CN210592407U

CN210592407U - Empennage device of ornithopter

Info

Publication number: CN210592407U
Application number: CN201921343543.8U
Authority: CN
Inventors: 赵乾; 吴昌聚; 陈伟芳
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2020-05-22
Anticipated expiration: 2029-08-19

Abstract

The utility model discloses an empennage device of a flapping-wing aircraft, which comprises two steering engines, two rudder arms, two pull rods, two rudder angles, an empennage stabilizing surface, two empennage rudder surface mounting plates, a plurality of rudder surface stay bars and a plurality of hinge hinges; two steering wheel symmetries fixed mounting are on fin stabilizer, and two rudder arms are installed respectively on two steering wheels, and two rudder angles rigid coupling respectively are on two fin rudder face mounting panels, and the pull rod both ends articulate respectively in rudder arm and rudder angle, and two fin rudder face mounting panels all articulate through hinge and fin stabilizer along one side border bilateral symmetry distribution of fin stabilizer, and the rudder face vaulting pole is inserted and is fixed in on every fin rudder face mounting panel, forms two fin rudder faces. The rotation of the steering engine drives the pull rod to move, so that the control of the control surface of the empennage can be realized, rolling torque and pitching torque are generated, and the control of the ornithopter is realized.

Description

Empennage device of ornithopter

Technical Field

The utility model aims at providing a fin device of ornithopter can be applied to the bionic robot field, especially the mobility control field of bionic ornithopter.

Background

With the further deepening of scientific exploration, in the environment with low speed and low Reynolds number, the flapping wing flight of birds has great advantages compared with the flight mode of the traditional fixed wings or rotors, so that the flapping wing aircraft can be operated by simulating the flight mode of birds, and the small flapping wing aircraft has good development prospect in the fields of detection, attack and the like. At present, the tail wing design of the small ornithopter is mainly divided into a bird-imitating design, a horizontal and vertical tail layout design and a V-tail design, and the designs have some defects such as stability, weight, interference and insufficient rudder effect.

SUMMERY OF THE UTILITY MODEL

In order to guarantee the stability and the rudder effect of fin under the weight prerequisite as little as possible, the motion of control surface does not interfere with each other simultaneously, the utility model provides a fin device of ornithopter.

An empennage device of a ornithopter comprises two steering engines, two rudder arms, two pull rods, two rudder angles, an empennage stabilizing surface, two empennage rudder surface mounting plates, a plurality of rudder surface support rods and a plurality of hinge hinges; two steering wheel symmetries fixed mounting are on fin stabilizer, and two rudder arms are installed respectively on two steering wheels, and two rudder angles rigid coupling respectively are on two fin rudder face mounting panels, and the pull rod both ends articulate respectively in rudder arm and rudder angle, and two fin rudder face mounting panels all articulate through hinge and fin stabilizer along one side border bilateral symmetry distribution of fin stabilizer, and the rudder face vaulting pole is inserted and is fixed in on every fin rudder face mounting panel, forms two fin rudder faces. When the steering engine is in the initial working position, the two tail fin control surfaces and the tail fin stabilizing surface are in the same plane.

Furthermore, the empennage control surface mounting plate is hinged with the empennage stabilizing surface through four hinged hinges to ensure the stable rotation of the control surface.

The rotation tracks of the two tail control surfaces in the device are parallel, and the rotation tracks cannot interfere with each other; when the two steering engines rotate reversely by the same angle, the two tail wing control surfaces can bend in the same direction, so that the pitching motion of the ornithopter is controlled; when the two steering engines rotate in the same direction and at the same angle, the reverse bending motion of the control surfaces of the two empennages can be realized, so that the rolling motion of the ornithopter is controlled.

The utility model has the advantages that; firstly, the structure is simple, the mass is small, so that the self weight of the ornithopter cannot be greatly influenced, and the ornithopter can be applied to a small ornithopter; secondly, the empennage control surface and the empennage stabilizing surface are connected through a plurality of hinge hinges, so that the structure is stable and reliable, and the problem of violent empennage shaking is avoided; thirdly, the two tail control surfaces can not interfere with each other when rotating, thereby reducing the design space of the tail and lightening the weight; fourthly, the empennage can simultaneously realize the control of the ornithopter in the transverse direction and the longitudinal direction, and the maneuverability of the ornithopter is improved.

Drawings

Fig. 1 is a schematic diagram of a specific structure of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1, which is a schematic structural diagram of a specific example of the present invention, the present invention includes two steering engines 1, two rudder arms 2, two pull rods 3, two rudder angles 4, one empennage stabilizer 5, two empennage rudder surface mounting plates 6, a plurality of rudder surface struts 7, and four hinge hinges 8; two steering engines 1 are symmetrically arranged and fixedly connected with each other through a clamping groove of an empennage stabilizing surface 5, rudder arms 2 are arranged on each steering engine 1, two rudder angles 4 are fixedly connected to two empennage rudder surface mounting plates 6 respectively, the two empennage rudder surface mounting plates 6 are symmetrically arranged and hinged to the same side edge of the empennage stabilizing surface 5 through hinge hinges 8, rudder surface support rods 7 are divided into two groups, each group corresponds to one empennage rudder surface mounting plate, an empennage rudder surface is formed jointly through hole site fixed connection on the empennage rudder surface mounting plates 6, namely, as shown in figure 1, left and right empennage rudder surfaces are formed conformally, for each empennage rudder surface, two ends of each pull rod 3 are hinged to the rudder arms 2 and the rudder angles 4 respectively, and when the steering engines 1 are in neutral positions, the empennage rudder surfaces and the stabilizing surfaces 5 are in.

As shown in figure 1, two empennage control surface mounting plates 6 are hinged with an empennage stabilizing surface 5 through four uniformly distributed hinged hinges 8, when the ornithopter flies in the air, the empennage control surface can shake due to the influence of air flow, the anti-bird empennage easily shakes due to the cantilever type structure, and therefore the stability of the anti-bird empennage can be guaranteed through the connection of the four hinged hinges.

As shown in figure 1, when the empennage control surfaces rotate, the left and right empennage control surfaces arranged by the utility model are not likely to touch each other unlike the design of a V tail, the design makes the two control surfaces not touch each other in the motion space, and the problem of mutual interference does not occur even if the design area of the empennage is increased in the same space.

As shown in fig. 1, when two steering engines 1 rotate reversely by the same angle, the two empennage control surfaces can bend in the same direction, so that a pitching moment is generated to control the pitching motion of the ornithopter; when the two steering engines 1 rotate in the same direction by the same angle, the reverse bending motion of the control surfaces of the two empennages can be realized, so that rolling torque is generated, and the rolling motion of the ornithopter is controlled; when the rotating angles and directions of the two steering engines 1 are changed simultaneously, longitudinal and transverse control can be realized simultaneously.

Claims

1. An empennage device of a ornithopter is characterized in that: the rudder comprises two steering engines (1), two rudder arms (2), two pull rods (3), two rudder angles (4), an empennage stabilizing surface (5), two empennage rudder surface mounting plates (6), a plurality of rudder surface support rods (7) and a plurality of hinge hinges (8); two steering engines (1) are symmetrically and fixedly installed on an empennage stabilizing surface (5), two rudder arms (2) are installed on the two steering engines (1) respectively, two rudder angles (4) are fixedly connected to two empennage rudder surface installation plates (6) respectively, two ends of a pull rod (3) are hinged to the rudder arms (2) and the rudder angles (4) respectively, the two empennage rudder surface installation plates (6) are distributed along the left-right symmetry of one side edge of the empennage stabilizing surface (5) and are hinged to the empennage stabilizing surface (5) through hinge hinges (8), a rudder surface support rod (7) is fixedly inserted into each empennage rudder surface installation plate (6), two empennage rudder surfaces are formed, and when the steering engines (1) are located at the working initial positions, the two empennage rudder surfaces and the empennage stabilizing surface (5) are located in the same plane.

2. The empennage device of an ornithopter according to claim 1, wherein: the two empennage control surface mounting plates (6) are hinged with the empennage stabilizing surface (5) through four hinge hinges (8) which are uniformly distributed, so that the stable rotation of the control surface is ensured.

3. The empennage device of an ornithopter according to claim 1, wherein: when the two steering engines (1) rotate reversely by the same angle, the two empennage control surfaces bend in the same direction, so that the pitching motion of the ornithopter is controlled; when the two steering engines (1) rotate in the same direction and at the same angle, the reverse bending motion of the control surfaces of the two empennages is realized, so that the rolling motion of the ornithopter is controlled.