CN112478155B - Two-section type three-degree-of-freedom flapping wing aircraft - Google Patents
Two-section type three-degree-of-freedom flapping wing aircraft Download PDFInfo
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- CN112478155B CN112478155B CN202011408798.5A CN202011408798A CN112478155B CN 112478155 B CN112478155 B CN 112478155B CN 202011408798 A CN202011408798 A CN 202011408798A CN 112478155 B CN112478155 B CN 112478155B
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- 229920000049 Carbon (fiber) Polymers 0.000 description 2
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- 229910052782 aluminium Inorganic materials 0.000 description 2
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
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- 238000000429 assembly Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention discloses a two-section three-degree-of-freedom flapping wing aircraft, which comprises a body, inner flapping wings and outer flapping wings, wherein a driving motor is arranged on the body and transmits power to two first transmission rods arranged side by side, the two inner flapping wings are respectively arranged on two sides of the body, the inner flapping wings comprise first inner wing support rods and second inner wing support rods, each first inner wing support rod is driven to flap through a first inner wing flapping component arranged on the body, each second inner wing support rod is driven to flap through a second inner wing flapping component arranged on the body, the two outer flapping wings are respectively arranged on two sides of the two inner flapping wings, the outer flapping wings comprise outer wing support rods, each outer wing support rod realizes folding motion and twisting motion through folding and twisting driving components arranged on the first inner wing support rods and the second inner wing support rods, and the inner flapping wings and the outer flapping wings can effectively realize flapping motion only under the driving of one driving motor, Folding and twisting, and the whole mechanism runs smoothly, stably and reliably.
Description
Technical Field
The invention relates to the field of flapping wing aircrafts, in particular to a two-section type three-degree-of-freedom flapping wing aircraft.
Background
The flapping wing aircraft is designed based on the bionics principle and simulates the flight mode of flying organisms such as birds or insects. Research shows that the flapping wing air vehicle has a special high lift generating mechanism, has excellent flight capability under unsteady flow fields and low Reynolds numbers, has the advantages of flexible maneuverability, high flight efficiency, low energy consumption, good concealment and the like compared with the traditional fixed wing air vehicle and the traditional rotor wing air vehicle, and can be widely applied to various fields of agriculture, military, security protection, disaster relief, remote sensing and the like. However, most of the existing flapping wing aircrafts adopt a single-degree-of-freedom flapping mode, and the generated lift force and thrust are small, so that the load capacity is weak; or the flapping wing aircraft is in multiple degrees of freedom, but the realization mode of the flapping wing aircraft is mainly an active mode of using a plurality of driving sources and the like, so that the weight and the energy consumption of the mechanism are increased.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide a two-section type three-degree-of-freedom flapping wing aircraft, the flapping wings can effectively realize flapping, folding and twisting only under the drive of one drive motor, and the whole mechanism runs smoothly, stably and reliably.
In order to solve the technical problems, the invention adopts the technical scheme that:
a two-segment three-degree-of-freedom flapping wing aircraft comprises:
the body is provided with a driving motor, and the driving motor transmits power to two first transmission rods arranged side by side after being decelerated by a deceleration mechanism;
the two inner flapping wings are respectively arranged on two sides of the body, each inner flapping wing comprises a first inner wing support rod and a second inner wing support rod, each first inner wing support rod drives flapping through a first inner wing flapping component arranged on the body, each second inner wing support rod drives flapping through a second inner wing flapping component arranged on the body, and one first inner wing flapping component and one second inner wing flapping component on the same side transmit power through one first transmission rod;
outer flapping wings, two outer flapping wings are established respectively in two flapping wings both sides, outer flapping wings includes outer wing bracing piece, each outer wing bracing piece is through establishing first inner wing bracing piece with folding torsion drive assembly on the second inner wing bracing piece realizes folding motion and torsional motion, each folding torsion drive assembly is through one first transfer line transmission power.
Furthermore, the two-section three-degree-of-freedom flapping wing aircraft further comprises a tail wing, and the tail wing realizes steering motion and pitching motion through a steering and pitching mechanism.
Furthermore, the steering and pitching mechanism comprises a first steering engine, a first steering engine frame 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 frame is connected with the output shaft of the first steering engine, the second steering engine is installed on the first steering engine frame, 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.
Further, reduction gears includes motor gear, one-level reduction gear, second grade reduction gear and tertiary reduction gear, motor gear installs on driving motor's the output shaft, one-level reduction gear with motor gear meshes, install in one-level reduction gear's the pivot second grade reduction gear, two first transfer line is established respectively second grade reduction gear's both sides, each install one on the first transfer line tertiary reduction gear, two tertiary reduction gear all with second grade reduction gear meshes.
Furthermore, the first inner wing flapping component comprises a second transmission rod and a first crank, one end of the second transmission rod is fixed on the third-level reduction gear, the other end of the second transmission rod is connected with one end of the first crank through a revolute pair, the other end of the first crank is connected with the body through a revolute pair, the first inner wing supporting rod is perpendicular to the second transmission rod, one end of the first inner wing supporting rod is sleeved on the second transmission rod through a sleeve, and the third-level reduction gear drives the second transmission rod to rotate so as to drive the first crank to rotate and the first inner wing supporting rod to flap.
Further, a linear bearing is further sleeved on the second transmission rod, 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 rotating pairs.
Furthermore, the second inner wing flapping 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 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, 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 second crank is driven to rotate through the first transmission rod, and then the first connecting rod is driven to swing and the sliding block slides on the third transmission rod, thereby driving the second connecting rod to swing and the second inner wing supporting rod to flap.
Furthermore, the folding torsion driving assembly 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 supporting 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 supporting rod, the middle part of the fifth connecting rod is fixed with one end of the sixth connecting rod, the other end of the fifth connecting rod is connected with the other end of the rack through a revolute pair, one end of the seventh connecting rod is fixed with the other end of the fourth connecting rod, the other end of the seventh connecting rod is connected with one end of the eighth connecting rod through a revolute pair, one end of the ninth connecting rod is fixed with the other end of the sixth connecting rod, the other end of the ninth connecting rod is connected with the other end of the eighth connecting rod through a revolute pair, the eighth connecting rod is connected with the outer wing supporting rod through a revolute pair, a gear meshed with the rack is fixed on the outer wing supporting rod, the rack and the eighth connecting rod are arranged in parallel and are consistent in length, and the fourth connecting rod and the sixth connecting rod are arranged in parallel and are consistent in length.
Further, a plurality of reinforcing rods are provided in the folding torsion drive assembly.
Furthermore, the body comprises a supporting plate and a plurality of supporting rods, the supporting rods and the supporting plates are assembled to form a frame body, a plurality of frameworks are uniformly distributed on the first inner wing supporting rod, the second inner wing supporting rod and the outer wing supporting rod, and the frameworks are streamline.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the two-section three-degree-of-freedom flapping wing aircraft can solve the problems of unstable flight, low flight efficiency and low bionic degree of the existing flapping wing aircraft.
2. According to the two-section three-degree-of-freedom flapping wing aircraft, the flapping wings can effectively realize the movements with three degrees of freedom of flapping, folding and twisting only under the driving of one driving motor, the structure is more compact, the flying efficiency is higher, and the whole mechanism runs smoothly, stably and reliably.
3. According to the two-section three-degree-of-freedom flapping wing aircraft, in the moving process of the outer flapping wings, the parallel four-bar linkage mechanism and the gear rack moving mechanism are combined, power can be provided only by the driving motor, so that the movement of the inner flapping wings drives the movement of the folding and twisting driving assembly, the folding and twisting of the outer flapping wing supporting rods are further driven, and the folding and twisting movement of the outer flapping wings is realized.
4. The two-section three-degree-of-freedom flapping wing aircraft provided by the invention has the advantages that the postures and the flapping modes of the inner flapping wing and the outer flapping wing accord with the flight action rule of real medium and large birds in the nature during operation, and the bionic degree is higher.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the trunk of the present invention.
Fig. 3 is a schematic structural view of the rear wing and the steering and pitching mechanism of the present invention.
Fig. 4 is a schematic structural view of the speed reducing mechanism of the present invention.
FIG. 5 is a schematic view of a first inner wing flapping assembly according to the present invention.
FIG. 6 is a schematic structural view of a second inner wing flapping assembly according to the present invention.
FIG. 7 is a schematic structural view of the folding torsion drive assembly of the present invention.
FIG. 8 is a schematic view of the folding torsion drive assembly with the reinforcing rods added.
Fig. 9 is a schematic view of the extreme position of the flapping wings of the present invention.
FIG. 10 is a schematic view of the lower flapping limit position of the flapping wing of the present invention.
Fig. 11 is a schematic view of the position of the outer flapping wing at its maximum folding angle relative to the inner flapping wing.
Fig. 12 is a schematic view of the tail of the present invention when it is turned.
FIG. 13 is a schematic structural view of the framework of the present invention.
Wherein: 1. a body; 11. a drive motor; 12. a first drive lever; 13. a support plate; 131. a first support plate; 132. a second support plate; 133. a third support plate; 14. a support bar; 141. a first support bar; 142. a second support bar; 15. a speed reduction mechanism; 151. a motor gear; 152. a primary reduction gear; 153. a secondary reduction gear; 154. a third reduction gear;
2. an inner flapping wing; 21. a first inner wing support bar; 22. a second inner wing support bar; 23. a first inner wing flapping assembly; 231. a second transmission rod; 232. a first crank; 233. a linear bearing; 234. a linear bearing housing; 235. a rotating shaft; 24. a second inner wing flapping assembly; 241. a second crank; 242. a first link; 243. a slider; 244. a third transmission rod; 245. a second link;
3. an outer flapping wing; 31. an outer wing support bar; 32. a folding torsion drive assembly; 321. a third link; 322. a fourth link; 323. a rack; 324. a fifth link; 325. a sixth link; 326. a seventh connecting rod; 327. an eighth link; 328. a ninth link; 329. a sector gear; 33. a reinforcing bar; 331. a first reinforcement bar; 332. a second reinforcement bar; 323. a third reinforcement bar; 324. a fourth stiffener;
4. a tail wing;
5. a steering and pitching mechanism; 51. a first steering engine; 52. a first rudder mount; 53. a second steering engine;
6. and (3) a framework.
Detailed Description
The technical solution 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 is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Most of the existing bird-like flapping-wing aircrafts flap with single degree of freedom, so that the developed aircrafts have low load efficiency and poor flight stability.
The invention provides a two-section three-degree-of-freedom flapping-wing aircraft, which is shown by reference to fig. 1-12 and comprises a trunk 1 and flapping wings, wherein the flapping wings comprise inner flapping wings 2 and outer flapping wings 3, the two inner flapping wings 2 are respectively arranged on two sides of the trunk 1, and the two outer flapping wings 3 are respectively arranged on two sides of the two inner flapping wings 2, so that the whole two-section three-degree-of-freedom flapping-wing aircraft is bird-like, the flapping of the inner flapping wings 2 and the folding and twisting of the outer flapping wings 3 can be realized.
The body 1 is provided with a driving motor 11, and the driving motor 11 transmits power to two first transmission rods 12 arranged side by side after being decelerated by a deceleration mechanism 15.
The inner flapping wings 2 comprise first inner wing supporting rods 21 and second inner wing supporting rods 22, the first inner wing supporting rods 21 and the second inner wing supporting rods 22 are arranged at intervals, each first inner wing supporting rod 21 drives flapping through a first inner wing flapping component 23 arranged on the body 1, each second inner wing supporting rod 22 drives flapping through a second inner wing flapping component 24 arranged on the body 1, and the first inner wing flapping component 23 and the second inner wing flapping component 24 on the same side transmit power through a first transmission rod 12.
The outer flapping wings 3 comprise outer wing support rods 31, each outer wing support rod 31 performs folding motion and twisting motion through folding and twisting driving assemblies 32 arranged on the first inner wing support rod 21 and the second inner wing support rod 22, and each folding and twisting driving assembly 32 transmits power through a first transmission rod 12.
The flapping wing can effectively realize flapping, folding and twisting under the drive of only one driving motor 11, and the use of the motor is reduced, so that the weight of the whole aircraft is reduced, and the whole aircraft runs more smoothly, stably and reliably.
Referring to fig. 2, the body 1 includes a support plate 13 and a support rod 14, the support rods 14 and the 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 a carbon fiber plate, and the support rod 14 is made of aluminum. Through setting backup pad 13 to hollow out construction and material for carbon fiber, can lighten weight, because most main structure and weight all concentrate on body 1, consequently select the bracing piece 14 of the aluminium of intensity better, density is less as the main fixed connection spare of body 1.
Specifically, the present invention provides 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 disposed 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, the first support plate 131 and the second support plate 132 are fixedly connected through the first support rod 141, and the first support plate 131 and the third support plate 133 are fixedly connected through the second support rod 142.
Referring to fig. 3, the two-section three-degree-of-freedom flapping wing aircraft further comprises a tail wing 4, the tail wing 4 is mounted on the body 1 through a tail wing support plate 41, and the tail wing 4 realizes steering motion and pitching motion through a steering and pitching mechanism 5 arranged on the body 1, so that the aircraft can steer and pitch, the aircraft can fly more flexibly and comprehensively, and the maneuvering performance of the aircraft is improved.
Specifically, turn to every single move mechanism 5 and include first steering wheel 51, first rudder frame 52, second steering wheel 53, first steering wheel 51 is installed on tail fin backup pad 41 on body 1 and the output shaft transverse direction of first steering wheel 51 sets up, first rudder frame 52 links to each other with the output shaft of first steering wheel 51, second steering wheel 53 is installed on first rudder frame 52 and the vertical direction setting of output shaft of second steering wheel 53, tail fin 4 links to each other with the output shaft of second steering wheel 53.
In the flight process, the tail wing 4 is driven to perform pitching motion through the first steering engine 51, the tail wing 4 is driven to perform steering motion through the second steering engine 53, the body 1 can be driven to perform steering motion and pitching motion through the steering motion and the pitching motion of the tail wing 4, and then the whole aircraft is driven to perform steering motion and pitching motion.
Referring to fig. 12, the rear wing is shown in a turning state.
In the embodiment of the invention, the tail wing 4 is in a fan shape and is in a hollow structure, so that the weight can be reduced, and the flying operation is further smoother, stable and reliable.
Referring to fig. 4, the speed reducing mechanism 15 includes a motor gear 151, a first-stage speed reducing gear 152, a second-stage speed reducing gear 153 and a third-stage speed reducing gear 154, the motor gear 151 is mounted on an output shaft of the driving motor 11, the first-stage speed reducing gear 152 is engaged with the motor gear 151, the second-stage speed reducing gear 153 is mounted on a rotating shaft of the first-stage speed reducing gear 152, two first transmission rods 12 are respectively disposed on two sides of the second-stage speed reducing gear 153, one third-stage speed reducing gear 154 is mounted on each first transmission rod 12, both the two third-stage speed reducing gears 154 are engaged with the second-stage speed reducing gear 153, the number of teeth of the motor gear 151 is smaller than that of the first-stage speed reducing gear 152, and the number of teeth of the second-stage speed reducing gear 153 is smaller than that of the third-stage speed reducing gear 154.
The speed is reduced by engaging the first reduction gear 152 with the motor gear 151, and further reduced by engaging the third reduction gear 154 with the second reduction gear 153.
Specifically, the driving motor 11 is installed on the third supporting plate 133, the motor gear 151 is installed on an output shaft of the driving motor 11, a rotating shaft of the first-stage reduction gear 152 is installed on the second supporting plate 152 and the first supporting plate 153, the first-stage reduction gear 152 is installed on the second supporting plate 132 and engaged with the motor gear 151, the second-stage reduction gear 153 is installed on the rotating shaft of the first-stage reduction gear 152 and disposed between the second supporting plate 132 and the first supporting plate 131, the two first transmission rods 12 are installed side by side and spaced at a certain distance on the first supporting plate 131, the two third-stage reduction gears 154 are installed on the two first transmission rods 12 and disposed between the second supporting plate 132 and the first supporting plate 131, and the two third-stage reduction gears 154 are engaged with the second-stage reduction gear 153.
Referring to fig. 5, the first inner wing flapping unit 23 is disposed between the second support plate 132 and the first support plate 131, the first inner wing flapping unit 23 includes a second driving rod 231 and a first crank 232, one end of the second driving rod 231 is fixed to the third reduction gear 154, the other end is connected to one end of the first crank 232 through a revolute pair, the other end of the first crank 232 is connected to the second support plate 132 on the trunk 1 through a revolute pair, the other end of the first crank 232 is connected to the second support plate 132 through a revolute pair, the first inner wing support rod 21 is perpendicular to the second driving rod 231, and one end of the first inner wing support rod 21 is connected to the second driving rod 231 through a revolute pair, such that the first inner wing support rod 21 can rotate along with the second driving rod 231, during the flight, the third-stage reduction gear 154 rotates to drive the second transmission rod 231 to rotate, and further drives the first crank 232 to rotate and the first inner wing support rod 21 to flap up and down.
A linear bearing 233 is further sleeved on the second transmission rod 231, a linear bearing sleeve 234 is sleeved on the linear bearing 233, and a rotating shaft 235 parallel to the second transmission rod 231 is arranged between the linear bearing sleeve 234 and the first support plate 131 or the second support plate 132 of the body 1. The linear bearing 233 and the linear bearing sleeve 234 limit the moving direction of the first inner wing support rod 21, so that the first inner wing support rod 21 can only slide in the linear bearing 233, and the linear bearing 233 is sleeved with the linear bearing sleeve 234, and a rotating shaft 235 parallel to the second transmission rod 231 is arranged between the linear bearing sleeve 234 and the body 1, so that the inner wing support rod 14 can only flap up and down relative to the body 1.
In the embodiment of the present invention, two rotation shafts 235 are provided, the two rotation shafts 235 are respectively provided at two sides of the linear bearing sleeve 234, two ends of the rotation shaft 235 are respectively connected to the linear bearing sleeve 234 and the trunk 1 through a revolute pair, one end of each of the two rotation shafts 235 is respectively connected to the first support plate 131 or the second support plate 132 through a bearing, and the other end is connected to the linear bearing sleeve 234 through a bearing, so as to limit the positions of the linear bearing sleeve 234 and the linear bearing 233, and thus the linear bearing sleeve 234 and the linear bearing 233 can only move in the trunk 1, that is, only between the first support plate 131 and the second support plate 132.
The second inner wing flapping component 24 is arranged outside the first support plate 131, the second inner wing flapping component 24 comprises a second crank 241, a first connecting rod 242, a sliding block 243, a third transmission rod 244 and a second connecting rod 245, one end of the second crank 241 is connected with one end of the first transmission rod 12 through a revolute pair, the other end of the second crank 241 is connected with one end of the first connecting rod 242 through a revolute pair, the other end of the first connecting rod 242 is connected with the sliding block 243 through a revolute pair, the sliding block 243 is sleeved on the third transmission rod 244 and can move along the third transmission rod 244, two ends of the third transmission rod 244 are fixed on the first support plate 131 of the body 1 and are perpendicular to the first transmission rod 12, one end of the second connecting rod 245 is connected with the sliding block 243 through a revolute 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, and further drives the first link 242 to swing and the slider 243 to slide on the third transmission rod 244, so as to drive the second link 245 to swing and the second inner wing support rod 22 to flap 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, an eighth link 327, and a ninth link 328, one end of the third link 321 is fixed to one end of the fourth link 322, the middle portion of the third link 321 is connected to the first inner wing support rod 21 through a revolute pair, the other end of the third link is connected to one end of the rack 323 through a revolute pair, one end of the fifth link 324 is fixed to the second inner wing support rod 22, the middle portion of the fifth link 324 is fixed to one end of the sixth link 325, the other end of the fifth link is connected to the other end of the rack 323 through a revolute pair, one end of the seventh link 326 is fixed to the other end of the fourth link 322, the other end of the seventh link 327 is connected to one end of the eighth link 327 through a revolute pair, one end of the ninth link 328 is fixed to the other end of the sixth link 325, and the other end of the eighth link 327 through a revolute pair, the eighth link 327 is connected to the outer wing support rod 31 through a revolute pair, a sector gear 329 meshed with the rack 323 is fixed to the outer wing support rod 31, the rack 323 and the eighth link 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, and the rack 323 needs to be meshed with the sector gear 329, so that the third link 321 and the fifth link 324 serve as auxiliary rods, and the rack 323, the eighth link 327, the fourth link 322 and the sixth link 325 approximate to a parallelogram.
In the flying process, the middle part of the third connecting rod 321 is connected with the first inner wing supporting rod 21 through a revolute pair, the other end of the third connecting rod is connected with one end of the rack 323 through a revolute pair, the middle part of the fifth connecting rod 324 is fixed with one end of the sixth connecting rod 325, the other end of the fifth connecting rod is connected with the other end of the rack 323 through a revolute pair, the rack 323 can be driven to move up and down through flapping of the first inner wing supporting rod 21 and the second inner wing supporting rod 22, the sector gear 329 is meshed with the rack 323 to further drive the sector gear 329 to rotate, and the sector gear 329 is fixed with the outer wing supporting rod 31, so that the outer wing supporting rod 31 can be folded relative to the first inner wing supporting rod 21 and the second inner wing supporting rod 22, and the folding motion of the outer flapping wing 3 is formed.
In addition, in the process of flapping the first inner wing support rod 21 up and down, the third connecting rod 321 is driven to rotate, and the fourth connecting rod 322 and the seventh connecting rod 326 are further driven to rotate; in the process of flapping the second inner wing support rod 22 up and down, the fifth connecting rod 324 is driven to rotate, and the sixth connecting rod 325 and the ninth connecting rod 328 are further driven to rotate, so that the parallelogram formed by the rack 323, the eighth connecting rod 327, the fourth connecting rod 322 and the sixth connecting rod 325 is deformed, and the eighth connecting rod 327 is connected with the outer wing support rod 31 through a revolute pair, so that the outer wing support rod 31 is twisted to form the twisting motion of the outer flapping wing 3.
Referring to fig. 9-11, the two-section three-degree-of-freedom flapping-wing aircraft is shown in the state change diagrams of the inner flapping wing 2 and the outer flapping wing 3 during the flying process. Fig. 9 is a schematic view of the extreme position of the flapping wings of the present invention. FIG. 10 is a schematic view of the lower flapping limit position of the flapping wing of the present invention. Fig. 11 is a schematic view of the position of the outer flapping wing at its maximum folding angle relative to the inner flapping wing.
Referring to FIG. 8, to prevent the inner 2 and outer 3 flapping wings from breaking during flight, the folding torsion drive assembly 32 is provided with a plurality of stiffeners.
In the embodiment of the present invention, the reinforcing bar 33 includes a first reinforcing bar 331, a second reinforcing bar 332, third and fourth reinforcing rods 333 and 334, the first reinforcing rod 331 may be disposed on the seventh connecting rod 326 and the third connecting rod 321, two ends of the first reinforcing rod 331 are respectively fixed to the seventh connecting rod 326 and the third connecting rod 321, the second reinforcing rod 332 may be disposed on the fifth connecting rod 324 and the third connecting rod 321, two ends of the second reinforcing rod 332 are respectively connected to the fifth connecting rod 324 and the third connecting rod 321 through a revolute pair, the third reinforcing rod 333 may be disposed on the ninth connecting rod 328 and the seventh connecting rod 326, two ends of the third reinforcing rod 333 are respectively connected to the ninth connecting rod 328 and the seventh connecting rod 326 through a revolute pair, the fourth reinforcing rod 334 may be disposed on the ninth connecting rod 328 and the fifth connecting rod 324, and two ends of the fourth reinforcing rod 334 are respectively fixed to the ninth connecting rod 328 and the fifth connecting rod 324, which does not affect the movement of the folding torsion driving assembly 32.
A plurality of frameworks 6 are uniformly 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 to reduce drag and increase lift. And the framework 6 is designed into a hollow structure, so that the weight can be reduced, and the flying operation is further smooth, stable and reliable.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the 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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| CN202011408798.5A CN112478155B (en) | 2020-12-04 | 2020-12-04 | Two-section type three-degree-of-freedom flapping wing aircraft |
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| CN113086187B (en) * | 2021-04-30 | 2023-07-28 | 武汉科技大学 | Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion |
| CN116674747B (en) * | 2023-08-03 | 2023-10-20 | 西南石油大学 | Flexible flapping wing and ducted propeller hybrid-driven simulated baton floating aircraft |
| CN118701286A (en) * | 2024-08-30 | 2024-09-27 | 青岛理工大学 | Active unfolding and passive folding type ornithopter |
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| JP4011538B2 (en) * | 2003-01-16 | 2007-11-21 | シャープ株式会社 | Flapping equipment |
| US20110079677A1 (en) * | 2009-10-05 | 2011-04-07 | Chronister Nathan J | Ornithopter |
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| CN109502019B (en) * | 2018-11-23 | 2021-10-22 | 武汉科技大学 | Large bionic flapping wing aircraft |
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| CN106043692A (en) * | 2016-06-08 | 2016-10-26 | 中国民航大学 | Multi-freedom degree bird-like flapping wing air vehicle |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
| CN209814271U (en) * | 2019-04-01 | 2019-12-20 | 吉林大学 | Four-degree-of-freedom flapping wing aircraft device |
| CN110937108A (en) * | 2019-09-12 | 2020-03-31 | 北京交通大学 | Double-section type flapping wing aircraft with actively folded wings capable of being unfolded |
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