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

Multi-mode ornithopter with variable attack angle Download PDF

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Publication number
CN116461697A
CN116461697A CN202310520815.1A CN202310520815A CN116461697A CN 116461697 A CN116461697 A CN 116461697A CN 202310520815 A CN202310520815 A CN 202310520815A CN 116461697 A CN116461697 A CN 116461697A
Authority
CN
China
Prior art keywords
gear
motor
fixedly connected
ornithopter
crawler
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310520815.1A
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Chinese (zh)
Inventor
孙霁宇
朱昊辰
许诺
宋发
闫永为
王文哲
张志君
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Jilin University
Original Assignee
Jilin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jilin University filed Critical Jilin University
Priority to CN202310520815.1A priority Critical patent/CN116461697A/en
Publication of CN116461697A publication Critical patent/CN116461697A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C33/00Ornithopters
    • B64C33/02Wings; Actuating mechanisms therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00Aeronautics or air transport
    • Y02T50/60Efficient propulsion technologies, e.g. for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)

Abstract

The invention mainly aims to provide a variable attack angle multi-mode ornithopter for simulating the flying gesture of insects, which comprises a fuselage skeleton 2, wings 1, a flapping control mechanism 3 and a crawler traveling mechanism 4 as shown in figure 1, wherein the flapping control mechanism is movably connected in a 60-degree guide rail 5 of the fuselage skeleton, a half gear is externally embedded, the half gear is meshed with a gear on a transmission shaft of a variable attack angle motor, the motor outputs power, the function of changing the attack angle is achieved, and the combination of the variable attack angle movement and the wing flapping movement can realize the simulation of the wing tip track of the flapping of the insects; the crawler running mechanism is composed of a motor 6, a pair of meshed bevel gears 7, a transmission shaft 8, driven wheels (movably mounted on the machine body), driving wheels (fixedly connected at two ends of the transmission shaft) 9 and crawler tracks as shown in fig. 2, and can select a land running mode when the crawler running mechanism is inconvenient to fly and energy-saving.

Description

Multi-mode ornithopter with variable attack angle
Technical Field
The invention relates to the field of flapping-wing aircrafts, in particular to a variable attack angle multi-mode flapping-wing aircraft.
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 be only used in tasks with special requirements. 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 variable attack angle multi-mode ornithopter simulating the flying gesture of insects, so as to solve the problems that the conventional ornithopter is low in aerodynamic efficiency and cannot simulate the flapping of the wings around the splayed shape, and the manufacturing difficulty is low. The aim is achieved by the following technical scheme:
a multi-mode ornithopter comprises a fuselage, wings 26, a flapping control mechanism and a crawler traveling mechanism, wherein the fuselage is shown in figure 1 and comprises a 60-degree circular arc track 1, a transmission shaft bracket 2, a crawler pushing motor bracket 3, an attack angle-changing motor bracket 4 and a crawler driven wheel shaft 5; the flapping control mechanism comprises a flapping wing attack angle changing mechanism bracket 11 movably connected to a 60-degree circular arc sliding rail 1, a motor 6 fixedly connected to a motor bracket 19, a gear 31 fixedly connected to the motor 6, a transmission gear 30 movably mounted on a hole 17, a driven gear 13 and a transmission gear 12 movably mounted on a hole 20, wherein the driven gear 13 and the transmission gear 12 are fixedly connected into a whole, a crank 7 movably mounted on a hole 15, a connecting rod 8 movably mounted on the crank 7 and the transmission gear 30, a half gear 9 fixedly connected to a groove 18, an attack angle changing motor 14 fixedly connected to the gear bracket 4, a transmission gear 10 fixedly connected to the attack angle changing motor 14 and a wing 28 fixedly connected to the crank 7; the crawler traveling mechanism comprises a motor 21 fixedly connected to a crawler pushing motor frame 3, a bevel gear 25 fixedly connected to the motor 21, a transmission shaft 27 movably connected to a transmission shaft bracket 2, a crawler driving wheel 24 fixedly connected to two ends of the transmission shaft 27, a bevel gear 26 fixedly arranged on the transmission shaft 27, a driven wheel 23 meshed with the bevel gear 27 and movably arranged on a crawler driven wheel shaft 5, and a crawler 22 movably arranged on the driven wheel 23 and the driving wheel 24.
As a better technical scheme of the invention: the motor 6 is fixedly connected to the attack angle changing mechanism bracket 11 through a motor bracket 19.
As a better technical scheme of the invention: the gear 31 is fixed on the transmission shaft of the continuous motor 6 and meshed with the driven gear 13.
As a better technical scheme of the invention: the driven gear 13 is coaxial with the transmission gear 12 and is fixedly connected with the transmission gear.
As a better technical scheme of the invention: the half gear 9 is fixedly connected in the groove 18 and meshed with the transmission gear 10.
As a better technical scheme of the invention: the flapping wing angle of attack mechanism bracket 11 is movably connected in the 60-degree circular arc track 1 through sliding rails 16 at two ends of the bracket.
As a better technical scheme of the invention: the angle of attack changing motor 14 is fixedly connected to the angle of attack changing motor bracket 4, and a transmission gear 10 is fixedly connected to a transmission shaft of the angle of attack changing motor.
As a better technical scheme of the invention, the framework of the fuselage and the framework of the wing are made of photosensitive resin; the film of the wing is a polyvinyl chloride film.
The beneficial effects are that:
the multi-mode variable attack angle ornithopter provided by the invention provides power for flapping wings through the gear crank connecting rod mechanism, realizes the function of changing attack angle through a pair of mutually meshed variable attack angle gears and arc rack sliding rails and mutually matched arc tracks on the rack, and can realize 8-shaped flapping of the wings through the matching between the variable attack angle and the wing flapping system. When the vehicle is in a narrow space inconvenient to fly, the crawler belt travelling mechanism can realize the function of travelling on the ground, and the energy consumption is obviously lower than that of a flying state when the vehicle is in the ground travelling, so that the multi-mode function can be realized and the energy consumption is reduced.
Drawings
FIG. 1 is an overall block diagram of a multi-modal ornithopter of the present invention;
FIG. 2 is a diagram of the skeleton of a multi-modal ornithopter of the present invention;
FIG. 3 is a block diagram of a variable angle of attack flapping mechanism of the multi-mode ornithopter of the present invention;
FIG. 4 is a schematic diagram of a bracket of a variable angle of attack flapping mechanism of the multi-modal ornithopter of the present invention;
FIG. 5 is a block diagram of a track running gear of the multi-modal ornithopter of the present invention;
FIG. 6 is a block diagram of a drive mechanism for a track running mechanism of the multi-modal ornithopter of the present invention;
FIG. 7 is a block diagram of a wing of the multi-modal ornithopter of the present invention;
FIG. 8 is a variable angle of attack half gear of the multi-modal ornithopter of the present invention;
fig. 9 is a diagram of the flapping mechanism of the multi-mode ornithopter of the present invention.
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.
A multi-mode ornithopter comprises a fuselage, wings 26, a flapping control mechanism and a crawler traveling mechanism, wherein the fuselage is shown in figure 1 and comprises a 60-degree circular arc track 1, a transmission shaft bracket 2, a crawler pushing motor bracket 3, an attack angle-changing motor bracket 4 and a crawler driven wheel shaft 5; the flapping control mechanism comprises a flapping wing attack angle changing mechanism bracket 11 movably connected to a 60-degree circular arc sliding rail 1, a motor 6 fixedly connected to a motor bracket 19, a gear 31 fixedly connected to the motor 6, a transmission gear 30 movably mounted on a hole 17, a driven gear 13 and a transmission gear 12 movably mounted on a hole 20, wherein the driven gear 13 and the transmission gear 12 are fixedly connected into a whole, a crank 7 movably mounted on a hole 15, a connecting rod 8 movably mounted on the crank 7 and the transmission gear 30, a half gear 9 fixedly connected to a groove 18, an attack angle changing motor 14 fixedly connected to the gear bracket 4, a transmission gear 10 fixedly connected to the attack angle changing motor 14 and a wing 28 fixedly connected to the crank 7; the crawler traveling mechanism comprises a motor 21 fixedly connected to a crawler pushing motor frame 3, a bevel gear 25 fixedly connected to the motor 21, a transmission shaft 27 movably connected to a transmission shaft bracket 2, a crawler driving wheel 24 fixedly connected to two ends of the transmission shaft 27, a bevel gear 26 fixedly arranged on the transmission shaft 27, a driven wheel 23 meshed with the bevel gear 27 and movably arranged on a crawler driven wheel shaft 5, and a crawler 22 movably arranged on the driven wheel 23 and the driving wheel 24.
In other embodiments, the motor 6 is fixedly connected to the variable angle of attack mechanism bracket 11 by a motor bracket 19.
In other embodiments, the gear 31 is fixed on the transmission shaft of the continuous motor 6 and meshed with the driven gear 13.
In other embodiments, the driven gear 13 is concentric with and fixedly coupled to the drive gear 12.
In other embodiments, the half-gear 9 is fixedly connected in the recess 18 and meshes with the transmission gear 10.
In other embodiments, the flapping wing angle of attack mechanism bracket 11 is movably connected in the 60-degree circular arc track 1 through sliding rails 16 at two ends of the bracket.
In other embodiments, the angle-of-attack motor 14 is fixedly connected to the angle-of-attack motor bracket 4, and a transmission gear 10 is fixedly connected to a transmission shaft thereof.
The multi-mode ornithopter provided by the invention is powered by a miniature motor and consists of a fuselage framework, an attack angle changing flapping mechanism, wings and a crawler travelling mechanism, wherein the attack angle changing flapping mechanism comprises an attack angle changing mechanism consisting of a 60-degree circular arc track 1, an attack angle changing mechanism bracket 11, an attack angle changing motor bracket 4, an attack angle changing motor 14 and a half gear 9 fixedly connected in a groove 18, and the attack angle changing mechanism consists of a motor 6, a transmission gear 30, a crank 7, a connecting rod 8, a driven gear 13 and a transmission gear 12; the crawler travel mechanism comprises a motor 21, a bevel gear 25, a transmission shaft 27, a crawler driving wheel 24, a bevel gear 26, the bevel gear 27, the bevel gear 26, a driving wheel 23 and a crawler 22.
As shown in fig. 3, as a structure diagram of the attack angle adjusting mechanism, the power is output through the motor 14, and the transmission gear 10 (connected with the motor), the half gear 9 and the attack angle changing mechanism bracket 11 transmit power to change the attack angle of the wing, so that the problems of controlling the flight speed and steering of the ornithopter are solved.
As shown in fig. 9, in the flapping wing mechanism, the motor 6 outputs power, the gear 31 (connected with the motor), the driven gear 13 (meshed with the gear 31), the transmission gear 30 (meshed with the gear 12), the transmission gear 12 (coaxial and fixedly connected with the gear 13), the crank 7 and the connecting rod 8 convert the rotation moment of the motor into a flapping moment to drive the wing to flap, so as to generate lifting force and provide lifting force for the flapping wing machine.
As shown in fig. 5, the structure diagram of the crawler travelling mechanism of the ornithopter is formed by a motor 21, a bevel gear 25, a bevel gear 26, a transmission shaft 27, a driven wheel 23, a driving wheel 24, a crawler 22 and a transmission shaft bracket 2, wherein the motor 21 outputs power, the bevel gear 25 (connected with the motor) is meshed with the bevel gear 26, the bevel gear 26 is fixedly connected with the transmission shaft 27, two ends of the transmission shaft 27 are connected with the driving wheel 24, the torque of the motor is output and then is transmitted to the driving wheel 24, and the driving wheel 24 drives the crawler 22 and the driven wheel 23 to realize the travelling function.
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 (8)

1. A multi-mode ornithopter, characterized by: the engine comprises an engine body, wings 26, a flapping control mechanism and a crawler traveling mechanism, wherein the engine body is shown in figure 1 and comprises a 60-degree circular arc track 1, a transmission shaft bracket 2, a crawler pushing motor frame 3, an attack angle changing motor bracket 4 and a crawler driven wheel shaft 5; the flapping control mechanism comprises a flapping wing attack angle changing mechanism bracket 11 movably connected to a 60-degree circular arc sliding rail 1, a motor 6 fixedly connected to a motor bracket 19, a gear 31 fixedly connected to the motor 6, a transmission gear 30 movably mounted on a hole 17, a driven gear 13 and a transmission gear 12 movably mounted on a hole 20, wherein the driven gear 13 and the transmission gear 12 are fixedly connected into a whole, a crank 7 movably mounted on a hole 15, a connecting rod 8 movably mounted on the crank 7 and the transmission gear 30, a half gear 9 fixedly connected to a groove 18, an attack angle changing motor 14 fixedly connected to the gear bracket 4, a transmission gear 10 fixedly connected to the attack angle changing motor 14 and a wing 28 fixedly connected to the crank 7; the crawler traveling mechanism comprises a motor 21 fixedly connected to a crawler pushing motor frame 3, a bevel gear 25 fixedly connected to the motor 21, a transmission shaft 27 movably connected to a transmission shaft bracket 2, a crawler driving wheel 24 fixedly connected to two ends of the transmission shaft 27, a bevel gear 26 fixedly arranged on the transmission shaft 27, a driven wheel 23 meshed with the bevel gear 27 and movably arranged on a crawler driven wheel shaft 5, and a crawler 22 movably arranged on the driven wheel 23 and the driving wheel 24.
2. The multi-modal ornithopter of claim 1, wherein: the motor 6 is fixedly connected to the attack angle changing mechanism bracket 11 through a motor bracket 19.
3. The multi-modal ornithopter of claim 1, wherein: the gear 31 is fixed on the transmission shaft of the continuous motor 6 and meshed with the driven gear 13.
4. The multi-modal ornithopter of claim 1, wherein: the driven gear 13 is coaxial with the transmission gear 12 and is fixedly connected with the transmission gear.
5. A multi-modal ornithopter as claimed in claim 1, wherein the half gear 9 is fixedly attached within the recess 18 and engaged with the drive gear 10.
6. The multi-mode ornithopter of claim 1, wherein the ornithopter variable attack angle mechanism bracket 11 is movably connected in the 60-degree circular arc track 1 through sliding rails 16 at two ends of the ornithopter variable attack angle mechanism bracket.
7. The multi-mode ornithopter of claim 1, wherein the angle of attack motor 14 is fixedly connected to the angle of attack motor bracket 4, and a transmission gear 10 is fixedly connected to a transmission shaft thereof.
8. The multi-mode ornithopter of claim 1, wherein the frames of the fuselage and the wings are made of photosensitive resin; the film of the wing is a polyvinyl chloride film.
CN202310520815.1A 2023-05-08 2023-05-08 Multi-mode ornithopter with variable attack angle Pending CN116461697A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310520815.1A CN116461697A (en) 2023-05-08 2023-05-08 Multi-mode ornithopter with variable attack angle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310520815.1A CN116461697A (en) 2023-05-08 2023-05-08 Multi-mode ornithopter with variable attack angle

Publications (1)

Publication Number Publication Date
CN116461697A true CN116461697A (en) 2023-07-21

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ID=87180875

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118083189A (en) * 2024-04-23 2024-05-28 吉林大学 Multi-mode cluster agriculture and forestry unmanned aerial vehicle system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118083189A (en) * 2024-04-23 2024-05-28 吉林大学 Multi-mode cluster agriculture and forestry unmanned aerial vehicle system
CN118083189B (en) * 2024-04-23 2024-06-18 吉林大学 Multi-mode cluster agriculture and forestry unmanned aerial vehicle system

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