CN113895615A - Four-pull-curtain type synchronous swinging type flapping wing aircraft with adjustable driving energy - Google Patents

Abstract

The invention relates to a four-pull-curtain type synchronous swinging type flapping wing aircraft with adjustable driving energy. Comprises curtain wings, swing shafts, connecting pieces, a first speed reducer, a stepping motor, a transmission mechanism, a second speed reducer, a motor, a machine body frame, a third speed reducer and a driving motor, wherein four swing shafts in the horizontal direction are symmetrically arranged and fixed on the periphery of the machine body frame, the four connecting pieces are respectively connected with the four swing shafts and rotate relatively, the four curtain wings are respectively connected with the four connecting pieces and can rotate relatively, the curtain wings comprise curtain wing frames, and a soft curtain arranged on the curtain wing frame, a coil spring and a driving motor are also arranged in the curtain wing frame, the four stepping motors are used for controlling the expansion and contraction of the soft curtain, the transmission mechanism is connected to the two connecting pieces, the motor drives the transmission mechanism to move after being decelerated by the second decelerator, so that the four connecting pieces synchronously swing up and down, and the four stepping motors respectively drive the four curtain wings to rotate after being decelerated by the two first decelerators.

Description

Four-pull-curtain type synchronous swinging type flapping wing aircraft with adjustable driving energy

Technical Field

The invention relates to the field of movable wing aircrafts and flying robots, in particular to a four-pull-curtain type synchronous swinging type flapping wing aircraft with adjustable driving energy.

Background

The flight mode of the aircraft comprises three flight modes of a fixed wing, a rotor wing and a flapping wing, wherein the flapping wing flight is a flight mode adopted by natural flight organisms, the upper flapping and the lower flapping of double wings are mainly utilized to simultaneously generate lift force and thrust force, and the flight mode has the main characteristic that the lifting, hovering and propelling functions are integrated, meanwhile, the flight mode has strong maneuverability and flexibility, and is more suitable for executing flight around obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency.

At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. The flapping wing driving mechanism can be divided into a multi-degree-of-freedom flapping wing driving mechanism and a single-degree-of-freedom flapping wing driving mechanism, the multi-degree-of-freedom flapping wing driving mechanism can realize a complex motion form, but the mechanism is relatively large and complex, the single-degree-of-freedom flapping wing driving mechanism only needs to realize flapping motion, and the trailing edge of the fixed wing forms an attack angle which changes along with the flapping of the wing to realize the twisting motion.

However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft.

Disclosure of Invention

The invention aims to provide a four-pull-curtain type synchronous swing type flapping wing aircraft with adjustable driving energy, which remarkably reduces the resistance of the flapping wing resetting process of the flapping wing type aircraft, improves the aerodynamic efficiency, has small aerodynamic continuous vibration, conveniently realizes vertical take-off and landing, can quickly switch the flight direction, has good flight flexibility and maneuverability, and solves the problems in the prior art.

The technical solution for realizing the purpose of the invention is as follows:

the utility model provides a four draw adjustable flapping wing aircraft of synchronous oscillating drive energy of curtain formula, including curtain wing, connecting piece, first reduction gear, step motor, drive mechanism, second reduction gear, motor, fuselage frame, third reduction gear, driving motor and oscillating axle, the installation of fuselage frame symmetry all around is fixed with four horizontal directions the oscillating axle, four the connecting piece is connected respectively four on the oscillating axle and relative rotation, four the curtain wing is connected respectively four on the connecting piece and relative rotation, the curtain wing includes curtain wing frame to and the continuous soft curtain of suit on curtain wing frame, be provided with third reduction gear and driving motor in the curtain wing frame, driving motor passes through control after the third reduction gear slows down the expansion and the shrink of soft curtain set up respectively four on the connecting piece step motor is respectively through setting up four last four first speed reduction on the connecting piece The device drives four curtain wings to rotate respectively after being decelerated, the transmission mechanism is connected to the four connecting pieces, and the motor arranged on the machine body frame drives the transmission mechanism to move to enable the four connecting pieces to synchronously swing up and down through the second speed reducer arranged on the machine body frame after being decelerated.

Furthermore, the curtain wing frame is provided with a first coil spring mounting hole, a second coil spring mounting hole, a guide rail, a curtain wing mounting beam, a motor mounting hole, a rotating wheel shaft, a curtain wing rotating shaft, a first mounting plate, a second mounting plate and a connecting cross beam, the soft curtain is provided with a soft curtain windward side and a soft curtain leeward side, the connecting piece is provided with a swinging shaft hole and a curtain wing rotating shaft hole, the axis of the swinging shaft hole is vertical to the axis of the curtain wing rotating shaft hole, the swinging shaft is inserted in the swinging shaft hole and can rotate, and the curtain wing rotating shaft is inserted in the curtain wing rotating shaft hole and can rotate; the guide rail is installed first mounting panel with on the second mounting panel, the runner hub cartridge is in first mounting panel with in the second mounting panel, the connection crossbeam cartridge is in first mounting panel with in the second mounting panel, curtain wing installation roof beam cartridge is in and slidable in the guide rail, driving motor installs on the motor mounting hole, the coil spring is installed first coil spring mounting hole with on the second coil spring mounting hole.

Further, the transmission mechanism comprises a connecting rod, a push rod, a cam and a transmission shaft, wherein a square shaft is arranged on the connecting piece, the direction of the square shaft is vertical to the axis of the swinging shaft hole, a connecting rod square hole and a connecting rod round hole are arranged on the connecting rod, a first push rod hole and a second push rod hole are arranged on the push rod, a cam rotating hole and a cam curved surface groove are arranged on the cam, the four connecting rods are respectively sleeved on the four square shafts of the four connecting pieces through the connecting rod square holes, the connecting rods can slide on the square shafts but cannot rotate, the connecting rods and the push rod are connected with the connecting rod round holes and the second push rod hole through first pin shafts, the push rod and the cam are connected with the first push rod hole and the cam curved surface groove through second pin shafts, and the cylindrical surface of the second pin shafts is tangent to two side surfaces of the cam curved surface groove, the transmission shaft is connected with the cam rotating hole and the second speed reducer.

Further, the cam curved groove is centrosymmetric with respect to the axis of the cam rotary hole.

Furthermore, the axis of the first push rod hole and the axis of the second push rod hole are perpendicular to different surfaces, two side surfaces of the cam curved surface groove are straight-grain surfaces, straight-grain surface plain lines are parallel to the axis of the cam rotating hole, and the contour curve of the cam curved surface groove is an ellipse or other symmetrical and smooth plane curves.

Further, the curtain wing rotating shaft is installed on an output shaft of the first speed reducer, and an output shaft of the stepping motor is installed in an input hole of the first speed reducer.

Further, the output shaft of the motor is mounted in the second reducer input hole.

Further, an output shaft of the driving motor is installed in the third reducer input hole.

Furthermore, the curtain wing frame is provided with the rotating wheel shaft, the curtain wing rotating shaft and the connecting cross beam, and the curtain wing frame adopts a hollow structure and adopts light materials such as engineering plastics, carbon fibers and the like.

Further, the number of coil springs installed in each of the curtain wing frames is 2.

A four-pull-curtain type flapping-wing aircraft with synchronous swinging driving energy adjustable is characterized by comprising curtain wings, connecting pieces, first speed reducers, stepping motors, a transmission mechanism, a second speed reducer, a motor, a body frame, a third speed reducer, driving motors and swinging shafts, wherein four swinging shafts in the horizontal direction are symmetrically arranged and fixed on the periphery of the body frame, the four connecting pieces are respectively connected to the four swinging shafts and rotate relatively, the four curtain wings are respectively connected to the four connecting pieces and can rotate relatively, each curtain wing comprises a curtain wing frame and continuous soft curtains sleeved on the curtain wing frames, the third speed reducer and the driving motors are arranged in the curtain wing frames, the driving motors control the expansion and contraction of the soft curtains after being decelerated by the third speed reducer, the four stepping motors respectively arranged on the four connecting pieces respectively drive the four curtain wings to rotate after being decelerated by the four first speed reducers arranged on the four connecting pieces, the transmission mechanism is connected to the four connecting pieces, a motor arranged on the machine body frame drives the transmission mechanism to move after being decelerated by a second speed reducer arranged on the machine body frame so as to enable the four connecting pieces to synchronously swing up and down, a first coil spring mounting hole, a second coil spring mounting hole, a guide rail, a curtain wing mounting beam, a motor mounting hole, a rotating wheel shaft, a curtain wing rotating shaft, a first mounting plate, a second mounting plate and a connecting beam are arranged on the curtain wing frame, a soft curtain windward surface and a soft curtain leeward surface are arranged on the soft curtain, the connecting piece is provided with a swinging shaft hole and a curtain wing rotating shaft hole, the axis of the swinging shaft hole is vertical to the axis of the curtain wing rotating shaft hole, the swinging shaft is inserted and rotatable in the swinging shaft hole, and the curtain wing rotating shaft is inserted and rotatable in the curtain wing rotating shaft hole; the guide rail is arranged on a first mounting plate and a second mounting plate, the rotating wheel shaft is inserted in the first mounting plate and the second mounting plate, the connecting beam is inserted in the first mounting plate and the second mounting plate, the curtain wing mounting beam is inserted in the guide rail and can slide, the driving motor is arranged on a motor mounting hole, the coil spring is arranged on a first coil spring mounting hole and a second coil spring mounting hole, the transmission mechanism comprises a connecting rod, a push rod, a cam and a transmission shaft, the connecting rod is provided with a square shaft, the direction of the square shaft is vertical to the axis of the swinging shaft hole, the connecting rod is provided with a connecting rod square hole and a connecting rod round hole, the push rod is provided with a first push rod hole and a second push rod hole, the cam is provided with a cam rotating hole and a cam curved groove, the four connecting rods are respectively sleeved on the square shafts of the four connecting rods through the connecting rod square holes, the connecting rod can slide on the square shaft but can not rotate, the connecting rod and the push rod are connected with the connecting rod round hole and the second push rod through a first pin shaft, the push rod and the cam are connected with a first push rod hole and a cam curved groove through a second pin shaft, the cylindrical surface of the second pin shaft is tangent to two side surfaces of the cam curved groove, the transmission shaft is connected with a cam rotating hole and a second speed reducer, the cam curved groove is symmetrical about the axis center of the cam rotating hole, the axis of the first push rod hole is perpendicular to the axis of the second push rod hole, two side surfaces of the cam curved groove are ruled surfaces, the ruled surface plain line is parallel to the axis of the cam rotating hole, the outline curve of the cam curved groove is an ellipse or other symmetrical and smooth plane curve, the curtain wing rotating shaft is installed on the output shaft of the first speed reducer, the output shaft of the stepping motor is installed in the input hole of the first speed reducer, the output shaft of the motor is installed in the input hole of the second speed reducer, the output shaft of the driving motor is installed in the input hole of the third speed reducer, and the curtain wing frame is provided with a rotating wheel shaft, The curtain wing rotating shaft and the connecting cross beam are both of hollow structures and made of light materials such as engineering plastics, carbon fibers and the like.

The working principle of the invention is as follows: when the motor is started, the motor is decelerated by the second decelerator to drive the transmission shaft and the cam to continuously rotate, four second pin shafts symmetrically inserted in the symmetrical cam curved groove curtains move to do symmetrical reciprocating motion respectively, the four second pin shafts respectively curtain four push rods to do symmetrical reciprocating translation, the push rods are hinged with the connecting rods so as to drive the surrounding connecting pieces and the curtain wing frames to do up-and-down reciprocating swing, when one pair of curtain wings synchronously flap down, the other pair of curtain wings synchronously flap up, when the curtain wing frames flap down, the curtain wing frames are in a working state, the driving motor does not work at the moment, the soft curtain is stretched to the maximum area under the action of the coil spring, so that the windward side of the soft curtain is opposite to airflow, the windward side of the soft curtain is vertical to the airflow moving direction, the airflow directly acts on the soft windward side of the curtain to obtain the maximum driving force, and simultaneously, the stepping motor drives the curtain wing frames to rotate after being decelerated by the first decelerator, the inclination angle of the curtain wings is changed, the positive pressure of airflow acting on the windward side of the soft curtain can be decomposed into lift force and thrust force, and the change of the inclination angle of the soft curtain can adjust the magnitude of the lift force and the thrust force; when the curtain wing frame moves away from the transmission shaft, the curtain wing frame is in a reset state, the driving motor starts to work at the moment to drive the rotating wheel shaft to work, the rotating wheel shaft rolls the soft curtain to contract, and airflow directly flows out from the curtain wing frame, so that the air resistance borne by the soft curtain in the reset process is the minimum, and the energy utilization efficiency of the soft curtain in the reciprocating translation process is high; when the reset stroke is finished, the acting force of the airflow is reduced, at the moment, the driving motor rotates in the opposite direction, and the soft curtain is driven to rotate to the working state under the action of the coil spring. When the four stepping motors adjust the inclination angles of the wing surfaces of the four curtain wings to be zero, the vertical lifting function can be realized, and if the aerodynamic force generated by the four curtain wings is equal to the weight and the resistance of the whole machine, hovering in the air can be realized; the curtain wing inclination angles of the four curtain wings are respectively adjusted through the four stepping motors, so that the lift force and the thrust force generated by each curtain wing can be adjusted, the four groups of lift forces and thrust forces can enable the unmanned aerial vehicle to generate resultant force and couple in any direction of space, and the unmanned aerial vehicle can be rapidly switched to fly in any direction.

Compared with the prior art, the invention has the following remarkable advantages:

1. the four-pull-curtain type synchronous swinging drive energy-adjustable flapping wing aircraft has the advantages that the curtain wings are arranged to swing up and down, the soft curtain controlled by the drive motor is designed, the soft curtain moves with the largest area facing the wind in the working stroke, the surface obtains larger and evenly distributed pressure, the thrust of the working stroke is large and stable, and the area facing the wind is variable when the curtain wings are in the working state, so that the drive energy is adjustable; and when the curtain wing is in a reset state, the soft curtain is contracted under the control of the driving motor, airflow directly flows out from the curtain wing frame, and the acting area of wind power is small, so that the reset resistance of the curtain wing is minimum, and the aim of greatly improving the pneumatic efficiency of the curtain wing is fulfilled.

2. According to the four-pull-curtain type synchronous swing type flapping wing aircraft with the adjustable driving energy, the soft curtain in the swing type curtain wing is switched between the working state and the reset state under the control of the driving motor, the coil spring is driven to complete, and the four-pull-curtain type synchronous swing type flapping wing aircraft is high in control precision and good in reliability.

3. The four-pull-curtain type synchronous swing driving energy-adjustable flapping wing air vehicle disclosed by the invention synchronously controls the swing of four flapping wings through one motor, when one pair of flapping wings flap upwards, the other pair of flapping wings flap downwards, the action consistency is good, the aerodynamic force output is continuous, the overall vibration of the air vehicle is small, the control system is simpler, and each flapping wing inclination angle is independently controlled through a stepping motor, so that the vertical take-off and landing, hovering in the air and fast switching to flying in any direction are realized, and therefore, the flexibility and maneuverability of the flapping wing air vehicle are very good.

4. The four-pull-curtain type synchronous swinging drive energy-adjustable flapping wing aircraft has the advantages of simple structure, good processing manufacturability and low production cost, and can be widely applied to various small aircraft and unmanned aerial vehicles flying at low Reynolds numbers.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 2 is a detailed structural schematic diagram of a four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 3 is an enlarged schematic view of the four-curtain type synchronous swing type driving energy adjustable flapping wing aircraft cam of the invention.

FIG. 4 is a cross-sectional view of the lower flapping curtain wing of the four-pull curtain type synchronous swing type driving energy adjustable flapping wing aircraft of the present invention.

FIG. 5 is a cross-sectional view of a flapping wing of the four-curtain type synchronous swing drive energy adjustable flapping wing aircraft of the present invention.

Fig. 6 is a schematic structural diagram of a curtain wing frame of a four-pull curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 7 is a schematic structural diagram of the soft curtain of the four-pull curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 8 is a schematic structural diagram of a connecting piece of the four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 9 is a schematic structural diagram of a connecting rod of the four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 10 is a schematic structural diagram of a push rod of the four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

FIG. 11 is a schematic structural diagram of a cam of the four-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft.

Detailed Description

The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.

Example 1: and (3) with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10 and fig. 11, the high-voltage wire inspection unmanned aerial vehicle adopting the four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft. The curtain wing comprises curtain wings, connecting pieces 4, first speed reducers 5, stepping motors 6, a transmission mechanism, a second speed reducer 11, a motor 12, a machine body frame 15, a third speed reducer 16, a driving motor 17 and swinging shafts 18, wherein four swinging shafts 18 in the horizontal direction are symmetrically installed and fixed on the periphery of the machine body frame 15, the four connecting pieces 4 are respectively connected to the four swinging shafts 18 and rotate relatively, the four curtain wings are respectively connected to the four connecting pieces 4 and can rotate relatively, the curtain wings comprise curtain wing frames 1 and continuous soft curtains 2 sleeved on the curtain wing frames 1, the third speed reducer 16 and the driving motor 17 are arranged in the curtain wing frames 1, the driving motor 17 controls the expansion and contraction of the soft curtains 2 after being decelerated by the third speed reducer 16, the four stepping motors 6 respectively arranged on the four connecting pieces 4 respectively drive the four curtain wings to rotate after being decelerated by the four first speed reducers 5 arranged on the four connecting pieces 4, the transmission mechanism is connected to the four connecting pieces 4, and the motor 12 arranged on the machine body frame 15 drives the transmission mechanism to move after being decelerated by the second speed reducer 11 arranged on the machine body frame 15 so as to enable the four connecting pieces 4 to synchronously swing up and down; the curtain wing frame 1 is provided with a first coil spring mounting hole 101, a second coil spring mounting hole 102, a guide rail 103, a curtain wing mounting beam 104, a motor mounting hole 105, a rotating wheel shaft 106, a curtain wing rotating shaft 107, a first mounting plate 108, a second mounting plate 109 and a connecting cross beam 110, the soft curtain 2 is provided with a soft curtain windward side 201 and a soft curtain leeward side 202, the connecting piece 4 is provided with a swinging shaft hole 402 and a curtain wing rotating shaft hole 403, the axis of the swinging shaft hole 402 is vertical to the axis of the curtain wing rotating shaft hole 403, the swinging shaft 18 is inserted in the swinging shaft hole 402 and can rotate, and the curtain wing rotating shaft 107 is inserted in the curtain wing rotating shaft hole 403 and can rotate; the guide rail 103 is installed on the first installation plate 108 and the second installation plate 109, the rotating wheel shaft 106 is inserted in the first installation plate 108 and the second installation plate 109, the connecting beam 110 is inserted in the first installation plate 108 and the second installation plate 109, the curtain wing installation beam 104 is inserted in the guide rail 103 and can slide, the driving motor 17 is installed on the motor installation hole 105, the coil spring 3 is installed on the first coil spring installation hole 101 and the second coil spring installation hole 102, the transmission mechanism comprises a connecting rod 7, a push rod 8, a cam 9 and a transmission shaft 10, the connecting piece 4 is provided with a square shaft 401, the direction of the square shaft 401 is vertical to the axis of the swinging shaft hole 402, the connecting rod 7 is provided with a connecting rod square hole 701 and a connecting rod round hole 702, the push rod 8 is provided with a first push rod hole 801 and a second push rod hole 802, the cam 9 is provided with a cam rotating hole 901 and a cam curved groove, the four connecting rods 7 are respectively sleeved on the square shafts 401 of the four connecting pieces 4 through the square connecting rod holes 701, the connecting rod 7 can slide on the square shaft 401 but can not rotate, the connecting rod 7 and the push rod 8 are connected with a connecting rod round hole 702 and a second push rod hole 802 through a first pin shaft 13, the push rod 8 and the cam 9 are connected with a first push rod hole 801 and a cam curved groove 902 through a second pin shaft 14, the cylindrical surface of the second pin shaft 14 is tangent with two side surfaces of the cam curved groove 902, the transmission shaft 10 is connected with a cam rotating hole 901 and a second speed reducer 11, the cam curved groove 902 is centrosymmetric about the axial line of the cam rotating hole 901, the axial line of the first push rod hole 801 is vertical to the axial line of the second push rod hole 802, two side surfaces of the cam curved groove 902 are straight-grained surfaces and straight-grained plain lines are parallel to the axial line of the cam rotating hole 901, the outline curve of the cam curved groove 902 is an ellipse or other symmetrical and smooth plane curves, the curtain wing rotating shaft 107 is installed on the output shaft of the first speed reducer 5, the output shaft of the stepping motor 6 is installed in the input hole of the first speed reducer 5, the output shaft of the motor 12 is installed in the input hole of the second reducer 11, the output shaft of the driving motor 17 is installed in the input hole of the third reducer 16, and the curtain wing frame 1 is provided with a rotating wheel shaft 106, a curtain wing rotating shaft 107 and a connecting beam 110, which are all of hollow structure and made of light materials such as engineering plastics, carbon fiber and the like. After the high-voltage wire inspection unmanned aerial vehicle adopts the four-pull-curtain type synchronous swinging drive energy-adjustable flapping wing aircraft, because the curtain wing has small resistance and high pneumatic efficiency, the unmanned aerial vehicle can conveniently realize vertical take-off and landing and hovering, particularly can quickly switch flight directions, has very good maneuverability and flexibility, has small aerodynamic continuous vibration, can efficiently finish various detection and photographing works, increases the flight time by 20 percent after carrying the same working load of photographic equipment and the like relative to a rotor wing unmanned aerial vehicle, and realizes longer flight time work.

Example 2: by combining the figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 11, the unmanned aerial vehicle special for fire extinguishing of the high-rise building adopts a four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft. The curtain wing comprises curtain wings, connecting pieces 4, first speed reducers 5, stepping motors 6, a transmission mechanism, a second speed reducer 11, a motor 12, a machine body frame 15, a third speed reducer 16, a driving motor 17 and swinging shafts 18, wherein four swinging shafts 18 in the horizontal direction are symmetrically installed and fixed on the periphery of the machine body frame 15, the four connecting pieces 4 are respectively connected to the four swinging shafts 18 and rotate relatively, the four curtain wings are respectively connected to the four connecting pieces 4 and can rotate relatively, the curtain wings comprise curtain wing frames 1 and continuous soft curtains 2 sleeved on the curtain wing frames 1, the third speed reducer 16 and the driving motor 17 are arranged in the curtain wing frames 1, the driving motor 17 controls the expansion and contraction of the soft curtains 2 after being decelerated by the third speed reducer 16, the four stepping motors 6 respectively arranged on the four connecting pieces 4 respectively drive the four curtain wings to rotate after being decelerated by the four first speed reducers 5 arranged on the four connecting pieces 4, the transmission mechanism is connected to the four connecting pieces 4, and the motor 12 arranged on the machine body frame 15 drives the transmission mechanism to move after being decelerated by the second speed reducer 11 arranged on the machine body frame 15 so as to enable the four connecting pieces 4 to synchronously swing up and down; the curtain wing frame 1 is provided with a first coil spring mounting hole 101, a second coil spring mounting hole 102, a guide rail 103, a curtain wing mounting beam 104, a motor mounting hole 105, a rotating wheel shaft 106, a curtain wing rotating shaft 107, a first mounting plate 108, a second mounting plate 109 and a connecting cross beam 110, the soft curtain 2 is provided with a soft curtain windward side 201 and a soft curtain leeward side 202, the connecting piece 4 is provided with a swinging shaft hole 402 and a curtain wing rotating shaft hole 403, the axis of the swinging shaft hole 402 is vertical to the axis of the curtain wing rotating shaft hole 403, the swinging shaft 18 is inserted in the swinging shaft hole 402 and can rotate, and the curtain wing rotating shaft 107 is inserted in the curtain wing rotating shaft hole 403 and can rotate; the guide rail 103 is installed on the first installation plate 108 and the second installation plate 109, the rotating wheel shaft 106 is inserted in the first installation plate 108 and the second installation plate 109, the connecting beam 110 is inserted in the first installation plate 108 and the second installation plate 109, the curtain wing installation beam 104 is inserted in the guide rail 103 and can slide, the driving motor 17 is installed on the motor installation hole 105, the coil spring 3 is installed on the first coil spring installation hole 101 and the second coil spring installation hole 102, the transmission mechanism comprises a connecting rod 7, a push rod 8, a cam 9 and a transmission shaft 10, the connecting piece 4 is provided with a square shaft 401, the direction of the square shaft 401 is vertical to the axis of the swinging shaft hole 402, the connecting rod 7 is provided with a connecting rod square hole 701 and a connecting rod round hole 702, the push rod 8 is provided with a first push rod hole 801 and a second push rod hole 802, the cam 9 is provided with a cam rotating hole 901 and a cam curved groove, the four connecting rods 7 are respectively sleeved on the square shafts 401 of the four connecting pieces 4 through the square connecting rod holes 701, the connecting rod 7 can slide on the square shaft 401 but can not rotate, the connecting rod 7 and the push rod 8 are connected with a connecting rod round hole 702 and a second push rod hole 802 through a first pin shaft 13, the push rod 8 and the cam 9 are connected with a first push rod hole 801 and a cam curved groove 902 through a second pin shaft 14, the cylindrical surface of the second pin shaft 14 is tangent with two side surfaces of the cam curved groove 902, the transmission shaft 10 is connected with a cam rotating hole 901 and a second speed reducer 11, the cam curved groove 902 is centrosymmetric about the axial line of the cam rotating hole 901, the axial line of the first push rod hole 801 is vertical to the axial line of the second push rod hole 802, two side surfaces of the cam curved groove 902 are straight-grained surfaces and straight-grained plain lines are parallel to the axial line of the cam rotating hole 901, the outline curve of the cam curved groove 902 is an ellipse or other symmetrical and smooth plane curves, the curtain wing rotating shaft 107 is installed on the output shaft of the first speed reducer 5, the output shaft of the stepping motor 6 is installed in the input hole of the first speed reducer 5, the output shaft of the motor 12 is installed in the input hole of the second reducer 11, the output shaft of the driving motor 17 is installed in the input hole of the third reducer 16, and the curtain wing frame 1 is provided with a rotating wheel shaft 106, a curtain wing rotating shaft 107 and a connecting beam 110, which are all of hollow structure and made of light materials such as engineering plastics, carbon fiber and the like. After the four-pull-curtain type synchronous swinging drive energy-adjustable flapping wing air vehicle is adopted by the unmanned aerial vehicle special for fire extinguishment of the high-rise building, the curtain wing has stronger maneuverability because of large thrust, small resistance and high pneumatic efficiency in the working stroke, can quickly respond to the emergency condition of the high-rise building and quickly fly to the fire catching point of the high-rise building for fire extinguishment.

Claims (9)

1. Four draw curtain formula synchronous swing drive energy adjustable flapping wing aircraft, its characterized in that: comprises curtain wings, connecting pieces (4), a first speed reducer (5), a stepping motor (6), a transmission mechanism, a second speed reducer (11), a motor (12), a machine body frame (15), a third speed reducer (16), a driving motor (17) and swinging shafts (18), wherein the swinging shafts (18) in four horizontal directions are symmetrically arranged on the periphery of the machine body frame (15), the four connecting pieces (4) are respectively connected on the four swinging shafts (18) and rotate relatively, the four curtain wings are respectively connected on the four connecting pieces (4) and can rotate relatively, the curtain wings comprise curtain wing frames (1) and continuous soft curtains (2) sleeved on the curtain wing frames (1), the curtain wing frames (1) are internally provided with the third speed reducer (16) and the driving motor (17), and the driving motor (17) controls the expansion and contraction of the soft curtains (2) after being decelerated by the third speed reducer (16), the four stepping motors (6) respectively arranged on the four connecting pieces (4) respectively drive the four curtain wings to rotate after being decelerated through four first speed reducers (5) arranged on the four connecting pieces (4), the transmission mechanism is connected to the four connecting pieces (4), and the motor (12) arranged on the machine body frame (15) drives the transmission mechanism to move after being decelerated through a second speed reducer (11) arranged on the machine body frame (15) so as to enable the four connecting pieces (4) to synchronously swing up and down;

the curtain wing frame (1) is provided with a first coil spring mounting hole (101), a second coil spring mounting hole (102), a guide rail (103), a curtain wing mounting beam (104), a motor mounting hole (105), a rotating wheel shaft (106), a curtain wing rotating shaft (107), a first mounting plate (108), a second mounting plate (109) and a connecting cross beam (110), the soft curtain (2) is provided with a soft curtain windward side (201) and a soft curtain leeward side (202), the connecting piece (4) is provided with a swinging shaft hole (402) and a curtain wing rotating shaft hole (403), the axis of the swinging shaft hole (402) is perpendicular to the axis of the curtain wing rotating shaft hole (403), the swinging shaft (18) is inserted in the swinging shaft hole (402) and can rotate, and the curtain wing rotating shaft (107) is inserted in the curtain wing rotating shaft hole (403) and can rotate; the guide rail (103) is installed on the first mounting plate (108) and the second mounting plate (109), the rotating wheel shaft (106) is inserted into the first mounting plate (108) and the second mounting plate (109), the connecting cross beam (110) is inserted into the first mounting plate (108) and the second mounting plate (109), the curtain wing mounting beam (104) is inserted into the guide rail (103) and can slide, the driving motor (17) is installed on the motor mounting hole (105), and the coil spring (3) is installed on the first coil spring mounting hole (101) and the second coil spring mounting hole (102).

2. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 1, wherein: the transmission mechanism comprises a connecting rod (7), a push rod (8), a cam (9) and a transmission shaft (10), a square shaft (401) is arranged on the connecting piece (4), the direction of the square shaft (401) is perpendicular to the axis of the swinging shaft hole (402), a connecting rod square hole (701) and a connecting rod round hole (702) are arranged on the connecting rod (7), a first push rod hole (801) and a second push rod hole (802) are arranged on the push rod (8), a cam rotating hole (901) and a cam curved surface groove (902) are arranged on the cam (9), the four connecting rods (7) are respectively sleeved on the square shafts (401) of the four connecting pieces (4) through the connecting rod square holes (701), the connecting rods (7) can slide on the square shafts (401) but cannot rotate, the connecting rods (7) and the push rod (8) are connected with the connecting rod round holes (702) and the second push rod holes (802) through first pin shafts (13), the push rod (8) and the cam (9) are connected with the first push rod hole (801) and the cam curved groove (902) through a second pin shaft (14), the cylindrical surface of the second pin shaft (14) is tangent to two side surfaces of the cam curved groove (902), and the transmission shaft (10) is connected with the cam rotating hole (901) and the second speed reducer (11).

3. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 2, wherein: the cam curved surface groove (902) is centrosymmetric with respect to the axis of the cam rotary hole (901).

4. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 2, wherein: the axial line of the first push rod hole (801) and the axial line of the second push rod hole (802) are perpendicular to different surfaces, two side surfaces of the cam curved surface groove (902) are straight-grained surfaces, plain lines of the straight-grained surfaces are parallel to the axial line of the cam rotating hole (901), and the contour curve of the cam curved surface groove (902) is an ellipse or other symmetrical and smooth plane curves.

5. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 1, wherein: the curtain wing rotating shaft (107) is installed on an output shaft of the first speed reducer (5), and an output shaft of the stepping motor (6) is installed in an input hole of the first speed reducer (5).

6. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 1 or 2, wherein: and an output shaft of the motor (12) is arranged in an input hole of the second speed reducer (11).

7. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 1, wherein: and an output shaft of the driving motor (17) is arranged in an input hole of the third speed reducer (16).

8. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 1, wherein: the curtain wing frame (1) is provided with the rotating wheel shaft (106), the curtain wing rotating shaft (107) and the connecting cross beam (110), and the curtain wing frame adopts a hollow structure and adopts light materials such as engineering plastics, carbon fibers and the like.

9. The four-pull-curtain type synchronous swing type driving energy-adjustable flapping wing aircraft according to claim 1, wherein: the number of the coil springs (3) mounted in each curtain wing frame (1) is 2.

Images