LU101753B1 - Structure and aircraft - Google Patents

Abstract

The present invention relates to a flapping wing structure and an aircraft. The flapping wing structure comprises a frame, wing assemblies are rotatably mounted on two sides of the frame respectively, and the wing assemblies can swing back and forth in the horizontal direction; the wing assembly comprises a swing arm and a wing plate member, the swing arm is rotatably connected to the frame, and the swing arm can swing within a horizontal plane; the swing arm is rotatably connected to the wing plate member, the rotation axis of the wing plate member is horizontal, and the wing plate member can swing within a set angle range relative to the swing arm; when the entire wing assembly swings toward a set horizontal direction, the wing plate member can rotate with its own rotation axis as the rotation center to a limit position in the direction opposite to the set horizontal direction, so that the extension direction of the wing plate member is opposite to the forward direction of the wing assembly.

Description

| mn STRUCTURE AND AIRCRAFT Lutot7ss | Field of the Invention / The present invention belongs to the technical field of aircrafts, and specifically ) relates to a flapping wing structure and an aircraft. | Background of the Invention | The flapping wing aircraft is an aircraft developed based on the flight structure and | principle of birds and insects.

Compared with the existing fixed wing and rotor crafts, ; the flapping wing aircraft has high flight efficiency and can achieve vertical take-off | and landing.

Due to its strong function expansion, the flapping wing aircraft plays an ; important role in many fields, and particularly, the flapping wing aircraft with a ; wingspan of less than 150 mm has a great practical value.

However, the inventor . believes that the existing.flapping wing aircraft also has the following defects: ; (1) The inertial force generated by the reciprocating motion of wings and the air resistance on wing surfaces have a great influence on the flapping frequency of the | aircraft, and the motor is required to have a large torque. | (2) The attitude of the flapping wing aircraft cannot be quickly and effectively | controlled, and the flexibility of the aircraft cannot achieve the desired effect.

È Summary of the Invention | The objective of the present invention is to provide a flapping wing structure and an ; aircraft, which can solve the problems that the flapping frequency of wings in the Ë existing flapping wing aircraft is greatly affected by inertial force and air resistance, | the attitude control of the aircraft is not flexible, etc. : In order to achieve the above objective, the first aspect of the present invention | provides a flapping wing structure, including a frame, wherein wing assemblies are ] rotatably mounted on two sides of the frame respectively, and the wing assemblies : can swing back and forth in the horizontal direction to achieve flapping. ; The wing assembly includes a swing arm and a wing plate member, the swing arm is 7rotatably connected to the frame, and the swing arm can swing within a horizontal LU101753 plane; the swing arm is rotatably connected to the wing plate member, the rotation ! axis of the wing plate member is horizontal, and the wing plate member can swing Ë within a set angle range relative to the swing arm. : When the entire wing assembly swings toward a set horizontal direction, the wing i plate member can rotate with its own rotation axis as the rotation center to a limit ! position in the direction opposite to the set horizontal direction, so that the extension : direction of the wing plate member is opposite to the forward direction of the wing | assembly.

The wing plate member can provide rising power when the wing assembly | swings back and forth. | As a further definition of the first aspect of the present invention, the wing plate | member can swing between a first limit position and a second limit position, and the ! relative positions of the first limit position or the second limit position and the frame | can be adjusted to change the maximum angle of the wing plate member swinging ; toward different directions. ; As a further definition of the first aspect of the present invention, the wing plate 1 member includes a wing beam, one end of the wing beam is rotatably connected to the | swing arm, the end of the wing beam close to the swing arm is sleeved with a ball | head, a crank-link mechanism is disposed on each side of the frame, the crank in the ! crank-link mechanism is a driving member, the link is a driven member, the end of the ; link is sleeved outside the ball head on the same side of the frame, and the ball head ' can translate back and forth horizontally under the drive of the link. ] As a further definition of the first aspect of the present invention, two crank-link | mechanisms are provided on each side of the frame, and the two crank-link ; mechanisms are respectively disposed on two sides of the wing assembly in the swing ; direction; and the ends of the two crank-link mechanisms are respectively sleeved ! outside the ball head on the same side. ; A second aspect of the present invention provides an aircraft, including the above ] flapping wing structure. ) The beneficial effects of one or more of the above technical solutions are: |

| (1) The wing assembly swings back and forth along the frame within the horizontal Ses plane to achieve front and back flapping.

Compared with the existing flapping wing ; structure, the up and down flapping of the wing assembly can generate continuous Ë positive rising force with small fluctuation, and can also greatly reduce the impact of / air resistance during flapping, thereby improving the work efficiency. ; (2) The swing arm and the wing plate member form the wing assembly, and when the ; entire wing assembly flaps in the horizontal direction, the wing plate member can rotate along the swing arm within a set angle range, so that the wing plate member can ; rotate a certain angle in the direction opposite to the movement direction of the entire ] wing assembly under air resistance. ‘ Because the wing plate member can rotate along the swing arm, when the entire wing assembly swings in different directions, the air resistance can generate a vertical | upward component force on the side of the wing plate member subjected to the air | resistance, which provides a rising force for the entire flapping wing structure. / (3) Simultaneous drive of dual motors can effectively alleviate the problem of ; insufficient output torque of the motor caused by the reciprocating inertial force and | air resistance on the wing surface under high-frequency movement of the wing. (4) The wing plate member can swing between a first limit position and a second limit | position, and the relative positions of the first limit position or the second limit position and the frame can be adjusted, so that when the wing assembly swings back | and forth in the horizontal direction, the range of front and back swing angles of the / wing plate member can be adjusted, and then the flapping wing structure pitches, | yaws, hovers, etc, Brief Description of the Drawings | The accompanying drawings constituting a part of the present application are used for ) providing a further understanding of the present application, and the schematic | embodiments of the present application and the descriptions thereof are used for | interpreting the present application, rather than constituting improper limitations to | the present application. ; 3 |

| 4 Fig. 1 is a schematic diagram of an overall structure in Embodiment 1 of the present LU107753 invention; / Fig. 2 is a schematic structural diagram of a frame in Embodiment 1 of the present | invention; | Fig. 3 is a schematic structural diagram of a torsion limiting module in Embodiment 1 { of the present invention; | Fig. 4 is a schematic diagram of a secondary planetary reduction structure used in a | reduction module in Embodiment 1 of the present invention; | Fig. 5 is a schematic structural diagram of a bevel gear set in Embodiment 1 of the | present invention; | Fig. 6 is a schematic structural diagram of a crank-link mechanism, a swing arm, etc. | in Embodiment 1 of the present invention; | Fig. 7 is a schematic diagram when wing assemblies swing backward to limit | positions in Embodiment 1 of the present invention; | Fig. 8 is a schematic diagram when wing assemblies swing forward to limit positions | in Embodiment 1 of the present invention; | Fig. 9 is a schematic principle diagram showing that a wing assembly generates rising | force in Embodiment 1 of the present invention.

In the figures: 11, first motor base; 12, second motor base; 13, first support beam; 14, second support beam; 15, reduction box fixing pin hole; 16, drive bearing hole; 21, first motor; 22, second motor; 23, controller; 31, first planetary reduction box; 32, second planetary reduction box; 33, 10-tooth planetary gear; 34, 15-tooth sun gear; | 41, first bevel gear set; 42, second bevel gear set; 43, first transmission rod; 44, second transmission rod; 45, first bevel gear; 46, second bevel gear; 51, first crank-link mechanism; 52, second crank-link mechanism; 53, third crank-link mechanism; 54, fourth crank-link mechanism; 55, first swing arm; 56, second swing arm; 57, first ball head; 58, second ball head; 59, crank; 510, link; 61, first fixed blocking piece; 62, second fixed blocking piece; 63, first movable blocking piece; 64, second movable blocking piece; 65, first torsion limiting steering gear; 66, second torsion limiting steering gear; 71, first wing surface; 72, second wing surface; 73, first 4 aaa

Win 5 a 8 beam. 74, Second Wing beam, Detaileq . shou tn Embodimen ts tenga, 0d that the Dollowing detail | . 0 provide fürther descrip ed description are exe SClentific terms useq herein have N on OP the Present pplicatiop ay and are ë . : echni of Ordinary skill in the techn; eating a Common] deg otherwise indicat, Cove ed to Which the Present applicat; oY those sd, ation belongs, unless I should be noted that the terms used here are merely used for descrip; i . embodiments, but are not intended to limit the exemplary embod; INg specific | lication.

As used hopes ents of the present ; app érem, unless otherwise clearly stated in the context, singular Ê forms are also intended to include plural forms.

In addition, it should also be | understood that when the terms “comprise” and/or “include” are used in the . description, it indicates the presence of features, steps, operations, devices,

components, and/or combinations thereof, | For the sake of description, the terms “upper, lower, left, and right” in the present ; invention only indicate the upper, lower, left, and right directions of the drawings, do not limit the structure, are only for the convenience of description and the / simplification of description, do not indicate or imply that the devices or elements |must have specific directions or be constructed and operated in specific directions, | and thus cannot be understood as limitations to the present invention. | Embodiment 1 ;

As shown in Figs. 1-9, this embodiment provides a flapping wing structure, including ; a frame, wherein wing assemblies are rotatably mounted on two sides of the frame ;

respectively, and the wing assemblies can swing back and forth in the horizontal direction to achieve flapping; the wing assembly includes a swing arm and a wing plate member, and the swing arm is rotatably connected to the frame so that the wing { assembly can swing as a whole in the horizontal direction; the swing arm is rotatably . connected to the wing plate member, the rotation axis of the wing plate member ishorizontal, and the wing plate member can swing within a set angle range relative to

5

Wing arm, 6 QW. LU101758 When the em “ © entire 1: | Le ple Member Can rotate ww: 7 “Wings foward à s ) TN Position in the di € With its OWN rotay; et horizonta] dire > rect, JON axj * “lion Opposit (AS 85 the roy, | di . Clo the s . Ton centefe . lection of the Wing pl ét Horizontal direct Ving ate mem . on, so that - assembly, ber 15 OPposite fo th the EXtez, 3 and the win € forward di . 8 plate Member can ; rection of the Wing assembly sw: Provide rising po | T Y SWings back and forth, 5 POWer When the wing he following describes the stru x Cture of each Part in detail wi a drawings: With reference to the % Frame: As shown in Fi : n in Fig, 2, the frame i |

5. 4 me includes two motor bases and two support ) ams. Specifically, the motor bases include a first motor base 11 and a second motor | base 12; and the support beams include a first support beam 13 and a second support : beam 14. Reduction box fixing pin holes 15 and drive bearing holes 16 are provided ] on two sides of the motor base to fix a reduction box module and a drive bearing | respectively. The drive bearing here is for reducing the influence of friction during / drive. The support beams are used to fix the relative positions of the two motor bases ; on the one hand, and also to mount the swing arms. A Specifically, a first swing arm 55 and a second swing arm 56 are rotatably mounted at à the first support beam and the second support beam, respectively. j Wing plate member: As shown in Fig. 1, the wing plate member is arranged É obliquely downward, and the wing plate member is subjected to air resistance in the ; opposite direction with the horizontal swing of the swing arm, and then rotates away from the moving direction of the swing arm to the limit position. The wing plate member can swing between a first limit position and a second limit position, and the relative positions of the first limit position or the second limit position and the frame can be adjusted to change the maximum angle of the wing plate member swinging toward different directions. Taking the vertical direction as a reference, the rotation axis of the wing plate member is in the upper half of itself. The wing plate members are symmetrically mounted on two sides of the mounting frame, and each wing plate member is composed of a wing beam and a wing surface. 6

Specifically, the wing plate member on one side is composed of a first wing surface LU101753 71 and a first wing beam 73. The wing plate member on the other side is composed of a second wing surface 72 and a second wing beam 74. The first wing surface 71 and the second wing surface 72 are made of a PET film with good vertical and horizontal tensile strength.

Taking the first wing beam 73 as an example, a limiting piece is disposed at the inner end of the first wing beam 73, kept coaxial with a first ball head 57 and connected with a torsion limiting module.

Correspondingly, a limiting piece is disposed at the inner end of the second wing beam 74, kept coaxial with a second ball head 58 and connected with a torsion limiting module.

Torsion limiting module: The torsion limiting module here is used to limit the first limit position and the second limit position when the wing plate member rotates along the swing arm.

A rotation driving member is fixed to the end of the swing arm away from the frame, an output shaft of the rotation driving member is disposed away from the swing arm, a sleeve is fixedly disposed at a housing in the rotation driving member, and the sleeve is coaxial with the output shaft of the rotation driving member; the wing plate member includes a wing beam, the wing beam and the output shaft extend into the inner cavity of the sleeve respectively, the wing beam is rotatably connected to the sleeve, a first blocking piece is fixedly disposed on the inner wall of the sleeve, a second blocking piece is fixedly disposed on the surface of the output shaft of the rotation driving member, a limiting piece is disposed at the end of the wing beam, and the limiting piece rotates between the first blocking piece and the second blocking piece along with the wing beam.

The first blocking piece is disposed on the side close to the forward direction of the frame, and the second blocking piece is disposed on the side away from the forward direction of the frame.

The rotation of the output shaft of the | rotation driving member can drive the second blocking piece to move, thus changing the angle range between the first blocking piece and the second blocking piece, and | changing the swing range of the wing plate member along its own rotation axis. | 30 In this embodiment, the rotation driving members may be torsion limiting steering 7 PI eragears, wherein a first torsion limiting steering gear 65 is on one side, and a second LU101753 torsion limiting steering gear 66 is on the other side. In some other embodiments, the rotation driving members may be in other structural forms, which can be set by those skilled in the art, and details are not described herein again.

Specifically, as shown in Fig. 6, the first blocking piece here is of a fixed structure, and the second blocking piece is of a movable structure. On one side of the frame, the torsion limiting module is composed of a first fixed blocking piece 61, a first movable blocking piece 63, and a first torsion limiting steering gear 65. On the other side of the frame, the torsion limiting module is composed of a second fixed blocking piece 62, a second movable blocking piece 64, and a second torsion limiting steering gear 66.

The first torsion limiting steering gear 65 is fixedly connected to the second swing arm, the first movable blocking piece 63 is fixed to an output shaft of the steering gear and its position can be adjusted by the rotation of the steering gear, and the first fixed blocking piece 61 is fixed to the sleeve at a housing of the steering gear and its position is not affected by the rotation of the steering gear. During the movement, the wing surface will produce torsion opposite to the direction of movement under the action of air resistance. When the torsion is up to a certain degree, the limiting piece | on the wing beam will be limited by the first fixed blocking piece 61 or the first | movable blocking piece 63 to limit the torsion angle, and the purpose of controlling | 20 the torsion angle is further achieved by controlling the rotation of the steering gear. Crank-link mechanism: One end of the wing beam is rotatably connected to the swing arm, and the end of the wing beam close to the swing arm is sleeved with a ball head; a crank-link mechanism is disposed on each side of the frame, the crank 59 in | the crank-link mechanism is a driving member, the link 510 is a driven member, the ; 25 end of the link is sleeved outside the ball head on the same side of the frame, and the ball head can translate back and forth horizontally under the drive of the link. The crank-link mechanism can provide power for the horizontal swing of the ball head and the wing assembly.

Two crank-link mechanisms are provided on each side of the frame, and the two | 30 crank-link mechanisms are respectively disposed on two sides of the wing assembly 8in the swing direction; and the ends of the two crank-link mechanisms are respectively | LU101753 sleeved outside the ball head on the same side.

Correspondingly, the crank-link mechanisms are respectively a first crank-link mechanism 51, a second crank-link mechanism 52, a third crank-link mechanism 53, and a fourth crank-link mechanism 54. Power mechanism: A power mechanism is disposed on the frame, and the output end of the power mechanism can provide rotation driving torque to the cranks in the crank-link mechanisms.

In this embodiment, the power system includes a motor, a reduction module and a transmission module, and the transmission module finally outputs torque to the cranks in the crank-link mechanisms.

Motor: In this embodiment, the two motors include a first motor 21 mounted at a first motor base 11 and a second motor 22 mounted at a second motor base 12. Taking the power mechanism on one side of the wing assembly in the swing direction as an example, the power mechanism is composed of a first motor 21 and a controller , 23. The controller 23 receives and sends a control signal to adjust the speed of the first : motor 21, thus achieving the purpose of controlling the flapping frequency. ‘ In some embodiments, the motor is a coreless motor with a load speed up to 30000 | RPM, and the motor is driven by a MOS transistor.

The controller 23 is composed of a main control chip minimum system, a power supply module, a wireless communication module, etc., and generates PWM waves to adjust the speed of the motor, thus achieving the purpose of controlling the flapping frequency. | In some other embodiments, the model, drive mode, and speed adjustment mode of the motor can be set by those skilled in the art, and no more restrictions are made here.

Reduction module: A reduction module is mounted at each motor.

In this embodiment, the reduction module may be a planetary reduction box, that is, the output end of the first motor 21 is connected to the input end of the first planetary reduction box 31, and the output end of the second motor 22 is connected to the input end of the second planetary reduction box 32. 9

As shown in Fig. 3, the first planetary reduction box 31 is of a second planetary LU101753 reduction structure, and the number of teeth is selected: a 40-tooth gear box, a 10-tooth planetary gear 33, and a 15-tooth sun gear 34, so the reduction transmission ratio of each stage is 5: 1, and the total reduction transmission ratio of the reduction Dboxis25: 1. Transmission module: Each planetary reduction box is connected to a transmission module.

The following describes the first planetary reduction box 31 on one side, and the transmission module on this side is composed of a first bevel gear set 41 and a first transmission rod 43. The first bevel gear set 41 is composed of a first bevel gear 45 and a second bevel gear 46 to transmit the rotation by 90°, and then is connected to the first transmission rod 43 to change the rotation from a single-ended output to a double-ended output.

Correspondingly, the transmission module on the other side is composed of a second bevel gear set 42 and a second transmission rod 44. Working principle: As shown in Fig. 9, with the left position in the figure as the forward direction, the swing of the wing assembly toward the left is set to swing forward, and the swing toward the right is set to swing backward; taking the first wing surface and the first | wing beam as an example: When the entire wing assembly is on the far right, the first wing surface is initially on the left side of the first wing beam.

When the entire wing assembly moves to the left, | the air resistance will push the first wing surface to rotate along the first wing beam, so that the first wing surface is located on the right side of the first wing beam.

At this time, the airflow impacts the lower surface of the first wing surface, so that a vertical | 25 upward component force is generated at the first wing surface, and rising power is provided for the entire wing assembly and the flapping wing structure.

When the wing assembly swings to the far left, the first wing surface is initially on the | right side of the first wing beam.

When the wing assembly moves to the right as a | whole, the first wing surface is in the direction opposite to the movement direction, / 30 but rising force is still generated. 10

Rising and falling: The torsion angles before and after flapping are kept identical and LU101753 constant, and the controller 23 generates PWM waves with different duty cycles to adjust the speed of the drive motor, thereby changing the flapping frequency and further realizing the rising and falling movement of the mechanism. That is, the rapid flapping of the wing assembly can cause the entire flapping wing structure and the aircraft to rise. When the wing assembly flaps too slow, the gravity of the flapping wing structure is greater than the rising force generated by the flapping, and the entire flapping wing structure will fall under the gravity. Pitching: The two torsion limiting motors are controlled at the same time, and the positions of the two variable blocking pieces on two sides of the frame are adjusted (without changing the relative positions of the two variable blocking pieces), so that the front and back torsion angles of the first wing surface and the second wing surface are not identical, resulting in different thrusts, which can further achieve the pitching movement of the mechanism. | 15 Yawing: The two torsion limiting motors are controlled at the same time, and the positions of the two variable blocking pieces are adjusted (changing the relative positions of the two variable blocking pieces), so that the torsion angles of the first wing surface and the second wing surface are not identical, resulting in different thrusts, which can further achieve the yawing movement of the mechanism.

Hovering: The torsion angles before and after flapping are kept identical and constant, | the speed of the drive motor is kept unchanged, and the gravity of the flapping wing | structure is equal to the rising force generated by the flapping to achieve the hovering of the mechanism. | Although the specific embodiments of the present invention are described above in combination with the accompanying drawings, the protection scope of the present | invention is not limited thereto. It should be understood by those skilled in the art that various modifications or variations could be made by those skilled in the art based on | the technical solution of the present invention without any creative effort, and these modifications or variations shall fall into the protection scope of the present invention. | 11

RE

Claims (10)

Claims LU101753

1. A flapping wing structure, comprising a frame, wherein wing assemblies are rotatably mounted on two sides of the frame respectively, and the wing assemblies can swing back and forth in the horizontal direction; the wing assembly comprises a swing arm and a wing plate member, the swing arm is rotatably connected to the frame, and the swing arm can swing within a horizontal plane; the swing arm is rotatably connected to the wing plate member, the rotation axis of the wing plate member is horizontal, and the wing plate member can swing within a set angle range relative to the swing arm; when the entire wing assembly swings toward a set horizontal direction, the wing plate member can rotate with its own rotation axis as the rotation center to a limit position in the direction opposite to the set horizontal direction, so that the extension direction of the wing plate member is opposite to the forward direction of the wing assembly, and the wing plate member can provide rising power when the wing assembly swings back and forth.

2. The flapping wing structure according to claim 1, wherein the wing plate member can swing between a first limit position and a second limit position, and the relative positions of the first limit position or the second limit position and the frame can be adjusted to change the maximum angle of the wing plate member swinging toward different directions.

3. The flapping wing structure according to claim 1, wherein the wing plate member is arranged obliquely downward, and the wing plate member is subjected to air resistance in the opposite direction with the horizontal swing of the swing arm, and then rotates away from the moving direction of the swing arm to the limit position; taking the vertical direction as a reference, the rotation axis of the wing plate member is in the upper half of itself. |

4. The flapping wing structure according to claim 1, wherein a rotation driving member is fixed to the end of the swing arm away from the frame, an output shaft of the rotation driving member is disposed away from the swing arm, a housing of the I eee eerotation driving member is fixed to a sleeve, and the sleeve is coaxial with the output LU101753 shaft of the rotation driving member; the wing plate member comprises a wing beam, the wing beam and the output shaft | extend into the inner cavity of the sleeve respectively, the wing beam is rotatably connected to the sleeve, a first blocking piece is fixedly disposed on the inner wall of the sleeve, a second blocking piece is fixedly disposed on the surface of the output shaft of the rotation driving member, a limiting piece is disposed at the end of the wing beam, and the limiting piece rotates between the first blocking piece and the second blocking piece along with the wing beam.

5. The flapping wing structure according to claim 4, wherein the first blocking piece is disposed on the side close to the forward direction of the frame, the second blocking piece is disposed on the side away from the forward direction of the frame, and the rotation of the output shaft can drive the second blocking piece to move, thus changing the angle range between the first blocking piece and the second blocking piece.

6. The flapping wing structure according to claim 1, wherein the wing plate member includes a wing beam, one end of the wing beam is rotatably connected to the swing arm, and the end of the wing beam close to the swing arm is sleeved with a ball head; a crank-link mechanism is disposed on each side of the frame, the crank in the — crank-link mechanism is a driving member, the link is a driven member, the end of the link is sleeved outside the ball head on the same side of the frame, and the ball head can translate back and forth horizontally under the drive of the link.

7. The flapping wing structure according to claim 6, wherein two crank-link mechanisms are provided on each side of the frame, the two crank-link mechanisms are respectively disposed on two sides of the wing assembly in the swing direction, and the ends of the two crank-link mechanisms are respectively sleeved outside the ball head on the same side.

8. The flapping wing structure according to claim 7, wherein a power mechanism is disposed on the frame, and the output end of the power mechanism can provide rotation driving torque to the cranks in the crank-link mechanisms.

Tm em ET

14 |

9. The flapping wing structure according to claim 8, wherein two sets of power (0175 i mechanisms are provided, and each set of power mechanisms simultaneously drives | the two crank-link mechanisms on the same side of the wing assembly in the swing | direction. |

10. An aircraft, comprising the flapping wing structure according to any one of claims ! 1-9. ; ET Re