end being in ball joint with the output end of the pitching course steering engine 13; the other end of the ball head connecting rod 4 is hinged with the pitching course connecting rod 5. The pitching course steering engine 13 and the pitching course connecting rod 5 are connected through the ball head connecting rod 4, so that the size in the X direction of the disclosure can be reduced, and the flight resistance is reduced.
The sliding connection between the pitching heading drive rod 10 and the wing root rod 8 can be realized by adopting the existing structure, in the embodiment, a sliding ring 22 is sleeved outside each wing root rod 8, and the two sliding rings 22 are respectively fixed on the two pitching heading drive rods 10, so that when the pitching heading drive rod 10 drives the wing root rod 8 to swing, the wing root rod 8 also slides in the sliding ring 22 while swinging, and the problem of movement interference caused by rigid connection between the wing root rod 8 and the pitching heading drive rod 10 is avoided.
In at least one embodiment of the present disclosure, a sliding structure may be provided between the translational bar 2318 and the frame; the sliding structure includes a sliding groove 231 formed along the longitudinal direction of the translational rod 2318, and a slider 26 slidably fitted in the sliding groove 231. Through setting up sliding construction, can lead to flat moving rod 2318, make control more accurate. In this embodiment, the translation rod 2318 is provided with a sliding slot 231 along the translation direction, i.e. the y direction, and the slider 26 is fixed to the frame, specifically, the sliding slot 231 is provided on the surface of the translation rod 2318 facing the bottom plate 19, and the slider 26 is fixed to the bottom plate 19.
In at least one embodiment of the present disclosure, the frame may include four body penetrating rods 1 distributed in a rectangular shape, and a top plate 12, a first middle plate 2, a second middle plate 14, a third middle plate 16, and a bottom plate 19 sequentially distributed from top to bottom; four vertex angles of the top plate 12, four vertex angles of the first middle plate 2, four vertex angles of the second middle plate 14, four vertex angles of the third middle plate 16 and four vertex angles of the bottom plate 19 are respectively fixed on the four machine body penetrating rods 1; the two pitching course steering engines 13 are fixed between the top plate 12 and the middle plate I2; the rolling steering engine 15 is fixed between the second middle plate 14 and the third middle plate 16; one ends of the two follower rods 11, which are far away from the translation rod 2318, are hinged with the second middle plate 14 respectively; the translation rod 2318 and the roll driving rod 17 are positioned between the third middle plate 16 and the bottom plate 19; the leading edge bar 25 is located between the first intermediate plate 2 and the second intermediate plate 14. The machining flight control receiver 20 and the battery 21 are fixed on the bottom plate 19, the size of the whole rack structure in the X direction is small, the flight resistance is small, meanwhile, the rack is arranged to be a frame structure, the rigidity is good, and the assembly is convenient.
The present disclosure also provides an aircraft comprising: the vector control mechanism of any one of the miniature hovering flapping wing air vehicles further comprises: a wing driving mechanism 3 for driving the two wings 9 to flap. The wing driving mechanism 3 can be realized by adopting the prior art, and the wing driving mechanism 3 has various specific structures disclosed in the field, and is not described in detail herein.
The working principle is as follows:
1. roll control: after the roll steering engine 15 receives a roll control command from the flight control receiver 20, the steering arm of the roll steering engine 15 rotates to drive the roll driving rod 17 to rotate, the roll driving rod 17 drives the parallelogram mechanism where the roll driving rod is located to deform and move, namely, the follower rod 11 rotates, and at the moment, the wing root rod 8 connected with the follower rod 11 moves simultaneously. Thus, the tightening degree of the wing membranes at the two sides is inconsistent, the wing membrane tightened tightly deforms less in the flapping process, and the wing membrane loosened slightly deforms more in the flapping process. The wing membrane with larger flapping deformation can generate larger pulling force compared with the wing membrane with smaller flapping deformation, and then corresponding rolling torque is generated, so that the rolling control of the present disclosure is realized.
2. Pitching control and course control hybrid control: after receiving a control instruction from the flight control receiver 20, the pitching course steering engine 13 rotates a steering engine arm of the pitching course steering engine 13, the steering engine arm of the pitching course steering engine 13 drives the ball head connecting rod 4 to move upwards or downwards, the ball head connecting rod 4 drives the pitching course connecting rod 5 to rotate, the two flexible inhaul cables 6 simultaneously act to drive the pitching course driving rod 10 to swing, the flexible connecting piece 7 of the wing root rod is broken to deform, so that the wing root rod 8 rotates, the wing membrane is tightened or loosened, and in a flapping cycle, the front flapping forms a pulling force which is greater than or less than the rear flapping stroke, and a head raising or lowering moment is generated; meanwhile, the resistance of the front flap is larger or smaller than that of the rear flap, and a yaw moment towards the left or the right is generated.
3. Pitch control: after the pitching course steering engines 13 receive the control instruction from the flight control receiver 20, the steering engine arms of the two pitching course steering engines 13 respectively rotate towards two opposite directions, so that the wings 9 on the two sides generate head-up or head-down moments at the same time, and the yawing moments are offset;
4. course control: after the pitching course steering engines 13 receive the control instruction from the flight control receiver 20, the rudder arms of the two pitching course steering engines 13 rotate towards the same direction, so that the wings 9 on the two sides generate yawing moments towards the left or the right at the same time, and the pitching moments are offset.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (9)
1. A vector control mechanism of a microminiature hovering flapping-wing aircraft is characterized by comprising: the aircraft comprises a rack, a rolling control mechanism, two pitching course control mechanisms and two wings which are symmetrically arranged on the left side and the right side of the rack;
each wing comprises a wing membrane, a front edge rod and a wing root rod, wherein the front edge rod and the wing root rod are respectively fixed at two adjacent edges of the wing membrane; the wing root rods are arranged close to the rack and are positioned below the front edge rod;
the rolling control mechanism comprises a parallelogram mechanism and a driving mechanism; the parallelogram mechanism comprises two servo rods symmetrically arranged on the left side and the right side of the rack and a translation rod arranged between the two servo rods, two ends of the translation rod are respectively hinged with one ends of the two servo rods, the other ends of the two servo rods are respectively hinged with the rack, and the driving mechanism drives the parallelogram mechanism to swing;
each pitching course control mechanism comprises a driving device, a pitching course connecting rod, a pitching course driving rod, a wing root rod flexible connecting piece and two flexible inhaul cables, one end of the pitching course driving rod is rotatably connected with a servo rod, the other end of the pitching course driving rod is slidably connected with the wing root rod, the servo rod and the wing root rod are connected through the wing root rod flexible connecting piece, one ends of the two flexible inhaul cables are respectively fixed on the pitching course driving rod, the other ends of the two flexible inhaul cables are respectively fixed on the pitching course connecting rod, the pitching course connecting rod is hinged with the rack, a hinged point of the pitching course connecting rod and the rack and a hinged point of the pitching course driving rod and the servo rod are both positioned between the two flexible inhaul cables, the driving device drives the pitching course connecting rod to; alternatively, the first and second electrodes may be,
each pitching course control mechanism comprises a driving device, a flexible connecting piece of a wing root rod, a pitching course connecting rod and two flexible inhaul cables, a follower rod is connected with the wing root rod through the flexible connecting piece of the wing root rod, the pitching course connecting rod is hinged with the rack, the hinged point of the pitching course connecting rod and the rack is positioned between the two ropes, the follower rod is provided with a sliding groove along the direction of the swinging axis, the groove walls at the two ends of the sliding groove are provided with inhaul cable holes which penetrate through the plurality of inhaul cables, the wing root rod is inserted in the sliding groove, one end of each of the two flexible inhaul cables is respectively fixed to the pitching course connecting rod, and the other end of each of the two flexible; the driving device drives the pitching course connecting rod to swing, and the wing root rod is driven by the two flexible inhaul cables to move in the sliding groove along the direction parallel to the swing axis of the follower rod.
2. The vector control mechanism of the micro-miniature hovering ornithopter of claim 1, wherein a sliding structure is disposed between the translational rod and the frame; the sliding structure comprises a sliding groove arranged along the length direction of the translation rod and a sliding block in sliding fit in the sliding groove.
3. The vector control mechanism of a micro-miniature hovering ornithopter according to claim 1, wherein a slip ring is sleeved outside each wing root rod, and the two slip rings are respectively fixed to the two pitch heading drive rods.
4. The vector control mechanism of a micro-miniature hovering ornithopter according to claim 1, wherein each of the driving devices comprises a pitching steering engine fixed to the frame and a ball head link having one end ball-hinged to an output end of the pitching steering engine; and the other end of the ball head connecting rod is hinged with the pitching course connecting rod.
5. The micro-miniature hovering ornithopter of claim 4, wherein the driving mechanism comprises a roll steering engine, a roll drive rod, and a roll link; two ends of the rolling driving rod are respectively fixed at the output end of the rolling steering engine and one end of the rolling connecting rod; the other end of the rolling connecting rod is hinged to the rack; the horizontal moving rod is provided with a vertical strip hole which is sleeved outside the rolling driving rod.
6. The micro-miniature hovering ornithopter of claim 4, wherein the driving mechanism comprises a roll steering engine, a roll drive rod, and a roll link; one end of the rolling connecting rod is hinged to the rack; the other end of the rolling connecting rod and the output end of the rolling steering engine are both provided with vertical strip holes; the roll-over driving rod is fixed on the horizontal rod, and the two ends of the roll-over driving rod are both located in the strip holes.
7. The vector control mechanism of the micro hovering ornithopter as claimed in claim 5 or 6, wherein the frame comprises four body penetrating rods distributed in a rectangular shape, and a top plate, a first middle plate, a second middle plate, a third middle plate and a bottom plate which are distributed in sequence from top to bottom; the four vertex angles of the top plate, the four vertex angles of the first middle plate, the four vertex angles of the second middle plate, the four vertex angles of the third middle plate and the four vertex angles of the bottom plate are respectively fixed on the four machine body penetrating rods; the two pitching course steering engines are fixed between the top plate and the first middle plate; the rolling steering engine is fixed between the second middle plate and the third middle plate; one ends of the two follow-up rods, which are far away from the translation rod, are hinged with the second middle plate respectively; the translation rod and the rolling driving rod are both positioned between the third middle plate and the bottom plate; the leading edge bar is located between the first intermediate plate and the second intermediate plate.
8. The vector control mechanism of the micro-miniature hovering ornithopter of claim 1, wherein the flexible connecting member of the wing root rod is made of a 0.2mm glass fiber composite sheet.
9. An aircraft, characterized in that it comprises: the vector control mechanism for a micro-miniature hovering ornithopter of any of claims 1 to 7, further comprising: and the wing driving mechanism drives the two wing flapping mechanisms.
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| CN202011328592.1A CN112278271B (en) | 2020-11-24 | 2020-11-24 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
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| CN202011328592.1A CN112278271B (en) | 2020-11-24 | 2020-11-24 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
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| CN112278271B CN112278271B (en) | 2022-04-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335521A (en) * | 2021-06-07 | 2021-09-03 | 中国科学院合肥物质科学研究院 | High-maneuvering flapping wing type bionic bat aircraft with flexible structure and flight control method thereof |
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| CN110481776A (en) * | 2019-10-17 | 2019-11-22 | 北京航空航天大学 | A kind of flapping wing mechanism of anury flapping wing aircraft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113335521A (en) * | 2021-06-07 | 2021-09-03 | 中国科学院合肥物质科学研究院 | High-maneuvering flapping wing type bionic bat aircraft with flexible structure and flight control method thereof |
| CN113335521B (en) * | 2021-06-07 | 2023-12-22 | 中国科学院合肥物质科学研究院 | High-maneuverability ornithopter type bionic bat aircraft with flexible structure and flight control method thereof |
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| CN112278271B (en) | 2022-04-05 |
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