CN117141757A - Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device - Google Patents
Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device Download PDFInfo
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- CN117141757A CN117141757A CN202310866290.7A CN202310866290A CN117141757A CN 117141757 A CN117141757 A CN 117141757A CN 202310866290 A CN202310866290 A CN 202310866290A CN 117141757 A CN117141757 A CN 117141757A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/40—Empennages, e.g. V-tails
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
- B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
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Abstract
The invention provides a miniature flapping-wing aircraft capable of carrying load, which comprises a pair of flapping wings, a flapping-wing driving module, a tail wing and a tail wing driving module, wherein the flapping-wing driving module comprises a frame and a motor gear; the double-layer gear, the first single-layer gear and the second single-layer gear are arranged on the frame, the motor gear is meshed with the lower layer gear of the double-layer gear, the first single-layer gear is meshed with the upper layer gear of the double-layer gear, and the second single-layer gear is meshed with the first single-layer gear; the rack is also provided with a first driving rocker and a second driving rocker, the first driving rocker is hinged on the first single-layer gear through a connecting rod, and the second driving rocker is hinged on the second single-layer gear through a connecting rod; the tail driving module comprises a fuselage, a tail connecting rod, a V-shaped tail structure and a tail steering engine; the empennage comprises a single-piece empennage and an electromagnetic rudder empennage, the electromagnetic rudder empennage is arranged on an empennage steering engine, and the empennage steering engine drives the electromagnetic rudder empennage to swing reciprocally. The invention can carry a load of up to one third of the dead weight to fly stably.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a miniature flapping wing air vehicle capable of carrying a load, an ejection device and a throwing device.
Background
The flapping wing aircraft is an aircraft designed by simulating the motion principle of wings of birds or insects, and utilizes the flapping wings to generate lift force and thrust force so as to realize flying and maneuvering. The concept of the ornithopter can be traced to the ancient Greek period at the earliest, scientists and artists such as Archimedes and da vinci research and draw the flight principle of birds, and along with the progress of scientific technology, the research on the ornithopter is really broken through, and the ornithopter at present relates to the research and application in the fields of biology, mechanical engineering, aviation theory, control and the like. The design inspiration of ornithopters is mainly derived from biological research on birds and insects. By observing and analyzing the characteristics of the wing shape, the wingspan, the wing movement mode and the like, the method is applied to engineering design. The material and the driving device of the aircraft have great influence on the performance, and the carbon fiber composite material is widely applied to the structural design of wings at present, so that the weight of the aircraft is reduced while the high strength is ensured; in addition, the reciprocating flapping of the wing is realized by adopting a precise driving design and multistage gear transmission, and the flapping wing can be more efficiently generated by the flapping wing aircraft along with the development of driving technologies such as a motor, a hydraulic system, artificial muscles and the like. The stability and handling capacity of ornithopters depends on advanced control systems. By using sensors, feedback control and adaptive algorithms, the aircraft can achieve precise control of attitude, altitude and heading. The ornithopter has great potential in aviation and other fields, and has potential application prospects in the fields of biological research, environmental monitoring, rescue actions and the like.
However, the weight of the existing flapping-wing aircraft is still heavy, the lifting force of the flapping-wing aircraft is small, the flapping-wing aircraft is difficult to effectively carry a load to fly, and the duration is short.
Disclosure of Invention
The invention provides a miniature flapping wing aircraft capable of carrying a load, an ejection device and a throwing device, and aims to solve the technical problems that in the prior art, the flapping wing aircraft is heavy in weight, small in lifting force, difficult to effectively carry the load to fly and short in endurance time.
The technical scheme provided by the invention is as follows:
an object of the present invention is to provide a load-carrying miniature ornithopter comprising a pair of ornithopters, a ornithopter drive module, a tail wing and a tail wing drive module,
the flapping wing driving module comprises a frame and a motor, wherein the motor is arranged on the frame, and a motor gear is nested on an output shaft of the motor;
the double-layer gear, the first single-layer gear and the second single-layer gear are arranged on the rack, the motor gear is meshed with the lower-layer gear of the double-layer gear, the first single-layer gear is meshed with the upper-layer gear of the double-layer gear, and the second single-layer gear is meshed with the first single-layer gear;
the frame is also provided with a first driving rocker and a second driving rocker, the first driving rocker is hinged on the first single-layer gear through a connecting rod, and the second driving rocker is hinged on the second single-layer gear through a connecting rod;
the pair of flapping wings are arranged on the pair of flapping wing carbon rods, one of the flapping wing carbon rods is fixed with the first driving rocker, the other flapping wing carbon rod is fixed with the second driving rocker, and the first driving rocker and the second driving rocker are hinged on the frame;
the tail driving module comprises a fuselage, a tail connecting rod, a V-shaped tail structure and a tail steering engine; one end of the machine body is fixed with the tail wing connecting rod, and the other end of the machine body is fixed with the frame;
the tail connecting rod is hinged with the V-shaped tail structure so as to adjust the angle between the V-shaped tail structure and the fuselage; the lower side of the V-shaped tail wing structure is fixed with the tail wing steering engine;
the fin includes monolithic fin and electromagnetism rudder fin, the monolithic fin is installed on the V type fin structure, the electromagnetism rudder fin is installed on the fin steering wheel, fin steering wheel drive electromagnetism rudder fin horizontal hunting.
In a preferred embodiment, the motor gear, the double-layer gear, the first single-layer gear and the second single-layer gear form a reduction ratio of a multi-stage gear set transmission of 25.
In a preferred embodiment, the rotational speed of the motor and the flapping frequency of a pair of the flapping wings satisfy the following relationship:
wherein n is the rotation speed of the motor, f is the flapping frequency of a pair of flapping wings, and k is the reduction ratio of multistage gear set transmission formed by the motor gear, the double-layer gear, the first single-layer gear and the second single-layer gear.
In a preferred embodiment, the flapping frequency of a pair of said flappers is 16Hz.
In a preferred embodiment, the flapping angle of a pair of said flapping wings is 72 °.
In a preferred embodiment, a flight control board and a battery are arranged on the machine body, and the flight control board is electrically connected with the motor and the tail steering engine;
the battery is used for providing power for the flight control board, the motor and the tail steering engine.
In a preferred embodiment, the tail further comprises a plurality of tail carbon rods, a plurality of tail carbon rods are fixed with the V-shaped tail structure, and the single tail covers the plurality of tail carbon rods.
In a preferred embodiment, the flapping wings are made of plastic film, and the single-piece tail and the rudder tail are made of KT plate cutting.
Another object of the present invention is to provide an ejector device for a miniature ornithopter, wherein the ejector device is pistol-shaped and is used for ejecting and taking off the miniature ornithopter capable of carrying a load, and the ejector device comprises a handle, a top sliding rail and a bottom sliding rail;
the handle is fixed with the top sliding rail and the bottom sliding rail, the top sliding rail is provided with a groove, the handle is provided with a transmitting switch, and the transmitting switch is arranged in a mode of extending or retracting the handle;
the top slide rail and the bottom slide rail are fixed through a front stabilizing gasket and a rear stabilizing gasket, the front stabilizing gasket fixes a front stabilizing support column along the extending direction of the top slide rail/the bottom slide rail, and the rear stabilizing gasket fixes a rear stabilizing support column along the extending direction of the top slide rail/the bottom slide rail;
the top slide rail and the bottom slide rail are provided with a propeller in a sliding mode, a rubber band is arranged between the propeller and the emission switch, and the rubber band is arranged between the front stabilizing gasket and the propeller.
A further object of the invention is to provide a launch device for a miniature ornithopter, the launch device being used for launching and taking off a miniature ornithopter capable of carrying a load, the launch device comprising a telescopic module and a grabbing module;
the telescopic module comprises a steering engine fixing frame, a pair of throwing steering engines are arranged on the steering engine fixing frame, a steering engine arm is arranged on each throwing steering engine, and one steering engine arm corresponding to the throwing steering engine is driven to swing in a reciprocating manner;
the telescopic module further comprises two long connecting rods which are hinged in a crossed mode and two short connecting rods; each steering engine arm is hinged with one end of a long connecting rod, and each short connecting rod is hinged with the other end of the long connecting rod;
the grabbing module comprises a claw fixing frame, a pair of claws and a claw steering engine, wherein the claw steering engine is arranged on the claw fixing frame, the claws are hinged on the claw fixing frame, and the two short connecting rods are hinged on the claw fixing frame;
one end of the claw steering engine is provided with a transmission gear, a pair of claws are provided with teeth, the transmission gear is meshed with the teeth of the pair of claws, and the claw steering engine drives the transmission gear to rotate so as to drive the pair of claws to open or close.
Compared with the prior art, the technical scheme of the invention has at least the following beneficial effects:
the invention provides a miniature flapping wing aircraft capable of carrying a load, an ejection device and a throwing device, wherein the miniature flapping wing aircraft is simple in structure, light in weight, capable of carrying a load of one third of the dead weight to stably fly, and capable of realizing two take-off modes of throwing and ejecting.
The invention provides a miniature flapping wing aircraft capable of carrying load, an ejection device and a throwing device, which are characterized in that light materials are selected to reduce the mass of parts, the structure is simplified, the weight of the whole aircraft is reduced, and a multistage transmission driving mode is adopted to improve the flapping frequency of the flapping wings, so that the lift force of the miniature flapping wing aircraft and the endurance time of the aircraft are improved. For a miniature ornithopter with an overall mass of 10g, a load of one third of the dead weight can be carried.
The invention provides a miniature flapping-wing aircraft capable of carrying a load, an ejection device and a throwing device, which maintain the symmetry of the miniature flapping-wing aircraft in the process of constructing the miniature flapping-wing aircraft, adjust the arrangement of parts and the angle of an empennage of the aircraft, enhance the stability of the aircraft in the process of flying and can stabilize the flight for 5min. In addition, the miniature flapping wing aircraft can realize two different take-off modes of throwing and catapulting, and the catapulting device and the throwing structure can replace hand throwing type take-off, so that take-off in the air is realized, and the carrying load flying capacity and the endurance time are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a loadbearing micro ornithopter in accordance with the present invention.
Figure 2 is a front view of a flapping-wing drive module and a flapping wing of a loadbearing micro-flapping-wing vehicle of the present invention.
Figure 3 is a side view of a flapping-wing drive module and a flapping wing of a loadbearing micro-flapping-wing vehicle of the present invention.
Fig. 4 is a front view of the tail drive module and tail of a miniature ornithopter of the present invention carrying a load.
FIG. 5 is a top view of a tail drive module and tail of a miniature ornithopter of the present invention carrying a load
FIG. 6 is a schematic perspective view of an ejector for a micro-ornithopter in accordance with the present invention.
FIG. 7 is a front view of a launch device for a micro-ornithopter in accordance with the present invention.
FIG. 8 is a side view of a launch device for a micro-ornithopter in accordance with the present invention
FIG. 9 is a schematic illustration of a "contracted" state of a launch device for a micro-ornithopter in accordance with the present invention.
FIG. 10 is a schematic illustration of a "extended" state for a micro-ornithopter launch device according to the present invention.
FIG. 11 is a schematic illustration of the present invention in a "grab" position for a micro flapping-wing aircraft launch device.
FIG. 12 is a schematic illustration of a "thrown" condition for a micro flapping-wing air vehicle throwing device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a," "an," or "the" and similar terms do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are meant to encompass the elements or items listed thereafter and equivalents thereof without precluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
It should be noted that "upper", "lower", "left", "right", "front", "rear", and the like are used in the present invention only to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.
Referring to fig. 1 to 5, according to an embodiment of the present invention, there is provided a miniature flapping wing air vehicle capable of carrying a load, comprising a pair of flapping wings 1, a flapping wing driving module 2, a tail wing 4, and a tail wing driving module 3.
As shown in fig. 2 and 3, the flapping-wing drive module 2 comprises a frame 211 and a motor 210, the motor 210 is mounted on the frame 211, and a motor gear 209 is nested on the output shaft of the motor 210.
The rack 211 is provided with a double-layer gear 208, a first single-layer gear 204 and a second single-layer gear 205. The motor gear 209 is meshed with a lower gear of the double-layer gear 208, the first single-layer gear 204 is meshed with an upper gear of the double-layer gear, and the second single-layer gear 205 is meshed with the first single-layer gear 204.
Specifically, the double-layer gear 208, the first single-layer gear 204, and the second single-layer gear 205 are rotatably mounted on the frame 211 by pins, respectively.
The frame 211 is also provided with a first driving rocker 202 and a second driving rocker 203, and the first driving rocker 202 and the second driving rocker 203 are hinged on a first single-layer gear 204 and a second single-layer gear 205 through two connecting rods 206. Specifically, the first driving rocker 202 is hinged to the first single-layer gear 204 through one link 206, and the second driving rocker 205 is hinged to the second single-layer gear 205 through the other link 206.
Taking the example that the first driving rocker 202 is hinged to the first single-layer gear 204 through a connecting rod 206, one end of the connecting rod 206 is hinged to the first driving rocker 202, and the other end of the connecting rod 206 is hinged to the first single-layer gear 204.
A pair of flapping wings 1 are mounted on a pair of flapping wing carbon rods 201, wherein one of the flapping wing carbon rods 201 is fixed to a first driving rocker 202, the other flapping wing carbon rod 201 is fixed to a second driving rocker 203, and the first driving rocker 202 and the second driving rocker 203 are hinged to a frame 211. Specifically, the first driving rocker 202 and the second driving rocker 203 are hinged on the frame 211 through a hinge shaft 207, so that the first driving rocker 202 and the second driving rocker 203 swing around the hinge shaft 207.
In order to reduce the weight of the micro flapping wing air vehicle, a pair of flapping wing carbon rods 201 of the invention firstly use carbon fiber rods with the diameter of 1 mm.
The motor gear 209, the double-layer gear 208, the first single-layer gear 204 and the second single-layer gear 205 form a multi-stage gear set transmission (three-stage gear set transmission). The first single-layer gear 204, the first driving rocker 202, and the link 206 that articulates the first single-layer gear 204 and the first driving rocker 202 constitute a crank-rocker mechanism, and the second single-layer gear 205, the second driving rocker 203, and the link 206 that articulates the second single-layer gear 205 and the second driving rocker 203 constitute a crank-rocker mechanism. The two crank rocker mechanisms are symmetrically distributed.
The motor 210 drives the motor gear 209 to rotate, the motor gear 209 drives the double-layer gear 208 to rotate, the double-layer gear 208 drives the first single-layer gear 204 to rotate, and the first single-layer gear 204 drives the second single-layer gear 205 to rotate, so that the first driving rocker 202 and the second driving rocker 203 are driven to swing reciprocally, and the pair of flapping wing carbon rods 201 drive the pair of flapping wings 1 to flap up and down.
The invention realizes the step-by-step power transmission through the two crank rocker mechanisms and the multi-stage gear set transmission (three-stage gear set transmission), converts the high-frequency rotation of the motor 210 into the flapping of the pair of flapping wings 1, improves the flapping frequency of the pair of the flapping wings 1, and further improves the lift force of the micro flapping wing aircraft and the endurance time of the aircraft.
In order to improve the flapping frequency of a pair of flapping wings 1 and improve the lifting force of a micro flapping wing aircraft, a motor gear 209, a double-layer gear 208, a first single-layer gear 204 and a second single-layer gear 205 form a reduction ratio of a multistage gear set transmission, wherein the reduction ratio is 25.
In a specific embodiment, specific parameters of the multi-stage gearset transmission are as follows:
the number of teeth of the motor gear 209 is 7, and the gear module is 0.2. The number of teeth of the lower layer gear of the double layer gear 208 is 40, the gear module is 0.5, the number of teeth of the upper layer gear of the double layer gear 208 is 9, and the gear module is 0.5. The number of teeth of the first single-layer gear 204 and the number of teeth of the second single-layer gear 205 are both 40, and the gear modules are both 0.5. The gear can be subjected to 3D printing through a 3D printer.
The motor gear 209, the double-layer gear 208, the first single-layer gear 204 and the second single-layer gear 205 form a reduction ratio of multi-stage gear set transmission, and the reduction ratio is as follows:
in order to increase the flapping frequency of the pair of flapping wings 1 and increase the lift of the micro-flapping air vehicle, the rotation speed of the motor 210 and the flapping frequency of the pair of flapping wings 1 satisfy the following relationship:
where n is the rotation speed of the motor 210, f is the flapping frequency of the pair of flapping wings 1, and k is the reduction ratio of the multi-stage gear set transmission formed by the motor gear 209, the double-layer gear 208, the first single-layer gear 204 and the second single-layer gear 205.
Further, the factors such as the rotation speed and the weight of the motor 210 are comprehensively considered, the hollow cup motor is selected, the no-load flapping frequency of the pair of flapping wings 1 after the speed is reduced is about 32Hz, and the flapping frequency of the pair of flapping wings 1 is about half of the no-load flapping frequency and is 16Hz in consideration of the influence of the transmission efficiency and the current of the motor 210.
According to the embodiment of the invention, in order to improve the lift of the micro-ornithopter, the swing of a pair of flapping wings 1 with smaller amplitude is amplified through two crank rocker mechanisms, the flapping angle of the pair of flapping wings 1 is 72 degrees, and the upper and lower flapping angle ranges are +/-36 degrees.
In a specific embodiment, the parameters of the two crank and rocker mechanisms are as follows:
length of the frame 211: 14mm;
the link 206 articulates the distance (crank) of the articulation point on the first single-layer gear 204 from the center of rotation of the first single-layer gear 204: 2.3mm;
the link 206 articulates the distance (crank) of the articulation point on the second single-layer gear 205 from the center of rotation of the second single-layer gear 205: 2.3mm;
length of the link 206: 10.8mm;
length of the first drive rocker 202 and the second drive rocker 203: 7.5mm;
flapping angle of a pair of flapping wings 1: 72 °;
upper flapping limit angle of a pair of flapping wings 1: 36 °;
lower flapping limit angle of a pair of flapping wings 1: 36 deg..
As shown in fig. 4 and 5, the tail drive module 3 includes a fuselage 301, a tail connection rod 304, a V-shaped tail structure 305, and a tail steering engine 306. One end of the fuselage 301 is fixed to the tail connecting rod 304, and the other end of the fuselage 301 is fixed to the frame 211. The tail connecting rod 304 is hinged to the V-shaped tail structure 305 to adjust the angle of the V-shaped tail structure 305 to the fuselage 301.
The underside of the V-shaped tail structure 305 holds a tail steering engine 306. In one embodiment, the V-shaped tail structure 305 is affixed directly to the tail steering engine 306 to reduce the weight of the micro-ornithopter.
The tail wing 4 comprises a single tail wing 401, a rudder tail wing 403 and a plurality of tail wing carbon rods 402, the single tail wing 401 is arranged on the V-shaped tail wing structure 305, the rudder tail wing 403 is arranged on the tail wing steering engine 306, and the tail wing steering engine 306 drives the rudder tail wing 403 to swing left and right.
A plurality of tail carbon rods 402 are fixed to the V-shaped tail structure 305, and a single tail 401 is overlaid on the plurality of tail carbon rods 402, thereby mounting the single tail 401 to the V-shaped tail structure 305. In one embodiment, a single tail 401 is adhered to a plurality of tail carbon rods 402 by double sided tape.
In order to reduce the weight of the miniature ornithopter, the airframe 301 of the invention selects a square carbon fiber rod with the length of 1.5mm as the airframe 301 of the aircraft; three carbon fiber rods with the diameter of 1mm are selected as the plurality of tail carbon rods 402, the flapping wings 1 are made of plastic films, the single tail 401 and the electromagnetic rudder tail 403 are made of KT plates in a cutting mode, the single tail 401 is of a single wing structure, and the electromagnetic rudder tail 403 is of a trapezoid tail structure. KT board is light and difficult to take place deformation, is applicable to miniature flapping wing aircraft, and trapezoidal fin structure also accords with the structural feature of some birds more in biology.
The body 301 is provided with a flight control board 303 and a battery 302, the battery 302 is arranged at the front end (the end close to the flapping wing driving module 2) of the body 301, and the flight control board 303 is electrically connected with the motor 210 and the tail steering engine 306. A battery 302 for powering the flight control board 303, motor 210 and tail steering engine 306. The flight control board 303 is used for controlling the motor 210 and the tail steering engine 306 to act.
According to the invention, the electromagnetic rudder tail wing 403 realizes the yaw degree of freedom of the miniature flapping wing aircraft, the tail wing steering engine 306 drives the electromagnetic rudder tail wing 403 to deflect to form a stress surface, and the yaw effect is achieved under the air flow generated by flapping of the flapping wings 1.
The tail connector link 304 of the present invention is hinged (e.g., by pins) to the V-shaped tail structure 305 to adjust the angle of the V-shaped tail structure 305 to the fuselage 301 and thus the angle of the individual tail 401 to the fuselage 301. The angle between the single tail 401 and the fuselage 301 is adjusted according to the gravity center of the micro-ornithopter, and the tail connecting rod 304 is locked with the V-shaped tail structure 305 after being adjusted to a proper angle, so that the angle between the single tail 401 and the fuselage 301 is kept unchanged during the flight of the micro-ornithopter.
The battery 302 is arranged at the front end (the end close to the flapping wing driving module 2) of the fuselage 301, and the gravity center of the micro flapping wing air vehicle is adjusted through the position of the battery 302 so as to adjust the single tail fin 401 to a proper angle with the fuselage 301.
The tail fin of the micro flapping wing aircraft in the prior art generally has two functions, namely, the stability of a prototype is improved, and the pitching or yawing freedom degree of the aircraft is provided. According to the invention, as the yaw degree of freedom of the micro flapping-wing aircraft is realized through the electromagnetic rudder tail fin 403, the single-piece tail fin 401 only increases the stability of the micro flapping-wing aircraft and controls the pitching of the micro flapping-wing aircraft, so that the single-piece tail fin 401 can be designed into a single-piece wing structure and connected by the V-shaped tail fin structure 305 to form the V-shaped tail fin, and the weight of the micro flapping-wing aircraft is effectively reduced.
The miniature flapping wing aircraft mainly realizes stable flight with load, the single tail wing 401 only increases the stability of the miniature flapping wing aircraft and controls the pitching of the miniature flapping wing aircraft, the angle between the single tail wing 401 and the fuselage 301 is adjusted to be proper, the angle between the single tail wing 401 and the fuselage 301 is kept unchanged in the flight process of the miniature flapping wing aircraft, and the electromagnetic rudder tail wing 403 achieves a yaw effect under the airflow generated by flapping of the flapping wings 1, so that the lifting force of the miniature flapping wing aircraft is improved.
The miniature flapping wing air vehicle capable of carrying the load has the advantages that the whole weight is light, the load carrying weight is only 10g, the stable flight of the load carrying weight of one third can be realized, the duration of the non-load flight can reach 5min, and the yaw degree of freedom can be controlled.
As shown in fig. 6, according to an embodiment of the present invention, an ejector 7 for a micro-ornithopter is provided, for ejecting and taking off a micro-ornithopter capable of carrying a load provided by the present invention, where the ejector 7 has a pistol shape and includes a grip 709, a top rail 701 and a bottom rail 702.
The handle 709 is fixed with the top slide rail 701 and the bottom slide rail 702, the top slide rail 701 is provided with a groove, the handle 709 is provided with a transmitting switch 703, and the transmitting switch 703 is arranged in a mode of extending or retracting the handle 709.
The top track 701 and the bottom track 702 are secured by a front stabilizing spacer 707 and a rear stabilizing spacer 704, the front stabilizing spacer 707 and the rear stabilizing spacer 704 supporting the top track 701 and the bottom track 702.
The front stabilizing spacer 707 secures the front stabilizing leg 706 in the direction in which the top rail 701/bottom rail 702 extends and the rear stabilizing spacer 704 secures the rear stabilizing leg 705 in the direction in which the top rail 701/bottom rail 702 extends.
A pusher 708 is slidably mounted on the top rail 701 and the bottom rail 702, and a rubber band (not shown) is provided between the pusher 708 and the firing switch 703, and a rubber band (not shown) is provided between the front stabilizer pad 707 and the pusher 708.
When the miniature flapping wing aircraft performs catapult take-off, the tail steering engine 306 is arranged on the top sliding rail 701, the electromagnetic rudder tail 403 is arranged in a groove of the top sliding rail 701, the launching switch 703 is pressed to retract the handle 709, and the rubber band propeller 708 is used for pushing the tail steering engine 306 to catapult the miniature flapping wing aircraft.
The front stabilizer strut 706 and the rear stabilizer strut 705 play a role in buffering the propeller 708 when the micro flapping wing aircraft catapult-assisted take-off.
In one embodiment, the propeller 708 may provide an initial speed of up to 10m/s for the aircraft, requiring the remote control to provide corresponding control to the flight control board 303 of the micro-ornithopter to ensure stable flight.
As shown in fig. 7 and 8, according to an embodiment of the present invention, a launch device for a micro-ornithopter is provided, which is used for launching and taking off a micro-ornithopter capable of carrying a load, provided by the present invention, and the launch device comprises a telescopic module 5 and a grabbing module 6.
The telescopic module 5 comprises a steering engine fixing frame 501, two long connecting rods 504 which are hinged in a crossed mode, and two short connecting rods 505. The steering engine fixing frame 501 is provided with a pair of throwing steering engines 503, each throwing steering engine 503 is provided with a steering engine arm 502, and one throwing steering engine 503 drives the corresponding steering engine arm 503 to swing reciprocally. Each steering arm 503 is hinged to one end of a long link 504, and each short link 505 is hinged to the other end of a long link 504.
The grabbing module 6 comprises a claw fixing frame 601, a pair of claws 604 and a claw steering engine 602, wherein the claw steering engine 602 is arranged on the claw fixing frame 601, the claws 604 are hinged on the claw fixing frame 601, and the two short connecting rods 505 are hinged on the claw fixing frame 601.
One end of the claw steering engine 602 is provided with a transmission gear 603, a pair of claws 604 are provided with teeth, the transmission gear 603 is meshed with the teeth of the pair of claws 604, and the claw steering engine 602 drives the transmission gear 603 to rotate so as to drive the pair of claws 604 to open or close.
When the miniature flapping-wing aircraft performs throwing and taking off, the claw steering engine 602 drives the pair of claws 604 to be closed, the clamping tail connecting rod 304 is placed in the high air (for example, on a roof), the claw steering engine 602 drives the pair of claws 604 to be closed and opened, and the tail connecting rod 304 is released, so that the miniature flapping-wing aircraft can be directly thrown and taking off in the high air.
The claw steering engine 602 and the throwing steering engine 503 are independently controlled, and the position of the micro flapping wing aircraft in the high air is adjusted through the contraction and the expansion of the telescopic module 5, as shown in fig. 9 and 10; the miniature ornithopter is thrown and taken off from the high air directly through the grabbing module 6, as shown in fig. 11 and 12.
In one embodiment, the remote control is required to provide corresponding control to the flight control board 303 of the micro-ornithopter given its initial takeoff speed when the micro-ornithopter is launched.
The invention realizes two different take-off modes of throwing and catapulting, and takes off in the air by using the catapulting device 7 or the throwing device instead of hand throwing.
The following points need to be described:
(1) The drawings of the embodiments of the present invention relate only to the structures related to the embodiments of the present invention, and other structures may refer to the general designs.
(2) In the drawings for describing embodiments of the present invention, the thickness of layers or regions is exaggerated or reduced for clarity, i.e., the drawings are not drawn to actual scale. It will be understood that when a device such as a layer, film, region, or substrate is referred to as being "on" or "under" another device, it can be "directly on" or "under" the other device or intervening devices may be present.
(3) The embodiments of the invention and the features of the embodiments can be combined with each other to give new embodiments without conflict.
The present invention is not limited to the above embodiments, but the scope of the invention is defined by the claims.
Claims (10)
1. A miniature flapping wing aircraft capable of carrying load is characterized by comprising a pair of flapping wings, a flapping wing driving module, a tail wing and a tail wing driving module,
the flapping wing driving module comprises a frame and a motor, wherein the motor is arranged on the frame, and a motor gear is nested on an output shaft of the motor;
the double-layer gear, the first single-layer gear and the second single-layer gear are arranged on the rack, the motor gear is meshed with the lower-layer gear of the double-layer gear, the first single-layer gear is meshed with the upper-layer gear of the double-layer gear, and the second single-layer gear is meshed with the first single-layer gear;
the frame is also provided with a first driving rocker and a second driving rocker, the first driving rocker is hinged on the first single-layer gear through a connecting rod, and the second driving rocker is hinged on the second single-layer gear through a connecting rod;
the pair of flapping wings are arranged on the pair of flapping wing carbon rods, one of the flapping wing carbon rods is fixed with the first driving rocker, the other flapping wing carbon rod is fixed with the second driving rocker, and the first driving rocker and the second driving rocker are hinged on the frame;
the tail driving module comprises a fuselage, a tail connecting rod, a V-shaped tail structure and a tail steering engine; one end of the machine body is fixed with the tail wing connecting rod, and the other end of the machine body is fixed with the frame;
the tail connecting rod is hinged with the V-shaped tail structure so as to adjust the angle between the V-shaped tail structure and the fuselage; the lower side of the V-shaped tail wing structure is fixed with the tail wing steering engine;
the fin includes monolithic fin and electromagnetism rudder fin, the monolithic fin is installed on the V type fin structure, the electromagnetism rudder fin is installed on the fin steering wheel, fin steering wheel drive electromagnetism rudder fin horizontal hunting.
2. The miniature ornithopter of claim 1, wherein the motor gear, the double-layer gear, the first single-layer gear and the second single-layer gear comprise a reduction ratio of 25 for a multi-stage gear set transmission.
3. A micro-ornithopter as claimed in claim 1, wherein the rotational speed of the motor and the flapping frequency of a pair of the ornithopters satisfy the following relationship:
wherein n is the rotation speed of the motor, f is the flapping frequency of a pair of flapping wings, and k is the reduction ratio of multistage gear set transmission formed by the motor gear, the double-layer gear, the first single-layer gear and the second single-layer gear.
4. A micro-ornithopter as claimed in claim 1, wherein the flapping frequency of a pair of said flappers is 16Hz.
5. A micro-ornithopter as claimed in claim 1, wherein the flapping angle of a pair of said flapping wings is 72 °.
6. The miniature ornithopter of claim 1, wherein a flight control board and a battery are mounted on the fuselage, the flight control board being electrically connected to the motor and the tail steering engine;
the battery is used for providing power for the flight control board, the motor and the tail steering engine.
7. The micro-ornithopter of claim 1, wherein the tail further comprises a plurality of tail carbon rods, a plurality of the tail carbon rods being affixed to the V-shaped tail structure, the single tail overlaying a plurality of the tail carbon rods.
8. The miniature ornithopter of claim 1, wherein the ornithopter is fabricated using plastic film, and the monolithic tail and the rudder tail are fabricated using KT plate cutting.
9. An ejector for a miniature ornithopter, wherein the ejector is pistol-shaped and is used for ejecting the miniature ornithopter of any one of claims 1 to 8, and the ejector comprises a handle, a top sliding rail and a bottom sliding rail;
the handle is fixed with the top sliding rail and the bottom sliding rail, the top sliding rail is provided with a groove, the handle is provided with a transmitting switch, and the transmitting switch is arranged in a mode of extending or retracting the handle;
the top slide rail and the bottom slide rail are fixed through a front stabilizing gasket and a rear stabilizing gasket, the front stabilizing gasket fixes a front stabilizing support column along the extending direction of the top slide rail/the bottom slide rail, and the rear stabilizing gasket fixes a rear stabilizing support column along the extending direction of the top slide rail/the bottom slide rail;
the top slide rail and the bottom slide rail are provided with a propeller in a sliding mode, a rubber band is arranged between the propeller and the emission switch, and the rubber band is arranged between the front stabilizing gasket and the propeller.
10. A launch device for a micro-ornithopter, characterized in that the launch device is used for launching and taking off the micro-ornithopter according to any one of claims 1 to 8, and comprises a telescopic module and a grabbing module;
the telescopic module comprises a steering engine fixing frame, a pair of throwing steering engines are arranged on the steering engine fixing frame, a steering engine arm is arranged on each throwing steering engine, and one steering engine arm corresponding to the throwing steering engine is driven to swing in a reciprocating manner;
the telescopic module further comprises two long connecting rods which are hinged in a crossed mode and two short connecting rods; each steering engine arm is hinged with one end of a long connecting rod, and each short connecting rod is hinged with the other end of the long connecting rod;
the grabbing module comprises a claw fixing frame, a pair of claws and a claw steering engine, wherein the claw steering engine is arranged on the claw fixing frame, the claws are hinged on the claw fixing frame, and the two short connecting rods are hinged on the claw fixing frame;
one end of the claw steering engine is provided with a transmission gear, a pair of claws are provided with teeth, the transmission gear is meshed with the teeth of the pair of claws, and the claw steering engine drives the transmission gear to rotate so as to drive the pair of claws to open or close.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310866290.7A CN117141757A (en) | 2023-07-14 | 2023-07-14 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310866290.7A CN117141757A (en) | 2023-07-14 | 2023-07-14 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310866290.7A Pending CN117141757A (en) | 2023-07-14 | 2023-07-14 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
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