CN112478155B - Two-section type three-degree-of-freedom flapping wing aircraft - Google Patents

Abstract

The invention discloses a two-stage three-degree-of-freedom flapping wing aircraft, comprising a body, an inner flapping wing and an outer flapping wing. A drive motor is arranged on the body to transmit power to two first transmission rods arranged side by side, two The inner flapping wings are respectively arranged on both sides of the body, and the inner flapping wings include a first inner wing support rod and a second inner wing support rod, and each first inner wing support rod is driven by a first inner wing flapping assembly arranged on the body Flutter, each second inner wing support rod is driven to flutter by the second inner wing flapping assembly arranged on the body, two outer flapping wings are respectively arranged on both sides of the two inner flapping wings, and the outer flapping wings include outer wings Support rod, each outer wing support rod realizes folding motion and torsional motion through the folding and torsion drive components arranged on the first inner wing support rod and the second inner wing support rod, and only under the drive of one drive motor, the inner flapping wings and The outer flapping wings can effectively realize flapping, folding and twisting, and the whole mechanism runs smoothly, stable and reliable.

Description

A two-stage three-degree-of-freedom flapping aircraft

technical field

The invention relates to the field of flapping-wing aircraft, in particular to a two-stage three-degree-of-freedom flapping-wing aircraft.

Background technique

A flapping-wing vehicle is an aircraft designed based on the principle of bionics, imitating the flight mode of flying creatures such as birds or insects. Studies have shown that the flapping-wing aircraft has a special high lift generating mechanism, and has excellent flight ability under unsteady flow field and low Reynolds number. Compared with traditional fixed-wing and rotary-wing aircraft, flapping-wing aircraft has flexible maneuverability, high flight efficiency, Low energy consumption, good concealment and many other advantages, can be widely used in agriculture, military, security, disaster relief, remote sensing and other fields. However, most of the existing flapping-wing aircraft use a single-degree-of-freedom flapping method, which produces small lift and thrust, resulting in weak load capacity; or the flapping-wing aircraft has multiple degrees of freedom, but its implementation is mostly active by using multiple driving sources. way, increasing the weight and energy consumption of the mechanism.

SUMMARY OF THE INVENTION

According to the deficiencies of the prior art, the purpose of the present invention is to provide a two-stage three-degree-of-freedom flapping-wing aircraft, only driven by a driving motor, the flapping wings can effectively realize flapping, folding and twisting, and the entire The mechanism runs smoothly, stably and reliably.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A two-stage three-degree-of-freedom flapping aircraft, comprising:

a body, a drive motor is arranged on the body, and the drive motor is decelerated by a deceleration mechanism to transmit power to two first transmission rods arranged side by side;

Inner flapping wings, two of the inner flapping wings are respectively arranged on both sides of the body, the inner flapping wings include a first inner wing support rod and a second inner wing support rod, and each of the first inner wing support rods is provided by a device. The first inner wing flapping component on the body drives the flapping, each of the second inner wing support rods drives the flapping through the second inner wing flapping component arranged on the body, and one of the first inner wing flapping components on the same side drives the flapping. Both the inner wing flapping assembly and one of the second inner wing flapping assemblies transmit power through one of the first transmission rods;

Outer flapping wings, two of the outer flapping wings are respectively arranged on both sides of the two inner flapping wings, the outer flapping wings include outer wing support rods, and each of the outer wing support rods is arranged on the first inner wing The folding torsion drive assemblies on the support rod and the second inner wing support rod realize the folding motion and the torsional motion, and each of the folding torsion driving assemblies transmits power through one of the first transmission rods.

Further, the two-stage three-degree-of-freedom flapping-wing aircraft further includes a tail wing, and the tail wing realizes steering motion and pitching motion through a steering and pitching mechanism.

Further, the steering and pitching mechanism includes a first steering gear, a first steering frame, and a second steering gear. The first steering gear is mounted on the body and the output shaft of the first steering gear is arranged in the lateral direction. , the first steering gear is connected to the output shaft of the first steering gear, the second steering gear is mounted on the first steering gear and the output shaft of the second steering gear is arranged in the vertical direction , the empennage is connected with the output shaft of the second steering gear.

Further, the reduction mechanism includes a motor gear, a primary reduction gear, a secondary reduction gear and a third reduction gear, the motor gear is mounted on the output shaft of the drive motor, and the primary reduction gear is connected to the The motor gears are meshed, the second-stage reduction gear is installed on the rotating shaft of the first-stage reduction gear, and the two first transmission rods are respectively arranged on both sides of the second-stage reduction gear, and each of the first transmission rods One of the three-stage reduction gears is installed on the top, and two of the three-stage reduction gears are meshed with the second-stage reduction gears.

Further, the first inner wing flapping assembly includes a second transmission rod and a first crank, one end of the second transmission rod is fixed on the third-stage reduction gear, and the other end is connected to one end of the first crank. Connected by a rotation pair, the other end of the first crank is connected with the body through a rotation pair, the first inner wing support rod is perpendicular to the second transmission rod, and one end of the first inner wing support rod passes through The sleeve is sleeved on the second transmission rod, and the third-stage reduction gear drives the second transmission rod to rotate, thereby driving the first crank to rotate and the first inner wing support rod to flutter .

Further, a linear bearing is sleeved on the second transmission rod, a linear bearing sleeve is sleeved on the linear bearing, and a linear bearing sleeve parallel to the second transmission rod is arranged between the linear bearing sleeve and the body. A rotating shaft, the two ends of the rotating shaft are respectively connected with the linear bearing sleeve and the body through a rotating pair.

Further, the second inner wing flapping assembly includes a second crank, a first connecting rod, a slider, a third transmission rod and a second connecting rod, and one end of the second crank is connected with the first transmission rod. The other end of the second crank is connected with one end of the first connecting rod through the rotating pair, and the other end of the first connecting rod is connected with the slider through the rotating pair, and the slider is sleeved On the third transmission rod, both ends of the third transmission rod are fixed on the body and are arranged perpendicular to the first transmission rod, and one end of the second link and the slider pass through a rotating pair The other end of the second connecting rod is connected with one end of the second inner wing support rod through a rotating pair, and the first transmission rod drives the second crank to rotate, thereby driving the first connecting rod Swing and the slider slides on the third transmission rod, thereby driving the second link to swing and the second inner wing support rod to flutter.

Further, the folding torsion drive assembly includes a third link, a fourth link, a rack, a fifth link, a sixth link, a seventh link, an eighth link and a ninth link, the One end of the third connecting rod is fixed with one end of the fourth connecting rod, the middle part is connected with the first inner wing support rod through a rotating pair, and the other end is connected with one end of the rack through a rotating pair. One end of the connecting rod is fixed with the second inner wing support rod, the middle part is fixed with one end of the sixth connecting rod, the other end is connected with the other end of the rack through a rotating pair, and one end of the seventh connecting rod is is fixed with the other end of the fourth connecting rod, the other end is connected with one end of the eighth connecting rod through a rotating pair, one end of the ninth connecting rod is fixed with the other end of the sixth connecting rod, and the other end is It is connected with the other end of the eighth link through a rotation pair, the eighth link is connected with the outer wing support rod through a rotation pair, and the outer wing support rod is fixed with a gear engaged with the rack , the rack and the eighth link are arranged in parallel and have the same length, and the fourth link and the sixth link are arranged in parallel and have the same length.

Further, a plurality of reinforcing rods are arranged in the folding torsion driving assembly.

Further, the body includes a support plate and a support rod, a plurality of the support rods and the plurality of the support plates are assembled to form a frame body, the first inner wing support rod, the second inner wing support rod and the A plurality of skeletons are evenly distributed on the outer wing support rod, and the skeletons are streamlined.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. A two-stage three-degree-of-freedom flapping-wing aircraft according to the present invention can solve the problems of unstable flight, low flight efficiency and low bionic degree of the current flapping-wing aircraft.

2. A two-stage three-degree-of-freedom flapping-wing aircraft according to the present invention, only driven by a driving motor, the flapping-wing can effectively realize the movements of three degrees of freedom of flapping, folding and twisting, and the structure is more compact. It is compact, has higher flight efficiency, and the entire mechanism runs smoothly, stably and reliably.

3. A two-stage three-degree-of-freedom flapping-wing aircraft according to the present invention, during the movement of the outer flapping wing, by combining the parallel four-bar linkage mechanism and the rack-and-pinion motion mechanism, only the driving motor can be used to provide power. , so that the movement of the inner flapping wing drives the movement of the folding and twisting drive assembly, which in turn drives the folding and torsion of the outer wing support rod, so as to realize the folding and torsion movement of the outer flapping wing.

4. In the two-stage three-degree-of-freedom flapping-wing aircraft of the present invention, the attitudes and flapping patterns of the inner flapping wings and the outer flapping wings during operation are consistent with the flight action laws of real medium and large birds in nature, and the degree of bionic higher.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention.

Figure 2 is a schematic diagram of the structure of the body of the present invention.

FIG. 3 is a schematic structural diagram of the tail fin and the steering and pitching mechanism of the present invention.

FIG. 4 is a schematic structural diagram of the deceleration mechanism of the present invention.

FIG. 5 is a schematic structural diagram of the first inner wing flapping assembly of the present invention.

FIG. 6 is a schematic structural diagram of the second inner wing flapping assembly of the present invention.

FIG. 7 is a schematic structural diagram of the folding torsion driving assembly of the present invention.

FIG. 8 is a schematic structural diagram of the folding torsion drive assembly of the present invention after adding a reinforcing rod.

FIG. 9 is a schematic diagram of the upper flapping limit position of the flapping wing of the present invention.

FIG. 10 is a schematic diagram of the limit position of the flapping wing of the present invention.

Figure 11 is a schematic diagram of the position where the outer flapping wing has the largest folding angle relative to the inner flapping wing.

FIG. 12 is a schematic diagram of the empennage of the present invention when it is turned.

Figure 13 is a schematic structural diagram of the skeleton of the present invention.

Among them: 1. body; 11. drive motor; 12. first transmission rod; 13. support plate; 131, first support plate; 132, second support plate; 133, third support plate; 14, support rod; 141 1, the first support rod; 142, the second support rod; 15, the reduction mechanism; 151, the motor gear; 152, the first stage reduction gear; 153, the second stage reduction gear; 154, the third stage reduction gear;

2. Inner flap; 21. The first inner wing support rod; 22, The second inner wing support rod; 23, The first inner wing flapping assembly; 231, The second transmission rod; 232, The first crank; 233, Straight line Bearing; 234, linear bearing sleeve; 235, rotating shaft; 24, second inner wing flapping assembly; 241, second crank; 242, first connecting rod; 243, slider; 244, third transmission rod; 245, the second connecting rod;

3. Outer flapping wing; 31. Outer wing support rod; 32. Folding torsion drive assembly; 321, Third link; 322, Fourth link; 323, rack; 324, fifth link; 325, sixth connecting rod; 326, seventh connecting rod; 327, eighth connecting rod; 328, ninth connecting rod; 329, sector gear; 33, reinforcing rod; 331, first reinforcing rod; 332, second reinforcing rod; 323, The third reinforcing rod; 324, the fourth reinforcing rod;

4. Tail;

5. Steering and pitching mechanism; 51. The first steering gear; 52. The first steering gear; 53. The second steering gear;

6. Skeleton.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second", etc., may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

Most of the existing bird-like flapping-wing aircraft are single-degree-of-freedom flapping, resulting in low load efficiency and poor flight stability of the developed aircraft.

The present invention proposes a two-stage three-degree-of-freedom flapping-wing aircraft. Referring to Figures 1-12, it includes a body 1 and flapping wings. The flapping wings include an inner flapping wing 2 and an outer flapping wing 3, and two inner flapping wings 2 They are respectively arranged on both sides of the body 1, and the two outer flapping wings 3 are respectively arranged on both sides of the two inner flapping wings 2, so that the whole two-stage three-degree-of-freedom flapping-wing aircraft imitates a bird shape and can realize the flapping of the inner flapping wings 2. , the folding and twisting of the flapping wing 3.

The body 1 is provided with a drive motor 11 , and the drive motor 11 is decelerated by a deceleration mechanism 15 and then transmits power to two first transmission rods 12 arranged side by side.

The inner flapping wing 2 includes a first inner wing support rod 21 and a second inner wing support rod 22, the first inner wing support rod 21 and the second inner wing support rod 22 are arranged at a certain distance, and each first inner wing support rod 21 The flapping is driven by the first inner wing flapping assembly 23 provided on the body 1, and each second inner wing support rod 22 drives the flapping through the second inner wing flapping assembly 24 provided on the body 1. A first inner wing flapping assembly 23 and a second inner wing flapping assembly 24 both transmit power through a first transmission rod 12 .

The outer flapping wing 3 includes an outer wing support rod 31, and each outer wing support rod 31 realizes folding motion and torsional motion through the folding torsion drive assembly 32 arranged on the first inner wing support rod 21 and the second inner wing support rod 22, Each folding torsion drive assembly 32 transmits power through a first transmission rod 12 .

Only driven by one drive motor 11 of the present invention, the flapping wings can effectively flap, fold and twist, reducing the use of motors, thereby reducing the weight of the entire aircraft and making the entire aircraft run more smoothly, stably and reliably.

Referring to 2, the body 1 includes a support plate 13 and a support rod 14, a plurality of support rods 14 and a plurality of support plates 13 are assembled to form a frame body, the support plate 13 is a hollow structure, the support plate 13 is made of carbon fiber board, and the support rod 14 is made of aluminum. By setting the support plate 13 as a hollow structure and made of carbon fiber, the weight can be reduced. Since most of the main structure and weight are concentrated on the body 1, the aluminum support rod 14 with better strength and lower density is selected. As the main fixed connection of the body 1.

Specifically, the present invention is provided with three support plates 13, including a first support plate 131, a second support plate 132 and a third support plate 133, the first support plate 131, the second support plate 132 and the third support plate 133 are spaced apart Set at a certain distance, the support rod 14 includes a first support rod 141 and a second support rod 142, the length of the first support rod 141 is smaller than the length of the second support rod 142, and the first support plate 131 and the second support plate 132 pass through the first support rod 141. The support rod 141 is fixedly connected, and the first support plate 131 and the third support plate 133 are fixedly connected through the second support rod 142 .

3, the two-stage three-degree-of-freedom flapping aircraft also includes a tail 4, the tail 4 is installed on the body 1 through the tail support plate 41, and the tail 4 realizes the steering movement and The pitching motion enables the aircraft to turn and pitch, making the aircraft flight more flexible and comprehensive, and increasing the maneuverability of the aircraft.

Specifically, the steering and pitching mechanism 5 includes a first steering gear 51, a first steering frame 52, and a second steering gear 53. The first steering gear 51 is installed on the tail support plate 41 on the body 1, and the first steering gear 51 is The output shaft is arranged in the lateral direction, the first steering gear 52 is connected to the output shaft of the first steering gear 51, the second steering gear 53 is installed on the first steering gear 52, and the output shaft of the second steering gear 53 is arranged vertically , the tail 4 is connected to the output shaft of the second steering gear 53 .

During the flight, the first steering gear 51 drives the tail 4 to perform a pitching motion, the second steering gear 53 drives the tail 4 to perform a steering motion, and the steering motion and pitching motion of the body 1 can be driven by the steering motion and pitching motion of the tail 4 movement, which in turn drives the steering and pitching movements of the entire aircraft.

Referring to FIG. 12 , it is a schematic diagram of the tail turning.

In the embodiment of the present invention, the tail 4 is fan-shaped and has a hollow structure, which can reduce the weight and further make the flight operation more smooth, stable and reliable.

4, the reduction mechanism 15 includes a motor gear 151, a primary reduction gear 152, a secondary reduction gear 153 and a third reduction gear 154. The motor gear 151 is installed on the output shaft of the drive motor 11. The primary reduction gear 152 Meshing with the motor gear 151, a secondary reduction gear 153 is installed on the rotating shaft of the primary reduction gear 152, and the two first transmission rods 12 are respectively arranged on both sides of the secondary reduction gear 153, and each first transmission rod 12 is installed with one The third-stage reduction gear 154 , the two third-stage reduction gears 154 are meshed with the second-stage reduction gear 153 , the number of teeth of the motor gear 151 is smaller than that of the first-stage reduction gear 152 , and the number of teeth of the second-stage reduction gear 153 is smaller than that of the third-stage reduction gear 154 . number of teeth.

The speed is reduced through the meshing of the first-stage reduction gear 152 with the motor gear 151 , and the speed is further reduced through the meshing of the third-stage reduction gear 154 with the second-stage reduction gear 153 .

Specifically, the drive motor 11 is mounted on the third support plate 133, the motor gear 151 is mounted on the output shaft of the drive motor 11, the rotating shaft of the primary reduction gear 152 is mounted on the second support plate 152 and the first support plate 153, The primary reduction gear 152 is mounted on the second support plate 132 and meshes with the motor gear 151 , and the secondary reduction gear 153 is mounted on the rotating shaft of the primary reduction gear 152 and is located between the second support plate 132 and the first support plate 131 During the time, the two first transmission rods 12 are installed on the first support plate 131 side by side and at a certain distance, and the two third-stage reduction gears 154 are respectively installed on the two first transmission rods 12 and are installed on the second support plate 132 Between the first support plate 131 and the first support plate 131 , the two third-stage reduction gears 154 mesh with the second-stage reduction gear 153 .

5, the first inner wing flapping assembly 23 is provided between the second support plate 132 and the first support plate 131, the first inner wing flapping assembly 23 includes a second transmission rod 231 and a first crank 232, One end of the second transmission rod 231 is fixed on the third-stage reduction gear 154, the other end is connected with one end of the first crank 232 through a rotating pair, and the other end of the first crank 232 is connected with the second support plate 132 on the body 1 through a rotating pair connected, the other end of the first crank 232 is connected with the second support plate 132 through a rotating pair, the first inner wing support rod 21 is perpendicular to the second transmission rod 231 and one end of the first inner wing support rod 21 is connected with the second transmission rod 231 Connected by the rotating pair, the first inner wing support rod 21 can rotate with the second transmission rod 231. During the flight, the rotation of the third-stage reduction gear 154 drives the second transmission rod 231 to rotate, thereby driving the first crank 232 to rotate and The first inner wing support rod 21 flaps up and down.

A linear bearing 233 is also sleeved on the second transmission rod 231, and a linear bearing sleeve 234 is sleeved on the linear bearing 233. Between the linear bearing sleeve 234 and the first support plate 131 or the second support plate 132 of the body 1, there is a connection with the first support plate 131 or the second support plate 132. The two transmission rods 231 are parallel to the rotating shaft 235 . The movement direction of the first inner wing support rod 21 is restricted by the linear bearing 233 and the linear bearing sleeve 234, so that the first inner wing support rod 21 can only slide in the linear bearing 233, because the linear bearing 233 is sleeved with a linear bearing sleeve 234 , a rotating shaft 235 parallel to the second transmission rod 231 is provided between the linear bearing sleeve 234 and the body 1 , so that the inner wing support rod 14 can only flutter up and down relative to the body 1 .

In the embodiment of the present invention, two rotating shafts 235 are provided, and the two rotating shafts 235 are respectively arranged on both sides of the linear bearing sleeve 234. One end of each rotating shaft 235 is connected to the first support plate 131 or the second support plate 132 respectively through bearings, and the other end is connected to the linear bearing sleeve 234 through the bearings, so as to limit the position of the linear bearing sleeve 234 and the linear bearing 233, so that the linear bearing The sleeve 234 and the linear bearing 233 can only move within the body 1 , that is, only move between the first support plate 131 and the second support plate 132 .

The second inner wing flapping assembly 24 is disposed outside the first support plate 131 , and the second inner wing flapping assembly 24 includes a second crank 241 , a first connecting rod 242 , a slider 243 , a third transmission rod 244 and a second connecting rod 241 . Rod 245, one end of the second crank 241 is connected with the passing rotating pair of the first transmission rod 12, the other end of the second crank 241 is connected with one end of the first connecting rod 242 through the rotating pair, and the other end of the first connecting rod 242 is connected with the rotating pair. The sliding block 243 is connected by a rotating pair. The sliding block 243 is sleeved on the third transmission rod 244 and can move along the third transmission rod 244. Both ends of the third transmission rod 244 are fixed on the first support plate 131 of the body 1 and are connected with The first transmission rod 12 is vertically arranged, one end of the second connecting rod 245 is connected with the slider 243 through a rotating pair, and the other end of the second connecting rod 245 is fixedly connected with one end of the second inner wing support rod 22 . During the movement, the first transmission rod 12 drives the second crank 241 to rotate, thereby driving the first connecting rod 242 to swing and the slider 243 to slide on the third transmission rod 244, thereby driving the second connecting rod 245 to swing and the second connecting rod 245 to swing. The inner wing support rod 22 flaps up and down.

Referring to FIG. 7 , the folding torsion driving assembly 32 includes a third link 321, a fourth link 322, a rack 323, a fifth link 324, a sixth link 325, a seventh link 326, and an eighth link 327 and the ninth link 328, one end of the third link 321 and one end of the fourth link 322 are fixed, the middle part is connected with the first inner wing support rod 21 through a rotating pair, and the other end is connected with one end of the rack 323 through a rotating pair. One end of the fifth connecting rod 324 is fixed with the second inner wing support rod 22, the middle part is fixed with one end of the sixth connecting rod 325, and the other end is connected with the other end of the rack 323 through a rotating pair. One end is fixed with the other end of the fourth connecting rod 322, the other end is connected with one end of the eighth connecting rod 327 through a rotating pair, one end of the ninth connecting rod 328 is fixed with the other end of the sixth connecting rod 325, and the other end is connected with the eighth connecting rod 325. The other end of the connecting rod 327 is connected by a rotating pair, and the eighth connecting rod 327 is connected with the outer wing support rod 31 through a rotating pair. The eight links 327 are arranged in parallel and have the same length, the fourth link 322 and the sixth link 325 are arranged in parallel and have the same length. Since the rack 323 needs to mesh with the sector gear 329, the third link 321 and the fifth link 324 As auxiliary rods, the rack 323 , the eighth link 327 , the fourth link 322 and the sixth link 325 are made to approximate a parallelogram.

During the flight, since the middle part of the third link 321 is connected with the first inner wing support rod 21 through a rotating pair, the other end is connected with one end of the rack 323 through a rotating pair, and the middle part of the fifth link 324 is connected with the sixth link. One end of 325 is fixed, and the other end is connected with the other end of the rack 323 through a rotating pair. 329 meshes with the rack 323, and then drives the sector gear 329 to rotate. Since the sector gear 329 is fixed to the outer wing support rod 31, the outer wing support rod 31 can be made relative to the first inner wing support rod 21 and the second inner wing support rod 22. Folded to form a folding motion of the outer flapping wings 3 .

In addition, in the process of the first inner wing support rod 21 fluttering up and down, it will drive the third link 321 to rotate, thereby causing the fourth link 322 and the seventh link 326 to rotate; the second inner wing support rod 22 flaps up and down During the process, the fifth link 324 will be driven to rotate, and then the sixth link 325 and the ninth link 328 will be rotated, so that the rack 323, the eighth link 327, the fourth link 322 and the sixth link The parallelogram formed by 325 will be deformed. Since the eighth link 327 is connected with the outer wing support rod 31 through the rotating pair, the outer wing support rod 31 can be twisted to form the torsional motion of the outer flapping wing 3 .

Referring to FIGS. 9-11 , it is a state change diagram of the inner flapping wing 2 and the outer flapping wing 3 during the flight of the two-stage three-degree-of-freedom flapping-wing aircraft. FIG. 9 is a schematic diagram of the upper flapping limit position of the flapping wing of the present invention. FIG. 10 is a schematic diagram of the limit position of the flapping wing of the present invention. Figure 11 is a schematic diagram of the position where the outer flapping wing has the largest folding angle relative to the inner flapping wing.

Referring to FIG. 8 , in order to prevent the inner flapping wings 2 and the outer flapping wings 3 from being broken during the flight, a plurality of reinforcing rods are provided on the folding torsion driving assembly 32 .

In the embodiment of the present invention, the reinforcement rod 33 includes a first reinforcement rod 331 , a second reinforcement rod 332 , a third reinforcement rod 333 and a fourth reinforcement rod 334 , and the first reinforcement rod 331 can be provided on the seventh link 326 and the third reinforcement rod 331 On the connecting rod 321, the two ends of the first reinforcing rod 331 are respectively fixed with the seventh connecting rod 326 and the third connecting rod 321, and the second reinforcing rod 332 can be arranged on the fifth connecting rod 324 and the third connecting rod 321. Both ends of the two reinforcing rods 332 are respectively connected with the fifth connecting rod 324 and the third connecting rod 321 through a rotating pair. The third reinforcing rod 333 can be arranged on the ninth connecting rod 328 and the seventh connecting rod 326. The third reinforcing rod The two ends of the 333 are respectively connected with the ninth link 328 and the seventh link 326 through the rotation pair, the fourth reinforcement rod 334 can be arranged on the ninth link 328 and the fifth link 324, and the two The ends are respectively fixed with the ninth link 328 and the fifth link 324 and do not affect the movement of the folding torsion drive assembly 32 .

A plurality of frameworks 6 are evenly distributed on the first inner wing support rod 21 , the second inner wing support rod 22 and the outer wing support rod 31 .

Referring to FIG. 12 , the frame 6 is streamlined, which can reduce drag and increase lift. Moreover, the skeleton 6 is designed as a hollow structure, which can reduce the weight and further make the flight operation more smooth, stable and reliable.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the The technical solutions described in the foregoing embodiments can be modified, or some technical features thereof can be equivalently replaced, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included. within the protection scope of the present invention.

Claims (6)

1. A two-section type three-degree-of-freedom flapping wing aircraft is characterized by comprising:

the body is provided with a driving motor, the driving motor transmits power to two first transmission rods arranged side by side after being decelerated by a speed reducing mechanism, the speed reducing mechanism comprises a motor gear, a first-stage speed reducing gear, a second-stage speed reducing gear and three-stage speed reducing gears, the motor gear is installed on an output shaft of the driving motor, the first-stage speed reducing gear is meshed with the motor gear, the second-stage speed reducing gear is installed on a rotating shaft of the first-stage speed reducing gear, the two first transmission rods are respectively arranged on two sides of the second-stage speed reducing gear, one third-stage speed reducing gear is installed on each first transmission rod, and the two third-stage speed reducing gears are both meshed with the second-stage speed reducing gear;

the inner flapping wings are respectively arranged on two sides of the trunk, each inner flapping wing comprises a first inner wing supporting rod and a second inner wing supporting rod, each first inner wing supporting rod drives flapping through a first inner wing flapping component arranged on the trunk, each second inner wing supporting rod drives flapping through a second inner wing flapping component arranged on the trunk, one of the first inner wing flapping component and one of the second inner wing flapping component on the same side transmit power through one first transmission rod, each first inner wing flapping component comprises a second transmission rod and a first crank, one end of each second transmission rod is fixed on the third-stage reduction gear, the other end of each second transmission rod is connected with one end of each first crank through a revolute pair, the other end of each first crank is connected with the trunk through a revolute pair, each first inner wing supporting rod is perpendicular to the corresponding second transmission rod, and one end of each first inner wing supporting rod is sleeved on the corresponding second transmission rod through a sleeve The second transmission rod is driven to rotate through the three-level reduction gear so as to drive the first crank to rotate and the first inner wing supporting rod to flap, the second inner wing flap component comprises a second crank, a first connecting rod, a sliding block, a third transmission rod and a second connecting rod, one end of the second crank is connected with one end of the first transmission rod through a revolute pair, the other end of the second crank is connected with one end of the first connecting rod through a revolute pair, the other end of the first connecting rod is connected with the sliding block through a revolute pair, the sliding block is sleeved on the third transmission rod, two ends of the third transmission rod are fixed on the trunk and are perpendicular to the first transmission rod, one end of the second connecting rod is connected with the sliding block through a revolute pair, and the other end of the second connecting rod is connected with one end of the second inner wing supporting rod through a revolute pair, the first transmission rod drives the second crank to rotate, so that the first connecting rod is driven to swing and the sliding block slides on the third transmission rod, and the second connecting rod is driven to swing and the second inner wing supporting rod is driven to flap;

the outer flapping wings are respectively arranged on two sides of the inner flapping wing, each outer flapping wing comprises an outer wing support rod, each outer wing support rod realizes folding motion and torsional motion through a folding torsional driving component arranged on the first inner wing support rod and the second inner wing support rod, each folding torsional driving component transmits power through one first transmission rod, each folding torsional driving component comprises a third connecting rod, a fourth connecting rod, a rack, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod and a ninth connecting rod, one end of the third connecting rod is fixed with one end of the fourth connecting rod, the middle part of the third connecting rod is connected with the first inner wing support rod through a revolute pair, the other end of the third connecting rod is connected with one end of the rack through a revolute pair, one end of the fifth connecting rod is fixed with the second inner wing support rod, and the middle part of the fifth connecting rod is fixed with one end of the sixth connecting rod, the other end with the other end of rack passes through the revolute pair and links to each other, the one end of seventh connecting rod with the other end of fourth connecting rod is fixed, the other end with the one end of eighth connecting rod passes through the revolute pair and links to each other, the one end of ninth connecting rod with the other end of sixth connecting rod is fixed, the other end with the other end of eighth connecting rod passes through the revolute pair and links to each other, the eighth connecting rod with the outer wing bracing piece passes through the revolute pair and links to each other, be fixed with on the outer wing bracing piece with rack toothing's sector gear, the rack with eighth connecting rod parallel arrangement and length are unanimous, the fourth connecting rod with sixth connecting rod parallel arrangement and length are unanimous.

2. The two-stage three-degree-of-freedom ornithopter according to claim 1, wherein: the two-section three-degree-of-freedom flapping wing aircraft further comprises a tail wing, and the tail wing achieves steering motion and pitching motion through the steering and pitching mechanism.

3. The two-stage three-degree-of-freedom ornithopter according to claim 2, wherein: the steering pitching mechanism comprises a first steering engine, a first steering engine rack and a second steering engine, the first steering engine is installed on the body, the output shaft of the first steering engine is arranged in the transverse direction, the first steering engine rack is connected with the output shaft of the first steering engine, the second steering engine is installed on the first steering engine rack, the output shaft of the second steering engine is arranged in the vertical direction, and the tail fin is connected with the output shaft of the second steering engine.

4. The two-stage three-degree-of-freedom ornithopter according to claim 1, wherein: the second transmission rod is further sleeved with a linear bearing, a linear bearing sleeve is sleeved on the linear bearing, a rotating shaft parallel to the second transmission rod is arranged between the linear bearing sleeve and the body, and two ends of the rotating shaft are respectively connected with the linear bearing sleeve and the body through revolute pairs.

5. The two-stage three-degree-of-freedom ornithopter according to claim 1, wherein: a plurality of reinforcing rods are arranged in the folding and twisting driving assembly.

6. The two-stage three-degree-of-freedom ornithopter according to claim 1, wherein: the body includes backup pad and bracing piece, and is a plurality of the bracing piece is with a plurality of the backup pad equipment forms the support body, first inner wing bracing piece, second inner wing bracing piece with evenly distributed has a plurality of skeletons on the outer wing bracing piece, the skeleton is streamlined.

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