CN218703884U - Bionic flapping wing aircraft - Google Patents

Abstract

The utility model discloses a bionic flapping-wing aircraft, which comprises a frame and two front wings arranged on both sides of the frame; The other side is hingedly connected; the frame is provided with a first drive mechanism, the first drive mechanism includes a first drive member, a first transmission mechanism and a second transmission mechanism, and the first drive member is respectively connected to the two main wings through the first transmission mechanism , and drive the two main wings to swing up and down along the hinge point between them and the frame. The second transmission mechanism is respectively connected to the first transmission mechanism and the two ailerons. When the first transmission mechanism moves, it drives the second transmission mechanism to move, and through The second transmission mechanism drives the two ailerons to swing up and down along the hinge point between them and the main wing. By designing the structure and action drive of the flapping wing aircraft, it can biomimetically restore the flapping action of birds to the greatest extent when flying.

Description

bionic flapping wing aircraft

technical field

The utility model belongs to the technical field of aircraft, in particular to a bionic flapping-wing aircraft.

Background technique

With the continuous development of micro air vehicles, more and more aircraft are developing in the direction of miniaturization and flexible movement. Micro air vehicles are divided into fixed-wing aircraft, rotary-wing aircraft and bionic flapping-wing aircraft according to different motion mechanisms. From the perspective of bionics, flapping-wing aircraft has better flight performance than fixed-wing aircraft and rotary-wing aircraft at a small size . Therefore, at present, the flapping-wing aircraft has obtained extensive attention in the field of micro-aircraft technology because of its small size, portability, flexible flight and excellent concealment.

Due to the need to simulate complex flapping movements, the existing flapping-wing aircraft is often complicated in the realization of structural design, which makes it difficult to guarantee the stability and continuity of the flapping-wing aircraft in the process of movement, which limits to a certain extent Application and performance of flapping wing aircraft.

Utility model content

The purpose of the utility model is to provide a bionic flapping-wing aircraft, which can solve the problems of stability and movement continuity of the flapping-wing aircraft during the movement process, and can realize better bionic simulation of the flapping-wing action.

The utility model is realized through the following technical solutions:

The bionic flapping wing aircraft comprises a frame and two front wings arranged on both sides of the frame;

The front wing includes a main wing and an aileron, one side of the main wing is hinged to the frame respectively, and the aileron is hinged to the other side of the main wing;

The frame is provided with a first drive mechanism, the first drive mechanism includes a first drive member, a first transmission mechanism and a second transmission mechanism, and the first drive member is respectively connected to the two main wings through the first transmission mechanism , and drive the two main wings to swing up and down along the hinge point between them and the frame. The second transmission mechanism is respectively connected to the first transmission mechanism and the two ailerons. When the first transmission mechanism moves, it drives the second transmission mechanism to move. And drive the two ailerons to swing up and down along the hinge point between them and the main wing through the second transmission mechanism.

As a further improvement to the above technical solution, the first transmission mechanism includes two sets of first transmission assemblies respectively connected to the two main wings;

The first transmission assembly includes a transmission assembly and a connecting rod assembly. A crank linkage mechanism is formed between the transmission assembly and the connecting rod assembly. The transmission assembly includes a first transmission wheel that is rotationally connected to the frame and is arranged on The first transmission shaft on the first transmission wheel, the first transmission shaft is arranged at a position away from the axis of the first transmission wheel, the first driving member drives the first transmission wheel to rotate, and one end of the connecting rod assembly is connected to the first transmission shaft The other end is hingedly connected with the main wing, and the connecting end between the connecting rod assembly and the main wing is driven to reciprocate up and down when the first transmission wheel rotates;

The first transmission shaft and the first transmission wheel are connected in a sliding fit, so that the first transmission shaft can rotate along its axis and at the same time slide along its axis on the first transmission wheel.

As a further improvement to the above technical solution, the link assembly includes a first driven rod connected to the first rotation shaft and a first drive rod connected to the main wing, and the first driven rod and the first drive rod are connected by Cross cardan connection.

As a further improvement to the above technical solution, the second transmission mechanism includes a second connecting rod and a second transmission rod fixedly connected to the aileron, one end of the second connecting rod is hingedly connected to the output end of the connecting rod assembly, The other end is hingedly connected with the second transmission rod, and a four-bar linkage mechanism is formed between the second transmission rod, the second connecting rod, the main wing and the connecting rod assembly.

As a further improvement to the above technical solution, an auxiliary transmission mechanism is provided between the main wing and the aileron, and the auxiliary transmission mechanism and the second transmission mechanism are arranged at intervals relative to each other along the longitudinal direction of the frame;

The auxiliary transmission mechanism includes an auxiliary swing link hinged with the main wing, an auxiliary link and an auxiliary drive link fixedly connected to the aileron, and the two ends of the auxiliary link are respectively hinged between the auxiliary swing link and the auxiliary drive link , A four-bar linkage mechanism is formed between the auxiliary swing link, the auxiliary connecting rod, the auxiliary transmission rod and the main wing.

As a further improvement to the above technical solution, the first driving part adopts a double-shaft output motor, and the two output shafts of the first driving part simultaneously drive two sets of first transmission components to act.

As a further improvement to the above technical solution, the first driving member and the first transmission wheel are respectively connected through a third transmission mechanism, and the third transmission mechanism includes a reduction assembly connected to the output shaft of the first driving member and a second transmission wheel. Three transmission parts, the third transmission part is rotationally connected with the frame, the third transmission part is connected with the output shaft of the deceleration assembly, and the third transmission part is engaged with the first transmission wheel.

As a further improvement to the above technical solution, the reduction assembly includes a driving wheel and a driven wheel, the driving wheel is connected to the output shaft of the first driving member, and the driven wheel and the driving wheel are connected through a synchronous pulley.

As a further improvement to the above technical solution, the tail of the frame is provided with an empennage and an empennage driving mechanism;

The empennage drive mechanism includes a pitch drive assembly and a steering drive assembly, the pitch drive assembly is used to drive the empennage to swing vertically up and down, and the steering drive assembly is used to drive the empennage to swing left and right.

As a further improvement to the above technical solution, the steering drive assembly includes a first steering gear arranged on the frame and a steering drive rod connected to the output end of the first steering gear;

The pitch drive assembly includes a support pendulum that is hingedly connected to the frame and can rotate in the horizontal direction, a second steering gear arranged on the support pendulum rod, and a pitch drive rod connected to the output end of the second steering gear;

The steering drive rod is hinged to the output end of the first steering gear, and the other end is hinged to the support swing rod. One end of the pitching drive rod is hinged to the output end of the second steering gear, and the other end is connected to the empennage. Hinge connection between, described empennage is hingedly connected between support pendulum and empennage can rotate up and down along hinge point.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

1) By designing the structure and action drive of the flapping wing aircraft, it can simulate the flapping action of birds to the greatest extent during flight, so that the action of the aircraft during flight is more coherent and can exert the maximum movement Efficiency, and can realize various flight actions to meet the flight control requirements of the aircraft.

2) By designing the structure of the front wing drive mechanism in the flapping wing aircraft, it can realize the bionic action of the front wing while having a simpler structure and better reliability and stability.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the accompanying drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the utility model, and therefore should not It is regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is the structural schematic diagram of the utility model bionic flapping wing aircraft.

Fig. 2 is a partial schematic diagram of A in Fig. 1 .

FIG. 3 is a partial schematic diagram of B in FIG. 1 .

Fig. 4 is the front view of the structure of the bionic flapping-wing aircraft of the present invention.

Fig. 5 is a top view of the structure of the bionic flapping-wing aircraft of the present invention.

Fig. 6 is a right view of the structure of the bionic flapping-wing aircraft of the present invention.

FIG. 7 is a partial schematic diagram at point C in FIG. 6 .

FIG. 8 is a partial schematic diagram at point D in FIG. 6 .

Fig. 9 is a structural schematic diagram of the auxiliary transmission mechanism in the bionic flapping-wing aircraft of the present invention.

in:

11. Main wing, 12. Aileron, 13. Empennage, 14. Rack, 15. Power compartment;

201, the first driving member, 202, the first transmission wheel, 203, the first transmission shaft, 204, the first driven rod, 205, the first driving rod, 206, the cross universal joint, 207, the second connecting rod, 208, the second transmission rod, 209, auxiliary swing rod, 210, auxiliary connecting rod, 211, auxiliary transmission rod, 212, the third transmission part, 213, driving wheel, 214, driven wheel, 215, synchronous pulley, 216, The first steering gear, 217, the rotation drive rod, 218, the support pendulum rod, 219, the second steering gear, 220, the pitching drive rod.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the utility model more clear, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the utility model. Obviously, the described The embodiments are some embodiments of the present utility model, but not all embodiments.

With reference to Fig. 1,4 and 5, the bionic flapping wing aircraft in the present embodiment comprises frame 14 and two front wings that are arranged on frame 14 both sides, and wherein front wing comprises main wing 11 and aileron 12, two main wings 11 are respectively hingedly connected to the frame on one side, and the ailerons 12 are arranged on the outside of the main wing 11 respectively, and are hingedly connected with the other side of the main wing, so that the main wing can swing up and down relative to the frame along the hinge point between it and the frame, A front wing structure in which the aileron can swing up and down relative to the main wing along the hinge point between it and the main wing.

A first driving mechanism is provided on the frame 14, and the first driving mechanism used in this embodiment includes a first driving member 201, a first transmission mechanism and a second transmission mechanism.

The first driving member 201 is respectively connected to the two main wings 11 through the first transmission mechanism, and drives the two main wings to swing up and down along the hinge point between it and the frame through the first transmission mechanism.

As a specific implementable structure, the first transmission mechanism includes two groups of first transmission assemblies respectively connected to the two main wings. The first transmission assembly includes a transmission assembly and a connecting rod assembly. Crank link mechanism; as shown in Figure 2 and 4, the transmission assembly includes a first transmission wheel 202 that is rotationally connected with the frame and a first transmission shaft 203 that is arranged on the first transmission wheel, and the first transmission shaft 203 is arranged far away from the The position of the axis of the first transmission wheel, when the first transmission wheel rotates, the first transmission shaft is driven to rotate, forming a crank drive structure; the first driving member 201 is connected to the first transmission wheel 202, and drives the first transmission wheel 202 to rotate; the connecting rod One end of the assembly is hinged to the first transmission shaft, and the other end is hinged to the main wing; when the first transmission wheel rotates, the connecting rod assembly and the main wing are driven to reciprocate up and down through the connecting rod assembly, thereby driving The up and down reciprocating movement of the main wing.

As the main wing swings up and down, the distance between the connecting rod assembly and the main wing relative to the frame will actually change, so here the first transmission shaft 203 and the first transmission wheel 202 are set as a sliding fit connected so that the first transmission shaft 203 can rotate along its axis and at the same time slide on the first transmission wheel along its axial direction, so that the connection position between the connecting rod assembly and the first transmission shaft can be along the first transmission shaft Move in the axial direction to meet the needs of the main wing swinging up and down. Or the first transmission shaft 203 is fixedly arranged on the first transmission wheel 202, and the connection between the connecting rod assembly and the first rotating shaft is set as a sliding fit connection, that is, the connecting rod assembly is hingedly connected on the first transmission shaft Simultaneously, the connecting rod assembly can slide on the first transmission shaft along the first transmission shaft to realize the above-mentioned same function.

Here the linkage assembly includes a first driven rod 204 connected to the first transmission shaft and a first drive rod 205 connected to the main wing, and the first driven rod 204 is connected to the first drive rod 205 through a universal joint 206 to Adapt to the realization of complex movements in the main wing drive process.

A frame structure may be provided at the connection position between the first driving rod 201 and the main wing 11 to increase the stability of the connection and movement between the first driving rod and the main wing.

The second transmission mechanism here is respectively connected to the first transmission mechanism and the two ailerons. When the first transmission mechanism moves, it drives the second transmission mechanism to move, and drives the two ailerons along the hinge between them and the main wing through the second transmission mechanism. The point swings up and down, and it can realize that the direction of the main wing swing is exactly opposite to that of the aileron swing at the same time, realizing the bionic simulation of the flapping action.

As a specific implementable structure, as shown in Figures 2 and 4, the second transmission mechanism includes a second connecting rod 207 and a second transmission rod 208 fixedly connected to the aileron, wherein one end of the second connecting rod 207 is connected to the connecting rod On the first driving rod 205 of the assembly, it is hingedly connected with the first driving rod 205, and the other end of the second connecting rod 207 is hingedly connected with one end of the second driving rod 208. The second driving rod 208, the second connecting rod 207, A four-bar linkage mechanism is formed between the main wing 11 and the first driving rod 205 of the connecting rod assembly. When the first driving rod reciprocates up and down, the second connecting rod is driven to move, and the second driving rod is driven to move under the action of the second connecting rod, and the second driving rod drives the aileron along the hinge point between it and the main wing bob up and down. The second transmission rod is connected and arranged at the hinge point of the aileron and the main wing, so as to facilitate the driving of the aileron better.

In order to improve the stability of the aileron movement, an auxiliary transmission mechanism is set between the main wing and the aileron. position, the auxiliary transmission mechanism is set on the frame near the rear end of the aileron, and the two groups together form the transmission and support for the aileron.

As shown in Figure 9, the auxiliary transmission mechanism includes an auxiliary swing link 209 hinged to the main wing, an auxiliary link 210 and an auxiliary transmission link 211 fixedly connected to the aileron, the connection position between the auxiliary swing link and the main wing and the first drive link The connecting position with the main wing is basically located at the same corresponding position along the longitudinal direction of the frame on the main wing. A four-bar linkage mechanism is formed between the auxiliary connecting rod 210, the auxiliary transmission rod 211 and the main wing 11 to realize stable support for the aileron and avoid interference between the main wing and the auxiliary transmission mechanism during the swing process.

Here, the first driving part 201 adopts a dual-axis output motor, and the two output shafts of the first driving part 201 simultaneously drive two sets of first transmission components to move, so as to realize the simultaneous driving of the front wings on both sides and ensure the synchronization of the actions of the front wings on both sides. sex.

As shown in Figures 6 and 7, the first driving member 201 and the first transmission wheel 202 in the first transmission assembly are respectively connected through a third transmission mechanism to realize the driving of the first transmission wheel. The deceleration assembly connected to the output shaft of the deceleration member and the third transmission member 212, the third transmission member 212 is rotationally connected with the frame 14, and the third transmission member 212 is connected to the output shaft of the deceleration assembly, that is, the first driving member drives the first drive through the deceleration assembly. The three transmission parts rotate, and the third transmission part meshes with the first transmission wheel to realize the driving of the first transmission wheel.

The deceleration assembly here includes a driving wheel 213 and a driven wheel 214, wherein the driving wheel 213 is connected to the output shaft of the first driver 201, and the driven wheel 214 is rotationally connected with the frame 14, and the driven wheel 214 and the driving wheel 213 are passed through a synchronous belt The wheel 215 is connected to realize flexible transmission between the first driving member and the first transmission wheel while decelerating, so as to achieve a better action bionic simulation effect.

Empennage 13 and empennage drive mechanism are provided with at frame 14 afterbody; Empennage drive mechanism is used for driving empennage action to control the actions such as turning to of aircraft, comprises pitch drive assembly and turns to drive assembly, and wherein pitch drive assembly is used for driving empennage in vertical direction, and the steering drive assembly is used to drive the empennage to swing left and right.

Specifically, as shown in FIGS. 3 and 8 , the steering drive assembly includes a first steering gear 216 arranged on the frame and a steering drive rod 217 connected to the output end of the first steering gear.

The pitching drive assembly includes a support pendulum 218 that is hingedly connected with the frame and can rotate in the horizontal direction, a second steering gear 219 arranged on the support pendulum and a pitching drive rod 220 connected to the output end of the second steering gear.

The rotation drive rod 217 is hingedly connected with the output end of the first steering gear 216, and the other end is hingedly connected with the support swing rod 218. When the first steering gear moves, the support swing rod can be driven to swing left and right in the horizontal direction; the pitch drive rod 220 one end is hingedly connected between the output end of the second steering gear 219, and the other end is hingedly connected between the empennage 13. When in action, the tail can be driven to swing up and down, so as to control the flight direction of the aircraft.

A power supply compartment 15 for setting a power supply is provided at the rear of the frame 14, and a power supply is installed in the power supply compartment 15 to provide the required electric energy for the first driver, the first steering gear and the second steering gear. The power supply compartment is set at the rear of the frame to balance the weight of the aircraft front and rear, so that the center of gravity of the aircraft is located near the middle to ensure flight stability.

In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of this utility model is used, and is only for the convenience of describing the utility model and simplifying the description , rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the utility model.

In addition, terms such as "horizontal" and "vertical" in the description of the utility model do not mean that the components are required to be absolutely horizontal or hang, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present utility model, it should also be noted that, unless otherwise specified and limited, if the terms "setting", "installation", "connection" and "connection" appear, they should be understood in a broad sense, for example, it can be A fixed connection can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Any simple modification or equivalent change made to the above embodiments according to the technical essence of the utility model falls within the scope of the present utility model. Within the protection scope of the present utility model.

Claims (10)

1. The bionic flapping wing aircraft is characterized in that it comprises a frame and two front wings arranged on both sides of the frame; The front wing includes a main wing and an aileron, one side of the main wing is hinged to the frame respectively, and the aileron is hinged to the other side of the main wing; The frame is provided with a first drive mechanism, the first drive mechanism includes a first drive member, a first transmission mechanism and a second transmission mechanism, and the first drive member is respectively connected to the two main wings through the first transmission mechanism , and drive the two main wings to swing up and down along the hinge point between them and the frame. The second transmission mechanism is respectively connected to the first transmission mechanism and the two ailerons. When the first transmission mechanism moves, it drives the second transmission mechanism to move. And drive the two ailerons to swing up and down along the hinge point between them and the main wing through the second transmission mechanism. 2. The bionic flapping-wing aircraft according to claim 1, wherein said first transmission mechanism comprises two groups of first transmission assemblies connected with two main wings respectively; The first transmission assembly includes a transmission assembly and a connecting rod assembly. A crank linkage mechanism is formed between the transmission assembly and the connecting rod assembly. The transmission assembly includes a first transmission wheel that is rotationally connected to the frame and is arranged on The first transmission shaft on the first transmission wheel, the first transmission shaft is arranged at a position away from the axis of the first transmission wheel, the first driving member drives the first transmission wheel to rotate, and one end of the connecting rod assembly is connected to the first transmission shaft The other end is hingedly connected with the main wing, and the connecting end between the connecting rod assembly and the main wing is driven to reciprocate up and down when the first transmission wheel rotates; The first transmission shaft and the first transmission wheel are connected in a sliding fit, so that the first transmission shaft can rotate along its axis and at the same time slide along its axis on the first transmission wheel. 3. The bionic flapping-wing aircraft according to claim 2, wherein the linkage assembly includes a first driven rod connected to the first rotating shaft and a first drive rod connected to the main wing, the first driven rod The rod is connected with the first driving rod through a cross universal joint. 4. The bionic flapping-wing aircraft according to claim 2 or 3, wherein the second transmission mechanism comprises a second connecting rod and a second transmission rod fixedly connected to the aileron, the second connecting rod One end is hingedly connected to the output end of the connecting rod assembly, and the other end is hingedly connected to the second transmission rod. A four-bar linkage mechanism is formed between the second transmission rod, the second connecting rod, the main wing and the connecting rod assembly. 5. bionic flapping wing aircraft according to claim 4, is characterized in that, between main wing and aileron, auxiliary transmission mechanism is provided with, and described auxiliary transmission mechanism and second transmission mechanism are arranged at relative intervals along the frame longitudinal direction; The auxiliary transmission mechanism includes an auxiliary swing link hinged with the main wing, an auxiliary link and an auxiliary drive link fixedly connected to the aileron, and the two ends of the auxiliary link are respectively hinged between the auxiliary swing link and the auxiliary drive link , A four-bar linkage mechanism is formed between the auxiliary swing link, the auxiliary connecting rod, the auxiliary transmission rod and the main wing. 6. The bionic flapping-wing aircraft according to claim 2, wherein the first driving part adopts a biaxial output motor, and the two output shafts of the first driving part simultaneously drive two groups of first transmission components to act. 7. The bionic flapping-wing aircraft according to claim 1, characterized in that, the first driving member and the first transmission wheel are respectively connected through a third transmission mechanism, and the third transmission mechanism includes The deceleration assembly connected to the output shaft of the deceleration member and the third transmission member, the third transmission member is rotationally connected with the frame, the third transmission member is connected to the output shaft of the deceleration assembly, and the third transmission member meshes with the first transmission wheel connect. 8. The bionic flapping-wing aircraft according to claim 7, characterized in that, the deceleration assembly comprises a driving wheel and a driven wheel, the driving wheel is connected to the output shaft of the first driving member, and the driven wheel and the driving wheel pass through Timing pulley connection. 9. bionic flapping wing aircraft according to claim 1, is characterized in that, described frame afterbody is provided with empennage and empennage driving mechanism; The empennage drive mechanism includes a pitch drive assembly and a steering drive assembly, the pitch drive assembly is used to drive the empennage to swing vertically up and down, and the steering drive assembly is used to drive the empennage to swing left and right. 10. The bionic flapping-wing aircraft according to claim 9, wherein the steering drive assembly includes a first steering gear arranged on the frame and a steering drive rod connected to the output end of the first steering gear; The pitch drive assembly includes a support pendulum that is hingedly connected to the frame and can rotate in the horizontal direction, a second steering gear arranged on the support pendulum rod, and a pitch drive rod connected to the output end of the second steering gear; The steering drive rod is hinged to the output end of the first steering gear, and the other end is hinged to the support swing rod. One end of the pitching drive rod is hinged to the output end of the second steering gear, and the other end is connected to the empennage. Hinge connection between, described empennage is hingedly connected between support pendulum and empennage can rotate up and down along hinge point.

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