CN116176835A - An amphibious bionic flapping rotor micro-aircraft - Google Patents

Abstract

The invention discloses an amphibious bionic flapping rotor micro-aircraft, which comprises an airbag housing, a wing, an empennage, a leg mechanism and a control device; the inside of the airbag housing is inflated to realize floating in water; the wing includes a driving device And the two flapping rotors installed anti-symmetrically; the driving device is connected with the flapping rotor to drive the flapping rotor to rotate and/or flap; the two leg mechanisms are symmetrically installed on both sides of the bottom of the driving device, and are equipped with duck fins The metal spring legs of the shaped feet; the empennage is installed on the top rear side of the driving device; the driving device and the control device are installed in the airbag housing; the leg mechanism and the wings are installed outside the airbag housing. The above-mentioned micro air vehicle has the amphibious motion capability of flying in the air, running on the ground and swimming in water.

Description

An amphibious bionic flapping rotor micro-aircraft

technical field

The invention relates to the technical field of micro-aircraft, in particular to an amphibious bionic flapping-rotor micro-aircraft.

Background technique

On the modern military battlefield, the reconnaissance task is particularly important. The traditional human scouts often suffer heavy losses for various reasons, and even lead to the failure of the reconnaissance mission. Due to its small size, light weight, strong maneuverability, and good concealment, micro-aircraft can easily enter small spaces to complete special tasks such as surveillance and reconnaissance, eavesdropping and interference, and have extremely high practical value, especially in The future military field has broad application prospects. Therefore, the micro-aircraft is also the focus of research in various countries today.

However, there are many types of common amphibious UAVs at present, while there are fewer types of amphibious UAVs, and the flying parts of most UAVs are mostly quadrotors, while those with fixed wings often exist in large aircraft. There are very few UAVs based on the flapping wing structure; most UAVs do not have bionic elements, and a few UAVs with bionic elements are not bionic as a whole, but use bionic structures on land or in water, and their use is restricted. limited. For example: a miniature amphibious quadcopter developed by Chongqing University (patent application number CN201510306015.5), mainly based on the quadcopter, with relatively few bionic aspects. Other amphibious aircraft are relatively large in size and have not been miniaturized.

Contents of the invention

In view of this, in order to overcome the disadvantages of the above micro aircraft, the present invention provides an amphibious bionic flapping rotor micro aircraft, which has the advantages of both micro flapping wing aircraft and micro rotor aircraft, and can realize vertical take-off and landing, take-off High efficiency, and has the advantages of high flight efficiency, low flight noise, and high aerodynamic efficiency; it can also take into account a variety of use scenarios, can fly in the sky by flapping the rotor, and can also run on the ground through spring legs, and can also use The inflated air bag housing floats on the water surface and paddles through the leg mechanism.

The present invention adopts following concrete technical scheme:

An amphibious bionic flapping rotor micro-aircraft, which includes an airbag housing, wings, empennage, leg mechanisms and a control device;

The interior of the airbag housing is inflated to float in water;

The wing includes a driving device and two flapping rotors installed anti-symmetrically; the driving device is connected to the flapping rotor for driving the flapping rotor to rotate and/or flap;

The two leg mechanisms are symmetrically installed on both sides of the bottom of the driving device, and are equipped with metal spring legs with webbed feet for walking on land and swimming in water;

The empennage is installed on the top rear side of the driving device for realizing lift control and direction control;

Both the driving device and the control device are installed in the airbag housing; the leg mechanism and the wings are installed outside the airbag housing;

The control device is signal-connected with the drive device, the leg mechanism and the empennage, and is used to control the movement of the drive device, the leg mechanism and the empennage.

Furthermore, the drive device includes a motor base, a drive motor and a transmission mechanism;

The driving motor is fixedly installed in the mounting hole of the motor base;

The transmission mechanism is transmission-connected between the driving motor and the flapping rotor, and is used to transmit the power of the driving motor to the flapping rotor;

The two sides of the motor base are provided with side columns symmetrical to the installation hole axis;

The leg mechanism is fixedly installed on the outer end of the side column.

Furthermore, the wing also includes a rotating structure and flapping structures symmetrically installed on both sides of the rotating structure;

The rotating structure includes a central shaft, a top seat, a stainless steel sleeve and a thin wing support; the bottom end of the central shaft is fixedly connected with the transmission mechanism, and the top end is fixedly connected with the top seat; the stainless steel sleeve is empty Sleeved on the outer peripheral side of the central shaft, and fixedly connected with the thin wing support;

The flapping structure includes a thin wing support, a thin wing seat and a wing arm; one end of the wing arm is connected to the top base by a pin, and the other end is fixedly connected with two of the thin wing seats by a pin; the thin wing One end of the wing strut is connected to the thin wing support by a pin, and the other end is connected to the middle of the wing arm by a pin, so that the thin wing strut can drive the wing arm up and down by sliding up and down of the central axis. Swing; the flapping rotor is fixedly installed on the thin wing seat.

Furthermore, the transmission mechanism includes a secondary planetary gear mechanism, a crank and a rocker;

The two-stage planetary gear mechanism is installed in the motor seat, and is connected by transmission between the drive motor and the crank;

One end of the rocker is rotatably connected to the crank, and the other end is rotatably connected to the central shaft.

Furthermore, the leg mechanism also includes a steering gear frame, a leg steering gear, a half gear, a leg gear and a connecting rope;

The steering gear frame is fixedly installed on the side column;

The half gear is rotatably mounted on the outer end of the side column;

The leg steering gear is fixedly installed on the steering gear frame and is connected to the control device for signals;

The leg gear is fixedly mounted on the output shaft of the leg steering gear and meshes with the half gear;

The metal spring leg includes an upper leg, a lower leg and the duck-webbed sole hinged sequentially from top to bottom;

The top of the upper leg is fixedly installed on the output shaft of the leg steering gear, and the upper leg is driven to swing by the leg steering gear;

The lower leg is connected to the upper leg by a semi-joint spring;

The lower leg is connected to the duck-webbed sole through a flipper spring;

The connecting rope is connected between the lower leg and the half gear, and the lower leg is bent by being pulled by the connecting rope, and stretched by the flipper spring.

Furthermore, the steering gear frame is formed by splicing the oppositely arranged front steering gear ribs and rear steering gear ribs through the connecting plate in the middle;

The steering gear frame is provided with a columnar gap, and the columnar gap is set through the front steering gear rib, the connecting plate and the rear steering gear rib;

The lower part of the rib plate of the front steering gear is hollowed out;

The lower part of the rear steering gear rib plate has a steering gear fixing hole, and is fixed with the leg steering gear by screws;

The side column passes through the columnar gap and is fixedly connected with the steering rack;

The output shaft of the leg servo extends toward the outer end of the side column.

Furthermore, the empennage includes a tail boom, a lift control mechanism and a direction control mechanism;

The front end of the tail rod is fixed in the tail rod fixing hole on the top of the motor seat;

The lifting control mechanism includes a horizontal tail, a horizontal tail shaft, a first rocker arm, a first linkage mechanism and a first linear steering gear; the horizontal tail shaft passes through the horizontal perforation at the end of the tail rod, and connects with two The flat tails on both sides of the tail boom are fixed, so that the two flat tails are symmetrically placed on both sides of the tail boom; one end of the first rocker arm is fixed to the shaft of the flat tail, and the other end passes through the first The linkage mechanism is connected with the first linear steering gear; the first linear steering gear is fixedly installed on the motor base, and is connected with the signal of the control device for controlling the swing of the horizontal tail to realize lifting control;

The direction control mechanism includes a vertical tail, a vertical tail shaft, a limit block, a second rocker arm, a second linkage mechanism, and a second linear steering gear; the vertical tail shaft passes through the vertical hole in the middle of the tail rod, and the vertical tail and the limiting block are rotatably installed on the tail rod 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 The other end of the second rocker arm is connected to the second linear steering gear through the second linkage mechanism; the second linear steering gear is fixedly installed on the motor base, and is connected to the control device for signal use. Direction control is realized by controlling the swing of the vertical tail.

Furthermore, the airbag casing adopts a lifejacket type airbag.

Beneficial effect:

The amphibious bionic flapping-wing micro-aircraft of the present invention adopts two anti-symmetrically installed flapping rotors and a symmetrically installed double-leg bionic structure for walking on land, and has the advantages of a micro-sized flapping-wing aircraft and a micro-miniature rotor aircraft, and can realize It has the advantages of vertical take-off and landing, high take-off efficiency, high flight efficiency, low flight noise, and high aerodynamic efficiency; through the airbag shell and leg mechanism, it can also take into account a variety of use scenarios, and can fly in the sky by flapping the rotor, and also The metal spring legs can be used to run on the ground, and at the same time, the inflated airbag shell can be used to float on the water surface, and the webbed feet can be used to paddle in the water; Take off and adjust the angle of attack of the wing by twisting during cruise to increase the average lift during flight and improve aerodynamic efficiency. The twisting movement of the wing is easy and efficient to operate; Together with the wings, it imitates the posture of birds walking on land, with good maneuverability and high walking efficiency; in the state of water swimming, the inflatable airbag shell carried by the aircraft will inflate quickly, wrapping the entire aircraft body to protect it from When soaked in water, the airbag shell is inflated to generate buoyancy, so that the aircraft can float on the water surface, and realize swimming in the water through the movement of the leg mechanism; ability.

Description of drawings

Fig. 1 is the structural representation of the amphibious bionic flapping rotor micro-aircraft of the present invention;

Fig. 2 is the top view of the amphibious bionic flapping rotor micro-aircraft of the present invention;

Fig. 3 is a schematic diagram of the structure of the amphibious bionic fluttering-wing micro-aircraft of the present invention after removing the airbag housing;

Fig. 4 is a partial structural schematic diagram of the amphibious bionic fluttering-wing micro-aircraft of the present invention;

Fig. 5 is the structural representation of motor base;

Fig. 6 is the structural representation of leg mechanism;

Fig. 7 is the structural representation of steering rack;

Fig. 8 is the structural representation of wing;

Fig. 9 is a partial structural schematic diagram of the wing in Fig. 8;

Figure 10 is a schematic diagram of the exploded structure of the assembled motor base;

Fig. 11 is a schematic diagram of an explosion structure at an angle between the driving motor and the transmission mechanism;

Fig. 12 is a schematic diagram of an explosion structure at another angle of the driving motor and the transmission mechanism;

Fig. 13 is the structural representation of empennage;

Fig. 14 is a schematic diagram of the walking process of the leg mechanism.

Among them, 1-airbag housing, 2-wing, 3-tail, 4-leg mechanism, 5-control device;

21-flapping rotor, 22-motor seat, 23-drive motor, 211-central shaft, 212-top seat, 213-stainless steel sleeve, 214-fine wing support, 215-fine wing support, 216-fine wing seat, 217-wing arm, 221-installation hole, 222-side column, 223-tail rod fixing hole, 224-central axis perforation, 241-first-level planet carrier, 242-first-level sun gear, 243-first-level planetary gear, 244 -Secondary planet carrier, 245-secondary sun gear, 246-secondary planetary gear, 247-crank, 248-rocker, 249-pull ring, 250-gear cover, 251-gear ring;

31-tail rod, 321-horizontal tail, 322-horizontal shaft, 323-first rocker arm, 324-first linkage mechanism, 325-first linear steering gear, 331-vertical tail, 332-vertical tail shaft, 333 -limiting block, 334-the second rocker arm, 335-the second linkage mechanism, 336-the second linear steering gear;

41-metal spring leg, 42-rudder frame, 43-leg steering gear, 44-half gear, 45-leg gear, 46-connecting rope, 411-duck webbed feet, 412-upper leg, 413-lower leg , 414-semi-joint spring, 415-flipper spring, 421-front steering gear rib, 422-rear steering gear rib, 423-connecting plate, 424-column gap, 441-first protrusion, 4131-second protrusion rise.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and examples.

The embodiment of the present invention provides an amphibious bionic flapping rotor micro-aircraft, as shown in Figure 1 and Figure 2, the aircraft includes an airbag housing 1, a wing 2, an empennage 3, a leg mechanism 4 and a control device 5;

The inside of the airbag housing 1 is inflated to float in water; the floating of the micro-aircraft depends on the buoyancy of the airbag housing 1; During walking and flying in the air, the inner and outer membranes of the airbag shell 1 are shrink-wrapped on the body. When the aircraft is about to row in the water, the airbag can be quickly inflated by a motor, or inflated by a chemical reaction. , so that the air sacs are fully inflated and able to float in the water;

As shown in the structure of Fig. 3 and Fig. 4, the wing 2 includes a driving device and two flapping rotors 21 installed anti-symmetrically; the driving device is connected with the flapping rotor 21 for driving the flapping rotor 21 to rotate and/or flap;

The two leg mechanisms 4 are symmetrically installed on both sides of the bottom of the driving device, and both are provided with metal spring legs 41 with webbed feet 411 for walking on land and swimming in water;

As shown in Figure 4, the empennage 3 is installed on the top rear side of the driving device for realizing lift control and direction control;

Both the driving device and the control device 5 are installed in the airbag housing 1; the leg mechanism 4 and the wing 2 are installed outside the airbag housing 1;

The control device 5 is signal-connected with the driving device, the leg mechanism 4 and the empennage 3 for controlling the actions of the driving device, the leg mechanism 4 and the empennage 3 .

The above-mentioned amphibious bionic flapping-wing micro-aircraft adopts two anti-symmetrically installed flapping-rotors 21 and a symmetrically installed double-leg bionic structure for walking on land. The take-off and take-off efficiency is high, and it has the advantages of high flight efficiency, low flight noise, and high aerodynamic efficiency; through the airbag housing 1 and the leg mechanism 4, it can also take into account a variety of use scenarios, and can fly in the sky through the flapping rotor 21 , can also run on the ground through the metal spring legs 41, and can also use the inflated airbag housing 1 to float on the water surface, and paddle in the water through the duck webbed feet 411; Take off in the way of fluttering, and adjust the angle of attack of wing 2 by twisting during cruise, increase the average lift during flight, and improve aerodynamic efficiency. The twisting motion of wing 2 is easy and efficient to operate; The combined effect of the metal spring feet of the leg mechanism 4 and the wing 2 imitates the posture of birds walking on land, with good maneuverability and high walking efficiency; in the state of swimming, the inflatable airbag shell 1 carried by the aircraft will inflate quickly , to wrap the entire aircraft fuselage to protect it from water immersion, the airbag housing 1 is inflated to generate buoyancy, so that the aircraft can float on the water surface, and realize swimming in the water through the movement of the leg mechanism 4; therefore, the above-mentioned micro aircraft has The amphibious movement ability of flying in the air, running on the ground, and swimming in the water.

In the above-mentioned amphibious bionic flapping rotor micro-aircraft, the driving device includes a motor base 22, a drive motor 23 and a transmission mechanism; And the control device 5 is connected together; as shown in Figure 5 and Figure 10, the drive motor 23 is fixedly installed in the mounting hole 221 of the motor base 22, and the drive motor 23 is used to drive the wing 2 to move; the transmission mechanism is connected to the drive motor 23 and the flapping rotor 21, used to transmit the power of the drive motor 23 to the flapping rotor 21; as shown in Figure 5, the two sides of the motor base 22 are provided with side columns 222 that are axisymmetric about the mounting hole 221; as shown in Figure 4 As shown in FIG. 6 , the leg mechanism 4 is fixedly installed on the outer end of the side column 222 .

The wing 2 not only includes a driving device and two flapping rotors 21, but also includes a rotating structure and a flapping structure symmetrically installed on both sides of the rotating structure; , stainless steel sleeve 213 and thin wing support 214; As shown in Figure 9, central shaft 211 is arranged along the vertical direction, and the bottom end of central shaft 211 is connected with transmission mechanism, and the top is connected with top seat 212; Stainless steel sleeve 213 is sleeved on the outer peripheral side of the central axis 211, and is fixedly connected with the thin wing support 214; the flapping structure includes the thin wing support 215, the thin wing seat 216 and the wing arm 217; as shown in Figure 9, the wing arm 217 is along the horizontal direction, one end of the wing arm 217 is connected with the top seat 212 by a pin, and the other end is fixedly connected with two thin wing seats 216 by a pin; as shown in FIG. The thin wing support 214 is connected by pins, and the other end is connected with the middle part of the wing arm 217 by pins, so that the thin wing support 215 drives the wing arm 217 to swing up and down through the vertical sliding of the central shaft 211; the flapping rotor 21 is fixedly installed on the thin wing Block 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 rotor 21 during the movement, and reduces the power consumption during the movement of the aircraft; at the same time, the rotation structure and the rotation structure as a whole Compact, simple in structure, easy to process and assemble. The flapping rotor 21 can be made of a main beam, a secondary beam perpendicular to the main beam, and a wing membrane.

As shown in Figure 4, Figure 10, Figure 11 and Figure 12, the transmission mechanism includes a secondary planetary gear mechanism, a crank 247 and a rocker 248; the secondary planetary gear mechanism is installed in the motor base 22 through the ring gear cover 250, and drives Connected between the drive motor 23 and the crank 247; one end of the rocker 248 is rotatably connected to the crank 247, and the other end is rotatably connected to the central shaft 211. The secondary planetary gear mechanism comprises a primary planetary carrier 241, a primary sun gear 242, a primary planetary gear 243, a secondary planetary carrier 244, a secondary sun gear 245, a secondary planetary gear 246 and a gear ring 251; The output shaft is fixedly connected with the primary sun gear 242, the primary planetary gear 243 is installed on the primary planetary carrier 241, the primary planetary carrier 241 and the secondary planetary carrier 244 are installed on the gear ring 251, and the primary sun gear 242 is connected to the primary planetary carrier 241. The planetary gear 243 meshes, the secondary sun gear 245 meshes with the secondary planetary gear 246, the secondary planetary gear 246 is installed on the secondary planet carrier 244, and the center of the secondary planet carrier 244 is fixedly connected with the output shaft and the crank 247; the rocker 248 The other end of the center shaft 211 is rotatably connected with the central shaft 211 through the pull ring 249, and the central shaft 211 passes through the central shaft perforation 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 ring gear, and the inner ring gear meshes with the first-level planetary gear 243 and the second-level planetary gear 246; the first-level planetary carrier 241 and the second-level planetary carrier 244 are connected through the gear ring 251, so that the first-level planetary carrier 241 When rotating, it can drive the secondary planet carrier 244 to rotate at the same angular velocity; the primary planet carrier 241 and the secondary planet carrier 244 have the same structure; the secondary sun gear 245 is fixedly connected to the secondary planet carrier 244 . The secondary planetary wheel 246 is installed on the secondary planetary carrier 244 through bearings, so that the secondary planetary wheel 246 can drive the secondary planetary carrier 244 to rotate when the motor seat 22 engaged with it rotates, and the secondary planetary carrier 244 is provided with a crank 247 connecting shaft It is fixedly connected with it and passes through the ring gear cover 250 .

As shown in Figure 6, the leg mechanism 4 also includes a steering gear frame 42, a leg steering gear 43, a half gear 44, a leg gear 45 and a connecting rope 46; the steering gear frame 42 is fixedly installed on the side column 222; the half gear 44 It can be rotatably installed on the outer end of the side column 222; the leg steering gear 43 is fixedly installed on the steering gear frame 42, and is connected with the control device 5 signal; the leg gear 45 is fixedly installed on the output shaft of the leg steering gear 43, And mesh with the half gear 44; the thickness of the half gear 44 and the leg gear 45 can be 1.5mm; the metal spring leg 41 includes an upper leg 412, a lower leg 413 and a webbed sole 411 hinged in turn from top to bottom; the upper leg The top of 412 is fixedly installed on the output shaft of the leg steering gear 43, and the upper leg 412 is driven to swing through the leg steering gear 43; the lower leg 413 and the upper leg 412 are connected by a semi-joint spring 414; the lower leg 413 and the duck-webbed sole 411 are connected by flipper spring 415; lower leg 413 and half gear 44 are connected with connecting rope 46, lower leg 413 is bent by connecting rope 46, and stretched by flipper spring 415; as shown in Figure 6 structure, in the half The outer end surface of the gear 44 is provided with an eccentric first protrusion 441, and the outer surface of the lower leg 413 is provided with a second protrusion 4131, and one end of the connecting rope 46 is tied to the first protrusion 441, and the other end is tied to the second protrusion. The protrusion 4131 drives the connecting rope 46 through the rotation of the half gear 44 and drives the lower leg 413 to move.

In Figure 14, the principle of the walking process of the leg mechanism 4 is simply illustrated. The principle of paddling in water is the same as that of walking. The direction of the flippers is the backward direction, and the gear mechanism is reciprocating, and A-B-C is the movement process. , at A, because it is at the highest position, the connecting rope pulls up the calf, and in the process of moving from A to B, the calf is gradually put down and reaches the lowest position. In the process of B-C, it is from the lowest position to the highest position, the same reason , the calf is gradually pulled up. The leg gear 45 keeps meshing with the half gear 44, and under the restraint drive, due to the limitation of the spring twist and the connecting rope, the leg mechanism drives the fuselage to move forward. The process C-B-A is a rotary process, and due to the reciprocating motion of the gear mechanism, it is the reverse process of the A-B-C motion process. Through the alternate movement of the legs, the continuous advancement of the whole body is achieved.

As shown in Fig. 6 and Fig. 7, the steering gear frame 42 is spliced by the front steering gear rib plate 421 and the rear steering gear rib plate 422 arranged oppositely through the connecting plate 423 in the middle; the steering gear frame 42 is provided with a columnar gap 424, The columnar gap 424 runs through the front steering gear rib 421, the connecting plate 423 and the rear steering gear rib 422; the lower part of the front steering gear rib 421 is hollowed out; the lower part of the rear steering gear rib 422 has a steering gear fixing hole, and passes through Screws are fixed to the leg steering gear 43; the side column 222 passes through the column gap 424 and is fixedly connected to the steering gear frame 42; the output shaft of the leg steering gear 43 extends towards the outer end of the side column 222.

As shown in Figure 4 and Figure 13, empennage 3 comprises tail rod 31, lifting control mechanism and direction control mechanism; The front end of tail rod 31 is fixed in the tail rod fixing hole 223 of motor base 22 tops; Flat tail shaft 322, the first rocker arm 323, the first link mechanism 324 and the first linear steering gear 325; Fixed connection, so that the two flat tails 321 are symmetrically placed on both sides of the tail rod 31; one end of the first rocker arm 323 is fixedly connected to the flat tail shaft 322, and the other end is connected to the first linear steering gear 325 through the first link mechanism 324 ; The first linear steering gear 325 is fixedly installed on the motor base 22, and is connected with the signal of the control device 5, and is used to control the swing of the horizontal tail 321 to realize lifting control; the direction control mechanism includes a vertical tail 331, a vertical tail shaft 332, a limit Block 333, the second rocking arm 334, the second link mechanism 335 and the second linear steering gear 336; The bit block 333 is rotatably installed on the tail rod 31; the middle part of the vertical tail shaft 332 is fixedly connected to one end of the second rocker arm 334, and the other end of the second rocker arm 334 is connected to the second linear steering gear through the second link mechanism 335. 336 connection; the second linear steering gear 336 is fixedly installed on the motor base 22, and is connected with the signal of the control device 5, and is used to control the swing of the vertical tail 331 to realize direction control.

The lifting and direction control method of the empennage 3 is as follows: the lifting control link controls the rotation of the first linear steering gear 325, and then drives the first rocker arm 323 to rotate through the transmission of the first linkage mechanism 324, so that the horizontal tail 321 rotates around the horizontal tail shaft 322 at a certain angle , to complete the lifting control of the flapping rotor 21; the direction control link controls the rotation of the second linear steering gear 336, and drives the second rocker arm 334 to rotate through the transmission of the second linkage mechanism 335, so that the vertical tail 331 rotates around the vertical tail shaft 332 at a certain angle , to complete the direction control of the flapping rotor 21.

Observing and studying the simulated biological objects is the basis of bionics research, and is also a necessary link in the research of the propulsion method of the stroke method in the present invention. The floating mechanism of the micro air vehicle is designed in imitation of the duck's paddling posture. In the process of swimming, the fins of the forward foot will always remain in line with the leg link because the thrust direction of the water received is the same as the direction limited by the spring twist; The direction is opposite, and it can be rotated, and the direction is horizontal by appropriately reducing the spring stiffness.

At this time, due to the different angles of the two flippers, the resistance of the water is also different. Since the pushing of the flippers remains in line, the force-bearing area in the vertical direction will first increase and then decrease until it becomes 0, while the hindrance of the feet Since the fins are always level, the drag effect will be minimal. Therefore, an overall forward driving force can be generated to drive the body forward.

Compared with the four-axis micro-aircraft, the amphibious bionic flapping rotor 21 micro-aircraft of this embodiment has a simple body structure, lighter weight, lightness and flexibility, smaller motor torque, less influencing factors for take-off and landing, and is easy to carry. The transmission friction loss is small, the life is longer, the structure is more compact, the load is distributed to more teeth, the strength is high, and a large transmission ratio can be obtained. The legs use spring hinges as the joint structure, the structure is simpler and more practical, and the number of parts is reduced. quantity.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. An amphibious bionic flapping rotor micro-aircraft, is characterized in that, comprises air bag housing, wing, empennage, leg mechanism and control device; The interior of the airbag housing is inflated to float in water; The wing includes a driving device and two flapping rotors installed anti-symmetrically; the driving device is connected to the flapping rotor for driving the flapping rotor to rotate and/or flap; The two leg mechanisms are symmetrically installed on both sides of the bottom of the driving device, and are equipped with metal spring legs with webbed feet for walking on land and swimming in water; The empennage is installed on the top rear side of the driving device for realizing lift control and direction control; Both the driving device and the control device are installed in the airbag housing; the leg mechanism and the wings are installed outside the airbag housing; The control device is signal-connected with the drive device, the leg mechanism and the empennage, and is used to control the movement of the drive device, the leg mechanism and the empennage. 2. The amphibious bionic flapping rotor micro-aircraft as claimed in claim 1, wherein said driving device comprises a motor base, a driving motor and a transmission mechanism; The driving motor is fixedly installed in the mounting hole of the motor base; The transmission mechanism is transmission-connected between the driving motor and the flapping rotor, and is used to transmit the power of the driving motor to the flapping rotor; The two sides of the motor base are provided with side columns symmetrical to the installation hole axis; The leg mechanism is fixedly installed on the outer end of the side column. 3. The amphibious bionic flapping rotor micro-aircraft as claimed in claim 2, wherein said wing also comprises a rotating structure and a flapping structure symmetrically installed on both sides of said rotating structure; The rotating structure includes a central shaft, a top seat, a stainless steel sleeve and a thin wing support; the bottom end of the central shaft is fixedly connected with the transmission mechanism, and the top end is fixedly connected with the top seat; the stainless steel sleeve is empty Sleeved on the outer peripheral side of the central shaft, and fixedly connected with the thin wing support; The flapping structure includes a thin wing support, a thin wing seat and a wing arm; one end of the wing arm is connected to the top base by a pin, and the other end is fixedly connected with two of the thin wing seats by a pin; the thin wing One end of the wing strut is connected to the thin wing support by a pin, and the other end is connected to the middle of the wing arm by a pin, so that the thin wing strut can drive the wing arm up and down by sliding up and down of the central axis. Swing; the flapping rotor is fixedly installed on the thin wing seat. 4. The amphibious bionic flapping rotor micro-aircraft as claimed in claim 3, wherein said transmission mechanism comprises a secondary planetary gear mechanism, a crank and a rocking bar; The two-stage planetary gear mechanism is installed in the motor seat, and is connected by transmission between the drive motor and the crank; One end of the rocker is rotatably connected to the crank, and the other end is rotatably connected to the central shaft. 5. The amphibious bionic flapping rotor micro-aircraft as claimed in claim 4, wherein said leg mechanism comprises a steering gear frame, a leg steering gear, a half gear, a leg gear and a connecting rope; The steering gear frame is fixedly installed on the side column; The half gear is rotatably mounted on the outer end of the side column; The leg steering gear is fixedly installed on the steering gear frame and is connected to the control device for signals; The leg gear is fixedly mounted on the output shaft of the leg steering gear and meshes with the half gear; The metal spring leg includes an upper leg, a lower leg and the duck-webbed sole hinged sequentially from top to bottom; The top of the upper leg is fixedly installed on the output shaft of the leg steering gear, and the upper leg is driven to swing by the leg steering gear; The lower leg is connected to the upper leg by a semi-joint spring; The lower leg is connected to the duck-webbed sole through a flipper spring; The connecting rope is connected between the lower leg and the half gear, and the lower leg is bent by being pulled by the connecting rope, and stretched by the flipper spring. 6. The amphibious bionic flapping rotor micro-aircraft as claimed in claim 5, wherein the steering gear frame is formed by splicing the front steering gear rib plate and the rear steering gear rib plate which are arranged oppositely through the connecting plate in the middle; The steering gear frame is provided with a columnar gap, and the columnar gap is set through the front steering gear rib, the connecting plate and the rear steering gear rib; The lower part of the rib plate of the front steering gear is hollowed out; The lower part of the rear steering gear rib plate has a steering gear fixing hole, and is fixed with the leg steering gear by screws; The side column passes through the columnar gap and is fixedly connected with the steering rack; The output shaft of the leg servo extends toward the outer end of the side column. 7. The amphibious bionic flapping rotor micro-aircraft as claimed in claim 6, wherein the empennage comprises a tail boom, a lift control mechanism and a direction control mechanism; The front end of the tail rod is fixed in the tail rod fixing hole on the top of the motor seat; The lifting control mechanism includes a horizontal tail, a horizontal tail shaft, a first rocker arm, a first linkage mechanism and a first linear steering gear; the horizontal tail shaft passes through the horizontal perforation at the end of the tail rod, and connects with two The flat tails on both sides of the tail boom are fixed, so that the two flat tails are symmetrically placed on both sides of the tail boom; one end of the first rocker arm is fixed to the shaft of the flat tail, and the other end passes through the first The linkage mechanism is connected with the first linear steering gear; the first linear steering gear is fixedly installed on the motor base, and is connected with the signal of the control device for controlling the swing of the horizontal tail to realize lifting control; The direction control mechanism includes a vertical tail, a vertical tail shaft, a limit block, a second rocker arm, a second linkage mechanism, and a second linear steering gear; the vertical tail shaft passes through the vertical hole in the middle of the tail rod, and the vertical tail and the limiting block are rotatably installed on the tail rod through the limiting block; the middle part of the vertical tail shaft is fixedly connected to one end of the second rocker arm, and the The other end of the second rocker arm is connected to the second linear steering gear through the second linkage mechanism; the second linear steering gear is fixedly installed on the motor base, and is connected to the control device for signal use. Direction control is realized by controlling the swing of the vertical tail. 8. The amphibious bionic flapping-rotor micro-aircraft according to any one of claims 1-7, wherein the airbag casing adopts a life jacket type airbag.

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