CN206031778U - Wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions - Google Patents

Abstract

The utility model relates to a miniature flapping-wing aircraft whose wings can be twisted and can realize multiple flight movements, belonging 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 flutters 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. 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 utility model relates to the field of a miniature flapping-wing aircraft, in particular to a miniature flapping-wing aircraft whose wings can be twisted and can realize 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 utility model provides a miniature flapping-wing aircraft whose wings can be twisted and can realize multiple flight movements, so as to solve the problems of complex design structure and difficult realization of miniaturization existing in the current miniature flapping-wing aircraft when realizing twisting and fluttering.

The technical solution adopted by the utility model is: the fluttering torsion mechanism, the empennage, the DC motor of the fuselage, the empennage support rod and the 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. Above, the empennage transmission mechanism is connected on the empennage support rod, and the structure of the fixed empennage support rod is fixedly connected with the empennage support rod and the empennage.

The fluttering torsion mechanism described in the utility model is composed of a right side motion structure and a left side motion structure, and the two structures are the same, the right gear of the right side motion structure is meshed with the left gear of the left side motion structure, and the pinion It is meshed with the left gear, 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 guide rectangular block is fixed to the other end of the right gear bending shaft; the right torsion panel is clamped on the right lower guide In the middle of the rectangular block and the upper right guiding rectangular block, the screw passes through the hole 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 limiting link one is hinged with the right twisting panel. Position link one is hinged with the center of right limit link two one ends by screw, the other end of right limit link two is hinged with right limit link three, and the other end of right limit link three The protruding rod 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 described in the utility model is: the 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 1, and limit block 2 is installed on one end of rod 2, and limit block 1 fits with protruding rod 1 on the missing gear; Fitting together, spring one and spring two are sleeved on rod one and rod two respectively, 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; One end of the second is in contact with the limit block on the rod two, and the other end is in contact with the tail support rod, and the spring two has a pre-compression amount; the rod one passes through the hole on the tail support rod to connect with the stopper one, and the rod two passes through The hole on the empennage support bar is connected with the stopper 2; for the tooth-missing gear, the tooth-missing 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 utility model 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 the structural representation of the utility model;

Fig. 1b is the bottom view of the utility model;

Fig. 2 is the bottom view of the utility model torsion transmission mechanism;

Fig. 3 is a top view of the utility model torsion transmission mechanism;

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

Fig. 5 is a structural diagram of the utility model right limiting connecting rod one 308;

Fig. 6 is the structural diagram of the right limiting connecting rod 2 309 of the utility model;

Fig. 7 is the structural diagram of the right limiting connecting rod three 310 of the utility model;

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

Fig. 9a is the front view of the utility model empennage transmission mechanism;

Fig. 9b is a rear view of the utility model empennage transmission mechanism;

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 (1)

1. a kind of wing can be reversed and can realize the micro flapping wing air vehicle of many sporting flyings, it is characterised in that：Flutter torsion Mechanism, empennage, fuselage direct current generator, empennage support bar and electronic control module are arranged on Rack Body, and wing is connected to torsion On panel, adjust steering rotor and be connected on fan electromotor, empennage drive mechanism is connected on empennage support bar, fixed empennage Pole structure is fixed together empennage support bar and empennage by screw；

The twist mechanism of fluttering is made up of right side motion structure and left side motion structure, and both structures are identical, right side The left gear engagement connection of the right gear and left side motion structure of motion structure, little gear one are connected with left gear engagement, wherein Right side motion structure be：One end of right gear bending axis is fixed on the center of right gear, and bottom right is oriented to rectangular block and is fixed to the right side The other end of tooth bending axle；The right panel that reverses is clipped in the centre that bottom right guiding rectangular block, upper right are oriented to rectangular block, and screw is passed through Upper right be oriented to rectangular block, the hole on right torsion panel and be fixed on bottom right and be oriented on rectangular block, one end of right limit connecting rod one with Right torsion panel is hinged, and center of the right limit connecting rod one by screw with two one end of right limit connecting rod is hinged, right limit connecting rod Two other end 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 connecting rod Four long recess rotation and movement, right limit connecting rod four are fixed on Rack Body；

The structure of the empennage drive mechanism is：Little gear two is connected on empennage direct current generator, and connection is adjusted and turns to rotor Fan electromotor is arranged on teeth-missing gear center, and the parallel sensing aircraft dead astern of axis direction of fan electromotor, bar one One end limited block one is housed, one end of bar two is equipped with limited block two, and limited block one is affixed with the highlight bar one on teeth-missing gear Close；Limited block two is fitted with the highlight bar two on teeth-missing gear, is cased with spring one and spring two, bullet respectively on bar one and bar two One end of spring one is contacted with the limited block on bar one, the other end is contacted with empennage support bar, and spring one has pre compressed magnitude；Spring Two one end is contacted with the limited block on bar two, the other end is contacted with empennage support bar, and spring two has pre compressed magnitude；Bar one is worn The hole crossed on empennage support bar is connected with block one, and bar two is connected through the hole on empennage support bar with block two；For Teeth-missing gear, hypodontia part account for the 1/3 of whole circumference part, and toothed portion is in toothed portion with the engagement place of little gear two Middle.