CN113581461A - Flapping wing detection aircraft - Google Patents
Flapping wing detection aircraft Download PDFInfo
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- CN113581461A CN113581461A CN202110892650.1A CN202110892650A CN113581461A CN 113581461 A CN113581461 A CN 113581461A CN 202110892650 A CN202110892650 A CN 202110892650A CN 113581461 A CN113581461 A CN 113581461A
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000011835 investigation Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 8
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 5
- 239000004917 carbon fiber Substances 0.000 claims description 5
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 5
- 230000001788 irregular Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 241000238633 Odonata Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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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
- B64C2001/0054—Fuselage structures substantially made from particular materials
- B64C2001/0072—Fuselage structures substantially made from particular materials from composite materials
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a flapping wing detection aircraft, which comprises a main frame shaft, an aircraft framework, a gear transmission mechanism, a wing mechanism, a control device, a detection device and a tail wing mechanism, wherein one end of the main frame shaft is fixedly connected with the aircraft framework, the other end of the main frame shaft is connected with the tail wing mechanism, an aircraft shell is arranged on the outer side of the aircraft framework, the aircraft wing mechanism is streamlined, the control device and the detection device are arranged at the lower end of the aircraft, the gear transmission mechanism is driven by the motor, the gear transmission mechanism and the motor are respectively arranged on the framework of the aircraft, the number of the wing mechanisms is two, and are respectively arranged at two sides of the aircraft framework, and comprise a main wing mechanism and an auxiliary wing mechanism, the main wing mechanism is connected with the auxiliary wing mechanism, a motor enables a gear transmission mechanism to rotate, and then the crank on the gear transmission mechanism is driven, and the crank pushes the rocking bars on the main wing mechanism and the auxiliary wing mechanism to make the main wing mechanism and the auxiliary wing mechanism flap. The flapping-wing investigation aircraft can fly stably and perform investigation.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to an ornithopter detection aircraft.
The wings of the existing flapping wing aircraft are generally designed to imitate the wings of a dragonfly. However, the wings of the dragonfly are single wings, the flapping frequency is fast in the flying process, the requirements on the stretchability and the flexibility of the manufacturing material are high, and the flight stability is insufficient.
However, birds fly stably, and the frequency of wing flaring is low, so that the wing structure of the birds is applied to the flapping wing aircraft, and the flight capability of the aircraft can be improved. Therefore, the bionic aircraft which can fly flexibly and stably is developed by simulating the flying posture of birds, and the aspects of aerial photography, investigation, strange environment map construction and the like are already the targets pursued by researchers.
Disclosure of Invention
The invention aims to provide an ornithopter detection aircraft, which solves the technical problem that the ornithopter flight in the prior art is not stable enough and cannot be applied to detection.
The technical scheme adopted by the invention for solving the technical problems is as follows: a flapping wing detection aircraft comprises a main frame shaft, an aircraft frame, a gear transmission mechanism, a wing mechanism, a control device, a detection device and a tail wing mechanism; one end of the main frame shaft is fixedly connected with an aircraft framework, the other end of the main frame shaft is connected with an empennage mechanism, an aircraft shell is arranged on the outer side of the aircraft framework and is streamlined, and the control device and the detection device are arranged at the lower end of the aircraft; the gear transmission mechanism is driven by the motor and is positioned in the aircraft shell, and the gear transmission mechanism and the motor are respectively arranged on the aircraft framework; the two wing mechanisms are respectively arranged on two sides of the aircraft framework and comprise a main wing mechanism and an auxiliary wing mechanism, the main wing mechanism is connected with the auxiliary wing mechanism, the gear transmission mechanism is rotated by the motor to further drive a crank on the gear transmission mechanism, and the crank pushes a rocker on the main wing mechanism and the auxiliary wing mechanism to enable the main wing mechanism and the auxiliary wing mechanism to flap.
Through setting up the main frame axle, connect aircraft skeleton and fin mechanism respectively, gear drive, motor and wing mechanism connect on the aircraft skeleton, support through the aircraft skeleton, make the aircraft shell be streamlined, controlling means is used for controlling the flight state of aircraft, the investigation device is used for catching at the flight in-process, the data of gained, so be located the lower extreme of aircraft, the motor provides power for gear drive, and set up on the aircraft skeleton, make gear drive rotate, and drive the rocker on crank and two wing mechanisms, and then drive two wing rotations.
Further, the aircraft framework comprises a head framework and a fuselage framework; the head framework comprises an annular framework, a first connecting rod, a first connecting piece, a second connecting rod, a third connecting rod and a second connecting piece, wherein the first connecting rod and the third connecting rod are respectively provided with a plurality of connecting rods; the inner side of the first connecting piece is connected with the main frame shaft, one ends of a plurality of first connecting rods are uniformly arranged and connected around the first connecting piece respectively, and the other ends of the plurality of first connecting rods are connected with the annular framework respectively; one ends of the two second connecting rods are connected with the outer side of the annular framework, and the other ends of the two second connecting rods are respectively provided with a first connecting hole; one ends of the third connecting rods are uniformly arranged and connected to the annular framework respectively, the other ends of the third connecting rods are connected to the second connecting pieces respectively, and the third connecting rods, the annular framework and the second connecting pieces are connected together to form a conical framework; the machine body framework comprises a bracket, a fourth connecting rod and a third connecting piece; the two supports comprise a fourth connecting piece and a first supporting piece, the fourth connecting piece is a hollow plate-shaped object or a rod-shaped object with an irregular shape, a plurality of second connecting holes are formed in the fourth connecting piece, and two ends of the first supporting piece are connected to the inner side of the fourth connecting piece; the four fourth connecting rods are arranged, one ends of the two fourth connecting rods positioned at the upper end respectively penetrate through the second connecting holes on the two supports and are fixedly connected with the first connecting holes of the two second connecting rods on the head skeleton respectively, so that the head skeleton and the machine body skeleton are connected into a whole, and the other ends of the two fourth connecting rods are respectively connected with the third connecting piece; and one end of each fourth connecting rod at the lower end penetrates through the second connecting hole in the fourth connecting piece and is fixedly connected with the second connecting hole, and the other end of each fourth connecting rod is connected with the third connecting piece.
The aircraft head shell supported by the head framework is also in a cone shape by connecting a plurality of third connecting rods, the annular framework and the second connecting pieces, so that the resistance of air can be reduced during flying, the inner side of the first connecting piece is connected with the main frame shaft, the first connecting holes on the two second connecting rods are respectively connected with the two fourth connecting rods on the airframe framework to ensure that the head framework is tightly connected with the airframe framework, the two supports on the airframe framework provide connecting points for the fourth connecting rods, the four fourth connecting rods are distributed around the main frame shaft, the third connecting piece enables the plurality of fourth connecting rods to contract and be in one position, the airframe framework structure can well support the aircraft shell into a streamline shape, the streamline structure can reduce the resistance of the flying of the aircraft, and the rod-shaped objects or the hollow plate-shaped objects are fully used, the weight of the aircraft is effectively reduced, and the performance of the aircraft is improved.
Further, the gear transmission mechanism comprises a motor gear, a duplicate gear, a first gear and cranks, wherein the motor gear is connected with an output shaft of the motor and is meshed with a pinion of the duplicate gear, the number, pressure angle, tooth pitch, modulus and reference circle diameter of a large gear of the duplicate gear and the first gear are equal and are meshed, the eccentric positions of the large gear and the first gear are respectively connected with one crank, and when the gear transmission mechanism rotates, the rotating tracks of two connecting points on the two cranks and the two gears are circular and have equal diameters.
The gear transmission mechanism is driven by a motor, a motor gear is connected on an output shaft of the motor, the motor drives the motor gear after rotating, then drives a pinion of a duplicate gear meshed with the motor gear, and then drives a bull gear of the duplicate gear, therefore, a gear transmission device for accelerating rotation is formed by the small gear and the large gear, the tooth number, the pressure angle, the tooth pitch, the modulus and the reference circle diameter of the large gear and the first gear are the same, and the large gear and the first gear are meshed, so that the linear velocity and the angular velocity of the two gears are the same, when the eccentric positions of the large gear and the first gear are respectively connected with a crank, and the rotation tracks of the two connecting points on the two cranks and the two gears are circular and have the same diameter, so that the two cranks can symmetrically and synchronously push the rocking rods on the wing mechanisms, and the two wing mechanisms can symmetrically and synchronously flap up and down.
Furthermore, the main wing mechanism comprises a rocker mechanism, a plurality of main wing frameworks and a main wing skin, wherein the main wing frameworks are respectively connected with the rocker mechanism, and the main wing skin is arranged on the outer side of the main wing frameworks; the rocker mechanism comprises a first rocker, a second rocker, an auxiliary rocker, a fifth connecting piece and a fifth connecting rod, wherein the fifth connecting piece is a plate-shaped body or a rod-shaped body with a hollow inner side; one end of the first rocker is rotationally connected with the crank, and the other end of the first rocker is rotationally connected with the fifth connecting piece; one end of the second rocker is rotatably connected with the crank, the other end of the second rocker is connected with the fifth connecting piece, and the second rocker is rotatably connected to the fourth connecting rod; one end of the auxiliary rocker is rotatably connected with a fourth connecting rod on the machine body framework, the other end of the auxiliary rocker is connected with a fifth connecting rod, the fifth connecting rod is connected with a fifth connecting piece, and the crank pushes the rocker of the main wing mechanism to enable the main wing mechanism to move up and down.
The crank pushes the rocker mechanism to enable the main wing mechanism to flap up and down, the second rocker and the auxiliary rocker are rotatably connected to the fourth connecting rod, the flap of the main wing mechanism can be enabled to be more stable by taking the aircraft framework as a fulcrum, and the aircraft can fly more stably.
Furthermore, the main wing framework comprises an outer wing framework and a second supporting piece, the outer side of the outer wing framework is a streamline hollow body, and two ends of the second supporting piece are connected to the inner side of the outer wing framework.
The outer side of the outer side framework of the wing is set to be a streamline hollow body, so that the skin arranged on the main wing framework can be streamline, the resistance of the aircraft can be reduced, and the outer side framework of the wing can be well supported by connecting the two ends of the second supporting piece to the inner side of the outer side framework of the wing.
The auxiliary wing mechanism comprises a wing tip rod, a wing tip turning rod, a wing tip connecting piece, a torsion spring and an auxiliary wing skin, the wing tip rod is connected with a fifth connecting piece, the wing tip connecting piece is installed on the side face of the wing tip rod, a connecting shaft is arranged on the wing tip connecting piece, the wing tip turning rods are multiple, one ends of the multiple wing tip turning rods are connected together and fixedly connected with the connecting shaft, the torsion spring is sleeved on the connecting shaft, two ends of the torsion spring are fixedly connected with the connecting part of the wing tip connecting piece and the wing tip turning rod respectively, and the auxiliary wing skin is arranged on the wing tip rod and the wing tip turning rod.
The wing tip rod, the wing tip turning rod, the wing tip connecting piece and the auxiliary wing skin form a main body of the auxiliary wing, one ends of the wing tip turning rods are connected together and fixedly connected with the connecting shaft, the torsional spring sleeves the connecting shaft, and the two ends of the torsion spring are fixedly connected with the connecting part of the wing tip connecting piece and the wing tip turning rod respectively.
Further, the aircraft frame, the main frame shaft, the crank and the rod structure are all made of carbon fiber materials.
Because the carbon fiber material quality is light, and intensity is high, so through setting up aircraft skeleton, crank and pole structure into carbon fiber material, can reduce the weight of aircraft, also can satisfy the intensity requirement of aircraft.
Further, the empennage mechanism comprises a steering engine fixing frame, a steering engine, an empennage connecting plate, empennages and a moving pair, the moving pair comprises two guide rail grooves and two guide rods, the two guide rail grooves are respectively arranged on the same side surfaces of two ends of the empennage connecting plate, the guide rods can freely slide in the two guide rail grooves, the empennages are arranged on the guide rods, the steering engine fixing frame is connected with the main frame shaft, the steering engine is fixed on the steering engine fixing frame, and a rocker on the steering engine is connected with the empennage connecting plate.
Through the steering wheel mount, on the one hand can fix the steering wheel on the steering wheel mount, on the other hand steering wheel mount can be connected with the body frame axle, the steering wheel can provide the power that turns to for fin mechanism, the rocker and the fin connecting plate of steering wheel are connected, two guide rail grooves set up respectively on same side at fin connecting plate both ends, the guide rail can slide in the guide rail inslot, when the aircraft need turn to, the rocker of steering wheel can take place to rotate, then make the fin connecting plate take place the slope, the removal pair of being connected with the fin connecting plate will remove, the trend of this kind of slope aggravation, make turning to of steering wheel more high-efficient and quick.
Further, the spying device is a camera.
Through setting up the investigation device into the camera, can observe the landform in different regions, utilize flapping wing investigation aircraft small simultaneously, and the steady characteristics of flight, can investigate some narrow regions.
Further, the control device comprises an aircraft control device and a ground control device; the aircraft control device comprises a single chip microcomputer, a PWM motor control module, a steering engine control module and a wireless transceiver module; the single chip microcomputer is respectively connected with the PWM motor control module, the steering engine control module and the wireless transceiver module, the wireless transceiver module transmits the received adjusting command to the single chip microcomputer, and the single chip microcomputer is used for processing the adjusting command and then sending the adjusting command to the wireless transceiver module for controlling the PWM motor control module or the steering engine control module; the PWM motor control module is used for controlling the rotating speed of the aircraft motor according to the PWM control signal sent by the wireless transceiver module; the steering engine control module is used for controlling the steering engine to act according to the control signal sent by the wireless receiving and sending module; and the ground control device receives the data of the aircraft on one hand and sends an adjusting command to the single chip microcomputer on the other hand through the wireless transceiving module.
The invention has the beneficial effects that: through the aircraft skeleton that the design quality is lighter, can improve the performance of aircraft, fulcrum setting through with wing mechanism is on the aircraft skeleton, can make the more steady flapping of wing mechanism, through designing the shell of aircraft for streamlined, will reduce the aircraft resistance of flight in-process, through setting up the torsional spring, can restrain the deflection of auxiliary wing mechanism, improve the wind resistance of aircraft, make the aircraft more steady flight, can make the aircraft have the investigation function through setting up the investigation device, so the aircraft that a quality is light, flight resistance is less, flight is stable and have certain wind resistance is provided.
Drawings
FIG. 1 is a block diagram of an ornithopter flight vehicle
Fig. 2 is a gear and rocker diagram of an ornithopter flight.
Fig. 3 is a diagram of the motor, gears and rockers of the flapping wing detection aircraft.
Fig. 4 is a skeleton diagram of an aircraft of the flapping-wing aircraft.
Fig. 5 is a wing configuration diagram of the flapping wing aircraft.
Fig. 6 is an enlarged view of fig. 5 at a.
Fig. 7 is a rear wing configuration of the ornithopter flight vehicle.
Parts, elements and numbering in the drawings: the main frame shaft 1, the motor 2, the crank 3, the annular framework 4, the first connecting rod 5, the first connecting piece 6, the second connecting rod 7, the third connecting rod 8, the second connecting piece 9, the fourth connecting rod 10, the third connecting piece 11, the fourth connecting piece 12, the first supporting piece 13, the motor gear 14, the duplicate gear 15, the first gear 16, the first rocker 17, the second rocker 18, the auxiliary rocker 19, the fifth connecting piece 20, the fifth connecting rod 21, the wing outer side framework 22, the second supporting piece 23, the wing tip rod 24, the wing tip turning rod 25, the wing tip connecting piece 26, the torsion spring 27, the connecting shaft 28, the steering engine fixing frame 29, the steering engine 30, the tail wing connecting plate 31, the tail wing 32, the guide rail groove 33 and the guide rod 34.
Detailed Description
In order to make the purpose and technical solution of the present invention clearer, the following will clearly and completely describe the technical solution of the present invention with reference to the embodiments of the present invention.
As shown in fig. 1, a flapping wing detection aircraft comprises a main frame shaft 1, an aircraft frame, a gear transmission mechanism, a wing mechanism, a control device, a detection device and a tail wing mechanism; one end of the main frame shaft 1 is fixedly connected with an aircraft framework, the other end of the main frame shaft is connected with an empennage mechanism, an aircraft shell is arranged on the outer side of the aircraft framework and is streamlined, a control device and a detection device are arranged at the lower end of the aircraft, and the control device is a camera; the gear transmission mechanism is positioned in the aircraft shell, and the gear transmission mechanism and the motor 2 are respectively arranged on the aircraft framework; the two wing mechanisms are respectively arranged on two sides of the aircraft framework and comprise a main wing mechanism and an auxiliary wing mechanism, the main wing mechanism is connected with the auxiliary wing mechanism, the motor 2 enables the gear transmission mechanism to rotate so as to drive a crank 3 on the gear transmission mechanism, and the crank 3 pushes rockers on the main wing mechanism and the auxiliary wing mechanism to enable the main wing mechanism and the auxiliary wing mechanism to flap.
As shown in fig. 2 and 4, the aircraft skeleton includes a head skeleton and a fuselage skeleton; the head framework comprises an annular framework 4, a first connecting rod 5, a first connecting piece 6, a second connecting rod 7, a third connecting rod 8 and a second connecting piece 9, wherein the number of the first connecting rod 5 and the number of the third connecting rod 8 are four respectively; the inner side of the first connecting piece 6 is connected with the main frame shaft 1, one ends of four first connecting rods 6 are uniformly arranged and connected around the first connecting piece 6 respectively, and the other ends of the four first connecting rods are connected with the annular framework 4 respectively; one ends of the two second connecting rods 7 are connected with the outer side of the annular framework 4, and the other ends of the two second connecting rods are respectively provided with a first connecting hole; one ends of the four third connecting rods 8 are respectively and uniformly arranged and connected on the annular framework 4, the other ends of the four third connecting rods 8 are respectively connected with the second connecting piece 9, and the four third connecting rods 8, the annular framework 4 and the second connecting piece 9 are jointly connected to form a conical framework; the machine body framework comprises a bracket, a fourth connecting rod 10 and a third connecting piece 11; the number of the brackets is two, the brackets comprise two fourth connecting pieces 12 and a first supporting piece 13, the fourth connecting pieces 12 are hollow plate-shaped objects or rod-shaped objects with irregular shapes, five second connecting holes are formed in the fourth connecting pieces 12, and two ends of the first supporting piece 13 are connected to the inner side of the fourth connecting pieces 12; one end of each fourth connecting rod is fixedly connected with the second connecting holes of the two second connecting rods 7 on the head skeleton respectively, so that the head skeleton and the machine body skeleton are connected into a whole, and the other end of each fourth connecting rod is connected with the third connecting piece 11 respectively; one end of each of two fourth connecting rods 10 positioned at the lower end respectively penetrates through a second connecting hole in the fourth connecting piece 12 and is fixedly connected with the second connecting hole, the other end of each of the two fourth connecting rods is respectively connected with the third connecting piece 12, and a second connecting hole in the fourth connecting piece 12 is connected with the main frame shaft.
As shown in fig. 2 and 3, the gear transmission mechanism includes a motor gear 14, a duplicate gear 15, a first gear 16 and a crank 3, the motor gear 14 is connected with an output shaft of the motor 2 and is engaged with a pinion of the duplicate gear 15, the gear number, the pressure angle, the tooth pitch, the modulus and the reference circle diameter of a big gear of the duplicate gear 15 and the first gear 16 are equal and are engaged, the crank 3 is respectively connected to the eccentric positions of the big gear and the first gear 16, and when the gear transmission mechanism rotates, the rotating tracks of two connecting points on the two cranks 3 and the two gears are circular and have equal diameters.
As shown in fig. 5, the main wing mechanism includes four rocker mechanisms, four main wing frames and four main wing skins, the four main wing frames are respectively connected with the rocker mechanisms, and the main wing skins are disposed on the outer sides of the main wing frames; the rocker mechanism comprises a first rocker 17, a second rocker 18, an auxiliary rocker 19, a fifth connecting piece 20 and a fifth connecting rod 21, wherein the fifth connecting piece 20 is a plate-shaped body with a hollow inner side; one end of the first rocker 17 is rotationally connected with the crank 3, and the other end is rotationally connected with the fifth connecting piece 20; one end of a second rocker 18 is rotationally connected with the crank 3, the other end of the second rocker 18 is connected with a fifth connecting piece 20, and the second rocker 18 is rotationally connected with a fourth connecting rod 10; one end of the auxiliary rocker 19 is rotatably connected with the fourth connecting rod 10 on the machine body framework, the other end of the auxiliary rocker is connected with the fifth connecting rod 20, the fifth connecting rod 21 is connected with the fifth connecting rod 20, the crank 3 pushes the rocker of the main wing mechanism to enable the main wing mechanism to move up and down, mutual rotation between the rockers is achieved through a rotating shaft, the rod is provided with a hole, and the rotating shaft is sleeved on the hole, so that the rotating shaft can rotate around the rotating shaft.
As shown in fig. 1, the main wing frame includes an outboard wing frame 22 and a second supporting member 23, the outboard wing frame 22 is a hollow body whose outer side is streamlined, and two ends of the second supporting member 23 are connected to the inner side of the outboard wing frame 22.
As shown in fig. 1, 5 and 6, the auxiliary wing mechanism includes a wing tip rod 24, a wing tip turning rod 25, a wing tip connecting member 26, a torsion spring 27 and an auxiliary wing skin, the wing tip rod 24 is connected with the fifth connecting member 20, the wing tip connecting member 26 is installed on the side surface of the wing tip rod 24, the wing tip connecting member 26 is provided with a connecting shaft 28, the number of the wing tip turning rods 25 is three, one end of each of the three wing tip turning rods 25 is connected together and fixedly connected with the connecting shaft 28, the torsion spring 27 is sleeved on the connecting shaft 28, two ends of the torsion spring 27 are respectively fixedly connected with the connecting part of the wing tip connecting member 26 and the wing tip turning rod 25, and the auxiliary wing skin is arranged on the wing tip rod 24 and the wing tip turning rod 25.
As shown in fig. 7, the tail wing mechanism includes a steering engine fixing frame 29, a steering engine 30, a tail wing connecting plate 31, a tail wing 32 and a moving pair, the moving pair includes two guide rail grooves 33 and two guide rods 34, the two guide rail grooves 33 are respectively arranged on the same side surface of two ends of the tail wing connecting plate 31, the guide rods 34 can freely slide in the two guide rail grooves 33, the tail wing 32 is arranged on the guide rods 34, the steering engine fixing frame 29 is connected with the main frame shaft 1, the steering engine 30 is fixed on the steering engine fixing frame 29, and a rocker on the steering engine 30 is connected with the tail wing connecting plate 31.
The control device comprises an aircraft control device and a ground control device; the aircraft control device comprises a single chip microcomputer, a PWM motor control module, a steering engine control module and a wireless transceiver module; the single chip microcomputer is respectively connected with the PWM motor control module, the steering engine control module and the wireless transceiver module, the wireless transceiver module transmits the received adjusting command to the single chip microcomputer, and the single chip microcomputer is used for processing the adjusting command and then sending the adjusting command to the wireless transceiver module for controlling the PWM motor control module or the steering engine control module; the PWM motor control module is used for controlling the rotating speed of the aircraft motor according to the PWM control signal sent by the wireless transceiver module; the steering engine control module is used for controlling the steering engine to act according to the control signal sent by the wireless receiving and sending module; and the ground control device receives the data of the aircraft on one hand and sends an adjusting command to the single chip microcomputer on the other hand through the wireless transceiving module.
In this embodiment, the aircraft frame, the main frame shaft, the crank and the rod structure are all made of carbon fiber materials, and the skin material on the wing mechanism is made of TPU materials.
The embodiments of the present invention are not limited to the specific embodiments described herein, but rather, the embodiments are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. That is, all equivalent changes and modifications made according to the content of the claims of the present invention should be regarded as the technical scope of the present invention.
Claims (10)
1. A flapping wing detection aircraft is characterized by comprising a main frame shaft (1), an aircraft framework, a gear transmission mechanism, a wing mechanism, a control device, a detection device and a tail wing mechanism;
one end of the main frame shaft (1) is fixedly connected with an aircraft framework, the other end of the main frame shaft is connected with an empennage mechanism, an aircraft shell is arranged on the outer side of the aircraft framework and is streamlined, and the control device and the detection device are arranged at the lower end of the aircraft;
the gear transmission mechanism is driven by the motor (2) and is positioned in the aircraft shell, and the gear transmission mechanism and the motor (2) are respectively arranged on the aircraft framework;
the aircraft comprises an aircraft framework, a motor (2) and two wing mechanisms, wherein the two wing mechanisms are respectively arranged on two sides of the aircraft framework, each wing mechanism comprises a main wing mechanism and an auxiliary wing mechanism, the main wing mechanisms are connected with the auxiliary wing mechanisms, the motor (2) enables the gear transmission mechanism to rotate so as to drive a crank (3) on the gear transmission mechanism, and the cranks (3) push rocking rods on the main wing mechanisms and the auxiliary wings to enable the main wing mechanisms and the auxiliary wing mechanisms to flap.
2. The flapping wing surveillance aircraft of claim 1, wherein the aircraft frame comprises a head frame and a fuselage frame;
the head framework comprises an annular framework (4), a first connecting rod (5), a first connecting piece (6), a second connecting rod (7), a third connecting rod (8) and a second connecting piece (9), wherein the number of the first connecting rod (5) and the number of the third connecting rod (8) are multiple;
the inner side of the first connecting piece (6) is connected with the main frame shaft (1), one ends of a plurality of first connecting rods (5) are uniformly arranged and connected around the first connecting piece (6) respectively, and the other ends of the first connecting rods are connected with the annular framework (4) respectively, so that the whole body is radial;
one ends of the two second connecting rods (7) are connected with the outer side of the annular framework (4), and the other ends of the two second connecting rods are respectively provided with a first connecting hole;
one ends of the third connecting rods (8) are uniformly arranged and connected to the annular framework (4) respectively, the other ends of the third connecting rods are fixedly connected to the second connecting pieces (9) respectively, and the third connecting rods (8), the annular framework (4) and the second connecting pieces (9) are connected together to form a conical framework;
the machine body framework comprises a support, a fourth connecting rod (10) and a third connecting piece (11);
the two supports comprise a fourth connecting piece (12) and a first supporting piece (13), the fourth connecting piece (12) is a hollow plate-shaped object or a rod-shaped object with an irregular shape, a plurality of second connecting holes are formed in the fourth connecting piece (12), and two ends of the first supporting piece (13) are fixedly connected with the fourth connecting piece (12) without side edges;
the four fourth connecting rods (10) are arranged, one ends of the two fourth connecting rods (10) positioned at the upper ends respectively penetrate through the second connecting holes on the two supports and are fixedly connected with the second connecting holes, and the four fourth connecting rods are respectively fixedly connected with the first connecting holes of the two second connecting rods (7) on the head framework, so that the head framework and the machine body framework are connected into a whole; and one ends of two fourth connecting rods (10) positioned at the lower end respectively penetrate through the second connecting holes on the fourth connecting pieces (12) and are fixedly connected with the second connecting holes, and the other ends of all the fourth connecting rods (10) are respectively fixedly connected with the third connecting pieces (11).
3. The flapping wing detection aircraft of claim 1, wherein the gear transmission mechanism comprises a motor gear (14), a duplicate gear (15), a first gear (16) and a crank (3), the motor gear (14) is connected with an output shaft of the motor (2) and meshed with a pinion of the duplicate gear (15), a gear wheel of the duplicate gear (15) and a gear wheel of the first gear (16) are equal in tooth number, pressure angle, tooth pitch, modulus and reference circle diameter and meshed, the crank (3) is connected to the eccentric positions of the gear wheel and the first gear (16), and when the gear transmission mechanism rotates, the rotating tracks of two connecting points of the two crank (3) on the two gears are circular and equal in diameter.
4. The flapping wing aircraft of claim 1 wherein the primary wing mechanism comprises a plurality of rocker mechanisms, a plurality of primary wing frames and a primary wing skin, the plurality of primary wing frames are respectively connected with the rocker mechanisms, and the primary wing skin is arranged on the outer side of the primary wing frames;
the rocker mechanism comprises a first rocker (17), a second rocker (18), an auxiliary rocker (19), a fifth connecting piece (20) and a fifth connecting rod (21), wherein the fifth connecting piece (20) is a plate-shaped body or a rod-shaped body with a hollow inner side;
one end of the first rocker (17) is rotationally connected with the crank (3), and the other end of the first rocker is rotationally connected with the fifth connecting piece (20);
one end of the second rocker (18) is rotatably connected with the crank (3), the other end of the second rocker is connected with the fifth connecting piece (20), and the second rocker (18) is rotatably connected to the fourth connecting rod (10);
one end of the auxiliary rocker (19) is rotatably connected with a fourth connecting rod (10) on the machine body framework, the other end of the auxiliary rocker is connected with a fifth connecting rod (21), the fifth connecting rod (21) is connected with a fifth connecting piece (20), and the crank (3) pushes the rocker of the main wing mechanism to enable the main wing mechanism to move up and down.
5. The flapping-wing detection aircraft of claim 1, wherein the main wing framework comprises an outer wing framework (22) and a second support member (23), the outer wing framework (22) is a hollow body with a streamline outer side, and two ends of the second support member (23) are connected to the inner side of the outer wing framework (22).
6. The flapping wing investigation aircraft of claim 1, wherein the auxiliary wing mechanism comprises a wingtip rod (24), wingtip turning rods (25), wingtip connecting pieces (26), a torsion spring (27) and an auxiliary wing skin, the wingtip rod (24) is connected with a fifth connecting piece (20), the wingtip connecting pieces (26) are installed on the side surfaces of the wingtip rod (24), connecting shafts (28) are arranged on the wingtip connecting pieces (26), the wingtip turning rods (25) are provided in plurality, and one ends of the wingtip turning rods (25) are connected together, and is fixedly connected with a connecting shaft (28), a torsion spring (27) is sleeved on the connecting shaft (28), two ends of the torsion spring (27) are respectively and fixedly connected with the connecting part of the wingtip connecting piece (26) and the wingtip turning rod (25), and an auxiliary wing skin is arranged on the wingtip rod (24) and the wingtip turning rod (25).
7. The ornithopter aircraft according to claim 1, wherein the aircraft frame, the main frame shaft (1), the crank (3) and the rod structure are made of carbon fiber material.
8. The flapping wing investigation aircraft of claim 1, wherein the empennage mechanism comprises two steering engine fixing frames (29), steering engines (30), empennage connecting plates (31), empennages (32) and moving pairs, each moving pair comprises two guide rail grooves (33) and two guide rods (34), the guide rail grooves (33) are respectively arranged on the same side surfaces of two ends of each empennage connecting plate (31), the guide rods (34) can freely slide in the two guide rail grooves (33), the empennages (32) are arranged on the guide rods (34), the steering engine fixing frames (29) are connected with the main frame shaft (1), the steering engines (30) are fixed on the steering engine fixing frames (29), and rocking bars on the steering engine fixing frames (30) are connected with the empennage connecting plates (31).
9. The ornithopter aircraft as claimed in claim 1, wherein the detection means is a camera.
10. The flapping-wing survey aircraft of claim 1, wherein the control system comprises an aircraft control system and a ground control system;
the aircraft control device comprises a single chip microcomputer, a PWM motor control module, a steering engine control module and a wireless transceiver module;
the single chip microcomputer is respectively and electrically connected with the PWM motor control module, the steering engine control module and the wireless transceiver module, the wireless transceiver module transmits the received adjusting command to the single chip microcomputer, and the single chip microcomputer is used for processing the adjusting command and then sending out the adjusting command and controlling the PWM motor control module or the steering engine control module;
the PWM motor control module is used for controlling the rotating speed of the aircraft motor according to the PWM control signal sent by the wireless transceiver module;
the steering engine control module is used for controlling the steering engine to act according to the control signal sent by the wireless receiving and sending module;
and the ground control device receives the data of the aircraft on one hand and sends an adjusting command to the single chip microcomputer on the other hand through the wireless transceiving module.
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|---|---|---|---|
| CN202110892650.1A CN113581461A (en) | 2021-08-04 | 2021-08-04 | Flapping wing detection aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110892650.1A CN113581461A (en) | 2021-08-04 | 2021-08-04 | Flapping wing detection aircraft |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023184150A1 (en) * | 2022-03-29 | 2023-10-05 | 西湖大学 | Aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023184150A1 (en) * | 2022-03-29 | 2023-10-05 | 西湖大学 | Aircraft |
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