CN210942248U

CN210942248U - Foldable bionic flapping wing aircraft

Info

Publication number: CN210942248U
Application number: CN201922093075.XU
Authority: CN
Inventors: 王玉金; 何苗; 金辉; 周宝; 胡睿; 肖峰
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-07-07
Anticipated expiration: 2029-11-28

Abstract

The utility model discloses a foldable bionic flapping wing aircraft, which comprises an aircraft body, wings and a telescopic piece, wherein the two sides of the telescopic piece are symmetrically provided with wing folding mechanisms; the wing folding mechanism comprises a connecting rod, a transmission rod is connected to one end of the connecting rod, a support column is fixedly connected to one end, far away from the end, connected with the connecting rod, of the transmission rod, the guide column is movably sleeved with the transmission rod, a containing cavity is formed in the upper end of the support column, a circular ring is connected in the containing cavity in a sliding mode, a rotating shaft is connected to the inner wall of the circular ring, and a wing is movably sleeved on the rotating shaft; the wing folding mechanism comprises a four-bar linkage formed by an input rod, a first connecting rod, an output rod and a second connecting rod, and further comprises a cross rod piece, a sliding blind hole is formed in the upper end of the cross rod piece, and an adjusting rod is connected in the sliding blind hole in a sliding mode. The scheme can effectively furl the wing on the machine body, thereby protecting the wing from being abraded and damaged by external factors and improving the utilization rate of the storage space.

Description

Foldable bionic flapping wing aircraft

Technical Field

The utility model relates to a miniature aircraft technical field, concretely relates to bionical flapping wing aircraft of folded cascade.

Background

Since the end of the last century, aircraft have gained rapid growth, particularly with the technology of the common fixed wing aircraft and rotary wing aircraft becoming more and more mature, and have begun to move towards civilian use, thus giving rise to the hot tide of aircraft use in recent years. Meanwhile, due to too many scene limitations and functional defects of the conventional aircraft, the flapping wing aircraft is also rapidly developing.

The flapping wing is an important structure of a novel aircraft type which is designed and manufactured based on the bionics principle and simulates the flight of birds and insects, and if the aircraft is successfully developed, compared with the flight of a fixed wing and a rotor wing, the flapping wing aircraft has unique advantages: such as take-off in situ or in small places, excellent flight maneuverability and hovering performance in the air and low flight cost, integrates the lifting, hovering and propelling functions into a flapping wing system, can fly for long distance with little energy, and is more suitable for performing tasks under long-time non-energy supplement and long-distance conditions.

The bionic flapping wing aircraft has the characteristics of moderate size, portability, flexible flight, good concealment and the like, so that the bionic flapping wing aircraft has very important and wide application in the civil and national defense fields and can complete tasks which cannot be executed by other aircrafts. The system can carry out biochemical detection and environmental monitoring, and enter a biochemical forbidden region to execute tasks; the ecological environment such as fire, insect disaster and air pollution on forests, grasslands and farmlands can be monitored in real time; can enter areas where people are not easy to enter, such as dangerous terrain battle fields, buildings in fire or accident, and the like; in military affairs, the bionic flapping wing aircraft can be used for battlefield reconnaissance, patrol, assault, signal interference, urban combat and the like.

However, compared with fixed-wing and rotary-wing aircraft, the traditional flapping-wing aircraft has better improvement in flexibility and maneuverability, but still cannot approach the flight attitude of a real organism, the traditional flapping-wing aircraft has no way to adjust the wing in the air, and the flight attitude such as dive, lateral flight and the like, and the sensitivity needs to be improved; meanwhile, the flapping wing aircraft mainly comprises an aircraft body and wing wings, if the direction of the aircraft body is regarded as a longitudinal space, the direction of the wing wings is a transverse space, due to flight requirements, the wing wings occupy a large space span in the transverse direction, are weak, and are easily worn and damaged by unpredictable factors outside when in a non-working flight state, and meanwhile, the utilization rate of a storage space is low and the wing wings are also easily damaged in the storage and transportation processes.

SUMMERY OF THE UTILITY MODEL

The aforesaid to prior art exist not enough, the to-be-solved technical problem of the utility model is: how to provide a foldable bionic flapping wing aircraft which can unfold the wing during flying and effectively fold the wing on the aircraft body in a non-working flying state, thereby reducing the span of the wing in a transverse space in the non-working flying state, protecting the wing from being abraded and damaged by external factors and improving the utilization rate of a storage space.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the foldable bionic flapping wing aircraft comprises an aircraft body, wings and an extensible member, wherein the extensible member is positioned in the middle of the aircraft body and arranged along the longitudinal direction of the aircraft body;

the wing folding mechanism comprises a connecting rod, one end of the connecting rod is rotatably connected with the telescopic end of the telescopic piece, the other end of the connecting rod faces the outer side of the machine body and is rotatably connected with a transmission rod, when the telescopic end of the telescopic piece is in a contraction state, the connecting rod and the transmission rod are in a bending connection state, the two connecting rods are symmetrically arranged along the axial direction of the telescopic piece, one end, away from the connecting rod, of the connecting rod is obliquely arranged towards the direction of the fixed end of the telescopic piece, one end, away from the connecting rod, of the transmission rod faces the inner side of the machine body and is fixedly connected with a vertically arranged support column, a guide column is arranged at the corresponding position of the transmission rod and the support column in a fixed connection mode, the guide column is fixed on the machine body, the transmission rod is movably sleeved on the guide column, and a transverse cylindrical, a circular ring is connected in the accommodating cavity in a sliding manner, two mounting seats are arranged on the inner wall of the circular ring in a direction perpendicular to the axis of the circular ring, a rotating shaft is connected between the two mounting seats, and one end of each wing facing the inner side of the machine body extends into the circular ring and is movably sleeved on the rotating shaft;

the telescopic piece is further symmetrically provided with wing folding mechanisms along two sides of the transverse direction of the machine body, each wing folding mechanism comprises a four-bar linkage mechanism, each four-bar linkage mechanism comprises an input rod, a first connecting rod, an output rod and a second connecting rod which are sequentially connected in a rotating manner, one end, far away from the input rod, of each input rod, which is connected with the first connecting rod, is rotatably connected with one end, far away from the second connecting rod, of each second connecting rod, which is connected with the output rod, the middle of each output rod is fixedly connected with the ring, the input rod is positioned below the output rod, the middle of each input rod is rotatably connected with the support column, the telescopic piece further comprises a cross-shaped rod piece, two ends of the cross-shaped rod in the transverse direction are rotatably connected onto the machine body, the upper end of the cross-shaped rod in the vertical direction is provided with a sliding blind hole, an adjusting rod is slidably connected in, the mounting base is fixedly connected to one end, far away from the telescopic piece, of the input rod.

In the scheme, the longitudinal direction of the fuselage is the direction of the fuselage advancing in flight, the transverse direction of the fuselage is the direction perpendicular to the longitudinal direction of the fuselage on the same plane, the vertical direction is the direction perpendicular to both the longitudinal direction of the fuselage and the transverse direction of the fuselage, and the position relationship of each structure in the scheme is the position relationship when the wing is in an unfolded state and flapping operation is not performed.

The utility model discloses a theory of operation is: when the wing needs to be folded on the airplane body in a non-working flying state, the telescopic end of the telescopic part extends along the longitudinal direction of the airplane body, because the two connecting rods are symmetrically arranged along the axial direction of the telescopic part, and the ends of the connecting rods, which are far away from the connecting telescopic part, are obliquely arranged towards the fixed end direction of the telescopic part, when the telescopic end of the telescopic part extends, the telescopic end of the telescopic part drives the connecting rods on the two sides to rotate towards the fixed end direction close to the telescopic part, at the moment, the transmission rod connected with the connecting rods rotates towards the direction close to the telescopic part, the transmission rod rotates to drive the supporting column to rotate around the guide column, when the supporting column rotates, on one hand, the output rod is driven to rotate through the circular ring, the output rod rotates to drive the input rod to rotate through the four-bar mechanism, and because the cross-bar is a rigid part, the input, on the other hand, the rotation of the support column also drives the wing connected to the circular ring to rotate towards the direction close to the inner side of the machine body; when the supporting column rotates to enable the adjusting rod to extend to the maximum value, the supporting column continuously rotates and rotates under the driving of the driving rod, at the moment, the adjusting rod drives the corresponding end of the input rod to incline downwards through the mounting base, one end of the input rod inclines downwards to drive the corresponding end of the output rod to incline downwards through the action of the first connecting rod and the second connecting rod, the output rod is fixedly connected with the circular ring, and the wing is arranged on the rotating shaft between the mounting seats on the inner wall of the circular ring, so that the rotation of the output rod further drives the wing to rotate through the circular ring, the wing integrally presents an inclined state, the wing on two sides is finally folded on the machine body in an inclined mode through the continuous extension of the telescopic piece, on one hand, the wing is rotatably folded on the machine body to reduce the transverse space occupied by the wing, on the other hand, the wing is further adjusted to be in an inclined state for folding, and compared with a direct horizontal folding mode, the space occupied by the wing can be further reduced, so that the wing folding mechanism and the wing folding mechanism can act together to enable the transverse space occupied by the wing to be the minimum, and the best folding effect is achieved.

When the wings on two sides are required to be unfolded by flying, the telescopic end of the telescopic part is shortened, the connecting rods on two sides rotate towards the direction of the fixed end far away from the telescopic part and drive the transmission rods on the corresponding sides to rotate towards the direction far away from the telescopic part, the transmission rods rotate and then drive the support columns to rotate, the support columns rotate and drive the four-bar mechanism to rotate through the circular rings on the one hand, on the other hand, the wings are driven to rotate towards the outer side of the aircraft body, when the circular rings drive the four-bar mechanism to rotate to a certain position, the support columns continuously rotate, the input rods drive the adjusting rods to move downwards along the sliding blind holes through the mounting bases and shorten the adjusting rods, and finally the wings on two sides of the aircraft body are unfolded until the wings on two sides of the aircraft body are.

The beneficial effects of the utility model reside in that: the scheme utilizes the extension and the shortening of the telescopic piece to enable the wing folding mechanism and the wing folding mechanism to drive the wings at two sides to fold or unfold, when the aircraft is in a non-flight state, the telescopic piece extends, and the wing collecting mechanism and the wing folding mechanism are utilized to achieve the purpose of collecting the wings on the two sides on the aircraft body in an inclined mode, when the aircraft needs to fly, the telescopic part is shortened, the wings are unfolded on two sides of the aircraft body by utilizing the reverse motion of the wing folding mechanism and the wing folding mechanism, and the aim of flying is finally realized, therefore, the bionic flapping wing aircraft of the proposal can unfold the wing wings during flying and effectively fold the wing wings on the aircraft body during non-working flying state, therefore, the span of the wing in the transverse space in the non-working flying state is reduced, the wing is protected from being abraded and damaged by external factors, and the utilization rate of the storage space is improved.

Preferably, still include flapping wing mechanism, flapping wing mechanism includes the piezoelectricity bimorph that sets up along fuselage longitudinal direction and is in along fuselage transverse direction symmetric distribution the flapping wing subassembly of piezoelectricity bimorph both sides, the stiff end of piezoelectricity bimorph is fixed on the fuselage, the free end of piezoelectricity bimorph extends along fuselage transverse direction's both sides respectively and forms connecting portion, the extension end of connecting portion is equipped with the flapping wing member that sets up along fuselage transverse direction, flapping wing subassembly include along the connection clamping piece that fuselage longitudinal direction arranged and with connect clamping piece fixed connection and tilt up's steering column, the cross-section of connecting the clamping piece is U type structure, flapping wing member can stretch into or withdraw from corresponding position connect in the U type structure of clamping piece and can drive connect the vertical removal of clamping piece, steering column keeps away from its connection the one end of connecting the clamping piece is rotated and is connected with and is turned to the piece, the steering block is far away from one end, connected with the steering rod, of the steering block, a rotating blind hole is formed, the wing extends into one end of the circular ring, a wing rod is further arranged, and one end, far away from the wing, of the wing rod extends into the rotating blind hole of the steering block and is rotatably connected with the steering block.

When voltage is input to the piezoelectric bimorph, the free end of the piezoelectric bimorph can generate position change according to the applied voltage.

Thus, when flapping wing operation is required, the flapping wing rod piece extends into the U-shaped structure of the connecting clamping piece, voltage is applied to the piezoelectric bimorph, so that the flapping wing rod piece at the connecting part at the two sides of the free end of the piezoelectric bimorph moves upwards, the flapping wing rod piece moves upwards to drive the steering rod to move upwards through the connecting clamping piece, the steering rod moves upwards to drive the steering block to move upwards, the steering block moves upwards to drive the corresponding end of the wing rod to move upwards, the wing rod moves upwards to further drive the wing at the corresponding position to move upwards, and the other side of the wing, which is connected with the wing rod, rotates downwards around the rotating shaft due to the fact that the wing is movably sleeved on the rotating shaft; similarly, if the voltage condition is applied to the piezoelectric bimorph, the flapping wing rod pieces at the connecting parts on the two sides of the free end of the piezoelectric bimorph move downwards, the flapping wing rod pieces drive the steering rods to move downwards through the connecting clamping pieces, the steering rods move downwards and drive the wing rods to move downwards through the steering blocks, the other ends of the wing wings connected with the wing rods rotate upwards around the rotating shaft, the operation is repeated, and the wing wings on the two sides can be conveniently rotated up and down through changing the voltage condition applied to the piezoelectric bimorph, so that the flapping wing action is completed.

Meanwhile, the connecting clamping piece is designed into a U-shaped structure, the flapping wing rod piece can stretch into or withdraw from the U-shaped structure of the connecting clamping piece at the corresponding position, when the wing is folded, the steering rod and the connecting clamping piece can rotate along with the wing, when the connecting clamping piece rotates, the flapping wing rod pieces at two sides slide relative to the U-shaped structure of the connecting clamping piece and finally withdraw from the opening of the U-shaped structure to form the connecting clamping piece, and therefore the flapping wing rod piece cannot interfere with the rotation of the connecting clamping piece during wing folding.

Preferably, the wing folding mechanism further comprises a limiting block fixedly connected to the upper end of the cross rod piece in the vertical direction, a limiting hole is formed in the limiting block, the diameter of the limiting hole is matched with the diameter of the corresponding position of the adjusting rod and is smaller than the diameter of the sliding blind hole, a limiting convex block is arranged at one end, extending into the sliding blind hole, of the adjusting rod, the diameter of the limiting convex block is matched with the diameter of the sliding blind hole and is larger than the diameter of the portion, extending into the sliding blind hole, of the adjusting rod.

Thus, by arranging the limiting block, when the supporting column drives the adjusting rod to move upwards along the sliding blind hole through the four-bar mechanism, and when the adjusting rod extends to the maximum value, the limiting bump on the adjusting rod is abutted against the limiting block, so that the adjusting rod is prevented from further extending out of the sliding blind hole, and the length of the adjusting rod is limited; meanwhile, the limiting blocks are arranged, so that the connection and the matching between the adjusting rod and the cross rod piece are facilitated.

Preferably, connect the clamping piece including last connection clamping piece, lower connection clamping piece and arc connection clamping piece, the arc connect the both ends of clamping piece respectively with go up connect the clamping piece with connect the clamping piece down and connect the clamping piece down connect the clamping piece with the arc connect the clamping piece and form one jointly and set up and the opening orientation along the vertical mode of fuselage the connection clamping piece of the U type form of the stiff end of piezoelectricity bimorph, go up and connect the clamping piece and keep away from its connection the arc connects the one end of clamping piece and still is equipped with in the slant and connect the sloping, connect the clamping piece down and keep away from its connection the one end of connecting the clamping piece still slant has down to connect the sloping.

Like this, through set up oblique ascending connection sloping piece on last connection clamping piece, set up oblique descending connection sloping piece on the lower connection clamping piece, make the width of the connection clamping piece opening part of U type form crescent like this, because when drawing in the wing in the fuselage, in the U type structure of connection clamping piece need withdraw from to the flapping wing member, and when the flapping wing of normal flight, in the flapping wing member need stretch into the U type structure of connection clamping piece again, consequently, can be more convenient make the flapping wing member stretch into in the U type structure of connection clamping piece through the width of increase connection clamping piece opening part.

Preferably, one end of the supporting column, which faces the steering rod, is further provided with a guide seat, which faces the steering rod, a vertical guide hole is formed in the guide seat, and the steering rod penetrates through the guide hole and can slide along the guide hole.

Like this, when carrying out the flapping wing, the flapping wing member passes through the steering column that the connecting clip piece drove the end of correspondence and reciprocates, and the removal of steering column is injectd in the within range of guiding hole this moment, has carried on spacingly to the removal of steering column from this, has guaranteed that the steering column moves according to established circuit all the time.

Preferably, the transmission rod is provided with a guide hole on the vertical lower end face of the corresponding position of the guide post, the guide post is slidably connected to the guide hole, the transmission rod is provided with a connecting bulge on the vertical upper end face of the connecting position of the support post, the corresponding position of the support post is provided with a connecting groove, and the connecting bulge extends into the connecting groove and is fixedly connected with the connecting groove through a connecting screw.

In this way, a fixed connection between the support column and the transmission rod and a movable connection of the transmission rod and the guide column are realized.

Preferably, the turning block faces towards one end of the wing, a turning limiting round block is further arranged at one end of the wing, the turning limiting round block is composed of two limiting semi-round blocks, a limiting round hole is formed between the limiting semi-round blocks, the diameter of the limiting round hole is smaller than that of the rotating blind hole, the wing rod stretches into the diameter of the rotating blind hole and the diameter of the rotating blind hole are matched, and the diameter of the wing rod corresponding to the limiting round hole is matched with that of the limiting round hole.

Like this, turn to spacing cylinder through the setting, and will turn to the structural style that spacing cylinder design is two spacing semicircle pieces, stretch into the wing rod and rotate the blind hole in the back, again with two spacing semicircle piece fixed connection on turning to the piece, because the diameter of spacing round hole is less than the diameter that rotates the blind hole and is less than the diameter that the wing rod stretches into the rotation blind hole part promptly, make the part that the wing rod stretches into the rotation blind hole can not follow spacing round hole internal slipping out from this, make the wing rod can rotate in rotating the blind hole and can not the roll-off again simultaneously.

Preferably, the support column includes support and top cap, the support with form horizontal cylindric chamber that holds between the top cap, ring sliding connection be in hold in the chamber, the support with the top cap all with the surface of ring is laminated mutually, spacing recess has been seted up to the surface of ring, the support with on the top cap with the position that spacing recess corresponds is equipped with respectively with spacing recess size suited first spacing arch and second spacing arch, spacing recess respectively with first spacing arch with the cooperation of second spacing arch is in order to realize the ring with position between the top cap is injectd, the support with fixed connection between the top cap.

Like this, with the mode that the support column design formed for support and top cap combination, make things convenient for whole installation and dismantlement, install the ring simultaneously in the cavity that support and top cap formed to carry out fixed connection with support and top cap, realized from this with circular arc sliding connection in the accommodation space of support and top cap formation and make and connect as a holistic purpose between support and the top cap.

Meanwhile, when the support, the top cover and the circular ring are installed in a matched mode, only the first limiting protrusion and the second limiting protrusion are needed to be installed in the limiting groove of the circular ring correspondingly, and positioning and installation among the support, the top cover and the circular ring are facilitated.

Preferably, vertical first round pin shaft hole has been seted up to the flexible end of extensible member, the extensible member both sides the vertical overlapping of connecting rod sets up the up end of extensible member, and pass through first round pin axle of first round pin shaft hole department realizes the extensible member with the rotation of connecting rod is connected, the connecting rod includes first connecting portion and second connecting portion, first connecting portion with the transfer line rotates to be connected, the second connecting portion with the extensible member rotates to be connected, wherein with the up end counterbalance of extensible member the lower terminal surface of second connecting portion with the lower terminal surface of first connecting portion flushes, another the connecting rod the up end of second connecting portion with the up end of first connecting portion, the vertical height of second connecting portion is half the vertical height of first connecting portion flushes.

Like this, because the connecting rod of extensible member both sides is vertical overlapping setting, be connected the second connecting portion of connecting rod with the extensible member, wherein the lower terminal surface of the connecting rod second connecting portion that offsets with the up end of extensible member flushes with the lower terminal surface of first connecting portion, the up end of another connecting rod second connecting portion flushes with the up end of first connecting portion, the vertical height of second connecting portion is half of first connecting portion vertical height simultaneously, like this, the height of two second connecting portions with extensible member cooperation department is exactly the height of a first connecting portion, make the first connecting portion of the connecting rod of both sides be in same level from this, and then make the wing mechanism of receipts of both sides and fold wing mechanism and be in same level all the time, the wing level of having avoided both sides is different to the influence that the flight brought.

Preferably, the telescopic member is an electrostrictive.

Thus, the electrostrictive device has a spontaneously formed molecular group, so-called electric domain, and when an external electric field is applied, the electric domain rotates to make the polarization direction of the electric domain consistent with the direction of the external electric field as much as possible, so that the length of the material along the direction of the external electric field changes. The electrostriction device is driven by an electric field to move back and forth along the longitudinal direction of the machine body, so that the connecting rod drives the four-bar mechanism to move, the purpose of folding or unfolding the wingspan on the machine body is finally realized, meanwhile, the electrostriction device is adopted, the extension or the shortening of the electrostriction device can be conveniently realized only by changing the action direction of the external electric field, the use is convenient, and the control is simple.

Drawings

FIG. 1 is a schematic view of one of the viewing angles in an embodiment of the present invention;

FIG. 2 is an enlarged schematic view at A in FIG. 1;

FIG. 3 is a schematic view of another perspective of an embodiment of the present invention;

FIG. 4 is an enlarged schematic view at B of FIG. 3;

FIG. 5 is a schematic view of another perspective according to an embodiment of the present invention;

FIG. 6 is an enlarged schematic view at C of FIG. 5;

FIG. 7 is an exploded view of the joint of the wing bar, the steering limiting round block and the steering block according to the embodiment of the present invention;

FIG. 8 is an exploded view of the joint of the adjusting rod, the limiting block and the cross bar according to the embodiment of the present invention;

FIG. 9 is an exploded view of the top cap, support, ring and output rod junction in accordance with an embodiment of the present invention;

fig. 10 is a schematic structural view of a connection clip according to an embodiment of the present invention.

Description of reference numerals: the flapping wing comprises a body 1, a wing 2, a telescopic piece 3, a connecting rod 4, a first connecting part 41, a second connecting part 42, a piezoelectric bimorph 5, a transmission rod 6, a supporting column 7, a top cover 71, a support 72, an input rod 8, a first connecting rod 9, an output rod 10, a second connecting rod 11, a steering rod 12, a guide seat 13, a connecting clamping piece 14, an upper connecting clamping piece 141, a lower connecting clamping piece 142, an arc-shaped connecting clamping piece 143, an upper connecting oblique piece 144, a lower connecting oblique piece 145, a connecting part 51, a mounting base 15, a cross rod piece 16, a steering block 17, a wing rod 18, a mounting seat 19, a rotating shaft 20, a steering limiting round block 21, an adjusting rod 22, a limiting lug 221, a limiting block 23, a ring 24 and a flapping wing.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

As shown in the attached drawings 1 to 9, the foldable bionic flapping wing aircraft comprises an aircraft body 1 and wing wings 2, and further comprises a telescopic part 3 which is positioned in the middle of the aircraft body 1 and arranged along the longitudinal direction of the aircraft body, the fixed end of the telescopic part 3 is fixed on the aircraft body 1, the telescopic end of the telescopic part 3 can extend or shorten along the longitudinal direction of the aircraft body, and wing retracting mechanisms are symmetrically arranged on the telescopic part 3 along the two sides of the aircraft body in the transverse direction;

the wing folding mechanism comprises a connecting rod 4, one end of the connecting rod 4 is rotatably connected with the telescopic end of the telescopic part 3, the other end of the connecting rod 4 faces the outer side of the machine body 1 and is rotatably connected with a transmission rod 6, when the telescopic end of the telescopic part 3 is in a contraction state, the connecting rod 4 and the transmission rod 6 are in a bending connection state, the two connecting rods 4 are symmetrically arranged along the axial direction of the telescopic part 3, one end of the connecting rod 4, far away from the connecting telescopic part 3, of the connecting rod 4 is obliquely arranged towards the fixed end of the telescopic part 3, one end of the transmission rod 6, far away from the connecting rod 4, faces the inner side of the machine body 1 and is fixedly connected with a vertically arranged support column 7, a guide column is arranged at the corresponding position of the fixed connection of the transmission rod 6 and the support column 7, the guide column is fixed on the machine body 1, a circular ring 24 is connected in the accommodating cavity in a sliding manner, two mounting seats 19 are arranged on the inner wall of the circular ring 24 in a direction perpendicular to the axis of the circular ring 24, a rotating shaft 20 is connected between the two mounting seats 19, and one end, facing the inner side of the machine body 1, of each wing 2 extends into the circular ring 24 and is movably sleeved on the rotating shaft 20;

the telescopic part 3 is further symmetrically provided with wing folding mechanisms along two sides of the transverse direction of the machine body, each wing folding mechanism comprises a four-bar linkage, each four-bar linkage comprises an input rod 8, a first connecting rod 9, an output rod 10 and a second connecting rod 11 which are sequentially and rotatably connected, one end of each input rod 8, far away from the input rod, connected with the first connecting rod 9 is rotatably connected with one end of each second connecting rod 11, far away from the output rod 10, connected with the second connecting rod 11, the middle part of each output rod 10 is fixedly connected with a circular ring 24, each input rod 8 is positioned below the corresponding output rod 10, the middle part of each input rod 8 is rotatably connected with a support column 7, each wing folding mechanism further comprises a cross rod 16, two ends of each cross rod 16 in the transverse direction are rotatably connected onto the machine body 1, the upper end of each cross rod 16 in the vertical direction is provided with a sliding blind hole, the mounting base 15 is fixedly connected to the end of the input rod 8 remote from the telescopic member 3.

In the scheme, the longitudinal direction of the fuselage is the traveling direction of the fuselage 1 during flying, the transverse direction of the fuselage is the direction perpendicular to the longitudinal direction of the fuselage on the same plane, the vertical direction is the direction perpendicular to the longitudinal direction of the fuselage and the transverse direction of the fuselage at the same time, and the position relationship of each structure in the scheme is the position relationship when the wing is in the unfolding state and the flapping operation is not performed.

The utility model discloses a theory of operation is: when the wing 2 needs to be folded on the aircraft body 1 in a non-working flying state, the telescopic end of the telescopic part 3 extends along the longitudinal direction of the aircraft body, because the two connecting rods 4 are symmetrically arranged along the axial direction of the telescopic part 3, and the end of the connecting rod 4 far away from the connecting telescopic part 3 is obliquely arranged towards the fixed end direction of the telescopic part 3, when the telescopic end of the telescopic part 3 extends, the telescopic end of the telescopic part 3 drives the connecting rods 4 at the two sides to rotate towards the fixed end direction close to the telescopic part 3, at the moment, the transmission rod 6 connected with the connecting rods 4 rotates towards the direction close to the telescopic part 3, the transmission rod 6 rotates to drive the support post 7 to rotate around the guide post, while the support post 7 rotates, on one hand, the output rod 10 rotates through the circular ring 24, and then the input rod 8 rotates through the four-bar mechanism, because the cross-shaped rod 16 is a rigid part, when the input rod 8 rotates, the adjusting rod 22 is driven by the mounting base 15 to, on the other hand, the rotation of the supporting column 7 also drives the wing 2 connected to the circular ring 24 to rotate towards the direction close to the inner side of the machine body 1; when the supporting column 7 rotates to enable the adjusting rod 22 to extend to the maximum, the supporting column 7 rotates continuously under the driving of the driving rod 6, at this time, the adjusting rod 22 drives the corresponding end of the input rod 8 to incline downwards through the mounting base 15, the inclined downwards end of the input rod 8 drives the corresponding end of the output rod 10 to also incline downwards through the action of the first connecting rod 9 and the second connecting rod 11, because the output rod 10 is fixedly connected with the circular ring 24, and the wing 2 is installed on the rotating shaft 20 between the mounting seats 19 on the inner wall of the circular ring 24, the rotation of the output rod 10 further drives the wing 2 to rotate further through the circular ring 24, so that the wing 2 is inclined as a whole, in this way, the continuous extension of the telescopic piece 3 finally enables the wing 2 on two sides to be folded on the machine body 1 in an inclined manner through the rotation of the supporting column 7 and the rotation of the circular ring 24, on one hand, the wing 2 is rotatably folded on the machine body 1, so that the transverse space occupied by the wing 2 can be reduced, and on the other hand, the wing 2 is further adjusted to be in an inclined state to be folded, so that the space occupied by the wing 2 can be further reduced compared with a direct horizontal folding mode, and therefore the wing folding mechanism and the wing folding mechanism act together, the transverse space occupied by the wing 2 can be minimized, and the best folding effect is achieved.

When the wings 2 on two sides are required to be unfolded in flying, the telescopic end of the telescopic part 3 is shortened, the connecting rods 4 on two sides rotate towards the direction of the fixed end far away from the telescopic part 3 and drive the transmission rod 6 on the corresponding side to rotate towards the direction far away from the telescopic part 3, the transmission rod 6 rotates and then drives the support column 7 to rotate, the support column 7 rotates to drive the four-bar mechanism to rotate through the ring 24 on one hand, on the other hand, the wings 2 are driven to rotate towards the outer side of the aircraft body 1, when the ring 24 drives the four-bar mechanism to rotate to a certain position, the support column 7 continuously rotates, the input rod 8 drives the adjusting rod 22 to move downwards along the sliding blind hole through the mounting base 15 and shorten until the wings 2 on two sides are unfolded on two sides of the aircraft body 1, and therefore the purpose of unfolding the wings 2 on two sides of the aircraft body.

The beneficial effects of the utility model reside in that: the scheme utilizes the extension and the shortening of the telescopic piece 3 to lead the wing folding mechanism and the wing folding mechanism to drive the wing 2 at the two sides to fold or unfold, when the aircraft is in a non-flight state, the telescopic part 3 extends, and the wing-folding mechanism act together to finally achieve the purpose of folding the wing wings 2 on the two sides on the aircraft body 1 in an inclined mode, when the aircraft needs to fly, the telescopic part 3 is shortened, and then the wings 2 are unfolded at the two sides of the aircraft body 1 by utilizing the reverse motion of the wing folding mechanism and the wing folding mechanism, so that the aim of flying is finally fulfilled, therefore, the bionic flapping-wing aircraft of the scheme can unfold the wings 2 when flying, and the wing 2 can be effectively folded on the fuselage 1 in the non-working flight state, thereby reducing the span of the wing 2 in the transverse space in the non-working flight state, thereby protecting the wing 2 from abrasion and damage by external factors and improving the storage space utilization.

In this embodiment, the flapping wing device further comprises a flapping wing mechanism, the flapping wing mechanism comprises a piezoelectric bimorph 5 arranged along the longitudinal direction of the fuselage 1, and flapping wing assemblies symmetrically distributed on two sides of the piezoelectric bimorph 5 along the transverse direction of the fuselage 1, the fixed end of the piezoelectric bimorph 5 is fixed on the fuselage 1, the free end of the piezoelectric bimorph 5 extends along two sides of the transverse direction of the fuselage 1 to form a connecting part 51, the extending end of the connecting part 51 is provided with a flapping wing rod member 25 arranged along the transverse direction of the fuselage 1, the flapping wing assembly comprises a connecting clamping piece 14 arranged along the longitudinal direction of the fuselage and a steering rod 12 fixedly connected with the connecting clamping piece 14 and inclined upwards, the cross section of the connecting clamping piece 14 is a U-shaped structure, the flapping wing rod member 25 can extend into or withdraw from the U-shaped structure of the connecting clamping piece 14 at a corresponding position and can drive the connecting clamping piece 14 to move vertically, one end of the steering, the end, far away from the connecting steering rod 12, of the steering block 17 is provided with a rotating blind hole, the end, extending into the circular ring 24, of the wing fin 2 is also provided with a wing rod 18, and the end, far away from the connecting wing fin 2, of the wing rod 18 extends into the rotating blind hole of the steering block 17 and is rotatably connected with the steering block 17.

When a voltage is input to the piezoelectric bimorph 5, the free end thereof can change its position according to the applied voltage.

Thus, when flapping wing operation is required, the flapping wing rod 25 extends into the U-shaped structure of the connecting clamping piece 14, voltage is applied to the piezoelectric bimorph 5, so that the flapping wing rod 25 at the connecting part 51 at two sides of the free end of the piezoelectric bimorph 5 moves upwards, the upward movement of the flapping wing rod 25 drives the steering rod 12 to move upwards through the connecting clamping piece 14, the steering rod 12 moves upwards and then drives the steering block 17 to move upwards, the steering block 17 moves upwards and then drives the corresponding end of the wing rod 18 to move upwards, the wing rod 18 moves upwards to further drive the wing 2 at the corresponding position to move upwards, and as the wing 2 is movably sleeved on the rotating shaft 20, the other side of the wing 2 connected with the wing rod 18 rotates downwards around the rotating shaft 20; similarly, if the voltage applied to the piezoelectric bimorph 5 is changed, the flapping wing rod 25 at the connecting portions 51 at the two sides of the free end of the piezoelectric bimorph 5 moves downwards, at this time, the flapping wing rod 25 drives the steering rod 12 to move downwards through the connecting clamping piece 14, the steering rod 12 moves downwards and then drives the wing rod 18 to move downwards through the steering block 17, at this time, the other end of the wing 2 connected with the wing rod 18 rotates upwards around the rotating shaft 20, and the upward and downward rotation of the wing 2 at the two sides can be conveniently realized by changing the voltage applied to the piezoelectric bimorph 5, so that the flapping wing action is completed.

Meanwhile, the connecting clamping piece 14 is designed to be a U-shaped structure, the flapping wing rod piece 25 can extend into or withdraw from the U-shaped structure of the connecting clamping piece 14 at the corresponding position, when the wing 2 is folded, the steering rod 12 and the connecting clamping piece 14 can rotate along with the wing 2, when the connecting clamping piece 14 rotates, as the piezoelectric bimorph 5 is integrally fixed on the machine body 1, the flapping wing rod pieces 25 at two sides slide relative to the U-shaped structure of the connecting clamping piece 14 and finally withdraw from the connecting clamping piece 14 from the opening of the U-shaped structure, and therefore the flapping wing rod piece 25 cannot interfere with the rotation of the connecting clamping piece 14 when the wing is folded.

In this embodiment, the wing folding mechanism further includes a limiting block 23 fixedly connected to the upper end of the cross rod 16 in the vertical direction, a limiting hole is formed in the limiting block 23, the diameter of the limiting hole is adapted to the diameter of the corresponding position of the adjusting rod 22 and smaller than the diameter of the sliding blind hole, a limiting projection 221 is arranged at one end of the adjusting rod 22 extending into the sliding blind hole, and the diameter of the limiting projection 221 is adapted to the diameter of the sliding blind hole and larger than the diameter of the portion of the adjusting rod 22 extending into the sliding blind hole.

Thus, by arranging the limiting block 23, when the support column 7 drives the adjusting rod 22 to move upwards along the sliding blind hole through the four-bar linkage 4 mechanism, and when the adjusting rod 22 extends to the maximum value, the limiting bump 221 on the adjusting rod 22 abuts against the limiting block 23, so that the adjusting rod 22 is prevented from further extending out of the sliding blind hole, and the length adjustment of the adjusting rod 22 is limited; meanwhile, the limiting block 23 is arranged, so that the connection and the matching between the adjusting rod 22 and the cross rod piece 16 are facilitated.

As shown in fig. 10, in the present embodiment, the connection clip 14 includes an upper connection clip 141, a lower connection clip 142, and an arc-shaped connection clip 143, two ends of the arc-shaped connection clip 143 are respectively connected to the upper connection clip 141 and the lower connection clip 142, the upper connection clip 141, the lower connection clip 142, and the arc-shaped connection clip 143 together form a U-shaped connection clip 14 that is disposed along the longitudinal direction of the body and has an opening facing the fixed end of the piezoelectric bimorph 5, an upper connection inclined piece 144 is further obliquely disposed on one end of the upper connection clip 141 away from the connection arc-shaped connection clip 143, and a lower connection inclined piece 145 is further obliquely disposed downward on one end of the lower connection clip 142 away from the connection clip 14.

In this way, the upper oblique connecting piece 144 is obliquely arranged on the upper connecting clamping piece 141, and the lower oblique connecting piece 145 is obliquely arranged on the lower connecting clamping piece 142, so that the width of the opening of the U-shaped connecting clamping piece 14 is gradually increased, and since the flapping wing rod 25 needs to be withdrawn from the U-shaped structure of the connecting clamping piece 14 when the wing 2 is folded on the fuselage 1, and the flapping wing rod 25 needs to be re-extended into the U-shaped structure of the connecting clamping piece 14 during normal flight flapping, the flapping wing rod 25 can be more conveniently extended into the U-shaped structure of the connecting clamping piece 14 by increasing the width of the opening of the connecting clamping piece 14.

In this embodiment, a guide seat 13 facing the direction of the steering rod 12 is further disposed at one end of the supporting column 7 facing the steering rod 12, a vertical guide hole is opened on the guide seat 13, and the steering rod 12 passes through the guide hole and can slide along the guide hole.

Thus, when flapping wings, the flapping wing rod piece 25 drives the steering rod 12 at the corresponding end to move up and down through the connecting clamping piece 14, and the movement of the steering rod 12 is limited in the range of the guide hole, so that the movement of the steering rod 12 is limited, and the steering rod 12 is ensured to move according to a set line all the time.

In this embodiment, the vertical lower terminal surface of transfer line 6 and guide post corresponding position has seted up the guiding hole, and guide post sliding connection has been in guiding hole department, and the connection arch has been seted up to the vertical upper end face of transfer line 6 and support column 7 hookup location, and support column 7 corresponds the position and has seted up connecting groove, and connecting protrusion stretches into in the connecting groove and carries out fixed connection through connecting screw.

In this way, a fixed connection between the support column 7 and the drive rod 6 and a movable connection of the drive rod 6 to the guide column are achieved.

In this embodiment, the turning block 17 is further provided with a turning limiting round block 21 towards one end of the wing 2, the turning limiting round block 21 is composed of two limiting semicircular blocks, a limiting round hole is formed between the two limiting semicircular blocks, the diameter of the limiting round hole is smaller than that of the rotating blind hole, the diameter of the part, extending into the rotating blind hole, of the wing rod 18 is matched with that of the rotating blind hole, and the diameter of the corresponding position, corresponding to the limiting round hole, of the wing rod 18 is matched with that of the limiting round hole.

Like this, turn to spacing cylinder 21 through the setting, and will turn to the structural style that spacing cylinder 21 designed into two spacing semicircle pieces, stretch into wing rod 18 and rotate the blind hole in the back, again with two spacing semicircle piece fixed connection on turning to block 17, because the diameter of spacing round hole is less than the diameter that rotates the blind hole and is less than that wing rod 18 promptly stretches into the diameter that rotates the blind hole part, make wing rod 18 stretch into the part that rotates the blind hole and can not follow spacing round hole and in-slide from this, make wing rod 18 can rotate in rotating the blind hole and can not the roll-off again simultaneously.

In this embodiment, the support column 7 includes support 72 and top cover 71, form horizontal cylindric chamber that holds between support 72 and the top cover 71, ring 24 sliding connection is in holding the chamber, support 72 and top cover 71 all laminate mutually with the surface of ring 24, spacing recess has been seted up to the surface of ring 24, the position that corresponds with spacing recess on support 72 and the top cover 71 is equipped with respectively and limits protruding and the second spacing arch that suits with spacing recess size, spacing recess cooperates with first spacing arch and the spacing protruding cooperation of second in order to realize that ring 24 and support 72 and top cover 71 between the position is injectd, fixed connection between support 72 and the top cover 71.

In this way, the support column 7 is designed to be formed by combining the support 72 and the top cover 71, so that the whole installation and disassembly are convenient, the ring 24 is installed in the cavity formed by the support 72 and the top cover 71, and the support 72 and the top cover 71 are fixedly connected, so that the purposes of slidably connecting the circular arc in the accommodating space formed by the support 72 and the top cover 71 and connecting the support 72 and the top cover 71 into a whole are achieved.

Meanwhile, when the support 72, the top cover 71 and the ring 24 are installed in a matched mode, only the first limiting protrusion and the second limiting protrusion are needed to be installed in the limiting groove of the ring 24 correspondingly, and positioning and installation among the support 72, the top cover 71 and the ring 24 are facilitated.

In this embodiment, a vertical first pin shaft hole is opened at the flexible end of extensible member 3, connecting rod 4 of extensible member 3 both sides vertically overlaps the up end that sets up at extensible member 3, and realize that extensible member 3 is connected with connecting rod 4's rotation through the first round pin axle of first pin shaft hole department, connecting rod 4 includes first connecting portion 41 and second connecting portion 42, first connecting portion 41 rotates with transfer line 6 and is connected, second connecting portion 42 rotates with extensible member 3 and is connected, wherein the lower terminal surface of the second connecting portion 42 of connecting rod 4 that offsets with the up end of extensible member 3 flushes with the lower terminal surface of first connecting portion 41, the up end of the second connecting portion 42 of another connecting rod 4 flushes with the up end of first connecting portion 41, the vertical height of second connecting portion 42 is half of the vertical height of first connecting portion 41.

In this way, since the links 4 on both sides of the telescopic member 3 are vertically overlapped, the second connecting portion 42 of the link 4 is connected with the telescopic member 3, wherein the lower end surface of the second connecting part 42 of the connecting rod 4 which is abutted against the upper end surface of the telescopic piece 3 is flush with the lower end surface of the first connecting part 41, the upper end surface of the second connecting part 42 of the other connecting rod 4 is flush with the upper end surface of the first connecting part 41, while the vertical height of the second connection portion 42 is half of the vertical height of the first connection portion 41, so that, the two second connecting portions 42, where they cooperate with the telescopic members 3, have the height of exactly one first connecting portion 41, thereby allowing the first connecting portions 41 of the links 4 at both sides to be at the same level, therefore, the wing folding mechanisms and the wing folding mechanisms on the two sides are always at the same horizontal height, and the influence on the flight caused by the different horizontal heights of the wing wings 2 on the two sides is avoided.

In the present embodiment, the extensible member 3 is an electrostrictive.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that those modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all should be covered in the scope of the claims of the present invention.

Claims

1. A foldable bionic flapping wing aircraft comprises an aircraft body and wing wings, and is characterized by further comprising a telescopic piece which is located in the middle of the aircraft body and arranged along the longitudinal direction of the aircraft body, wherein the fixed end of the telescopic piece is fixed on the aircraft body, the telescopic end of the telescopic piece can extend or shorten along the longitudinal direction of the aircraft body, and wing folding mechanisms are symmetrically arranged on the telescopic piece along two sides of the aircraft body in the transverse direction;

2. The foldable bionic flapping wing aircraft of claim 1, further comprising a flapping wing mechanism, wherein the flapping wing mechanism comprises a piezoelectric bimorph arranged along the longitudinal direction of the aircraft body and flapping wing assemblies symmetrically distributed on two sides of the piezoelectric bimorph along the transverse direction of the aircraft body, the fixed ends of the piezoelectric bimorph are fixed on the aircraft body, the free ends of the piezoelectric bimorph extend along two sides of the transverse direction of the aircraft body respectively to form a connecting part, the extending end of the connecting part is provided with a flapping wing rod arranged along the transverse direction of the aircraft body, the flapping wing assemblies comprise a connecting clamping piece arranged along the longitudinal direction of the aircraft body and a steering rod fixedly connected with the connecting clamping piece and inclined upwards, the cross section of the connecting clamping piece is of a U-shaped structure, the flapping wing rod can extend into or withdraw from the corresponding position, the connecting clamping piece can move vertically in the U-shaped structure and can drive the connecting clamping piece to move vertically, the utility model discloses a steering wheel, including steering rod, connecting clamping piece, steering rod, wing blind hole, steering rod, connecting clamping piece, steering rod, connecting piece, wing rod, wing, connecting piece, steering rod, connecting piece.

3. The foldable bionic flapping wing aircraft of claim 1, wherein the wing folding mechanism further comprises a limiting block fixedly connected to the upper end of the cross bar in the vertical direction, the limiting block is provided with a limiting hole, the diameter of the limiting hole is matched with the diameter of the corresponding position of the adjusting rod and is smaller than the diameter of the sliding blind hole, one end of the adjusting rod extending into the sliding blind hole is provided with a limiting projection, and the diameter of the limiting projection is matched with the diameter of the sliding blind hole and is larger than the diameter of the part of the adjusting rod extending into the sliding blind hole.

4. The foldable bionic flapping wing aircraft of claim 2, wherein the connection clip comprises an upper connection clip, a lower connection clip and an arc connection clip, the two ends of the arc connection clip are respectively connected with the upper connection clip and the lower connection clip, the upper connection clip, the lower connection clip and the arc connection clip together form a U-shaped connection clip which is arranged along the longitudinal direction of the aircraft body and has an opening facing the fixed end of the piezoelectric bimorph, the end of the upper connection clip, which is far away from the connection clip, connected with the arc connection clip is also obliquely provided with an upper connection oblique sheet, and the end of the lower connection clip, which is far away from the connection clip, is also obliquely provided with a lower connection oblique sheet.

5. The foldable bionic flapping wing aircraft of claim 2, wherein the end of the support column facing the steering rod is further provided with a guide seat facing the steering rod, the guide seat is provided with a vertical guide hole, and the steering rod passes through the guide hole and can slide along the guide hole.

6. The foldable bionic flapping wing aircraft of claim 1, wherein the transmission rod is provided with a guide hole at a vertical lower end face corresponding to the guide post, the guide post is slidably connected at the guide hole, a connecting protrusion is provided at a vertical upper end face of the transmission rod at a connecting position with the support post, a connecting groove is provided at a corresponding position with the support post, and the connecting protrusion extends into the connecting groove and is fixedly connected with the connecting groove through a connecting screw.

7. The foldable bionic flapping wing aircraft of claim 2, wherein the end of the steering block facing the wing is further provided with a steering limiting round block, the steering limiting round block is composed of two limiting semi-round blocks, a limiting round hole is formed between the two limiting semi-round blocks, the diameter of the limiting round hole is smaller than that of the rotating blind hole, the diameter of the part, extending into the rotating blind hole, of the wing rod is matched with that of the rotating blind hole, and the diameter of the corresponding position of the wing rod and the limiting round hole is matched with that of the limiting round hole.

8. The foldable bionic flapping wing aircraft of claim 1, wherein the supporting column comprises a support and a top cover, a transverse cylindrical containing cavity is formed between the support and the top cover, the ring is slidably connected in the containing cavity, the support and the top cover are both attached to the outer surface of the ring, a limiting groove is formed in the outer surface of the ring, a first limiting protrusion and a second limiting protrusion which are matched with the limiting groove in size are respectively arranged at positions on the support and the top cover corresponding to the limiting groove, the limiting groove is respectively matched with the first limiting protrusion and the second limiting protrusion to achieve position limitation between the ring and the support and the top cover, and the support and the top cover are fixedly connected.

9. The foldable bionic flapping wing aircraft of claim 1, wherein the telescopic end of the telescopic part is provided with a vertical first pin shaft hole, the connecting rods at two sides of the telescopic part are vertically overlapped on the upper end surface of the telescopic part, the first pin shaft at the first pin shaft hole is used for realizing the rotary connection of the telescopic piece and the connecting rod, the connecting rod comprises a first connecting part and a second connecting part, the first connecting part is rotationally connected with the transmission rod, the second connecting part is rotationally connected with the telescopic piece, the lower end face of the second connecting portion of the connecting rod, which abuts against the upper end face of the telescopic piece, is flush with the lower end face of the first connecting portion, the upper end face of the second connecting portion of the other connecting rod is flush with the upper end face of the first connecting portion, and the vertical height of the second connecting portion is half of that of the first connecting portion.

10. The foldable bionic flapping wing aircraft of claim 1, wherein the telescopic member is an electrostrictive.