CN114261516B - Flapping wing aircraft - Google Patents
Flapping wing aircraft Download PDFInfo
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- CN114261516B CN114261516B CN202111466496.8A CN202111466496A CN114261516B CN 114261516 B CN114261516 B CN 114261516B CN 202111466496 A CN202111466496 A CN 202111466496A CN 114261516 B CN114261516 B CN 114261516B
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Abstract
The invention discloses a flapping-wing aircraft, and belongs to the technical field of flapping-wing aircrafts. Comprises a frame, a pair of flapping wing driving devices; the flapping wing driving device comprises a flapping wing driving frame and a flapping wing driving mechanism arranged on the flapping wing driving frame; the flapping wing driving mechanism comprises a linear reciprocating motion mechanism and a linear reciprocating-flapping motion conversion mechanism; the linear reciprocating mechanism comprises a connecting rod driving structure, a sliding shaft linear reciprocating guide rail and a flapping wing driving sliding shaft; the linear reciprocating-flapping motion conversion mechanism comprises a linear reciprocating-flapping motion conversion structure and a linear reciprocating-flapping auxiliary motion supporting structure; the flying attitude control mechanism comprises a steering engine, a front flapping wing driving mechanism controls a rudder stock, a rear flapping wing driving mechanism controls the rudder stock, a front flapping wing driving mechanism mounting bearing and a rear flapping wing driving mechanism mounting bearing. The device has the characteristics of compact structure, light weight, high working reliability, high flying efficiency and the like.
Description
Technical Field
The invention relates to the technical field of flapping wing aircrafts.
Background
Compared with the traditional fixed wing and rotor unmanned aircraft, the miniature bionic ornithopter has the characteristics of small size, light weight, low cost, strong concealment, good operability and the like, can complete tasks which cannot be executed by other aircrafts, such as low-altitude reconnaissance, urban combat, electronic interference, nuclear and biochemical detection, geographical survey, natural disaster monitoring and support, environmental pollution monitoring, border patrol and the like, and has very important and wide application prospects in the fields of civil and national defense. With the development of technologies such as bionics, unsteady aerodynamics, micro-electromechanical systems, flexible materials and the like, it becomes possible to develop smaller, lighter and intelligent ornithopters. The miniature flapping-wing aircraft needs to convert the turnover motion output by the motor into the reciprocating motion of the output end, and the currently mainstream adopted link mechanism and gear mechanism have complex structures and are limited by the mechanical manufacturing capability, so that the transmission performance is ensured, the volume and the weight of a transmission system are large, and the microminiaturization development of the flapping-wing aircraft is limited.
Disclosure of Invention
The invention aims to solve the technical problem of providing a flapping-wing aircraft, which has the characteristics of compact structure, light weight, high working reliability, high flight efficiency and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
the flapping wing aircraft comprises a frame, a flight control system, a pair of flapping wing driving devices, two pairs of flapping wings and a flight attitude control mechanism, wherein the pair of flapping wing driving devices are respectively arranged in front of and behind the frame, the flapping wing driving device arranged in front of the frame is a front flapping wing driving device, and the flapping wing driving device arranged behind the frame is a rear flapping wing driving device; the flapping wing driving device comprises a flapping wing driving frame and a flapping wing driving mechanism arranged on the flapping wing driving frame;
the flapping wing driving mechanism comprises a linear reciprocating motion mechanism and a linear reciprocating-flapping motion conversion mechanism;
the linear reciprocating mechanism comprises a connecting rod driving structure, a sliding shaft linear reciprocating guide rail and a flapping wing driving sliding shaft;
the connecting rod driving structure comprises a connecting rod driving wheel, an eccentric shaft, a connecting rod driving motor and a gear transmission structure; the central shaft of the connecting rod driving wheel is rotationally connected with the flapping wing driving frame, the eccentric shaft is eccentrically arranged on the connecting rod driving wheel, and one end of the connecting rod is rotationally connected with the eccentric shaft; the connecting rod driving motor is fixed on the flapping wing driving frame and is in meshed transmission connection with the connecting rod driving wheel through a gear transmission structure;
the sliding shaft linear reciprocating motion guide rail is arranged on the flapping wing driving frame;
the flapping wing driving sliding shaft is arranged at the other end of the connecting rod and is in sliding connection with the sliding shaft linear reciprocating guide rail;
the connecting rod driving motor drives the connecting rod driving wheel to rotate through the gear transmission structure, so that the connecting rod drives the flapping wing driving sliding shaft to do linear reciprocating motion under the constraint of the linear reciprocating motion guide rail of the sliding shaft;
the linear reciprocating-flapping motion conversion mechanism comprises a linear reciprocating-flapping motion conversion structure and a linear reciprocating-flapping auxiliary motion supporting structure;
the linear reciprocating-flapping motion conversion structure comprises a sliding shaft driving block, a left-side flapping main arm and a right-side flapping main arm; the outer ends of the left flapping main arm and the right flapping main arm are respectively provided with a flapping wing connecting structure for connecting with the flapping wings; the inner end of the left flapping main arm is hinged with the left end of the sliding shaft driving block, the hinge part forms a left main arm driving point, the inner end of the right flapping main arm is hinged with the right end of the sliding shaft driving block, and the hinge part forms a right main arm driving point; the sliding shaft driving block is connected with the flapping wing driving sliding shaft;
the linear reciprocating-flapping auxiliary motion supporting structure comprises a motion conversion mechanism connecting seat, a left-side flapping auxiliary arm and a right-side flapping auxiliary arm; the inner end of the left flapping auxiliary arm is hinged with the left end of the motion conversion mechanism connecting seat, the hinging part forms a left auxiliary arm inner end hinging part, the inner end of the right flapping auxiliary arm is hinged with the right end of the motion conversion mechanism connecting seat, and the hinging part forms a right auxiliary arm inner end hinging part; the outer end of the left flapping auxiliary arm is hinged with the left flapping main arm, the hinge part forms a left main arm fulcrum, the outer end of the right flapping auxiliary arm is hinged with the right flapping main arm, and the hinge part forms a right main arm fulcrum; the motion conversion mechanism connecting seat is fixedly connected with the flapping wing driving frame;
the linear reciprocating-flapping motion conversion mechanism is of an axisymmetric structure, and the symmetry axis is a connecting line of the sliding shaft driving block and the midpoint of the motion conversion mechanism connecting seat, so that the left part and the right part of the symmetry axis form a relative symmetric motion mechanism, and the symmetry axis is coincident with or parallel to the central line of the sliding shaft linear reciprocating motion guide rail; the left side flapping main arm and the left side flapping auxiliary arm form a left side flapping arm, and the right side flapping main arm and the right side flapping auxiliary arm form a right side flapping arm; the left side flapping arm and the right side flapping arm are symmetrically arranged on the left side and the right side of the symmetry axis;
the left side flapping main arm and the right side flapping main arm are respectively connected with the flapping wings through the flapping wing connecting structures at the outer ends of the left side flapping main arm and the right side flapping main arm, so that a pair of flapping wings are symmetrically arranged at the left side and the right side of a symmetrical shaft of the linear reciprocating-flapping motion conversion mechanism;
the flapping wings drive the sliding shafts to linearly reciprocate, so that the sliding shaft driving blocks drive the left main arm driving point and the right main arm driving point to linearly reciprocate, the left main arm and the right main arm swing relatively by taking the left main arm supporting point and the right main arm supporting point as supporting points respectively to form flapping motions, and the left main arm auxiliary arm and the right main arm auxiliary arm form supporting bodies of the left main arm supporting point and the right main arm supporting point respectively and adapt to corresponding displacement generated by the left main arm supporting point and the right main arm supporting point in the flapping motion process under the action of the inner end hinging part of the left auxiliary arm and the inner end hinging part of the right auxiliary arm; the left side flapping main arm and the right side flapping main arm respectively drive the respective flapping wings to swing relatively so as to enable the pair of flapping wings to generate lifting force;
the flying attitude control mechanism comprises a steering engine, a front flapping wing driving mechanism controls a rudder stock, a rear flapping wing driving mechanism controls the rudder stock, a front flapping wing driving mechanism mounting bearing and a rear flapping wing driving mechanism mounting bearing; the flying gesture control mechanism symmetrically arranges the front flapping wing driving mechanism and the rear flapping wing driving mechanism in front of and behind the frame: the inner ends of the front flapping wing driving mechanism and the rear flapping wing driving mechanism are respectively axially fixed in front of and behind the frame along the same axis through a front flapping wing driving mechanism mounting bearing and a rear flapping wing driving mechanism mounting bearing, and the same axis is a steering engine control deflection axis; the steering engine is fixed on the frame, and the rudder stock is controlled by the front flapping wing driving mechanism and the rudder stock is controlled by the rear flapping wing driving mechanism and is respectively connected with the flapping wing driving frame of the front flapping wing driving mechanism and the flapping wing driving frame of the rear flapping wing driving mechanism so as to control the front flapping wing driving mechanism and the rear flapping wing driving mechanism to deflect circumferentially relative to the steering engine control deflection axis, so that the two pairs of flapping wings deflect correspondingly to adjust the lifting force direction, and the flight attitude of the flapping wing aircraft is controlled.
The invention is further improved in that:
the sliding shaft driving block in the linear reciprocating-flapping motion conversion structure is characterized in that a left flapping main arm and a right flapping main arm are made of polypropylene, and the connecting parts of the parts are flexible hinge connecting structures formed by bonding ergo 5882 glue so as to form corresponding hinge parts; the connecting seat of the motion conversion mechanism in the linear reciprocating-flapping auxiliary motion supporting structure is characterized in that the left flapping auxiliary arm and the right flapping auxiliary arm are made of polypropylene, and the connecting part of the components and the connecting part of the left flapping main arm and the right flapping main arm are flexible hinge connecting structures formed by bonding ergo 5882 glue so as to form corresponding hinge parts; the sliding shaft driving block is provided with a sliding shaft connecting hole so as to be matched and connected with the flapping wing driving sliding shaft.
The symmetrical axis of the linear reciprocating-flapping motion conversion mechanism, the central line of the guide rail of the linear reciprocating motion of the sliding axis, the gravity center line of the flapping wing driving frame and the central line of the frame are coincident; the gear transmission structure in the connecting rod driving structure comprises a motor shaft gear arranged on a rotating shaft of the connecting rod driving motor, a primary gear and a secondary gear, wherein the primary gear and the secondary gear are coaxially fixed together through a reduction gear shaft, the diameter of the primary gear is larger than that of the secondary gear, the connecting rod driving wheel is a gear, the motor shaft gear is in meshed transmission connection with the primary gear, and the secondary gear is in meshed transmission connection with the connecting rod driving wheel; the central shaft of the connecting rod driving wheel, the speed reducing gear shaft and the rotating shaft of the connecting rod driving motor are vertically arranged on the gravity center line of the flapping wing driving frame, so that the gravity center line of the flapping wing driving device coincides with the central line of the frame, the gravity center line of the flapping wing aircraft is positioned on the central line of the gravity center line, and the flight stability is improved.
The flapping wing driving frame is provided with two wing root brackets which are respectively connected with the wing roots of a pair of flapping wings, so that the connection strength of the flapping wings is improved.
The flapping wing driving frame comprises an upper driving mechanism part mounting plate and a lower driving mechanism part mounting plate, and the upper driving mechanism part mounting plate and the lower driving mechanism part mounting plate are arranged up and down symmetrically so as to respectively support the central shaft of the connecting rod driving wheel and the two ends of the reduction gear shaft, thereby improving the stability of the rotational connection of the central shaft and the reduction gear shaft; the connecting rod driving motor is fixedly arranged on the upper driving mechanism component mounting plate.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
the flapping wing driving device adopted in the flapping wing aircraft comprises a linear reciprocating motion mechanism and a linear reciprocating-flapping motion conversion mechanism which are arranged on a flapping wing driving frame; the linear reciprocating motion mechanism converts the rotation kinetic energy of the driving motor into linear reciprocating motion of the flapping wing driving sliding shaft; the flapping wing driving sliding shaft drives the linear reciprocating-flapping motion conversion mechanism, so that the left flapping main arm and the right flapping main arm respectively drive the respective flapping wings to swing relatively, and the pair of flapping wings generate lifting force; the motion mechanism has compact structure, reduces the number of mechanical transmission parts compared with the traditional flapping wing driving device, and improves the transmission performance; meanwhile, as the linear reciprocating-flapping motion conversion mechanism adopts the polypropylene material and the flexible hinge connection structure, the number of parts is reduced, and only one-time bonding is needed without installing bearings, positioning among the parts and other works, the assembly difficulty is reduced, the weight is lightened, the manufacturing cost is reduced, and the working reliability and the flying efficiency are improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the mounting structure of the flapping wing drive device and a pair of flapping wings of FIG. 1;
FIG. 3 is a schematic view of the structure of the flapping wing drive device of FIG. 1;
FIG. 4 is a schematic view of the linear reciprocating mechanism of FIG. 3;
FIG. 5 is a schematic view of the internal structure of FIG. 4;
FIG. 6 is a schematic view of the linear reciprocating-flutter motion conversion mechanism of FIG. 3;
FIG. 7 is a schematic view of the structure of the flapping wing drive frame of FIG. 3;
fig. 8 is a schematic view of the configuration of the flight attitude control mechanism in fig. 1.
In the drawings: 1. a frame; 2. a flight control system; 3. flapping wings; 4. a flapping wing drive rack; fifth, the guide rail; 6. a slide shaft; 7. a link drive wheel; 8. an eccentric shaft; 9. a connecting rod; 10. a driving motor; 11. a slide shaft driving block; 11-1, a sliding shaft connecting hole; 12. a left flapping main arm; 13. a right flapping main arm; 14. a motion conversion mechanism connecting seat; 15. a left flapping auxiliary arm; 16. a right flapping auxiliary arm; 17. a left main arm drive point; 18. a right main arm drive point; 19. the inner end hinge part of the left auxiliary arm; 20. the inner end hinge part of the right auxiliary arm; 21. a left main arm fulcrum; 22. a right main arm fulcrum; 23. steering engine; 24. the front flapping wing driving mechanism controls the rudder stock; 25. the rear flapping wing driving mechanism controls the rudder stock; 26. the front flapping wing driving mechanism is provided with a bearing; 27. the rear flapping wing driving mechanism is provided with a bearing; 28. a motor shaft gear; 29. a primary gear; 30. a reduction gear shaft; 31. a wing root support; 32. a receiver; 33. and a battery.
The azimuth expressions of the inner end and the outer end in the present application refer to the position of the frame 1 as a center position, the position of the component relatively far from the frame 1 as an outer end position, and the position of the component relatively close to the frame 1 as an inner end position.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific embodiments.
Standard parts used in the invention can be purchased from the market, special-shaped parts can be customized according to the description of the specification and the drawings, and the specific connection modes of the parts adopt conventional means such as mature bolts, rivets, welding, pasting and the like in the prior art, and the detailed description is omitted.
As can be seen from the embodiments shown in fig. 1 to 8, the present embodiment includes a frame 1, a flight control system 2 (Pixracer Mini flight control system), a pair of flapping wing driving devices, two pairs of flapping wings 3 and a flight attitude control mechanism, wherein the pair of flapping wing driving devices are respectively arranged in front of and behind the frame 1, the flapping wing driving device arranged in front of the frame 1 is a front flapping wing driving device, and the flapping wing driving device arranged behind the frame 1 is a rear flapping wing driving device; the flapping wing driving device comprises a flapping wing driving frame 4 and a flapping wing driving mechanism arranged on the flapping wing driving frame 4;
the flapping wing driving mechanism comprises a linear reciprocating motion mechanism and a linear reciprocating-flapping motion conversion mechanism;
the linear reciprocating mechanism comprises a connecting rod driving structure, a sliding shaft linear reciprocating guide rail 5 and a flapping wing driving sliding shaft 6;
the connecting rod driving structure comprises a connecting rod driving wheel 7, an eccentric shaft 8, a connecting rod 9 and a connecting rod driving motor 10 [ model: GA12-N20;614 strong magnetic hollow cup motor and gear transmission structure; the central shaft of the connecting rod driving wheel 7 is rotationally connected with the flapping wing driving frame 4, the eccentric shaft 8 is eccentrically arranged on the connecting rod driving wheel 7, and one end of the connecting rod 9 is rotationally connected with the eccentric shaft 8; the connecting rod driving motor 10 is fixed on the flapping wing driving frame 4 and is in meshed transmission connection with the connecting rod driving wheel 7 through a gear transmission structure;
the sliding shaft linear reciprocating motion guide rail 5 is arranged on the flapping wing driving frame 4;
the flapping wing driving sliding shaft 6 is arranged at the other end of the connecting rod 9 and is in sliding connection with the sliding shaft linear reciprocating guide rail 5;
the connecting rod driving motor 10 drives the connecting rod driving wheel 7 to rotate through a gear transmission structure, so that the connecting rod 9 drives the flapping wing driving sliding shaft 6 to do linear reciprocating motion under the constraint of the sliding shaft linear reciprocating motion guide rail 5;
the linear reciprocating-flapping motion conversion mechanism comprises a linear reciprocating-flapping motion conversion structure and a linear reciprocating-flapping auxiliary motion supporting structure;
the linear reciprocating-flapping motion conversion structure comprises a sliding shaft driving block 11, a left-side flapping main arm 12 and a right-side flapping main arm 13; the outer ends of the left flapping main arm 12 and the right flapping main arm 13 are respectively provided with a flapping wing connecting structure for connecting with the flapping wing 3; the inner end of the left flapping main arm 12 is hinged with the left end of the sliding shaft driving block 11, the hinged part forms a left main arm driving point 17, the inner end of the right flapping main arm 13 is hinged with the right end of the sliding shaft driving block 11, and the hinged part forms a right main arm driving point 18; the sliding shaft driving block 11 is connected with the flapping wing driving sliding shaft 6;
the linear reciprocating-flapping auxiliary motion supporting structure comprises a motion conversion mechanism connecting seat 14, a left flapping auxiliary arm 15 and a right flapping auxiliary arm 16; the inner end of the left flapping auxiliary arm 15 is hinged with the left end of the motion conversion mechanism connecting seat 14, the hinged part forms a left auxiliary arm inner end hinged part 19, the inner end of the right flapping auxiliary arm 16 is hinged with the right end of the motion conversion mechanism connecting seat 14, and the hinged part forms a right auxiliary arm inner end hinged part 20; the outer end of the left flapping auxiliary arm 15 is hinged with the left flapping main arm 12, the hinge part forms a left main arm fulcrum 21, the outer end of the right flapping auxiliary arm 16 is hinged with the right flapping main arm 13, and the hinge part forms a right main arm fulcrum 22; the motion conversion mechanism connecting seat 14 is fixedly connected with the flapping wing driving frame 4;
the linear reciprocating-flapping motion conversion mechanism is of an axisymmetric structure, and the symmetry axis is a connecting line of the sliding shaft driving block 11 and the midpoint of the motion conversion mechanism connecting seat 14, so that the left part and the right part of the symmetry axis form a relative symmetric motion mechanism, and the symmetry axis is coincident with or parallel to the central line of the sliding shaft linear reciprocating motion guide rail 5; the left main flapping arm 12 and the left auxiliary flapping arm 15 form a left flapping arm, and the right main flapping arm 13 and the right auxiliary flapping arm 16 form a right flapping arm; the left side flapping arm and the right side flapping arm are symmetrically arranged on the left side and the right side of the symmetry axis;
the left side flapping main arm 12 and the right side flapping main arm 13 are respectively connected with the flapping wings 3 through the flapping wing connecting structures at the outer ends of the left side flapping main arm and the right side flapping main arm so that a pair of the flapping wings 3 are symmetrically arranged at the left side and the right side of the symmetry axis of the linear reciprocating-flapping motion converting mechanism;
the flapping wing drives the sliding shaft 6 to linearly reciprocate, so that the sliding shaft driving block 11 drives the left main arm driving point 17 and the right main arm driving point 18 to linearly reciprocate, the left main flapping arm 12 and the right main flapping arm 13 respectively swing relatively by taking the left main arm supporting point 21 and the right main arm supporting point 22 as supporting points to form flapping motions, the left main arm supporting point 21 and the right main arm supporting point 22 are respectively formed by the left main flapping auxiliary arm 15 and the right main flapping auxiliary arm 16, and corresponding displacements generated by the left main arm supporting point 21 and the right main arm supporting point 22 in the flapping motion process are adapted under the action of the left auxiliary arm inner end hinging part 19 and the right auxiliary arm inner end hinging part 20; the left side flapping main arm 12 and the right side flapping main arm 13 respectively drive the respective flapping wings to swing relatively so that the pair of flapping wings 3 generate lift force;
the flight attitude control mechanism comprises a steering engine 23 [ model: ping Zheng ultra-miniature low-voltage digital steering engine/PZ-15320 coreless motor; net weight 1.7g; the manufacturer is Dongguan city flat administration electronic technology limited company, a front flapping wing driving mechanism controls a rudder stock 24, a rear flapping wing driving mechanism controls a rudder stock 25, a front flapping wing driving mechanism mounting bearing 26 and a rear flapping wing driving mechanism mounting bearing 27; the flying gesture control mechanism symmetrically arranges the front flapping wing driving mechanism and the rear flapping wing driving mechanism in front of and behind the frame 1: the inner ends of the front flapping wing driving mechanism and the rear flapping wing driving mechanism are respectively axially fixed in front of and behind the frame 1 along the same axis through a front flapping wing driving mechanism mounting bearing 26 and a rear flapping wing driving mechanism mounting bearing 27, and the same axis is a steering engine control deflection axis; the steering engine 23 is fixed on the frame 1, and the rudder stock 24 is controlled by a front flapping wing driving mechanism, the rudder stock 25 is controlled by a rear flapping wing driving mechanism, and the front flapping wing driving mechanism and the rear flapping wing driving mechanism are respectively connected with the flapping wing driving frame 4 of the front flapping wing driving mechanism and the flapping wing driving frame 4 of the rear flapping wing driving mechanism so as to control the front flapping wing driving mechanism and the rear flapping wing driving mechanism to deflect circumferentially relative to a steering engine control deflection axis, so that the two pairs of flapping wings 3 deflect correspondingly to adjust the lifting force direction, and the flight attitude of the flapping wing aircraft is controlled.
The sliding shaft driving block 11 in the linear reciprocating-flapping motion conversion structure, the left flapping main arm 12 and the right flapping main arm 13 are made of polypropylene, and the connecting parts of the components are flexible hinge connecting structures formed by bonding ergo 5882 glue so as to form corresponding hinge parts; the motion conversion mechanism connecting seat 14 in the linear reciprocating-flapping auxiliary motion supporting structure, the left flapping auxiliary arm 15 and the right flapping auxiliary arm 16 are made of polypropylene, and the connecting parts of the components and the connecting parts of the left flapping main arm 12 and the right flapping main arm 13 are flexible hinge connecting structures formed after bonding by ergo 5882 glue so as to form corresponding hinge parts; the sliding shaft driving block 11 is provided with a sliding shaft connecting hole 11-1 to be matched and connected with the flapping wing driving sliding shaft 6.
The symmetry axis of the linear reciprocating-flapping motion conversion mechanism, the center line of the guide rail 5 of the linear reciprocating motion of the sliding axis, the gravity center line of the flapping wing driving frame 4 and the center line of the frame 1 are coincident; the gear transmission structure in the connecting rod driving structure comprises a motor shaft gear 28, a primary gear 29 and a secondary gear which are arranged on the rotating shaft of the connecting rod driving motor 10, wherein the primary gear 29 and the secondary gear are coaxially fixed together through a reduction gear shaft 30, the diameter of the primary gear 29 is larger than that of the secondary gear, the connecting rod driving wheel 7 is a gear, the motor shaft gear 28 is in meshed transmission connection with the primary gear 29, and the secondary gear is in meshed transmission connection with the connecting rod driving wheel 7; the central shaft of the connecting rod driving wheel 7, the reduction gear shaft 30 and the rotating shaft of the connecting rod driving motor 10 are vertically arranged on the gravity center line of the flapping wing driving frame 4, so that the gravity center line of the flapping wing driving device coincides with the central line of the frame 1, the gravity center line of the flapping wing aircraft is positioned on the central line, and the flight stability is improved.
The flapping wing driving frame 4 is provided with two wing root brackets 31 to be connected with the wing roots of the pair of flapping wings 3, respectively, so as to improve the connection strength of the flapping wings 3.
The flapping wing driving frame 4 comprises an upper driving mechanism part mounting plate and a lower driving mechanism part mounting plate which are arranged up and down symmetrically to respectively support the central shaft of the connecting rod driving wheel 7 and the two ends of the reduction gear shaft 30 so as to improve the stability of the rotational connection of the central shaft and the reduction gear shaft; the link drive motor 10 is fixedly mounted on the upper drive mechanism component mounting plate.
Claims (5)
1. The flapping wing aircraft comprises a frame (1), a flight control system (2), a pair of flapping wing driving devices, two pairs of flapping wings (3) and a flight attitude control mechanism, wherein the pair of flapping wing driving devices are respectively arranged in front of and behind the frame (1), the flapping wing driving devices arranged in front of the frame (1) are front flapping wing driving devices, and the flapping wing driving devices arranged behind the frame (1) are rear flapping wing driving devices; the method is characterized in that: the flapping wing driving device comprises a flapping wing driving frame (4) and a flapping wing driving mechanism arranged on the flapping wing driving frame (4);
the flapping wing driving mechanism comprises a linear reciprocating motion mechanism and a linear reciprocating-flapping motion conversion mechanism;
the linear reciprocating mechanism comprises a connecting rod driving structure, a sliding shaft linear reciprocating guide rail (5) and a flapping wing driving sliding shaft (6);
the connecting rod driving structure comprises a connecting rod driving wheel (7), an eccentric shaft (8), a connecting rod (9), a connecting rod driving motor (10) and a gear transmission structure; the central shaft of the connecting rod driving wheel (7) is rotationally connected with the flapping wing driving frame (4), the eccentric shaft (8) is eccentrically arranged on the connecting rod driving wheel (7), and one end of the connecting rod (9) is rotationally connected with the eccentric shaft (8); the connecting rod driving motor (10) is fixed on the flapping wing driving frame (4) and is in meshed transmission connection with the connecting rod driving wheel (7) through a gear transmission structure;
the sliding shaft linear reciprocating guide rail (5) is arranged on the flapping wing driving frame (4);
the flapping wing driving sliding shaft (6) is arranged at the other end of the connecting rod (9) and is in sliding connection with the sliding shaft linear reciprocating guide rail (5);
the connecting rod driving motor (10) drives the connecting rod driving wheel (7) to rotate through the gear transmission structure, so that the connecting rod (9) drives the flapping wing driving sliding shaft (6) to do linear reciprocating motion under the constraint of the sliding shaft linear reciprocating motion guide rail (5);
the linear reciprocating-flapping motion conversion mechanism comprises a linear reciprocating-flapping motion conversion structure and a linear reciprocating-flapping auxiliary motion supporting structure;
the linear reciprocating-flapping motion conversion structure comprises a sliding shaft driving block (11), a left-side flapping main arm (12) and a right-side flapping main arm (13); the outer ends of the left flapping main arm (12) and the right flapping main arm (13) are respectively provided with a flapping wing connecting structure for connecting with the flapping wings (3); the inner end of the left flapping main arm (12) is hinged with the left side end of the sliding shaft driving block (11), a hinge part forms a left side main arm driving point (17), the inner end of the right side flapping main arm (13) is hinged with the right side end of the sliding shaft driving block (11), and a hinge part forms a right side main arm driving point (18); the sliding shaft driving block (11) is connected with the flapping wing driving sliding shaft (6);
the linear reciprocating-flapping auxiliary motion supporting structure comprises a motion conversion mechanism connecting seat (14), a left flapping auxiliary arm (15) and a right flapping auxiliary arm (16); the inner end of the left flapping auxiliary arm (15) is hinged with the left side end of the motion conversion mechanism connecting seat (14), the hinge part forms a left side auxiliary arm inner end hinge part (19), the inner end of the right side flapping auxiliary arm (16) is hinged with the right side end of the motion conversion mechanism connecting seat (14), and the hinge part forms a right side auxiliary arm inner end hinge part (20); the outer end of the left flapping auxiliary arm (15) is hinged with the left flapping main arm (12), a left main arm fulcrum (21) is formed at the hinge part, the outer end of the right flapping auxiliary arm (16) is hinged with the right main arm (13), and a right main arm fulcrum (22) is formed at the hinge part; the motion conversion mechanism connecting seat (14) is fixedly connected with the flapping wing driving frame (4);
the linear reciprocating-flapping motion conversion mechanism is of an axisymmetric structure, and the symmetry axis is a connecting line of the sliding shaft driving block (11) and the midpoint of the motion conversion mechanism connecting seat (14), so that the left part and the right part of the symmetry axis form a relative symmetric motion mechanism, and the symmetry axis is coincident with or parallel to the central line of the sliding shaft linear reciprocating motion guide rail (5); the left flapping main arm (12) and the left flapping auxiliary arm (15) form a left flapping arm, and the right flapping main arm (13) and the right flapping auxiliary arm (16) form a right flapping arm; the left side flapping arm and the right side flapping arm are symmetrically arranged on the left side and the right side of the symmetry axis;
the left flapping main arm (12) and the right flapping main arm (13) are respectively connected with the flapping wings (3) through a flapping wing connecting structure at the outer ends of the left flapping main arm and the right flapping main arm, so that a pair of the flapping wings (3) are symmetrically arranged at the left side and the right side of a symmetrical axis of the linear reciprocating-flapping motion conversion mechanism;
the flapping wing drives the sliding shaft (6) to linearly reciprocate, so that the sliding shaft driving block (11) drives the left main arm driving point (17) and the right main arm driving point (18) to linearly reciprocate, the left main flapping arm (12) and the right main flapping arm (13) respectively swing by taking the left main arm supporting point (21) and the right main arm supporting point (22) as supporting points to form flapping motions, and the left main arm supporting point (21) and the right main arm supporting point (22) are respectively formed by the left main arm (15) and the right main arm (16) and are adapted to corresponding displacement generated by the left main arm supporting point (21) and the right main arm supporting point (22) during the flapping motions under the action of the left auxiliary arm inner end hinging part (19) and the right auxiliary arm inner end hinging part (20); the left flapping main arm (12) and the right flapping main arm (13) respectively drive the flapping wings to swing relatively so as to enable the pair of the flapping wings (3) to generate lifting force;
the flying attitude control mechanism comprises a steering engine (23), a front flapping wing driving mechanism controls a rudder stock (24), a rear flapping wing driving mechanism controls a rudder stock (25), a front flapping wing driving mechanism mounting bearing (26) and a rear flapping wing driving mechanism mounting bearing (27); the flying gesture control mechanism symmetrically arranges the front flapping wing driving mechanism and the rear flapping wing driving mechanism in front of and behind the frame (1): the inner end of the front flapping wing driving mechanism and the inner end of the rear flapping wing driving mechanism are axially fixed in front of and behind the frame (1) along the same axis through the front flapping wing driving mechanism mounting bearing (26) and the rear flapping wing driving mechanism mounting bearing (27) respectively, and the same axis is a steering engine control deflection axis; the steering engine (23) is fixed on the frame (1), and the rudder stock (24) is controlled by the front flapping wing driving mechanism and the rudder stock (25) is controlled by the rear flapping wing driving mechanism, and the rudder stock is respectively connected with the flapping wing driving frame (4) of the front flapping wing driving mechanism and the flapping wing driving frame (4) of the rear flapping wing driving mechanism so as to control the front flapping wing driving mechanism and the rear flapping wing driving mechanism to deflect circumferentially relative to the steering engine control deflection axis, so that the two pairs of flapping wings (3) deflect correspondingly to adjust the lifting force direction, and the flying gesture of the flapping wing aircraft is controlled.
2. A ornithopter according to claim 1, wherein: the sliding shaft driving block (11) in the linear reciprocating-flapping motion conversion structure is characterized in that the left flapping main arm (12) and the right flapping main arm (13) are made of polypropylene, and the connecting parts of the components are flexible hinge connecting structures formed by bonding ergo 5882 glue so as to form corresponding hinge parts; the motion conversion mechanism connecting seat (14) in the linear reciprocating-flapping auxiliary motion supporting structure is characterized in that the left flapping auxiliary arm (15) and the right flapping auxiliary arm (16) are made of polypropylene, and the connecting parts of the components and the connecting parts of the left flapping main arm (12) and the right flapping main arm (13) are flexible hinge connecting structures formed by bonding ergo 5882 glue so as to form the corresponding hinge parts; the sliding shaft driving block (11) is provided with a sliding shaft connecting hole (11-1) so as to be matched and connected with the flapping wing driving sliding shaft (6).
3. A ornithopter according to claim 1 or 2, wherein: the symmetrical axis of the linear reciprocating-flapping motion conversion mechanism is characterized in that the central line of the sliding axis linear reciprocating motion guide rail (5) is overlapped with the central line of the frame (1) and the gravity line of the flapping wing driving frame (4); the gear transmission structure in the connecting rod driving structure comprises a motor shaft gear (28) arranged on a rotating shaft of the connecting rod driving motor (10), a primary gear (29) and a secondary gear, wherein the primary gear (29) and the secondary gear are coaxially fixed together through a reduction gear shaft (30), the diameter of the primary gear (29) is larger than that of the secondary gear, the connecting rod driving wheel (7) is a gear, the motor shaft gear (28) is in meshed transmission connection with the primary gear (29), and the secondary gear is in meshed transmission connection with the connecting rod driving wheel (7); the central shaft of the connecting rod driving wheel (7), the reduction gear shaft (30) and the rotating shaft of the connecting rod driving motor (10) are vertically arranged on the gravity center line of the flapping wing driving frame (4), so that the gravity center line of the flapping wing driving device coincides with the central line of the frame (1), the gravity center line of the flapping wing aircraft is positioned on the central line of the flapping wing driving device, and the flight stability is improved.
4. A ornithopter according to claim 3, wherein: the flapping wing driving frame (4) is provided with two wing root brackets (31) which are respectively connected with the wing roots of a pair of flapping wings (3), so that the connection strength of the flapping wings (3) is improved.
5. A ornithopter according to claim 3, wherein: the flapping wing driving frame (4) comprises an upper driving mechanism part mounting plate and a lower driving mechanism part mounting plate, and the upper driving mechanism part mounting plate and the lower driving mechanism part mounting plate are arranged up and down symmetrically so as to respectively support the central shaft of the connecting rod driving wheel (7) and the two ends of the reduction gear shaft (30) to improve the stability of the rotation connection of the connecting rod driving wheel and the reduction gear shaft; the connecting rod driving motor (10) is fixedly arranged on the upper driving mechanism component mounting plate.
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| CN115571334B (en) * | 2022-11-15 | 2024-05-24 | 西北工业大学 | Flapping wing aircraft |
| CN116022332B (en) * | 2023-02-20 | 2023-12-08 | 北京科技大学 | Line-driven beetle-like miniature ornithopter |
| CN116853547B (en) * | 2023-07-21 | 2024-04-05 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
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