CN113184170B - Flapping wing aircraft - Google Patents
Flapping wing aircraft Download PDFInfo
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- CN113184170B CN113184170B CN202011433952.4A CN202011433952A CN113184170B CN 113184170 B CN113184170 B CN 113184170B CN 202011433952 A CN202011433952 A CN 202011433952A CN 113184170 B CN113184170 B CN 113184170B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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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
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Abstract
The invention discloses a flapping wing air vehicle, and belongs to the technical field of flapping wing air vehicles. The bionic bouncing device comprises an energy storage mechanism and a bionic bouncing mechanism; and part of components in the energy storage mechanism and the bionic bouncing mechanism form the following bionic structures: a pair of hip joints, a pair of femurs, a pair of knee joints, a pair of tibias, a pair of ankle joints, a pair of tarsometatarsis joints and a pair of phalanges; the energy storage mechanism comprises an energy storage rack, an energy storage motor arranged on the energy storage rack, a front-end reverse torsion structure, a rear-end reverse torsion structure, an energy storage spring, a gear transmission device and an energy storage release structure; the bionic bouncing mechanism comprises a right bouncing mechanism and a left bouncing mechanism; the right side bouncing mechanism and the left side bouncing mechanism are arranged in a bilateral symmetry mode and are identical in structure: comprises a bounce structure, an aircraft supporting part and a take-off and landing buffering and stabilizing structure. The bionic bouncing toy has the characteristics of good bouncing performance, high bionic degree, strong environmental adaptability and the like.
Description
Technical Field
The invention relates to the technical field of flapping wing aircrafts.
Background
The flapping wing aircraft as a bionic flying aircraft has flexible use, good hiding performance and very wide application prospect in the aspects of national defense and military. In the flapping wing air vehicle, the bird-like flapping wing air vehicle has longer time and stronger loading capacity, thereby having more practical value. At present, with the development of science and technology, some application-oriented bird-like flapping-wing aircrafts have been developed, for example, the endurance time of a detection system of a bird-like flapping-wing aircraft, namely a pigeon-like bird-like flapping-wing aircraft, developed by a bionic aircraft team of northwest university of industry, reaches 48 minutes.
In the actual use process of the bird-like flapping-wing aircraft, the energy carried by the bird-like flapping-wing aircraft is limited, and meanwhile, the environment is complex and changeable (for example, when enemy investigation is carried out, the bird-like flapping-wing aircraft is required to be concealed in a certain corner for fixed-point monitoring, and then take off again to execute the next task after monitoring is completed), so that the bird-like flapping-wing aircraft is required to have the autonomous take-off and landing capability at any time and any place. However, most bird-like flapping-wing aircraft in the prior art can only adopt a hand-throwing take-off mode, and in the published reports, bird-like flapping-wing aircraft capable of taking off and landing autonomously does not appear, which has become a great obstacle for the practical application of bird-like flapping-wing aircraft.
In nature, for birds with flight capability, jumping is often used for acceleration during takeoff, where the legs provide the primary initial acceleration and the wings take up the subsequent movements when the feet leave the habitat. Similarly, the bird-like flapping wing aircraft needs to reach the corresponding takeoff speed and takeoff height (the minimum height without touching the ground when the flapping wing tips flap to the largest extent) when the bird-like flapping wing aircraft finishes takeoff, so that the bouncing technology is used for the bird-like flapping wing aircraft, the bird-like flapping wing aircraft jumps to a certain height and obtains the initial speed to finish autonomous takeoff, and the bird-like flapping wing aircraft is an autonomous takeoff and landing mode with high bionic value and potential application value.
Chinese patent publication No.: CN107792358A, published 2018, 3, 13 and entitled wheel-leg type running and jumping mechanism and flapping wing type robot, the application discloses a wheel-leg type running and jumping mechanism for the autonomous takeoff of a bird-like flapping wing aircraft, when in use, the bird-like flapping wing aircraft can achieve corresponding takeoff speed and takeoff height through run-up and bounce drive of wheel type motion so as to take off autonomously, and the shortage places are that the flapping wing aircraft needs a certain running distance for taking off by accelerating the takeoff speed through wheel type motion, which puts higher requirements on the ground flatness, and reduces the environmental adaptability of the bird-like flapping wing aircraft. Chinese patent publication no: CN104015828A, published 2014, 9, 3, the invention name is a bionic flapping-wing and bouncing multi-mode motion robot, the application discloses a bird-like flapping-wing aircraft capable of bouncing and taking off, and the deficiency is that the adopted bouncing mechanism is a mechanism based on multiple parallelograms, is far from the shape of legs of birds in nature, has poor bionic effect and is not beneficial to the bionic appearance of the bird-like flapping-wing aircraft. Chinese patent publication No.: CN104590413A, published 2015, 5, 6 and the invention name is a bionic bouncing and walking mechanism, the application discloses a mechanism with walking and bouncing functions, the bionic effect is better, the defect is that the mechanism relates to walking movement, so that a driving mechanism is more complex, and meanwhile, the mechanism is not designed according to a leg structure of birds in the nature in a bionic manner, if the mechanism is directly used for a bird-like flapping wing aircraft, the structure weight is large, the efficiency of the take-off process is low, and meanwhile, the aircraft is in a single-leg structure, so that the aircraft is in dynamic instability in the take-off process, and the take-off failure is directly caused. In conclusion, the bouncing takeoff technology of the bird-like ornithopter still has a plurality of problems, and needs to be solved urgently.
Disclosure of Invention
The invention aims to provide the flapping wing air vehicle which has the characteristics of good bouncing performance, high bionic degree, strong environmental adaptability and the like.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a flapping wing aircraft comprises a bionic bouncing device arranged at the bottom of a main body of the flapping wing aircraft, wherein the bionic bouncing device comprises an energy storage mechanism and a bionic bouncing mechanism; and part of components in the energy storage mechanism and the bionic bouncing mechanism form the following bionic structures: a pair of hip joints, a pair of femurs, a pair of knee joints, a pair of tibias, a pair of ankle joints, a pair of tarsometatarsis joints, and a pair of phalanges;
the energy storage mechanism comprises an energy storage rack, an energy storage motor arranged on the energy storage rack, a front-end reverse torsion structure, a rear-end reverse torsion structure, an angle sensor, an energy storage spring, a gear transmission device and an energy storage release structure;
the front end reverse torsion structure is the same as the rear end reverse torsion structure: the energy storage type flapping wing aircraft comprises a reverse torsion shaft, a right reverse torsion bar and a left reverse torsion bar, wherein the upper ends of the right reverse torsion bar and the left reverse torsion bar are fixedly connected with the right end of the reverse torsion shaft and the left end of the reverse torsion shaft respectively;
the angle sensor is used for detecting the rotation angle of a reverse torsion shaft in the front end reverse torsion structure or the rear end reverse torsion structure relative to the energy storage rack;
the energy storage spring is arranged between the reverse torsion arm of the front end reverse torsion structure and the reverse torsion arm of the rear end reverse torsion structure, so that the reverse torsion arm of the front end reverse torsion structure and the reverse torsion arm of the rear end reverse torsion structure have elasticity;
the gear transmission device comprises a front-end reverse torsion structure driving gear, a rear-end reverse torsion structure driving gear, a motor shaft gear and a gear transmission structure; the front end reverse torsion structure driving gear and the rear end reverse torsion structure driving gear are respectively arranged on a reverse torsion shaft of the front end reverse torsion structure and a reverse torsion shaft of the rear end reverse torsion structure and are meshed and connected together, a motor shaft gear is arranged on a motor rotating shaft, and the motor shaft gear is in transmission connection with the reverse torsion shaft of the front end reverse torsion structure or the reverse torsion shaft of the rear end reverse torsion structure through a gear transmission structure; when the energy storage motor works, the gear transmission device drives the reverse torque arm of the front-end reverse torque structure and the reverse torque arm of the rear-end reverse torque structure to be away from each other, so that the energy storage spring is stretched, and the energy storage spring is enabled to store energy;
the energy storage release structure comprises a ratchet wheel, a pawl clutch mechanism and a pawl, the ratchet wheel is arranged on a reverse torsion shaft of the front-end reverse torsion structure or a reverse torsion shaft of the rear-end reverse torsion structure, the pawl clutch mechanism comprises a pawl clutch motor, a swing arm, an eccentric shaft and a torsion spring, the pawl clutch motor is fixed on the energy storage rack, one end of the swing arm is rotatably connected with the energy storage rack, the other end of the swing arm is provided with an eccentric shaft adapting groove along the direction of the center line of the swing arm, one end of the eccentric shaft is fixedly connected with a rotating shaft of the pawl clutch motor, the other end of the eccentric shaft is slidably matched in the eccentric shaft adapting groove, the rear end part of the pawl is rotatably connected with the middle part of the swing arm, and the torsion spring is arranged between the swing arm and the pawl so that the pawl is aligned with the gear tooth part of the ratchet wheel to be matched, and the matching angle of the pawl relative to the ratchet wheel is limited; when the pawl clutch motor rotates forwards or reversely, the rotating shaft of the pawl clutch motor drives the outer end of the eccentric shaft to do eccentric motion relative to the rotating shaft of the pawl clutch motor, so that the swing arm does motion close to or far away from the ratchet wheel in the radial direction; when the swing arm is close to the ratchet wheel, the pawl is close to and inserted into the teeth of the ratchet wheel under the matching insertion angle limited by the torsion spring to prevent the ratchet wheel from running, so that the reverse torsion arm of the front-end reverse torsion structure and the reverse torsion arm of the rear-end reverse torsion structure are in a state of stretching the energy storage spring after moving away from each other, and the energy storage spring is enabled to store energy; when the swing arm is far away from the ratchet wheel, the pawl is separated from the ratchet wheel, so that the ratchet wheel is in a free state, the constraint force of inward movement of the reverse torque arm of the front-end reverse torque structure and the reverse torque arm of the rear-end reverse torque structure is relieved, the energy storage spring releases energy, and the energy storage spring is quickly closed to the inner side under the action of the elastic force of the energy storage spring;
the bionic bouncing mechanism comprises a right bouncing mechanism and a left bouncing mechanism;
the right side bouncing mechanism and the left side bouncing mechanism are arranged in a bilateral symmetry mode and are identical in structure: the aircraft comprises a bouncing structure, an aircraft supporting part and a take-off and landing buffering and stabilizing structure;
the bouncing structure comprises a bouncing rod and a rear elastic rod, and the rear end of the rear elastic rod is rotatably connected with the middle part of the bouncing rod to form a rear elastic bursting point of the bouncing rod;
the aircraft support part is used for supporting the bird-like flapping wing aircraft on the ground;
the take-off and landing buffering and stabilizing structure is arranged between the bouncing rod and the aircraft supporting part and comprises a gravity supporting structure and a gravity buffering structure; the bottom of the bouncing rod is connected with the aircraft supporting part through a gravity supporting rotating shaft so as to form a gravity supporting structure of a take-off and landing buffering stable structure; the gravity buffering structure comprises a gravity buffering sliding shaft sliding chute, a sliding shaft, a gravity buffering tension spring and a gravity buffering supporting rod; the gravity buffering slide shaft chute is positioned at the rear end of the aircraft supporting part and is arranged in the front-back direction, the slide shaft is connected in the gravity buffering slide shaft chute in a sliding manner, the gravity buffering tension spring is arranged between the slide shaft and the front end of the gravity buffering slide shaft chute, the bottom end of the gravity buffering support rod is fixedly connected with the slide shaft, the top end of the gravity buffering support rod is rotatably connected with the position, close to the bottom, of the bouncing rod and is inclined backwards from top to bottom, so that a triangular gravity buffering structure is formed among the gravity buffering support rod, the bouncing rod, the slide shaft and the gravity supporting rotating shaft; in the taking-off and landing process of the aircraft, the length between the sliding shaft and the gravity supporting rotating shaft is changed under the action of the gravity buffering tension spring, so that a stretching force is generated, and the right side bouncing mechanism and the left side bouncing mechanism have the elastic function of gravity buffering;
the upper end of a bouncing rod of the right bouncing mechanism is rotationally connected with the lower end of a right reverse torsion rod of the rear reverse torsion structure, and the front end of a rear elastic rod of the right bouncing mechanism is rotationally connected with the lower end of the right reverse torsion rod of the front reverse torsion structure; the upper end of a bouncing rod of the left bouncing mechanism is rotationally connected with the lower end of a left reverse torsion rod of the rear reverse torsion structure, and the front end of a rear elastic rod of the left bouncing mechanism is rotationally connected with the lower end of the left reverse torsion rod of the front reverse torsion structure;
the left end and the right end of a reverse torsion shaft of a front-end reverse torsion structure and the rotary connection part of an energy storage rack form a pair of hip joints of a bionic structure, the right reverse torsion bar and the left reverse torsion bar of the front-end reverse torsion structure form a pair of thighbones of the bionic structure, the right reverse torsion bar and the left reverse torsion bar of the front-end reverse torsion structure and the front-end rotary connection part of two rear elastic bars form a pair of knee joints of the bionic structure, the two rear elastic bars form a pair of shin bones of the bionic structure, rear elastic burst points of the two bouncing bars form a pair of ankle joints of the bionic structure, the bouncing bar parts below the two rear elastic burst points form a pair of tarsal metatarsals of the bionic structure, the two rising and falling buffer stable structures form a pair of tarsal joints of the bionic structure, and the two aircraft supporting parts form a pair of phalanges of the bionic structure.
The invention further improves that:
the distance from the upper end of the bouncing rod to the rear elastic bursting point of the bouncing rod is 2/5 of the total length of the bouncing rod; the ratio of the length of the right reverse torsion bar or the length of the left reverse torsion bar of the rear reverse torsion structure to the length of the bouncing bar is 2/5, so as to achieve the best bouncing effect.
The lower part of the rear elastic force explosion point of the two bouncing rods inclines forwards, and the inclination angle of the two bouncing rods is 10-30 degrees, so that the effect of gravity center stabilization is achieved.
The gear transmission structure in the gear transmission device is a transmission gear arranged on a reverse torsion shaft with a front end reverse torsion structure or a reverse torsion shaft with a rear end reverse torsion structure, and a motor shaft gear is meshed and connected with the transmission gear.
The front end reverse torsion structure driving gear and the rear end reverse torsion structure driving gear have the same specification, so that the reverse torsion arm of the front end reverse torsion structure and the reverse torsion arm of the rear end reverse torsion structure keep the symmetry of motion.
The bottoms of the two aircraft supporting parts are strip-shaped planes, and the length directions of the two aircraft supporting parts are front and back so as to be used for supporting and bouncing on the ground.
The energy storage motor is a programmable motor with the angle and speed output function of a rotating shaft, so that the angle sensor and the energy storage motor form an integral structure; the rotating angle of the rotating shaft of the energy storage motor is controlled, so that the rotating angle of the reverse torsion shaft in the front-end reverse torsion structure or the rear-end reverse torsion structure relative to the energy storage rack is controlled.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the invention is designed based on the leg skeleton structure in the bird bouncing takeoff process, the bird leg structure is restored to the greatest extent, the performance is stable, the bouncing efficiency is high, and the bionic performance is good.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the bionic bouncing device in FIG. 1 when the bionic bouncing device is ready for bouncing and taking off;
FIG. 3 is a schematic structural view of the bionic bouncing device in FIG. 1 when standing;
FIG. 4 is a schematic structural view of the energy storage mechanism of FIG. 2;
FIG. 5 is a schematic view of a portion of the structure of FIG. 4;
FIG. 6 is a schematic structural view of the stored energy release structure of FIG. 4;
FIG. 7 is a schematic structural view of the take-off and landing bumper stabilization structure of FIG. 2;
FIG. 8 is a physiological configuration diagram of a bird;
fig. 9 is a physiological configuration of the leg of fig. 8.
In the drawings: 1. a flapping wing aircraft body; 2. an energy storage frame; 3. an energy storage motor; 4. an energy storage spring; 5. a reverse torsion shaft; 6. a right side reverse torsion bar; 7. a left-side reverse torsion bar; 8. a reverse torque arm connecting shaft; 9. the front end reverse torque structure drives the gear; 10. the rear end reverse torque structure drives the gear; 11. a motor shaft gear; 12. a transmission gear; 13. a ratchet wheel; 14. a pawl; 15. a pawl clutch motor; 16. swinging arms; 17. an eccentric shaft; 18. a torsion spring; 19. an eccentric shaft adapting groove; 20. a bouncing rod; 21. a rear spring bar; 22. an aircraft support; 23. a rear elastic burst point; 24. a gravity support shaft; 25. a gravity buffering slide shaft chute; 26. a slide shaft; 27. a gravity buffering tension spring; 28. the gravity cushions the bracing piece.
The orientation description in this application is based on the orientation of the ornithopter, with forward referring to the front of the ornithopter, i.e. the direction in which the ornithopter is flying.
Detailed Description
The invention will be described in further detail below with reference to the figures and specific examples.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description and the description of the attached drawings, and the specific connection mode of each part adopts the conventional means of mature bolts, rivets, welding, sticking and the like in the prior art, and the detailed description is not repeated.
As can be seen from the embodiments shown in fig. 1 to 9, the embodiment includes a bionic bouncing device disposed at the bottom of the main body 1 of the flapping wing aircraft, and the bionic bouncing device includes an energy storage mechanism and a bionic bouncing mechanism; and part of components in the energy storage mechanism and the bionic bouncing mechanism form the following bionic structures: a pair of hip joints, a pair of femurs, a pair of knee joints, a pair of tibias, a pair of ankle joints, a pair of tarsometatarsis joints and a pair of phalanges;
the energy storage mechanism comprises an energy storage rack 2, an energy storage motor 3 arranged on the energy storage rack 2, a front-end reverse torsion structure, a rear-end reverse torsion structure, an angle sensor, an energy storage spring 4, a gear transmission device and an energy storage release structure;
the front end reverse torsion structure is the same as the rear end reverse torsion structure: the flapping wing aircraft comprises a reverse torsion shaft 5, a right reverse torsion bar 6 and a left reverse torsion bar 7, wherein the upper ends of the right reverse torsion bar 6 and the left reverse torsion bar 7 are fixedly connected with the right end of the reverse torsion shaft 5 and the left end of the reverse torsion shaft 5 respectively, the lower ends of the right reverse torsion bar 6 and the left reverse torsion bar 7 are fixedly connected together through a reverse torsion arm connecting shaft 8, so that the right reverse torsion bar 6 and the left reverse torsion bar 7 are symmetrically arranged at the left end and the right end of the reverse torsion shaft 5 to form a reverse torsion arm together, the reverse torsion shaft 5 is rotatably connected with an energy storage rack 2, the length direction of the reverse torsion shaft 5 is consistent with the transverse direction of a flapping wing aircraft body 1, and a front reverse torsion structure and a rear reverse torsion structure are symmetrically arranged front and back;
the angle sensor is used for detecting the rotation angle of the reverse torsion shaft 5 relative to the energy storage rack 2 in the front end reverse torsion structure or the rear end reverse torsion structure;
the energy storage spring 4 is arranged between the reverse torsion arm of the front end reverse torsion structure and the reverse torsion arm of the rear end reverse torsion structure, so that the reverse torsion arm of the front end reverse torsion structure and the reverse torsion arm of the rear end reverse torsion structure have elasticity;
the gear transmission device comprises a front-end reverse torsion structure driving gear 9, a rear-end reverse torsion structure driving gear 10, a motor shaft gear 11 and a gear transmission structure; the front end reverse torque structure driving gear 9 and the rear end reverse torque structure driving gear 10 are respectively arranged on the front end reverse torque structure reverse torque shaft 5 and the rear end reverse torque structure reverse torque shaft 5, and are meshed and connected together, the motor shaft gear 11 is arranged on the motor rotating shaft, and the motor shaft gear 11 is in gear transmission connection with the front end reverse torque structure reverse torque shaft 5 or the rear end reverse torque structure reverse torque shaft 5 through a gear transmission structure; when the energy storage motor 3 works, the gear transmission device drives the reverse torque arm of the front-end reverse torque structure and the reverse torque arm of the rear-end reverse torque structure to be away from each other, so that the energy storage spring 4 is stretched, and the energy storage spring 4 stores energy;
the energy storage release structure comprises a ratchet wheel 13, a pawl clutch mechanism and a pawl 14, the ratchet wheel 13 is arranged on a reverse torsion shaft 5 with a front end reverse torsion structure or a reverse torsion shaft 5 with a rear end reverse torsion structure, and the pawl clutch mechanism comprises a pawl clutch motor 15 (model number: GA 12-N20, a swing arm 16, an eccentric shaft 17 and a torsion spring 18, wherein a pawl clutch motor 15 is fixed on the energy storage rack 2, one end of the swing arm 16 is rotatably connected with the energy storage rack 2, the other end of the swing arm 16 is provided with an eccentric shaft adapting groove 19 along the central line direction of the swing arm 16, one end of the eccentric shaft 17 is fixedly connected with a rotating shaft of the pawl clutch motor 15, the other end of the eccentric shaft 17 is slidably matched in the eccentric shaft adapting groove 19, the rear end part of a pawl 14 is rotatably connected with the middle part of the swing arm 16, and the torsion spring 18 is installed between the swing arm 16 and the pawl 14 so that the pawl 14 is aligned to the gear tooth part of a ratchet wheel 13 to be matched to limit the matching angle of the pawl 14 relative to the ratchet wheel 13; when the pawl clutch motor 15 rotates forward or backward, the rotating shaft of the pawl clutch motor 15 drives the outer end of the eccentric shaft 17 to make eccentric motion relative to the rotating shaft of the pawl clutch motor 15, so that the swing arm 16 makes motion close to or far from the ratchet wheel 13 in the radial direction; when the swing arm 16 is close to the ratchet wheel 13, the pawl 14 is close to and inserted into the teeth of the ratchet wheel 13 under the matched insertion angle defined by the torsion spring 18 to prevent the ratchet wheel 13 from operating, so that the reverse torsion arm of the front-end reverse torsion structure and the reverse torsion arm of the rear-end reverse torsion structure are in a state of stretching the energy storage spring 4 after moving away from each other, and the energy storage spring 4 is stored; when the swing arm 16 is far away from the ratchet wheel 13, the pawl 14 is separated from the ratchet wheel 13, so that the ratchet wheel 13 is in a free state, the restraint force of inward movement of the reverse torsion arm of the front-end reverse torsion structure and the reverse torsion arm of the rear-end reverse torsion structure is relieved, the energy storage spring 4 releases energy, and the energy storage spring 4 is quickly closed to the inner side under the action of the elastic force of the energy storage spring 4;
the bionic bouncing mechanism comprises a right bouncing mechanism and a left bouncing mechanism;
the right side bouncing mechanism and the left side bouncing mechanism are arranged in a bilateral symmetry mode and are identical in structure: comprises a bounce structure, an aircraft supporting part 22 and a take-off and landing buffering and stabilizing structure;
the bouncing structure comprises a bouncing rod 20 and a rear elastic rod 21, wherein the rear end of the rear elastic rod 21 is rotatably connected with the middle part of the bouncing rod 20 to form a rear elastic bursting point 23 of the bouncing rod 20;
the aircraft support 22 is used for supporting the bird-like ornithopter on the ground;
the take-off and landing buffering and stabilizing structure is arranged between the bouncing rod 20 and the aircraft supporting part 22 and comprises a gravity supporting structure and a gravity buffering structure; the bottom of the bouncing rod 20 is connected with an aircraft support part 22 through a gravity support rotating shaft 24 to form a gravity support structure of the take-off and landing buffering stable structure; the gravity buffering structure comprises a gravity buffering sliding shaft sliding groove 25, a sliding shaft 26, a gravity buffering tension spring 27 and a gravity buffering supporting rod 28; the gravity buffering slide shaft sliding groove 25 is positioned at the rear end of the aircraft supporting part 22 and is arranged in the front-back direction, the slide shaft 26 is connected in the gravity buffering slide shaft sliding groove 25 in a sliding manner, the gravity buffering tension spring 27 is arranged between the slide shaft 26 and the front end of the gravity buffering slide shaft sliding groove 25, the bottom end of the gravity buffering support rod 28 is fixedly connected with the slide shaft 26, the top end of the gravity buffering support rod 28 is rotatably connected with the position, close to the bottom, of the bouncing rod 20 and is inclined backwards from top to bottom, so that a triangular gravity buffering structure is formed among the gravity buffering support rod 28, the bouncing rod 20, the slide shaft 26 and the gravity supporting rotating shaft 24; during taking off and landing of the aircraft, the length between the sliding shaft 26 and the gravity supporting rotating shaft 24 is changed under the action of the gravity buffering tension spring 27, so that a stretching force is generated, and the right side bouncing mechanism and the left side bouncing mechanism have the elastic function of gravity buffering;
the upper end of a bouncing rod 20 of the right bouncing mechanism is rotationally connected with the lower end of a right reverse torsion bar 6 of the rear reverse torsion structure, and the front end of a rear elastic rod 21 of the right bouncing mechanism is rotationally connected with the lower end of the right reverse torsion bar 6 of the front reverse torsion structure; the upper end of a bouncing rod 20 of the left bouncing mechanism is rotationally connected with the lower end of a left reverse torsion rod 7 of the rear reverse torsion structure, and the front end of a rear elastic rod 21 of the left bouncing mechanism is rotationally connected with the lower end of the left reverse torsion rod 7 of the front reverse torsion structure;
the left end and the right end of a reverse torsion shaft 5 of a front-end reverse torsion structure and the rotary connection part of the energy storage rack 2 form a pair of hip joints of a bionic structure, the right reverse torsion bar 6 and the left reverse torsion bar 7 of the front-end reverse torsion structure form a pair of thighs of the bionic structure, the right reverse torsion bar 6 and the left reverse torsion bar 7 of the front-end reverse torsion structure and the front end rotary connection part of two rear elastic bars 21 form a pair of knee joints of the bionic structure, the two rear elastic bars 21 form a pair of shins of the bionic structure, rear elastic burst points (23) of two elastic bursts 20 form a pair of ankle joints of the bionic structure, parts of the elastic bursts 20 below the two rear elastic burst points 23 form a pair of tarsomersal bones of the bionic structure, the two take-off and landing buffering stable structures form a pair of tarsomersal joints of the bionic structure, and the two aircraft supporting parts 22 form a pair of phalanges of the bionic structure.
The invention further improves that:
the distance from the upper end of the bouncing rod 20 to the rear elastic explosion point 23 of the bouncing rod 20 is 2/5 of the total length of the bouncing rod 20; the ratio of the length of the right reverse torsion bar 6 or the length of the left reverse torsion bar 7 of the rear reverse torsion structure to the length of the bouncing rod 20 is 2/5, so as to achieve the best bouncing effect.
The lower parts of the rear elastic force explosion points 23 of the two bouncing rods 20 incline forwards, and the inclination angle is 10-30 degrees, so that the effect of gravity center stabilization is achieved.
The gear transmission structure in the gear transmission device is a transmission gear 12 arranged on the reverse torsion shaft 5 with the front end reverse torsion structure or the reverse torsion shaft 5 with the rear end reverse torsion structure, and a motor shaft gear 11 is meshed and connected with the transmission gear 12.
The front end reverse torsion structure driving gear 9 and the rear end reverse torsion structure driving gear 10 have the same specification, so that the reverse torsion arms of the front end reverse torsion structure and the reverse torsion arms of the rear end reverse torsion structure keep the symmetry of motion.
The bottom of the two aircraft supports 22 is a strip plane with the length direction being forward and backward for supporting and bouncing on the ground.
The energy storage motor 3 is a programmable motor with the angle of a rotating shaft and a speed output function (model: GM25-370, so that the angle sensor and the energy storage motor 3 are integrated into a whole; so as to control the rotation angle of the rotating shaft of the energy storage motor 3, thereby controlling the rotation angle of the reverse torsion shaft 5 relative to the energy storage rack 2 in the front end reverse torsion structure or the rear end reverse torsion structure.
The working principle is as follows:
a jump preparation stage: the flight control system controls a pawl clutch motor 15 in the energy storage release structure to rotate, so that a swing arm 16 is close to a ratchet wheel 13, a pawl 14 is inserted into teeth of the ratchet wheel 13 to form a ratchet wheel pawl structure to prevent the ratchet wheel 13 from reversing, at the moment, the ratchet wheel 13 can only rotate in the forward direction, so that the energy storage release structure is in a reverse non-return state, meanwhile, the flight control system controls the energy storage motor 3 to rotate, a gear transmission device drives a reverse torsion arm of a front-end reverse torsion structure and a reverse torsion arm of a rear-end reverse torsion structure to be away from each other, and simultaneously drives the ratchet wheel 13 to rotate in the forward direction to stretch an energy storage spring 4, and when the angle sensor detects that the reverse torsion arms rotate to a preset angle, the flight control system controls the energy storage motor 3 to stop rotating; under the reverse check action of the energy storage release structure, the ratchet wheel 13 is prevented from reversing, so that the reverse torsion arm of the front-end reverse torsion structure and the reverse torsion arm of the rear-end reverse torsion structure move away from each other and then the energy storage spring 4 is stretched, the energy storage spring 4 stores energy, and the energy storage mechanism is in an energy locking state.
A bounce takeoff stage: the flight control system controls a pawl clutch motor 15 in the energy storage release structure to rotate reversely, so that a swing arm 16 is far away from a ratchet wheel 13, a pawl 14 is separated from the ratchet wheel 13, the ratchet wheel 13 can rotate positively and reversely at the moment, the energy storage release structure is in an unassociated state, so that the restraint force of the reverse torsion arm of the front-end reverse torsion structure and the reverse torsion arm of the rear-end reverse torsion structure moving inwards is relieved, the energy storage spring 4 releases energy, and the energy storage spring 4 is quickly closed inwards under the action of the elastic force of the energy storage spring 4; the right reverse torsion bar 6 and the left reverse torsion bar 7 of the rear reverse torsion structure rapidly push the upper ends of the two bouncing rods 20 forward, and the right reverse torsion bar 6 and the left reverse torsion bar 7 of the front reverse torsion structure rapidly push the rear elastic burst point 23 of the two bouncing rods 20 backward, so that the two bouncing rods 20 are pivoted with the respective rear elastic burst point 23, the lower part is backward, the upper part is forward, and the two aircraft supporting parts 22 are rapidly kicked on the ground under the action of the upper ends of the two bouncing rods 20 hinged with the lower ends of the right reverse torsion bar 6 and the left reverse torsion bar 7 of the rear reverse torsion structure, and the whole mechanism jumps up to take off from the ground (the distance between the two reverse torsion arms corresponding to the preset angle of rotation of the reverse torsion arms is enough to meet the maximum flapping wing tip due to the energy of the tension energy storage spring 4 Height above ground when flapping greatly).
A flight mission stage: the flight control system controls the energy storage release structure and the energy storage motor 3 to enable the energy storage mechanism to be in an energy locking state (the action is the same as that in a take-off preparation stage), so that the air resistance is reduced, and the bird-like flapping-wing aircraft climbs to a preset height to execute a corresponding task.
A landing stage: the flight control system controls the bird-like flapping-wing aircraft to reduce the speed in advance through actions such as gliding and the like, when the bird-like flapping-wing aircraft lands, the flight control system controls the energy storage and release structure to be in an unassociated state, so that the constraint force of the opposite motion of the reverse torque arm of the front-end reverse torque structure and the reverse torque arm of the rear-end reverse torque structure is relieved, the potential energy impact during landing is buffered through the bouncing mechanism, and the next takeoff is prepared.
Claims (7)
1. The utility model provides a flapping wing air vehicle, is including setting up the bionical bouncer in flapping wing air vehicle main part (1) bottom, its characterized in that: the bionic bouncing device comprises an energy storage mechanism and a bionic bouncing mechanism; and part of components in the energy storage mechanism and the bionic bouncing mechanism form the following bionic structures: a pair of hip joints, a pair of femurs, a pair of knee joints, a pair of tibias, a pair of ankle joints, a pair of tarsometatarsis joints and a pair of phalanges;
the energy storage mechanism comprises an energy storage rack (2), and an energy storage motor (3), a front-end reverse torsion structure, a rear-end reverse torsion structure, an angle sensor, an energy storage spring (4), a gear transmission device and an energy storage release structure which are arranged on the energy storage rack (2);
the front end reverse torsion structure is the same as the rear end reverse torsion structure: comprises a reverse torsion shaft (5), a right reverse torsion bar (6) and a left reverse torsion bar (7), wherein the upper ends of the right reverse torsion bar (6) and the left reverse torsion bar (7) are respectively fixedly connected with the right end of the reverse torsion shaft (5) and the left end of the reverse torsion shaft (5), the lower ends of the right reverse torsion bar (6) and the left reverse torsion bar (7) are fixedly connected together through a reverse torsion arm connecting shaft (8), so that the right reverse torsion bar (6) and the left reverse torsion bar (7) are symmetrically arranged at the left end and the right end of the reverse torsion shaft (5) to form a reverse torsion arm together, the reverse torsion shaft (5) is rotatably connected with the energy storage rack (2), and the length direction of the reverse torsion shaft (5) is consistent with the transverse direction of the ornithopter main body (1), the front-end reverse torsion structure and the rear-end reverse torsion structure are symmetrically arranged in front and back;
the angle sensor is used for detecting the rotation angle of a reverse torsion shaft (5) in the front end reverse torsion structure or the rear end reverse torsion structure relative to the energy storage rack (2);
the energy storage spring (4) is arranged between the reverse torque arm of the front end reverse torque structure and the reverse torque arm of the rear end reverse torque structure, so that the reverse torque arm of the front end reverse torque structure and the reverse torque arm of the rear end reverse torque structure have elasticity;
the gear transmission device comprises a front end reverse torque structure driving gear (9), a rear end reverse torque structure driving gear (10), a motor shaft gear (11) and a gear transmission structure; the front end reverse torsion structure driving gear (9) and the rear end reverse torsion structure driving gear (10) are respectively arranged on the reverse torsion shaft (5) of the front end reverse torsion structure and the reverse torsion shaft (5) of the rear end reverse torsion structure and are meshed and connected together, the motor shaft gear (11) is arranged on a motor rotating shaft, and the motor shaft gear (11) is in gear transmission connection with the reverse torsion shaft (5) of the front end reverse torsion structure or the reverse torsion shaft (5) of the rear end reverse torsion structure through a gear transmission structure; when the energy storage motor (3) works, the gear transmission device drives the reverse torsion arm of the front end reverse torsion structure and the reverse torsion arm of the rear end reverse torsion structure to be away from each other, so that the energy storage spring (4) is stretched, and the energy storage spring (4) is enabled to store energy;
the energy storage release structure comprises a ratchet wheel (13), a pawl clutch mechanism and a pawl (14), the ratchet wheel (13) is arranged on a reverse torsion shaft (5) of the front-end reverse torsion structure or the reverse torsion shaft (5) of the rear-end reverse torsion structure, the pawl clutch mechanism comprises a pawl clutch motor (15), a swing arm (16), an eccentric shaft (17) and a torsion spring (18), the pawl clutch motor (15) is fixed on the energy storage rack (2), one end of the swing arm (16) is rotatably connected with the energy storage rack (2), the other end of the swing arm (16) is provided with an eccentric shaft adapting groove (19) along the central line direction of the swing arm (16), one end of the eccentric shaft (17) is fixedly connected with a rotating shaft of the pawl clutch motor (15), and the other end of the eccentric shaft (17) is slidably matched in the eccentric shaft adapting groove (19), the rear end part of the pawl (14) is rotationally connected with the middle part of the swing arm (16), and the torsion spring (18) is installed between the swing arm (16) and the pawl (14) so that the pawl (14) is aligned with the gear tooth part of the ratchet wheel (13) to be matched to limit the matching angle of the pawl (14) relative to the ratchet wheel (13); when the pawl clutch motor (15) rotates forwards or reversely, the rotating shaft of the pawl clutch motor (15) drives the outer end of the eccentric shaft (17) to do eccentric motion relative to the rotating shaft of the pawl clutch motor (15), so that the swing arm (16) does motion close to or far away from the ratchet wheel (13) in the radial direction; when the swing arm (16) is close to the ratchet wheel (13), the pawl (14) is close to and inserted into the teeth of the ratchet wheel (13) under the matched insertion angle defined by the torsion spring (18) to prevent the ratchet wheel (13) from operating, so that the energy storage spring (4) is tensioned after the reverse torsion arms of the front-end reverse torsion structure and the rear-end reverse torsion structure move away from each other, and the energy storage spring (4) is charged; when the swing arm (16) is far away from the ratchet wheel (13), the pawl (14) is separated from the ratchet wheel (13), so that the ratchet wheel (13) is in a free state, the restraint force of inward movement of the reverse torsion arm of the front-end reverse torsion structure and the reverse torsion arm of the rear-end reverse torsion structure is relieved, the energy storage spring (4) releases energy, and the energy storage spring (4) is quickly closed to the inner side under the action of the elastic force of the energy storage spring (4);
the bionic bouncing mechanism comprises a right bouncing mechanism and a left bouncing mechanism;
the right side bouncing mechanism and the left side bouncing mechanism are arranged in a bilateral symmetry mode and are identical in structure: comprises a bounce structure, an aircraft supporting part (22) and a take-off and landing buffering and stabilizing structure;
the bouncing structure comprises a bouncing rod (20) and a rear elastic rod (21), wherein the rear end of the rear elastic rod (21) is rotatably connected with the middle part of the bouncing rod (20) to form a rear elastic force explosion point (23) of the bouncing rod (20);
the aircraft support part (22) is used for supporting the bird-like flapping wing aircraft on the ground;
the take-off and landing buffering and stabilizing structure is arranged between the bouncing rod (20) and the aircraft supporting part (22), and comprises a gravity supporting structure and a gravity buffering structure; the bottom of the bouncing rod (20) is connected with the aircraft supporting part (22) through a gravity supporting rotating shaft (24) to form a gravity supporting structure of the take-off and landing buffering stable structure; the gravity buffering structure comprises a gravity buffering sliding shaft sliding groove (25), a sliding shaft (26), a gravity buffering tension spring (27) and a gravity buffering supporting rod (28); the gravity buffering sliding shaft sliding groove (25) is located at the rear end of the aircraft supporting part (22) and is arranged in the front-back direction, the sliding shaft (26) is connected in a sliding mode in the gravity buffering sliding shaft sliding groove (25), the gravity buffering tension spring (27) is arranged between the sliding shaft (26) and the front end of the gravity buffering sliding shaft sliding groove (25), the bottom end of the gravity buffering supporting rod (28) is fixedly connected with the sliding shaft (26), the top end of the gravity buffering supporting rod is rotatably connected with the position, close to the bottom, of the bouncing rod (20) and inclines from top to bottom, so that the gravity buffering supporting rod (28) is inclined from top to bottom, and a triangular gravity buffering structure is formed between the bouncing rod (20) and the sliding shaft (26) and the gravity supporting rotating shaft (24); in the taking-off and landing process of the aircraft, the length between the sliding shaft (26) and the gravity supporting rotating shaft (24) is changed under the action of the gravity buffering tension spring (27), so that a stretching force is generated, and the right side bouncing mechanism and the left side bouncing mechanism have the elastic function of gravity buffering;
the upper end of the bouncing rod (20) of the right bouncing mechanism is rotationally connected with the lower end of the right reverse torsion bar (6) of the rear reverse torsion structure, and the front end of the rear elastic rod (21) of the right bouncing mechanism is rotationally connected with the lower end of the right reverse torsion bar (6) of the front reverse torsion structure; the upper end of the bouncing rod (20) of the left bouncing mechanism is rotationally connected with the lower end of a left reverse torsion rod (7) of the rear reverse torsion structure, and the front end of the rear elastic rod (21) of the left bouncing mechanism is rotationally connected with the lower end of the left reverse torsion rod (7) of the front reverse torsion structure;
the left end and the right end of the reverse torsion shaft (5) of the front end reverse torsion structure and the rotary connection part of the energy storage rack (2) form a pair of hip joints of the bionic structure, the right reverse torsion bar (6) and the left reverse torsion bar (7) of the front end reverse torsion structure form a pair of thighbones of the bionic structure, the right reverse torsion bar (6) and the left reverse torsion bar (7) of the front end reverse torsion structure and the front end rotary connection part of the two rear elastic bars (21) form a pair of knee joints of the bionic structure, the two rear elastic bars (21) form a pair of shin bones of the bionic structure, the rear elastic burst points (23) of the two bounce bars (20) form a pair of ankle joints of the bionic structure, and the parts of the bounce bars (20) below the two rear elastic burst points (23) form a pair of tarsal metatarsals of the bionic structure, the two take-off and landing cushioning stabilizing structures form a pair of tarsometatarsal joints of the biomimetic structure, and the two aircraft supports (22) form a pair of phalanges of the biomimetic structure.
2. The ornithopter of claim 1, wherein: the distance from the upper end of the bouncing rod (20) to the rear elastic force explosion point (23) of the bouncing rod (20) is 2/5 of the total length of the bouncing rod (20); the ratio of the length of the right reverse torsion bar (6) or the length of the left reverse torsion bar (7) of the rear reverse torsion structure to the length of the bouncing rod (20) is 2/5, so that the best bouncing effect is achieved.
3. An ornithopter according to claim 1 or 2, wherein: the lower parts of the rear elastic force explosion points (23) of the two bouncing rods (20) incline forwards at an inclination angle of 10-30 degrees so as to achieve the effect of gravity center stabilization.
4. The ornithopter of claim 3, wherein: the gear transmission structure in the gear transmission device is a transmission gear (12) arranged on the reverse torsion shaft (5) of the front end reverse torsion structure or the reverse torsion shaft (5) of the rear end reverse torsion structure, and the motor shaft gear (11) is meshed and connected with the transmission gear (12).
5. The ornithopter of claim 4, wherein: the front end reverse torsion structure driving gear (9) and the rear end reverse torsion structure driving gear (10) are identical in specification, so that the reverse torsion arms of the front end reverse torsion structure and the reverse torsion arms of the rear end reverse torsion structure keep symmetry of movement.
6. The ornithopter of claim 5, wherein: the bottoms of the two aircraft supporting parts (22) are strip-shaped planes, and the length directions of the strip-shaped planes are front and back so as to be used for supporting and bouncing on the ground.
7. The ornithopter of claim 6, wherein: the energy storage motor (3) is a programmable motor with the angle and speed output function of a rotating shaft, so that the angle sensor and the energy storage motor (3) form an integral structure; the rotating angle of the rotating shaft of the energy storage motor (3) is controlled, so that the rotating angle of a reverse torsion shaft (5) in the front end reverse torsion structure or the rear end reverse torsion structure relative to the energy storage rack (2) is controlled.
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| CN113386963B (en) * | 2021-07-19 | 2022-05-13 | 北京理工大学 | Insect-imitating flying robot |
| CN113911342B (en) * | 2021-11-08 | 2024-05-24 | 北京航空航天大学 | Bionic flapping-wing micro air vehicle capable of realizing flapping amplitude control based on wing root elastic energy storage |
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| US5280863A (en) * | 1991-11-20 | 1994-01-25 | Hugh Schmittle | Lockable free wing aircraft |
| US9072981B2 (en) * | 2013-05-15 | 2015-07-07 | Tanous Works, Llc | Hovering toy figure |
| CN104590413B (en) * | 2014-12-24 | 2017-01-25 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN207029352U (en) * | 2017-06-13 | 2018-02-23 | 东莞市奇趣机器人科技有限公司 | A kind of imitative Kangaroo robot |
| DE102018103892B4 (en) * | 2018-02-21 | 2021-02-04 | BenuBot-Projektkooperation GbR (vertretungsberechtigter Gesellschafter Dr. Andreas Karguth, 99869 Tüttleben) | Mobile robot and leg assembly therefor, and method for performing a walking motion |
| CN108860596B (en) * | 2018-04-19 | 2021-05-18 | 西北工业大学 | Flapping-wing robot capable of bouncing and taking off by simulating locust |
| CN211417587U (en) * | 2019-09-03 | 2020-09-04 | 浙江大学 | Bounce takeoff device of ornithopter |
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