CN116374171A

CN116374171A - Multi-mode ornithopter

Info

Publication number: CN116374171A
Application number: CN202310440922.3A
Authority: CN
Inventors: 孙霁宇; 朱昊辰; 潘春祥; 宋发; 许诺; 闫永为; 王文哲; 张志君
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2023-04-23
Filing date: 2023-04-23
Publication date: 2023-07-04

Abstract

The invention provides a multi-mode ornithopter, which solves the problem of low aerodynamic efficiency of the traditional ornithopter, has good flexibility of wings, and an electromagnetic driving mechanism changes the direction of a magnetic field through an electromagnetic coil, so that the speed difference between the upper and lower wings is realized, the multi-mode ornithopter has better flexibility, and an attack angle changing gear mechanism is respectively controlled by two motors, so that attack angles of different angles can be provided for the two wings, and the flapping actions of flying beetles can be more accurately simulated.

Description

Multi-mode ornithopter

Technical Field

The invention relates to the field of ornithopters, in particular to a multi-mode ornithopter.

Background

Ornithopter (ornithopter) refers to an aircraft with wings capable of flapping up and down like bird and insect wings and heavier than air, and is also called a flapping wing machine. The flapping wing not only generates lift but also generates forward thrust.

Although the modern flapping wings can realize better flight and control, the modern flapping wings still have a certain gap from practical use, and still cannot be widely applied, and can only be used in tasks with special requirements, such as narrow space investigation in cities. The main problems to be solved by modern flapping wings are low aerodynamic efficiency, high power and mechanism requirements, high material requirements and small effective load. Taking aerodynamic problems as an example, microminiature flapping wings belong to a low Reynolds number and unsteady process, a flow model and accurate aerodynamic force change in the flapping process of the flapping wings cannot be completely known at present, and a perfect analysis method can be used for the aerodynamic force calculation of the flapping wings, so that related researches mainly depend on experiments.

Disclosure of Invention

The invention mainly aims to provide a multi-mode ornithopter, which solves the problem of low aerodynamic efficiency of the conventional ornithopter and has good wing flexibility. The aim is achieved by the following technical scheme:

the multi-mode ornithopter comprises a fuselage, wings 12, a wing control mechanism and a pneumatic propulsion mechanism, wherein the fuselage comprises an upper shell 1 and a lower shell 2, the upper shell 1 and the lower shell 2 are fixedly connected into a whole, a semicircular groove of the upper shell 1 and a semicircular groove of the lower shell form a circular hole of the fuselage, and an annular groove is formed in the wall of the circular hole of the fuselage; the wing control mechanism comprises a motor 21 fixedly connected to the bottom of the lower shell 2, transmission shafts 18 movably connected to two inner sides of the lower shell 2, an attack angle changing transmission wheel 15 movably connected in the annular groove, an attack angle changing gear 16 coaxial with the attack angle changing transmission wheel 15, and two pairs of electromagnet winding cylinders; the electromagnetic winding column body is wound with a magnetic coil group, the angle-of-attack changing gear 16 and the angle-of-attack changing driving wheel 15 are fixedly connected into a whole, a cross-shaped hole is formed in the center of the angle-of-attack changing gear for the wing to extend out, the driving shaft 18 is fixedly connected with a driving gear 17, the driving gear 17 is meshed with the angle-of-attack changing gear 16, and the rotating shaft of the motor 21 is in driving connection with the driving shaft 18 through a bevel gear; one end of the wing 12 connected with the fuselage is fixedly connected in the cross-shaped hole through a wing connecting rod 13, one end of the wing 12 extending into the fuselage is connected with a rubidium magnet, and the magnetic coil assembly electromagnetically drives the rubidium magnet to reciprocate up and down; the pneumatic propulsion mechanism comprises an air pump 25, the air pump 25 is communicated with a suspension air pressure nozzle 26 and a propulsion air pressure nozzle 24, and the propulsion air pressure nozzle 24 and the suspension air pressure nozzle 26 are both arranged on the machine body.

The invention has the following technical scheme: the motor 21 is fixedly connected to the bottom surface of the lower shell 2 through a motor bracket 6.

The invention has the following technical scheme: the driven bevel gear fixedly connected with one end of the transmission shaft 18 positioned in the machine body is meshed with the driving bevel gear fixedly connected with the rotating shaft of the motor 21.

The invention has the following technical scheme: each pair of electromagnet winding columns comprises an upper shell electromagnet winding column 11 fixedly connected to the inner bottom surface of the upper shell 1 and a lower shell electromagnet winding column 4 fixedly connected to the inner bottom surface of the lower shell 2, an upper winding magnetic coil group 22 is wound on the upper shell electromagnet winding column 11, and a lower winding magnetic coil group 23 is wound on the lower shell electromagnet winding column 4.

As a better technical scheme of the invention, the framework of the wing is made of photosensitive resin; the film of the wing is a polyvinyl chloride film.

The beneficial effects are that:

the ornithopter provided by the invention adopts the electromagnetic drive and angle of attack change gear mechanism to control the wing, and has the advantages of high efficiency of drive elements and low energy consumption. Compared with common gear and crank connecting rod flapping mechanisms, the electromagnetic driving mechanism changes the magnetic field direction through the electromagnetic coil, realizes flapping of the wing, reduces component friction and energy consumption, has high energy conversion ratio, reduces noise and enables the ornithopter to fly quieter. In addition, the electromagnetic driving mechanism can better realize speed difference between upper and lower flapping of the wing, and has better flexibility. The attack angle-changing gear mechanism is controlled by two motors respectively, so that attack angles of different angles can be provided for two wings, and the flapping wing actions of the migratory beetles can be more accurately simulated. Finally, the ground effect structure of the invention is composed of nozzles, can be suspended on the ground, and realizes the multi-mode function.

Drawings

FIG. 1 is an overall block diagram of a multi-modal ornithopter of the present invention;

FIG. 2a is a diagram of the lower housing of the multi-modal ornithopter of the present invention, b is a top view thereof;

FIG. 3 is a diagram of the upper housing of the multi-modal ornithopter of the present invention;

FIG. 4 is a diagram of the wing assembly of the multi-modal ornithopter of the present invention;

FIG. 5a is a side view of an angle of attack control wheel structure of a multi-modal ornithopter of the present invention, b;

FIG. 6a is a schematic view of the angle of attack adjustment mechanism of the multi-modal ornithopter of the present invention, b is a top view thereof;

FIG. 7 is an electro-magnetic ornithopter mechanism of the present invention;

FIG. 8a is a schematic diagram of the aerodynamic levitation and jet propulsion mechanism of the multi-modal ornithopter of the present invention, b is a top view thereof;

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present description will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1, the invention provides a wing control mechanism and a pneumatic propulsion mechanism, wherein the wing control mechanism comprises a fuselage, a wing 12, and the fuselage comprises an upper shell 1 and a lower shell 2, the upper shell 1 and the lower shell 2 are fixedly connected into a whole, a semicircular groove of the upper shell 1 and a semicircular groove of the lower shell form a circular hole of the fuselage, and an annular groove is formed on the wall of the circular hole of the fuselage; the wing control mechanism comprises a motor 21 fixedly connected to the bottom of the lower shell 2, transmission shafts 18 movably connected to two inner sides of the lower shell 2, an attack angle changing transmission wheel 15 movably connected in the annular groove, an attack angle changing gear 16 coaxial with the attack angle changing transmission wheel 15, and two pairs of electromagnet winding cylinders; the electromagnetic winding column body is wound with a magnetic coil group, the angle-of-attack changing gear 16 and the angle-of-attack changing driving wheel 15 are fixedly connected into a whole, a cross-shaped hole is formed in the center of the angle-of-attack changing gear for the wing to extend out, the driving shaft 18 is fixedly connected with a driving gear 17, the driving gear 17 is meshed with the angle-of-attack changing gear 16, and the rotating shaft of the motor 21 is in driving connection with the driving shaft 18 through a bevel gear; one end of the wing 12 connected with the fuselage is fixedly connected in the cross-shaped hole through a wing connecting rod 13, one end of the wing 12 extending into the fuselage is connected with a rubidium magnet, and the magnetic coil assembly electromagnetically drives the rubidium magnet to reciprocate up and down; the pneumatic propulsion mechanism comprises an air pump 25, the air pump 25 is communicated with a suspension air pressure nozzle 26 and a propulsion air pressure nozzle 24, and the propulsion air pressure nozzle 24 and the suspension air pressure nozzle 26 are both arranged on the machine body.

In other embodiments, the motor 21 is fixedly connected to the bottom surface of the lower housing 2 through the motor bracket 6.

In other embodiments, the driven bevel gear fixedly connected to the end of the drive shaft 18 inside the machine body is meshed with the drive bevel gear fixedly connected to the rotating shaft of the motor 21.

In other embodiments, each pair of electromagnet winding cylinders includes an upper housing electromagnet winding cylinder 11 fixedly connected to the inner bottom surface of the upper housing 1 and a lower housing electromagnet winding cylinder 4 fixedly connected to the inner bottom surface of the lower housing 2, wherein the upper housing electromagnet winding cylinder 11 is wound with an upper magnetic coil assembly 22, and the lower housing electromagnet winding cylinder 4 is wound with a lower magnetic coil assembly 23.

The multi-mode ornithopter provided by the invention is powered by an electromagnet and a miniature compression air pump, and consists of an upper shell 1, a lower shell 2 and a wing control mechanism, wherein the wing control mechanism comprises an electromagnet transmission mechanism consisting of winding electromagnet coil groups 22 and 23 and rubidium magnets 14, and a wing attack angle changing mechanism consisting of an attack angle changing transmission wheel 15, an attack angle changing gear 16, a transmission gear 17, a transmission shaft 18, a transmission bevel gear (connecting transmission shaft) 19, a transmission bevel gear (connecting motor) 20 and a motor 21, and a near-ground suspension propulsion mechanism consisting of a propulsion air pressure nozzle 24, a miniature air pump 25, a suspension air pressure nozzle 26 and an air guide connecting pipe 27.

As shown in fig. 6a, as a structure diagram of the attack angle adjusting mechanism, the attack angle adjusting mechanism outputs power through the motor 21, and the attack angle changing gear 16, the transmission gear 17, the transmission shaft 18, the transmission bevel gear 19 (connected with the transmission shaft) and the transmission bevel gear (connected with the motor) can change the attack angle of the wing by transmitting power, so that the problems of controlling the flight speed and the steering of the ornithopter are solved.

As shown in fig. 7, in the electromagnet flapping wing mechanism, the rubidium magnet 14 is a permanent magnet with light weight and high magnetic density, the upper winding magnetic coil set 22 and the lower winding magnetic coil set 23 change the magnetic field direction rapidly, and the rubidium magnet reciprocates up and down under the action of the magnetic field to drive the wing to flutter, so as to generate lift force and provide lift force for the ornithopter. The electromagnetic driving mechanism can better realize speed difference between upper and lower flapping of the wing, and has better flexibility. The attack angle-changing gear mechanism is controlled by two motors respectively, so that attack angles of different angles can be provided for two wings, and the flapping wing actions of the migratory beetles can be more accurately simulated.

As shown in fig. 8, the structure for realizing the jet ground effect of the ornithopter is composed of a micro pneumatic pump 25, a propulsion pneumatic nozzle 24, a suspension pneumatic nozzle 26 and an air guide connecting pipe 27, wherein the micro pneumatic pump 25 is used for compressing air to provide air pressure, the 4 suspension pneumatic nozzles 26 are used for providing buoyancy near the ground for the jet air on the ground through the air guide connecting pipe 27, the air guide connecting pipe 27 is used for providing high-pressure air for the propulsion pneumatic nozzle 24, and the two propulsion pneumatic nozzles 24 are used for providing forward thrust for the aircraft to achieve the function of near-ground suspension and forward motion.

Because the innovation of the present invention is the aircraft structure itself, aircraft drive systems, power sources and control systems are not included in the present invention.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A multi-mode ornithopter, characterized by: the wing control mechanism comprises a fuselage, wings, a wing control mechanism and a pneumatic propulsion mechanism, wherein the fuselage comprises an upper shell and a lower shell which are fixedly connected into a whole, a semicircular groove of the upper shell and a semicircular groove of the lower shell form a circular hole of the fuselage, and an annular groove is formed in the hole wall of the circular hole of the fuselage; the wing control mechanism comprises a motor fixedly connected to the bottom of the lower shell, transmission shafts movably connected to two inner sides of the lower shell, an attack angle changing transmission wheel movably connected in the annular groove, an attack angle changing gear coaxial with the attack angle changing transmission wheel, and two pairs of electromagnet winding cylinders; the electromagnetic winding column body is wound with a magnetic coil group, the angle-of-attack changing gear and the angle-of-attack changing driving wheel are fixedly connected into a whole, a cross-shaped hole is formed in the center of the angle-of-attack changing gear and used for the wing to extend out, the driving shaft is fixedly connected with a driving gear, the driving gear is meshed with the angle-of-attack changing gear, and the rotating shaft of the motor is in driving connection with the driving shaft through a bevel gear; one end of the wing, which is connected with the fuselage, is fixedly connected in the cross-shaped hole through a wing connecting rod, and one end of the wing, which extends into the fuselage, is connected with a rubidium magnet, and the magnetic coil assembly electromagnetically drives the rubidium magnet to reciprocate up and down; the pneumatic propulsion mechanism comprises an air pump, the air pump is communicated with a suspension air pressure nozzle and a propulsion air pressure nozzle, and the propulsion air pressure nozzle and the suspension air pressure nozzle are both arranged on the machine body.

2. The multi-modal ornithopter of claim 1, wherein: the motor is fixedly connected to the bottom surface of the lower shell through a motor bracket.

3. The multi-modal ornithopter of claim 1, wherein: the driven bevel gear fixedly connected with one end of the transmission shaft positioned in the machine body is meshed with the driving bevel gear fixedly connected with the rotating shaft of the motor.

4. The multi-modal ornithopter of claim 1, wherein: each pair of electromagnet winding columns comprises an upper shell electromagnet winding column fixedly connected to the inner bottom surface of the upper shell and a lower shell electromagnet winding column fixedly connected to the inner bottom surface of the lower shell, wherein the upper shell electromagnet winding column is wound with an upper magnetic winding group, and the lower shell electromagnet winding column is wound with a lower magnetic winding group.

5. The multi-modal ornithopter of claim 1, wherein: the framework of the wing is made of photosensitive resin; the film of the wing is a polyvinyl chloride film.