CN209814271U - Four-degree-of-freedom flapping wing aircraft device - Google Patents
Four-degree-of-freedom flapping wing aircraft device Download PDFInfo
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- CN209814271U CN209814271U CN201920432263.8U CN201920432263U CN209814271U CN 209814271 U CN209814271 U CN 209814271U CN 201920432263 U CN201920432263 U CN 201920432263U CN 209814271 U CN209814271 U CN 209814271U
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Abstract
The utility model relates to a four degree of freedom flapping wing aircraft device belongs to the aircraft field. The frame is the single frame construction of bilateral symmetry, and right flapping mechanism and left flapping mechanism structure are the same, and they are symmetrical arrangement respectively in the left and right sides of frame main part to be connected with frame 1, and right flapping wing and left flapping wing structure are the same, are connected with right flapping mechanism and left flapping mechanism respectively, and the fin links firmly the afterbody in the frame, and has certain inclination with the horizontal fuselage, and control system links firmly in the inside of frame, and driving system links firmly in the frame main part. The flapping wing device has the advantages of novel and compact structure, capability of realizing completely symmetrical flapping wing movement, strong maneuverability and high flexibility; the four generated motion forms provide the required pushing and lifting force for the flapping wing air vehicle through the mutual coupling effect, the motion tracks of the wing tips of the two wings are both in a space elliptical shape, and the flapping wing air vehicle has the advantages of high pneumatic efficiency and strong maneuverability.
Description
Technical Field
The utility model belongs to the technical field of the aircraft, especially, relate to a multi freedom flapping wing aircraft.
Background
The flapping wing air vehicle is a novel air vehicle simulating flapping wing flight of birds or insects, compared with the traditional air vehicle, the flapping wing simultaneously generates lift force and thrust force, the lifting, hovering and propelling functions are integrated in a flapping wing system, the flapping wing air vehicle has stronger maneuverability and flexibility, the flight state can be flexibly changed by adjusting the flapping parameters of the flapping wing system, the integral structure is greatly simplified, and the weight of the air vehicle is reduced;
the motion form of the wings of flying organisms in nature is generally as follows: the four motions are up-and-down flapping, twisting motion, sweeping motion and bending folding motion with certain angles. The flapping wing air vehicle designed and manufactured according to the bionics principle can be divided into a single-degree-of-freedom flapping wing air vehicle and a multi-degree-of-freedom flapping wing air vehicle according to the motion forms of the single-degree-of-freedom flapping wing air vehicle, the single-degree-of-freedom flapping wing air vehicle only needs to obtain the pushing force through the pure up-and-down flapping of the wings, and the multi-degree-of-freedom flapping wing air vehicle simultaneously performs one or more combined motions of twisting, sweeping and bending folding motions on the basis of the pure up-and-down.
Most of the existing flapping wing air vehicles only simply imitate the basic motion mode of flying creatures, and only can realize simple free degree swinging motion. Chinese patent CN 104477388B of A four-wing flat flapping wing aircraft adopts four-wing flat flapping wings which are simultaneously controlled by four independent servo motors, although horizontal component force cannot be generated transversely in the process of flapping the four wings up and down, the self-generated weight of the aircraft body is increased due to the increase of the servo motors, which leads to low pneumatic efficiency and short endurance time, thus seriously affecting the performance of the aircraft, but the multi-degree of freedom flapping wing aircraft is not so, so the multi-degree of freedom flapping wing aircraft with higher bionic degree becomes a research hotspot; the multi-degree-of-freedom aircraft represented by a utility model of a two-degree-of-freedom flapping wing aircraft CN 205113712U and a Chinese patent of insect simulation flapping wing aircraft ZL201210437699.9 and the like has a two-degree-of-freedom motion form of flapping and twisting wings, and the wings also have a sweeping motion mode when flying organisms fly actually, so that the thrust brought by the flapping and twisting motion mode is limited; chinese patent CN 108058825A has two motion modes of sweeping and flapping, but the sweeping in this mode is that the front and back sweeping of the wing is different from the sweeping motion of the wing of the flying creature around the wing root, so the thrust and lift force generated by the aerocraft is also limited; chinese patent CN 105691615A, a multi-degree-of-freedom miniature flapping wing aircraft with actively deformable wings, also only realizes two motion forms of flapping and twisting, the twisting motion is realized by adopting the composite motion of an eccentric ball structure and a crank-rocker mechanism, the composite structure realizes the up-and-down flapping motion through an eccentric ball, and the active twisting of the wings is realized through the crank-rocker mechanism, but the realization of flapping and twisting is that two active motion modes need additional gear transmission force and moment, which inevitably increases the energy consumption of a driving mechanism and reduces the flight efficiency; meanwhile, the coupling of the two active motion forms will generate interference and a pause phenomenon. The aircraft has certain defects to a certain extent, and is not enough to complete various complex tasks in the future. Therefore, designing a highly bionic flapping wing aircraft with a relatively simple structure, high transmission efficiency and low energy consumption and simultaneously having three motion modes of flapping, twisting and sweeping is a development direction of the future micro flapping wing aircraft.
Disclosure of Invention
The utility model provides a four degree of freedom flapping wing aircraft device to solve the transmission efficiency low that present flapping wing aircraft exists, energy resource consumption is high, is not enough to accomplish various complicated tasks and problem.
The utility model adopts the technical proposal that: comprises a frame, a right flapping mechanism, a right flapping wing, a tail wing, a right steering mechanism, a control system, a power system, a left steering mechanism, a left flapping wing and a left flapping mechanism; the frame is the single frame construction of bilateral symmetry, and right flapping mechanism and left flapping mechanism structure are the same, and they are symmetrical arrangement respectively in the left and right sides of frame main part to be connected with frame 1, and right flapping wing and left flapping wing structure are the same, are connected with right flapping mechanism and left flapping mechanism respectively, and the fin links firmly the afterbody in the frame, and has certain inclination with the horizontal fuselage, and control system links firmly in the inside of frame, and driving system links firmly in the frame main part.
The frame of the utility model comprises a frame main body, a machine body transverse long connecting rod, a wire bracket, a machine body transverse short connecting rod, a frame vertical connecting rod, a motor bracket, a machine body middle transverse connecting rod, a machine tail notch, a receiver notch and a micro linear steering engine notch; wherein the machine body transverse long connecting rod, the machine body transverse short connecting rod and the machine body middle transverse connecting rod are arranged in parallel, and the middle ends of the connecting rods are fixedly connected with the machine frame main body; the both ends of the vertical connecting rod of frame are equipped with square through-hole, this square through-hole carries out interference fit with the both ends of the horizontal short connecting rod of organism to be connected, and the vertical connecting rod of frame is perpendicular to each other with the horizontal short connecting rod of organism, and the wire support bonds on the horizontal connecting rod in organism middle part, and motor support rigid coupling is at frame main part front end, and afterbody notch rigid coupling has certain inclination at the afterbody of main part frame and with the frame horizontal plane, and receiver notch, miniature straight line steering wheel notch rigid coupling are at the frame middle part.
The utility model discloses a driving system include the coreless motor, the motor worm, first order speed reducing worm wheel, the gear shaft, the symmetrical drive crank in both sides, drive connecting rod, drive rocker, the connecting rod axle, wherein the coreless motor is fixed with the motor and is connected, the coreless motor is connected with control system's conductor wire, the output shaft of coreless motor is located the below of gear shaft and perpendicular to it, the gear shaft carries out transition fit with the internal diameter of through-hole on the vertical connecting rod of frame, the motor worm suit is on the output shaft of coreless motor, and form interference fit with it; the first-stage reduction worm gear is fixedly arranged in the middle of the gear shaft; the motor worm is meshed with the first-stage reduction worm gear, one end of each driving crank is fixedly connected to one side of the gear shaft, the other end of each driving crank is hinged to one end of the driving connecting rod, and the two driving cranks move circularly along with the gear shaft; the connecting rod shaft is in transition fit with the circular through hole in the front section of the frame main body, one end of each driving rocker is fixedly connected to one side of the connecting rod shaft, the other end of each driving rocker is hinged to one end of each driving connecting rod, and the two driving rockers are matched with the two driving connecting rods and the two driving cranks to do circular arc motion.
The right flapping mechanism of the utility model comprises a right flapping slide bar, a right flapping connecting rod I and a right flapping connecting rod II, wherein one end of the right flapping slide bar is articulated with the right driving connecting rod in a ball pair matching way; the rod body of the right flapping slide rod is in clearance fit with the inner diameter of a circular through hole on the right steering longitudinal connecting rod, and is in interference fit with the inner diameter of a bearing on a fixed connecting slide block at two sides of a wing pulse of the right flapping wing at the transverse front edge, and the tail end of the longitudinal wing pulse of the right wing is in ball pair fit hinge joint with one end of the first right flapping connecting rod; one end of the right flapping connecting rod II is hinged with the other end of the right flapping connecting rod I, and the other end of the right flapping connecting rod II is hinged with the transverse connecting rod of the rack.
The right flapping wing of the utility model comprises a right flapping wing transverse leading edge wing vein, a right flapping wing longitudinal wing vein, a right flapping wing sliding block, a right flapping wing secondary wing vein, a miniature bearing and a right flapping wing membrane; the right flapping wing transverse leading edge wing pulse, the right flapping wing longitudinal wing pulse and the right flapping wing secondary wing pulse are fixedly connected at the wing root end, and a right flapping wing membrane is adhered to the right flapping wing transverse leading edge wing pulse, the right flapping wing longitudinal wing pulse and the right flapping wing secondary wing pulse; the right flapping wing sliding block is fixedly connected below the right flapping wing transverse front edge wing vein, and a circular through hole on the right flapping wing sliding block is in interference fit with the outer diameter of the miniature bearing; the inner diameter of the miniature bearing is in interference fit with the rod body of the right flapping slide rod.
The left steering mechanism of the utility model comprises a left steering spring, a left steering transverse connecting rod, a left steering longitudinal connecting rod, a flexible rubber strip, a left steering nylon rope lead and a lead bracket; two ends of a left steering spring are fixedly connected to the upper surfaces of the left steering transverse connecting rod and the rack transverse connecting rod respectively, two ends of the left steering longitudinal connecting rod are provided with square through holes, and the square through holes are in interference fit with one end of the left steering transverse connecting rod so as to realize the fixed connection of the left steering longitudinal connecting rod and the left steering transverse connecting rod; one end of the flexible rubber strip is fixedly connected with the left tail end of the transverse connecting rod of the rack, and the other end of the flexible rubber strip is fixedly connected with the right tail end of the left steering transverse connecting rod, so that the steering mechanism is hinged with the rack; the lead bracket is bonded on the left steering transverse connecting rod, the rack transverse connecting rod and the rack main body; one end of a left steering nylon rope wire is fixedly connected to the left steering transverse connecting rod and penetrates through the wire support to form clearance fit with the wire support, and the other end of the left steering nylon rope wire is fixedly connected to the miniature linear steering engine.
The control system of the utility model comprises a receiver, a micro linear steering engine, a conductor wire and a battery, wherein the receiver and the micro linear steering engine are fixedly connected in the frame main body; the receiver is connected with the miniature linear steering engine through the conducting wire to achieve transmission of control electric signals, the battery is bonded to the tail portion of the rack main body, and the battery is connected with the receiver, the miniature linear steering engine and the hollow cup motor through the conducting wire.
The empennage of the utility model comprises a tail wing plate and an empennage wing membrane; the tail wing plate is fixedly connected with a notch with a certain inclination angle on the main body of the frame, and the tail wing film is adhered to the tail wing plate, so that a certain included angle is formed between the tail wing and the frame, and the flow field of the whole flapping wing aircraft is more stable.
The tail wing plate is a fan-shaped plate.
The utility model has the advantages that the structure is novel and compact, the flapping wing aircraft can realize completely symmetrical flapping wing motion, the flapping wing aircraft is driven by a single hollow cup motor, and simultaneously, the wings can have four motion forms of flapping, twisting, front-back sweeping and left-right sweeping; the wings of the aircraft can generate wing tip movement tracks of birds, namely the movement tracks of an ellipse and an 8 shape, and the design idea is mainly that different positions on a connecting rod in a crank rocker mechanism in a four-bar mechanism type have different movement tracks, namely the movement tracks of the ellipse and the 8 shape. The utility model discloses a connecting rod among a flapping connecting rod and the crank rocker mechanism carries out the vice articulated output that can realize this corresponding movement track of ball, can realize the different flapping track of wing through adjusting corresponding vice articulated position of ball for the flying environment who adapts to no. Compared with other flapping mechanisms, the flapping mechanism has the outstanding advantages of simple structure and various flapping tracks; the aircraft realizes the functions of pitching up, pitching down and yawing by changing the flapping phase difference and the flapping amplitude of wings at two sides, and has the advantages of strong maneuverability and high flexibility compared with the function of changing the shape of the tail wing; the four motion modes generated by the aircraft device provide required lifting force for the flapping wing aircraft through the mutual coupling effect, the motion tracks of the wing tips of the two wings are both in a space elliptical shape, are similar to the motion mode of a natural flapping flight organism, accord with a high lift mechanism, have the advantages of high pneumatic efficiency and strong maneuverability, and can complete complex tasks such as row aerial photography, geological measurement, information collection, disaster search and rescue, military reconnaissance and the like.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the structure of the present invention with the finned membrane removed;
fig. 3 is a schematic structural diagram of the rack of the present invention;
FIG. 4 is a schematic structural diagram of the power system of the present invention;
FIG. 5 is a schematic structural view of the right flapping mechanism of the present invention;
FIG. 6 is a schematic structural view of the right flapping wing of the present invention;
fig. 7 is a schematic structural diagram of the left steering mechanism of the present invention;
fig. 8 is a schematic structural diagram of the control system of the present invention;
fig. 9 is a schematic structural view of the tail wing of the present invention.
Detailed Description
As shown in fig. 1 and 2, the device comprises a frame 1, a right flapping mechanism 2, a right flapping wing 3, a tail wing 4, a right steering mechanism 5, a control system 6, a power system 7, a left steering mechanism 8, a left flapping wing 9 and a left flapping mechanism 10; the frame 1 is a single frame structure with symmetrical left and right sides; the right flapping mechanism 2 and the left flapping mechanism 8 have the same structure, parameters and working principle, are respectively and symmetrically arranged at the left side and the right side of the main body of the frame 1 and are connected with the frame 1; the right flapping wing 3 and the left flapping wing 9 have the same structure, parameters and materials, consist of a wing membrane and a wing vein, and are respectively connected with the right flapping mechanism 2 and the left flapping mechanism 10; the tail wing 4 is fixedly connected to the tail part of the frame 1 and has a certain inclination angle with the horizontal machine body; the control system 6 is fixedly connected inside the rack 1 and consists of two miniature linear steering engines, nylon rope leads connected with the miniature linear steering engines, a receiver and a controller; the power system 7 is fixedly connected in the frame main body and comprises a miniature hollow cup motor, a lithium battery, a primary reduction gear set, a gear set output shaft and a connecting rod;
as shown in fig. 3, the frame 1 includes a frame main body 101, a long transverse connecting rod 102 of the machine body, a wire support 103, a short transverse connecting rod 104 of the machine body, a frame vertical connecting rod 105, a motor support 106, a transverse connecting rod 107 in the middle of the machine body, a machine tail notch 108, a receiver notch 109, and a micro linear steering engine notch 110; the machine body transverse long connecting rod 102, the machine body transverse short connecting rod 104 and the machine body middle transverse connecting rod 107 are arranged in parallel, and the middle ends of the connecting rods are fixedly connected with the rack main body 101; two ends of the frame vertical connecting rod 105 are provided with square through holes, the square through holes are connected with two ends of the machine body transverse short connecting rod 104 in an interference fit manner, and the frame vertical connecting rod 105 is perpendicular to the machine body transverse short connecting rod 104; the lead bracket 103 is bonded on a transverse connecting rod 107 in the middle of the machine body and used for planning the walking path of the lead; the motor bracket 106 is fixedly connected to the front end of the frame main body 101; the machine tail notch 108 is fixedly connected to the tail part of the main body frame 101 and has a certain inclination angle with the horizontal plane of the frame; the receiver notch 109 and the miniature linear steering engine notch 110 are fixedly connected to the middle part of the rack;
as shown in fig. 4, the power system 7 includes a hollow cup motor 701, a motor worm 702, a first-stage reduction worm gear 703 (constituting a worm and gear reduction mechanism), a gear shaft 704, a driving crank 705 with symmetrical sides, a driving connecting rod 706, a driving rocker 707, and a connecting rod shaft 708, wherein the hollow cup motor 701 is fixedly connected with the motor fixing frame 106, the hollow cup motor 701 is connected with a conductive wire 603 of the control system 6, and an output shaft of the hollow cup motor 701 is located below the gear shaft 704 and is perpendicular thereto; the gear shaft 704 is in transition fit with the inner diameter of a through hole in the rack vertical connecting rod 105, and the motor worm 702 is sleeved on the output shaft of the hollow cup motor 701 and forms interference fit with the output shaft; the first-stage reduction worm gear 703 is fixedly arranged in the middle of the gear shaft 704; the motor worm 702 is meshed with the first-stage reduction worm gear 703, so that power is output; one end of each driving crank 705 is fixedly connected to one side of the gear shaft 704, the other end of each driving crank 705 is hinged to one end of the driving connecting rod 706, and the two driving cranks 705 move circularly along with the gear shaft 704; the connecting rod shaft 708 is in transition fit with the circular through hole at the front section of the rack main body 101; one end of each driving rocker 707 is fixedly connected to one side of the connecting rod shaft 708, the other end of each driving rocker 707 is hinged to one end of the driving connecting rod 706, and the two driving rockers 707 are matched with the two driving connecting rods 706 and the two driving cranks 705 to do circular arc motion; points on different positions of the two drive links 706 have different motion trajectories such as: oval and "8-shaped";
as shown in fig. 5, the right flapping mechanism 2 and the left flapping mechanism 10 are symmetrically arranged at the left side and the right side of the frame main body 101, and are used for realizing the up-and-down flapping of the wings, the change of the flapping attack angle and the front-and-back and left-and-right sweeping motion of the wings; the right flapping mechanism 2 comprises a right flapping slide bar 201, a right flapping connecting rod I202 and a right flapping connecting rod II 203; one end of the right flapping slide bar 201 is hinged with the right driving connecting rod 706 in a ball pair matching way; the rod body of the right flapping slide rod 201 is in clearance fit with the inner diameter of a circular through hole on the right steering longitudinal connecting rod 503, and is in interference fit with the inner diameters of bearings 305 on the fixed connecting slide blocks 303 at two sides of the right flapping wing transverse leading edge wing 301, so that the right flapping wing 3 can realize rotary motion on the right flapping slide rod 201; the tail end of the longitudinal wing 302 of the right wing is hinged with one end of the first right flapping connecting rod 202 in a ball pair matching manner; one end of the second right flapping connecting rod 203 is hinged with the other end of the first right flapping connecting rod 202, and the other end of the second right flapping connecting rod is hinged with the transverse connecting rod 107 of the frame; the rotation angle of the right flapping wing 3 in the rotary motion on the right flapping slide bar 201 can be limited within a certain range through the mutual matching action of the longitudinal wing 302 of the right wing, the right flapping connecting rod I202, the right flapping connecting rod II 203 and the transverse connecting rod 107 of the frame, namely the torsion angle of the right flapping wing 3 is changed along with the change of different flapping positions of the right flapping wing 3;
as shown in fig. 6, the right flapping wing 3 comprises a right flapping wing transverse leading edge wing 301, a right flapping wing longitudinal wing 302, a right flapping wing sliding block 303, a right flapping wing secondary wing 304, a micro-bearing 305 and a right flapping wing membrane 306; the right flapping wing transverse leading edge wing pulse 301, the right flapping wing longitudinal wing pulse 302 and the right flapping wing secondary wing pulse 304 are fixedly connected at the root end of the wing, and a right flapping wing membrane 306 is adhered to the right flapping wing transverse leading edge wing pulse 301, the right flapping wing longitudinal wing pulse 302 and the right flapping wing secondary wing pulse 304; the right flapping wing sliding block 303 is fixedly connected below the right flapping wing transverse leading edge wing vein 301, and a circular through hole on the right flapping wing sliding block is in interference fit with the outer diameter of the micro bearing 305; the inner diameter of the micro bearing 305 and the rod body of the right flapping slide rod 201 form interference fit, so that the right flapping wing can rotate on the right flapping slide rod 201;
as shown in fig. 7, the left steering mechanism 8 includes a left steering spring 801, a left steering transverse link 802, a left steering longitudinal link 803, a flexible rubber strip 804, a left steering nylon cord wire 805, and a wire support 103; two ends of a left steering spring 801 are fixedly connected to the upper surfaces of the left steering transverse connecting rod 802 and the rack transverse connecting rod 102 respectively, and are used for realizing the superposition of the right end surface of the left steering transverse connecting rod 802 and the left end surface of the rack transverse connecting rod 102; two ends of the left steering longitudinal connecting rod 803 are provided with square through holes, and the square through holes are in interference fit with one end of the left steering transverse connecting rod 802, so that the left steering longitudinal connecting rod 803 is fixedly connected with the left steering transverse connecting rod 802; one end of a flexible rubber strip 804 is fixedly connected to the left end of the rack transverse connecting rod 102, and the other end of the flexible rubber strip is fixedly connected to the right end of the left steering transverse connecting rod 802, so that the steering mechanism is hinged to the rack; the lead bracket 103 is bonded to the left steering transverse link 802, the rack transverse link 102 and the rack main body 101; one end of a left steering nylon rope wire 805 is fixedly connected to the left steering transverse connecting rod 802 and penetrates through the wire support 103 to form clearance fit with the left steering transverse connecting rod 802, the other end of the left steering nylon rope wire 805 is fixedly connected to the micro linear steering engine 602, the movement of the nylon rope wire 805 is realized by controlling the movement of the micro linear steering engine, and then the left steering transverse connecting rod 802 performs certain rotary movement around the connection part of the left steering transverse connecting rod 802, the rack transverse connecting rod 102 and the flexible rubber strip 804, namely the left steering transverse connecting rod 802 and the rack transverse connecting rod 102 generate a certain inclination angle, and the change of the inclination angle can enable the left flapping wing and the right flapping wing to generate flapping with a certain phase difference and change of the amplitude value of the flapping, so that the steering function;
as shown in fig. 8, the control system 6 includes a receiver 601, a micro linear actuator 602, a conductive wire 603, and a battery 604 (the controller is an independent external control remote controller), and the receiver 601 and the micro linear actuator 602 are fixedly connected inside the rack main body 101; the receiver 601 is connected with the micro linear steering engine 602 through a conducting wire 603, so that transmission of control electric signals is realized; the battery 604 is adhered to the tail part of the rack main body 101, and the control on the integral gravity center position of the aircraft can be realized by changing different adhesion positions of the battery 604 and the tail part of the rack main body 101; the battery 604 is connected with the receiver 601, the miniature linear steering engine 602 and the coreless motor 701 through a conducting wire 603, and simultaneously provides power required by the receiver 601, the miniature linear steering engine 602 and the coreless motor 701 during working; the receiver 601 firstly receives signals of the controller, then controls the movement of the micro linear steering engine 602, and further changes the flapping phase difference and the flapping amplitude of the left and right flapping systems through the movement of the nylon rope wire 805, thereby realizing the functions of steering, upward pitching and downward pitching of the flapping wing aircraft.
As shown in fig. 9, the tail 4 includes a tail plate 401, a tail wing film 402; the tail wing plate 401 is fixedly connected with the notch 108 with a certain inclination angle on the rack main body 101, and the tail wing film 402 is adhered to the tail wing plate 401, so that a certain included angle is formed between the tail wing and the rack, and the flow field of the whole flapping wing aircraft is more stable.
The tail wing plate 401 is a sector plate.
The working principle is as follows:
firstly, a hollow cup motor 701 is started through a controller, and a first-stage reduction worm gear 703 is driven through a motor worm 702; since the first-stage reduction worm gear 703 is fixedly attached to the middle of the gear shaft 704 and the first driving link 705 is fixedly attached to the side end of the gear shaft, the driving crank 705 performs a circular motion along with the gear shaft 704. One end of the driving connecting rod 706 is hinged with the first driving connecting rod 704, the other end is hinged with the driving rocker 707, and the other end of the driving rocker 707 is fixedly connected to one side of the connecting rod shaft 708, so that the driving crank 705, the driving connecting rod 706 and the driving rocker 707 form a four-bar mechanism, and when the driving crank 705 moves circularly along with the gear shaft 704, different positions on the rod body of the driving connecting rod 706 generate elliptic and 8-shaped motion tracks.
One end of a flapping slide bar 201 in the right flapping mechanism 2 is connected with a ball pair at a determined position on a right driving connecting rod in a matching way, and a rod body of the right flapping slide bar 201 is in clearance fit with the inner diameter of a round hole on a right steering connecting rod III 803, so that the flapping slide bar 201 generates an elliptic motion track; the rod body of the right flapping slide rod 201 and the inner diameter of the bearing 305 on the fixed connection slide block 303 at the two sides of the right flapping wing transverse leading edge wing 301 form interference fit, so that the right flapping wing 3 can realize rotary motion on the right flapping slide rod 201 and the whole right flapping wing can do 'elliptical' motion along with the right flapping slide rod 201, namely, up-down flapping motion and front-back sweeping motion can be generated; the tail end of a longitudinal wing 302 of the right wing 3 is connected with one end of a right flapping connecting rod I202 in a ball-pair matching mode, one end of a right flapping connecting rod II 203 is hinged with the other end of the right flapping connecting rod I202, the other end of the right flapping connecting rod II is hinged with a rack transverse connecting rod 107, the rack transverse connecting rod 107 is fixedly connected with a rack main body 101 through a groove, through the connecting mode, the rotating angle of the whole right wing 3 around a right flapping sliding rod 201 is limited within a certain angle range, namely in the flapping flight process of the aircraft, the torsion angle of the wing is correspondingly changed along with different flapping positions of the wing under the combined action of the rack transverse connecting rod 107, the right flapping connecting rod II 203 and the right flapping connecting rod I202, and the torsion motion of the wing is realized. The torsion angle change is realized by a passive control technology, and compared with an active control technology, the torsion angle change greatly reduces the generation of phase interference and a pause phenomenon; this will produce a side-to-side sweeping motion of the wings due to the side-to-side sliding action of the right flapping slide 201 inside the circular hole on the right steering longitudinal link 503.
The right steering mechanism 5 and the left steering mechanism 8 are symmetrically arranged on the left side and the right side of the frame main body 101 and are used for realizing steering, pitch-up and pitch-down movement of the aircraft; one end of the flexible rubber strip 804 is fixedly connected to the left end of the frame transverse connecting rod 102, and the other end is fixedly connected to the right end of the left steering transverse connecting rod 802; two ends of a left steering spring 801 are fixedly connected to the upper surfaces of the left steering transverse connecting rod 802 and the rack transverse long connecting rod 102 respectively, and the left steering spring is used for realizing the superposition of the right end surface of the left steering transverse connecting rod 802 and the left end surface of the rack transverse long connecting rod 102; the lead bracket 103 is fixedly connected to the left steering transverse connecting rod 802, the rack transverse long connecting rod 102 and the rack main body 101; one end of a left steering nylon rope wire 805 is fixedly connected to the left steering transverse connecting rod 802 and penetrates through the wire support 103 to form clearance fit with the left steering transverse connecting rod 802, the other end of the left steering nylon rope wire 805 is fixedly connected to the micro linear steering engine, the movement of the nylon rope wire 805 is realized by controlling the movement of the micro linear steering engine, and further the left steering transverse connecting rod 802 rotates around the joint of the left steering transverse connecting rod 802 and the rack transverse long connecting rod 102 and the flexible rubber strip 804 to generate a certain inclination angle, the generation of the inclination angle can change the flapping phase difference and the flapping amplitude of the wings at two sides so as to realize the steering function, when two micro linear steering mechanisms are used for controlling the steering mechanisms at two sides simultaneously, namely the inclination angles between the steering transverse connecting rods at two sides and the rack transverse long connecting rod are the same, so that the flapping amplitude change of the wings at two sides can be realized, but the flapping phase difference is not changed, so that the flapping flight of the wings is realized The device has the functions of upward pitching and downward pitching.
The tail wing plate 401 of the tail wing mechanism is fixedly connected with the notch 108 with a certain inclination angle on the rack main body 101, and then a certain included angle is generated between the tail wing and the rack, so that the flow field of the whole flapping wing aircraft is more stable, and the pushing and lifting force of the aircraft is further improved.
Claims (9)
1. A four-degree-of-freedom flapping wing aircraft device is characterized in that: comprises a frame, a right flapping mechanism, a right flapping wing, a tail wing, a right steering mechanism, a control system, a power system, a left steering mechanism, a left flapping wing and a left flapping mechanism; the frame is the single frame construction of bilateral symmetry, and right flapping mechanism and left flapping mechanism structure are the same, and they are symmetrical arrangement respectively in the left and right sides of frame main part to be connected with frame 1, and right flapping wing and left flapping wing structure are the same, are connected with right flapping mechanism and left flapping mechanism respectively, and the fin links firmly the afterbody in the frame, and has inclination with the horizontal fuselage, and control system links firmly in the inside of frame, and driving system links firmly in the frame main part.
2. The four degree-of-freedom ornithopter device of claim 1, wherein: the machine frame comprises a machine frame main body, a machine body transverse long connecting rod, a wire support, a machine body transverse short connecting rod, a machine frame vertical connecting rod, a motor support, a machine body middle transverse connecting rod, a machine tail notch, a receiver notch and a micro linear steering engine notch; wherein the machine body transverse long connecting rod, the machine body transverse short connecting rod and the machine body middle transverse connecting rod are arranged in parallel, and the middle ends of the connecting rods are fixedly connected with the machine frame main body; the both ends of the vertical connecting rod of frame are equipped with square through-hole, this square through-hole carries out interference fit with the both ends of the horizontal short connecting rod of organism to be connected, and the vertical connecting rod of frame is perpendicular to each other with the horizontal short connecting rod of organism, and the wire support bonds on the horizontal connecting rod in organism middle part, and motor support rigid coupling is at frame main part front end, and afterbody notch rigid coupling has the inclination at the afterbody of main part frame and with the frame horizontal plane, and receiver notch, miniature straight line steering wheel notch rigid coupling are at the frame middle part.
3. The four degree-of-freedom ornithopter device of claim 1, wherein: the power system comprises a hollow cup motor, a motor worm, a first-stage reduction worm gear, a gear shaft, driving cranks with symmetrical two sides, driving connecting rods, driving rockers and a connecting rod shaft, wherein the hollow cup motor is fixedly connected with a motor fixing rack, the hollow cup motor is connected with a conductor wire of a control system, an output shaft of the hollow cup motor is positioned below the gear shaft and is vertical to the gear shaft, the gear shaft is in transition fit with the inner diameter of a through hole in a vertical connecting rod of the rack, and the motor worm is sleeved on the output shaft of the hollow cup motor and forms interference fit with the output shaft; the first-stage reduction worm gear is fixedly arranged in the middle of the gear shaft; the motor worm is meshed with the first-stage reduction worm gear, one end of each driving crank is fixedly connected to one side of the gear shaft, the other end of each driving crank is hinged to one end of the driving connecting rod, and the two driving cranks move circularly along with the gear shaft; the connecting rod shaft is in transition fit with the circular through hole in the front section of the frame main body, one end of each driving rocker is fixedly connected to one side of the connecting rod shaft, the other end of each driving rocker is hinged to one end of each driving connecting rod, and the two driving rockers are matched with the two driving connecting rods and the two driving cranks to do circular arc motion.
4. The four degree-of-freedom ornithopter device of claim 1, wherein: the right flapping mechanism comprises a right flapping slide rod, a right flapping connecting rod I and a right flapping connecting rod II, wherein one end of the right flapping slide rod is in ball pair matching hinge joint with the right driving connecting rod; the rod body of the right flapping slide rod is in clearance fit with the inner diameter of a circular through hole on the right steering longitudinal connecting rod, and is in interference fit with the inner diameter of a bearing on a fixed connecting slide block at two sides of a wing pulse of the right flapping wing at the transverse front edge, and the tail end of the longitudinal wing pulse of the right wing is in ball pair fit hinge joint with one end of the first right flapping connecting rod; one end of the right flapping connecting rod II is hinged with the other end of the right flapping connecting rod I, and the other end of the right flapping connecting rod II is hinged with the transverse connecting rod of the rack.
5. The four degree-of-freedom ornithopter device of claim 1, wherein: the right flapping wing comprises a right flapping wing transverse leading edge wing vein, a right flapping wing longitudinal wing vein, a right flapping wing sliding block, a right flapping wing secondary wing vein, a miniature bearing and a right flapping wing membrane; the right flapping wing transverse leading edge wing pulse, the right flapping wing longitudinal wing pulse and the right flapping wing secondary wing pulse are fixedly connected at the wing root end, and a right flapping wing membrane is adhered to the right flapping wing transverse leading edge wing pulse, the right flapping wing longitudinal wing pulse and the right flapping wing secondary wing pulse; the right flapping wing sliding block is fixedly connected below the right flapping wing transverse front edge wing vein, and a circular through hole on the right flapping wing sliding block is in interference fit with the outer diameter of the miniature bearing; the inner diameter of the miniature bearing is in interference fit with the rod body of the right flapping slide rod.
6. The four degree-of-freedom ornithopter device of claim 1, wherein: the left steering mechanism comprises a left steering spring, a left steering transverse connecting rod, a left steering longitudinal connecting rod, a flexible rubber strip, a left steering nylon rope lead and a lead support; two ends of a left steering spring are fixedly connected to the upper surfaces of the left steering transverse connecting rod and the rack transverse connecting rod respectively, two ends of the left steering longitudinal connecting rod are provided with square through holes, and the square through holes are in interference fit with one end of the left steering transverse connecting rod so as to realize the fixed connection of the left steering longitudinal connecting rod and the left steering transverse connecting rod; one end of the flexible rubber strip is fixedly connected with the left tail end of the transverse connecting rod of the rack, and the other end of the flexible rubber strip is fixedly connected with the right tail end of the left steering transverse connecting rod, so that the steering mechanism is hinged with the rack; the lead bracket is bonded on the left steering transverse connecting rod, the rack transverse connecting rod and the rack main body; one end of a left steering nylon rope wire is fixedly connected to the left steering transverse connecting rod and penetrates through the wire support to form clearance fit with the wire support, and the other end of the left steering nylon rope wire is fixedly connected to the miniature linear steering engine.
7. The four degree-of-freedom ornithopter device of claim 1, wherein: the control system comprises a receiver, a miniature linear steering engine, a conducting wire and a battery, wherein the receiver and the miniature linear steering engine are fixedly connected inside the rack main body; the receiver is connected with the miniature linear steering engine through the conducting wire to achieve transmission of control electric signals, the battery is bonded to the tail portion of the rack main body, and the battery is connected with the receiver, the miniature linear steering engine and the hollow cup motor through the conducting wire.
8. The four degree-of-freedom ornithopter device of claim 1, wherein: the tail wing comprises a tail wing plate and a tail wing membrane; the tail wing plate is fixedly connected with a notch with a certain inclination angle on the machine frame main body, and the tail wing membrane is adhered with the tail wing plate.
9. The four degree-of-freedom ornithopter device of claim 8, wherein: the tail wing plate is a fan-shaped plate.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911197A (en) * | 2019-04-01 | 2019-06-21 | 吉林大学 | A kind of four-degree-of-freedom flapping wing aircraft device |
| CN112478155A (en) * | 2020-12-04 | 2021-03-12 | 武汉科技大学 | Two-section type three-degree-of-freedom flapping wing aircraft |
-
2019
- 2019-04-01 CN CN201920432263.8U patent/CN209814271U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911197A (en) * | 2019-04-01 | 2019-06-21 | 吉林大学 | A kind of four-degree-of-freedom flapping wing aircraft device |
| CN109911197B (en) * | 2019-04-01 | 2024-02-20 | 吉林大学 | Four-degree-of-freedom ornithopter device |
| CN112478155A (en) * | 2020-12-04 | 2021-03-12 | 武汉科技大学 | Two-section type three-degree-of-freedom flapping wing aircraft |
| CN112478155B (en) * | 2020-12-04 | 2022-08-05 | 武汉科技大学 | Two-section type three-degree-of-freedom flapping wing aircraft |
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