CN113086187B - Two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion - Google Patents

Abstract

A two-degree-of-freedom flapping-wing aircraft capable of realizing flapping torsion comprises a framework, flapping wings, tail wings, a driving motor and a flapping torsion mechanism; the flapping torsion mechanisms are arranged on two sides of the framework and comprise driving gears, a crank swing rod, a flapping piece first-stage shaft, a flapping piece second-stage shaft and a flapping piece third-stage shaft, wherein one end of the crank swing rod is connected with the driving gears; the other end of the crank swing rod is sleeved on the first-stage shaft of the flapping piece in a sliding manner, two ends of the third-stage shaft of the flapping piece of the two flapping torsion mechanisms at two sides of the framework are connected through a mechanism fixing frame, a tooth condition is sleeved on the second-stage shaft of the flapping piece, a quarter torsion gear is meshed with the rack piece, and the tooth condition is connected with the crank swing rod; the flapping wings are arranged on two sides of the framework and comprise flapping rods, and one ends of the flapping rods penetrate through a third-stage shaft of the flapping piece to be connected with a quarter torsion gear; two driving gears of the two flapping torsion mechanisms on two sides of the framework are coaxially connected, and the output end of the driving motor is connected with a transmission main gear which is meshed with one driving gear.

Description

A two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting

technical field

The invention belongs to the technical field of flapping-wing aircraft, and in particular relates to a two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting.

Background technique

The flapping wing aircraft is a small aircraft designed based on the principle of bionics, which has the characteristics of small size, light weight, low energy consumption, good maneuverability, good concealment and easy to carry. Compared with fixed-wing and rotary-wing aircraft, flapping-wing aircraft has both advantages, higher aerodynamic efficiency, and can be miniaturized much higher than fixed-wing and rotary-wing aircraft, so it has a wider application field. , the flapping-wing aircraft is widely considered to be the most promising class of aircraft. However, the existing flapping-wing aircraft generally adopt a single-degree-of-freedom flapping method, which not only produces small lift and thrust, but also has low flexibility; secondly, most of the flapping-wing aircraft with two degrees of freedom have an additional steering gear Or other driving source parts, which increase the weight and energy consumption of the mechanism.

Contents of the invention

According to the deficiencies of the prior art, the object of the present invention is to provide a two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting. Only driven by a driving motor, the flapping-wing can simultaneously realize flapping and twisting motions, and lift The aerodynamic performance of the flapping-wing aircraft and the smooth operation of the whole mechanism can improve the maneuverability and stability of the flapping-wing aircraft.

To achieve the above object, the present invention adopts the following technical solutions:

A two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting includes a skeleton, a flapping wing, an empennage, and a driving motor, and is characterized in that it also includes a flapping and twisting mechanism connected to the flapping wing and the driving motor;

There are two flapping torsion mechanisms, which are arranged on both sides of the skeleton, including a driving gear, a crank pendulum with one end connected to the driving gear, a first-stage shaft of a flapping member arranged in parallel and connected at both ends, and a flapping mechanism. The second-stage shaft of the moving part and the third-stage shaft of the flapping part; the other end of the crank swing rod is slidably sleeved on the first-stage shaft of the flapping part, and the two flapping torsion mechanisms on both sides of the skeleton The two ends of the third-stage shaft of the fluttering part are connected by a mechanism fixing frame, and the second-stage shaft of the fluttering part is slidingly fitted with a toothed part, and the toothed part is meshed with a quarter-torsion gear, and the The tooth condition is connected with the crank swing bar;

There are two flapping wings, arranged on both sides of the skeleton, including a flapping rod, one end of the flapping rod passes through the third stage shaft of the flapping member and connects to the quarter torsion gear;

The two driving gears of the two fluttering torsion mechanisms on both sides of the skeleton are connected coaxially, and the output end of the driving motor is connected with a main transmission gear, and one of the main transmission gears meshes with the driving gear.

Further, the crank swing rod is fitted with a linear bearing inside one end of the first-stage shaft of the flapper, and the end of the crank swing rod is sleeved on the first-stage shaft of the flapper through a linear bearing.

Further, two secondary reduction gears are installed on both sides of the skeleton, and the two secondary reduction gears are coaxially connected, and one of the secondary reduction gears is also connected to a primary reduction gear, and the two are coaxially connected to the first stage of the skeleton. On the side, the primary reduction gear meshes with the main transmission gear, and the two secondary reduction gears mesh with the two driving gears respectively.

Further, the number of teeth of the transmission main gear is smaller than the number of teeth of the first-stage reduction gear, the number of teeth of the first-stage reduction gear is greater than the number of teeth of the second-stage reduction gear, and the number of teeth of the second-stage reduction gear is smaller than the number of teeth of the driving gear.

Further, the flapping wing also includes several airfoil plates, which are installed in parallel on the flapping rod to form a flapping wing frame.

Preferably, the flapping wing frame is made of carbon fiber material.

Further, the empennage is connected with a first steering gear and a second steering gear, and the turning and pitching motion of the empennage are realized through the first steering gear and the second steering gear.

Preferably, the skeleton is made of carbon fiber material.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to the present invention can improve the problems of low flight efficiency, low flying flexibility, and low bionic degree of current flapping-wing aircraft.

2. A two-degree-of-freedom flapping-wing aircraft that can realize fluttering and twisting according to the present invention can realize the flapping and twisting motion of the entire flapping wing at the same time only under the drive of one drive motor, and improve the aerodynamic force of the flapping-wing aircraft. performance, and the whole mechanism runs smoothly, which can improve the maneuverability and stability of the flapping wing aircraft.

3. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to the present invention, the flying posture of the flapping wings fluttering and twisting during operation is more in line with the flight motion laws of medium and large birds, and the bionic effect is better .

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the empennage, the first steering gear and the second steering gear in the present invention.

Fig. 3 is a structural schematic diagram of the flapping and twisting mechanism in the present invention.

Fig. 4 is a structural schematic diagram of the flapping wing in the present invention.

Fig. 5 is the structural representation of flutter part in the present invention

Fig. 6 is the structural representation of tooth condition in the present invention

Fig. 7 is a schematic diagram of the limit position of flapping wings in the present invention.

Fig. 8 is a schematic diagram of the limit position of the flapping wing in the present invention.

Fig. 9 is a schematic diagram showing that the twisting action of the flapping wing of the present invention reaches the limit position.

Among them: 1. Skeleton; 2. Driving motor; 3. Transmission main gear; 4. Primary reduction gear; 5. Secondary reduction gear; 6. Driving gear; 7. Gear fixed disc; 8. Crank swing rod; , Flutter piece; 91, the first level shaft of the flutter piece; 92, the second level shaft of the flutter piece; 93, the third level shaft of the flutter piece; 10, the linear bearing; 11, the flutter piece bearing; 12, the mechanism Fixed frame; 13, mechanism fixed plate; 14, quarter twist gear; 15, tooth condition; 151, first tooth condition shaft hole; 152, second tooth condition shaft hole; 16, flutter lever; 17, flutter Wing frame; 18, airfoil plate; 19, the first steering gear; 20, the first connecting rod; 21, the second connecting rod; 22, tail splint group; 23, the second steering gear; 24, tail hinge; 25, Tail.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of such feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

As shown in Figure 1 and Figure 9, a two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting mainly includes a skeleton 1, flapping-wing frames 17 arranged on both sides of the The empennage 25 at the tail of the frame 1, the flapping wing frame 17 realizes the up and down fluttering motion and the chord torsion motion simultaneously through the flapping torsion mechanism, and the empennage 25 realizes the turning motion and the pitching motion by the first steering gear 19 and the second steering gear 23.

As shown in Figure 2, the present invention also includes empennage 25, and between empennage 25 and framework 1 also includes first steering gear 19, first connecting rod 20, second connecting rod 21, empennage splint group 22, second steering gear 23 , empennage hinge 24. The first steering gear 19 is installed in the afterbody of the skeleton 1 and the output shaft of the first steering gear 19 is arranged vertically to the plane direction of the skeleton 1, the first connecting rod 20 is connected with the output shaft of the first steering gear 19, and one end of the second connecting rod 21 is connected to the first steering gear 19. One connecting rod 20 is connected, and the other end is connected with the empennage splint group 22, and the empennage splint group 22 is connected with the skeleton 1 tail through the bearing. The second steering gear 23 is installed on the empennage splint group 22 and the output shaft longitudinal plane direction of the second steering gear 23 is arranged, the output shaft of the empennage hinge 24 and the second steering gear 23 is connected, and the empennage 25 is fixedly connected with the empennage hinge 24. In the embodiment of the present invention, the empennage 25 is a semi-cross fan-shaped structure, made of several tiny carbon rods and kite cloth, which is light in weight and strong in toughness, and can better adapt to the complex flying posture of the flapping wing aircraft.

During the flight, the empennage 25 is driven to pitch by the first steering gear 19, the empennage 25 is driven to turn by the second steering gear 23, and the steering and pitching motions of the empennage 25 are used to drive the steering and pitching of the entire aircraft. sports.

As shown in FIG. 3 , the skeleton 1 is provided with a drive motor 2 , and the drive motor 2 transmits power to two drive gears 6 arranged side by side on both sides of the top of the skeleton 1 after being decelerated by a reduction gear set. The reduction gear set includes the transmission main gear 3, the primary reduction gear 4, the secondary reduction gear 5 and the driving gear 6. The transmission main gear 3 is installed on the output shaft of the driving motor 2, and two secondary reduction gears are arranged on both sides of the skeleton 1. Gear 5, two secondary reduction gears 5 are coaxially installed, wherein a secondary reduction gear 5 on one side of the skeleton 1 is also coaxially installed with a primary reduction gear 4. The primary reduction gear 4 meshes with the transmission main gear 3, the secondary reduction gear 5 is installed in the center of the primary reduction gear 4, the driving gear 6 meshes with the secondary reduction gear 5, and the number of teeth of the transmission primary gear 3 is less than The number of teeth of the first-stage reduction gear 4, the number of teeth of the second-stage reduction gear 5 are less than the number of teeth of the drive gear 6, and the number of teeth of the second-stage reduction gear 5 is less than the number of teeth of the first-stage reduction gear 4. Wherein, a gear fixing disk 7 is also provided between the driving gear 6 and the skeleton 1 to fix the relative spatial position of the driving gear 6 and the skeleton 1, and the gear fixing disk 7 is fixed on the skeleton 1 by screws and nuts.

The speed is reduced by meshing the primary reduction gear 4 with the main transmission gear 3, and further reducing the speed by meshing the drive gear 6 with the secondary reduction gear 5.

As shown in Figures 3 and 4, the entire flapping wing is arranged on both sides of the framework 1, including a plurality of parallel airfoils 18 and flapping rods 16 that run through the airfoils 18, the airfoils 18 and The flapping rods 16 together form a flapping wing frame 17 , wherein one end of the flapping rod 16 is connected with a quarter torsion gear 14 . One end of the flapping rod 16 connected to the quarter torsion gear 14 passes through the third-stage shaft 93 of the flapping member, and is connected with the third-stage shaft 93 of the flapping member through a rotary pair.

Specifically, the chord lengths of the airfoil plates 18 are different, but they are all airfoil NACA2410 and are hollowed out, which can effectively reduce the weight of the flapping wing. At the same time, the skeleton 1 and the flapping wing frame 17 are made of carbon fiber plates, which have sufficient strength and toughness. .

As shown in Fig. 3, Fig. 5 and Fig. 6, the flapping torsion mechanism includes a flapping mechanism and a twisting mechanism, and the flapping mechanism includes a drive gear 6, a crank swing rod 8 fixedly rotating with the drive gear 6, a first The first-stage shaft 91 and the third-stage shaft 93 are respectively the flutter member 9 that is rotatably connected to the crank swing rod 8 and the mechanism fixing frame 12, the mechanism fixing frame 12 arranged on the top of the skeleton 1, and the linear bearing 10. The linear bearing 10 is set on the flapping On the first stage shaft 91 of the piece. The drive gear 6 drives the crank swing rod 8 to rotate through rotation, so that the crank swing rod 8 and the linear bearing 10 will carry out a reciprocating linear motion on the first stage shaft 91 of the flutter part together, and the crank swing rod 8 and the first stage of the flutter part The shaft 91 is connected by a rotating pair, and the two ends of the mechanism fixing frame 12 are connected with the third-stage shaft 93 of the flapping member through a rotating pair, so that the spatial position of the third-stage shaft 93 of the flapping member relative to the skeleton 1 is fixed and can only rotate . The mechanism fixing frame 12 is fixed on both sides of the framework 1 through the mechanism fixing plate 13 on the top of the framework 1 and the screw and nut connections.

During the flight, while the crank swing rod 8 rotates with the drive gear 6, it performs a reciprocating linear motion on the first-stage shaft 91 of the flapper, thereby driving the entire flapper 9 and the third-stage shaft 93 of the flapper. Carry out up and down rotation motion, and then realize the flapping motion of flapping wing.

Described torsion mechanism comprises the tooth condition 15 that can reciprocate linear motion on flutter part 9, and the quarter torsion gear 14 that is fixedly connected with flutter bar 16; The first tooth condition shaft hole 151 of tooth condition 15 and flutter The first stage shaft 91 of the tooth condition is slidingly connected, and the second tooth condition shaft hole 152 is slidingly connected with the second stage shaft 92 of the fluttering part, so that the tooth condition 15 is locked on the flutter part 9 and can only move left and right; the tooth condition 15 The two ends of the first tooth condition shaft hole 151 are overlapped and connected with the two ends of the crank swing rod 8, so that the tooth condition 15, the crank swing rod 8 and the linear bearing 10 will carry out a reciprocating linear motion on the first stage shaft 91 of the flapping member together; The quarter torsion gear 14 is preferably a fan-shaped structure, the upper end of the fan-shaped structure is provided with a cylindrical small boss feature, and the end surface of the small boss feature attached to the quarter torsion gear 14 and the first flap of the flapper The tertiary shaft 93 is tangent, thereby locking the distance between the end face of the quarter torsion gear 14 and the center line of the third stage shaft 93 of the flapper, so that the end face of the quarter torsion gear 14 and the tooth condition 15 The end faces of the rack on 14 coincide in space, and the tooth thickness of the quarter torsion gear 14 is the same as the tooth thickness of the rack on the tooth condition 15.

During the flight, the gear 14 and the rack on the tooth condition 15 are meshed by a quarter twist, and when the tooth condition 15 reciprocates on the second stage shaft 92 of the flapper, it further drives and quarters the rack. One of the flapping levers 16 fixedly connected to the torsion gear 14 performs torsional motion to achieve the torsional purpose of the whole flapping wing.

The invention can realize the flapping and twisting motion of the whole flapping wing at the same time only under the drive of one driving motor, so as to improve the aerodynamic performance of the flapping-wing aircraft, and the whole mechanism runs smoothly, which can improve the maneuverability and stability of the flapping-wing aircraft.

As shown in Fig. 7, Fig. 8 and Fig. 9, the state change diagram of the flapping-wing flying attitude during the flight of the two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting is shown. Fig. 7 is a schematic diagram of the limit position of the flapping wing flapping up according to the present invention. Fig. 8 is a schematic diagram of the limit position of the flapping wing of the present invention. Fig. 9 is a schematic diagram showing that the twisting action of the flapping wing of the present invention reaches the limit position. Among them, when the flapping wing flutters to the horizontal position, the twisting action of the flapping wing reaches the limit; when the flapping wing flutters up or down to the limit position, the twisting action of the flapping wing is in a balanced position, that is, the twist angle is zero.

It should be noted that the present invention also includes a battery and a controller arranged on the skeleton 1, the battery provides power for the entire aircraft, and the controller can receive external signals and control the flight attitude of the entire aircraft, where the battery and the controller The setting adopts prior art means.

The invention is a two-degree-of-freedom flapping-wing aircraft capable of simultaneously realizing flapping and twisting movements, and is suitable for military and civilian fields such as road monitoring, disaster rescue, field search and rescue, enemy situation investigation, environmental monitoring, and agricultural survey. The invention has the characteristics of fewer driving sources, high flexibility, high flight efficiency, large lift generation, and can simultaneously realize fluttering and twisting motions and the like.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still It is possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.

Claims (8)

1. A two-degree-of-freedom flapping-wing aircraft capable of flapping and twisting comprises a skeleton, a flapping wing, an empennage and a drive motor, and is characterized in that: it also includes a flapping torsion mechanism connected to the flapping wing and the drive motor; There are two flapping torsion mechanisms, which are arranged on both sides of the skeleton, including a driving gear, a crank pendulum with one end connected to the driving gear, a first-stage shaft of a flapping member arranged in parallel and connected at both ends, and a flapping mechanism. The second-stage shaft of the moving part and the third-stage shaft of the flapping part; the other end of the crank swing rod is slidably sleeved on the first-stage shaft of the flapping part, and the two flapping torsion mechanisms on both sides of the skeleton The two ends of the third-stage shaft of the fluttering part are connected by a mechanism fixing frame, and the second-stage shaft of the fluttering part is slidingly fitted with a toothed part, and the toothed part is meshed with a quarter-torsion gear, and the The tooth condition is connected with the crank swing bar; There are two flapping wings, arranged on both sides of the skeleton, including a flapping rod, one end of the flapping rod passes through the third stage shaft of the flapping member and connects to the quarter torsion gear; The two driving gears of the two fluttering torsion mechanisms on both sides of the skeleton are connected coaxially, and the output end of the driving motor is connected with a main transmission gear, and one of the main transmission gears meshes with the driving gear. 2. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to claim 1, characterized in that: the crank swing rod is set inside one end of the first-stage shaft of the fluttering member with a straight line The end of the crank swing rod is sleeved on the first-stage shaft of the flapper through a linear bearing. 3. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to claim 1, characterized in that: two secondary reduction gears are installed on both sides of the skeleton, and the two secondary reduction gears are coaxial connection, one of the secondary reduction gears is also connected with a primary reduction gear, the two are coaxially connected to one side of the frame, the primary reduction gear meshes with the transmission main gear, and the two secondary reduction gears are respectively connected to The two drive gears mesh. 4. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to claim 3, characterized in that: the number of teeth of the transmission main gear is smaller than the number of teeth of the first-stage reduction gear, and the number of teeth of the first-stage reduction gear The number of teeth of the secondary reduction gear is greater than the number of teeth of the secondary reduction gear, and the number of teeth of the secondary reduction gear is smaller than the number of teeth of the driving gear. 5. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to claim 1, characterized in that: the flapping wing also includes several airfoils, and several of the airfoils are installed in parallel on the A flapping wing frame is formed on the flapping rod. 6. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to claim 5, wherein the flapping-wing frame is made of carbon fiber material. 7. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to claim 1, characterized in that: the empennage is connected with a first steering gear and a second steering gear, through which the first steering gear , The second steering gear realizes the turning and pitching motion of the empennage. 8. A two-degree-of-freedom flapping-wing aircraft capable of fluttering and twisting according to any one of claims 1 to 7, characterized in that: the skeleton is made of carbon fiber material.