CN204916183U

CN204916183U - Wing actuating mechanism of flapping wing aircraft

Info

Publication number: CN204916183U
Application number: CN201520694618.2U
Authority: CN
Inventors: 吴立群
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-09-09
Filing date: 2015-09-09
Publication date: 2015-12-30
Anticipated expiration: 2025-09-09

Abstract

The utility model discloses a wing actuating mechanism of flapping wing aircraft, include: the drive arrangement, universal joint and the position control device that connect gradually, wherein, the universal joint has a drive shaft and a driven shaft, be connected with the wing on the driven shaft, drive shaft one end is connected drive arrangement and drive arrangement's effect is rotated down, driven shaft one end is connected the position control device and the effect motion down of position control device, the last position sensor who installs real -time perception drive shaft motion position of drive arrangement, install real -time perception on the position control device the 2nd position sensor of driven shaft motion position, the motion position basis of driven shaft the adjustment is also done in real time in the change of the motion position of drive shaft. The utility model provides an original flapping wing aircraft can't realize " 8 " word flight, can not change the problem of angle of attack size in a flexible way.

Description

Wing driving mechanism of flapping wing aircraft

Technical Field

The utility model relates to a flapping wing aircraft, concretely relates to flapping wing aircraft's wing actuating mechanism.

Background

The flapping wing aircraft is an aircraft which generates lift force and forward force through active movement of wings like a bird, and flies by means of flapping of double wings in the flying process. Compared with fixed wing flight and rotor wing flight, flapping wing flight has the characteristics of taking off in situ or in a small field, good flight maneuverability, certain hovering performance, less energy consumption in long-distance flight and the like. The system can be used for enemy reconnaissance, target tracking, electronic interference, relay communication, active attack and defense and the like in military affairs; the method can be used for environment and disaster monitoring, traffic road monitoring, agricultural survey, aerial photography and the like in civil use.

The wings of the flapping wing aircraft in the natural world mostly adopt an 8-shaped flapping mode, but the flapping wing aircraft manufactured at present cannot realize the 8-shaped flight in the true sense due to the limitation of various factors. In addition, when the flapping wing in the nature flies, the wing can change the attack angle at any time, so that the flight is more stable, the wing efficiency is higher, and the maneuverability is stronger.

Therefore, how to design an ornithopter which can realize 8-shaped flight and flexibly change the attack angle during flight becomes a technical problem to be solved urgently at present.

SUMMERY OF THE UTILITY MODEL

Based on the above-mentioned not enough that exists among the prior art, the utility model discloses now provide a flapping wing aircraft's wing actuating mechanism to solve original flapping wing aircraft and can't realize "8" word flight, can not change the problem of angle of attack size in a flexible way.

The utility model discloses a flapping wing aircraft's wing actuating mechanism, it includes: drive arrangement, universal joint and the position control device who connects gradually, wherein, the universal joint has a drive shaft and a driven shaft, be connected with the wing on the driven shaft, the drive shaft is connected drive arrangement rotates under drive arrangement's the effect, the driven shaft is connected position control device moves under position control device's the effect, the last first position sensor who installs the kinematic position of real-time perception drive shaft of drive arrangement, install real-time perception on the position control device the second position sensor of driven shaft kinematic position, the kinematic position basis of driven shaft the kinematic position's of drive shaft change also real-time adjustment.

Further, the driving device is indirectly connected to the driving shaft of the universal joint through a synchronous belt, a crank rocker, a gear or a gear rack.

Furthermore, the position control device comprises a first limiting groove and a second limiting groove which are arranged in a cross mode, the first limiting groove and the second limiting groove are crossed in space to form a specific position, and the driven shaft of the universal joint is restrained at the specific position. Preferably, the first limiting groove and the second limiting groove move independently, so that the specific position formed by the intersection of the two limiting grooves changes.

Preferably, the second limiting groove moves along with the first limiting groove, so that the specific position formed by the intersection of the two limiting grooves is changed.

Preferably, the second limiting groove is a fixed limiting groove, and the specific position formed by the intersection of the two limiting grooves is changed by adjusting the movement of the first limiting groove.

Preferably, the second limiting groove is a limiting groove formed by an elastic body and a rigid body, and the specific position formed by the intersection of the two limiting grooves is changed by adjusting the movement of the first limiting groove.

Preferably, the second position sensor obtains the position information of the specific position by means of direct measurement or indirect calculation.

Based on another concept of the utility model, still provide an ornithopter, this ornithopter contains the wing actuating mechanism that any above-mentioned technical scheme disclosed.

Compared with the prior art, the wing driving mechanism of the flapping wing aircraft solves the problem that the wing of the existing flapping wing aircraft can not realize the 8-shaped flight track in the real sense when swinging in a reciprocating way, and simultaneously can realize sudden stop, sudden turn, hovering state maintenance and the like; the utility model provides a wing all can change the angle of attack size in a flexible way in optional position to can more effectual control flight, make the flight more steady, wing drive efficiency is higher, mobility is stronger.

Drawings

FIG. 1 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to an embodiment of the present invention

Fig. 2 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to an embodiment of the present invention.

Fig. 3(a) is a schematic view of the flapping wing aircraft according to an embodiment of the present invention, with the driving end in the same position and the wings at a certain angle of attack by adjusting the driven end;

fig. 3(b) is a schematic diagram of the flapping wing aircraft according to the embodiment of the present invention, in which the wings are at another angle of attack by adjusting the driven end when the driving end is at the same position;

fig. 4(a) is a schematic diagram of the flapping wing aircraft according to an embodiment of the present invention, with the wing at a certain height by adjusting the driven end when the driving end is at the same position;

fig. 4(b) is a schematic diagram of the flapping wing aircraft according to the embodiment of the present invention, in which the wings are at another height by adjusting the driven end when the driving end is at the same position;

fig. 5(a) is a schematic comparison diagram of the flapping wing aircraft according to the embodiment of the present invention in different states in which the wings are shown by adjusting the driven end when the driving end is at the same position;

FIG. 5(b) is a schematic view of the flapping tracks of the wings of the ornithopter of an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a wing driving mechanism of an ornithopter according to another embodiment of the present invention.

In the figures, the reference numerals are as follows: 1-a drive device; 2-a universal joint; 21-a drive shaft; 22-a driven shaft; 3-a position control device; 31-a first limit groove; 32-a second limit groove; 4-wings.

Detailed Description

The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby. As certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. The present specification and claims do not intend to distinguish between components that differ in name but not function. The following description is of the preferred embodiment of the present invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the invention. The protection scope of the present invention is subject to the limitations defined by the appended claims.

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view of a wing driving mechanism of an ornithopter according to an embodiment of the present invention.

As shown in fig. 1, the wing driving mechanism includes: from last drive arrangement 1, universal joint 2 and the position control device 3 that down connects gradually, drive arrangement 1 can be for gear or other drive methods, and wherein, universal joint 2 is the parts that realize variable angle power transmission for need change the position of transmission axis direction, the utility model discloses ingenious be arranged in flapping wing aircraft structure with universal joint 2, realize the conduction of power and the adjustment of direction. The universal joint 2 has a driving shaft 21 and a driven shaft 22, the driven shaft 22 is connected with a wing 4, one end of the driving shaft 21 is connected with the driving device 1 and rotates along the horizontal direction under the action of the driving device 1, the driven shaft 22 is connected with the position control device 3 and moves under the action of the position control device 3, the movement process includes upward, downward, forward, backward or changes the attack angle size of the wing 4, etc., the driving device 1 is provided with a first position sensor (not shown) for sensing the movement position of the driving shaft 21 in real time, the position control device 3 is provided with a second position sensor (not shown) for sensing the movement position of the driven shaft 22 in real time, the second position sensor can be positioned at the inner end or the bottom of the position control device 3, the movement position of the driven shaft 22 is adjusted in real time according to the change of the movement position of the driving shaft 21, the wings 4 can realize different flight postures, that is, on one hand, the driving device 1 drives the driving shaft 21 of the universal joint 2 to do reciprocating circular motion, the wings 4 are driven to move through the special structure of the universal joint 2, and simultaneously, the position control device 3 also drives the driven end of the universal joint 2 to move, and the comprehensive effects of the driving device 1 and the position control device 3 can realize the adjustment of different windward angles at any position while the wings 4 realize the 8-shaped motion in the motion. And in order to realize the harmony of the two positions, the utility model discloses all according to installing position sensor on drive shaft 21 and driven shaft 22 to the two position of motion of real-time perception realizes the various actions of flapping wing aircraft in flight process through coordinating the two position, and this action is including changing the flabellate direction, the flabellate height and the angle of attack size of wing 4. Wherein, wing 4 can be directly or indirectly connected in on universal joint 2, in the embodiment of the utility model, for better control wing 4, wing 4 connects simultaneously on universal joint 2 and driven shaft 22. The position control device may receive and process information from other sensors or controllers, such as inertial sensors or a remote control.

Of course, the universal joint 2 of the present invention can be replaced by other flexible connectors, such as rubber bars or other elastic materials, which can transmit torque while being flexible.

Wherein, the driving device 1 can be indirectly connected to the driving shaft of the universal joint through a synchronous belt, a crank rocker, a gear or a gear rack.

Specifically, the position control device comprises a first limiting groove and a second limiting groove which are arranged in a mutually crossed mode, the two limiting grooves are crossed in space to form a specific position, and a driven shaft of the universal joint is restrained at the specific position. Because each limiting groove has a certain space, the first limiting groove and the second limiting groove can be close to each other or not.

In the above-mentioned device, there are various ways in which the position limitation can be achieved, and two methods will be described below

The first method is as follows: the first limiting groove and the second limiting groove move independently, so that the specific position formed by the intersection of the two limiting grooves changes.

In a second mode, the second limiting groove moves along with the movement of the first limiting groove, so that the specific position formed by the intersection of the two limiting grooves is changed.

Further, in the second aspect, the mode of changing the specific position is controlled by two control modes:

in the first mode, the second limiting groove is a fixed limiting groove, and the specific position formed by the intersection of the two limiting grooves is changed by adjusting the movement of the first limiting groove.

In the second mode, the second limiting groove is a limiting groove formed by combining an elastic body and a rigid body, and the specific position formed by intersecting the two limiting grooves is changed by adjusting the movement of the first limiting groove. Regarding the comprehensive limit, the driven shaft can be pushed to one end of the limit groove by a spring, when the limit groove moves to a certain specific position, the rigid limit forces the spring to compress, and the factors are combined together to form a new limit groove (track), so that the structure is simpler.

Of course, it should be understood by those skilled in the art that the manner of achieving the limit and the particular positional change is not limited to those enumerated above.

Preferably, in the position control device, the second position sensor obtains the position information of the specific position by direct measurement or indirect calculation, and the number and the type of the sensors are determined according to the structure of the limit groove.

As a preferred embodiment of the present invention, referring to fig. 2, specifically, the position control device 3 has a first limiting groove 31 and a second limiting groove 32 which are mutually crossed and vertically disposed, the limiting grooves are hollow, the two limiting grooves are crossed to form a hollow joint, one end of the driven shaft 22 of the universal joint 2 is located in the joint, and the first limiting groove 31 and the second limiting groove 32 are controlled by the position control device 3 to move in different manners.

The first limiting groove 31 is controlled by the position control device 3 to reciprocate along the horizontal direction, such as along the X-axis direction in the arrow, and the second limiting groove 32 is controlled by the position control device 3 to reciprocate along the vertical direction, such as along the Y-axis direction in the arrow. Correspondingly, the number of the second position sensors is two, the two second position sensors are used for respectively collecting the motion position coordinates of the driven shaft 22 in the two limiting grooves, the second position sensors sense the motion position of the driven shaft 22 in real time, and the second position sensors coordinate the position of the driving shaft 21 sensed by the first position sensors and are linked to enable the wings 4 to realize different flight actions at any position.

As another alternative embodiment of the present invention, referring to fig. 6, the first limiting groove 31 is controlled by the position control device 3 to swing back and forth along the driving shaft 21, as indicated by the arrow in the figure, the second limiting groove 32 is controlled by the position control device 3 to swing back and forth along the radius direction of the swing of the first limiting groove 31, and this control method can also realize the limiting and adjusting of the position of the driven end.

Of course, it will be understood by those skilled in the art that the manner of implementing the slave end position control is not limited to the two mentioned in the present embodiment.

The shape of the limiting groove can be various, for example, one end of the limiting groove is an open U-shaped groove, but it is ensured that the driven shaft 22 cannot slide out of the intersecting U-shaped groove, or both ends of the limiting groove are closed arc-shaped grooves, which are similar to an ellipse, and the track of the inner sliding groove of the limiting groove can be a linear type or a curved type, or other suitable sliding groove tracks are adopted, and no limitation is made here.

As another alternative embodiment of the present invention, the first limiting groove 31 is controlled by the position control device to swing back and forth along the driving shaft, and the second limiting groove 32 adopts a fixed motion track, such as a linear or curved motion, and changes with the motion of the first limiting groove 31. At this moment, the second position sensor is only provided with one, and the motion position coordinates of the first limiting groove can be acquired in real time. Specifically, the second limiting groove 32 may be controlled by some elastic device (such as a spring, etc.) to always point to a linear or curved motion of a certain direction reciprocating.

Referring to fig. 3(a) and 3(b), when the driving shaft 21 is at the same position, the wing is at a certain angle of attack by adjusting the driven end, according to the driving mechanism disclosed by the present invention, the angle of attack of the wing can be arbitrarily adjusted by the action of the universal joint 2 and the position control device 3, fig. 3(a) and 3(b) show the state diagram of the change of the angle of attack of the wing respectively, and it is obvious from comparison in the figure that fig. 3(b) is smaller than that of fig. 3 (a).

Referring to fig. 4(a) and 4(b), when the driving shaft 21 is at the same position, the wing is at a certain height by adjusting the driven end, the height of the wing can be adjusted freely by the action of the universal joint 2 and the position control device 3, and fig. 4(a) and 4(b) respectively show the height change state diagram of the wing, and it is obvious from comparison that fig. 4(b) is higher than the wing in fig. 4 (a).

Referring to fig. 5(a), fig. 5(a) shows that the wings assume different states by adjusting the adjustment device when the driving end of the driving device 1 is in a certain same position: wherein,

state R1 has changed wing angle of attack size relative to state R0;

state R2 changes wing height and thus force direction relative to state R0;

state R3 changes wing angle of attack size while changing wing height relative to state R0.

Through the adjustment of the angle of attack of the wings and the height of the wings, the two can be combined together to realize a plurality of flapping effects, wherein the typical 8-shaped flapping mode shown in fig. 5(b) is included, and as shown in fig. 5(b), in the track shown by the 8-shaped flapping mode, the motion direction and the motion height of the wings can be changed, and the angle of attack of the wings can also be changed. Of course, those skilled in the art should understand that the "8" fan motion is only a typical example shown in the present invention, and there are various ways such as a pure horizontal fan motion, a "0" fan motion, etc.

Compared with the prior art, the embodiment of the utility model discloses a wing actuating mechanism of flapping wing aircraft, its simple structure, it is with low costs, but really realized the orbit is moved to "8" word fan of flapping wing aircraft, the wing optional position angle of attack is variable. In each flapping process of the wings, the amount of the flapping power and the force applying angle at any position can be different, so that infinite possible maneuvering effects are brought, or the existing posture is maintained, the flight is more stable, or the flight route is rapidly changed. The structure also ensures that the flapping wing air vehicle has more stable flapping, higher flapping efficiency and stronger maneuverability in the flying process.

It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and the present invention can also be modified in materials and structures, or replaced by technical equivalents. Therefore, all structural equivalents which may be made by applying the present invention to the specification and drawings, or by applying them directly or indirectly to other related technical fields, are intended to be encompassed by the present invention.

Claims

1. A wing actuation mechanism for an ornithopter, comprising: drive arrangement, universal joint and the position control device who connects gradually, wherein, the universal joint has a drive shaft and a driven shaft, be connected with the wing on the driven shaft, drive shaft one end is connected drive arrangement rotates under drive arrangement's the effect, driven shaft one end is connected position control device moves under position control device's the effect, the last first position sensor who installs the kinematic position of real-time perception drive shaft of drive arrangement, the last real-time perception of installing of position control device the second position sensor of driven shaft kinematic position, the kinematic position basis of driven shaft the kinematic position's of drive shaft change also real-time adjustment.

2. Wing drive mechanism as claimed in claim 1, characterized in that the drive means are indirectly connected to the drive shaft of the universal joint via a timing belt, or a crank rocker, or a gear wheel, or a rack and pinion.

3. A wing driving mechanism as claimed in claim 1, wherein the position control means comprises first and second limiting grooves disposed to intersect with each other, the first and second limiting grooves intersecting in space to form a specific position at which the driven shaft of the universal joint is constrained.

4. The wing actuation mechanism of claim 3, wherein the first and second restraint slots each move independently to change the particular position at which the two restraint slots intersect.

5. The wing actuation mechanism of claim 3, wherein the second detent moves with the first detent to change the position of the first detent relative to the second detent.

6. The wing actuating mechanism of claim 5, wherein the second retaining groove is a fixed retaining groove, and the specific position formed by the intersection of the two retaining grooves is changed by adjusting the movement of the first retaining groove.

7. The wing actuating mechanism as claimed in claim 5, wherein the second engaging groove is a engaging groove formed by an elastic body and a rigid body, and a specific position formed by the engagement of the engaging grooves is changed by adjusting the movement of the first engaging groove.

8. Wing actuating mechanism according to claim 4 or 5, characterized in that the second position sensor obtains position information of the specific position by means of direct measurement or indirect calculation.