Bionic double-joint flapping wing air vehicle

A flapping aircraft and double-joint technology, applied in the aerospace field, can solve the problems of irregular flapping, uncontrollable flapping, asymmetric left and right flapping wings, etc., and achieve the effects of flexible movement, improved stability and convenient control.

Inactive Publication Date: 2014-03-05
BEIJING UNIV OF TECH
3 Cites 36 Cited by

AI-Extracted Technical Summary

Problems solved by technology

[0005] The patent No. 200910017614.X introduces a two-way synchronous automatic flipping wing aircraft. The flapping of its ailerons is passively flipped...
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Method used

Main wing comprises main wing bar 13, main wing linkage bar 26, main wing skeleton 9, main wing reinforcing bar 6, wing skin 14, and the fuselage end of main wing bar 13 is parallelly fixedly connected with two main wing bar connectors 24, main wing bar One end of the connecting piece 24 is connected with the connecting rod 19 through the pin shaft 22, and can rotate relatively. The aileron end of the main wing rod 13 is fixed in parallel with two main wing linkage rod connectors 27, and the main wing linkage rod connector 27 and the main wing rod connector 24 are in the same plane, thereby ensuring that the flapping of the main wing and the aileron is all in the vertical direction. in a straight plane. There are three main wing frames 9 equidistantly fixed on the main wing bars 13, the upper and lower surfaces of the main wing frames 9 are covered with wing skins 14, and the material of the w...
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Abstract

The invention provides a bionic double-joint flapping wing air vehicle and belongs to the field of aerospace. The bionic double-joint flapping wing air vehicle comprises a fuselage, a flapping wing driving device, a main wing, an aileron, a main wing joint, an aileron joint, an empennage driving device and an empennage. The bionic double-joint flapping wing air vehicle is characterized in that the fuselage comprises a fuselage transverse beam and two fuselage frameworks, wherein the two same fuselage frameworks are arrayed in parallel and are fixedly connected with the fuselage transverse beam; the fuselage transverse beam penetrates through the centers of the fuselage frameworks. The flapping wing driving device is fixedly connected with the fuselage frameworks; the main wing is connected with the fuselage frameworks by the main wing joint; the main wing can rotate relatively around the fuselage frameworks by taking the main wing joint as a rotary axis. The aileron is connected with the main wing by the aileron joint; the aileron can rotate relatively around the main wing by taking the main wing joint and the aileron joint as rotary axes. The empennage driving device 5 is fixedly arranged at the rear end of the fuselage transverse beam and the empennage is connected with the empennage driving device. According to the double-joint bionic flapping wing air vehicle, left and right flapping wing devices are fully symmetrical and the flight stability is improved.

Application Domain

Ornithopters

Technology Topic

Image

  • Bionic double-joint flapping wing air vehicle
  • Bionic double-joint flapping wing air vehicle
  • Bionic double-joint flapping wing air vehicle

Examples

  • Experimental program(1)

Example Embodiment

[0033] Combine Figure 1-Figure 17 To further explain the present invention:
[0034] The dual-joint bionic flapping wing aircraft includes the fuselage beam 11, the flapping wing drive device 10, the main wing rod 13, the aileron rod 7, the main wing reinforcement rod 6, the main wing linkage rod 26, the main wing joint 12, the aileron joint 8, and the fuselage frame 15. , Main wing skeleton 9, aileron skeleton 1, tail drive device 5, tail vertical rudder 3, tail horizontal rudder 4, power supply and control module 5. The flapping wing drive device 10 provides the power of the flapping wing and transmits the power to the main wing lever 13 and the main wing linkage lever 26. The aileron lever 7 moves synchronously with the main wing under the action of the main wing linkage lever 26. The up and down movement characteristics are similar to that of birds. Similarly, the main wing skeleton 9 and the aileron skeleton 1 are used to ensure that the cross-sectional shape of the wing is concave and convex, the main wing reinforcement rod 6 is used to ensure the structural stability of the main wing, and the main wing joint 12 and aileron joint 8 are used to connect the fuselage and the main wing. And ailerons, the fuselage beam 11 and the fuselage frame 15 are used to connect and fix various components. The tail drive device 5 drives the tail vertical rudder 3 and the tail horizontal rudder to perform tail swinging. When installed, there is a gap between the tail horizontal rudder and the fuselage beam. The angle of about 5° makes the wing have a certain angle of attack. The power supply and control module 2 provides energy for the flapping-wing aircraft to fly, and controls the flapping-wing and tail-wing movements.
[0035] The flapping wing driving device 10 includes a brushless motor 16, a gear 17, a crank 18, a connecting rod 19, a gear shaft 20, a ball bearing 21, and a pin shaft 22. The brushless motor 16 is fixed on the body frame 15, and the output shaft of the brushless motor 15 is coaxially connected with a gear 17 and transmits power to the gear 17. The two gear shafts 20 are fixed to the two fuselage frames 15 symmetrically, and the fuselage frame 15 is fixed to the fuselage beam 11 at a distance of about 0.05 meters. The material of the fuselage beam 11 is 3K carbon fiber with a diameter of 0.004 meters. The length of the round tube is about 0.45 meters, and the material of the fuselage frame 15 is 0.001 meter thick 3K carbon fiber board. Two identical gears 17 are connected to the front end of the gear shaft 20 through ball bearings 21, and transmit power through meshing. In order to ensure the movement on the two gears 17, the tooth width of the gears 17 can be appropriately increased. The two cranks 18 are respectively fixedly connected with the gear 17, and the two connecting rods 19 are respectively connected with the crank 18 through a pin 22.
[0036] The gear module in the flapping wing driving device 10 is 1 module, the number of teeth is about 50, and the tooth width is 0.004 meters. The crank speed is about 4 revolutions per second, the material of the crank and gear is 7075 aluminum alloy, and the surface is hard-oxidized. The length of the crank 8 is 0.02 meters. The material of the pin 22 is 304 stainless steel with a diameter of 0.003 meters. The material of the connecting rod 19 is a 0.003 meter thick 3K plain weave carbon fiber board with a length of about 0.05 meter.
[0037] The main wing includes a main wing rod 13, a main wing linkage rod 26, a main wing skeleton 9, a main wing reinforcement rod 6, and a wing skin 14. The fuselage end of the main wing rod 13 is fixed in parallel with two main wing rod connectors 24, and a main wing rod connector 24 One end is connected by a pin 22 and a connecting rod 19, and can rotate relatively. The aileron end of the main wing rod 13 is fixed in parallel with two main wing linkage rod connectors 27. The main wing linkage rod connector 27 and the main wing rod connector 24 are in the same plane to ensure that the flapping of the main wing and ailerons are vertical In a straight plane. There are three main wing skeletons 9 fixed to the main wing rod 13 at equal intervals. The upper and lower surfaces of the main wing skeleton 9 are covered with a wing skin 14. The material of the wing skin 14 is a 0.002 meter thick EPS foam board, which is glued by quick-drying glue. Connected to the upper and lower surfaces of the main wing skeleton 9. The main wing reinforcing rod 6 passes through the three main wing frames 9 and is fixedly connected with the main wing rod 13 and the main wing frame 9 to achieve the purpose of strengthening the main wing. The main wing reinforcing rod 6 has a main wing reinforcing rod connecting piece 25 fixedly connected to the fuselage end, the material of which is 3K carbon fiber. The main wing is fixedly connected to the main wing shaft 23 through the main wing rod connector 24 and the main wing reinforcement rod connector 25. The main wing shaft 23 is connected to the fuselage frame 15, and the main wing can rotate relative to the fuselage frame 15. Two main wing linkage rod connectors 27 are respectively fixedly connected to both ends of the main wing linkage rod 26.
[0038] The length of the main wing rod 13 and the main wing linkage rod 26 are equal, and the material is a 0.004 meter diameter 3K carbon fiber round tube, and the length is about 0.3 meter. The distance between the two ends of the main wing rod 13 and the main wing linkage rod 26 is 0.015 meters. The length of the main wing reinforcement rod 6 is about 0.25 meters, and the material is a 0.003 meter diameter 3K carbon fiber round tube. The material of the main wing skeleton 9 is a 3K carbon fiber board with a thickness of 0.001 meters. The length of the main wing shaft 23 is about 0.06 meters, and the material is 304 stainless steel.
[0039] The aileron includes aileron rod 7, aileron skeleton 1 and wing skin 14. The two pairs of main wing linkage rod connectors 27 on the aileron ends of the main wing rod 13 and the main wing linkage rod 26 are respectively connected to the two aileron rod connectors 28 through aileron joint pins 29, and the two aileron rod connectors 28 The aileron rods 7 are fixedly connected to each other in parallel, and the aileron rods 7 are fixedly connected with 4 aileron frames 1 at equal intervals. The aileron frame 1 is covered with an organic wing skin 14 so that the cross-sectional shape of the aileron is Convex type. The aileron skeleton 1 has a certain degree of flexibility, and the wing skin 14 also has a certain degree of flexibility, so that the ailerons can produce a certain degree of flexible deformation during the flapping process of the wing, resulting in a larger rearward direction along the wing. Of thrust.
[0040] The material of the aileron rod 7 is a 0.004 meter diameter 3K carbon fiber round tube with a length of about 0.4 meter. The materials of the aileron skeleton and the aileron rod connector 28 are both 0.001 meter thick 3K carbon fiber plates. The width of the wing after covering the wing skin 14 is about 0.2 meters, and the maximum thickness is about 0.03 meters. The shaft of the aileron joint is made of 304 stainless steel with a diameter of 0.003 meters.
[0041] The tail drive device includes a steering gear fixing member 30, a steering gear 31, a rudder arm 32, a ball joint connecting rod 33, a cross coupling 34, and a tail connecting member 35. The two steering gears 31 are connected to the fuselage beam 11 through the steering gear fixing member 30, the two rudder arms 32 are respectively connected to the two steering gears 31, and the two ends of the two spherical joint connecting rods 33 are respectively connected to the rudder arm 32 and the tail. The empennage joint 35 is connected to the fuselage beam 11 through a cross coupling 34, and the distance between the cross coupling 34 and the fuselage frame 15 is about 0.2 meters.
[0042] The torque of the steering gear 31 is about 0.3 N·m, and the length of the rudder arm 32 is about 0.02 meters. In order to maximize the movable range of the tail fin, the total length of the spherical connecting rod 33 is set to 0.05 meters. In order to improve the stability of the tail, the cross coupling 34 is made of 304 stainless steel, and the tail connecting piece 35 is made of 0.002 meters thick 3K carbon fiber board, with a total length of about 0.03 meters and a total width of about 0.025 meters.
[0043] The tail wing includes a tail vertical rudder 3 and a tail horizontal rudder 4. The tail vertical rudder 3 is vertically fixed to the tail horizontal rudder 4, and the tail horizontal rudder 4 is fixed to the tail connecting piece 35. After the tailplane rudder is installed, ensure that the angle between it and the fuselage is about 5°. The material of the tail vertical rudder 3 and the tail horizontal rudder 4 are both 0.002 meters thick EPS foam board. The length of the tail horizontal rudder is about 0.04 meters and the width is about 0.035 meters. The area of ​​the tail vertical rudder 3 is about that of the tail horizontal rudder 4. Half of it. The design of the tail wing can greatly improve the swing range and the softness of the movement of the tail wing, so as to achieve a greater degree of flight effect similar to that of birds.
[0044] The power supply and control module 2 is equipped with a control circuit, a motor drive circuit, a wireless transmission module, a power supply, and a steering gear drive control module. The power supply and control module 2 is fixed on the cross beam 11 of the fuselage. The power supply and control module 2 can realize the flight control of the flapping-wing aircraft.
[0045] The above are only relatively good embodiments of the present invention, and the design of some parts can be referred to Figure 10-17 , But it is not a limitation to other forms of the present invention. Reference image 3 Schematic diagram of the flapping wing device, any embodiment designed based on the mechanism diagram is within the protection scope of the technical solution of the present invention.
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