CN113086187B - Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion - Google Patents
Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion Download PDFInfo
- Publication number
- CN113086187B CN113086187B CN202110478147.1A CN202110478147A CN113086187B CN 113086187 B CN113086187 B CN 113086187B CN 202110478147 A CN202110478147 A CN 202110478147A CN 113086187 B CN113086187 B CN 113086187B
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- flapping
- torsion
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- gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
A two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion comprises a framework, flapping wings, tail wings, a driving motor and a flapping torsion mechanism; the flapping torsion mechanisms are arranged on two sides of the framework and comprise driving gears, a crank swing rod, a flapping piece first-stage shaft, a flapping piece second-stage shaft and a flapping piece third-stage shaft, wherein one end of the crank swing rod is connected with the driving gears; the other end of the crank swing rod is sleeved on the first-stage shaft of the flapping piece in a sliding manner, two ends of the third-stage shaft of the flapping piece of the two flapping torsion mechanisms at two sides of the framework are connected through a mechanism fixing frame, a tooth condition is sleeved on the second-stage shaft of the flapping piece, a quarter torsion gear is meshed with the rack piece, and the tooth condition is connected with the crank swing rod; the flapping wings are arranged on two sides of the framework and comprise flapping rods, and one ends of the flapping rods penetrate through a third-stage shaft of the flapping piece to be connected with a quarter torsion gear; two driving gears of the two flapping torsion mechanisms on two sides of the framework are coaxially connected, and the output end of the driving motor is connected with a transmission main gear which is meshed with one driving gear.
Description
Technical Field
The invention belongs to the technical field of flapping-wing aircrafts, and particularly relates to a two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion.
Background
The flapping-wing aircraft is a small aircraft designed based on the principle of bionics, and has the characteristics of small size, light weight, low energy consumption, good maneuverability, good concealment, convenience in carrying and the like. Compared with fixed wing and rotor wing aircrafts, the ornithopter has the advantages of higher aerodynamic efficiency and wider application field because the microminiaturization degree is far higher than that of the fixed wing and rotor wing aircrafts, and the ornithopter is widely regarded as the aircraft with the most development prospect in theory. However, the existing flapping wing aircraft generally adopts a single degree-of-freedom flapping mode, so that not only is the generated lifting force and thrust smaller, but also the flexibility is low; secondly, most of flapping wing aircrafts with two degrees of freedom are additionally provided with a steering engine or other driving source parts, 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 the flapping-wing aircraft with two degrees of freedom, which can realize flapping and torsion movements simultaneously by the flapping wings only driven by one driving motor, so that the aerodynamic performance of the flapping-wing aircraft is improved, the whole mechanism operates stably, and the maneuverability and stability of the flapping-wing aircraft can be improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a can realize flapping torsion's two degrees of freedom flapping wing aircraft, includes skeleton, flapping wing, fin and driving motor, its characterized in that: the flapping torsion mechanism is connected with the flapping wings and the driving motor;
the two flapping torsion mechanisms are arranged on two sides of the framework and comprise driving gears, a crank swing rod, a first-stage shaft of the flapping piece, a second-stage shaft of the flapping piece and a third-stage shaft of the flapping piece, wherein one end of the crank swing rod is connected with the driving gears, and the first-stage shaft, the second-stage shaft and the third-stage shaft of the flapping piece are arranged in parallel and are connected with each other at two ends; the other end of the crank swing rod is sleeved on the first-stage shaft of the flapping piece in a sliding manner, two ends of the third-stage shafts of the flapping pieces of the two flapping torsion mechanisms at two sides of the framework are connected through a mechanism fixing frame, the second-stage shafts of the flapping pieces are sleeved with teeth in a sliding manner, the rack piece is meshed with a quarter torsion gear, and the rack piece is connected with the crank swing rod;
the flapping wings are two and arranged on two sides of the framework and comprise flapping rods, and one end of each flapping rod penetrates through the third-stage shaft of each flapping piece to be connected with the quarter torsion gear;
the two driving gears of the flapping torsion mechanism on two sides of the framework are coaxially connected, the output end of the driving motor is connected with a transmission main gear, and one of the transmission main gears is meshed with the driving gear.
Further, a linear bearing is arranged in one end of the first-stage shaft of the flapping piece in a sleeved mode, and the end of the crank swing rod is sleeved on the first-stage shaft of the flapping piece through the linear bearing.
Further, two secondary reduction gears are installed on two sides of the framework, the two secondary reduction gears are coaxially connected, one secondary reduction gear is further connected with a primary reduction gear, the two primary reduction gears are coaxially connected to one side of the framework, the primary reduction gear is meshed with the transmission main gear, and the two secondary reduction gears are meshed with the two driving gears respectively.
Further, the number of teeth of the transmission main gear is smaller than that of the primary reduction gear, the number of teeth of the primary reduction gear is larger than that of the secondary reduction gear, and the number of teeth of the secondary reduction gear is smaller than that of the driving gear.
Further, the flapping wing further comprises a plurality of wing-shaped plates, and the wing-shaped plates are arranged on the flapping rod in parallel to form a flapping wing frame.
Preferably, the ornithopter rack is made of carbon fiber materials.
Further, the empennage is connected with a first steering engine and a second steering engine, and steering and pitching movement of the empennage are achieved through the first steering engine and the second steering engine.
Preferably, the framework is made of carbon fiber material.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the flapping-wing aircraft with two degrees of freedom, which is capable of realizing flapping torsion, can solve the problems of low flight efficiency, low flight flexibility and low bionic degree of the conventional flapping-wing aircraft.
2. The flapping-wing aircraft with two degrees of freedom capable of realizing flapping and torsion can realize that the whole flapping wing simultaneously performs flapping and torsion under the driving of only one driving motor, so that the aerodynamic performance of the flapping-wing aircraft is improved, the whole mechanism operates stably, and the maneuverability and stability of the flapping-wing aircraft can be improved.
The flapping-wing aircraft with two degrees of freedom, which is capable of realizing flapping torsion, has the advantages that the flight posture of flapping while twisting during operation is more in accordance with the flight motion law of medium and large birds, and the bionic effect is better.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the tail wing, the first steering engine and the second steering engine in the present invention.
FIG. 3 is a schematic diagram of the flapping-torsion mechanism of the present invention.
Fig. 4 is a schematic view of the structure of the flapping wing according to the invention.
FIG. 5 is a schematic structural view of a flapping member according to the present invention
FIG. 6 is a schematic view of the structure of the tooth condition in the present invention
FIG. 7 is a schematic view of the flapping-up limit position of the flapping wing of the present invention.
FIG. 8 is a schematic view of the flapping-down limit position of the flapping wing of the present invention.
Figure 9 is a schematic representation of the flapping-wing twisting action of the present invention reaching an extreme position.
Wherein: 1. a skeleton; 2. a driving motor; 3. a transmission main gear; 4. a primary reduction gear; 5. a secondary reduction gear; 6. a drive gear; 7. a gear fixing disc; 8. a crank swing rod; 9. a flapping member; 91. a first stage shaft of the flapping member; 92. a flapping member second stage shaft; 93. a flapping piece tertiary shaft; 10. a linear bearing; 11. a flutter bearing; 12. a mechanism fixing frame; 13. a mechanism fixing plate; 14. a quarter twist gear; 15. tooth conditions; 151. a first rack member shaft bore; 152. a second rack member shaft aperture; 16. a flutter bar; 17. flapping wing frames; 18. a wing-shaped plate; 19. the first steering engine; 20. a first connecting rod; 21. a second connecting rod; 22. tail fin clamping plate groups; 23. the second steering engine; 24. tail hinges; 25. and a tail wing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
As shown in fig. 1 and 9, a flapping-torsion-capable two-degree-of-freedom flapping-wing aircraft mainly comprises a framework 1, flapping-wing frames 17 arranged on two sides of the framework 1 and tail wings 25 arranged at the tail part of the framework 1, wherein the flapping-wing frames 17 simultaneously realize up-and-down flapping motions and chord-wise torsion motions through a flapping torsion mechanism, and the tail wings 25 realize steering motions and pitching motions through a first steering engine 19 and a second steering engine 23.
As shown in fig. 2, the invention further comprises a tail wing 25, and a first steering engine 19, a first connecting rod 20, a second connecting rod 21, a tail wing clamping plate group 22, a second steering engine 23 and a tail wing hinge 24 are arranged between the tail wing 25 and the framework 1. The first steering engine 19 is arranged at the tail part of the framework 1, the output shaft of the first steering engine 19 is perpendicular to the plane direction of the framework 1, the first connecting rod 20 is connected with the output shaft of the first steering engine 19, one end of the second connecting rod 21 is connected with the first connecting rod 20, the other end of the second connecting rod is connected with the tail fin clamping plate group 22, and the tail fin clamping plate group 22 is connected with the tail part of the framework 1 through a bearing. The second steering wheel 23 is arranged on the empennage clamping plate group 22, the longitudinal plane direction of the output shaft of the second steering wheel 23 is arranged, the empennage hinge 24 is connected with the output shaft of the second steering wheel 23, and the empennage 25 is fixedly connected with the empennage hinge 24. In the embodiment of the invention, the tail wing 25 is of a half cross sector structure and is made of a plurality of tiny carbon rods and kite cloth, so that the tail wing is light in weight and strong in toughness, and can be more suitable for complex flight postures of the ornithopter.
In the flight process, the first steering engine 19 drives the tail wing 25 to perform pitching motion, the second steering engine 23 drives the tail wing 25 to perform steering motion, and the steering motion and pitching motion of the tail wing 25 drive the steering motion and pitching motion of the whole aircraft.
As shown in fig. 3, a driving motor 2 is arranged on the framework 1, and the driving motor 2 transmits power to two driving gears 6 arranged on two sides of the top of the framework 1 side by side after being decelerated by a reduction gear set. The reduction gear set comprises a transmission main gear 3, a primary reduction gear 4, a secondary reduction gear 5 and a driving gear 6, wherein the transmission main gear 3 is arranged on an output shaft of the driving motor 2, two secondary reduction gears 5 are arranged on two sides of the framework 1, the two secondary reduction gears 5 are coaxially arranged, and one secondary reduction gear 5 on one side of the framework 1 is also coaxially provided with one primary reduction gear 4. The primary reduction gear 4 is meshed with the transmission main gear 3, the secondary reduction gear 5 is arranged in the center of the primary reduction gear 4, the driving gear 6 is meshed with the secondary reduction gear 5, the number of teeth of the transmission main gear 3 is smaller than the number of teeth of the primary reduction gear 4, the number of teeth of the secondary reduction gear 5 is smaller than the number of teeth of the driving gear 6, and the number of teeth of the secondary reduction gear 5 is smaller than the number of teeth of the primary reduction gear 4. Wherein, still set up the fixed disc 7 of gear between drive gear 6 and skeleton 1, be used for fixed relative spatial position of drive gear 6 and skeleton 1, the fixed disc 7 of gear passes through the screw nut to be fixed on skeleton 1.
The speed is reduced by the engagement of the primary reduction gear 4 with the transmission main gear 3, and is further reduced by the engagement of the drive gear 6 with the secondary reduction gear 5.
As shown in fig. 3 and 4, the whole flapping wing is arranged at two sides of the framework 1, and comprises a plurality of wing plates 18 arranged in parallel and a flapping rod 16 penetrating through the wing plates 18, wherein the wing plates 18 and the flapping rod 16 jointly form a flapping wing frame 17, and one end of the flapping rod 16 is connected with a quarter torsion gear 14. One end of the flapping rod 16 connected with the quarter torsion gear 14 penetrates through the third-stage shaft 93 of the flapping piece, and the flapping rod is connected with the third-stage shaft 93 of the flapping piece through a revolute pair.
Specifically, the wing section plates 18 are different in chord length, but are of wing section NACA2410 and hollow out design, so that the weight of the flapping wing can be effectively reduced, and meanwhile, the materials of the framework 1 and the flapping wing frame 17 are carbon fiber plates, so that the strength and the toughness are both enough.
As shown in fig. 3, 5 and 6, the flapping and twisting mechanism comprises a flapping mechanism and a twisting mechanism, the flapping mechanism comprises a driving gear 6, a crank swing rod 8 fixedly rotated with the driving gear 6, a first-stage shaft 91 and a third-stage shaft 93, a flapping piece 9 respectively rotatably connected with the crank swing rod 8 and a mechanism fixing frame 12, a mechanism fixing frame 12 arranged at the top of the framework 1 and a linear bearing 10, and the linear bearing 10 is sleeved on the first-stage shaft 91 of the flapping piece. The driving gear 6 drives the crank swing rod 8 to rotate through rotation, so that the crank swing rod 8 and the linear bearing 10 can reciprocate on the first-stage shaft 91 of the flapping piece together, the crank swing rod 8 is connected with the first-stage shaft 91 of the flapping piece through a revolute pair, two ends of the mechanism fixing frame 12 are connected with the third-stage shaft 93 of the flapping piece through the revolute pair, and therefore the third-stage shaft 93 of the flapping piece is fixed relative to the spatial position of the framework 1 and can only rotate. The mechanism fixing frame 12 is fixed on two sides of the framework 1 through a mechanism fixing plate 13 on the top of the framework 1 and screw-nut connection.
In the flight process, the crank swing rod 8 moves along with the rotation of the driving gear 6 and simultaneously reciprocates on the first-stage shaft 91 of the flapping piece, so that the whole flapping piece 9 is driven to move up and down in a rotation mode through the third-stage shaft 93 of the flapping piece, and further flapping movement of the flapping wing is realized.
The torsion mechanism comprises a rack member 15 capable of reciprocating and linearly moving on the flapping member 9 and a quarter torsion gear 14 fixedly connected with a flapping rod 16; the first rack member shaft hole 151 of the tooth member 15 is slidably connected with the first-stage flapping member shaft 91, and the second rack member shaft hole 152 is slidably connected with the second-stage flapping member shaft 92, so that the tooth member 15 is locked on the flapping member 9 and can only move left and right; the two ends of the first rack member shaft hole 151 of the tooth condition 15 are in overlapped connection with the two ends of the crank swing rod 8, so that the tooth condition 15, the crank swing rod 8 and the linear bearing 10 can perform reciprocating linear motion on the first-stage shaft 91 of the flapping member together; the quarter twist gear 14 is preferably a sector structure, a small cylindrical boss feature is arranged at the upper end of the sector structure, the end face of the small boss feature attached to the quarter twist gear 14 is tangential to the third axis 93 of the flapping member, so that the distance between the end face of the quarter twist gear 14 and the axis line of the third axis 93 of the flapping member is locked, and the end face of the quarter twist gear 14 and the end face of the rack on the rack member 15 are overlapped spatially, wherein the tooth thickness of the quarter twist gear 14 and the tooth thickness of the rack on the rack member 15 are the same.
During the flying process, the quarter torsion gear 14 is meshed with the racks on the rack piece 15, and when the rack piece 15 reciprocates on the flapping piece second-stage shaft 92, the flapping rod 16 fixedly connected with the quarter torsion gear 14 is driven to perform torsion movement, so that the torsion purpose of the whole flapping wing is achieved.
The invention can realize that the whole flapping wing simultaneously performs flapping and torsion motions only under the drive of one driving motor, improves the aerodynamic performance of the flapping wing aircraft, ensures that the whole mechanism operates stably, and can improve the maneuverability and stability of the flapping wing aircraft.
As shown in fig. 7, 8 and 9, a state change diagram of the flapping flight attitude of a two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion is shown. FIG. 7 is a schematic view of the flapping-up limit position of the flapping wing of the present invention. FIG. 8 is a schematic view of the flapping-down limit position of the flapping wing of the present invention. Figure 9 is a schematic representation of the flapping-wing twisting action of the present invention reaching an extreme position. Wherein when the flapping wing flutters to the horizontal plane position, the torsion action of the flapping wing reaches the limit; when the flapping wing is flapped up or down to the limit position, the torsion action of the flapping wing is at the balance position, namely the torsion angle is zero.
It should be noted that the present invention further includes a battery and a controller, which are disposed on the skeleton 1, the battery provides power for the whole aircraft, and the controller is capable of receiving external signals and controlling the flying attitude of the whole aircraft, where the battery and the controller are disposed by using the prior art means.
The invention relates to a two-degree-of-freedom flapping-wing aircraft capable of simultaneously realizing flapping and torsion motions, which is suitable for military and civil fields such as road monitoring, disaster rescue, field search and rescue, enemy investigation, environment monitoring, agricultural surveying and the like. The invention has the characteristics of few driving sources, high flexibility, high flight efficiency, high lift force generation, capability of realizing flapping and torsion motions simultaneously, and the like.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and 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 described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (8)
1. The utility model provides a can realize flapping torsion's two degrees of freedom flapping wing aircraft, includes skeleton, flapping wing, fin and driving motor, its characterized in that: the flapping torsion mechanism is connected with the flapping wings and the driving motor;
the two flapping torsion mechanisms are arranged on two sides of the framework and comprise driving gears, a crank swing rod, a first-stage shaft of the flapping piece, a second-stage shaft of the flapping piece and a third-stage shaft of the flapping piece, wherein one end of the crank swing rod is connected with the driving gears, and the first-stage shaft, the second-stage shaft and the third-stage shaft of the flapping piece are arranged in parallel and are connected with each other at two ends; the other end of the crank swing rod is sleeved on the first-stage shaft of the flapping piece in a sliding manner, two ends of the third-stage shafts of the flapping pieces of the two flapping torsion mechanisms at two sides of the framework are connected through a mechanism fixing frame, the second-stage shafts of the flapping pieces are sleeved with teeth in a sliding manner, the rack piece is meshed with a quarter torsion gear, and the rack piece is connected with the crank swing rod;
the flapping wings are two and arranged on two sides of the framework and comprise flapping rods, and one end of each flapping rod penetrates through the third-stage shaft of each flapping piece to be connected with the quarter torsion gear;
the two driving gears of the flapping torsion mechanism on two sides of the framework are coaxially connected, the output end of the driving motor is connected with a transmission main gear, and one of the transmission main gears is meshed with the driving gear.
2. A two degree of freedom flapping-wing aircraft capable of achieving flapping torsion according to claim 1, wherein: the crank swing rod is sleeved on one end of the first-stage shaft of the flapping piece, a linear bearing is arranged in the crank swing rod, and the end of the crank swing rod is sleeved on the first-stage shaft of the flapping piece through the linear bearing.
3. A two degree of freedom flapping-wing aircraft capable of achieving flapping torsion according to claim 1, wherein: two secondary reduction gears are installed on two sides of the framework, two secondary reduction gears are coaxially connected, one secondary reduction gear is further connected with one primary reduction gear, the two primary reduction gears are coaxially connected to one side of the framework, the primary reduction gear is meshed with the transmission main gear, and the two secondary reduction gears are meshed with the two driving gears respectively.
4. A two degree of freedom flapping-wing air vehicle according to claim 3, wherein the flapping torsion is achieved by: the number of teeth of the transmission main gear is smaller than that of the primary reduction gear, the number of teeth of the primary reduction gear is larger than that of the secondary reduction gear, and the number of teeth of the secondary reduction gear is smaller than that of the driving gear.
5. A two degree of freedom flapping-wing aircraft capable of achieving flapping torsion according to claim 1, wherein: the flapping wing also comprises a plurality of wing-shaped plates, and the wing-shaped plates are arranged on the flapping rod in parallel to form a flapping wing frame.
6. A two degree of freedom flapping-wing air vehicle according to claim 5, wherein the flapping-torsion is achieved by: the flapping wing frame is made of carbon fiber materials.
7. A two degree of freedom flapping-wing aircraft capable of achieving flapping torsion according to claim 1, wherein: the empennage is connected with a first steering engine and a second steering engine, and steering and pitching movement of the empennage are achieved through the first steering engine and the second steering engine.
8. A two degree of freedom flapping-wing air vehicle according to any of claims 1 to 7, wherein flapping torsion is achieved, and wherein: the framework is made of carbon fiber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110478147.1A CN113086187B (en) | 2021-04-30 | 2021-04-30 | Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110478147.1A CN113086187B (en) | 2021-04-30 | 2021-04-30 | Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion |
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| Publication Number | Publication Date |
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| CN113086187A CN113086187A (en) | 2021-07-09 |
| CN113086187B true CN113086187B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110478147.1A Active CN113086187B (en) | 2021-04-30 | 2021-04-30 | Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion |
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| DE202006010198U1 (en) * | 2006-06-30 | 2006-10-19 | Schiller, Sepp | Flapping wing airplane has skeleton of pair of wings essentially from two or more multi-functional, load-carrying, torsion-flexible, bend-flexible shafts |
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| CN110171567A (en) * | 2019-05-14 | 2019-08-27 | 吉林大学 | A kind of passive torsion swipe three-freedom miniature flapping wing aircraft |
| CN112478155A (en) * | 2020-12-04 | 2021-03-12 | 武汉科技大学 | Two-section type three-degree-of-freedom flapping wing aircraft |
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| US9216823B2 (en) * | 2013-03-15 | 2015-12-22 | Francois MATTE | Wing flapping mechanism and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202006010198U1 (en) * | 2006-06-30 | 2006-10-19 | Schiller, Sepp | Flapping wing airplane has skeleton of pair of wings essentially from two or more multi-functional, load-carrying, torsion-flexible, bend-flexible shafts |
| CN202481312U (en) * | 2012-03-23 | 2012-10-10 | 哈尔滨工业大学深圳研究生院 | Unidirectional flapping mechanism capable of realizing two-dimensional motion |
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| CN113086187A (en) | 2021-07-09 |
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