CN112693606A - Pigeon-like flapping wing aircraft - Google Patents
Pigeon-like flapping wing aircraft Download PDFInfo
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- CN112693606A CN112693606A CN202110155884.8A CN202110155884A CN112693606A CN 112693606 A CN112693606 A CN 112693606A CN 202110155884 A CN202110155884 A CN 202110155884A CN 112693606 A CN112693606 A CN 112693606A
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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 pigeon-simulated flapping wing aircraft, which comprises a fuselage shell, a fuselage framework, a flapping wing, a driving assembly and a V-shaped empennage, wherein the fuselage framework is provided with a wing frame; the machine body framework is arranged in the machine body shell; the flapping wings are symmetrically distributed on the left side and the right side of the body shell, and each flapping wing is distributed by adopting a single-section wing composite wing surface; the driving component is arranged on the airframe framework and drives the flapping wings to do up-and-down flapping motion and passive torsion motion of the airfoil section so as to simulate the flapping wing motion of pigeons in nature and improve the lift force and thrust of the pigeon-simulated flapping wing aircraft; the V-shaped empennage is fixed with the tail part of the fuselage framework and is positioned outside the fuselage shell, and is used for carrying out attitude control, attitude balance and direction control and providing partial lift force in the flight process of the pigeon-simulated flapping wing aircraft. The pigeon-simulated flapping wing aircraft can fly at high speed, can carry more effective loads, and has smaller flapping wing size.
Description
Technical Field
The invention relates to the technical field of bionic flapping wing aircrafts, in particular to a pigeon-like flapping wing aircraft.
Background
As shown in FIG. 8, Smartbird manufactured by Festo, Germany weighs 450g, has the span of 2m, the flying speed of 7m/s and the endurance time of 20min, and flies with two flapping wings. However, due to the arrangement of two sections of wings, the size is large, the flying speed is low, and the reconnaissance work cannot be rapidly and suddenly carried out.
As shown in FIG. 9, "Hummingbird" (Nano Hummingbird) developed by Aero Vironment, USA, funded by DARPA, costed 400 ten thousand dollars, and developed over 5 years. The weight of the flying robot is 19g, the wingspan is 16.5cm, the forward flying speed is 6.7m/s, and the cruising ability is 4 min. At present, the hummingbird can be equipped with military troops to execute reconnaissance tasks in small areas and indoors. However, because the size of the hummingbird is small, the flying speed is low, the effective load capacity is poor, and various reconnaissance tasks cannot be executed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide an imitation pigeon ornithopter which can fly at high speed, can carry more effective loads and has smaller ornithopter size.
According to the embodiment of the invention, the pigeon-simulated ornithopter comprises:
a body shell;
the fuselage framework is arranged in the fuselage shell;
the flapping wings are symmetrically distributed on the left side and the right side of the fuselage shell, and each flapping wing is in a single-section wing composite wing surface layout;
the driving component is mounted on the airframe framework and drives the flapping wings to perform vertical flapping motion and passive torsion motion of airfoil sections so as to simulate the flapping wing motion of pigeons in nature and improve the lift force and thrust of the pigeon-simulated flapping wing aircraft;
the V-shaped empennage, the V-shaped empennage with the afterbody of fuselage skeleton is fixed and is located outside the fuselage shell, be used for imitative pigeon ornithopter flight in-process carries out attitude control, attitude balance, directional control and provides partial lift.
According to the pigeon flapping-wing simulating aircraft disclosed by the embodiment of the invention, when the pigeon flapping-wing simulating aircraft works, the driving component drives the flapping wings to carry out vertical flapping motion and passive twisting motion of the wing sections so as to simulate natural pigeon flapping-wing motion to improve the lift force and thrust of the pigeon flapping-wing simulating aircraft; in the flight process of the pigeon-simulated flapping wing aircraft, the V-shaped tail wing performs attitude control, attitude balance and direction control and provides partial lift force; therefore, high-speed flight of the pigeon-like flapping-wing aircraft is realized, the pigeon-like flapping-wing aircraft can carry more effective loads, for example, a picture transmission system can be carried, and return recording of a camera video image is implemented. In addition, the flapping wings are arranged in a single-section wing composite type wing surface mode, so that the flapping wings have small size characteristics.
In some embodiments, the flapping wing has a span of 0.8-0.9 m.
In some embodiments, each of the flapping wings includes an inner wing and an outer wing, the inner wing being secured to an upper surface of the outer wing, the inner wing being for lifting lift and the outer wing being for lifting thrust.
Further, the inner wing is a foam three-dimensional configuration mechanism, and the inner wing is provided with an airfoil shape; the outer wing comprises a wing framework and an umbrella cloth covering, and the umbrella cloth covering is fixed on the wing framework, so that the two-dimensional plane wing is formed.
In some embodiments, the inner rear end of the outer wing is connected to the fuselage skeleton through a wing-fuselage connecting rod, wherein the inner rear end of the outer wing is fixed to one end of the wing-fuselage connecting rod, the other end of the wing-fuselage connecting rod is spherically hinged to a wing-fuselage connecting piece, and the wing-fuselage connecting piece is fixed to the fuselage skeleton;
the driving assembly comprises a motor, a speed reducing mechanism and two space four-bar mechanisms, wherein the motor is connected with the speed reducing mechanism, two ends of an output transmission shaft of the speed reducing mechanism are correspondingly connected with the two space four-bar mechanisms one by one, and the two space four-bar mechanisms are correspondingly connected with leading edge frameworks of the wing frameworks of the two flapping wings one by one respectively; when the driving assembly works, the motor drives the speed reducing mechanism to move, the speed reducing mechanism drives the two space four-bar mechanisms to move through the rotation of the output transmission shaft, and the two space four-bar mechanisms drive the corresponding two flapping wings to perform up-and-down flapping motion and the passive torsion motion of the wing profile.
Furthermore, each spatial four-bar linkage mechanism comprises a first crank, a first connecting rod and a rocker arm, one end of each first crank is mounted at the corresponding end of the output transmission shaft, one end of each first connecting rod is in ball hinge with the other end of the first crank, the other end of each first connecting rod is in ball hinge with the rocker arm, one end of the rocker arm is fixed with one end of the front edge framework, the other end of the rocker arm is rotatably connected to the fuselage framework, and the rotating axis of the other end of the rocker arm extends in the front-back direction; when the spatial four-bar mechanism works, the first crank is driven by the rotation of the output transmission shaft to rotate, the first crank drives the first connecting rod to move, and the first connecting rod drives the rocker arm to move up and down, so that the flapping wings are driven to flap up and down and the wing profiles are driven to rotate passively.
Furthermore, each rocker arm is a nylon rocker arm, an aluminum alloy hoop is fixed on the outer peripheral surface of each rocker arm, and the other end of each first connecting rod is in ball hinge joint with the aluminum alloy hoop.
Still further, be fixed with fuselage rocking arm connecting plate on the fuselage skeleton, install the rocking arm pivot that extends along the fore-and-aft direction on the fuselage rocking arm connecting plate, the other end of rocking arm is equipped with changes the hole, the other end of rocking arm passes through it rotationally suits to change the hole in the rocking arm pivot.
Furthermore, the speed reducing mechanism comprises a first-stage driving gear, a first-stage driven gear, a second-stage driving gear, a second-stage driven gear, a first-stage transmission shaft and the output transmission shaft, wherein the motor is connected with the first-stage driving gear, the first-stage driving gear is meshed with the first-stage driven gear, the first-stage driven gear and the second-stage driving gear are fixed on the first-stage transmission shaft, the second-stage driving gear is meshed with the second-stage driven gear, and the second-stage driven gear is fixed on the output transmission shaft; the motor, the primary transmission shaft and the output transmission shaft are all arranged on the machine body framework; when the speed reducing mechanism works, the motor drives the first-stage driving gear to rotate, the first-stage driving gear drives the first-stage driven gear and the first-stage transmission shaft to rotate, the first-stage transmission shaft drives the second-stage driving gear to rotate, the second-stage rotating gear drives the second-stage driven gear and the output transmission shaft to rotate, and the output transmission shaft rotates and drives the spatial four-bar mechanism to move.
Still further, the fuselage skeleton includes main skeleton, vice skeleton and spliced pole, wherein, vice skeleton with main skeleton sets up at left and right direction interval, vice skeleton passes through the spliced pole is fixed on the main skeleton, one-level transmission shaft with output transmission shaft extends and support at preceding rear direction interval on left and right direction main skeleton with on vice skeleton.
Still further, be equipped with first enhancement aluminum alloy base on the main frame, be equipped with the second on the vice skeleton and strengthen aluminum alloy base, first enhancement aluminum alloy base with install on the second enhancement aluminum alloy base and be used for supporting respectively one-level transmission shaft with the bearing of output transmission shaft.
In some embodiments, the V-shaped empennage comprises two empennage assemblies, each of the two empennage assemblies comprises a stabilizing surface, a control surface, a steering engine, a second crank and a second connecting rod, the stabilizing surfaces of the two empennage assemblies are obliquely arranged and fixed on the fuselage framework and are arranged in a V shape with an upward opening, and the control surfaces of the two empennage assemblies are respectively positioned behind the corresponding stabilizing surfaces and are connected with the corresponding stabilizing surfaces in a left-right rotating manner; the two steering engines of the tail assembly are respectively installed on the corresponding stabilizing surfaces, the two ends of the second crank of the tail assembly are respectively installed on the corresponding steering engines, the two ends of the second connecting rod of the tail assembly are respectively hinged with the corresponding other end of the second crank, and the two ends of the second connecting rod of the tail assembly are respectively hinged with the corresponding stabilizing surfaces.
And furthermore, the two tail wing assemblies are fixed on the machine body framework through tail wing connecting pieces.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic perspective view of a pigeon-simulated ornithopter according to an embodiment of the invention.
Fig. 2 is a top view of an assembly structure of a fuselage skeleton and a driving assembly of the pigeon-simulated ornithopter according to the embodiment of the invention.
Fig. 3 is a perspective view of the assembly of the fuselage skeleton and the driving component of the pigeon-like ornithopter according to the embodiment of the invention.
Fig. 4 is another perspective view of the assembly of the fuselage skeleton and the driving component of the pigeon-simulated ornithopter according to the embodiment of the invention.
Fig. 5 is a schematic view of the assembly of the tail assembly and tail connection piece of the pigeon-like ornithopter according to the embodiment of the invention.
Fig. 6 is an exploded view of the tail assembly and tail attachment of a pigeon-simulated ornithopter according to an embodiment of the invention.
Fig. 7 is an exploded schematic view of the tail connecting piece and the fuselage skeleton of the pigeon-like ornithopter according to the embodiment of the invention.
FIG. 8 is a schematic view of a prior art two-section wing ornithopter.
FIG. 9 is a schematic view of a prior art single-wing ornithopter.
Reference numerals:
Fuselage rocker arm connecting plate 21 fuselage rocker arm locking plate 22 rocker arm rotating shaft 23 main framework 24
Second reinforced aluminum alloy base 28 first clamping groove 29
Flapping wing 3
Outer wing 32 wing frame 321 leading edge frame 3211 umbrella cloth skin 322
Wing-fuselage connecting rod 33
Wing-to-body connection 34
Speed reduction mechanism 42
Secondary driven gear 424 primary drive shaft 425 output drive shaft 426 bearing 427
Spatial four bar linkage 43
V-shaped tail wing 5
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A schematic diagram of a pigeon-like ornithopter 1000 according to an embodiment of the present invention is described below with reference to fig. 1 to 7.
As shown in fig. 1 to 7, the pigeon-like ornithopter 1000 according to the embodiment of the invention comprises a fuselage shell 1, a fuselage skeleton 2, ornithopters 3, a driving assembly 4 and a V-shaped empennage 5. Wherein, the fuselage skeleton 2 is arranged in the fuselage shell 1; the number of the flapping wings 3 is two, the two flapping wings 3 are symmetrically distributed on the left side and the right side of the fuselage shell 1, and each flapping wing 3 adopts a single-section wing composite wing surface layout; the driving component 4 is arranged on the airframe framework 2, and the driving component 4 drives the flapping wings 3 to do up-and-down flapping motion and passive torsion motion of the wing profiles so as to simulate the motion of the flapping wings 3 of pigeons in nature and improve the lift force and the thrust of the pigeon-simulated flapping-wing aircraft 1000; the V-shaped empennage 5 is fixed with the tail part of the fuselage framework 2 and is positioned outside the fuselage shell 1, and is used for performing attitude control, attitude balance and direction control and providing partial lift force in the flight process of the pigeon-simulated ornithopter 1000.
Specifically, the fuselage framework 2 can be installed in the fuselage shell 1, the fuselage framework 2 is fixed and supported, the fuselage framework 2 and other functional components located in the fuselage shell 1 can be protected, and in addition, the appearance requirement of the fuselage shell 1 is favorable for high-speed flight of the pigeon-simulated flapping-wing aircraft 1000.
The machine body framework 2 is arranged in the machine body shell 1 and is fixed with the machine body shell 1, and the machine body framework 2 can be provided with a driving assembly 4 to support the driving assembly 4; the frame 2 can be fixedly connected with the V-shaped empennage 5 and plays a supporting and connecting role for the V-shaped empennage 5; the fuselage skeleton 2 may also be connected to other components. Preferably, the material of the fuselage skeleton 2 can be mainly carbon plate material, can alleviate the weight of the imitative pigeon ornithopter 1000.
The flapping wings 3 are two, and the two flapping wings 3 are symmetrically distributed on the left side and the right side of the fuselage shell 1, which means that the two flapping wings 3 are basically the same, and the two basically same flapping wings 3 are symmetrically distributed in the left-right direction; each flapping wing 3 adopts a single-section wing composite wing surface layout, and when the flapping wing 3 carries out up-and-down flapping motion and passive torsion motion of an airfoil section, the motion of the flapping wing 3 of a pigeon in the nature is simulated, so that the lift force and the thrust of the pigeon-simulated flapping wing aircraft 1000 can be improved; therefore, the flapping wing 3 can fly at a high speed, and meanwhile, the flapping wing 3 has a small size characteristic by adopting the layout of the single-section wing composite wing surface, so that the blank of the existing small and medium sized flapping wing air vehicle can be made up.
The driving component 4 is arranged on the frame 2 of the machine body, and the structure is compact and reliable; the main function of the driving component 4 is to drive the flapping wings 3 to perform up-and-down flapping motion and passive torsion motion of the airfoil profile, so as to simulate the motion of the flapping wings 3 of pigeons in nature, and improve the lift force and thrust of the pigeon-simulated flapping wing aircraft 1000.
The V-shaped empennage 5 is fixed with the tail part of the fuselage framework 2 and is positioned outside the fuselage shell 1, so that attitude control, attitude balance and direction control can be performed and partial lift force can be provided in the flight process of the pigeon-simulated ornithopter 1000.
According to the pigeon-simulated ornithopter 1000 disclosed by the embodiment of the invention, when the pigeon-simulated ornithopter 1000 works, the driving component 4 drives the flapping wings 3 to perform vertical flapping motion and passive twisting motion of the wing sections so as to simulate the motion of the natural pigeon-simulated ornithopter 3 to improve the lift force and the thrust of the pigeon-simulated ornithopter 1000; in the flight process of the pigeon-simulated ornithopter 1000, the V-shaped empennage 5 performs attitude control, attitude balance and direction control and provides partial lift; therefore, high-speed flight of the pigeon-like ornithopter 1000 is realized, and the pigeon-like ornithopter 1000 can carry more payloads, for example, a picture transmission system can be carried, and return recording of camera video images is implemented. In addition, the flapping wings adopt the layout of a single-section wing composite type wing surface, so that the flapping wings 3 have small size characteristics.
In some embodiments, the wingspan of the flapping wing 3 is 0.8-0.9 m, which means that the pigeon-like flapping wing aircraft 1000 of the invention is a small and medium sized flapping wing aircraft, can make up the blank of the existing small and medium sized flapping wing aircraft, and realizes high-speed flight of the small and medium sized flapping wing aircraft, so that the small and medium sized flapping wing aircraft can carry more effective loads, for example, a picture transmission system can be carried, and return recording of camera video images is implemented.
In some embodiments, each of the flapping wings 3 comprises an inner wing 31 and an outer wing 32, the inner wing 31 being fixed to the upper surface of the outer wing 32, the inner wing 31 being used to lift the lift force, and the outer wing 32 being used to lift the thrust force, thereby facilitating the guarantee of high-speed flight of the pigeon-like ornithopter 1000.
Further, the inner wing 31 is a foam three-dimensional structure mechanism, and the inner wing 31 has an airfoil shape for lifting the lift force; the outer wing 32 includes a wing frame 321 and an umbrella cloth skin 322, and the umbrella cloth skin 322 is fixed on the wing frame 321, thereby forming a two-dimensional plane wing, ensuring flexibility and improving thrust.
In some embodiments, the inner rear end of the outer wing 32 is connected to the fuselage skeleton 2 through a wing-fuselage connecting rod 33, wherein the inner rear end of the outer wing 32 is fixed to one end of the wing-fuselage connecting rod 33, the other end of the wing-fuselage connecting rod 33 is spherically hinged to a wing-fuselage connecting piece 34, and the wing-fuselage connecting piece 34 is fixed to the fuselage skeleton 2; therefore, the inner rear end of the outer wing 32 can be conveniently connected with the fuselage framework 2 through the wing-fuselage connecting rod 33 and the wing-fuselage connecting piece 34, and meanwhile, a plurality of degrees of freedom of the movement of the outer wing 32 can be ensured through the spherical connection of the other end of the wing-fuselage connecting rod 33 and the wing-fuselage connecting piece 34.
As shown in fig. 2 to 4, the driving assembly 4 includes a motor 41, a speed reducing mechanism 42 and two spatial four-bar linkages 43, wherein the motor 41 is connected to the speed reducing mechanism 42, two ends of an output transmission shaft 426 of the speed reducing mechanism 42 are connected to the two spatial four-bar linkages 43 in a one-to-one correspondence manner, and the two spatial four-bar linkages 43 are respectively connected to leading edge frames 3211 of the wing frames 321 of the two flapping wings 3 in a one-to-one correspondence manner; when the driving assembly 4 works, the motor 41 drives the speed reducing mechanism 42 to move, the speed reducing mechanism 42 drives the two spatial four-bar linkages 43 to move through the rotation of the output transmission shaft 426, and the movement of the two spatial four-bar linkages 43 drives the corresponding two flapping wings 3 to perform the up-and-down flapping motion and the passive torsion motion of the wing profile. It will be appreciated that the motor 41 is the power source for the movement of the flapping wings 3, and the required frequency of the movement of the flapping wings 3 is achieved by the reduction of the speed reducing mechanism 42 and the movement of the spatial four-bar linkage 43.
Further, each spatial four-bar linkage 43 includes a first crank 431, a first link 432 and a rocker 433, one end of each first crank 431 is mounted at the corresponding end of the output transmission shaft 426, one end of each first link 432 is ball-hinged with the other end of the first crank 431, for example, a fisheye ball 435 shown in fig. 4 is connected, the other end of each first link 432 is ball-hinged with the rocker 433, for example, the fisheye ball 435 shown in fig. 4 is connected, one end of the rocker 433 is fixed with one end of the leading edge frame 3211, the other end of the rocker 433 is rotatably connected to the fuselage frame 2, and a rotation axis of the other end of the rocker 433 extends in the front-rear direction; when the spatial four-bar linkage 43 works, the first crank 431 is driven by the rotation of the output transmission shaft 426 to rotate, the first crank 431 drives the first connecting rod 432 to move, and the first connecting rod 432 drives the rocker 433 to move up and down, so that the flapping wings 3 are driven to flap up and down and the wing sections are driven to twist passively.
Furthermore, each rocker 433 is a nylon rocker 433, an aluminum alloy hoop 434 is fixed on the outer peripheral surface of each rocker 433, and the other end of each first link 432 is ball-hinged with the aluminum alloy hoop 434. It can be understood that the outer peripheral surface of the nylon rocker arm 433 is fixed with the aluminum alloy anchor ear 434 to form the composite reinforcing plate rocker arm 433, and because the first connecting rod 432 and the spherical hinge are directly connected with the nylon rocker arm 433, in the high-load and high-frequency motion, the nylon rocker arm 433 is easily worn and damaged to cause transmission failure, so that the aluminum alloy anchor ear 434 is locally adopted by the nylon rocker arm 433, the local strength and the wear resistance are enhanced, and the service life of the nylon rocker arm 433 is prolonged.
Further, a body rocker arm connecting plate 21 is fixed on the body framework 2, and specifically, the body rocker arm connecting plate 21 is fixed on the body framework 2 through a body rocker arm locking plate 22; the rocker arm rotating shaft 23 extending in the front-back direction is mounted on the machine body rocker arm connecting plate 21, the rocker arm rotating shaft 23 is supported and fixed through the machine body rocker arm connecting plate 21, the other end of the rocker arm 433 is provided with a rotating hole, and the other end of the rocker arm 433 is rotatably sleeved on the rocker arm rotating shaft 23 through the rotating hole. This realizes that the other end of the swing arm 433 is rotatably connected to the body frame 2 and the rotation axis of the other end of the swing arm 433 extends in the front-rear direction. The material of the body rocker arm connecting plate 21 and the body rocker arm locking plate 22 is preferably a carbon plate material.
As shown in fig. 2 to 4, further, the reduction mechanism 42 is a tandem two-stage reduction mechanism 42, and the reduction gears and the gear shafts are distributed along the longitudinal axis of the body. Specifically, the speed reducing mechanism 42 includes a first driving gear 421, a first driven gear 422, a second driving gear 423, a second driven gear 424, a first transmission shaft 425 and an output transmission shaft 426, wherein the motor 41 is connected to the first driving gear 421, the first driving gear 421 is engaged with the first driven gear 422, the first driven gear 422 and the second driving gear 423 are fixed on the first transmission shaft 425, the second driving gear 423 is engaged with the second driven gear 424, and the second driven gear 424 is fixed on the output transmission shaft 426; the motor 41, the primary transmission shaft 425 and the output transmission shaft 426 are all arranged on the machine body framework 2; when the speed reducing mechanism 42 works, the motor 41 drives the first-stage driving gear 421 to rotate, the first-stage driving gear 421 drives the first-stage driven gear 422 and the first-stage transmission shaft 425 to rotate, the first-stage transmission shaft 425 drives the second-stage driving gear 423 to rotate, the second-stage rotating gear drives the second-stage driven gear and the output transmission shaft 426 to rotate, and the output transmission shaft 426 rotates to drive the spatial four-bar linkage 43 to move. It will be appreciated that by means of a two-stage deceleration, the required frequency of movement of the flapping wings 3 can be achieved.
As shown in fig. 2, still further, the fuselage skeleton 2 includes a main skeleton 24, a sub-skeleton 25 and a connecting column 26, wherein the sub-skeleton 25 is provided spaced apart from the main skeleton 24 in the left-right direction, the sub-skeleton 25 is fixed to the main skeleton 24 by the connecting column 26, and a primary transmission shaft 425 and an output transmission shaft 426 extend in the left-right direction and are supported on the main skeleton 24 and the sub-skeleton 25 spaced apart in the front-rear direction; the motor 41 may be fixed to the main frame 24.
Specifically, the main framework 24 can be a carbon plate main framework 24, the auxiliary framework 25 can be a carbon plate auxiliary framework 25, the connecting column 26 is an aluminum column, and the carbon plate main framework 24 and the carbon plate auxiliary framework 25 are fixedly connected through the aluminum column to form a fuselage structure matrix. In order to ensure good assembly tolerance, fit precision and wear resistance, a first reinforced aluminum alloy base 27 is arranged on the main framework 24, a second reinforced aluminum alloy base 28 is arranged on the auxiliary framework 25, bearings 427 used for supporting the first-stage transmission shaft 425 and the output transmission shaft 426 are arranged on the first reinforced aluminum alloy base 27 and the second reinforced aluminum alloy base 28 respectively, the first-stage transmission shaft 425 and the output transmission shaft 426 are in tight fit with the bearings 427 and penetrate through the whole machine body framework 2, the first-stage transmission shaft 425 and the output transmission shaft 426 are in tight fit with reduction gears at all stages to play a role in transmitting torque and motion, and the above components and the connection mode form a reinforced machine body structure.
As shown in fig. 1, 5 to 7, in some embodiments, the V-shaped tail 5 includes two tail assemblies 51, each of the two tail assemblies 51 includes a stabilizing surface 511, a control surface 512, a steering engine 513, a second crank 514 and a second connecting rod 515, the stabilizing surfaces 511 of the two tail assemblies 51 are obliquely fixed on the fuselage skeleton 2 and are arranged in a V shape with an upward opening, and the control surfaces 512 of the two tail assemblies 51 are respectively located behind the corresponding stabilizing surfaces 511 and are connected with the corresponding stabilizing surfaces 511 in a left-right rotatable manner; the steering engines 513 of the two tail assemblies 51 are respectively installed on the corresponding stabilizing surfaces 511, one ends of the second cranks 514 of the two tail assemblies 51 are respectively installed on the corresponding steering engines 513, one ends of the second connecting rods 515 of the two tail assemblies 51 are respectively hinged with the other ends of the corresponding second cranks 514, and the other ends of the second connecting rods 515 of the two tail assemblies 51 are respectively hinged with the corresponding control surfaces 512. Therefore, the left and right rotation of the control surfaces 512 of the two tail assemblies 51 are driven by the steering engine 513, the second crank 514 and the second connecting rod 515, and independent control is realized. By arranging the V-shaped empennage 5, the posture control, the posture balance and the direction control can be carried out and partial lift force can be provided in the flight process of the pigeon-simulated ornithopter 1000.
Preferably, the range of the inclination angle of the stabilizing surface 511 (i.e. the included angle between the stabilizing surface 511 and the vertical surface) can be 40-60 degrees, so that the posture control, the posture balance and the direction control can be better performed and partial lift force can be provided in the flight process of the pigeon-simulated ornithopter 1000; the stabilizing surface 511 and the control surface 512 are bonded through fiber adhesive tapes, the stabilizing surface and the control surface can relatively rotate relative to the bonded connecting part, the connecting mode is simple, and the bonding is firm.
The other end of the second connecting rod 515 of the tail assembly 51 is hinged to the control surface 512, specifically, a control surface rudder angle 516 is arranged on the control surface 512, and the other end of the second connecting rod 515 is connected to the control surface rudder angle 516, so that the connection mode is simple, and the control surface 512 can be driven to rotate well. .
Furthermore, two tail assemblies 51 are fixed on the fuselage skeleton 2 through tail connectors 52, so that the connection is convenient.
Specifically, the fuselage framework 2 is provided with a first clamping groove 29 for clamping the tail connecting piece 52, the tail connecting piece 52 is a carbon plate clamping piece, the tail connecting piece 52 is provided with a second clamping groove 521 for clamping the fuselage framework 2, and when the first clamping groove 29 clamps the tail connecting piece 52, the second clamping groove 521 can clamp the fuselage framework 2, so that the mutual clamping between the tail connecting piece 52 and the fuselage framework 2 is realized, and the connection is reliable. The tail connector 52 is further provided with a third slot 522 and a fourth slot 523 for respectively locking the control surfaces 512 of the two tail assemblies 51, wherein the third slot 522 can lock the control surface 512 of one tail assembly 51 of the two tail assemblies 51, and the third slot 522 can lock the control surface 512 of the other tail assembly 51 of the two tail assemblies 51.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. The utility model provides an imitative pigeon class flapping wing aircraft which characterized in that includes:
a body shell;
the fuselage framework is arranged in the fuselage shell;
the flapping wings are symmetrically distributed on the left side and the right side of the fuselage shell, and each flapping wing is in a single-section wing composite wing surface layout;
the driving component is mounted on the airframe framework and drives the flapping wings to perform vertical flapping motion and passive torsion motion of airfoil sections so as to simulate the flapping wing motion of pigeons in nature and improve the lift force and thrust of the pigeon-simulated flapping wing aircraft;
the V-shaped empennage, the V-shaped empennage with the afterbody of fuselage skeleton is fixed and is located outside the fuselage shell, be used for imitative pigeon ornithopter flight in-process carries out attitude control, attitude balance, directional control and provides partial lift.
2. The pigeon-simulated ornithopter of claim 1, wherein the flapping wing has a span of 0.8-0.9 m.
3. The pigeon-like ornithopter of claim 1, wherein each of said ornithopters comprises an inner wing and an outer wing, said inner wing being secured to an upper surface of said outer wing, said inner wing being for lifting lift and said outer wing being for lifting thrust.
4. The pigeon-simulated ornithopter of claim 3, wherein the inner wing is a foam three-dimensional configuration mechanism, the inner wing having an airfoil shape; the outer wing comprises a wing framework and an umbrella cloth covering, and the umbrella cloth covering is fixed on the wing framework, so that the two-dimensional plane wing is formed.
5. The pigeon-simulated ornithopter according to claim 4, wherein the inner rear end of the outer wing is connected to the fuselage skeleton via a wing-fuselage connecting rod, wherein the inner rear end of the outer wing is fixed to one end of the wing-fuselage connecting rod, and the other end of the wing-fuselage connecting rod is spherically hinged to a wing-fuselage connecting piece fixed to the fuselage skeleton;
the driving assembly comprises a motor, a speed reducing mechanism and two space four-bar mechanisms, wherein the motor is connected with the speed reducing mechanism, two ends of an output transmission shaft of the speed reducing mechanism are correspondingly connected with the two space four-bar mechanisms one by one, and the two space four-bar mechanisms are correspondingly connected with leading edge frameworks of the wing frameworks of the two flapping wings one by one respectively; when the driving assembly works, the motor drives the speed reducing mechanism to move, the speed reducing mechanism drives the two space four-bar mechanisms to move through the rotation of the output transmission shaft, and the two space four-bar mechanisms drive the corresponding two flapping wings to perform up-and-down flapping motion and the passive torsion motion of the wing profile.
6. The pigeon-simulated ornithopter of claim 5, wherein each spatial four-bar linkage comprises a first crank, a first connecting bar and a rocker arm, one end of each first crank is mounted at the corresponding end of the output transmission shaft, one end of each first connecting bar is in ball-joint with the other end of the first crank, the other end of each first connecting bar is in ball-joint with the rocker arm, one end of the rocker arm is fixed with one end of the leading-edge framework, the other end of the rocker arm is rotatably connected to the fuselage framework, and the rotation axis of the other end of the rocker arm extends in the front-back direction; when the spatial four-bar mechanism works, the first crank is driven by the rotation of the output transmission shaft to rotate, the first crank drives the first connecting rod to move, and the first connecting rod drives the rocker arm to move up and down, so that the flapping wings are driven to flap up and down and the wing profiles are driven to rotate passively.
7. The pigeon-simulated ornithopter of claim 6, wherein each rocker arm is a nylon rocker arm, an aluminum alloy hoop is fixed on the outer peripheral surface of each rocker arm, and the other end of each first connecting rod is in ball hinge connection with the aluminum alloy hoop.
8. The pigeon-like flapping wing aircraft of claim 6, wherein a fuselage rocker arm connecting plate is fixed on the fuselage skeleton, a rocker arm rotating shaft extending in the front-back direction is installed on the fuselage rocker arm connecting plate, a rotating hole is formed in the other end of the rocker arm, and the other end of the rocker arm is rotatably sleeved on the rocker arm rotating shaft through the rotating hole.
9. The pigeon-simulated ornithopter of claim 5, wherein the reduction mechanism comprises a primary driving gear, a primary driven gear, a secondary driving gear, a secondary driven gear, a primary transmission shaft and the output transmission shaft, wherein the motor is connected to the primary driving gear, the primary driving gear is engaged with the primary driven gear, the primary driven gear and the secondary driving gear are fixed to the primary transmission shaft, the secondary driving gear is engaged with the secondary driven gear, and the secondary driven gear is fixed to the output transmission shaft; the motor, the primary transmission shaft and the output transmission shaft are all arranged on the machine body framework; when the speed reducing mechanism works, the motor drives the first-stage driving gear to rotate, the first-stage driving gear drives the first-stage driven gear and the first-stage transmission shaft to rotate, the first-stage transmission shaft drives the second-stage driving gear to rotate, the second-stage rotating gear drives the second-stage driven gear and the output transmission shaft to rotate, and the output transmission shaft rotates and drives the spatial four-bar mechanism to move.
10. The pigeon wing-flapping-imitating aircraft according to claim 9, wherein the fuselage skeleton comprises a main skeleton, an auxiliary skeleton and a connecting column, wherein the auxiliary skeleton and the main skeleton are arranged at intervals in the left-right direction, the auxiliary skeleton is fixed on the main skeleton through the connecting column, and the primary transmission shaft and the output transmission shaft extend in the left-right direction and are supported on the main skeleton and the auxiliary skeleton at intervals in the front-back direction.
11. The pigeon-simulated ornithopter of claim 10, wherein a first reinforced aluminum alloy base is arranged on the main frame, a second reinforced aluminum alloy base is arranged on the auxiliary frame, and bearings for supporting the primary transmission shaft and the output transmission shaft are respectively arranged on the first reinforced aluminum alloy base and the second reinforced aluminum alloy base.
12. The pigeon-simulated ornithopter of claim 1, wherein the V-shaped empennage comprises two empennage assemblies, each of the two empennage assemblies comprises a stabilizing surface, a control surface, a steering engine, a second crank and a second connecting rod, the stabilizing surfaces of the two empennage assemblies are obliquely fixed on the fuselage framework and are arranged in a V shape with an upward opening, and the control surfaces of the two empennage assemblies are respectively positioned behind the corresponding stabilizing surfaces and are connected with the corresponding stabilizing surfaces in a left-right rotating manner; the two steering engines of the tail assembly are respectively installed on the corresponding stabilizing surfaces, the two ends of the second crank of the tail assembly are respectively installed on the corresponding steering engines, the two ends of the second connecting rod of the tail assembly are respectively hinged with the corresponding other end of the second crank, and the two ends of the second connecting rod of the tail assembly are respectively hinged with the corresponding stabilizing surfaces.
13. The pigeon-simulated ornithopter of claim 12 wherein two of said tail assemblies are secured to said fuselage airframe by tail connectors.
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