CN116176835A - Triphibian bionic flapping rotor wing micro aerial vehicle - Google Patents
Triphibian bionic flapping rotor wing micro aerial vehicle Download PDFInfo
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- CN116176835A CN116176835A CN202310356734.2A CN202310356734A CN116176835A CN 116176835 A CN116176835 A CN 116176835A CN 202310356734 A CN202310356734 A CN 202310356734A CN 116176835 A CN116176835 A CN 116176835A
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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
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
- B60F3/0038—Flotation, updrift or stability devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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Abstract
The invention discloses a triphibian bionic flapping rotor wing miniature aircraft, which comprises an air bag shell, wings, tail wings, leg mechanisms and a control device, wherein the wing wings are arranged on the air bag shell; the air bag shell is inflated to realize floating in water; the wing comprises a driving device and two flapping rotors which are installed in an anti-symmetrical way; the driving device is connected with the flapping rotor and is used for driving the flapping rotor to rotate and/or flap; the two leg mechanisms are symmetrically arranged at two sides of the bottom of the driving device, and are provided with metal spring legs with duck web-shaped soles; the tail fin is arranged at the rear side of the top of the driving device; the driving device and the control device are both arranged in the air bag shell; the leg mechanism and the wing are both mounted outside the airbag housing. The miniature aircraft has triphibian movement capability of flying in the air, running on the ground and swimming in water.
Description
Technical Field
The invention relates to the technical field of miniature aircrafts, in particular to a triphibian bionic flapping-rotor miniature aircraft.
Background
In modern military battlefield, the investigation task is particularly important, and the traditional manpower investigation soldier often generates great loss due to various reasons, and the investigation task is seriously failed. The microminiature aircraft has the characteristics of small size, light weight, strong maneuverability, good concealment and the like, can easily enter a narrow space to finish special tasks such as monitoring reconnaissance, interception interference and the like, has extremely high practical value, and particularly has wide application prospect in the future military field. Therefore, microminiature aircrafts are also a hotspot in research in various countries today.
However, current common amphibious unmanned aerial vehicles are more in variety, while amphibious and air triphibian unmanned aerial vehicles are less in variety, most unmanned aerial vehicles mainly comprise four rotor wings in the flight part, fixed wings are often arranged in a large-scale aircraft, and unmanned aerial vehicles based on a flapping wing structure are few; most unmanned aerial vehicles do not have bionic elements, and a few unmanned aerial vehicles with bionic elements do not have overall bionic, but rather land parts or water parts adopt bionic structures, so that the use is limited. For example: a miniature triphibian four-axis aircraft of Chongqing university (patent application No. CN 201510306015.5) is mainly based on the four-axis aircraft, and has relatively few bionic aspects. Other triphibian aircraft are comparatively oversized and have not been miniaturized.
Disclosure of Invention
In view of the above, in order to overcome the disadvantages of the microminiature aircraft, the invention provides a triphibian bionic flapping-rotor miniature aircraft, which has the advantages of both microminiature flapping-wing aircraft and microminiature rotor aircraft, and has the advantages of high vertical take-off and landing efficiency, high flight efficiency, low flight noise and high aerodynamic efficiency; the device can also be used in various scenes, can fly in the sky through the flapping rotor wing, can also realize ground running through the spring legs, and can also float on the water surface through the leg mechanism by utilizing the inflatable air bag shell to scratch.
The invention adopts the following specific technical scheme:
a triphibian bionic flapping rotor wing miniature aircraft comprises an air bag shell, wings, tail wings, leg mechanisms and a control device;
the air bag shell is inflated inside and is used for realizing floating in water;
the wing comprises a driving device and two flapping rotors which are installed in an anti-symmetrical mode; the driving device is connected with the flapping rotor wing and is used for driving the flapping rotor wing to rotate and/or flap;
the two leg mechanisms are symmetrically arranged at two sides of the bottom of the driving device, and are provided with metal spring legs with duck web-shaped soles for realizing land walking and water swimming;
the tail fin is arranged at the rear side of the top of the driving device and is used for realizing lifting control and direction control;
the driving device and the control device are both arranged in the air bag shell; the leg mechanism and the wing are both mounted outside the airbag housing;
the control device is in signal connection with the driving device, the leg mechanism and the tail wing and is used for controlling the driving device, the leg mechanism and the tail wing to act.
Further, the driving device comprises a motor seat, a driving motor and a transmission mechanism;
the driving motor is fixedly arranged in the mounting hole of the motor seat;
the transmission mechanism is connected between the driving motor and the flapping rotor wing in a transmission way and used for transmitting the power of the driving motor to the flapping rotor wing;
side posts axisymmetric with respect to the mounting holes are arranged on two sides of the motor base;
the leg mechanism is fixedly mounted to the outer end of the jamb.
Further, the wing also comprises a rotating structure and flapping structures symmetrically arranged on two sides of the rotating structure;
the rotating structure comprises a central shaft, a top seat, a stainless steel sleeve and a thin wing supporting seat; the bottom end of the central shaft is fixedly connected with the transmission mechanism, and the top end of the central shaft is fixedly connected with the top seat; the stainless steel sleeve is sleeved on the outer peripheral side of the central shaft in a hollow mode and is fixedly connected with the fine wing supporting seat;
the flapping structure comprises a fine wing support, a fine wing seat and a wing arm; one end of the wing arm is connected with the top seat through a pin, and the other end of the wing arm is fixedly connected with the two fine wing seats through pins; one end of the fine wing support is connected with the fine wing support seat through a pin, and the other end of the fine wing support is connected with the middle part of the wing arm through a pin, so that the fine wing support drives the wing arm to swing up and down through the up-and-down sliding of the central shaft; the flapping rotor wing is fixedly arranged on the fine wing seat.
Further, the transmission mechanism comprises a secondary planet wheel mechanism, a crank and a rocker;
the secondary planet wheel mechanism is arranged in the motor seat and is connected between the driving motor and the crank in a transmission way;
one end of the rocker is rotationally connected with the crank, and the other end of the rocker is rotationally connected with the central shaft.
Further, the leg mechanism further comprises a rudder frame, a leg steering engine, a half gear, a leg gear and a connecting rope;
the steering engine frame is fixedly arranged on the side column;
the half gear is rotatably arranged at the outer end part of the side column;
the leg steering engine is fixedly arranged on the rudder frame and is in signal connection with the control device;
the leg gear is fixedly arranged on an output shaft of the leg steering engine and meshed with the half gear;
the metal spring leg comprises an upper leg, a lower leg and a duck web-shaped sole which are hinged in sequence from top to bottom;
the top of the upper leg is fixedly arranged on an output shaft of the leg steering engine, and the upper leg is driven to swing through the leg steering engine;
the lower leg and the upper leg are connected through a half-joint spring;
the lower leg is connected with the duck web-shaped sole through a fin spring;
the connecting rope is connected between the lower leg and the half gear, and the lower leg is pulled to bend through the connecting rope and stretches through the fin spring.
Furthermore, the steering engine frame is formed by splicing a front steering engine rib plate and a rear steering engine rib plate which are oppositely arranged through a middle connecting plate;
the steering engine frame is provided with a columnar gap, and the columnar gap penetrates through the front steering engine rib plate, the connecting plate and the rear steering engine rib plate;
the lower part of the front steering engine rib plate is hollowed out;
a steering engine fixing hole is reserved at the lower part of the rear steering engine rib plate and is fixed with the leg steering engine through a screw;
the side column penetrates through the columnar gap and is fixedly connected with the steering engine frame;
the output shaft of the leg steering engine extends towards the outer end part of the side column.
Further, the tail wing comprises a tail rod, a lifting control mechanism and a direction control mechanism;
the front end of the tail rod is fixed in a tail rod fixing hole at the top of the motor seat;
the lifting control mechanism comprises a horizontal tail, a horizontal tail shaft, a first rocker arm, a first connecting rod mechanism and a first linear steering engine; the horizontal tail shaft penetrates through the horizontal through holes at the tail end of the tail rod and is fixedly connected with the two horizontal tails positioned at the two sides of the tail rod, so that the two horizontal tails are symmetrically arranged at the two sides of the tail rod; one end of the first rocker arm is fixedly connected with the horizontal tail shaft, and the other end of the first rocker arm is connected with the first linear steering engine through the first connecting rod mechanism; the first linear steering engine is fixedly arranged on the motor base, is connected with the control device through signals and is used for controlling the swing of the horizontal tail so as to realize lifting control;
the direction control mechanism comprises a vertical tail, a vertical tail shaft, a limiting block, a second rocker arm, a second connecting rod mechanism and a second linear steering engine; the vertical tail shaft passes through a vertical perforation in the middle of the tail rod, and is rotatably arranged on the tail rod together with the vertical tail and the limiting block through the limiting block; the middle part of the vertical tail shaft is fixedly connected with one end of the second rocker arm, and the other end of the second rocker arm is connected with the second linear steering engine through the second connecting rod mechanism; the second linear steering engine is fixedly arranged on the motor base and is connected with the control device in a signal manner, and is used for controlling the swing of the vertical tail to realize direction control.
Further, the airbag housing adopts a life jacket type airbag.
The beneficial effects are that:
the triphibian bionic flapping-rotor miniature aircraft adopts two flapping rotors which are installed in an antisymmetric way and a double-leg bionic structure which is installed in a symmetrical way and is used for walking on land, has the advantages of the miniature flapping-wing aircraft and the miniature rotor aircraft, can realize vertical take-off and landing, and has the advantages of high take-off efficiency, low flight noise and high aerodynamic efficiency; the inflatable air bag shell floats on the water surface, and the swimming is performed in the water through the duck web-shaped sole; the miniature aircraft can take off in a flapping mode in a flight state, and adjusts the attack angle of the wing through torsion during cruising, so that the average lift force in the flight process is increased, the aerodynamic efficiency is improved, and the wing torsion movement is simple and efficient to operate; under the land traveling state, the bird-like land traveling gesture is simulated by the combined action of the metal spring feet of the leg mechanisms and the wings, so that the bird-like land traveling gesture has good maneuverability and high traveling efficiency; in a water-swimming state, an inflatable air bag shell carried by the aircraft can be inflated rapidly to wrap the whole aircraft body, so that the aircraft body is prevented from being soaked by water, the air bag shell is inflated to generate buoyancy, the aircraft can float on the water surface, and swimming in the water is realized through the movement of a leg mechanism; therefore, the micro-aircraft has triphibian movement capability of flying in the air, running on the ground and swimming in water.
Drawings
FIG. 1 is a schematic structural view of a triphibian bionic flapping-rotor micro air vehicle of the invention;
FIG. 2 is a top view of the triphibian simulated flapping-rotor micro air vehicle of the present invention;
FIG. 3 is a schematic structural view of the triphibian bionic flapping-rotor micro air vehicle of the invention after the air bag shell is removed;
FIG. 4 is a schematic view of a part of the structure of the triphibian bionic flapping-rotor micro air vehicle of the invention;
FIG. 5 is a schematic diagram of a motor mount;
FIG. 6 is a schematic structural view of a leg mechanism;
fig. 7 is a schematic structural view of the rudder mount;
FIG. 8 is a schematic structural view of a wing;
FIG. 9 is a schematic view of a portion of the structure of the airfoil of FIG. 8;
FIG. 10 is a schematic diagram of an exploded construction of an assembled motor mount;
FIG. 11 is a schematic view of an exploded view of a drive motor and a transmission at an angle;
FIG. 12 is a schematic view of an exploded view of a drive motor and another angle of a transmission;
FIG. 13 is a schematic view of the structure of the tail wing;
fig. 14 is a schematic diagram of the walking process of the leg mechanism.
Wherein, the device comprises a 1-air bag shell, a 2-wing, a 3-tail wing, a 4-leg mechanism and a 5-control device;
21-flapping rotor wings, 22-motor seats, 23-driving motors, 211-central shafts, 212-top seats, 213-stainless steel sleeves, 214-fine wing support seats, 215-fine wing supports, 216-fine wing seats, 217-wing arms, 221-mounting holes, 222-side posts, 223-tail rod fixing holes, 224-central shaft perforation holes, 241-first-stage planetary carriers, 242-first-stage sun gears, 243-first-stage planetary gears, 244-second-stage planetary carriers, 245-second-stage sun gears, 246-second-stage planetary gears, 247-cranks, 248-rockers, 249-pull rings, 250-ring gear covers and 251-gear rings;
31-tail rod, 321-horizontal tail, 322-horizontal tail shaft, 323-first rocker arm, 324-first connecting rod mechanism, 325-first linear steering engine, 331-vertical tail, 332-vertical tail shaft, 333-limiting block, 334-second rocker arm, 335-second connecting rod mechanism and 336-second linear steering engine;
41-metal spring legs, 42-rudder frames, 43-leg steering gears, 44-half gears, 45-leg gears, 46-connecting ropes, 411-duck web-shaped soles, 412-upper legs, 413-lower legs, 414-half joint springs, 415-foot web springs, 421-front steering gear rib plates, 422-rear steering gear rib plates, 423-connecting plates, 424-columnar gaps, 441-first protrusions and 4131-second protrusions.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The embodiment of the invention provides a triphibian bionic flapping rotor wing micro air vehicle, which is shown in the structure of fig. 1 and 2, and comprises an air bag shell 1, a wing 2, a tail wing 3, a leg mechanism 4 and a control device 5;
the air bag shell 1 is inflated inside and is used for realizing floating in water; the floatation of the micro-aircraft depends on the buoyancy action of the air bag shell 1; the air bag shell 1 can adopt a life jacket type air bag and consists of an inner layer of film and an outer layer of film; in the walking and air flight stages on land, the inner and outer films of the air bag shell 1 are shrunk and wrapped on the machine body, when the aircraft is going to scratch in water, the air bag can be rapidly inflated by adopting a motor, and can be inflated in a chemical reaction mode, so that the air bag is fully filled and can float in water;
as shown in the structure of fig. 3 and 4, the wing 2 comprises a driving device and two flapping wings 21 mounted in anti-symmetrical manner; the driving device is connected with the flapping rotor 21 and is used for driving the flapping rotor 21 to rotate and/or flap;
the two leg mechanisms 4 are symmetrically arranged at two sides of the bottom of the driving device, and are provided with metal spring legs 41 with duck web-shaped soles 411 for realizing land walking and water swimming;
as shown in fig. 4, the tail wing 3 is installed at the rear side of the top of the driving device for implementing the elevation control and the direction control;
the driving device and the control device 5 are both arranged in the air bag shell 1; the leg mechanism 4 and the wing 2 are both arranged outside the air bag shell 1;
the control device 5 is in signal connection with the driving device, the leg mechanism 4 and the tail wing 3, and is used for controlling the driving device, the leg mechanism 4 and the tail wing 3 to act.
The triphibian bionic flapping-rotor wing micro air vehicle adopts two flapping-rotors 21 which are installed in an antisymmetric way and a double-leg bionic structure which is installed in a symmetrical way and used for walking on land, has the advantages of the micro flapping-wing air vehicle and the micro rotor wing air vehicle, can realize vertical take-off and landing, and has the advantages of high take-off efficiency, low flight noise and high aerodynamic efficiency; the inflatable air bag shell 1 and the leg mechanism 4 can be used in various scenes, can fly in the sky through the flapping wings 21, can run on the ground through the metal spring legs 41, can float on the water surface through the inflated air bag shell 1, and can swim in the water through the duck web-shaped sole 411; the miniature aircraft can take off in a flapping mode in a flight state, and adjusts the attack angle of the wing 2 through torsion during cruising, so that the average lift force in the flight process is increased, the aerodynamic efficiency is improved, and the torsion movement of the wing 2 is simple and efficient to operate; under the land traveling state, the combined action of the metal spring legs of the leg mechanisms 4 and the wings 2 simulates the walking posture of birds on land, so that the walking efficiency is high; in a water-swimming state, the inflatable air bag shell 1 carried by the aircraft can be inflated rapidly to wrap the whole aircraft body, so that the aircraft body is prevented from being soaked by water, the air bag shell 1 is inflated to generate buoyancy, the aircraft can float on the water surface, and swimming in the water is realized through the movement of the leg mechanisms 4; therefore, the micro-aircraft has triphibian movement capability of flying in the air, running on the ground and swimming in water.
In the triphibian bionic flapping-wing micro air vehicle, the driving device comprises a motor base 22, a driving motor 23 and a transmission mechanism; the motor seat 22 is a core component of the whole micro-aircraft, and the motor seat 22 connects the wing 2, the tail wing 3, the leg mechanism 4 and the control device 5 together; as shown in fig. 5 and 10, the driving motor 23 is fixedly installed in the installation hole 221 of the motor base 22, and the driving motor 23 is used for driving the wing 2 to act; the transmission mechanism is in transmission connection between the driving motor 23 and the flapping wing 21 and is used for transmitting the power of the driving motor 23 to the flapping wing 21; as shown in fig. 5, both sides of the motor housing 22 are provided with side posts 222 axisymmetric with respect to the mounting hole 221; as shown in fig. 4 and 6, the leg mechanism 4 is fixedly mounted to the outer end portion of the jamb 222.
The wing 2 not only comprises a driving device and two flapping wings 21, but also comprises a rotating structure and flapping structures symmetrically arranged on two sides of the rotating structure; as shown in fig. 8 and 9, the rotating structure includes a central shaft 211, a top base 212, a stainless steel sleeve 213, and a fine wing stay 214; as shown in fig. 9, the central shaft 211 is arranged along the vertical direction, the bottom end of the central shaft 211 is fixedly connected with the transmission mechanism, and the top end is fixedly connected with the top seat 212; the stainless steel sleeve 213 is sleeved on the outer peripheral side of the central shaft 211 and is fixedly connected with the fine wing support base 214; the flapping structure comprises a fine wing strut 215, a fine wing seat 216 and a wing arm 217; as shown in fig. 9, the wing arm 217 extends along the horizontal direction, one end of the wing arm 217 is connected with the top seat 212 through a pin, and the other end is fixedly connected with two fine wing seats 216 through pins; as shown in fig. 9, the fine wing 215 is obliquely arranged, one end of the fine wing 215 is connected with the fine wing seat 214 through a pin, and the other end of the fine wing 215 is connected with the middle part of the wing arm 217 through a pin, so that the fine wing 215 drives the wing arm 217 to swing up and down through the up and down sliding of the central shaft 211; flapping wings 21 are fixedly mounted to fine wing mount 216. The use of the stainless steel sleeve 213 reduces the swing of the central shaft 211 during the movement, improves the stability and smoothness of the flapping wings 21 during the movement, and reduces the power consumption of the aircraft during the movement; meanwhile, the rotating structure and the rotating structure are compact in whole, simple in structure and easy to process, assemble and manufacture. Flapping wing 21 may be comprised of a main beam, a secondary beam perpendicular to the main beam, and a wing membrane.
As shown in fig. 4, 10, 11 and 12, the transmission mechanism includes a secondary planetary gear mechanism, a crank 247 and a rocker 248; the secondary planetary gear mechanism is arranged in the motor base 22 through a gear ring cover 250 and is connected between the driving motor 23 and the crank 247 in a transmission way; one end of the rocker 248 is rotatably connected to the crank 247 and the other end is rotatably connected to the center shaft 211. The secondary planetary gear mechanism comprises a primary planetary gear carrier 241, a primary sun gear 242, a primary planetary gear 243, a secondary planetary gear carrier 244, a secondary sun gear 245, a secondary planetary gear 246 and a gear ring 251; an output shaft of the driving motor 23 is fixedly connected with a primary sun gear 242, a primary planet gear 243 is arranged on a primary planet carrier 241, both the primary planet carrier 241 and a secondary planet carrier 244 are arranged on a gear ring 251, the primary sun gear 242 is meshed with the primary planet gear 243, a secondary sun gear 245 is meshed with a secondary planet gear 246, the secondary planet gear 246 is arranged on a secondary planet carrier 244, and an output shaft is arranged at the center of the secondary planet carrier 244 and is fixedly connected with a crank 247; the other end of the rocker 248 is rotatably connected with the central shaft 211 through a pull ring 249, the central shaft 211 passes through the central shaft through hole 224 at the top of the motor base 22, and the movement of the central shaft 211 is guided by the motor base 22. The motor base 22 is provided with an inner gear ring which is meshed with the primary planet 243 and the secondary planet 246; the primary planet carrier 241 and the secondary planet carrier 244 are connected in a matched manner through the gear ring 251, so that the secondary planet carrier 244 can be driven to rotate at the same angular speed when the primary planet carrier 241 rotates; the primary carrier 241 and the secondary carrier 244 have the same structure; the secondary sun gear 245 is fixedly connected to the secondary planet carrier 244. The secondary planet gears 246 are mounted on the secondary planet carrier 244 through bearings, so that the secondary planet gears 246 can drive the secondary planet carrier 244 to rotate when the motor base 22 meshed with the secondary planet gears 246 rotates, and a crank 247 is arranged on the secondary planet carrier 244, and a connecting shaft is fixedly connected with the secondary planet carrier and penetrates through the gear ring cover 250.
As shown in fig. 6, the leg mechanism 4 further includes a rudder frame 42, a leg steering engine 43, a half gear 44, a leg gear 45, and a connecting rope 46; rudder mount 42 is fixedly mounted to side post 222; the half gear 44 is rotatably mounted to the outer end of the jamb 222; the leg steering engine 43 is fixedly arranged on the steering engine frame 42 and is in signal connection with the control device 5; the leg gear 45 is fixedly arranged on the output shaft of the leg steering engine 43 and meshed with the half gear 44; the thickness of both the half gear 44 and the leg gear 45 may be 1.5mm; the metal spring leg 41 comprises an upper leg 412, a lower leg 413 and a duck web shaped sole 411 which are hinged in sequence from top to bottom; the top of the upper leg 412 is fixedly arranged on an output shaft of the leg steering engine 43, and the upper leg 412 is driven to swing through the leg steering engine 43; the lower leg 413 and the upper leg 412 are connected through a half-joint spring 414; the lower leg 413 is connected with the duck web sole 411 through a fin spring 415; a connecting rope 46 is connected between the lower leg 413 and the half gear 44, and the lower leg 413 is pulled to bend by the connecting rope 46 and is stretched by a fin spring 415; as shown in fig. 6, an eccentric first protrusion 441 is provided on the outer end surface of the half gear 44, a second protrusion 4131 is provided on the outer side surface of the lower leg 413, and one end of the connection rope 46 is tied to the first protrusion 441 and the other end is tied to the second protrusion 4131, so that the connection rope 46 is driven by the rotation of the half gear 44 and the lower leg 413 is driven to move.
The principle of the walking process of the leg mechanism 4 is briefly illustrated in fig. 14, the principle of the water stroke advancing is the same as the walking principle, the direction in which the fin faces is the backward direction, wherein the gear mechanism reciprocates, wherein a-B-C is the movement process, at a, the connecting rope pulls the lower leg up due to the highest position, the lower leg is gradually put down in the process of moving from a to B, the lower leg is gradually pulled up to the lowest position, and the lower leg is gradually pulled up from the lowest position to the highest position in the process of B-C. The leg gear 45 is kept engaged with the half gear 44, and the leg mechanism moves the body forward under constraint driving due to the restriction of the spring hinge and the connecting rope. The process C-B-A is ase:Sub>A rotation process, and is the reverse process of the A-B-C movement process due to the reciprocating motion of the gear mechanism. The continuous advancing of the whole machine body is achieved through the alternate movement of the two legs.
As shown in fig. 6 and 7, the rudder frame 42 is formed by splicing a front steering wheel rib 421 and a rear steering wheel rib 422 which are oppositely arranged through a middle connecting plate 423; the rudder frame 42 is provided with a columnar gap 424, and the columnar gap 424 penetrates through the front steering engine rib plate 421, the connecting plate 423 and the rear steering engine rib plate 422; the lower part of the front steering engine rib plate 421 is hollowed out; a steering engine fixing hole is reserved at the lower part of the rear steering engine rib plate 422 and is fixed with the leg steering engine 43 through a screw; the jamb 222 passes through the columnar void 424 and is fixedly connected with the rudder mount 42; the output shaft of the leg steering engine 43 extends toward the outer end of the jamb 222.
As shown in fig. 4 and 13, the tail 3 includes a tail boom 31, a lift control mechanism, and a direction control mechanism; the front end of the tail rod 31 is fixed in a tail rod fixing hole 223 at the top of the motor base 22; the lifting control mechanism comprises a horizontal tail 321, a horizontal tail shaft 322, a first rocker 323, a first connecting rod mechanism 324 and a first linear steering engine 325; the flat tail shaft 322 passes through the horizontal perforation at the tail end of the tail rod 31 and is fixedly connected with two flat tails 321 positioned at two sides of the tail rod 31, so that the two flat tails 321 are symmetrically positioned at two sides of the tail rod 31; one end of a first rocker arm 323 is fixedly connected with the horizontal tail shaft 322, and the other end of the first rocker arm is connected with a first linear steering engine 325 through a first connecting rod mechanism 324; the first linear steering engine 325 is fixedly arranged on the motor base 22 and is connected with the control device 5 by signals, and is used for controlling the swing of the horizontal tail 321 so as to realize lifting control; the direction control mechanism comprises a vertical tail 331, a vertical tail shaft 332, a limiting block 333, a second rocker arm 334, a second link mechanism 335 and a second linear steering engine 336; the vertical tail shaft 332 passes through a vertical perforation in the middle of the tail rod 31, and is rotatably arranged on the tail rod 31 together with the vertical tail 331 and the limiting block 333 through the limiting block 333; the middle part of the vertical tail shaft 332 is fixedly connected with one end of a second rocker arm 334, and the other end of the second rocker arm 334 is connected with a second linear steering engine 336 through a second link mechanism 335; the second linear steering engine 336 is fixedly installed on the motor base 22 and is connected with the control device 5 through signals, and is used for controlling the swing of the vertical tail 331 to achieve direction control.
The lifting and direction control method of the tail wing 3 comprises the following steps: the lifting control link controls the first linear steering engine 325 to rotate, and drives the first rocker arm 323 to rotate through the transmission of the first link mechanism 324, so that the horizontal tail 321 rotates around the horizontal tail shaft 322 by a certain angle, and the lifting control of the flapping rotor wing 21 is completed; the second linear steering engine 336 is controlled to rotate in the direction control link, and the second rocker arm 334 is driven to rotate through the transmission of the second link mechanism 335, so that the vertical tail 331 rotates around the vertical tail shaft 332 by a certain angle, and the direction control of the flapping rotor wing 21 is completed.
The observation and research of the simulated biological object are the basis of the bionic research, and are also the necessary links for researching the propulsion mode of the water-dividing method. The floating mechanism of the micro-aircraft is designed by imitating the boating motion gesture of the duck. During the rowing process, the fin of the advancing foot keeps collinear with the leg connecting rod all the time due to the fact that the thrust direction of the received water is the same as the limit direction of the spring twist; the thrust direction of the water which is used for preventing the fin of the foot from being subjected to is opposite to the limit direction of the spring hinge, and the fin can rotate, so that the fin of the foot can be horizontally oriented by properly reducing the spring stiffness.
At this time, because the angles of the two flippers are different, the resistance to water is also different, and because the pushing flippers are kept collinear, the force bearing area in the vertical direction of the pushing flippers is increased and then reduced to 0, and the resistance effect of the blocking flippers is extremely small because the flippers are always horizontal. Therefore, the whole forward pushing force can be generated to drive the machine body to advance.
Compared with a four-axis micro-aircraft, the triphibian bionic flapping rotor wing 21 micro-aircraft body of the embodiment is simple in structure, lighter in weight, light and flexible, small in motor torque, small in takeoff and landing influence factors, convenient to carry, small in transmission friction loss due to the adoption of the planetary gears, long in service life, compact in structure, large in strength and capable of obtaining a large transmission ratio, the leg portion adopts a spring hinge as a joint structure, the structure is simpler and practical, and the number of parts is reduced.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The triphibian bionic flapping rotor wing micro air vehicle is characterized by comprising an air bag shell, wings, tail wings, leg mechanisms and a control device;
the air bag shell is inflated inside and is used for realizing floating in water;
the wing comprises a driving device and two flapping rotors which are installed in an anti-symmetrical mode; the driving device is connected with the flapping rotor wing and is used for driving the flapping rotor wing to rotate and/or flap;
the two leg mechanisms are symmetrically arranged at two sides of the bottom of the driving device, and are provided with metal spring legs with duck web-shaped soles for realizing land walking and water swimming;
the tail fin is arranged at the rear side of the top of the driving device and is used for realizing lifting control and direction control;
the driving device and the control device are both arranged in the air bag shell; the leg mechanism and the wing are both mounted outside the airbag housing;
the control device is in signal connection with the driving device, the leg mechanism and the tail wing and is used for controlling the driving device, the leg mechanism and the tail wing to act.
2. The triphibian bionic flapping-rotor micro air vehicle according to claim 1, wherein the driving means comprises a motor base, a driving motor and a transmission mechanism;
the driving motor is fixedly arranged in the mounting hole of the motor seat;
the transmission mechanism is connected between the driving motor and the flapping rotor wing in a transmission way and used for transmitting the power of the driving motor to the flapping rotor wing;
side posts axisymmetric with respect to the mounting holes are arranged on two sides of the motor base;
the leg mechanism is fixedly mounted to the outer end of the jamb.
3. The triphibian biomimetic flapping-wing micro air vehicle of claim 2, wherein the wing further comprises a rotating structure and flapping structures symmetrically mounted on both sides of the rotating structure;
the rotating structure comprises a central shaft, a top seat, a stainless steel sleeve and a thin wing supporting seat; the bottom end of the central shaft is fixedly connected with the transmission mechanism, and the top end of the central shaft is fixedly connected with the top seat; the stainless steel sleeve is sleeved on the outer peripheral side of the central shaft in a hollow mode and is fixedly connected with the fine wing supporting seat;
the flapping structure comprises a fine wing support, a fine wing seat and a wing arm; one end of the wing arm is connected with the top seat through a pin, and the other end of the wing arm is fixedly connected with the two fine wing seats through pins; one end of the fine wing support is connected with the fine wing support seat through a pin, and the other end of the fine wing support is connected with the middle part of the wing arm through a pin, so that the fine wing support drives the wing arm to swing up and down through the up-and-down sliding of the central shaft; the flapping rotor wing is fixedly arranged on the fine wing seat.
4. The triphibian biomimetic flapping-rotor micro air vehicle of claim 3, wherein the transmission mechanism comprises a secondary planetary mechanism, a crank and a rocker;
the secondary planet wheel mechanism is arranged in the motor seat and is connected between the driving motor and the crank in a transmission way;
one end of the rocker is rotationally connected with the crank, and the other end of the rocker is rotationally connected with the central shaft.
5. The triphibian biomimetic flapping-rotor micro air vehicle of claim 4, wherein the leg mechanism comprises a rudder mount, a leg steering engine, a half gear, a leg gear, and a connecting rope;
the steering engine frame is fixedly arranged on the side column;
the half gear is rotatably arranged at the outer end part of the side column;
the leg steering engine is fixedly arranged on the rudder frame and is in signal connection with the control device;
the leg gear is fixedly arranged on an output shaft of the leg steering engine and meshed with the half gear;
the metal spring leg comprises an upper leg, a lower leg and a duck web-shaped sole which are hinged in sequence from top to bottom;
the top of the upper leg is fixedly arranged on an output shaft of the leg steering engine, and the upper leg is driven to swing through the leg steering engine;
the lower leg and the upper leg are connected through a half-joint spring;
the lower leg is connected with the duck web-shaped sole through a fin spring;
the connecting rope is connected between the lower leg and the half gear, and the lower leg is pulled to bend through the connecting rope and stretches through the fin spring.
6. The triphibian bionic flapping-rotor micro air vehicle according to claim 5, wherein the steering engine frame is formed by splicing a front steering engine rib plate and a rear steering engine rib plate which are oppositely arranged through a middle connecting plate;
the steering engine frame is provided with a columnar gap, and the columnar gap penetrates through the front steering engine rib plate, the connecting plate and the rear steering engine rib plate;
the lower part of the front steering engine rib plate is hollowed out;
a steering engine fixing hole is reserved at the lower part of the rear steering engine rib plate and is fixed with the leg steering engine through a screw;
the side column penetrates through the columnar gap and is fixedly connected with the steering engine frame;
the output shaft of the leg steering engine extends towards the outer end part of the side column.
7. The triphibian biomimetic flapping-rotor micro air vehicle of claim 6, wherein the tail comprises a tail boom, a lift control mechanism and a directional control mechanism;
the front end of the tail rod is fixed in a tail rod fixing hole at the top of the motor seat;
the lifting control mechanism comprises a horizontal tail, a horizontal tail shaft, a first rocker arm, a first connecting rod mechanism and a first linear steering engine; the horizontal tail shaft penetrates through the horizontal through holes at the tail end of the tail rod and is fixedly connected with the two horizontal tails positioned at the two sides of the tail rod, so that the two horizontal tails are symmetrically arranged at the two sides of the tail rod; one end of the first rocker arm is fixedly connected with the horizontal tail shaft, and the other end of the first rocker arm is connected with the first linear steering engine through the first connecting rod mechanism; the first linear steering engine is fixedly arranged on the motor base, is connected with the control device through signals and is used for controlling the swing of the horizontal tail so as to realize lifting control;
the direction control mechanism comprises a vertical tail, a vertical tail shaft, a limiting block, a second rocker arm, a second connecting rod mechanism and a second linear steering engine; the vertical tail shaft passes through a vertical perforation in the middle of the tail rod, and is rotatably arranged on the tail rod together with the vertical tail and the limiting block through the limiting block; the middle part of the vertical tail shaft is fixedly connected with one end of the second rocker arm, and the other end of the second rocker arm is connected with the second linear steering engine through the second connecting rod mechanism; the second linear steering engine is fixedly arranged on the motor base and is connected with the control device in a signal manner, and is used for controlling the swing of the vertical tail to realize direction control.
8. The triphibian biomimetic flapping-rotor micro air vehicle of any of claims 1 to 7, wherein the air bag housing is a life jacket type air bag.
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| CN202310356734.2A CN116176835A (en) | 2023-04-06 | 2023-04-06 | Triphibian bionic flapping rotor wing micro aerial vehicle |
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| CN202310356734.2A CN116176835A (en) | 2023-04-06 | 2023-04-06 | Triphibian bionic flapping rotor wing micro aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117141757A (en) * | 2023-07-14 | 2023-12-01 | 北京科技大学 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
| CN117602070A (en) * | 2023-12-04 | 2024-02-27 | 武汉科技大学 | Flapping wing aircraft power system and flapping wing aircraft thereof |
-
2023
- 2023-04-06 CN CN202310356734.2A patent/CN116176835A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117141757A (en) * | 2023-07-14 | 2023-12-01 | 北京科技大学 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
| CN117602070A (en) * | 2023-12-04 | 2024-02-27 | 武汉科技大学 | Flapping wing aircraft power system and flapping wing aircraft thereof |
| CN117602070B (en) * | 2023-12-04 | 2024-05-14 | 武汉科技大学 | Flapping wing aircraft power system and flapping wing aircraft thereof |
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