CN116461697A - Multi-mode ornithopter with variable attack angle - Google Patents

Abstract

The main purpose of the present invention is to provide a variable angle of attack multi-mode flapping aircraft for simulating the flying attitude of insects. As shown in Figure 1, it includes a fuselage frame 2, a wing 1, a flapping control mechanism 3 and a crawler belt running mechanism 4. The flapping control mechanism is movably connected in the 60-degree guide rail 5 of the fuselage frame, and a half gear is embedded outside. As shown in Figure 2, the belt traveling mechanism is composed of a motor 6, a helical gear 7 meshed with a team, a transmission shaft 8, a driven wheel (movably mounted on the fuselage), a driving wheel (fixed at both ends of the transmission shaft) 9, and a crawler belt. The land travel mode can be selected when it is inconvenient to fly and the energy-saving mode.

Description

A variable-angle-of-attack multi-mode orthopter

technical field

The invention relates to the field of flapping-wing aircraft, in particular to a multi-mode flapping-wing aircraft with a variable attack angle.

Background technique

Ornithopter refers to a heavier-than-air aircraft whose wings can flutter up and down like the wings of birds and insects, also known as ornithopter. The flapping wings not only generate lift, but also forward propulsion.

Although modern flapping wings have been able to achieve better flight and control, there is still a certain gap from practicality, and they cannot be widely used, and can only be used in some tasks with special requirements. The main problems to be solved in modern flapping wings are low aerodynamic efficiency, high power and mechanism requirements, high material requirements, and small payload. Taking the aerodynamic problem as an example, the micro-flapping wing is a low Reynolds number and unsteady process. It is still impossible to fully understand the flow model and accurate aerodynamic changes in the flapping process of the flapping wing, and there is no perfect analysis method that can be used for the aerodynamic calculation of the flapping wing. Related research mainly relies on experiments.

Contents of the invention

The main purpose of the present invention is to provide a variable-angle-of-attack multi-mode orthopter that simulates the flying attitude of insects, so as to solve the problems of low aerodynamic efficiency and inability to imitate the fluttering of insect wings in a figure-eight shape at present, and the manufacturing difficulty is low. This purpose is achieved through the following technical solutions:

A multi-mode flapping-wing aircraft, comprising a fuselage, wings 26, a flapping control mechanism and a crawler walking mechanism, the fuselage as shown in Figure 1, including a 60-degree arc track 1, a transmission shaft support 2, a crawler belt pushing motor frame 3, a variable-angle-of-attack motor bracket 4, and a crawler driven wheel shaft 5; the flapping control mechanism includes a flapping-wing variable-attack-angle mechanism bracket 11 movably connected to a 60-degree arc slide rail 1, a motor 6 fixed in the motor bracket 19, and a gear 31 fixedly connected to the motor 6 , the transmission gear 30 that is movably installed on the hole 17, the driven gear 13 and the transmission gear 12 that are movably installed on the hole 20, the driven gear 13 and the transmission gear 12 are fixedly connected as one, the crank 7 that is movably installed on the hole 15, the upper connecting rod 8 that is movably installed on the crank 7 and the transmission gear 30, the half gear 9 that is fixed in the groove 18, the variable angle of attack motor 14 that is fixed on the gear bracket 4, the transmission gear 10 that is fixed on the variable angle of attack motor 14, and that is fixed on the crank Wing 28 on the 7; described crawler belt traveling mechanism comprises the motor 21 that is fixed on the crawler belt propulsion motor frame 3, the bevel gear 25 that is fixed on the motor 21, the drive shaft 27 that is movably connected on the transmission shaft support 2, the track driving wheel 24 that is fixed on transmission shaft 27 two ends and the bevel gear 26 that is fixedly installed on the transmission shaft 27, bevel gear 27 and bevel gear 26 meshing, the driven wheel 23 that is movably installed on the track driven wheel shaft 5, the driven wheel that is movably installed on the drive shaft 27 The crawler belt 22 on 23 and driving wheel 24.

As a better technical solution of the present invention: the motor 6 is fixedly connected to the bracket 11 of the variable angle of attack mechanism through the motor bracket 19 .

As a better technical solution of the present invention: the gear 31 is fixed on the transmission shaft of the serial motor 6 and meshes with the driven gear 13 .

As a better technical solution of the present invention: the driven gear 13 is concentrically connected with the transmission gear 12 and is fixedly connected.

As a better technical solution of the present invention: the half gear 9 is fixedly connected in the groove 18 and meshes with the transmission gear 10 .

As a better technical solution of the present invention: the flapping wing changing angle of attack mechanism bracket 11 is movably connected in the 60-degree arc track 1 through the slide rails 16 at both ends.

As a better technical solution of the present invention: the variable angle of attack motor 14 is fixedly connected to the variable angle of attack motor support 4, and the transmission gear 10 is fixedly connected to its transmission shaft.

As a better technical solution of the present invention, the skeleton of the fuselage and the skeleton of the wing are made of photosensitive resin; the film of the wing is a polyvinyl chloride film.

The beneficial effects are:

The multi-mode variable-angle-of-attack flapping wing provided by the present invention provides the power to flap the wings through the gear crank linkage mechanism, realizes the function of changing the angle of attack through a pair of meshing variable-angle-of-attack gears, the arc-shaped frame slide rail and the mutually matched arc track on the frame, and realizes the "8"-shaped flapping of the wing through the cooperation between the variable-attack angle and the wing flapping system. When traveling in a narrow space that is inconvenient to fly, the function of walking on the ground can be realized through the crawler walking mechanism. The energy consumption of walking on the ground is significantly lower than that in the flying state, so it can realize multi-modal functions and reduce energy consumption.

Description of drawings

Fig. 1 is the overall structural diagram of multi-mode flapping wing aircraft of the present invention;

Fig. 2 is the frame structure diagram of the fuselage of the multi-mode flapping wing aircraft of the present invention;

Fig. 3 is the structural diagram of the variable angle of attack flapping mechanism of the multi-mode flapping wing aircraft of the present invention;

Fig. 4 is the support structure diagram of the variable angle of attack flapping mechanism of the multi-mode flapping wing aircraft of the present invention;

Fig. 5 is the structural diagram of the crawler belt running mechanism of multi-mode flapping wing aircraft of the present invention;

Fig. 6 is the structural diagram of the transmission mechanism of the crawler belt running mechanism of the multi-mode flapping wing aircraft of the present invention;

Fig. 7 is the structural diagram of the wing of the multi-mode flapping wing aircraft of the present invention;

Fig. 8 is the variable angle of attack half gear of the multi-mode flapping wing aircraft of the present invention;

Fig. 9 is a structural diagram of the flapping mechanism of the multi-mode flapping-wing aircraft of the present invention.

Detailed ways

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

A multi-mode flapping-wing aircraft, comprising a fuselage, wings 26, a flapping control mechanism and a crawler walking mechanism, the fuselage as shown in Figure 1, including a 60-degree arc track 1, a transmission shaft support 2, a crawler belt pushing motor frame 3, a variable-angle-of-attack motor bracket 4, and a crawler driven wheel shaft 5; the flapping control mechanism includes a flapping-wing variable-attack-angle mechanism bracket 11 movably connected to a 60-degree arc slide rail 1, a motor 6 fixed in the motor bracket 19, and a gear 31 fixedly connected to the motor 6 , the transmission gear 30 that is movably installed on the hole 17, the driven gear 13 and the transmission gear 12 that are movably installed on the hole 20, the driven gear 13 and the transmission gear 12 are fixedly connected as one, the crank 7 that is movably installed on the hole 15, the upper connecting rod 8 that is movably installed on the crank 7 and the transmission gear 30, the half gear 9 that is fixed in the groove 18, the variable angle of attack motor 14 that is fixed on the gear bracket 4, the transmission gear 10 that is fixed on the variable angle of attack motor 14, and that is fixed on the crank Wing 28 on the 7; described crawler belt traveling mechanism comprises the motor 21 that is fixed on the crawler belt propulsion motor frame 3, the bevel gear 25 that is fixed on the motor 21, the drive shaft 27 that is movably connected on the transmission shaft support 2, the track driving wheel 24 that is fixed on transmission shaft 27 two ends and the bevel gear 26 that is fixedly installed on the transmission shaft 27, bevel gear 27 and bevel gear 26 meshing, the driven wheel 23 that is movably installed on the track driven wheel shaft 5, the driven wheel that is movably installed on the drive shaft 27 The crawler belt 22 on 23 and driving wheel 24.

In some other embodiments, the motor 6 is fixedly connected to the bracket 11 of the variable angle of attack mechanism through a motor bracket 19 .

In other embodiments, the gear 31 is fixed on the transmission shaft of the serial motor 6 and meshes with the driven gear 13 .

In some other embodiments, the driven gear 13 is coaxial and fixedly connected to the transmission gear 12 .

In some other embodiments, the half gear 9 is fixedly connected in the groove 18 and meshes with the transmission gear 10 .

In some other embodiments, the support 11 of the flapping wing variable angle of attack mechanism is movably connected in the 60-degree arc track 1 through the slide rails 16 at both ends.

In some other embodiments, the variable angle of attack motor 14 is fixed on the variable angle of attack motor support 4 , and the transmission gear 10 is fixed on its transmission shaft.

The multi-mode flapping-wing aircraft provided by the present invention is powered by a micro-motor, and is composed of a fuselage frame, a variable-angle-of-attack flapping mechanism, a wing, and a crawler belt running mechanism. The variable-angle-of-attack flapping-wing mechanism includes a variable-angle-of-attack mechanism composed of a 60-degree arc track 1, a variable-angle-of-attack mechanism support 11, a variable-angle-of-attack motor support 4, a variable-angle-of-attack motor 14, and a half gear 9 fixed in the groove 18. The flapping wing mechanism; crawler belt traveling mechanism is made of motor 21, bevel gear 25, power transmission shaft 27, crawler belt driving wheel 24, bevel gear 26, bevel gear 27, bevel gear 26, driving wheel 23, crawler belt 22.

As shown in Figure 3, it is the structural diagram of the angle-of-attack adjustment mechanism. The motor 14 outputs power, the transmission gear 10 (connected to the motor), the half gear 9, and the angle-of-attack mechanism support 11 transmit power to change the angle of attack of the wing, thereby achieving the problem of controlling the flight speed and steering of the orthopter.

As shown in Figure 9, be flapping wing mechanism, motor 6 output power, gear 31 (connect motor), driven gear 13 (engage with gear 31), transmission gear 30 (engage with gear 12), transmission gear 12 (coaxial with gear 13 and affixed), crank 7, connecting rod 8 convert the rotational moment of motor into flapping moment, drive the wing flapping, generate lift, provide lift for flapping plane.

As shown in Figure 5, it is the structural diagram of the crawler belt running mechanism of the flapping wing aircraft. It is composed of motor 21, bevel gear 25, bevel gear 26, transmission shaft 27, driven wheel 23, driving wheel 24, crawler belt 22 and transmission shaft support 2. Belt 22 and driven wheel 23 realize walking function.

Since the innovation of the present invention lies in the aircraft structure itself, the aircraft drive system, power source and control system are not included in the present invention.

In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with this embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims (8)

1. a multi-mode flapping-wing aircraft, is characterized in that: comprise fuselage, wing 26, flapping control mechanism and crawler belt traveling mechanism, described fuselage as shown in Figure 1, comprises 60 degree arc track 1, power transmission shaft support 2, crawler belt pushes motor mount 3, variable attack angle motor support 4, crawler belt driven wheel shaft 5; Gear 31 on 6, transmission gear 30 movably installed on hole 17, driven gear 13 and transmission gear 12 movably installed on hole 20, driven gear 13 and transmission gear 12 are fixedly connected as a whole, crank 7 movably installed on hole 15, connecting rod 8 movably installed on crank 7 and transmission gear 30, half gear 9 affixed in groove 18, variable angle of attack motor 14 affixed to gear bracket 4, transmission gear 10 affixed to variable angle of attack motor 14 , the wing 28 that is fixed on the crank 7; Described crawler belt traveling mechanism comprises the motor 21 that is fixed on the crawler belt pushes motor frame 3, the bevel gear 25 that is fixed on the motor 21, the drive shaft 27 that is movably connected on the transmission shaft support 2, the crawler belt driving wheel 24 that is fixed on transmission shaft 27 two ends and the bevel gear 26 that is fixedly installed on the transmission shaft 27, the bevel gear 27 and the bevel gear 26 mesh, the driven wheel 23 that is movably installed on the track driven wheel shaft 5, The crawler belt 22 that is movably installed on the driven wheel 23 and the driving wheel 24. 2. The multi-mode flapping wing aircraft according to claim 1, characterized in that: the motor 6 is fixedly connected to the bracket 11 of the variable angle of attack mechanism through a motor bracket 19. 3 . The multi-mode flapping wing aircraft according to claim 1 , wherein the gear 31 is fixed on the transmission shaft of the serial motor 6 and meshes with the driven gear 13 . 4. The multi-mode flapping wing aircraft according to claim 1, characterized in that: the driven gear 13 is coaxially connected with the transmission gear 12 and is fixedly connected. 5 . The multi-mode flapping wing aircraft according to claim 1 , wherein the half gear 9 is fixedly connected in the groove 18 and meshes with the transmission gear 10 . 6. The multi-mode flapping-wing aircraft according to claim 1, said flapping-wing changing angle of attack mechanism support 11 is movably connected in the 60-degree arc track 1 through the slide rails 16 at both ends thereof. 7. The multi-mode flapping wing aircraft as claimed in claim 1, said variable angle of attack motor 14 is affixed to the variable angle of attack motor support 4, and a transmission gear 10 is affixed to the drive shaft thereof. 8. The multi-mode flapping wing aircraft as claimed in claim 1, the skeleton of the fuselage and the skeleton of the wing are made of photosensitive resin; the film of the wing is a polyvinyl chloride film.