CN115214875A - Foldable and deformable bionic unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a foldable and deformable bionic unmanned aerial vehicle, which comprises: the airplane body is provided with an empennage, wings and a driving system; the driving system and the tail wing are respectively arranged at the front end and the rear end of the fuselage; the wings are arranged on two sides of the fuselage; the wing comprises a folding driving device, a primary wing and a secondary wing; the wings on two sides can realize symmetrical folding deformation and asymmetrical folding deformation of the primary wing and the secondary wing. The invention can realize the symmetrical or asymmetrical deformation of wings on two sides of the aircraft, can change wing profiles in a self-adaptive manner according to different flight environments and flight tasks, always keeps the optimal flight efficiency, has a smooth and continuous aerodynamic surface, and is not easy to stall under the condition of a large attack angle.

Description

Foldable and deformable bionic unmanned aerial vehicle

Technical Field

The invention relates to the technical field of bionic robots, in particular to a foldable and deformable bionic unmanned aerial vehicle.

Background

The bionic unmanned aerial vehicle is a novel aerial vehicle simulating the flight of flying organisms, and has the advantages of small volume, light weight, strong concealment, high flexibility and the like, and has wide application prospect. Around the problem, various countries have developed bionic unmanned aerial vehicles, but the distance between the bionic unmanned aerial vehicles and actual application is still large, and the bionic unmanned aerial vehicles mainly have the aspects of limited flight time, small effective load, large control difficulty and the like. The reasons for this are that the low aerodynamic efficiency, high power consumption, low bionic degree and poor reliability of the wings are very important factors.

At present, the typical intelligent deformable aircraft technology simulates birds and emphatically imitates the basic posture or flight form of bird flight, most of the intelligent deformable aircraft technology focuses on the research on the whole continuous deformable wing, wing deformation or folding is realized by mainly depending on the driving of an intelligent material to keep a smooth continuous wing section and a skin structure, great challenge is brought to the structural performance of the intelligent material, and the intelligent deformable aircraft technology is high in cost, complex in structure, small in deformation and unsatisfactory in control effect.

Chinese patent publication No. CN213008701U, the invention name is an agricultural bionic bird-repelling unmanned aerial vehicle based on deformable wings. According to the invention, the plurality of sequentially arranged wing bodies are arranged, and the steering engines on each wing body independently work, so that the appearance of the whole wing is changed. Although the invention can realize multi-degree-of-freedom motion, the invention has the advantages of more driving pieces, large mass, complex structure and difficult miniaturization.

Chinese patent publication No. CN107054645A, the name of the invention is a bionic unmanned aerial vehicle with wing deformation and a deformation control method. The invention simulates soaring birds through the bionic combination of two basic deformation of the expansion wing section and the folding of the bionic wing. However, the invention can only realize local folding and unfolding of the wing end part, and cannot realize the whole deformation of the wing. Meanwhile, the wings are flat, lack of wing profiles and low in pneumatic efficiency.

The invention discloses a Chinese patent publication No. CN109592031A, which is named as a bionic flapping wing air vehicle with a single side and a single node. The wing folding device can realize active folding of the wing, pull the wing by the rope to fold the wing, realize unfolding by the spring, has limited flapping amplitude, has the problem of vibration disturbance under the elastic action of the rope and the spring, and is difficult to realize synchronous motion.

Therefore, a foldable deformable bionic unmanned aerial vehicle with simple wing structure, convenient operation and high pneumatic efficiency needs to be designed urgently.

Disclosure of Invention

The invention aims to provide a bionic unmanned aerial vehicle capable of being folded and deformed so as to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following scheme: the invention provides a bionic unmanned aerial vehicle capable of being folded and deformed, which comprises: the airplane comprises a fuselage, wherein an empennage, wings and a driving system are arranged on the fuselage; the driving system and the tail wing are respectively arranged at the front end and the rear end of the machine body;

the wings are arranged on two sides of the fuselage; the wing comprises a folding driving device, a primary wing and a secondary wing; one side of the secondary wing realizes folding and unfolding motion through a folding driving device, and the other side of the secondary wing is rotationally connected with the primary wing through a cam;

the primary wing and the secondary wing are provided with a plurality of bionic wing ribs which are mutually independent; the bionic wing ribs are provided with bionic wings;

the wings on two sides can realize symmetrical folding deformation and asymmetrical folding deformation of the primary wing and the secondary wing.

The driving system comprises a brushless motor and a propeller; brushless motor fixed mounting be in the fuselage, just brushless motor's output fixed mounting have the screw.

The folding driving device comprises a first rudder base, a first steering engine, a rudder arm and a transmission rod; the first steering engine is arranged on the first steering engine base; the first steering engine seat is fixedly arranged on the machine body through a fixed rod, and a transmission cavity is formed in the first steering engine seat; the first steering engine is in transmission connection with the transmission rod in the transmission cavity through the rudder arm, so that the transmission rod can reciprocate.

The secondary wing comprises two groups of first connecting rods, second connecting rods, third connecting rods, fourth connecting rods and fifth connecting rods;

the first connecting rod and the fifth connecting rod are arranged in parallel, and the second connecting rod and the fourth connecting rod are arranged in parallel; one end of the first connecting rod and one end of the fifth connecting rod are arranged on the first rudder engine base; the other end of the first connecting rod is rotatably connected with one end of the second connecting rod through the pin shaft; the other end of the fifth connecting rod is rotatably connected with one end of the fourth connecting rod through the pin shaft; the other end of the second connecting rod is in transmission connection with the primary wing through the third connecting rod; the other end of the fourth connecting rod is in transmission connection with the primary wing through the cam;

the second connecting rod is also in transmission connection with one end of the transmission rod through the pin shaft.

The two groups of the first connecting rod, the second connecting rod, the fourth connecting rod and the fifth connecting rod are connected through the pin shafts; each pin shaft is provided with a first connecting clamping piece; the first connecting clamping pieces corresponding to the positions of the first connecting rod, the fifth connecting rod, the second connecting rod and the fourth connecting rod jointly limit the bionic wing rib.

The primary wing further comprises a sixth connecting rod, an inner arm and a spring; the cam is arranged between the two sixth connecting rods and is arranged on the pin shaft at the connecting position of the sixth connecting rods and the fourth connecting rod;

the inner arm is pasted on the inner side of one third connecting rod in parallel and is arranged on one sixth connecting rod through a plurality of pin shafts; a plurality of arc-shaped grooves are formed in the inner arm; each arc-shaped groove corresponds to one pin shaft, and one end of each pin shaft penetrates through the arc-shaped groove and is provided with a second connecting clamping piece; each said second connector clip defining a said biomimetic rib;

one end of the inner arm, which is far away from the cam, is nested with the spring; the spring is limited between the end part of the inner arm and the two sixth connecting rods.

The radian of each arc-shaped groove is different; the included angle of the arc-shaped groove is gradually increased in an arithmetic progression from one side close to the cam to one side far away from the cam; the included angle of the arc-shaped groove is 120-180 degrees.

The bionic wing comprises a bionic wing vein and a bionic pinna which are connected by gluing; the profile size of the bionic wing rib is gradually reduced from the wing root to the wing tip; the bionic wing vein mortise and tenon joints are arranged on the bionic wing ribs matched with the bionic wing vein mortise and tenon joints in size.

The tail wing comprises a third steering engine, a second steering engine base, a second steering engine, a third steering engine base, an electric push rod base, a tail wing supporting plate, a U-shaped clamping piece, a rotating arm, a transfer column and a winding rope; the second rudder base and the electric push rod base are fixedly arranged on the machine body;

the electric push rod is arranged on the electric push rod seat, and the movable end of the electric push rod is in transmission connection with the two rotating arms arranged on the empennage supporting plate through the two wound ropes;

the center of the top surface of the empennage supporting plate is provided with two adapter columns; the two rotating arms are arranged at two ends of the empennage supporting plate; the two winding ropes are fixedly connected with the two rotating arms through the steering of the two switching columns;

each rotating arm is connected with a tail vane group respectively;

the second steering engine is fixedly arranged on the second steering engine base, and the output end of the second steering engine is fixedly connected with the third steering engine base; a third steering engine is fixedly arranged on the third steering engine base; the output end of the third steering engine is in transmission connection with the U-shaped clamping piece; the U-shaped clamping piece is fixedly connected with the empennage supporting plate.

The empennage pulse group comprises at least three empennage pulses; the adjacent empennage veins are connected through an elastic rope; a tail vein and said rotor arm at the end; the rest of the empennage pulse is hinged on the empennage supporting plate.

The invention discloses the following technical effects: the invention can realize the symmetrical or asymmetrical deformation of wings at two sides of the aircraft, can change the wing profile according to different self-adaption of the flight environment and the flight task, and always keeps the optimal flight efficiency; the bionic folding wing simultaneously meets the functional bionic demand and the structural bionic demand, and has the advantages of simple structure, convenient operation and control and high pneumatic efficiency;

the bionic unmanned aerial vehicle has a smooth and continuous aerodynamic surface, the aircraft is not easy to stall under the condition of a large attack angle, and the tail wing can be folded and unfolded.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the embodiment of the present invention

FIG. 2 is a schematic illustration of an airfoil frame provided by the present invention;

FIG. 3 is a schematic view of a primary wing morphing mechanism according to an embodiment of the present invention;

FIG. 4 is an isometric view of an airfoil provided by the present invention;

FIG. 5 is a top view of an airfoil provided by the present invention;

FIG. 6 is an illustration of an embodiment of the present invention in a folded configuration;

FIG. 7 is an illustration of an effect of the embodiment of the invention in a deployed state;

FIG. 8 is a top view of a tail wing of an embodiment of the present invention;

FIG. 9 is an isometric view of a tail wing of an embodiment of the present invention;

FIG. 10 is an enlarged view of the tail of an embodiment of the present invention;

wherein, 1-tail wing, 2-fuselage, 3-wing, 4-brushless motor, 6-propeller, 11-bionic wing, 14-first rudder base, 15-first connecting rod, 16-second connecting rod, 17-third connecting rod, 18-sixth connecting rod, 19-transmission rod, 20-fifth connecting rod, 21-bionic wing rib, 22-first connecting fastener, 23-fourth connecting rod, 24-cam, 25-pin shaft, 26-inner arm, 27-arc groove, 28-second connecting fastener, 29-spring, 30-rudder arm, 31-sixth secondary wing vein, 32-fifth secondary wing vein, 33-fourth secondary wing vein, 34-third secondary wing vein, 35-second secondary wing vein, 36-first secondary rib, 37-first primary rib, 38-second primary rib, 39-third primary rib, 40-fourth primary rib, 41-fifth primary rib, 42-sixth primary rib, 43-first steering gear, 45-first rib, 46-second rib, 47-third rib, 48-fourth rib 49-rib support plate, 50-third steering gear, 51-second steering gear, 52-electric push rod, 53-elastic rope, 54-adapter column, 55-third steering gear base, 56-winding rope, 57-rotating arm, 58-U-shaped fastener, 59-second steering gear base, 60-electric push rod base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1 to 7, a foldable and deformable bionic unmanned aerial vehicle comprises a body 2, wherein a tail wing 1, wings 3 and a driving system are arranged on the body 2; the driving system and the empennage 1 are respectively arranged at the front end and the rear end of the machine body 2;

the wings 3 are arranged on two sides of the fuselage 2; the wing 3 comprises a folding driving device, a primary wing and a secondary wing; one side of the secondary wing realizes folding and unfolding motion through a folding driving device, and the other side of the secondary wing is rotationally connected with the primary wing through a cam 24;

the primary wing and the secondary wing are provided with a plurality of bionic wing ribs 21 which are mutually independent; the bionic wing ribs 21 are provided with bionic wings 11;

the wings 3 on the two sides can realize symmetrical folding deformation and asymmetrical folding deformation of the primary wing and the secondary wing.

The driving system comprises a brushless motor 4 and a propeller 6; brushless motor 4 fixed mounting is in fuselage 2, and brushless motor 4's output fixed mounting has screw 6.

The folding driving device comprises a first rudder engine base 14, a first steering engine 43, a rudder arm 30 and a transmission rod 19; a first steering engine 43 is arranged on the first steering engine base 14; the first rudder engine base 14 is fixedly arranged on the machine body 2 through a fixing rod, and a transmission cavity is formed in the first rudder engine base 14; the first steering engine 43 is in transmission connection with the transmission rod 19 in the transmission cavity through the rudder arm 30, so as to realize the reciprocating motion of the transmission rod 19.

The secondary wing comprises two groups of first connecting rods 15, second connecting rods 16, third connecting rods 17, fourth connecting rods 23 and fifth connecting rods 20;

the first connecting rod 15 and the fifth connecting rod 20 are arranged in parallel, and the second connecting rod 16 and the fourth connecting rod 23 are arranged in parallel; one end of the first connecting rod 15 and one end of the fifth connecting rod 20 are arranged on the first rudder engine base 14; the other end of the first connecting rod 15 is rotatably connected with one end of the second connecting rod 16 through a pin shaft 25; the other end of the fifth connecting rod 20 is rotatably connected with one end of the fourth connecting rod 23 through a pin shaft 25; the other end of the second connecting rod 16 is in transmission connection with the primary wing through a third connecting rod 17; the other end of the fourth connecting rod 23 is in transmission connection with the primary wing through a cam 24;

the second connecting rod 16 is also in transmission connection with one end of the transmission rod 19 through a pin shaft 25.

Furthermore, the second connecting rod 16 extends outwards to form a section of transition connecting rod, and the transition connecting rod is in transmission connection with the transmission rod 19 through a pin shaft.

The two groups of the first connecting rod 15, the second connecting rod 16, the fourth connecting rod 23 and the fifth connecting rod 20 are connected through a pin shaft 25; each pin shaft 25 is provided with a first connecting clamping piece 22; the first link 15 and the correspondingly positioned first connecting clamps 22 on the fifth link 20, the second link 16 and the fourth link 23 jointly define a bionic rib 21.

The primary wing further comprises a sixth link 18, an inner arm 26 and a spring 29; the cam 24 is arranged between the two sixth connecting rods 18 and is arranged on a pin shaft 25 at the connecting part of the sixth connecting rod 18 and the fourth connecting rod 23;

the inner arm 26 is parallelly pasted on the inner side of a third connecting rod 17 and is arranged on a sixth connecting rod 18 through a plurality of pin shafts 25; the inner arm 26 is provided with a plurality of arc-shaped grooves 27; each arc-shaped groove 27 corresponds to a pin shaft 25, and one end of each pin shaft 25 penetrates through the arc-shaped groove 27 and is provided with a second connecting clamping piece 28; each second connecting jaw 28 defines a biomimetic rib 21;

the end of the inner arm 26 remote from the cam 24 is nested with a spring 29; a spring 29 is defined between the ends of the inner arm 26 and the two sixth links 18.

Each arc slot 27 has a different arc; the included angle of the arc groove 27 is gradually increased from one side close to the cam 24 to one side far away from the cam 24 in an arithmetic progression; the included angle of the arc-shaped groove 27 is 120-180 degrees.

Furthermore, the size of the arc-shaped groove on the inner arm is in an arithmetic progression from the near end to the far end in consideration of the smoothness of folding of the primary flying feather part. The arcuate slot is largest at the proximal end and smallest at the distal end.

In one embodiment of the invention, a second attachment clip 28 is also mounted on the distal-most end of the sixth link 18.

The bionic wing 11 comprises a bionic wing vein and a bionic pinna which are connected by gluing; the outline size of the bionic wing rib 21 is gradually reduced from the wing root to the wing tip; the bionic wing vein mortise and tenon joints are arranged on the bionic wing ribs 21 matched with the bionic wing vein mortise and tenon joints in size.

The tail wing comprises a third steering engine 50, a second steering engine base 59, a second steering engine 51, a third steering engine base 55, an electric push rod 52, an electric push rod base 60, a tail wing supporting plate 49, a U-shaped clamping piece 58, a rotating arm 57, an adapter column 54 and a winding rope 56; the second rudder engine base 59 and the electric push rod base 60 are fixedly arranged on the fuselage 2;

the electric push rod 52 is arranged on an electric push rod seat 60, and the movable end of the electric push rod 52 is in transmission connection with two rotating arms 57 arranged on the empennage supporting plate 49 through two winding ropes 56;

two adapter columns 54 are arranged at the center of the top surface of the empennage supporting plate 49; two rotating arms 57 are provided at both ends of the tail support plate 49; the two winding ropes 56 are fixedly connected with the two rotating arms 57 through the steering of the two switching columns 54;

each rotating arm 57 is connected with a tail vane group;

the second steering engine 51 is fixedly arranged on the second steering engine base 59, and the output end of the second steering engine 51 is fixedly connected with the third steering engine base 55; a third steering engine 50 is fixedly arranged on the third steering engine base 55; the output end of the third steering engine 50 is in transmission connection with the U-shaped clamping piece 58; the U-shaped clamping piece 58 is fixedly connected with the tail supporting plate 49.

The empennage pulse group comprises at least three empennage pulses; the adjacent tail veins are connected through an elastic rope 53; a tail vein and rotor arm 57 at the end; the rest of the tail veins are hinged on the tail supporting plate 49.

In one embodiment of the invention, the fuselage 2 is used for mounting aircraft components and is made of KT plates by bonding.

In this embodiment, for convenience and accurate expression, the tip direction is designated as the distal end, and the root direction is designated as the proximal end. As shown in fig. 2 and 3, the primary wing is mainly composed of a cam 24, a third link 17, an inner arm 26, and a spring 29; the cam 24 simulates the carpal bones of the wings of the birds, and the circle center of the cam is hinged with the far end of the second connecting rod 16; the rotation angle of the cam 24 determines the rotation angle of the wrist joint; the inner arm 26 is a driven part and is provided with a plurality of arc-shaped grooves 27; the inner arm 26 is attached to the inner side of the third connecting rod 17 in parallel, the near end of the inner arm is tangent to the cam 24, and the far end of the inner arm is nested with a spring 29;

further, when the cam 24 pushes the inner arm 26 outwards, the spring 29 will be compressed, the pin 25 of the bionic wing 11 of the primary wing will rotate along the respective corresponding arc-shaped slot 27, and the primary wing will gradually fold and furl. Conversely, when the spring 29 is reset, the primary wings will rotate along the arc-shaped slots 27 in the opposite direction, and the primary wings will gradually spread apart.

To reduce surface friction, the surfaces of the inner arm 26 in contact with the third link 17 are grease-coated and can slide against each other to reduce drag during the folding and unfolding of the wing 3. The spring 29 is subjected to a lower force during flight, and the spring 29 is primarily intended to cooperate with the wrist movement.

In one embodiment of the invention, each connecting rod piece is made of carbon fiber materials, the weight is light, the strength is high, and bearings are arranged at the positions where the connecting rod pieces are hinged with each other.

As shown in fig. 2 and 5, the secondary wing is composed of a first rudder mount 14, a first link 15, a second link 16, a third link 17, a fourth link 23 and a fifth link 20. The first link 15 simulates the humerus of a bird's wing and the second link 16 simulates the radius of the bird's wing. The third link 17, the fourth link 23, and the fifth link 20 are auxiliary links.

The proximal end of the first link 15 is hinged to the first rudder mount 14 and the distal end is hinged to the second link 16. The second link 16 has a proximal end hinged to the distal end of the first link 15 and a distal end hinged to the proximal end of the transmission rod 19. The first connecting rod 15, the bionic wing rib 21, the fifth connecting rod 20 and the first rudder engine base 14 form a first approximate parallelogram, and the second connecting rod 16, the third connecting rod 17, the fourth connecting rod 23 and the bionic wing rib 21 form a second approximate parallelogram.

As shown in fig. 7 and 8, the tail fin 1 includes a second steering engine 51, a second steering engine base 59, a third steering engine 50, a third steering engine base 55, an electric push rod 52, an electric push rod base 60, a tail fin support plate 49, U-shaped fasteners 58, a rotating arm 57, an adapter column 54, an elastic rope 53 and a winding rope 56; the second rudder engine base 59 and the electric push rod base 60 are fixedly connected with the machine body 2, and the third rudder engine base 55 is fixedly connected with the output end of the second steering engine 50;

in one embodiment of the present invention, the second steering engine 50 is used for providing power for realizing the rotation of the tail wing along the direction perpendicular to the axis of the body, the third steering engine 51 is used for providing power for realizing the rotation of the tail wing along the axis of the body, and the electric push rod 52 is used for providing power for realizing the furling and unfolding of the tail wing.

In one embodiment of the invention, the set of tail pulses comprises four tail pulses, a first tail pulse 45, a second tail pulse 46, a third tail pulse 47 and a fourth tail pulse 48, interconnected by an elastic cord 53. The proximal end of the fourth tail pulse 48 is fixedly connected with a tail support plate 49, the proximal ends of the first tail pulse 45, the second tail pulse 46 and the third tail pulse 47 are hinged with the tail support plate 49, and the proximal end of the first tail pulse 45 is fixedly connected with a rotating arm 57. The cord 56 is used to connect the proximal end of the rotating arm 57 to the output end of the power pushrod 52, and the cord 56 is circumscribed to the adapter 54.

Furthermore, in a natural state, the tail wing is in a folded state. When the electric push rod 52 moves along the direction of the machine head, the elastic rope 53 is stretched, and the tail wing is unfolded; when the electric push rod 52 contracts along the tail direction, the elastic rope 53 resets and the tail wing is folded.

As shown in fig. 2 and 4, the folding driving device is mainly used for driving the wing 3 to fold and unfold, and comprises a first rudder engine base 14, a first steering engine 43, a rudder arm 30 and a driving rod 19; the first rudder engine base 14 is hinged with a first connecting rod 15 and a second connecting rod 16 respectively; the end part of the output shaft of the first steering engine 43 is provided with a matched rudder arm 30; the rudder arm 30 is fixedly connected with the transmission rod 19.

Further, the first steering engine 43 drives the rudder arm 30 to rotate back and forth, so as to indirectly drive the transmission rod 19 to swing back and forth around the hinge point. Thereby realizing the cyclic process of the wing from the fully unfolded state to the fully folded state and then to the fully unfolded state. Specifically, when the first steering engine 43 rotates clockwise, the aircraft wing 3 is unfolded; when the first steering engine 43 is rotated counterclockwise, the aircraft wing 3 is folded.

As shown in fig. 4 and 5, the bionic wing ribs 21 have 12 total, all adopt an S1223 wing type, and have a large lift-drag ratio. Each bionic wing rib 21 is matched with a corresponding bionic wing vein. The contour dimension of the bionic wing rib 21 is gradually reduced from the wing root to the wing tip, and the whole wing is ensured to have a smooth and continuous streamline shape.

In one embodiment of the invention, as shown in fig. 2, 4 and 5, the aspect ratio of the plane of the wing 3 is 5 to 8, and the aspect ratio of the wing 3 is 2 to 1.5.

Further, a high aspect ratio indicates that the wing is relatively long and narrow, and a low aspect ratio indicates that the wing is relatively short and wide. When the wing aspect ratio is increased, the induced resistance of the airplane is reduced, which is beneficial to improving the voyage of the airplane; when the wing aspect ratio is reduced, the shock wave resistance of the airplane is small, and the maneuvering performance is good; the larger the ratio of extension to retraction represents the higher the wing fold rate and the greater the maneuverability and flexibility of the aircraft.

In one embodiment of the invention, as shown in fig. 4 and 5, the aircraft includes two first steering engines 43 that have both synchronous and asynchronous modes of operation. Under the synchronous working mode, the wings 3 on the two sides of the aircraft can realize symmetrical folding deformation; in the asynchronous working mode, the wings 3 on two sides can realize asymmetric folding deformation. In the symmetrical and fully-unfolded state of the wings, the aircraft flies in the high-lift cruise section; in a symmetrical and fully folded state of the wings, the air resistance is reduced, and the aircraft flies quickly; under the state that the left side and the right side of the wing are asymmetric, the area of the wing generates normal forces with different sizes, and the aircraft can roll and fly or turn flexibly.

In one embodiment of the present invention, as shown in fig. 4 and 5, the bionic wing 11 includes a bionic wing vein and a bionic vane. The bionic wing veins comprise a first primary wing vein 37, a second primary wing vein 38, a third primary wing vein 39, a fourth primary wing vein 40, a fifth primary wing vein 41, a sixth primary wing vein 42, a first secondary wing vein 36, a second secondary wing vein 35, a third secondary wing vein 34, a fourth secondary wing vein 33, a fifth secondary wing vein 32 and a sixth secondary wing vein 31. The bionic wing vein and the bionic pinna are connected by gluing, and the size of the bionic wing vein and the size of the bionic pinna are matched with each other. The bionic feather sheet can be made of nylon plastic materials.

Furthermore, the bionic wing ribs 21 and the bionic wing veins are connected in a mortise and tenon mode, so that the bionic wing veins can be replaced conveniently.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (10)

1. A bionic unmanned aerial vehicle capable of being folded and deformed is characterized by comprising:

the airplane body (2), wherein the empennage (1), the wings (3) and the driving system are arranged on the airplane body (2); the driving system and the tail wing (1) are respectively arranged at the front end and the rear end of the machine body (2);

the wings (3) are arranged on two sides of the fuselage (2); the wing (3) comprises a folding drive device, a primary wing and a secondary wing; one side of the secondary wing realizes folding and unfolding motion through a folding driving device, and the other side of the secondary wing is rotationally connected with the primary wing through a cam (24);

the primary wing and the secondary wing are provided with a plurality of bionic wing ribs (21) which are independent mutually; the bionic wing ribs (21) are provided with bionic wings (11);

the wings (3) on the two sides can realize symmetrical folding deformation and asymmetrical folding deformation of the primary wing and the secondary wing.

2. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 1, wherein the bionic unmanned aerial vehicle comprises: the driving system comprises a brushless motor (4) and a propeller (6); brushless motor (4) fixed mounting be in fuselage (2), just brushless motor (4)'s output fixed mounting have screw (6).

3. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 1, wherein: the folding driving device comprises a first rudder machine base (14), a first steering machine (43), a rudder arm (30) and a transmission rod (19); the first steering engine base (14) is provided with the first steering engine (43); the first rudder engine base (14) is fixedly arranged on the machine body (2) through a fixing rod, and a transmission cavity is formed in the first rudder engine base (14); the first steering engine (43) is in transmission connection with the transmission rod (19) in the transmission cavity through the rudder arm (30), so that the reciprocating motion of the transmission rod (19) is realized.

4. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 3, wherein the bionic unmanned aerial vehicle comprises: the secondary wing comprises two groups of first connecting rods (15), second connecting rods (16), third connecting rods (17), fourth connecting rods (23) and fifth connecting rods (20);

the first connecting rod (15) and the fifth connecting rod (20) are arranged in parallel, and the second connecting rod (16) and the fourth connecting rod (23) are arranged in parallel; one end of the first connecting rod (15) and one end of the fifth connecting rod (20) are arranged on the first rudder base (14); the other end of the first connecting rod (15) is rotatably connected with one end of the second connecting rod (16) through a pin shaft (25); the other end of the fifth connecting rod (20) is rotatably connected with one end of the fourth connecting rod (23) through the pin shaft (25); the other end of the second connecting rod (16) is in transmission connection with the primary wing through the third connecting rod (17); the other end of the fourth connecting rod (23) is in transmission connection with the primary wing through the cam (24);

the second connecting rod (16) is also in transmission connection with one end of the transmission rod (19) through the pin shaft (25).

5. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 4, wherein the bionic unmanned aerial vehicle comprises: the two groups of first connecting rods (15), the second connecting rods (16), the fourth connecting rods (23) and the fifth connecting rods (20) are connected through pin shafts (25); each pin shaft (25) is provided with a first connecting clamping piece (22); the first connecting clamping piece (22) corresponding to the positions of the fifth connecting rod (20), the second connecting rod (16) and the fourth connecting rod (23) together with the first connecting rod (15) define the bionic wing rib (21).

6. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 5, wherein: the primary wing further comprises a sixth connecting rod (18), an inner arm (26) and a spring (29); the cam (24) is arranged between the two sixth connecting rods (18) and is arranged on the pin shaft (25) at the joint of the sixth connecting rod (18) and the fourth connecting rod (23);

the inner arm (26) is parallelly attached to the inner side of the third connecting rod (17) and is arranged on the sixth connecting rod (18) through a plurality of pin shafts (25); a plurality of arc-shaped grooves (27) are formed in the inner arm (26); each arc-shaped groove (27) corresponds to one pin shaft (25), one end of each pin shaft (25) penetrates through the arc-shaped groove (27) and is provided with a second connecting clamping piece (28); each of said second attachment catches (28) defining a bionic rib (21);

the end of the inner arm (26) far away from the cam (24) is nested with the spring (29); the spring (29) is defined between the end of the inner arm (26) and the two sixth links (18).

7. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 6, wherein: each arc-shaped groove (27) has different radian; the arc included angle of the arc-shaped groove (27) is gradually increased from one side close to the cam (24) to one side far away from the cam (24) in an arithmetic progression; the included angle of the arc-shaped groove (27) is 120-180 degrees.

8. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 1, wherein the bionic unmanned aerial vehicle comprises: the bionic wing (11) comprises a bionic wing vein and a bionic vane which are connected by gluing; the profile size of the bionic wing rib (21) is gradually reduced from the wing root to the wing tip; the bionic wing vein mortise and tenon joint is arranged on the bionic wing rib (21) matched with the bionic wing vein mortise and tenon joint in size.

9. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 1, wherein: the tail wing comprises a third steering engine (50), a second steering engine base (59), a second steering engine (51), a third steering engine base (55), an electric push rod (52), an electric push rod base (60), a tail wing supporting plate (49), a U-shaped clamping piece (58), a rotating arm (57), an adapter column (54) and a winding rope (56); the second rudder engine base (59) and the electric push rod base (60) are fixedly arranged on the machine body (2);

the electric push rod (52) is arranged on the electric push rod seat (60), and the movable end of the electric push rod (52) is in transmission connection with the two rotating arms (57) arranged on the tail wing supporting plate (49) through the two winding ropes (56);

two adapter columns (54) are arranged in the center of the top surface of the empennage supporting plate (49); the two rotating arms (57) are arranged at two ends of the empennage supporting plate (49); the two winding ropes (56) are fixedly connected with the two rotating arms (57) through the steering of the two adapter columns (54);

each rotating arm (57) is connected with a tail vane group respectively;

the second steering engine (51) is fixedly mounted on the second steering engine base (59), and the output end of the second steering engine (51) is fixedly connected with the third steering engine base (55); a third steering engine (50) is fixedly mounted on the third steering engine base (55); the output end of the third steering engine (50) is in transmission connection with the U-shaped clamping piece (58); the U-shaped clamping piece (58) is fixedly connected with the tail wing supporting plate (49).

10. The bionic unmanned aerial vehicle capable of being folded and deformed as claimed in claim 9, wherein the bionic unmanned aerial vehicle comprises: the empennage pulse group comprises at least three empennage pulses; the adjacent empennage veins are connected through an elastic rope (53); -at the end a said tail pulse and said rotor arm (57); the rest of the tail pulse is hinged on the tail support plate (49).

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