CN117208245A - Multi-mode foldable ornithopter capable of automatically planning path - Google Patents
Multi-mode foldable ornithopter capable of automatically planning path Download PDFInfo
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- CN117208245A CN117208245A CN202311178192.0A CN202311178192A CN117208245A CN 117208245 A CN117208245 A CN 117208245A CN 202311178192 A CN202311178192 A CN 202311178192A CN 117208245 A CN117208245 A CN 117208245A
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Abstract
The invention provides a double-mode foldable ornithopter capable of automatically planning a path, which comprises a main support, an ornithopter travelling mechanism, a gyroscope and an engine, wherein two bottom surfaces of the main support are connected with a folding wheel support through rolling bearings, a folding rod is rotatably connected to the folding wheel support, the end part of the folding rod is rotatably connected with an outer wheel rod, the end part of the outer wheel rod is rotatably connected with an upper wing film supporting rod, the two bottom surfaces of a cylindrical structure are fixedly connected with a steering engine, a wing connecting piece is vertically connected to a shaft of the steering engine, the middle part of the wing connecting piece is connected with a double-layer wing connecting rod through a spherical hinge, the other end of the double-layer wing connecting rod is magnetically connected to a grabbing mechanism, the grabbing mechanism is fixedly connected to the folding rod, the other end of the wing connecting piece is rotatably connected with a lower wing film supporting rod, and the lower wing film supporting rod is rotatably connected to the lower wing film supporting rod, so that the double-wing ornithopter has better obstacle-crossing capability, can traverse a narrow space and has better take-off performance.
Description
Technical Field
The invention belongs to the field of aircrafts, and particularly relates to a multi-mode foldable ornithopter capable of automatically planning a path.
Background
Today, the main stream of aircraft comprises rotorcraft, ornithopters and fixed wing aircraft, wherein the ornithopters are based on bionics and imitate a bat, bird or insect flight gesture. The device has the advantages of high flight efficiency, strong flight capability, good concealment and flexible flight action, and can complete the special actions such as spiral, diving, gliding and the like. The advantages also lead the method to have wide application scenes and prospects in the fields of military, civil and scientific research development. Most of the existing ornithopters capable of completing long-time low-altitude flight are flat-wing or arched-wing ornithopters, which primarily simulate the flapping wing flight mode of birds but do not have the capability of stretching and folding the wings of the birds, and also lose the functions and characteristics of part of birds in flight, such as obstacle-crossing capability, narrow space crossing, take-off and landing performance and the like.
Disclosure of Invention
The invention aims to provide a multi-mode foldable ornithopter capable of automatically planning a path, which has better obstacle-crossing capability, can pass through a narrow space and has better take-off performance.
The aim of the invention is realized by the following technical scheme:
the double-mode foldable ornithopter capable of automatically planning a path comprises a main support 1, a flapping wing travelling mechanism, a gyroscope 18 and an engine 27, wherein the main support 1 is of a cylindrical structure, and the flapping wing travelling mechanism comprises a folding wheel 4, a folding wheel support 3, a steering engine 9, an upper wing membrane 8 and a lower wing membrane 16; the two bottom surfaces of the cylinder structure are connected with a folding wheel bracket 3 through rolling bearings 2, a plurality of folding wheels 4 are uniformly distributed on the folding wheel bracket 3, each folding wheel 4 comprises a folding rod 5 and an outer wheel rod 6, the folding rod 5 is rotatably connected to the folding wheel bracket 3, the end part of the folding rod 5 is rotatably connected with the outer wheel rod 6, the end part of the outer wheel rod 6 is rotatably connected with an upper wing membrane supporting rod 7, an upper wing membrane 8 is connected between the upper wing membrane supporting rod 7 and the outer wheel rod 6, steering gears 9 are fixedly connected to the two bottom surfaces of the cylinder structure, wing connecting pieces 10 are vertically connected to the shaft of each steering gear 9, the middle part of each wing connecting piece 10 is connected with a double-layer wing connecting rod 12 through a spherical hinge 11, the other ends of the double-layer wing connecting rods 12 are magnetically connected to a grabbing mechanism 13, the grabbing mechanism 13 is fixedly connected to the folding rod 5, the other ends of the wing connecting pieces 10 are rotatably connected with a lower wing membrane supporting rod 14, the lower wing membrane supporting rod 14 is rotatably connected with a lower wing membrane supporting rod 15, and a lower wing membrane 16 is fixedly connected between the lower wing membrane supporting rod 15 and the lower wing membrane supporting rod 14; the gyroscope 18 is installed on the gyroscope support 17 fixedly connected with the inside of the main support 1, and the engine 27 is fixedly installed on the main support 1 through the engine support 28 and is used for pushing the main support 1 to move or lift.
As a better technical scheme of the invention, the wing aircraft comprises an attack angle changing mechanism, wherein the attack angle changing mechanism comprises a spring fixing piece 19 fixedly connected with the wing connecting piece 10, a spring shaft 20, a torque spring 21 and a wing fixing piece 33, the torque spring 21 is sleeved on the spring shaft 20, two ends of the torque spring 21 are respectively fixedly connected to the spring fixing piece 19 and the spring shaft 20, and a lower wing film supporting rod 14 is fixedly connected to the end part of the spring shaft 20 through the wing fixing piece 33.
As a preferred technical scheme of the invention, the folding rod 5 comprises a primary rod 21, a secondary rod 22 and a tertiary rod 23 which are rotatably connected into a whole, the primary rod 21 is rotatably connected to the folding wheel bracket 3, and the end part of the tertiary rod 23 is rotatably connected with the outer wheel rod 6.
As a better technical scheme of the invention, the folding rod 5 comprises a primary telescopic rod, a secondary telescopic rod and a tertiary telescopic rod, wherein the primary telescopic rod is rotatably connected to the folding wheel bracket 3, and the end part of the tertiary telescopic rod is rotatably connected with an outer wheel rod 6.
As a preferred technical scheme of the invention, the invention further comprises a camera sensor system 24, wherein the camera sensor system 24 is fixed on a sensor holder 25, and the sensor holder 25 is fixedly connected to the main support 1 through a holder connecting piece 26.
As a more preferable technical scheme of the invention, the grabbing mechanism 13 is a mechanical gripper, the mechanical gripper comprises a folding rod fixing part 32 and more than three mechanical fingers 29, the folding rod fixing part 32 is fixedly connected to the folding rod 5, the mechanical fingers 29 are rotatably connected to the folding rod fixing part 32, and the folding rod fixing part 32 and the more than three mechanical fingers 29 are made of electromagnets.
The beneficial effects are as follows:
the foldable flapping wing aircraft provided by the invention has three common modes: walking (various wheel diameters and various wheel widths), single-wing flight (various angles of attack) and double-wing flight (each folding wheel can be used as an upper flapping wing), the invention can be applied to various spaces and scenes due to the function and performance update, and the number of wings can be changed according to the requirement.
Drawings
FIG. 1 is a schematic structural view of a collapsible ornithopter of the present invention;
FIG. 2 is a schematic view of the structure of the upper and lower flapping wings of the foldable ornithopter of the present invention.
FIG. 3 is a schematic structural view (at a different angle than FIG. 1) of the foldable ornithopter of the present invention;
FIG. 4 is a schematic view of the configuration of the foldable ornithopter of the present invention in a travel mode;
FIG. 5 is a schematic view of the main and engine and gyroscope supports of the foldable ornithopter of the present invention;
FIG. 6 is a schematic structural view of a folding wheel support of the collapsible ornithopter of the present invention;
FIG. 7 is a schematic view of the folding bar and outer bar of the foldable ornithopter and upper wing film support bar of the present invention in a folded configuration;
FIG. 8 is a schematic structural view of the folding bar and outer wheel bar deployment of the collapsible ornithopter of the present invention;
FIG. 9 is a schematic structural view of an angle of attack modification mechanism of a collapsible ornithopter of the present invention;
FIG. 10 is a schematic structural view of an angle of attack modification mechanism of a collapsible ornithopter of the present invention;
FIG. 11 is a schematic structural view of a gripping mechanism of the collapsible ornithopter of the present invention;
fig. 12 is a schematic structural view of a double-wing connecting rod of a gripping mechanism of a collapsible ornithopter of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-10, the invention provides a bi-modal foldable ornithopter capable of automatically planning a path, which comprises a main support 1, a ornithopter running mechanism, a gyroscope 18 and an engine 27, wherein the main support 1 is of a cylindrical structure, and the ornithopter running mechanism comprises a folding wheel 4, a folding wheel support 3, a steering engine 9, an upper wing film 8 and a lower wing film 16; the two bottom surfaces of the cylinder structure are connected with a folding wheel bracket 3 through rolling bearings 2, a plurality of folding wheels 4 are uniformly distributed on the folding wheel bracket 3, each folding wheel 4 comprises a folding rod 5 and an outer wheel rod 6, the folding rod 5 is rotatably connected to the folding wheel bracket 3, the end part of the folding rod 5 is rotatably connected with the outer wheel rod 6, the end part of the outer wheel rod 6 is rotatably connected with an upper wing membrane supporting rod 7, an upper wing membrane 8 is connected between the upper wing membrane supporting rod 7 and the outer wheel rod 6, steering gears 9 are fixedly connected to the two bottom surfaces of the cylinder structure, wing connecting pieces 10 are vertically connected to the shaft of each steering gear 9, the middle part of each wing connecting piece 10 is connected with a double-layer wing connecting rod 12 through a spherical hinge 11, the other ends of the double-layer wing connecting rods 12 are magnetically connected to a grabbing mechanism 13, the grabbing mechanism 13 is fixedly connected to the folding rod 5, the other ends of the wing connecting pieces 10 are rotatably connected with a lower wing membrane supporting rod 14, the lower wing membrane supporting rod 14 is rotatably connected with a lower wing membrane supporting rod 15, and a lower wing membrane 16 is fixedly connected between the lower wing membrane supporting rod 15 and the lower wing membrane supporting rod 14; the gyroscope 18 is installed on the gyroscope support 17 fixedly connected with the inside of the main support 1, and the engine 27 is fixedly installed on the main support 1 through the engine support 28 and is used for pushing the main support 1 to move or lift.
In some embodiments, the wing aircraft further comprises an attack angle changing mechanism, wherein the attack angle changing mechanism comprises a spring fixing piece 19 fixedly connected with the wing connecting piece 10, a spring shaft 20, a torque spring 21 and a wing fixing piece 22, the torque spring 21 is sleeved on the spring shaft 20, two ends of the torque spring 21 are respectively fixedly connected with the spring fixing piece 19 and the spring shaft 20, and the lower wing film supporting rod 14 is fixedly connected with the end part of the spring shaft 20 through the wing fixing piece 22. As the wing is flapped, the angle of attack may spontaneously change to flutter in a more aerodynamic configuration.
In some embodiments, the folding bar 5 includes a primary bar 21, a secondary bar 22 and a tertiary bar 23 rotatably connected as one body, the primary bar 21 is rotatably connected to the folding wheel bracket 3, and an end of the tertiary bar 23 is rotatably connected to the outer wheel bar 6.
In some embodiments, the folding bar 5 comprises a primary telescopic bar, a secondary telescopic bar and a tertiary telescopic bar, wherein the primary telescopic bar is rotatably connected to the folding wheel bracket 3, and an outer wheel bar 6 is rotatably connected to the end of the tertiary telescopic bar.
In some embodiments, the camera sensor system 24 is further included, the camera sensor system 24 is fixed on a cradle head 25, and the cradle head 25 is fixedly connected to the main support 1 through a cradle head connector 26. The gyroscope is mounted on a gyroscope support 22, which mechanism ensures the stability and balance of the movement of the unmanned aerial vehicle in flight and on land walking. The sensing path planning device is composed of a camera sensor system, a cradle head 9, a cradle head connecting piece and a cradle head support connecting port, wherein the camera sensor system is integrated with a laser radar sensor, a height position sensor, a GPS positioning module, a depth camera and a microcomputer system, the cradle head connecting piece and the cradle head support connecting port can ensure that the camera sensor system senses the surrounding environment with multiple degrees of freedom, obstacle and dangerous sources are identified, then the obstacle and dangerous sources are transmitted to the microcomputer, and the microcomputer determines a movement mode and a land movement mode according to received data to open the radius of a folding wheel and conduct path planning so as to achieve the purposes of monitoring, disaster relief or investigation.
In some embodiments, the gripping mechanism 13 is a mechanical gripper, the mechanical gripper includes a folding rod fixing member 32 and more than three mechanical fingers 29, the folding rod fixing member 32 is fixedly connected to the folding rod 5, the mechanical fingers 29 are rotatably connected to the folding rod fixing member 32, and the folding rod fixing member 32 and the more than three mechanical fingers 29 are made of electromagnets. The two ends of the double-layer wing connecting rod 12 are both ball structures, wherein one end connected with the mechanical gripper is a magnetic metal ball 32, the metal ball 32 in the mechanical fingers 29 with more than three is magnetic, and the metal ball 32 can rotate after the electromagnet is powered off after being positioned in the mechanical gripper. When the electromagnet is electrified, the metal ball head 32 of the double-layer wing connecting rod 12 is close to the mechanical gripper and is grabbed, the grabbing mechanism 13 is powered off after the metal ball head 32 is arranged in the mechanical gripper, and at the moment, no magnetic force acts between the grabbing mechanism 13 and the metal ball head 32. One of the functions of the mechanical gripper can increase the stability of the connection between the double-layer wing connecting rod 12 and the grabbing mechanism 13.
As shown in fig. 4, when the present invention is in a running mode (various wheel diameters and various wheel widths), the primary rod 21, the secondary rod 22 and the tertiary rod 23 which are rotatably connected into a whole are in an unfolded state under the driving of a motor, the primary rod 21 is parallel to the bottom surface of the cylinder or forms an acute angle or an obtuse angle, the lower wing film supporting rod 14 is rotated to be parallel to the bottom surface of the cylinder under the driving of the motor, the primary rod 21 is in an opened state under the action of the connected micro stepping motor, the primary rod 21, the secondary rod 22 and the tertiary rod 23 and the outer wheel rod 6, and the lower wing film supporting rod 14 is rotated to be parallel to the bottom surface of the vertical main bracket 1 and is in a retracted state under the action of the connected micro stepping motor. At this moment, the duct engine nozzle points to the horizontal direction, provides propulsion for unmanned aerial vehicle, and unmanned aerial vehicle can realize ground motion's function. Meanwhile, the diameter of the folding wheel with variable diameter can be changed by adjusting the rotation angle of the folding wheel rotary micro motor and the folding rod connected with the micro stepping motor, and the folding wheel can be suitable for rolling movement in narrow spaces with different sizes.
In the invention, when a single-wing aircraft flies (various angles of attack change), a primary rod 21, a secondary rod 22 and a tertiary rod 23 which are rotatably connected into a whole are all in a folded state as shown in fig. 7 and abutted against a main support structure 10 under the drive of a motor. The lower wing film supporting rod 14 rotates to be perpendicular to the bottom surface of the main support 1, the lower wing film supporting rod 15 rotates to be at a certain angle with the lower wing film supporting rod 14, and then the lower wing film 16 is unfolded to form a lower flapping wing, and the steering and other high-precision movements of the ornithopter are realized by controlling the flapping frequency of the two steering engines 9. When the steering engine 9 drives the lower wing to flutter, the nozzle of the ducted engine is adjusted towards the ground to compensate the lift force.
When the double-layer wing flying machine is in double-layer wing flying (each folding wheel can be used as an upper-layer flapping wing), one folding wheel 4 is in an unfolding state, the free end of the upper-layer wing film supporting rod 7 is rotated to be far away from the outer wheel rod 6, and the upper-layer wing film 8 is unfolded to form the upper-layer flapping wing. The remaining folding wheels 4 are in the folded state as shown in fig. 7 and abut against the main support structure 10. The folding rod fixing piece 32 of the mechanical gripper is fixedly connected to the folding rod 5, the mechanical finger 29 is rotatably connected to the folding rod fixing piece 32, the folding rod fixing piece 32 and/or more than three mechanical fingers 29 are made of electromagnets, and the interior of the more than three mechanical fingers 29 forms a spherical surface. The two ends of the double-layer wing connecting rod 12 are both ball structures, wherein one end connected with the mechanical claw is a metal ball 32, the metal ball 32 in the mechanical fingers 29 with more than three functions has magnetism, and the metal ball 32 can rotate after the electromagnet is powered off after being positioned in the mechanical claw. When the electromagnet is electrified, the metal ball head 32 of the double-layer wing connecting rod 12 is close to the mechanical gripper and is gripped, the gripping mechanism 13 is powered off after the metal ball head 32 is arranged in the mechanical gripper, no magnetic force acts between the gripping mechanism 13 and the metal ball head 32, the steering engine 9 drives the wing connecting piece 10 to flap, the wing connecting piece 10 drives the mechanical gripper to flap, and the mechanical gripper drives the upper-layer flapping wing to flap. When the steering engine 9 drives the lower wing to flap, the upper flapping wing flaps simultaneously, and meanwhile, the variable angle culvert mechanism formed by the engine bracket 13, the culvert engine 27, the culvert nozzle and the micro motor at the joint of the culvert engine adjusts the culvert nozzle towards the ground for compensating lift force.
The rotating shafts at the rotatable joints can be driven and controlled to rotate by the rotary micro motor or the micro stepping motor.
The wing film according to the present invention may be a film having elasticity.
The telescopic rod is an electric or pneumatic telescopic rod.
Because the innovation of the present invention is the structure of the aircraft itself, aircraft control systems and drive systems are not included in the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (6)
1. A bi-modal foldable ornithopter capable of automatic path planning, which is characterized in that: the flapping wing traveling mechanism comprises a folding wheel, a folding wheel bracket, a steering engine, an upper layer wing film and a lower layer wing film; the two bottom surfaces of the cylinder structure are connected with folding wheel supports through rolling bearings, a plurality of folding wheels are uniformly distributed on the folding wheel supports, each folding wheel comprises a folding rod and an outer rod, the folding rods are rotatably connected to the folding wheel supports, the end parts of the folding rods are rotatably connected with the outer rods, the end parts of the outer rods are rotatably connected with upper wing membrane supporting rods, upper wing membranes are connected between the upper wing membrane supporting rods and the outer rods, steering engines are fixedly connected to the two bottom surfaces of the cylinder structure, wing connecting pieces are vertically connected to shafts of the steering engines, the middle parts of the wing connecting pieces are connected with double-layer wing connecting rods through spherical hinges, the other ends of the double-layer wing connecting rods are magnetically connected to grabbing mechanisms, the grabbing mechanisms are fixedly connected to the folding rods, the other ends of the wing connecting pieces are rotatably connected with lower wing membrane supporting rods, lower wing membrane supporting rods are rotatably connected to the lower wing membrane supporting rods, and lower wing membranes are fixedly connected between the lower wing membrane supporting rods; and a gyroscope is arranged on the gyroscope support fixedly connected with the inside of the main support, and the engine is fixedly arranged on the main support through the engine support and is used for pushing the main support to walk or lift.
2. The automatic path planning bi-modal foldable ornithopter of claim 1, wherein: the wing film support comprises a wing connecting piece, a wing fixing piece, a torsion spring, an attack angle changing mechanism, a lower wing film support rod and a wing film support rod, wherein the attack angle changing mechanism comprises a spring fixing piece, a spring shaft, the torsion spring and the wing fixing piece which are fixedly connected with the wing connecting piece, the torsion spring is sleeved on the spring shaft, two ends of the torsion spring are respectively and fixedly connected onto the spring fixing piece and the spring shaft, and the lower wing film support rod is fixedly connected to the end part of the spring shaft through the wing fixing piece.
3. The automatic path planning bi-modal foldable ornithopter of claim 1, wherein: the folding rod comprises a primary rod, a secondary rod and a tertiary rod which are rotatably connected into a whole, the primary rod is rotatably connected to the folding wheel support, and the end part of the tertiary rod is rotatably connected with an outer wheel rod.
4. The automatic path planning bi-modal foldable ornithopter of claim 1, wherein: the folding rod comprises a primary telescopic rod, a secondary telescopic rod and a tertiary telescopic rod, wherein the primary telescopic rod is rotatably connected to the folding wheel support, and the end part of the tertiary telescopic rod is rotatably connected with an outer wheel rod.
5. The automatic path planning bi-modal foldable ornithopter of claim 1, wherein: still include camera sensor system, camera sensor system is fixed on the sensor cloud platform, and the sensor cloud platform passes through cloud platform connecting piece fixed connection on the main support.
6. The automatic path planning bi-modal foldable ornithopter of claim 1, wherein: the grabbing mechanism is a mechanical gripper, the mechanical gripper comprises a folding rod fixing piece and more than three mechanical fingers, the folding rod fixing piece is fixedly connected to the folding rod, the mechanical fingers are rotatably connected to the folding rod fixing piece, and the folding rod fixing piece and/or the more than three mechanical fingers are made of electromagnets.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311178192.0A CN117208245A (en) | 2023-09-13 | 2023-09-13 | Multi-mode foldable ornithopter capable of automatically planning path |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311178192.0A CN117208245A (en) | 2023-09-13 | 2023-09-13 | Multi-mode foldable ornithopter capable of automatically planning path |
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| CN117208245A true CN117208245A (en) | 2023-12-12 |
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| CN202311178192.0A Pending CN117208245A (en) | 2023-09-13 | 2023-09-13 | Multi-mode foldable ornithopter capable of automatically planning path |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118083189A (en) * | 2024-04-23 | 2024-05-28 | 吉林大学 | Multi-mode cluster agriculture and forestry unmanned aerial vehicle system |
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2023
- 2023-09-13 CN CN202311178192.0A patent/CN117208245A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118083189A (en) * | 2024-04-23 | 2024-05-28 | 吉林大学 | Multi-mode cluster agriculture and forestry unmanned aerial vehicle system |
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