WO2022134394A1

WO2022134394A1 - Flapping wing drive mechanism of flapping wing-type aircraft

Info

Publication number: WO2022134394A1
Application number: PCT/CN2021/087638
Authority: WO
Inventors: 梁渤涛
Original assignee: 梁渤涛
Priority date: 2020-12-21
Filing date: 2021-04-16
Publication date: 2022-06-30
Also published as: CN112607013B; CN112607013A

Abstract

A flapping wing drive mechanism of a flapping wing-type aircraft, comprising a power mechanism (21) mounted on a frame (11) of the aircraft, a rotatable flapping wing drive cam (31) provided with a cam curve groove (32), and a cam roller (33) which is arranged in the cam curve groove (32), which can roll on a cam curve in the cam curve groove (32), and which is used for connecting a flapping wing drive arm (42) of a wing to a cam roller supporting shaft (34) on the cam roller (33) for linkage; and the power mechanism (21) drives the flapping wing drive cam (31) to rotate, and the cam roller (33) rolls in the cam curve groove (32) so that the flapping wing drive arm (42) and the wing connected to the flapping wing drive arm are driven to complete a flapping wing cycle in an up-down amplitude.

Description

A flapping drive mechanism of a flapping-wing aircraft

technical field

The invention relates to the technical field of aircraft, in particular to a flapping drive mechanism of a flapping-wing aircraft.

Background technique

Many existing aircraft usually rely solely on the speed of the aircraft or the operating speed of the propulsion components to generate lift in the air or stay in the air. When the speed of the aircraft or the speed of the rotating parts decreases, the lift to maintain the flight also decreases. or disappear. A flapping-wing aircraft is a bionic aircraft, which does not completely rely on the speed of the aircraft to generate lift, but can use natural forces such as the downforce of flapping wings and updraft to maintain its lift in the air and stay in the air. Flapping wing aircraft has unique flexibility and safety, and is one of the aircraft that modern humans strive to make breakthroughs.

In the prior art, the flapping-wing drive mechanism driven by the connecting rod mechanism or the crank connecting rod mechanism in the flapping-wing aircraft has the same amplitude for each operation cycle and the amplitude of the upper and lower wings of the driving wing, and the operation is rigid, which is not conducive to the aircraft. The flexible flight and efficient use of various driving energy are far from the fluttering flight motion of birds in nature.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a flapping drive mechanism for a flapping-wing aircraft, a flapping drive mechanism driven by a cam with a specific cam curve, and the flapping drive cam provided with a specific cam curve groove rotates for one cycle That is, 360 degrees, so that the cam roller in the cam curve groove rolls, and the cam-driven flapping mechanism can drive the flaps to complete two or more flapping cycles with the same or different amplitudes of the upper and lower flapping, so as to increase the flapping speed of the flapping flight. Flexibility and effectiveness in flight using various drive energy sources.

In order to solve the above-mentioned technical problems, the present invention provides a flapping-wing driving mechanism for a flapping-wing aircraft, which includes a power mechanism installed on the frame of the aircraft, a rotatable flapping driving cam with a cam curve groove, The cam roller in the cam curve groove and rolling on the cam curve in the groove is used to connect the flapping drive arm of the wing to the cam roller support shaft on the cam roller; the power mechanism drives the flapping fin When the cam is driven to rotate, the cam roller rolls in the cam curve groove, so as to drive the flapping driving arm and the flaps connected thereto to complete the flapping cycle of up and down amplitudes.

As a preferred mode, the flapping driving cam rotates once, that is, 360 degrees, and the cam curve groove on the flapping driving cam and the cam roller rolling on the cam curve groove can drive the flapping driving arm and the fin connected to it to complete the Two or more flapping cycles with the same upper and lower amplitudes or different upper and lower amplitudes.

As a preferred mode, a flapping drive lever is connected between the cam roller support shaft and the flapping driving arm, and the flapping driving lever is rotatably mounted on a lever support fixedly connected to the frame through the lever support shaft, One end of the flapping driving lever is connected with the cam roller support shaft, and the other end is hinged with the flapping driving arm through a hinged connection piece, and the hinged connection piece is connected with the flapping driving lever and the flapping driving arm. Connections have two or more degrees of freedom.

As a preferred way, the angle-of-attack adjusting axis support shaft of the cross-shaped shaft supporting the wing is rotatably supported on the main wing bracket fixedly connected with the frame, and the main wing frame of the wing is rotatably supported on the main wing frame. On the flapping axis support shaft of the cross-shaped shaft perpendicular to the angle of attack adjustment axis, the flapping fins are driven by the flapping driving arm to swing with the flapping axis support shaft of the cross-shaped shaft as the axis.

As a preferred way, an angle of attack adjuster fixed on the frame and capable of driving the support shaft to rotate is assembled on the support shaft of the angle of attack adjustment axis of the cross-shaped shaft, and the angle of attack adjuster drives the cross-shaped shaft to adjust the angle of attack The adjustment axis is rotated to adjust the angle of attack of the wings.

As a preferred way, the wings are rotatably supported on the front hinge fulcrum of the main wing fixedly connected to the frame and the rear of the main wing hinged on the angle of attack lifter which is fixed on the frame and driven by the rear angle of attack adjuster On the hinge fulcrum, the rear angle of attack adjuster drives the elevation of the angle of attack lifter to adjust the angle of attack of the wing.

As a preferred manner, the front hinge fulcrum of the main wing and the rear hinge fulcrum of the main wing are both hinge fulcrums with two or more degrees of freedom.

As a preferred mode, the wing includes a main wing and an auxiliary wing; the main wing is connected to the flapping drive arm and is hinged with the frame; the auxiliary wing is hinged to the outer end of the main wing and can be opposed to each other. The latter swings.

As a preferred way, the driving force for the swing of the auxiliary wing is provided by the auxiliary wing driving rod; one end of the auxiliary wing driving rod is hinged with the auxiliary wing, and the other end is connected with the swing rod hinged on the frame. hinged; the middle part of the swing rod is hingedly connected with one end of the connecting rod, and the other end of the connecting rod is hinged with the driving arm fixed on the main wing frame.

The present invention relates to a flapping drive mechanism of a flapping-wing aircraft, a flapping drive mechanism driven by a cam with a specific cam curve. Compared with the existing design, the invention has the advantages that the wings of the aircraft in the present invention are hinged On the frame, a rotatable fin drive cam is also installed on the frame, a cam curve groove is opened on the fin drive cam, and a cam roller is arranged in the cam curve groove. The cam roller support shaft is connected, and the flapping fin is driven by the power mechanism to drive the cam to rotate, and the cam roller is driven to roll along the specific cam curve groove to drive the flapping drive arm and the flap to complete the up and down flapping of the specific required amplitude and speed. Movement, the flapping drive cam with a specific cam curve rotates once, that is, 360 degrees, and can drive the flaps to complete two or more flapping cycles with the same or different up and down flapping amplitudes.

Further, in the aircraft of the present invention, the wing fins that flutter up and down to generate lift and control flight include a main wing and an auxiliary wing, the main wing is hingedly connected with the frame, the auxiliary wing is hinged on the main wing, and the connection driven by the main wing swings. The lever mechanism drives the swing of the auxiliary wing, and requires that the up and down flapping amplitude of the auxiliary wing is greater than that of the main wing.

Further, the main wing hinged on the frame of the present invention can be driven by the angle of attack adjuster fixed on the frame to rotate on the angle of attack adjustment axis, and the angle of attack of the main wing and the auxiliary wing during flapping and flight can be adjusted to achieve Adjust the lift and attitude of the aircraft.

Description of drawings

FIG. 1 is a schematic front view of Embodiment 1 of the present invention.

FIG. 2 is an enlarged schematic view of part A in FIG. 1 in the present invention.

FIG. 3 is a schematic plan view of Embodiment 1 of the present invention (half of the axisymmetric structural diagram).

FIG. 4 is an enlarged schematic view of part B in FIG. 3 in the present invention.

FIG. 5 is a schematic side view of the flapping state of Embodiment 1 of the present invention.

FIG. 6 is an enlarged schematic view of the C part in FIG. 5 in the present invention.

FIG. 7 is a schematic front view of Embodiment 2 of the present invention.

Fig. 8 is a schematic front view of part E in Fig. 7 in the present invention.

FIG. 9 is a schematic front view of part D in FIG. 7 according to the present invention.

FIG. 10 is a schematic plan view of Embodiment 2 of the present invention (half of the axisymmetric structural diagram).

Fig. 11 is an enlarged schematic view of part F in Fig. 10 in the present invention.

FIG. 12 is an enlarged schematic view of the G part in FIG. 10 in the present invention.

FIG. 13 is a schematic front view of Embodiment 3 of the present invention.

FIG. 14 is an enlarged schematic view of part H in FIG. 13 in the present invention.

FIG. 15 is a schematic plan view of Embodiment 3 of the present invention (half of the axisymmetric structural diagram).

Fig. 16 is an enlarged schematic view of part I in Fig. 15 in the present invention.

The reference numbers are as follows:

11-Frame, 12-Skin, 21-Power mechanism, 22-Power transmission mechanism, 31-Flap drive cam, 32-Cam curve groove, 33-Cam roller, 34-Cam roller support, 35-Cam support Shaft, 36-Cam Support, 37-Flap Drive Lever, 38-Lever Pivot, 39-Lever Support, 310-Hinged Connection, 41-Main Wing, 42-Flap Drive Arm, 43-Main Wing Frame, 44 - Main wing front hinge fulcrum, 51 - Angle of attack adjuster, 52 - Main wing bracket, 53 - Cross shaft, 531 - Angle of attack adjustment axis support, 532 - Flutter axis support, 54 - Rear attack angle adjuster, 55 -Angle of attack lifter, 56-Main wing rear hinge fulcrum, 61-Secondary wing, 62-Secondary wing hinge fulcrum, 63-Secondary wing skeleton, 71-Secondary wing drive rod, 72-Support, 73-Swing rod, 74- Link, 75-drive arm, 81-tail.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments of the specification.

The present invention defines the part of the frame close to the nose of the aircraft as the front part, and the part of the frame close to the tail of the aircraft as the rear part.

The present invention relates to a flapping drive mechanism of a flapping-wing aircraft, in particular to a flapping drive mechanism driven by a cam with a specific cam curve. As shown in Figures 1 to 16, the aircraft includes a frame 11, which is covered in The skin 12 outside the frame 11 and the tail 81 installed at the rear of the frame 11 are basically the same conventional components as the existing flapping-wing aircraft. The difference is that the frame 11 is installed with a cam flap drive mechanism, including The wings hinged on the side of the frame 11, the power mechanism 21 installed on the frame 11, the power transmission mechanism 22, the fin drive cam 31, the cam roller 33, and the fin drive arm 42, wherein the fin drive cam 31 The cam support shaft 35 is rotatably mounted on the cam support 36 fixed on the frame 11 . The power mechanism 21 drives the fin drive cam 31 to rotate through the power transmission mechanism 22 , and the cam roller 33 rolls in the cam curve groove 32 on the fin drive cam 31 . The wings are connected to the cam roller support shaft 34 connected to the cam roller 33 through the flapping driving arm 42 . The flapping driving cam 31 rotates for one cycle, that is, 360 degrees, so that the cam roller 33 rolls in the cam curve groove 32, thereby driving the flapping driving arm 42 and the flaps connected to it to complete two or more, the same upper and lower amplitudes or different The flapping cycle of up and down amplitudes.

Example 1

As shown in FIGS. 1 to 6 , the flapping drive mechanism of the flapping-wing aircraft of the present invention includes a power mechanism 21 mounted on the frame 11 , a power transmission mechanism 22 , a flapping drive cam 31 , a cam roller 33 , and a cam roller support shaft. 34. Main wing 41, flapping drive arm 42, main wing frame 43, angle of attack adjuster 51, main wing bracket 52, cross shaft 53, auxiliary wing 61, auxiliary wing hinge support shaft 62, auxiliary wing frame 63, auxiliary wing drive rod 71 , bracket 72 , swing rod 73 , connecting rod 74 , driving arm 75 , tail 81 .

The power mechanism 21 is fixed on the frame 11, and the power source of the power mechanism 21 can be electricity, internal combustion power, or a power source such as human drive, or a hybrid power source of the above power sources. The flapping drive cam 31 is connected with the cam support shaft 35, and the cam support shaft 35 is rotatably supported on the cam support 36 fixed on the frame 11, so that the flapping driving cam 31 is arranged in a direction substantially perpendicular to the longitudinal axis of the aircraft . A specific cam curve groove 32 is processed on the side of the flapping drive cam 31, and the shape of the cam curve groove 32 is determined according to specific flapping requirements. A cam curve for the cam roller 33 to roll is formed therein.

The power mechanism 21 drives the fin drive cam 31 to rotate through the power transmission mechanism 22 , so that the cam roller 33 rolls along the cam curve in the cam curve groove 32 of the fin drive cam 31 . The cam roller 33 is connected with a cam roller support shaft 34 that supports the rotation of the cam roller 33, the other end of the cam roller support shaft 34 is connected with a flapping driving arm 42, and the other end of the flapping driving arm 42 is fixedly connected with the main wing frame 43. The main wing frame 43 is rotatably supported on the flap axis support shaft 532 of the cross-shaped shaft 53 to support the flap of the main wing 41 to swing.

The angle-of-attack adjustment axis support shaft 531 of the cross-shaped shaft 53 (the axis of the angle-of-attack adjustment axis support shaft 531 is substantially perpendicular to the longitudinal axis of the aircraft) is rotatably mounted on the main wing bracket 52 fixed on the frame 11 near the side of the main wing 41 On the upper side, the cross-shaped shaft 53 is supported.

The angle of attack adjuster 51 is mounted on the support shaft 531 of the angle of attack adjustment axis, which is fixed on the frame 11 and can drive the support shaft to rotate. The angle-of-attack adjuster 51 can drive the cross-shaped shaft 53 to rotate with the angle-of-attack adjustment axis support shaft 531 as the supporting shaft as required to adjust the vibration of the main wing 41 mounted on the cross-shaped shaft 53 and the auxiliary wing 61 hinged to the main wing 41 . The wings and the angle of attack during flight are used to adjust the lift and attitude of the aircraft.

The cam roller 33 drives the main wing 41 after being driven by the cam roller support shaft 34 and the flapping drive arm 42 according to the upper and lower amplitude and speed designed by the specific cam curve groove 32. The flap axis support shaft 532 in the cross-shaped shaft 53 is the support shaft A flapping motion is performed to complete two or more flapping cycles with the same upper and lower amplitudes or different upper and lower amplitudes. As shown in FIG. 5 , the flapping drive cam 31 with the specific cam curve groove 32 starts to operate from the 0-degree position, and in the ① first flapping cycle of the driving wing, the initial position of the main wing 41 and the auxiliary wing 61 starts ① down Press to the lowest position of the wing, and then, drive the main wing 41 and the auxiliary wing 61 to start ① lift up to the highest position of the wing, end the first cycle of flapping, the wing driving cam 31 continues to rotate, and drives the second wing of the wing. A cycle of flapping, driving the main wing 41 and the auxiliary wing 61 from the highest position of the wing to start ② pressing down to a low position, and then driving the main wing 41 and the auxiliary wing 61 to start ② lift up to the initial position of the wing and stop, complete the vibration The fin driving cam 31 rotates once, that is, 360 degrees, and drives the fins to complete two cycles of flapping with different upper and lower amplitudes, and so on.

The auxiliary wing 61 is hingedly connected to the outer end of the main wing 41 through the auxiliary wing hinge support shaft 62 , and can swing relative to the main wing 41 , and the auxiliary wing driving rod 71 provides the driving force for the swinging of the auxiliary wing 61 . One end of the auxiliary wing drive rod 71 is hingedly connected with the bracket 72 fixedly connected to the auxiliary wing frame 63, and the other end is hingedly connected with one end of the swing rod 73, and the other end of the swing rod 73 is hinged on the frame 11; the swing rod 73 The middle part of the connecting rod 74 is hingedly connected with one end of the connecting rod 74 , and the other end of the connecting rod 74 is hingedly connected with the driving arm 75 fixed on the main wing frame 43 . The main wing 41 flutters up and down, and the swing rod 73 is driven to swing by the driving arm 75 and the connecting rod 74. The swing rod 73 swings through the auxiliary wing driving rod 71 to drive the auxiliary wing 61 to swing relative to the main wing 41. Because the connecting rod 74 is hinged on the swing rod In the middle of 73, the auxiliary wing driving rod 71 hinged on the top of the swing rod 73 drives the auxiliary wing 61 to swing up and down more than the main wing 41, so that the swing of the auxiliary wing 61 can compress and push more airflow. , to provide more propulsion for the flapping aircraft, similar to the flight of birds in nature.

Example 2

As shown in Figures 7 to 12, the structure of the second embodiment is basically the same as that of the first embodiment, the difference is that the front and rear parts of the main wing frame 43 are pivotally mounted on the main wing front hinge fulcrum 44 and the main wing respectively. On the rear hinge fulcrum 56. The main wing 41 according to the design of the cam curve 32 up and down the amplitude and speed, the main wing front hinge fulcrum 44 and the main wing rear hinge fulcrum 56 as the hinge axis to flap the wings, the main wing front hinge fulcrum 44 and the main wing rear hinge fulcrum 56 have two or more than two degrees of freedom.

The front hinge fulcrum 44 of the main wing is fixed on the front side of the frame 11 , and the flapping drive arm 42 connected with the cam roller support shaft 34 is connected with the main wing frame 43 to drive the flapping of the main wing 41 to swing.

The rear hinge fulcrum 56 of the main wing is fixed on the rear side of the frame 11, and the rear hinge fulcrum 56 of the main wing is hingedly connected with the angle of attack lifter 55 fixed on the rear of the frame 11, and the rear angle of attack fixed on the frame 11 is adjusted. The device 54 can drive the up-and-down movement of the angle-of-attack lifting member 55 as required, and the up-and-down movement of the angle-of-attack lifting member 55 can adjust the relative height position of the rear hinge fulcrum 56 of the main wing and the frame 11, thereby adjusting the front hinge fulcrum 44 of the main wing and the main wing. The rear hinge fulcrum 56 supports the main wing 41 and the auxiliary wing 61 on the frame 11 at the angle of attack when flying and flapping, so as to adjust the lift and attitude of the aircraft.

Example 3

As shown in FIGS. 13-16 , the structure of the third embodiment is basically the same as that of the first embodiment, the difference is that the flapping driving cam 31 is rotatably supported by the cam support shaft 35 in a direction substantially parallel to the longitudinal axis of the aircraft. It is fixed on the cam support 36 on the frame 11 . A specific cam curve groove 32 is processed on the side of the flapping drive cam 31, and the shape of the cam curve groove 32 is determined according to the specific flapping requirements. A cam curve for the cam roller 33 to roll is formed therein.

A flapping driving lever 37 is connected between the cam roller support shaft 34 and the flapping driving arm 42 , and the flapping driving lever 37 is rotatably mounted on a lever support 39 fixedly connected to the frame 11 through a lever support shaft 38 One end of the flapping driving lever 37 is connected with the cam roller support shaft 34, the other end of the flapping driving lever 37 is connected with the flapping driving arm 42 through the hinge connection 310, and the other end of the flapping driving arm 42 is fixed with the main wing frame 43 In connection, the main wing frame 43 is rotatably supported on the flutter axis support shaft 532 of the cross-shaped shaft 53 . The hinged connection of the hinged connection member 310 with the flapping driving lever 37 and the flapping driving arm 42 has two or more degrees of freedom.

The power mechanism 21 drives the fin drive cam 31 to rotate through the power transmission mechanism 22 , so that the cam roller 33 rolls in the cam curve groove 32 of the fin drive cam 31 . The cam roller 33 drives the fin drive lever 37 to swing with the lever fulcrum 38 as the axis through the cam roller support shaft 34, so as to drive the other end hinged to the fin drive lever 37 to drive the fin drive arm 42 and connect with it through the hinge connection 310. The main wing 41 of the main wing 41 according to the designed upper and lower amplitude and speed of the cam curve 32, uses the fin axis support shaft 532 in the cross-shaped shaft 53 as the support shaft to perform the fin motion, and the cam curve 32 on the fin drive cam 31 can realize the fin drive. The cam 31 rotates once, that is, 360 degrees, so that the main wing 41 can complete two or more flapping cycles with the same upper and lower amplitudes or different upper and lower amplitudes.

Claims

A flapping-wing driving mechanism for a flapping-wing aircraft, characterized in that it comprises a power mechanism (21) mounted on a frame (11) of the aircraft, a rotatable flapping-driving cam provided with a cam curve groove (32) (31), a cam roller (33) which is arranged in the cam curve groove (32) and can roll on the cam curve in the groove, and is used to connect the flapping drive arm (42) of the wing and the cam roller The cam roller support shaft (34) on the (33) is connected with each other; the power mechanism (21) drives the flapper drive cam (31) to rotate, and the cam roller (33) rolls in the cam curve groove (32) , so as to drive the flapping driving arm (42) and the flaps connected thereto to complete the flapping cycle of the upper and lower amplitudes.
The flapping drive mechanism of a flapping-wing aircraft according to claim 1, characterized in that: the flapping driving cam (31) rotates once, that is, 360 degrees, and the cam curve groove on the flapping driving cam (31) (32) and the cam roller (33) rolling on the cam curve groove (32) can drive the flapping drive arm (42) and the wings connected to it to complete two or more same up and down amplitudes or different up and down amplitudes. Flutter cycle.
The flapping driving mechanism of a flapping-wing aircraft according to claim 1 or 2, wherein a flapping driving lever is connected between the cam roller support shaft (34) and the flapping driving arm (42). (37), the flapping driving lever (37) is rotatably mounted on a lever support (39) fixedly connected to the frame (11) through a lever support shaft (38), and the flapping driving lever (37) ) is connected with the cam roller support shaft (34), and the other end is hinged with the flapping drive arm (42) through a hinged connection piece (310), and the hinged connection piece (310) is connected with the flapping drive lever (310). 37) and the hinged connection of the flapping driving arm (42) have two or more degrees of freedom.
The flapping-wing driving mechanism of a flapping-wing aircraft according to claim 1 or 2, characterized in that: the angle-of-attack adjusting axis support shaft (531) of the cross-shaped shaft (53) supporting the wings is rotatably supported on the On the main wing bracket (52) fixedly connected with the frame (11), the main wing frame (43) of the wing is rotatably supported on the vibration of the cross-shaped shaft (53) perpendicular to the angle of attack adjustment axis. On the fin axis support shaft (532), the wing fin is driven by the fin drive arm (42) to swing with the fin axis support shaft (532) of the cross-shaped shaft (53) as the axis.
The flapping-wing drive mechanism of a flapping-wing aircraft according to claim 4, characterized in that: the angle-of-attack adjusting axis support shaft (531) of the cross-shaped shaft (53) is assembled with a frame (11) fixed to the frame (11). The angle of attack adjuster (51) on the ) and can drive the pivot to rotate, the angle of attack adjuster (51) drives the cross-shaped shaft (53) to rotate with the angle of attack adjustment axis to adjust the angle of attack of the wing.
The flapping-wing drive mechanism of a flapping-wing aircraft according to claim 1 or 2, wherein the wing is rotatably supported on the front hinge fulcrum (44) and hinge of the main wing fixedly connected with the frame (11). Supported on the rear hinge fulcrum (56) of the main wing on the angle of attack lift (55) fixed on the frame (11) and driven by the rear angle of attack adjuster (54), the rear angle of attack adjuster (54) drives The elevation of the angle of attack lifting member (55) adjusts the angle of attack of the wing.
The flapping-wing driving mechanism of a flapping-wing aircraft according to claim 6, wherein the main wing front hinge fulcrum (44) and the main wing rear hinge fulcrum (56) both have two or more free degree pivot point.
A flapping-wing driving mechanism for a flapping-wing aircraft according to claim 1, characterized in that: the wing includes a main wing (41) and an auxiliary wing (61); the main wing (41) and the flapping wing The driving arm (42) is connected and hinged with the frame (11); the auxiliary wing (61) is hinged to the outer end of the main wing (41) and can swing relative to the latter.
The flapping drive mechanism of a flapping-wing aircraft according to claim 8, characterized in that: the driving force for the swinging of the auxiliary wings (61) is provided by the auxiliary wing driving rod (71); the auxiliary wing driving rod One end of (71) is hinged with the pair of wings (61), and the other end is hinged with a swing rod (73) hinged on the frame (11); the middle of the swing rod (73) is connected to the One end of the rod (74) is hingedly connected, and the other end of the connecting rod (74) is hingedly connected with the driving arm (75) fixed on the main wing frame (43).