CN110294121B - Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades - Google Patents
Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades Download PDFInfo
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- CN110294121B CN110294121B CN201910651890.5A CN201910651890A CN110294121B CN 110294121 B CN110294121 B CN 110294121B CN 201910651890 A CN201910651890 A CN 201910651890A CN 110294121 B CN110294121 B CN 110294121B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/0009—Aerodynamic aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/18—Spars; Ribs; Stringers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/385—Variable incidence wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses a direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades, which comprises flapping wings, slideways, connecting pieces, a first speed reducer, a stepping motor, a transmission mechanism, a second speed reducer, a motor and a body frame, wherein four slideways in the vertical direction are symmetrically arranged and fixed on the periphery of the body frame, the four connecting pieces are respectively connected on the four slideways in a sliding manner, the four flapping wings are respectively connected on the four connecting pieces and can relatively rotate, each flapping wing comprises a flapping-wing frame, the flapping wing frame is internally provided with a torsional spring for resetting the blades, four sets of transmission mechanisms are hinged on four connecting pieces, four motors arranged on the machine body frame drive the four sets of transmission mechanisms to move after being decelerated by four second reducers so as to enable the four connecting pieces to slide up and down, and four stepping motors arranged on the four connecting pieces drive the four flapping wings to rotate after being decelerated by the four first reducers.
Description
Technical Field
The invention relates to the field of flapping wing type aircrafts and flying robots, in particular to a direct-acting four-flapping wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades.
Background
The flight mode of the aircraft comprises three flight modes of a fixed wing, a rotor wing and a flapping wing, wherein the flapping wing flight is a flight mode adopted by natural flight organisms, the upper flapping and the lower flapping of double wings are mainly utilized to simultaneously generate lift force and thrust force, and the flight mode has the main characteristic that the lifting, hovering and propelling functions are integrated, meanwhile, the flight mode has strong maneuverability and flexibility, and is more suitable for executing flight around obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency.
At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. The flapping wing driving mechanism can be divided into a multi-degree-of-freedom flapping wing driving mechanism and a single-degree-of-freedom flapping wing driving mechanism, the multi-degree-of-freedom flapping wing driving mechanism can realize a complex motion form, but the mechanism is relatively large and complex, the single-degree-of-freedom flapping wing driving mechanism only needs to realize flapping motion, and the trailing edge of the fixed wing forms an attack angle which changes along with the flapping of the wing to realize the twisting motion.
However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft. Meanwhile, most of the conventional flapping-wing flight chess can not realize vertical take-off and landing and hovering in the air, and the flexibility and the maneuverability are not good enough.
Disclosure of Invention
The invention aims to provide a direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades, which remarkably reduces the resistance of a flapping wing resetting process of a flapping wing type aircraft, improves the aerodynamic efficiency, conveniently realizes vertical take-off and landing, can quickly switch the flight direction, and has good flight flexibility and maneuverability, so as to solve the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a four flapping wing unmanned aerial vehicle of direct action type based on but adaptive air current rotary blade, including flapping wing, slide, connecting piece, first reduction gear, step motor, drive mechanism, second reduction gear, motor and fuselage frame, the installation of fuselage frame symmetry all around is fixed with four vertical directions the slide, four the connecting piece is sliding connection four respectively on the slide, four the flapping wing is connected four respectively on the connecting piece and can rotate relatively, the flapping wing includes the flapping wing frame, and installs rotatable blade in the flapping wing frame, still be provided with the torsional spring in the flapping wing frame and be used for the restoration of blade, four sets drive mechanism articulates four respectively on the connecting piece, set up four on the fuselage frame the motor is respectively through setting up four on the fuselage frame drive four sets respectively after the second reduction gear slows down the drive mechanism motion makes four connecting pieces on the connecting piece respectively And the four stepping motors are arranged on the four connecting pieces respectively and drive the four flapping wings to rotate after being decelerated by the four first speed reducers arranged on the four connecting pieces respectively.
Further, a blade mounting hole, a blade limiting beam and a flapping wing rotating shaft are arranged on the flapping wing frame, the blade comprises a blade windward side, a blade leeward side and a blade rotating shaft, the blade windward side and the blade leeward side are oppositely arranged, the blade rotating shaft is arranged on the blade, the connecting piece is provided with a slide way hole and a flapping wing rotating shaft hole, the axis of the slide way hole is perpendicular to the axis of the flapping wing rotating shaft hole, the slide way is inserted into the slide way hole and can slide, and the flapping wing rotating shaft is inserted into the flapping wing rotating shaft hole and can rotate; the blade rotating shaft is inserted into the blade mounting hole and can rotate, the torsional spring is sleeved on the blade rotating shaft, and two ends of the torsional spring are respectively close to the flapping wing frame and the windward side of the blade; when the torsion spring is in a compressed state, the leeward side of the blade is close to the blade limiting beam.
Further, the transmission mechanism comprises a connecting rod, a crank and a transmission shaft, a first pin shaft hole is formed in the connecting piece, and the axis of the first pin shaft hole is perpendicular to the axis of the slide way hole and the axis of the flapping wing rotating shaft hole respectively; the connecting rod is provided with a first connecting rod hole and a second connecting rod hole, and the crank is provided with a first crank hole and a second crank hole; the connecting rod and the connecting piece are connected with the first pin hole and the first connecting rod hole through a first pin shaft, and the connecting rod and the crank are connected with the second connecting rod hole and the first crank hole through a second pin shaft; the transmission shaft is connected with the second crank hole and the second speed reducer.
Further, the axis of the first connecting rod hole is parallel to the axis of the second connecting rod hole, and the axis of the first crank hole is parallel to the axis of the second crank hole; the distance between the axis of the first link hole and the axis of the second link hole is greater than the distance between the axis of the first crank hole and the axis of the second crank hole.
Further, the flapping wing rotating shaft is installed on an output shaft of the first speed reducer, and an output shaft of the stepping motor is installed in an input hole of the first speed reducer.
Further, the output shaft of the motor is mounted in the second reducer input hole.
Furthermore, the flapping wing frame also comprises at least one of a reinforcing vertical beam, a reinforcing cross beam and a reinforcing oblique beam, and the reinforcing vertical beam, the reinforcing cross beam and the reinforcing oblique beam are used for reinforcing the strength of the flapping wing frame.
Furthermore, the blade limiting beam, the reinforcing vertical beam, the reinforcing cross beam and the reinforcing oblique beam are all of hollow structures; the blade limiting beam, the reinforcing vertical beam, the reinforcing cross beam and the reinforcing oblique beam are made of engineering plastics or carbon fiber.
Further, the number of the blades installed in each flapping wing frame is more than 1.
A direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades comprises a flapping-wing framework, blades, torsional springs, slideways, connecting pieces, a first speed reducer, a stepping motor, connecting rods, cranks, a transmission shaft, a second speed reducer, a motor, a first pin shaft, a second pin shaft and a body framework, wherein the flapping-wing framework is provided with blade mounting holes, blade limiting beams and flapping-wing rotating shafts, the blades are provided with blade windward sides, blade rotating shafts and blade leeward sides, the connecting pieces are provided with slideway holes, first pin shaft holes and flapping-wing rotating shaft holes, the axes of the slideway holes, the axes of the first pin shaft holes and the axes of the flapping-wing rotating shaft holes are vertical in pairs, the connecting rods are provided with first connecting rod holes and second connecting rod holes, the cranks are provided with first crank holes and second crank holes, the body framework is symmetrically provided with four slideways in the vertical directions, the four connecting pieces are respectively sleeved on the four slideways through the slideway holes and can slide, the four flapping wing frames are respectively inserted into flapping wing rotating shaft holes of the four connecting pieces through flapping wing rotating shafts and can rotate, the blade rotating shafts are inserted into blade mounting holes and can rotate, torsion springs are sleeved on the blade rotating shafts, one ends of the torsion springs lean against the flapping wing frames, the other ends of the torsion springs lean against windward sides of the blades, the torsion springs are in a compressed state, leeward sides of the blades lean against a blade limiting beam, the flapping wing rotating shafts are installed on output shafts of first speed reducers, output shafts of stepping motors are installed in input holes of the first speed reducers, the four first speed reducers and the four stepping motors are respectively installed and fixed on the four connecting pieces, first pin shafts are simultaneously inserted into first pin shaft holes and first connecting rod holes and can rotate, second pin shafts are simultaneously inserted into second connecting rod holes and first crank holes and can rotate, transmission shafts are inserted and fixed in the second crank holes, and the transmission shafts are installed, the output shaft of motor is installed in the second reduction gear input hole, four second reduction gears and four motors are all installed and fixed on the fuselage frame, the axis in first connecting rod hole and the axis in second connecting rod hole are parallel, the axis in first crank hole and the axis in second crank hole are parallel, the distance between the axis in first connecting rod hole and the axis in second connecting rod hole is greater than the distance between the axis in first crank hole and the axis in second crank hole, there is the enhancement vertical beam on the flapping wing frame, strengthening cross beam and reinforcement sloping, the spacing roof beam of blade, strengthening vertical beam, strengthening cross beam and reinforcement sloping all adopt hollow structure and adopt engineering plastics, light materials such as carbon fiber.
The working principle of the invention is as follows: when the motor is started, the motor is decelerated by the second reducer to drive the transmission shaft and the crank to rotate continuously, the crank drives the connecting rod to enable the flapping wing frame connected to the connecting rod to do reciprocating translation, four motors arranged on the machine body respectively and independently control each flapping wing frame to do reciprocating translation, when the flapping wing frame does translation close to the transmission shaft, the flapping wing is in a flapping wing working state, the leeward side of the blade is abutted against the blade limiting beam under the action of the torsion spring, the windward side of the blade is vertical to the movement direction of airflow, the airflow directly acts on the windward side of the blade to obtain the maximum aerodynamic force, meanwhile, the stepping motor is decelerated by the first reducer to drive the flapping wing frame to rotate, the inclination angle of the blade is changed, the positive pressure of the airflow acting on the windward side of the blade can be decomposed into lift force and thrust force, and the change; when the flapping wing frame moves horizontally away from the transmission shaft, the flapping wing is in a resetting state, and at the moment, airflow directly acts on the leeward surface of the blade, so that the blade overcomes the elasticity of the torsion spring and then rotates around the rotating shaft of the blade until the leeward surface of the blade is basically parallel to the movement direction of the airflow, therefore, the air resistance borne by the flapping wing in the resetting process is the minimum, and the torsion spring is further compressed in the resetting process; when the resetting stroke of the flapping wing is finished, the blade rotates around the blade rotating shaft under the action of the restoring elasticity of the torsion spring to be in an initial state, namely a working state. When the four stepping motors respectively adjust the wing surfaces of the four flapping wings to be in a horizontal state, and simultaneously, the four motors respectively control the up-and-down reciprocating motion frequencies of the four flapping wings to be consistent, the vertical take-off and landing function can be realized, and if the aerodynamic force generated by the four flapping wings is equal to the weight and the resistance of the whole machine, hovering can be realized; the flapping wing inclination angles and the reciprocating motion frequency of the four flapping wings are adjusted through the stepping motor and the motor, so that the lift force and the thrust force generated by each flapping wing can be adjusted, and the four groups of lift forces and thrust forces can enable the unmanned aerial vehicle to generate resultant force and couple in any direction in space, so that the unmanned aerial vehicle can be quickly switched to fly in any direction.
Compared with the prior art, the invention has the following remarkable advantages:
1. the direct-acting four-flapping-wing unmanned aerial vehicle based on the self-adaptive airflow rotatable blades is characterized in that the flapping wings are linearly translated, and the rotatable blades controlled by the torsional springs are designed, so that the blades are moved to the wind in the largest area in the working state to obtain the maximum aerodynamic force, and are automatically rotated to be parallel to the direction of the airflow under the action of the airflow in the reset state, thereby greatly reducing the resistance and achieving the purpose of improving the flight aerodynamic efficiency of the flapping wings.
2. According to the direct-acting four-flapping-wing unmanned aerial vehicle based on the self-adaptive airflow rotatable blade, the rotatable blade is automatically switched between the working state and the reset state under the action of the torsion spring and the airflow, a complex mechanical mechanism and an electronic control system are not needed, and the direct-acting four-flapping-wing unmanned aerial vehicle is simple in structure and good in reliability.
3. According to the direct-acting four-flapping-wing unmanned aerial vehicle based on the adaptive airflow rotatable blades, the four motors and the four stepping motors are arranged to respectively and independently control the round-trip frequency and the inclination angle of the four flapping wings, so that the vertical take-off and landing and hovering can be conveniently realized, and particularly, the direct-acting four-flapping-wing unmanned aerial vehicle can be quickly switched to fly in any direction, so that the flexibility and the maneuverability of the flapping-wing unmanned aerial vehicle are very good.
4. The direct-acting four-flapping-wing unmanned aerial vehicle based on the self-adaptive airflow rotatable blades has the advantages of simple structure, good processing manufacturability and low production cost, and can be widely applied to various small aircrafts and unmanned aerial vehicles flying at low Reynolds numbers.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structure diagram of a direct-acting four-flapping-wing unmanned aerial vehicle based on adaptive airflow rotatable blades.
Fig. 2 is a detailed structural schematic diagram of a direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades, wherein only one-side flapping wing is installed in the working state.
Fig. 3 is a detailed structural schematic diagram of a direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades, wherein only one-side flapping wing is installed in the direct-acting four-flapping-wing unmanned aerial vehicle in a reset state.
Fig. 4 is a detailed cross-sectional view of the flapping wing operation state of the direct-acting four-flapping wing drone based on adaptive airflow rotatable blades.
Fig. 5 is a detailed cross-sectional view of the flapping wing reset state of the direct-acting four-flapping wing drone based on adaptive airflow rotatable blades.
Fig. 6 is a schematic structural diagram of a flapping wing frame of a direct-acting four-flapping wing drone based on adaptive airflow rotatable blades.
Fig. 7 is a schematic structural diagram of a blade of a direct-acting four-flapping-wing drone based on adaptive airflow rotatable blades.
Fig. 8 is a schematic structural diagram of a connecting piece of a direct-acting four-flapping-wing unmanned aerial vehicle based on adaptive airflow rotatable blades.
Fig. 9 is a schematic structural diagram of a connecting rod of a direct-acting four-flapping-wing unmanned aerial vehicle based on adaptive airflow rotatable blades.
Fig. 10 is a schematic structural diagram of a crank of a direct-acting four-flapping-wing drone based on adaptive airflow rotatable blades.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1:
with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the high-voltage wire routing inspection drone adopts a direct-acting four-flapping-wing drone based on adaptive airflow rotatable blades.
As shown in fig. 1 and 2, the direct-acting four-flapping-wing unmanned aerial vehicle based on the adaptive airflow rotatable blades comprises a flapping wing frame 1, blades 2, a torsion spring 3, a slideway 4, a connecting piece 5, a first speed reducer 6, a stepping motor 7, a connecting rod 8, a crank 9, a transmission shaft 10, a second speed reducer 11, a motor 12, a first pin shaft 13, a second pin shaft 14 and a body frame 15. As shown in FIG. 5, the flapping wing frame 1 is provided with a blade mounting hole 101, a blade limit beam 102 and a flapping wing rotating shaft 103. As shown in fig. 7, the blade 2 has a blade windward side 201, a blade rotation axis 202 and a blade leeward side 203. As shown in fig. 8, the connecting member 5 has a slide hole 501, a first pin shaft hole 502 and a flapping wing rotating shaft hole 503, and the axes of the slide hole 501, the first pin shaft hole 502 and the flapping wing rotating shaft hole 503 are perpendicular to each other. As shown in fig. 9 and 10, the connecting rod 8 has a first connecting rod hole 801 and a second connecting rod hole 802, the crank 9 has a first crank hole 901 and a second crank hole 902, two sides of the fuselage frame 15 are symmetrically installed and fixed with four vertical slideways 4, four connecting pieces 5 are respectively sleeved on the four slideways 4 through the slideways holes 501 and can slide, four flapping wing frames 1 are respectively inserted in the flapping wing rotating shaft holes 503 of the four connecting pieces 5 through the flapping wing rotating shafts 103 and can rotate, the blade rotating shafts 202 are inserted in the blade installing holes 101 and can rotate, the number of the blades 2 installed in each flapping wing frame 1 is four, the torsion springs 3 are sleeved on the blade rotating shafts 202, one ends of the torsion springs 3 lean on the flapping wing frames 1, the other ends lean on the blade windward sides 201, the torsion springs 3 are in a compressed state, the blade leeward sides 203 lean on the blade limiting beams 102, the flapping wing rotating shafts 103 are installed on the output shaft of the first speed reducer 6, an output shaft of a stepping motor 7 is arranged in an input hole of a first speed reducer 6, four first speed reducers 6 and four stepping motors 7 are respectively arranged and fixed on four connecting pieces 5, a first pin shaft 13 is simultaneously inserted in a first pin shaft hole 502 and a first crank hole 801 and can rotate, a second pin shaft 14 is simultaneously inserted in a second connecting rod hole 802 and a first crank hole 901 and can rotate, a transmission shaft 10 is inserted and fixed in a second crank hole 902, the transmission shaft 10 is arranged on an output shaft of a second speed reducer 11, an output shaft of an electric motor 12 is arranged in an input hole of the second speed reducer 11, four second speed reducers 11 and four electric motors 12 are arranged and fixed on a machine body frame 15, the axis of the first connecting rod hole 801 is parallel to the axis of the second connecting rod hole 802, the axis of the first crank hole 901 is parallel to the axis of the second crank hole 902, and the distance between the axis of the first connecting rod hole 801 and the axis of the second connecting rod hole 802 is greater than the distance between the axis of the first crank hole 901 and the axis of the second crank hole 902 The flapping wing frame 1 is provided with a reinforced vertical beam 104, a reinforced cross beam 105 and a reinforced oblique beam 106, and the blade limiting beam 102, the reinforced vertical beam 104, the reinforced cross beam 105 and the reinforced oblique beam 106 are all of hollow structures and made of carbon fiber materials. After the direct-acting four-flapping-wing unmanned aerial vehicle based on the self-adaptive airflow rotatable blades is adopted by the high-voltage wire inspection unmanned aerial vehicle, as the flapping-wing unmanned aerial vehicle has small resistance, high pneumatic efficiency and good flexibility and maneuverability, obstacles can be quickly avoided to complete various detection and photographing operations with higher difficulty, compared with a rotor unmanned aerial vehicle, after the rotor unmanned aerial vehicle carries the same working load such as photographic equipment, the one-time flight time is increased by 20%, and longer flight time work is realized.
Example 2:
this embodiment 2 provides a special unmanned aerial vehicle of high-rise fire extinguishing, its structure with embodiment 1, the difference is: the number of the blades 2 in each flapping wing frame 1 is 6, and the blade limit beams 102, the reinforced vertical beams 104, the reinforced cross beams 105 and the reinforced oblique beams 106 are all made of engineering plastics. The special unmanned aerial vehicle for high-rise fire extinguishment adopts a direct-acting four-flapping wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades, and comprises a flapping wing frame 1, blades 2, a torsion spring 3, a slideway 4, a connecting piece 5, a first speed reducer 6, a stepping motor 7, a connecting rod 8, a crank 9, a transmission shaft 10, a second speed reducer 11, a motor 12, a first pin shaft 13, a second pin shaft 14 and a machine body frame 15, wherein the flapping wing frame 1 is provided with a blade mounting hole 101, a blade limiting beam 102 and a flapping wing rotating shaft 103, the blades 2 are provided with a blade windward side 201, a blade rotating shaft 202 and a blade leeward side 203, the connecting piece 5 is provided with a slideway hole 501, a first pin shaft hole 502 and a flapping wing rotating shaft hole 503, the axial line of the slideway hole 501, the axial line of the first pin shaft hole 502 and the axial line of the flapping wing rotating shaft hole 503 are vertical to each other, the connecting rod 8 is provided with a first connecting rod hole 801 and a second connecting rod hole 802, and the crank 9, four vertical direction slideways 4 are symmetrically arranged and fixed on two sides of a machine body frame 15, four connecting pieces 5 are respectively sleeved on the four slideways 4 through slideway holes 501 and can slide, four flapping wing frames 1 are respectively inserted in flapping wing rotating shaft holes 503 of the four connecting pieces 5 through flapping wing rotating shafts 103 and can rotate, a blade rotating shaft 202 is inserted in a blade mounting hole 101 and can rotate, six blades 2 are arranged in each flapping wing frame 1, a torsional spring 3 is sleeved on the blade rotating shaft 202, one end of the torsional spring 3 leans against the flapping wing frame 1, the other end leans against a blade windward side 201, the torsional spring 3 is in a compression state, a blade leeward side 203 leans against a blade limiting beam 102, the flapping wing rotating shaft 103 is arranged on an output shaft of a first speed reducer 6, an output shaft of a stepping motor 7 is arranged in an input hole of the first speed reducer 6, the four first speed reducers 6 and the four stepping motors 7 are respectively arranged and fixed on the four connecting pieces, a first pin shaft 13 is inserted into the first pin shaft hole 502 and the first connecting rod hole 801 and can rotate, a second pin shaft 14 is inserted into the second connecting rod hole 802 and the first crank hole 901 and can rotate, a transmission shaft 10 is inserted and fixed into the second crank hole 902, the transmission shaft 10 is installed on an output shaft of the second speed reducer 11, an output shaft of a motor 12 is installed in an input hole of the second speed reducer 11, four second speed reducers 11 and four motors 12 are all installed and fixed on a frame 15 of the machine body, the axis of the first connecting rod hole 801 is parallel to the axis of the second connecting rod hole 802, the axis of the first crank hole 901 is parallel to the axis of the second crank hole 902, the distance between the axis of the first connecting rod hole 801 and the axis of the second connecting rod hole 802 is larger than the distance between the axis of the first crank hole 901 and the axis of the second crank hole 902, the flapping wing frame 1 is provided with a vertical reinforcing beam 104, a transverse reinforcing beam 105 and an oblique reinforcing beam 106, the blade limiting beam 102, the reinforcing vertical beam 104, the reinforcing cross beam 105 and the reinforcing oblique beam 106 are all of hollow structures and made of engineering plastics. After the direct-acting four-flapping-wing unmanned aerial vehicle based on the self-adaptive airflow rotatable blades is adopted, the direct-acting four-flapping-wing unmanned aerial vehicle has the advantages of large thrust of the flapping-wing working stroke, small resistance of the flapping wings, high pneumatic efficiency, very good flexibility and mobility, capability of quickly responding to high-rise emergency situations, capability of quickly flying to fire points in high-rise and narrow spaces, capability of hovering in the air and capability of accurately and continuously extinguishing fire at fire points.
Example 3:
this embodiment 3 provides an agricultural plant protection unmanned aerial vehicle, and its structure is with embodiment 1, and the difference is: the number of the blades 2 in each flapping wing frame 1 is 8, and the blade limit beams 102, the reinforced vertical beams 104, the reinforced cross beams 105 and the reinforced oblique beams 106 are all made of engineering plastics. An agricultural plant protection unmanned aerial vehicle adopting a direct-acting four-flapping wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades comprises a flapping wing frame 1, blades 2, a torsion spring 3, a slideway 4, a connecting piece 5, a first speed reducer 6, a stepping motor 7, a connecting rod 8, a crank 9, a transmission shaft 10, a second speed reducer 11, a motor 12, a first pin shaft 13, a second pin shaft 14 and a machine body frame 15, wherein the flapping wing frame 1 is provided with a blade mounting hole 101, a blade limiting beam 102 and a flapping wing rotating shaft 103, the blades 2 are provided with a blade windward side 201, a blade rotating shaft 202 and a blade leeward side 203, the connecting piece 5 is provided with a slideway hole 501, a first pin shaft hole 502 and a flapping wing rotating shaft hole 503, the axial line of the slideway hole 501, the axial line of the first pin shaft hole 502 and the axial line of the flapping wing rotating shaft hole 503 are vertical to each other, the connecting rod 8 is provided with a first connecting rod hole 801 and a second connecting rod hole 802, the crank 9 is provided with a first crank hole 901, four vertical direction slideways 4 are symmetrically arranged and fixed on two sides of a machine body frame 15, four connecting pieces 5 are respectively sleeved on the four slideways 4 through slideway holes 501 and can slide, four flapping wing frames 1 are respectively inserted in flapping wing rotating shaft holes 503 of the four connecting pieces 5 through flapping wing rotating shafts 103 and can rotate, a blade rotating shaft 202 is inserted in a blade mounting hole 101 and can rotate, the number of blades 2 arranged in each flapping wing frame 1 is 8, a torsion spring 3 is sleeved on the blade rotating shaft 202, one end of the torsion spring 3 leans against the flapping wing frame 1, the other end leans against a blade windward side 201, the torsion spring 3 is in a compression state, a blade leeward side 203 leans against a blade limiting beam 102, the flapping wing rotating shaft 103 is arranged on an output shaft of a first speed reducer 6, an output shaft of a stepping motor 7 is arranged in an input hole of the first speed reducer 6, the four first speed reducers 6 and the four stepping motors 7 are respectively arranged and fixed on the four, a first pin shaft 13 is inserted into the first pin shaft hole 502 and the first connecting rod hole 801 and can rotate, a second pin shaft 14 is inserted into the second connecting rod hole 802 and the first crank hole 901 and can rotate, a transmission shaft 10 is inserted and fixed into the second crank hole 902, the transmission shaft 10 is installed on an output shaft of the second speed reducer 11, an output shaft of a motor 12 is installed in an input hole of the second speed reducer 11, four second speed reducers 11 and four motors 12 are all installed and fixed on a frame 15 of the machine body, the axis of the first connecting rod hole 801 is parallel to the axis of the second connecting rod hole 802, the axis of the first crank hole 901 is parallel to the axis of the second crank hole 902, the distance between the axis of the first connecting rod hole 801 and the axis of the second connecting rod hole 802 is larger than the distance between the axis of the first crank hole 901 and the axis of the second crank hole 902, the flapping wing frame 1 is provided with a vertical reinforcing beam 104, a transverse reinforcing beam 105 and an oblique reinforcing beam 106, the blade limiting beam 102, the reinforcing vertical beam 104, the reinforcing cross beam 105 and the reinforcing oblique beam 106 are all of hollow structures and made of engineering plastics. After the agricultural plant protection unmanned aerial vehicle adopts the direct-acting four-flapping-wing unmanned aerial vehicle based on the self-adaptive airflow rotatable blades, due to the fact that the flapping-wing working stroke is large in thrust, the flapping-wing resistance is small, the pneumatic efficiency is high, the flexibility and the maneuverability are very good, various functions of fertilizer spreading, powder spraying, pollination assisting and the like can be efficiently and quickly completed, the endurance time is long, compared with a rotor unmanned aerial vehicle, the one-time flight time is increased by 20% when the same working load is applied, and long-time flight work is achieved.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades is characterized by comprising flapping wings, slide ways (4), connecting pieces (5), a first speed reducer (6), a stepping motor (7), a transmission mechanism, a second speed reducer (11), a motor (12) and a body frame (15), wherein the slide ways (4) in four vertical directions are symmetrically arranged on the periphery of the body frame (15), the four connecting pieces (5) are respectively and slidably connected onto the four slide ways (4), the four flapping wings are respectively connected onto the four connecting pieces (5) and can rotate relatively, each flapping wing comprises a flapping-wing frame (1) and rotatable blades (2) arranged in the flapping-wing frame (1), and torsional springs (3) are further arranged in the flapping-wing frame (1) and used for resetting the blades (2), the four sets of transmission mechanisms are respectively hinged on the four connecting pieces (5), four sets of transmission mechanisms are respectively driven by four motors (12) arranged on the machine body frame (15) to respectively move after being decelerated through four second speed reducers (11) arranged on the machine body frame (15), so that the four connecting pieces (5) respectively slide up and down, and four stepping motors (7) respectively arranged on the four connecting pieces (5) respectively drive the four flapping wings to rotate after being decelerated through four first speed reducers (6) arranged on the four connecting pieces (5);
the flapping wing type wind power generation device is characterized in that a blade mounting hole (101), a blade limiting beam (102) and a flapping wing rotating shaft (103) are arranged on the flapping wing frame (1), the blade (2) comprises a blade windward side (201), a blade leeward side (203) and a blade rotating shaft (202) which are arranged on the blade (2), the blade is arranged oppositely, a sliding channel hole (501) and a flapping wing rotating shaft hole (503) are formed in the connecting piece (5), the axis of the sliding channel hole (501) is perpendicular to the axis of the flapping wing rotating shaft hole (503), the sliding channel (4) is inserted into the sliding channel hole (501) and can slide, and the flapping wing rotating shaft (103) is inserted into the flapping wing rotating shaft hole (503) and can rotate; the blade rotating shaft (202) is inserted into the blade mounting hole (101) and can rotate, the torsion spring (3) is sleeved on the blade rotating shaft (202), and two ends of the torsion spring (3) are respectively close to the flapping wing frame (1) and the windward side (201) of the blade; when the torsion spring (3) is in a compressed state, the leeward side (203) of the blade is close to the blade limiting beam (102).
2. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 1, wherein: the transmission mechanism comprises a connecting rod (8), a crank (9) and a transmission shaft (10), a first pin shaft hole (502) is formed in the connecting piece (5), and the axis of the first pin shaft hole (502) is perpendicular to the axis of the sliding channel hole (501) and the axis of the flapping wing rotating shaft hole (503) respectively; a first connecting rod hole (801) and a second connecting rod hole (802) are formed in the connecting rod (8), and a first crank hole (901) and a second crank hole (902) are formed in the crank (9); the connecting rod (8) and the connecting piece (5) are connected with a first pin shaft hole (502) and a first connecting rod hole (801) through a first pin shaft (13), and the connecting rod (8) and the crank (9) are connected with a second connecting rod hole (802) and a first crank hole (901) through a second pin shaft (14); the transmission shaft (10) is connected with the second crank hole (902) and the second speed reducer (11).
3. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 2, wherein: the axis of the first link hole (801) and the axis of the second link hole (802) are parallel, and the axis of the first crank hole (901) and the axis of the second crank hole (902) are parallel; the distance between the axis of the first link hole (801) and the axis of the second link hole (802) is larger than the distance between the axis of the first crank hole (901) and the axis of the second crank hole (902).
4. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 1, wherein: the flapping wing rotating shaft (103) is installed on an output shaft of the first speed reducer (6), and an output shaft of the stepping motor (7) is installed in an input hole of the first speed reducer (6).
5. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 2, wherein: and an output shaft of the motor (12) is arranged in an input hole of the second speed reducer (11).
6. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 1, wherein: the flapping wing framework (1) further comprises at least one of a reinforcing vertical beam (104), a reinforcing cross beam (105) and a reinforcing oblique beam (106) which are used for reinforcing the strength of the flapping wing framework (1).
7. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 6, wherein: the blade limiting beam (102), the reinforcing vertical beam (104), the reinforcing cross beam (105) and the reinforcing oblique beam (106) are all hollow structures; the blade limiting beam (102), the reinforcing vertical beam (104), the reinforcing cross beam (105) and the reinforcing oblique beam (106) are made of engineering plastics or carbon fiber.
8. The adaptive airflow rotatable blade-based direct acting quad-ornithopter-based drone of claim 1, wherein: the number of the blades (2) arranged in each flapping wing frame (1) is more than 1.
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| CN1541893A (en) * | 2003-04-29 | 2004-11-03 | 魏顶启 | Airfoil having holes and flaps for ornithopter |
| CN101020502B (en) * | 2007-01-24 | 2013-04-10 | 田顺强 | Flapping wing unit of flapping wing aircraft |
| RU2349507C2 (en) * | 2007-04-23 | 2009-03-20 | Анатолий Степанович Васильев | Flapping wing flight vehicle universal drive |
| CN102211667B (en) * | 2011-04-14 | 2013-04-03 | 西北工业大学 | Flapping wing driving mechanism of two-level parallel gear reduction |
| CN102229359B (en) * | 2011-06-09 | 2013-04-17 | 西北工业大学 | Cylindrical cam flapping wing driving mechanism |
| CN106005405B (en) * | 2016-07-18 | 2019-01-25 | 上海交通大学 | It is a kind of with the high frequency flapping wing Bionic insect flight device controllably passively reversed |
| CN106494617B (en) * | 2016-09-28 | 2018-09-21 | 南京航空航天大学 | One kind can VTOL flapping wing aircraft and its flight control method |
| CN108190013B (en) * | 2018-02-11 | 2021-01-15 | 陆昌新 | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time |
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