CN217396808U - Bionic flapping wing aircraft with variable body posture - Google Patents
Bionic flapping wing aircraft with variable body posture Download PDFInfo
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- CN217396808U CN217396808U CN202221233817.XU CN202221233817U CN217396808U CN 217396808 U CN217396808 U CN 217396808U CN 202221233817 U CN202221233817 U CN 202221233817U CN 217396808 U CN217396808 U CN 217396808U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
The utility model relates to a bionic flapping wing air vehicle with variable body posture, which comprises a frame, a motor fixedly connected to the frame and wings symmetrically arranged on the left side and the right side of the frame; the wings comprise a crank rocker mechanism hinged to the frame, a four-bar mechanism movably arranged through the frame and a long flapping rod; the motor is connected with the crank and rocker mechanism in a driving way and is used for driving the crank and rocker mechanism to rotate; the crank rocker mechanism is connected with the four-bar mechanism and is used for driving the four-bar mechanism to do reciprocating swing motion; the long flapping rod is fixedly connected to the outer side of the four-bar mechanism. The wings adopt a double-section flapping mechanism, which is beneficial to reducing the resistance caused by the upward flapping motion and simultaneously ensuring the lift force caused by the downward flapping motion, thereby improving the energy utilization rate of the whole machine; the bionic ornithopter adopts a sectional structure, and the posture of the aircraft body is variable, so that the ornithopter has more flexibility and bionic property; can imitate various basic movements of birds, and can realize actions such as flapping flight, high altitude scram, steering hover and the like.
Description
Technical Field
The utility model belongs to the technical field of the flapping wing flight, concretely relates to bionical flapping wing aircraft of variable fuselage gesture.
Background
Ornithopter is a heavier-than-air aircraft with wings that flap up and down like birds and insect wings, also known as a flutter wing. Unlike traditional fixed wing and rotor craft, bionic ornithopter is one new type of bionic principle based aircraft. The device is mainly characterized in that the lifting force required by flight and the thrust for advancing the body are generated by periodically flapping the double wings, and the flight direction is controlled by changing the position deviation of the tail wings, so that the device can well simulate the flight motions of birds such as high-altitude hovering, fast flight and the like.
The prior art ornithopters are mostly single-section ornithopters with only one wing section. This kind of flapping wing aircraft simple structure, nevertheless have bionic relatively poor grade shortcoming, the resistance is great when upward flapping the motion, can't guarantee simultaneously down the lift that flapping motion brought, energy utilization is not high, and flying speed is slower.
SUMMERY OF THE UTILITY MODEL
To the technical problem who exists among the prior art, the utility model aims at: the bionic flapping wing aircraft with the variable fuselage posture is good in bionic performance, can reduce resistance caused by upward flapping motion and guarantee lift force caused by downward flapping motion, improves the energy utilization rate of the whole aircraft, and is high in flying speed.
The utility model discloses the purpose is realized through following technical scheme:
a bionic flapping wing aircraft with a variable fuselage posture comprises a frame, a motor fixedly connected to the frame and wings symmetrically arranged on the left side and the right side of the frame;
the wings comprise a crank rocker mechanism hinged to the frame, a four-bar mechanism movably arranged through the frame and a long flapping rod;
the motor is connected with the crank and rocker mechanism in a driving way and is used for driving the crank and rocker mechanism to rotate;
the crank rocker mechanism is connected with the four-bar mechanism and is used for driving the four-bar mechanism to do reciprocating swing motion;
the long flapping rod is fixedly connected to the outer side of the four-bar mechanism.
Further, the four-bar linkage is a parallelogram.
Further, the crank rocker mechanism comprises a large gear, the large gear is hinged to the rack, the motor is connected to the large gear in a driving mode, the four-bar mechanism comprises a first short rod and a second short rod which are arranged oppositely, and a first long connecting rod is arranged between the first short rod and the second short rod, the first short rod is hinged to the large gear in a biased mode, the long flapping rod is fixedly connected to the outer side of the second short rod, and the first long connecting rod penetrates through the rack in a movable mode.
Furthermore, the included angle between the long flapping rod and the second short rod is theta, and theta is more than or equal to 40 degrees and less than or equal to 50 degrees.
Furthermore, the flapping long rod and the first long connecting rod are respectively provided with a streamlined feather support, and the feather support is sleeved with the wing sail.
The robot body platform is hinged to the tail end of the rack, the swing steering engine is fixedly connected to the rack, and the swing steering engine is connected with the robot body platform through the first ball joint hinge and used for driving the robot body platform to swing up and down relative to the rack.
Furthermore, the swing steering engine is arranged at the rear part of the frame, and a battery for supplying power to the swing steering engine and the motor is also arranged at the rear part of the frame.
Further, a second ball head hinge and an empennage frame are arranged at the rear of the machine body platform, the empennage frame is hinged to the machine body platform, a left steering engine and a right steering engine are symmetrically and fixedly arranged on the machine body platform, and the left steering engine and the right steering engine are respectively connected to the empennage frame through the second ball head hinge and used for driving the empennage frame to deflect left and right or up and down.
Furthermore, a tail frame and a hinge are arranged below the tail frame, the tail frame is hinged to the tail frame, and the machine body platform is connected to the tail frame through the hinge.
Furthermore, the rear end of the tail wing frame is fixedly connected with a tail sail.
Compared with the prior art, the utility model discloses following beneficial effect has:
the wings drive the four-bar mechanism to do reciprocating swing motion through the crank rocker mechanism to form the flapping of one section of wing, and in the reciprocating swing motion process of the four-bar mechanism, the included angle between every two connecting bars is continuously changed to drive the long flapping rod to swing up and down along with the four-bar mechanism to form the flapping of the two sections of wings. The wings adopt a double-section flapping mechanism, which is beneficial to reducing the resistance caused by the upward flapping motion and simultaneously ensuring the lift force caused by the downward flapping motion, thereby improving the energy utilization rate of the whole machine and having high flying speed;
the bionic ornithopter adopts a sectional structure, and the posture of the aircraft body is variable, so that the ornithopter has more flexibility and bionic property;
the tail wings are of a parallel structure, so that the bionic flapping wing air vehicle is compact and flexible, and the flight direction of the bionic flapping wing air vehicle is easily controlled.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic plan view of a first viewing angle according to an embodiment of the present invention.
Fig. 3 is a schematic plan view of a second view angle according to an embodiment of the present invention.
Fig. 4 is a schematic plan view of a third viewing angle according to an embodiment of the present invention.
FIG. 5 is a schematic view of the flapping process of a bionic ornithopter (only one wing is shown).
FIG. 6 is a schematic view of the bionic flapping wing aircraft during the lower flapping motion (only one wing is shown).
Fig. 7 is a control flow chart according to an embodiment of the present invention.
1-second short rod, 2-first long connecting rod, 3-second long connecting rod, 4-first short rod, 5(5 ') big gear, 6-motor, 7-small gear, 8(8 ') second ball joint hinge, 9-tail wing frame, 10-rudder horn, 11-left steering engine, 11 ' right steering engine, 12-first ball joint hinge, 13-frame, 14-fuselage platform, 15-hinge, 16-swing steering engine, 17-tail frame, 18-feather support, 19-flapping long rod.
Detailed Description
Most of the flapping wing aircrafts in the prior art are flapping wing aircrafts with only one section of wing. The flapping wing air vehicle has the defects of poor bionic property, low energy utilization rate, slow flying speed and the like. In addition, the fuselage of many flapping-wing aircraft is invariable, so that the flying action of some birds is difficult to realize, such as high-altitude scram or suspension. In order to solve the prior technical problems, the utility model aims to provide a bionic flapping wing aircraft with a variable body posture, which adopts a double-section flapping wing structure design, can realize different upper flapping actions and lower flapping actions, reduces the resistance brought by the upper flapping actions, and improves the energy utilization rate and the flight speed; and the sectional variable fuselage is adopted, so that the gravity center of the whole flapping-wing aircraft can be changed according to needs, the whole flapping-wing aircraft deflects, high-altitude scram or suspension actions are realized, and the bionic property and flexibility of the flapping-wing aircraft are improved.
The present invention is described in further detail below.
1. Wing
Wings are symmetrically arranged on two sides of the frame 13 respectively. The wings adopt a double-section type flapping mechanism provided with a section of wing and a section of wing, and comprise a crank rocker mechanism hinged on the frame 13, a four-bar mechanism movably arranged on the frame 13 in a penetrating way and a long flapping rod 19.
Specifically, as shown in fig. 1-4, the flapping mechanism is powered by a motor 6 with a reduction gearbox, and the motor 6 is directly connected with a pinion 7. The two sides of the frame 13 are symmetrically provided with a gearwheel 5' and a gearwheel 5 which are engaged with each other. The meshing transmission of the bull gear 5' and the bull gear 5 ensures the consistent symmetry of the actions of the two sides of the flapping mechanism.
The four-bar linkage mechanism is a parallelogram, and the four-bar linkage mechanism forms a double-crank mechanism and comprises a first short bar 4 and a second short bar 1 which are oppositely arranged, and a first long connecting bar 2 and a second long connecting bar 3 which are arranged between the first short bar 4 and the second short bar 1. The first long connecting rod 2 is used as a section of wing of the wing. As a second section of wing of the wing, the long flapping rod 19 is fixedly connected to the second short rod 1, and an included angle of 40-50 degrees is formed between the long flapping rod and the second short rod 1. Preferably, an included angle of 45 degrees is formed between the long flapping rod 19 and the second short rod 1, and the long flapping rod 19 and the second short rod 1 are integrally formed.
The flapping long rod 19, the first long connecting rod 2 and the second long connecting rod 3 are respectively provided with 3 streamlined feather supports 18, and the feather supports 18 are sleeved with wing sails. The wing sail is made of a light material with good sealing performance.
The first short rod 4 is a multi-pair component and has 3 revolute pairs, the first one is connected with the large gear 5 in an offset way, the second one is connected with the second long connecting rod 3, and the third one is connected with the first long connecting rod 2.
The big gear 5, the first short rod 4, the first long connecting rod 2 and the frame 13 form a crank-rocker mechanism, wherein, the openings on the big gear 5' and the big gear 5 are used as the crank of the crank-rocker mechanism in the flapping mechanism, and the first long connecting rod 2 is connected with the frame 13 through a revolute pair.
When the bull gear 5 rotates, the included angle between the second long connecting rod 3 and the first short rod 4 changes, and the included angle between the second short rod 1 and the first long connecting rod 2 also changes similarly as the opposite angles of the parallelogram are equal. The motor 6 rotates to drive the pinion 7 to rotate, the pinion 7 rotates to drive the bull gear 5 to rotate, the bull gear 5 rotates as a crank, and the first long connecting rod 2 serves as a rocker to do reciprocating swing motion through the first short rod 4 to form flapping of a section of wing; the included angle between the second long connecting rod 3 and the first short rod 4 changes to drive the included angle between the first long connecting rod 2 and the second short rod 1 to change, so that the long flapping rod 19 swings up and down along with the four-bar mechanism to form flapping of two sections of wings.
In flapping flight motion of flapping wings formed by flapping of two sections of wings, the motor 6 continuously rotates to drive the pinion 7 to rotate, the pinion 7 drives the gearwheel 5 ' to rotate, the gearwheel 5 ' drives the gearwheel 5 ' to rotate, and the gearwheel 5 drives the first long connecting rod 2 to periodically swing up and down.
In the process of flapping motion of the bionic flapping wing aircraft, the large gear 5 rotates gradually, as shown in fig. 5, the wing states are sequentially represented as (i), (ii), (iii) and (iv), the included angle between the first short rod 4 and the second long connecting rod 3 is gradually reduced, the included angle between the second short rod 1 and the first long connecting rod 2 of one section of wing is also reduced due to the equal included angle between opposite sides of the parallelogram, and the included angle between the long flapping rod 19 and the first long connecting rod 2 is also reduced, namely the first section of wing and the second section of wing are folded, so that the wind resistance area is reduced;
when the large gear 5 continues to rotate, and the bionic flapping wing aircraft performs downward flapping, as shown in fig. 6, wing states sequentially show that the states of wings are (fifth), (sixth), (seventh) and (eighty), the included angle between the first short rod 4 and the second long connecting rod 3 is increased, the included angle between the second short rod 1 and the first long connecting rod 2 is increased due to the fact that the included angles between opposite sides of the parallelogram are equal, the included angle between the long flapping rod 19 and the first long connecting rod 2 is also increased, namely, one section of wing and the other section of wing are unfolded, and the wind resistance area is increased.
By folding and unfolding the first section of wing and the second section of wing, the resistance caused by the upward flapping motion is reduced, the lift force caused by the downward flapping motion is improved, and the flying speed is improved.
2. Fuselage body
As shown in fig. 3, the fuselage is equivalent to the waist of a bionic ornithopter, is a double-rocker mechanism, and comprises a first ball joint hinge 12, a frame 13, a fuselage platform 14, a hinge 15 and a swing steering engine 16. The machine body platform 14 is connected with the rack 13 through a hinge 15, and the swing steering engine 16 is fixed on the rack 13 and connected with the machine body platform 14 through a first ball joint hinge 12. The rotation of the output shaft of the swing steering engine 16 drives the machine body platform 14 to swing up and down. The fuselage platform 14 installation battery and swing steering wheel 16 etc. weight account for than higher component, make 14 weights of fuselage platform account for than higher to can change whole focus position more easily through adjusting 14 gestures of fuselage platform, and then demand when adapting to the flight. If the aircraft is in emergency stop at high altitude, the swing steering engine 16 rotates to push the first ball head hinge 12 to swing the aircraft body platform 14 downwards, the integral gravity center is shifted downwards, the integral aircraft body is shifted downwards, the aerodynamic direction generated by flapping wings at two sides is changed from vertical to horizontal shifting, so that the aircraft obtains large deceleration acceleration, and the emergency stop is realized.
3. Tail wing
As shown in fig. 4, the empennage is a parallel mechanism and includes a second ball joint hinge 8(8 '), a empennage bracket 9, a left rudder engine 11, a right steering engine 11' and a empennage bracket 17. The left steering engine 11 and the right steering engine 11 ' are symmetrically fixed on the machine body platform 14, the machine body platform 14 is connected with the tail frame 17 through a hinge, the tail frame 9 is connected with the tail frame 17 through a revolute pair, and is connected with the steering engine arms 10 of the left steering engine 11 and the right steering engine 11 ' through a second ball joint hinge 8(8 '). The tail frame 17 is a supporting platform of the tail frame 9, and two revolute pairs on the tail frame 17 provide two degrees of freedom for the whole tail to swing up and down and left and right.
Through the different rotation offset positions of the left steering engine 11 and the right steering engine 11', the empennage can realize left-right deflection and up-down deflection: the left steering engine 11 and the right steering engine 11' rotate in opposite directions at the same time by the same angle, so that the up-and-down deflection of the tail wing can be realized; the left steering engine 11 and the right steering engine 11' rotate in the same direction at the same time, and the rotation angles of the left steering engine and the right steering engine are different, so that left and right deflection of the tail wing can be realized, and the tail wing deflects towards the steering engine with the larger rotation angle.
The rear end of the tail wing frame 9 is fixedly connected with a tail sail, and specifically, the tail wing frame 9 extends out of 3 long rods backwards and is covered with a fan-shaped light and thin material to provide air steering power during flight steering.
The bionic flapping wing aircraft with the variable fuselage attitude has the control flow shown in fig. 7, the motor 6 and each steering engine are driven and controlled through the single chip microcomputer and the related circuits, the controller is used for sending signals to remotely control the bionic flapping wing aircraft, the fuselage is provided with the gyroscope sensor, the pitch angle and the horizontal steering of the fuselage can be sensed, the pitch angle and the horizontal steering serve as the deviation between the flight state and the command state of the bionic flapping wing aircraft, and the fuselage is adjusted to conduct stable flight. The bionic flapping wing aircraft has 4 degrees of freedom, namely periodic flapping wing motion controlled by a single degree of freedom, fuselage up-and-down swing controlled by the single degree of freedom, and tail wing up-and-down swing and left-and-right swing controlled by two degrees of freedom. Can imitate various basic movements of birds, and can realize actions such as flapping flight, high altitude scram, steering hover and the like.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a bionical flapping wing aircraft of variable fuselage gesture which characterized in that: comprises a frame, a motor fixedly connected with the frame and wings symmetrically arranged at the left side and the right side of the frame;
the wings comprise a crank rocker mechanism hinged to the frame, a four-bar mechanism movably arranged through the frame and a long flapping rod;
the motor is connected with the crank and rocker mechanism in a driving way and is used for driving the crank and rocker mechanism to rotate;
the crank rocker mechanism is connected with the four-bar mechanism and is used for driving the four-bar mechanism to do reciprocating swing motion;
the long flapping rod is fixedly connected to the outer side of the four-bar mechanism.
2. The variable fuselage attitude bionic ornithopter of claim 1, wherein: the four-bar linkage is a parallelogram.
3. The variable fuselage attitude bionic ornithopter of claim 1, wherein: the crank rocker mechanism comprises a large gear, the large gear is hinged to the rack, the motor is connected to the large gear in a driving mode, the four-bar mechanism comprises a first short rod and a second short rod which are arranged oppositely, and a first long connecting rod arranged between the first short rod and the second short rod, the first short rod is hinged to the large gear in a biased mode, the flapping long rod is fixedly connected to the outer side of the second short rod, and the first long connecting rod penetrates through the rack in a movable mode.
4. The variable fuselage attitude bionic ornithopter of claim 3, wherein: the included angle between the long flapping rod and the second short rod is theta, and theta is more than or equal to 40 degrees and less than or equal to 50 degrees.
5. The variable fuselage attitude bionic ornithopter of claim 3, wherein: the flapping long rod and the first long connecting rod are respectively provided with a streamlined feather support, and the feather support is sleeved with a wing sail.
6. The variable fuselage attitude bionic ornithopter of claim 1, wherein: the robot body platform is hinged to the tail end of the rack, the swing steering engine is fixedly connected to the rack, and the swing steering engine is connected with the robot body platform through the first ball joint hinge and used for driving the robot body platform to swing up and down relative to the rack.
7. The variable fuselage attitude bionic ornithopter of claim 6, wherein: the swing steering engine is arranged at the rear part of the frame, and a battery for supplying power to the swing steering engine and the motor is also arranged at the rear part of the frame.
8. The variable fuselage attitude bionic ornithopter of claim 6, wherein: the rear part of the fuselage platform is provided with a second ball joint hinge and an empennage frame, the empennage frame is hinged to the fuselage platform, the fuselage platform is symmetrically and fixedly provided with a left steering engine and a right steering engine, and the left steering engine and the right steering engine are respectively connected to the empennage frame through the second ball joint hinge and used for driving the empennage frame to deflect left and right or up and down.
9. The variable fuselage attitude bionic ornithopter of claim 8, wherein: the tail frame and the hinge are arranged below the tail frame, the tail frame is hinged to the tail frame, and the body platform is connected to the tail frame through the hinge.
10. The variable fuselage attitude bionic ornithopter of claim 8, wherein: the rear end of the tail wing frame is fixedly connected with a tail sail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221233817.XU CN217396808U (en) | 2022-05-23 | 2022-05-23 | Bionic flapping wing aircraft with variable body posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221233817.XU CN217396808U (en) | 2022-05-23 | 2022-05-23 | Bionic flapping wing aircraft with variable body posture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217396808U true CN217396808U (en) | 2022-09-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221233817.XU Active CN217396808U (en) | 2022-05-23 | 2022-05-23 | Bionic flapping wing aircraft with variable body posture |
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| Country | Link |
|---|---|
| CN (1) | CN217396808U (en) |
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2022
- 2022-05-23 CN CN202221233817.XU patent/CN217396808U/en active Active
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