CN112693605B - Flapping wing aircraft - Google Patents
Flapping wing aircraft Download PDFInfo
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- CN112693605B CN112693605B CN202110108553.9A CN202110108553A CN112693605B CN 112693605 B CN112693605 B CN 112693605B CN 202110108553 A CN202110108553 A CN 202110108553A CN 112693605 B CN112693605 B CN 112693605B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention discloses a flapping wing aircraft which comprises a main shaft mechanism, a pair of wings, a wing switching mechanism and a flapping driving mechanism, wherein the number of the pairs of wings is one, the pairs of wings are symmetrically arranged at two sides of the main shaft mechanism, the pair of wings are rotatably connected with the main shaft mechanism, the wing switching mechanism comprises attack angle adjusting steering engines, the attack angle adjusting steering engines are fixed on the main shaft mechanism, the attack angle adjusting steering engines are in transmission connection with the pair of wings, the attack angle adjusting steering engines can adjust the attack angle of the pair of wings, the number of the wing switching mechanism and the flapping driving mechanism is two and corresponds to the pair of wings one by one, the flapping driving mechanism is in transmission connection with the pair of wings, and the flapping driving mechanism can drive the pair of wings to reciprocate. The flapping wing aircraft provided by the invention realizes flight by flapping the wing pairs, the angle of attack of the wing pairs can be adjusted by the angle of attack adjusting steering engine, and on the basis of rotating of the wings, the flight attitude similar to a rotor wing aircraft is realized, stable lift force is generated, and efficient and stable flight is realized.
Description
Technical Field
The invention relates to the technical field of bionic aircrafts, in particular to an ornithopter.
Background
Micro Air Vehicles (MAV) are also called nano aircraft or Micro nano aircraft. A micro-aircraft is defined as an aircraft having dimensions of 15cm and capable of flying and performing various detection tasks by its own power. The development of micro-aircraft in the 90 s of the 20 th century has largely exceeded the research category of traditional aircraft design and aerodynamic technology, and is a challenge to traditional aviation technology, and its emergence also exploits the application of nanotechnology and micro-electromechanical system technology in the aviation field. The development and application of the micro aircraft can certainly promote the development of the national defense science and technology industry, and has wide civil prospect.
At present, small drones mainly comprise two types of configurations, namely fixed wings and rotary wings, but the defects of the small drones are prominent: fixed wing aircraft lift is not enough when the low-speed flight, and rotor aircraft's noise is great, and maneuverability and stability are relatively poor. Unlike fixed wing and rotor craft, which primarily utilize the principle of constant aerodynamics, flapping wings utilize some unusual aerodynamic phenomena, such as low reynolds number leading edge vortices, which significantly improve lift over the behavior of steady flow, and a large number of calculations and experimental work have demonstrated that the lift coefficient of flapping wings is much higher than that of rotor and fixed wings. In addition, the flapping wing aircraft has a higher thrust coefficient in a small size and higher energy efficiency at a high speed. Based on the advantages, the bionic ornithopter becomes a great hot point for research in recent years. However, due to the nonlinear and unusual aerodynamic characteristics of flapping wing flight, the theoretical analysis and design of the flapping wing are difficult.
Therefore, how to overcome the above difficulties is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a flapping wing aircraft, which aims to solve the problems in the prior art and realize efficient and stable flight of the flapping wing aircraft.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a flapping wing aircraft which comprises a main shaft mechanism, a pair of wings, a wing switching mechanism and a flapping driving mechanism, wherein the number of the wing pairs is one, the wing pairs are symmetrically arranged on two sides of the main shaft mechanism, the wing pairs are rotatably connected with the main shaft mechanism, the wing switching mechanism comprises attack angle adjusting steering engines, the attack angle adjusting steering engines are fixed on the main shaft mechanism and are in transmission connection with the wing pairs, the attack angles of the wing pairs can be adjusted by the attack angle adjusting steering engines, the number of the wing switching mechanism and the number of the flapping driving mechanism are two, the wing switching mechanism and the flapping driving mechanism are in one-to-one correspondence with the wing pairs, the flapping driving mechanism is in transmission connection with the wing pairs, and the flapping driving mechanism can drive the wing pairs to reciprocate.
Preferably, the main shaft mechanism comprises an ultra-light rod, a diamond-shaped support and an L-shaped support, the diamond-shaped support is sleeved outside the ultra-light rod, the wing pair is rotatably connected with the diamond-shaped support, the L-shaped support is connected with the ultra-light rod, and the attack angle adjusting steering engine is fixed on the L-shaped support.
Preferably, the radial section of the ultralight rod is rectangular, the ultralight rod penetrates through the center of gravity of the diamond-shaped support, the wings are symmetrically arranged at two ends of the diamond-shaped support, and both the diamond-shaped support and the L-shaped support are of hollow structures.
Preferably, the wing pair comprises a wing framework and a wing membrane, the wing membrane is coated outside the wing framework, the wing membrane is made of a high-elasticity TPU thin film material, and the wing framework is connected with a wing connecting piece.
Preferably, the wing switching mechanism further comprises an attack angle transmission assembly, the attack angle transmission assembly comprises a steering engine connecting rod and a rotating shaft, one end of the rotating shaft is connected with the wing connecting piece, the rotating shaft rotatably penetrates through the diamond-shaped support, the other end of the rotating shaft is rotatably connected with the steering engine connecting rod, and one end, far away from the rotating shaft, of the steering engine connecting rod is connected with an output end of the attack angle adjusting steering engine; the wing skeleton is provided with a sleeve, the sleeve is sleeved outside the rotating shaft, and the sleeve is located at the top of the diamond-shaped support.
Preferably, the rhombic support is provided with a rotating shaft hole, the rotating shaft penetrates through the rotating shaft hole, the axial section of the rotating shaft hole is hourglass-shaped, and the position with the smallest diameter of the rotating shaft hole is rotatably connected with the rotating shaft.
Preferably, one end of the steering engine connecting rod, which is close to the rotating shaft, is of a hollow structure, and the rotating shaft can rotatably extend into the steering engine connecting rod.
Preferably, pat actuating mechanism including drive brushless coreless motor, drive gear group, pat the rocker, drive brushless coreless motor with drive gear group links to each other, pat the rocker and connect drive gear group with the wing is right, pat the rocker respectively with drive gear group the wing is to swivelling joint, drive brushless coreless motor with drive gear group all is fixed in on the wing connecting piece.
Preferably, the main shaft mechanism is connected with a gravity center adjusting mechanism, the gravity center adjusting mechanism is positioned at one end of the attack angle adjusting steering engine far away from the wing pair, and the gravity center adjusting mechanism and the attack angle adjusting steering engine are respectively positioned at two opposite sides of the main shaft mechanism; the gravity center adjusting mechanism comprises a driving micro stepping motor, a screw and a nut, the driving micro stepping motor is arranged on the main shaft mechanism, the screw is parallel to the main shaft mechanism and the relative rotating axis of the wing pair, the screw is rotatably arranged on the main shaft mechanism, the driving micro stepping motor is connected with the screw, and the nut is in threaded connection with the screw.
Preferably, an undercarriage is arranged at one end, away from the wing pair, of the main shaft mechanism, and the undercarriage is in a cross shape.
Compared with the prior art, the invention has the following technical effects: the flapping wing aircraft comprises a main shaft mechanism, a pair of wings, a wing switching mechanism and a flapping driving mechanism, wherein the number of the pairs of wings is one, the pairs of wings are symmetrically arranged at two sides of the main shaft mechanism, the pair of wings are rotatably connected with the main shaft mechanism, the wing switching mechanism comprises an attack angle adjusting steering engine, the attack angle adjusting steering engine is fixed on the main shaft mechanism and is in transmission connection with the pair of wings, the attack angle adjusting steering engine can adjust the attack angle of the pair of wings, the number of the wing switching mechanism and the number of the flapping driving mechanism are two and are in one-to-one correspondence with the pair of wings, the flapping driving mechanism is in transmission connection with the pair of wings, and the flapping driving mechanism can drive the pair of wings to reciprocate. The flapping wing aircraft provided by the invention realizes flight by flapping the wing pairs, the attack angle of the wing pairs can be adjusted by the attack angle adjusting steering engine, and the flight attitude similar to a rotor wing aircraft is realized on the basis of rotating the wings, so that the flapping wing aircraft provided by the invention can generate stable lift force in a manner similar to the rotor wing aircraft, and high-efficiency stable flight is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of an ornithopter of the present invention;
FIG. 2 is a schematic structural diagram of a main shaft mechanism of the flapping wing aircraft;
FIG. 3 is a schematic structural view of a diamond-shaped support of the flapping wing aircraft of the present invention;
FIG. 4 is a partially schematic structural cut-away view of a diamond support of the ornithopter of the present invention;
FIG. 5 is a schematic view of a wing pair of the ornithopter of the present invention;
FIG. 6 is a schematic structural diagram of a wing transfer mechanism of the ornithopter of the present invention;
FIG. 7 is a schematic structural view of a flapping driving mechanism of an ornithopter of the present invention;
FIG. 8 is a schematic structural view of the center of gravity adjustment mechanism of the ornithopter of the present invention;
the flapping wing aircraft comprises a flapping wing aircraft 100a, a main shaft mechanism 1, an ultra-light rod 101, a diamond-shaped support 102, an L-shaped support 103, a rotating shaft hole 104, a wing pair 2, a wing framework 201, a wing membrane 202, a wing connecting piece 203, a wing switching mechanism 3, an attack angle adjusting steering engine 301, an attack angle transmission assembly 302, a steering engine connecting rod 303, a rotating shaft 304, a flapping driving mechanism 4, a brushless hollow cup driving motor 401, a transmission gear set 402, a flapping rocker 403, a gravity center adjusting mechanism 5, a micro stepping driving motor 501, a screw rod 502, a nut 503 and an undercarriage 6.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a flapping wing aircraft, which aims to solve the problems in the prior art and realize efficient and stable flight of the flapping wing aircraft.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Referring to fig. 1-8, wherein fig. 1 is a schematic structural diagram of a flapping wing aircraft of the present invention, fig. 2 is a schematic structural diagram of a main shaft mechanism of the flapping wing aircraft of the present invention, fig. 3 is a schematic structural diagram of a diamond-shaped bracket of the flapping wing aircraft of the present invention, fig. 4 is a schematic partial structural sectional diagram of the diamond-shaped bracket of the flapping wing aircraft of the present invention, fig. 5 is a schematic structural diagram of a pair of wings of the flapping wing aircraft of the present invention, fig. 6 is a schematic structural diagram of a wing switching mechanism of the flapping wing aircraft of the present invention, fig. 7 is a schematic structural diagram of a flapping driving mechanism of the flapping wing aircraft of the present invention, and fig. 8 is a schematic structural diagram of a center of gravity adjusting mechanism of the flapping wing aircraft of the present invention.
The invention provides a flapping wing aircraft 100a, which comprises a main shaft mechanism 1, wing pairs 2, wing transfer mechanisms 3 and flapping driving mechanisms 4, wherein the number of the wing pairs 2 is one, the wing pairs 2 are symmetrically arranged on two sides of the main shaft mechanism 1, the wing pairs 2 are rotatably connected with the main shaft mechanism 1, each wing transfer mechanism 3 comprises an attack angle adjusting steering engine 301, the attack angle adjusting steering engines 301 are fixed on the main shaft mechanism 1, the attack angle adjusting steering engines 301 are in transmission connection with the wing pairs 2, the attack angle adjusting steering engines 301 can adjust the attack angles of the wing pairs 2, the number of the wing transfer mechanisms 3 and the number of the flapping driving mechanisms 4 are two and are in one-to-one correspondence with the wing pairs 2, the flapping driving mechanisms 4 are in transmission connection with the wing pairs 2, and the flapping driving mechanisms 4 can drive the wing pairs 2 to reciprocate.
The flapping wing aircraft 100a of the invention is provided with the wing pairs 2 at two sides of the main shaft mechanism 1, and the wing pairs 2 are in an X shape when in a balanced state. The flapping directions of the top and bottom pairs of wings 2 are opposite to each other, so that the vibrations generated during flapping can be suppressed, and furthermore, a flap-and-peel effect (flap-and-peel effect) is generated where the pairs of wings 2 meet. An attack angle adjusting steering engine 301 is arranged between the wing pair 2 and the main shaft mechanism 1, so that the wing pair 2 can be independently controlled. The wing pair 2 is connected with a flapping driving mechanism 4 for providing power for flapping the wing pair 2. The flapping wing aircraft 100a disclosed by the invention realizes flight by flapping the wing pairs 2, the attack angle adjusting steering engine 301 can adjust the attack angle of the wing pairs 2, and the flight attitude similar to a rotor wing aircraft is realized on the basis of rotation of the wing pairs 2, so that the flapping wing aircraft 100a disclosed by the invention can generate stable lift force in a manner similar to the rotor wing aircraft, and efficient and stable flight is realized.
The main shaft mechanism 1 comprises an ultra-light rod 101, a diamond-shaped support 102 and an L-shaped support 103, the diamond-shaped support 102 is sleeved outside the ultra-light rod 101, the wing pair 2 is rotatably connected with the diamond-shaped support 102, the L-shaped support 103 is connected with the ultra-light rod 101, and an attack angle adjusting steering engine 301 is fixed on the L-shaped support 103. The ultra-light rod 101 is made of carbon fiber materials, the ascending burden of the flapping wing air vehicle 100a is reduced, the diamond-shaped support 102 is made of photosensitive resin through printing, and the diamond-shaped support 102 is connected with the wing pair 2.
In this embodiment, the height of the ultralight rod 101 is 20cm, the radial cross section of the ultralight rod 101 is rectangular, rotation and dislocation of the ultralight rod 101 are avoided, the ultralight rod 101 penetrates through the center of gravity of the diamond-shaped support 102, the wing pairs 2 are symmetrically arranged at two ends of the diamond-shaped support 102, and the diamond-shaped support 102 and the L-shaped support 103 are both hollow structures, so that the mass is reduced and the flight load is reduced on the premise of ensuring the structural strength.
Specifically, the wing pair 2 comprises a wing framework 201 and a wing membrane 202, the wing membrane 202 is coated outside the wing framework 201, the wing membrane 202 is made of a high-elasticity TPU thin film material and reduces the mass of the wing membrane 202, and the wing framework 201 is connected with a wing connecting piece 203 for connecting the wing adapting mechanism 3. In this embodiment, the wing frame 201 includes a front support rod, a middle support rod and a root support rod, the front support rod and the middle support rod are connected to each other at one end far away from the main shaft mechanism 1, the root support rod is connected to the other end of the front support rod and the middle support rod, the front support rod is subjected to a large shear stress, the diameter of the front support rod is set to 1.5mm, the diameter of the middle support rod and the diameter of the root support rod are set to 1mm, the three support rods constitute the wing frame 201, the wing frame 201 covers the wing membrane 202, and the area of the single-side wing membrane 202 is 75cm2One side, aThe span is 21 mm.
More specifically, the wing changeover mechanism 3 further comprises an attack angle transmission assembly 302, the attack angle transmission assembly 302 comprises a steering engine connecting rod 303 and a rotating shaft 304, one end of the rotating shaft 304 is connected with the wing connecting piece 203, the rotating shaft 304 rotatably penetrates through the diamond-shaped support 102, the other end of the rotating shaft 304 is rotatably connected with the steering engine connecting rod 303, one end, far away from the rotating shaft 304, of the steering engine connecting rod 303 is connected with an output end of an attack angle adjusting steering engine 301, and the attack angle adjusting steering engine 301 adjusts the flapping attack angle of the wing pair 2 by using the steering engine connecting rod 303, so that the direction of a flapping starting force is adjusted, and controllable flight of the flapping wing aircraft 100a is realized. The wing frame 201 is provided with a sleeve, the sleeve is sleeved outside the rotating shaft 304 and is positioned at the top of the diamond-shaped support 102, and the rotating shaft 304 drives the wing pair 2 to move by utilizing the sleeve when rotating.
It should be emphasized that the diamond-shaped bracket 102 has a rotating shaft hole 104, the rotating shaft 304 passes through the rotating shaft hole 104, the axial section of the rotating shaft hole 104 is hourglass-shaped, and the smallest diameter part of the rotating shaft hole 104 is rotatably connected with the rotating shaft 304. When the included angle between the rotating shaft 304 and the ultralight rod 101 changes, the hourglass-shaped rotating shaft hole 104 can reduce the lateral constraint force of the rotating shaft 304 on the diamond-shaped support 102, reduce the output torque burden of the attack angle adjusting steering engine 301, and adjust the included angle between the rotating shaft 304 and the ultralight rod 101 through the change of the output angle of the attack angle adjusting steering engine 301, so that the change of the wing to the 2 attack angle is realized.
In other specific embodiments of the present invention, one end of the steering engine connecting rod 303 close to the rotating shaft 304 is a hollow structure, and the rotating shaft 304 rotatably extends into the steering engine connecting rod 303, so as to ensure that the rotating shaft 304 can normally rotate.
Further, the flapping driving mechanism 4 comprises a driving brushless coreless motor 401, a transmission gear set 402 and a flapping rocking bar 403, the driving brushless coreless motor 401 is connected with the transmission gear set 402, the flapping rocking bar 403 is connected with the transmission gear set 402 and the wing pair 2, the flapping rocking bar 403 is respectively in rotating connection with the transmission gear set 402 and the wing pair 2, and the driving brushless coreless motor 401 and the transmission gear set 402 are both fixed on the wing connecting piece 203. The brushless coreless motor 401 is driven to drive the transmission gear set 402 to move, and then the flapping rocking bar 403 is used for driving the wing pair 2 to rotate, so that the wing pair 2 can flap symmetrically according to a certain frequency. In this embodiment, the brushless coreless motor 401 is driven at 14800RPM with a diameter of 1cm, the flapping frequency to be output is 22Hz, and the pair of wings flaps 2 flap at 180 ° amplitude.
Furthermore, the main shaft mechanism 1 is connected with a gravity center adjusting mechanism 5, the gravity center adjusting mechanism 5 is positioned at one end of the attack angle adjusting steering engine 301 far away from the wing pair 2, and the gravity center adjusting mechanism 5 and the attack angle adjusting steering engine 301 are respectively positioned at two opposite sides of the main shaft mechanism 1; the gravity center adjusting mechanism 5 comprises a driving micro stepping motor 501, a screw 502 and a nut 503, the driving micro stepping motor 501 is arranged on the main shaft mechanism 1, the screw 502 is parallel to the relative rotation axis of the main shaft mechanism 1 and the wing pair 2, the screw 502 is rotatably arranged on the main shaft mechanism 1, the driving micro stepping motor 501 is connected with the screw 502, and the nut 503 is in threaded connection with the screw 502. The micro stepping motor drives the screw rod 502 to rotate, so that the nut 503 moves up and down, and the deviation of the mass of the ornithopter 100a on a pitching surface, caused by the mass of the attack angle adjusting steering engine 301 and the mass of the driving brushless coreless motor 401, is reduced while the gravity center is adjusted.
It should be noted that, the flapping wing aircraft 100a of the present invention is provided with a flight control system, and the flight control system is used for controlling the flight attitude and position of the flapping wing aircraft 100 a. The flight control system comprises a microprocessor, a posture measuring module, a communication module, a motion driving module and a vision module. The microprocessor is used for resolving flight information such as attitude and the like, planning flight tracks and realizing hovering self-stabilization control logic. The attitude measurement module is a measurement system consisting of a plurality of sensors and comprises a gyroscope, an accelerometer, a magnetometer, an altimeter and the like. The communication module is used for realizing real-time communication between the flapping-wing aircraft 100a and the ground base station and realizing information transmission between the flapping-wing aircraft and the ground base station, including flight data and control instructions. The motion driving module is used as a control executing mechanism and comprises an attack angle adjusting steering engine 301 and a driving circuit for driving the brushless coreless motor 401, and the motion driving module is used for realizing flight lift force and attack angle control. The vision module is composed of an onboard micro camera and a driving circuit thereof, so that the flapping wing air vehicle 100a can acquire ground information in real time, and transmit images to a ground base station through the communication module for control and navigation of operators. In addition, a 7.4V180mAh model airplane lithium battery is arranged between the two wing pairs 2 and used for supplying power to the driving mechanism and the flight control system. The lithium battery has the discharge capacity of 20C and the mass of about 5g, and in addition, in order to reduce the weight, the electric flapping wing control system does not adopt the conventional independent electric tilt, but uses the MOSFET circuit integrated in the flight control system circuit board as an electric tilt driving flapping driving mechanism 4 to operate so as to provide large torque output for wings. On the premise of reducing the quality of the whole machine as much as possible, the generating efficiency of the lift force of the machine body is ensured.
In addition, the undercarriage 6 is arranged at one end, far away from the wing pair 2, of the main shaft mechanism 1, the undercarriage 6 is in a cross shape, and the undercarriage 6 plays a role in supporting the whole flapping wing aircraft 100a after landing, so that the flapping wing aircraft 100a can take off and land stably.
The flapping wing aircraft 100a disclosed by the invention realizes flight by flapping the wing pair 2, the attack angle adjusting steering engine 301 can adjust the attack angle of the wing pair 2, and the flight attitude similar to a rotor wing aircraft is realized on the basis of rotation of the wing pair 2, so that the flapping wing aircraft 100a disclosed by the invention can generate stable lift force in a manner similar to the rotor wing aircraft, and efficient and stable flight is realized. The gravity center adjusting mechanism 5 is arranged at the main shaft mechanism 1, so that the gravity center deviation of the flapping wing aircraft caused by other mechanisms in the pitching direction is offset, on the other hand, the adjustment of the gravity center of the flapping wing aircraft is controllable, in the flight control part, the gravity center position of the whole flapping wing aircraft 100a can be better adjusted according to the posture of the flapping wing aircraft, and the whole controllability and stability of the flapping wing aircraft are enhanced. In addition, the rotating shaft hole 104 at the diamond-shaped support 102 is hourglass-shaped, so that the linear contact between the main shaft mechanism 1 and the rotating shaft 304 can be maintained, and the interference of the lateral acting force between the rotating shaft 304 and the main shaft mechanism 1 on the flying posture caused by the change of the included angle between the two is avoided.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An ornithopter, comprising: the flapping mechanism comprises two groups of flapping driving mechanisms, the number of the flapping driving mechanisms is one, the flapping driving mechanisms can drive the flapping pairs to reciprocate, and the flapping driving mechanisms can drive the flapping pairs to reciprocate;
the main shaft mechanism is connected with a gravity center adjusting mechanism, the gravity center adjusting mechanism is positioned at one end of the attack angle adjusting steering engine, which is far away from the wing pair, and the gravity center adjusting mechanism and the attack angle adjusting steering engine are respectively positioned at two opposite sides of the main shaft mechanism; the gravity center adjusting mechanism comprises a driving micro stepping motor, a screw and a nut, the driving micro stepping motor is arranged on the main shaft mechanism, the screw is parallel to the main shaft mechanism and the relative rotation axis of the wing pair, the screw is rotatably arranged on the main shaft mechanism, the driving micro stepping motor is connected with the screw, and the nut is in threaded connection with the screw.
2. The ornithopter of claim 1, wherein: the main shaft mechanism comprises an ultra-light rod, a diamond-shaped support and an L-shaped support, the diamond-shaped support is sleeved outside the ultra-light rod, the wing pair is rotatably connected with the diamond-shaped support, the L-shaped support is connected with the ultra-light rod, and the attack angle adjusting steering engine is fixed on the L-shaped support.
3. The ornithopter of claim 2, wherein: the radial section of the ultralight rod is rectangular, the ultralight rod penetrates through the gravity center of the diamond-shaped support, the wings are symmetrically arranged at two ends of the diamond-shaped support, and the diamond-shaped support and the L-shaped support are both hollow structures.
4. The ornithopter of claim 2, wherein: the pair of wings comprises a wing framework and a wing membrane, the wing membrane is coated outside the wing framework and is made of a high-elasticity TPU thin film material, and the wing framework is connected with a wing connecting piece.
5. The ornithopter of claim 4, wherein: the wing switching mechanism further comprises an attack angle transmission assembly, the attack angle transmission assembly comprises a steering engine connecting rod and a rotating shaft, one end of the rotating shaft is connected with the wing connecting piece, the rotating shaft can rotatably penetrate through the diamond-shaped support, the other end of the rotating shaft is rotatably connected with the steering engine connecting rod, and one end, far away from the rotating shaft, of the steering engine connecting rod is connected with the output end of the attack angle adjusting steering engine; the wing skeleton is provided with a sleeve, the sleeve is sleeved outside the rotating shaft, and the sleeve is located at the top of the diamond-shaped support.
6. The ornithopter of claim 5, wherein: the rhombus support has the pivot hole, the rotation axis passes the pivot hole, the axial cross-section in pivot hole is hourglass type, the minimum department of diameter in pivot hole with the rotation axis rotates and is connected.
7. The ornithopter of claim 5, wherein: the steering wheel connecting rod is close to one end of the rotating shaft is of a hollow structure, and the rotating shaft can extend into the steering wheel connecting rod in a rotating mode.
8. The ornithopter of claim 5, wherein: pat actuating mechanism including drive brushless coreless motor, drive gear group, pat the rocker, drive brushless coreless motor with drive gear group links to each other, it connects to pat the rocker drive gear group with the wing is right, pat the rocker respectively with drive gear group the wing is to rotating connection, drive brushless coreless motor with drive gear group all is fixed in on the wing connecting piece.
9. An ornithopter according to any one of claims 1 to 8, wherein: and an undercarriage is arranged at one end of the main shaft mechanism, which is far away from the wing pair, and the undercarriage is in a cross shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110108553.9A CN112693605B (en) | 2021-01-27 | 2021-01-27 | Flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110108553.9A CN112693605B (en) | 2021-01-27 | 2021-01-27 | Flapping wing aircraft |
Publications (2)
| Publication Number | Publication Date |
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| CN112693605A CN112693605A (en) | 2021-04-23 |
| CN112693605B true CN112693605B (en) | 2022-06-03 |
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| CN202110108553.9A Active CN112693605B (en) | 2021-01-27 | 2021-01-27 | Flapping wing aircraft |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140162524A1 (en) * | 2010-07-05 | 2014-06-12 | Edwin VAN RUYMBEKE | Flying toy configured to move by wing flapping |
| CN102862677A (en) * | 2012-09-18 | 2013-01-09 | 东南大学 | Double-wing type miniature bionic ornithopter |
| CN203558206U (en) * | 2013-11-20 | 2014-04-23 | 中国民航大学 | Bionic flapping-wing aircraft with double sections of main wings |
| CN107364573A (en) * | 2017-07-17 | 2017-11-21 | 哈尔滨工业大学深圳研究生院 | Flex-wing bionic flapping-wing flying vehicle |
| CN108438218B (en) * | 2018-02-11 | 2020-09-04 | 北京航空航天大学 | Bionic hummingbird aircraft |
| CN112009683B (en) * | 2020-08-06 | 2021-11-02 | 北京航空航天大学 | Miniature double-flapping-wing aircraft |
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2021
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