CN106143903A - A kind of wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings - Google Patents

Abstract

The invention relates to a miniature flapping-wing aircraft whose wings can be twisted and can realize multiple flight movements, and belongs to the field of miniature flapping-wing aircraft. The flapping torsion mechanism, empennage, fuselage DC motor, empennage support bar and electronic control module are installed on the frame body, the wings are connected to the torsion panel, the steering rotor is connected to the fan motor, and the empennage transmission mechanism is connected to the empennage support On the rod, the fixed empennage support rod structure connects the empennage support rod and the empennage together through screws. The advantage is that the structure is novel, the design structure is simplified, and miniaturization is easy to realize. Compared with the aircraft that only flaps up and down, the flapping-wing aircraft can generate greater thrust and lift under the same flapping frequency, which greatly improves the flight performance of the miniature flapping-wing aircraft. The aircraft is flexible in flight and improves aerodynamic characteristics. It has high flight efficiency, small size, light weight, stronger practicability, and can realize more flight functions.

Description

A miniature flapping-wing aircraft with twistable wings and multiple flight movements

technical field

The invention relates to the field of a miniature flapping-wing aircraft, in particular to a miniature flapping-wing aircraft with twistable wings and capable of realizing multiple flight functions.

Background technique

As a new type of flying robot imitating birds, the micro flapping wing aircraft has the advantages of light weight, small size, flexible flight, high efficiency, etc., and it can also realize relatively complex powered flight. The flapping-wing aircraft flies by flapping its wings during flight. Compared with fixed-wing and rotary-wing aircraft, the flapping-wing aircraft has the characteristics of small take-off space, good maneuverability, ability to hover and high energy utilization. At present, micro-aircraft can be used in the military field to carry out target detection work, accurately transmit information, use its strong concealment characteristics to achieve the purpose of raids, and use its communication function to achieve the purpose of jamming signals. In the civilian field, it can be used to search for survivors after disasters; it can also realize dynamic urban traffic monitoring without dead ends; it can also realize aerial photography.

In the existing flapping-wing aircraft, the flapping mode of the wings is mainly up and down. Although some flapping-wing aircraft can achieve the desired flying effect, the flexibility is relatively low and the energy utilization rate is low. When real birds fly, their wings don't simply flap up and down, but add twisting motion. There are also literatures that prove that when the aircraft is flying, the wings flutter up and down and the twisting motion is performed, the flight effect is better and the efficiency is higher, but there are problems of complex structure and difficult miniaturization.

Contents of the invention

The invention provides a miniature flapping-wing aircraft whose wings can be twisted and can realize multiple flight movements, so as to solve the problems existing in the current miniature flapping-wing aircraft that the design structure is complicated and it is difficult to realize miniaturization when realizing twisting and flapping.

The technical solution adopted by the present invention is: the flapping torsion mechanism, empennage, fuselage DC motor, empennage support bar and electronic control module are installed on the frame body, the wings are connected to the torsion panel, and the steering rotor is connected to the fan motor , the empennage transmission mechanism is connected on the empennage support bar, and the fixed empennage support bar structure is fixedly connected with the empennage support bar and the empennage through screws.

The flapping torsion mechanism of the present invention is made up of right side motion structure and left side motion structure, and both structures are identical, and the right gear of right side motion structure and the left gear of left side motion structure mesh and connect, pinion one and The left gear is meshed and connected, and the right movement structure is: one end of the right gear bending shaft is fixed at the center of the right gear, and the right lower guiding rectangular block is fixed to the other end of the right gear bending shaft; the right twist panel is clamped on the right lower guiding rectangular In the middle of the block and the upper right guiding rectangular block, the screw passes through the holes on the upper right guiding rectangular block and the right twist panel and is fixed on the lower right guiding rectangular block. One end of the right limit connecting rod one is hinged with the right twist panel, Connecting rod 1 is hinged with the center of one end of right limiting connecting rod 2 through a screw, the other end of right limiting connecting rod 2 is hinged with one end of right limiting connecting rod 3, and the protrusion at the other end of right limiting connecting rod 3 The bar can rotate and move in the long groove of the right limit link four, and the right limit link four is affixed to the frame body.

The structure of the empennage transmission mechanism of the present invention is: pinion two is connected on the empennage dc motor, and the fan motor connected to adjust the steering rotor is installed at the center of the toothless gear, and the axial direction of the fan motor is parallel to pointing directly behind the aircraft. Limit block 1 is installed on one end of rod 2, and limit block 2 is installed on one end of rod 2. Limit block 1 fits with protruding rod 1 on the tooth-missing gear; Fitting, rod one and rod two are respectively covered with spring one and spring two, one end of spring one is in contact with the limit block on rod one, the other end is in contact with the tail support rod, and spring one has a pre-compression amount; spring two One end of the rod is in contact with the limit block on the second rod, and the other end is in contact with the empennage support rod, and the spring two has a pre-compression amount; The hole on the support rod is connected with the stopper 2; for the toothless gear, the toothless part accounts for 1/3 of the entire circumference, and the meshing part between the toothed part and the pinion 2 is in the middle of the toothed part.

The invention has the advantages of novel structure, simplified design structure and easy realization of miniaturization. The flapping wing mechanism can change the installation inclination angle of the torsion panel, and can change the flapping angle and twisting angle. The mechanism has a left-right symmetrical structure, so the flapping has good symmetry and has good stability in the flight of the flapping wing aircraft , the size of the torsion angle changes with the position of the wings in the up and down flapping, which imitates the flight of birds very well. The torsional movement is mainly realized by combining the two parts of the guide module and the limit link. The tail mechanism part rotates through the gear to make the small fan move to the left, backward, and upward directions, and then adjust the forward and reverse of the small fan, which is easy Realize accelerated flight, hovering or vertical rise, downward flight, upward flight, right turn, left turn flight movement. To achieve unassisted take-off, the up and down flapping plus twisting motion of the wings can make the flapping wing aircraft generate greater thrust compared with the aircraft that only generates up and down flapping at the same flapping frequency, which greatly improves the micro The flight performance of the flapping-wing aircraft, the flight of the aircraft is flexible, the aerodynamic characteristics are improved, the flight efficiency is high, the volume is small, the weight is light, the practicability is stronger, and more flight functions can be realized.

Description of drawings

Fig. 1 a is a structural representation of the present invention;

Fig. 1 b is a bottom view of the present invention;

Fig. 2 is the bottom view of the twist transmission mechanism of the present invention;

Fig. 3 is a top view of the twist transmission mechanism of the present invention;

Fig. 4 is the enlarged view of place A in Fig. 3;

Fig. 5 is a structural diagram of the right limiting link-308 of the present invention;

Fig. 6 is a structural diagram of the second limit connecting rod 309 of the present invention;

Fig. 7 is a structural diagram of the right limiting connecting rod three 310 of the present invention;

Fig. 8 is the structural diagram of empennage support bar 7 of the present invention;

Fig. 9a is the front view of empennage transmission mechanism of the present invention;

Figure 9b is a rear view of the empennage drive mechanism of the present invention;

Among the figure: frame body 1, wings 2, flutter torsion mechanism 3, pinion one 301, right gear 302, left gear 303, right gear bending shaft 304, right lower guiding rectangular block 305, right torsion panel 306, upper right Guide rectangular block 307, right limit link one 308, right limit link two 309, right limit link three 310, right limit link four 311, empennage 4, adjust steering rotor 5, empennage drive mechanism 6, Pinion 2 601, toothless gear 602, rod 1 603, rod 2 604, spring 1 605, spring 2 606, empennage DC motor 607, fan motor 608, empennage support rod 7, fixed empennage support rod structure 8, fuselage DC Motor 9, electronic control module 10.

detailed description

The flapping torsion mechanism 3, empennage 4, fuselage DC motor 9, empennage support bar 7 and electronic control module 10 are installed on the frame body 1, the wings 2 are connected on the torsion panel 306, and the adjustment steering rotor 5 is connected to the fan motor 608, the empennage transmission mechanism 6 is connected to the empennage support bar 7, and the fixed empennage support bar structure 8 fixes the empennage support bar 7 and the empennage 4 through screws to play a supporting role.

Described flutter twisting mechanism 3 is made up of right side motion structure and left side motion structure, and both structures are identical, the right gear 302 of right side motion structure and the left gear 303 meshing connection of left side motion structure, pinion one 301 is meshed with the left gear 303, wherein the right side movement structure is: one end of the right gear bending shaft 304 is fixed at the center of the right gear 302, and the right lower guide rectangular block 305 is fixed to the other end of the right gear bending shaft 304; Panel 306 is clamped in the middle of right lower guide rectangular block 305, upper right guide rectangular block 307, and screw passes through the hole on right upper guide rectangular block 307, the right twist panel 306 and is fixed on the right lower guide rectangular block 305, the right limit is connected One end of the bar one 308 is hinged with the right twist panel 306, and the right limit link one 308 is hinged at the center of one end of the right limit link two 309 by a screw, and the other end of the right limit link two 309 is connected with the right limit link. One end of rod three 310 is hinged, and the protruding rod at the other end of right limit link three 310 can rotate and move in the long groove of right limit link four 311, and right limit link four 311 is fixedly connected to the frame body 1 on.

The structure of described empennage transmission mechanism 6 is: pinion 2 601 is connected on the empennage dc motor 607, the fan motor 608 that connects and adjusts the steering rotor 5 is installed in the center of toothless gear 602, and the axial direction of fan motor 608 is directed in parallel At the rear of the aircraft, one end of rod one 603 is equipped with limit block one 60301, and one end of rod two 604 is equipped with limit block two 60401, and limit block one 60301 fits with protruding rod one 60201 on the missing tooth gear 602; Block 2 60401 fits with the protruding rod 2 60202 on the missing tooth gear 602. The rod 1 603 and the rod 2 604 are covered with spring 1 605 and spring 2 606 respectively. Block 60301 is in contact with the other end of which is in contact with the empennage support rod 7, and spring one has a pre-compression amount; one end of spring two 606 is in contact with the limit block 60401 on rod two 604, the other end is in contact with the empennage support rod 7, and spring two There is a pre-compression amount; rod one 603 passes through the hole on the empennage support rod 7 and is connected with the block one 60302, and rod two 604 passes through the hole on the empennage support rod 7 and is connected with the block two 60402; for toothless gear 602 , the tooth-missing part accounts for 1/3 of the entire circumference, the meshing part of the toothed part and the pinion 2 601 is in the middle of the toothed part, and the precompression of spring 1 605 and spring 2 606 makes the limit of both ends of rod 1 603 Block 1 60301, block 2 60302 and the limit block 2 60401 and block 2 60402 at the two ends of the rod 604 are closely connected with the protruding rod 1 60201, protruding rod 2 60202 and empennage support rod 7 on the missing tooth gear 602 fit.

working principle:

1. In the reversible wing part: the signal sent by the electronic control module 12 makes the fuselage DC motor 9 work, thereby driving the pinion 1 301 to rotate in the forward direction, and the left gear 303 and the right gear 302 also follow the pinion 1 301 to rotate . Since the right gear bending shaft 304, the lower right guiding rectangular block 305, and the upper right guiding rectangular block 307 are connected together, the right gear 302, the right gear bending shaft 304, the lower right guiding rectangular block 305, and the upper right guiding rectangular block 307 surround the right gear 302 At the same time, the right limit connecting rod one 308 rotates around the connection between the right torsion panel 306 and the right limit connecting rod one 308, and the right limit connecting rod one 308 surrounds the right limit connecting rod one 308 and the right limit connecting rod one 308 and Right limit connecting rod 2 309 is connected to rotate, and right limit connecting rod 2 309 rotates around the connection of limit connecting rod 2 309 and right limit connecting rod 3 310. The protrusion of right limit connecting rod 3 310 Rod rotates and moves in the long groove of right limit link four 311, because right limit link one 308, right limit link two 309, right limit link three 310, right limit link four 311 The limit function of the right twist panel 306 can only do up and down flapping and twisting motions at the joints with the lower right guiding rectangular block 305 and the upper right guiding rectangular block 307, and the wings 2 connected to the right twisting panel 306 follow the right twisting Panel 306 makes the same movement. The movement of the left mechanism is the same as that of the right mechanism.

2. In the empennage part: (1) When the empennage DC motor 607 does not rotate, ① when the fan motor 608 rotates forward, adjust the steering rotor 5 to generate a backward thrust, which can realize the accelerated flight of the aircraft; ② When the fan motor 608 reverses, Adjust the steering rotor 5 to generate a backward pulling force, and adjust the rotating speed of the steering rotor 5 through the electronic control module 12, so that the backward pulling force generated by the adjusting steering rotor 5 is equal to the backward thrust generated by the aircraft wings, and the aircraft wings generate an upward thrust. The lift of the aircraft is equal to the weight of the aircraft, so that the aircraft can hover; the backward pulling force produced by the adjustment steering rotor 5 is equal to the backward thrust produced by the wings of the aircraft, and the upward lift produced by the wings of the aircraft is greater than the weight of the aircraft, so that the aircraft can rise vertically. (2) When the empennage DC motor 607 rotates forward, the tooth-missing gear 602 rotates clockwise. When the pinion 2 601 rotates, the gear contacts the tooth-missing part of the tooth-missing gear 602. At the same time, the lever 2 604 moves to the left, and the spring 605 Compressed, at this time the fan motor 608 is in a vertically downward position, and then the empennage dc motor 607 stops rotating. 1. when the fan motor 608 rotates forward, adjust the steering rotor 5 to generate a downward thrust, which can realize the downward tilt flight of the aircraft; 2. When the fan motor 608 reverses, the steering rotor 5 is adjusted to generate an upward thrust, which can realize the pitch-up flight of the aircraft. After realizing the downward flight or upward flight, stop the electronic control module 12 to send the injection signal, then the rod two 604 is moved to the right by the elastic force of the spring two 606, thereby pushing the missing tooth gear 602 to reverse and return to the rest position. (3) When the tail DC motor 607 reverses, the tooth-missing gear 602 rotates counterclockwise. When the pinion 2 601 contacts the tooth-missing part of the tooth-missing gear 602, at the same time, the lever 1 603 moves to the left, and the spring 1 605 is compressed. At this time, the fan motor 608 was in the horizontal position to the left, and then the empennage DC motor 607 stopped rotating. 1. when the fan motor 608 was rotating forward, adjust the steering rotor 5 to produce a thrust to the left, which can realize the right turn of the aircraft; 2. the fan motor 608 reversed When turning, adjust the steering rotor 5 to produce a thrust to the right, which can realize the left turn of the aircraft. After turning right or left, the electronic control module 12 is stopped to send the injection signal, and the rod one 603 is moved to the right by the elastic force of the spring one 605, thereby pushing the tooth-missing gear 602 to reverse and return to the rest position.

3. In terms of circuit control: the power supply is powered by a 3.7V lithium battery, and the fuselage DC motor 9, empennage DC motor 607, and fan motor 608 are driven by the electronic control module 10. The electronic control module includes a wireless receiving module and a motor drive module.

Claims (3)

1. a wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings, it is characterised in that: torsion of fluttering Mechanism, empennage, fuselage direct current generator, empennage support bar are arranged on Rack Body with electronic control module, and wing is connected to reverse On panel, regulation turns to rotor to be connected on fan electromotor, and empennage drive mechanism is connected on empennage support bar, and fixing empennage props up Pole structure is fixed together empennage support bar by screw with empennage.

A kind of wing the most according to claim 1 can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings, It is characterized in that: described in twist mechanism of fluttering be made up of right side motion structure and left side motion structure, and both structure phases With, the right gear of right side motion structure and the left gear engagement of left side motion structure connect, and little gear one engages with left gear even Connecing, wherein right side motion structure is: one end of right gear bending axis is fixed on the center of right gear, and it is solid that bottom right guides rectangular block Surely the other end of right gear bending axis is arrived；Right torsional surface plate holder guides rectangular block, the centre of upper right guiding rectangular block, spiral shell in bottom right Follow closely and guide the hole on rectangular block, right torsion panel through upper right and be fixed on bottom right and guide on rectangular block, right limit connecting rod one One end is hinged with right torsion panel, and right limit connecting rod one is hinged with the center of right limit connecting rod two one end by screw, right limit The other end of position connecting rod two is hinged with one end of right limit connecting rod three, and the nose bar of the other end of right limit connecting rod three can be in right limit The long recess of position connecting rod four rotates and mobile, and right limit connecting rod four is fixed on Rack Body.

A kind of wing the most according to claim 1 can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings, It is characterized in that: the structure of described empennage drive mechanism is: little gear two is connected on empennage direct current generator, connect regulation and turn to The fan electromotor of rotor is arranged on teeth-missing gear center, and the parallel sensing aircraft of the axis direction of fan electromotor just after Side, one end of bar one is equipped with limited block one, and one end of bar two is equipped with limited block two, limited block one and the highlight bar on teeth-missing gear One fits；Limited block two fits with the highlight bar two on teeth-missing gear, and bar one and bar two are cased with spring one and bullet respectively Spring two, one end of spring one contacts with the limited block on bar one, the other end contacts with empennage support bar, and spring one has precommpression Amount；One end of spring two contacts with the limited block on bar two, the other end contacts with empennage support bar, and spring two has precommpression Amount；Bar one is connected through the hole on empennage support bar with block one, and bar two is through the hole on empennage support bar and block two-phase Connect；For teeth-missing gear, hypodontia part accounts for the 1/3 of whole circumferential section, and toothed portion is in the engagement place of little gear two The middle of toothed portion.