Single-motor-driven multi-modal ornithopter

Abstract

The application aims to provide a single-motor driven multi-mode ornithopter simulating the flight posture of insects and birds, comprising a fuselage, a foldable wing mechanism, a flapping wing and ground walking mechanism, and a steering tail wing mechanism; the flapping wing and ground walking mechanism is a spatial five-link mechanism; in the flight state, the motor outputs power, the five-link mechanism drives the wing to complete the flapping action; in the ground walking state, the electromagnet connection hole is not electrified, the connecting rod driving wheel and the electromagnet right-angle connecting shaft are disconnected, the wing is in the folded state, and the rotation output of the motor is the rotation movement of the driving connecting rod driving wheel; the application integrates the connecting rod and the wheel, realizes the function of single-motor driving two modes, simplifies the mechanism complexity, reduces the manufacturing difficulty, lightens the ornithopter weight, and has good obstacle crossing ability and can cross narrow space.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft, specifically to a multimodal flapping-wing aircraft with foldable wings that can be driven by a single motor to achieve flapping and ground walking. Background Technology

[0002] An ornithopter is a heavier-than-air aircraft whose wings flap up and down like those of birds and insects; it is also called a flapping-wing aircraft. The flapping wings generate not only lift but also forward thrust. While modern ornithopters have achieved relatively good flight and control, they still fall short of practical application and cannot be widely used. They are primarily suited for specific missions, such as disaster relief and reconnaissance after geological disasters or other accidents. Multimodal ornithopters can switch to land-based movement mode in collapsed building ruins or other confined spaces. The main problems that modern ornithopters need to solve are low aerodynamic efficiency, high requirements for power and mechanisms, high material requirements, and low payload. Existing ornithopters capable of long-duration low-altitude flight are mostly straight-wing or domed-wing ornithopters. While they have initially mimicked the flapping flight pattern of birds, they lack the ability to extend and fold wings, thus losing some of the functions and characteristics of bird flight, such as obstacle-crossing ability, ability to navigate confined spaces, and takeoff and landing performance. Summary of the Invention

[0003] The main objective of this invention is to provide a multi-modal ornithopter driven by a single motor, thereby solving the problem of low aerodynamic efficiency in current ornithopters, while also being easy to manufacture and lightweight. This objective is achieved through the following technical solution:

[0004] A multimodal unmanned aerial vehicle (UAV) driven by a single motor includes a fuselage, a foldable wing mechanism, a flapping wing and ground walking mechanism, and a steering tail mechanism. The fuselage includes a main frame 22, an integrated battery 21, and an onboard control board 20. The main frame 22 and the integrated battery 21 are fixedly connected as one unit, and the main frame 22 and the onboard control board 20 are also fixedly connected as one unit. The main frame 22 has multiple connection holes and motor brackets. The foldable wing mechanism consists of a wing membrane 1, a wing support rod 2, and a wing control rod 3. The wing membrane 1 is fixedly connected to the wing support rod 2 and the wing control rod 3. The wing support rod 2 and the wing control rod 3 are connected through a central connection hole 31 in the wing support rod 2. The wing control rod 3 is coaxially connected to the wing rod connection hole 30 in the wing control rod 3; the flapping wing and ground walking mechanism includes the wing control rod 3, drive rod connection rod 4, wing pivot 7, secondary drive gear 8, secondary driven gear 9, connecting rod drive wheel 10, motor 13, primary drive gear 15, electromagnet right-angle connecting shaft 16, primary driven gear 17, transmission shaft 18, and connecting shaft 19. The motor 13 is fixedly connected to the motor bracket 24 on the main frame 22, the primary drive gear 15 is fixedly connected to the output shaft of the motor 13, the primary driven gear 17 is fixedly connected to the transmission shaft 18, and the secondary drive gear 8 and the primary driven gear 17 are coaxially connected. The two-stage driven gear 9 is fixedly connected to the connecting shaft 19. The two-stage drive gear 8 and the two-stage driven gear 9 mesh, and the first-stage drive gear 15 and the first-stage driven gear 17 mesh. The motor output shaft and the transmission shaft 18 are connected by two sets of meshing gears. The connecting shaft 19 and the connecting rod drive wheel 10 are fixedly connected as one unit through the drive wheel center connection hole 27, and are mounted on the frame through the connecting shaft mounting hole 25. In the flapping state, the electromagnet right-angle connecting shaft 16 and the connecting rod drive wheel 10 are movably connected coaxially through hole 26 and electromagnet connection hole 35. The drive rod connecting rod 4 and the electromagnet right-angle connecting shaft 16 are connected coaxially through the second connection hole 29 and the sixth connection hole 36. The drive rod connecting rod 4 and the wing control rod 3 are connected coaxially through the first connecting hole 28 and the middle connecting hole 31. The wing control rod 3 and the wing pivot 7 are connected coaxially through the third connecting hole 32 and the fourth connecting hole 33. The wing pivot 7 and the main frame 22 are connected coaxially through the fifth connecting hole 34 and the wing pivot connecting hole 23. The rotational output of the motor is a flapping wing motion around an ellipse in space. When in the land walking state, the electromagnet connecting hole 35 is not energized, the connecting rod drive wheel 10 and the electromagnet right-angle connecting shaft 16 are disconnected, the wing is in a folded state, and the rotational output of the motor 13 drives the rotational motion of the connecting rod drive wheel 10.The steering tail fin mechanism includes a steering servo 14, a tail fin servo connecting rod 12, a tail fin 5, and a carbon fiber tail fin rod 6. The steering servo 14 and the main frame 22 are fixedly connected as one unit. The tail fin servo connecting rod 12 and the steering servo 14 are fixedly connected as one unit. The tail fin servo connecting rod 12 and the tail fin 5 are fixedly connected as one unit. The tail fin 5 and the carbon fiber tail fin rod 6 are fixedly connected as one unit. The carbon fiber tail fin rod 6 and the main frame 22 are fixedly connected as one unit. The steering servo 14 outputs torque through the tail fin servo connecting rod 12 to control the tail fin 5.

[0005] As a preferred technical solution of the present invention: the motor 13 is fixedly connected to the main frame 22 through a motor bracket.

[0006] As a more preferred technical solution of the present invention: the first-stage driven gear 17 fixedly connected to one end of the transmission shaft 18 inside the machine body meshes with the first-stage drive gear 15 fixedly connected to the output shaft of the motor 13.

[0007] As a preferred technical solution of the present invention: the connecting rod drive wheel 10 and the connecting shaft 19 are fixedly connected to each other on the outside of the machine body.

[0008] As a more preferred technical solution of the present invention: the electromagnet right-angle connecting shaft 16 is movably connected to the drive rod connecting rod 4 and the connecting rod drive wheel 10 coaxially through the electromagnet connecting hole 35 and the sixth connecting hole 36.

[0009] As a preferred technical solution of the present invention: the material of the flapping wing mechanism rod is photosensitive resin; the material of the carbon fiber tail wing rod 6 is carbon fiber; and the membranes of the wing and tail wing are polyvinyl chloride films.

[0010] The beneficial effects are:

[0011] The single-motor driven flapping-wing aircraft provided by this invention offers a single motor capable of performing both elliptical flapping motion (mimicking the wingtip movement of an insect) and ground walking motion. The drive element is highly efficient and consumes little energy. Compared to common gear, planar crank-connecting rod flapping mechanisms, multi-motor variable angle-of-attack flapping mechanisms, and multi-motor multi-modal flapping-wing aircraft, the spatial five-bar linkage of this invention enables elliptical flapping motion driven by a single motor and ground walking functionality using the same motor, reducing overall weight and manufacturing complexity. Furthermore, the elliptical flapping motion provides a more authentic insect flapping flight pattern compared to the horizontal flapping motion of a planar crank-connecting rod mechanism. Finally, this invention integrates the walking wheel and flapping-wing drive rod into a single design, simplifying the structure and allowing a single motor to perform both modes of motion. Attached Figure Description

[0012] Figure 1 This is an overall structural diagram of the single-motor driven multimodal flapping-wing aircraft of the present invention;

[0013] Figure 2 This is a structural diagram of the flight state of the single-motor driven multimodal flapping-wing aircraft of the present invention;

[0014] Figure 3 This is a structural diagram of the land-walking state of the single-motor driven multimodal flapping-wing aircraft of the present invention;

[0015] Figure 4 This is a structural diagram of the flapping wing walking mechanism of the present invention;

[0016] Figure 5 This is a structural diagram of the main frame of the present invention;

[0017] Figure 6 This is a structural diagram of the linkage drive wheel of the present invention;

[0018] Figure 7 This is a structural diagram of the drive rod connecting rod of the present invention;

[0019] Figure 8 This is a structural diagram of the wing control stick of the present invention;

[0020] Figure 9 This is a structural diagram of the wing pivot of the present invention;

[0021] Figure 10 This is a structural diagram of the electromagnet right-angle connecting shaft of the present invention;

[0022] Figure 11 This is a structural diagram of the wing support of the present invention;

[0023] Figure 12 This is a structural diagram of the steering servo mechanism of the present invention;

[0024] Figure 13 This is a structural diagram of the tail fin of the present invention;

[0025] Figure 14 This is a structural diagram of the tail fin servo connecting rod of the present invention;

[0026] Figure 15 This is a structural diagram of the airborne control board of the present invention; Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following will provide a detailed description with reference to the accompanying drawings and embodiments.

[0028] like Figure 1As shown, the present invention provides a fuselage, a foldable wing mechanism, a flapping wing and ground walking mechanism, and a steering tail mechanism. The fuselage includes a main frame 22, an integrated battery 21, and an onboard control board 20. The main frame 22 and the integrated battery 21 are fixedly connected as one unit, and the main frame 22 and the onboard control board 20 are fixedly connected as one unit. The main frame 22 has multiple connection holes and a motor bracket. The foldable wing mechanism consists of a wing membrane 1, a wing support rod 2, and a wing control rod 3. The wing membrane 1 is fixedly connected to the wing support rod 2 and the wing control rod 3. The wing support rod 2 and the wing control rod 3 are connected through a central connection hole 31 in the wing support rod 2. The wing control rod 3 is coaxially connected to the wing rod connection hole 30 in the wing control rod 3; the flapping wing and ground walking mechanism includes the wing control rod 3, drive rod connection rod 4, wing pivot 7, secondary drive gear 8, secondary driven gear 9, connecting rod drive wheel 10, motor 13, primary drive gear 15, electromagnet right-angle connecting shaft 16, primary driven gear 17, transmission shaft 18, and connecting shaft 19. The motor 13 is fixedly connected to the main frame 22, the primary drive gear 15 is fixedly connected to the output shaft of the motor 13, the primary driven gear 17 is movably connected to the transmission shaft 18, and the secondary drive gear 8 is coaxial with the primary driven gear 17. The components are fixedly connected as one unit. The secondary driven gear 9 is fixedly connected to the connecting shaft 19. The secondary drive gear 8 and the secondary driven gear 9 mesh, and the primary drive gear 15 and the primary driven gear 17 mesh. The motor output shaft and the transmission shaft 18 are connected by two sets of meshing gears. The connecting shaft 19 and the connecting rod drive wheel 10 are fixedly connected as one unit through the central connecting hole 27 of the drive wheel. In the flapping wing state, the electromagnet right-angle connecting shaft 16 and the connecting rod drive wheel 10 are movably connected coaxially through hole 26 and electromagnet connecting hole 35. The drive rod connecting rod 4 and the electromagnet right-angle connecting shaft 16 are movably connected coaxially through the second connecting hole 29 and the sixth connecting hole 36. The drive rod connecting rod 4 and the wing control rod 3 are movably connected coaxially through the first connecting hole 28 and the middle connecting hole 31. The wing control rod 3 and the wing pivot 7 are movably connected coaxially through the third connecting hole 32 and the fourth connecting hole 33. The wing pivot 7 and the main frame 22 are movably connected coaxially through the fifth connecting hole 34 and the wing pivot connecting hole 23. The rotational output of the motor is a flapping wing motion around an ellipse in space. When in the land walking state, the electromagnet connecting hole 35 is not energized, the connecting rod drive wheel 10 and the electromagnet right-angle connecting shaft 16 are disconnected, the wing is in a folded state, and the rotational output of the motor 13 drives the rotational motion of the connecting rod drive wheel 10.The steering tail fin mechanism includes a steering servo 14, a tail fin servo connecting rod 12, a tail fin 5, and a carbon fiber tail fin rod 6. The steering servo 14 and the main frame 22 are fixedly connected as one unit. The tail fin servo connecting rod 12 and the steering servo 14 are fixedly connected as one unit. The tail fin servo connecting rod 12 and the tail fin 5 are fixedly connected as one unit. The tail fin 5 and the carbon fiber tail fin rod 6 are fixedly connected as one unit. The carbon fiber tail fin rod 6 and the main frame 22 are fixedly connected as one unit. The steering servo 14 outputs torque through the tail fin servo connecting rod 12 to control the tail fin 5.

[0029] In other embodiments, the motor 13 is fixedly connected to the main frame 22 via a motor bracket.

[0030] In other embodiments, a primary driven gear 17 fixedly connected to one end of the drive shaft 18 inside the machine body meshes with a primary drive gear 15 fixedly connected to the output shaft of the motor 13.

[0031] In other embodiments, the connecting rod drive wheel 10 and the connecting shaft 19 are fixedly connected to two sections located outside the body.

[0032] In other embodiments, the electromagnet right-angle connecting shaft 16 is movably connected to the drive rod connecting rod 4 and the connecting rod drive wheel 10 coaxially through the electromagnet connecting hole 35 and the sixth connecting hole 36.

[0033] The single-motor driven multimodal flapping-wing aircraft provided by the present invention is powered by a motor and consists of a fuselage, a foldable wing mechanism, a flapping wing and ground walking mechanism, and a steering tail wing mechanism. The flapping wing and ground walking mechanism includes a flapping wing and ground walking mechanism composed of a wing control rod 3, a drive rod connecting rod 4, a wing rotating shaft 7, a connecting rod drive wheel 10, an electromagnet right-angle connecting shaft 16, a transmission shaft 18, and a connecting shaft 19. The transmission mechanism consists of a secondary drive gear 8, a secondary driven gear 9, a primary drive gear 15, a primary driven gear 17, a motor 13, a transmission shaft 18, and a connecting shaft 19.

[0034] like Figure 2 The diagram shown is a structural diagram of a single-motor driven multi-mode flapping-wing aircraft in flight. The tail mechanism consists of a steering servo 14, a tail servo connecting rod 12, a tail wing 5, and a carbon fiber tail wing rod 6. The steering servo 14 adjusts the offset angle of the tail wing 5 through the two tail servo connecting rods 12 to achieve the steering function.

[0035] like Figure 3 The diagram shows the structure of a multi-mode flapping wing aircraft in land walking mode driven by a single motor. In land walking mode, the electromagnet connection hole 35 is not energized, the linkage drive wheel 10 and the electromagnet right-angle connection shaft 16 are disconnected, the foldable wing mechanism is in a folded state, and the rotation output of the motor 13 drives the rotation of the linkage drive wheel 10.

[0036] like Figure 4 The diagram shows the structure of the flapping wing and ground walking mechanism, which consists of a wing control rod 3, a drive rod connecting rod 4, a wing pivot 7, a connecting rod drive wheel 10, an electromagnet right-angle connecting shaft 16, a transmission shaft 18, and a connecting shaft 19. The power output from the motor drives the connecting rod drive wheel 10 to rotate through a transmission mechanism composed of a secondary drive gear 8, a secondary driven gear 9, a primary drive gear 15, a primary driven gear 17, a motor 13, a transmission shaft 18, and a connecting shaft 19. In flapping wing flight mode, the electromagnet right-angle connecting shaft 16 is movably connected to the drive rod connecting rod 4, driving the wing to complete the flapping motion of the wingtip around an ellipse. In ground walking mode, the electromagnet right-angle connecting shaft 16 is disconnected from the drive rod connecting rod 4, the wing is in a folded state, and the connecting rod drive wheel 10 rotates to complete the ground walking function.

[0037] Since the innovation of this invention lies in the aircraft structure itself, the drive method and control system of the aircraft's foldable wing mechanism are not included in this invention.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A single motor driven multi-modal ornithopter, characterized by: The utility model provides a kind of foldable wing mechanism, flapping wing and ground walking mechanism, steering tail mechanism, including fuselage, the fuselage includes mainframe (22), integrated battery (21), airborne control board (20), mainframe (22) and integrated battery (21) fixed connection as a whole, mainframe (22) and airborne control board (20) fixed connection as a whole, mainframe (22) is equipped with multiple connecting holes and motor support;The foldable wing mechanism includes wing membrane (1) that wing is fixedly connected on wing support rod (2) and wing control rod (3), wing support rod (2) and wing control rod (3) are coaxially movably connected on wing rod connecting hole (30) in wing control rod (3) by intermediate connecting hole (31) in wing support rod (2);The flapping wing and ground walking mechanism include motor (13) and mainframe (22) fixed connection as a whole, primary drive gear (15) and the output shaft of motor (13) fixed connection as a whole, primary driven gear (17) is movably connected on transmission shaft (18), secondary drive gear (8) and primary driven gear (17) coaxially fixed connection as a whole, secondary driven gear (9) is fixedly connected on connecting shaft (19), secondary drive gear (8) and secondary driven gear (9) are engaged, primary drive gear (15) and primary driven gear (17) are engaged, motor output shaft and transmission shaft (18) are connected by two groups of meshing gears, connecting shaft (19) and connecting rod drive wheel (10) are fixedly connected as a whole by drive wheel center connecting hole (27);When flapping, electromagnet right-angle connecting shaft (16) and connecting rod drive wheel (10) are coaxially movably connected by hole (26) and electromagnet connecting hole (35), drive rod connecting rod (4) and electromagnet right-angle connecting shaft (16) are coaxially movably connected by second connecting hole (29) and sixth connecting hole (36), drive rod connecting rod (4) and wing control rod (3) are coaxially movably connected by first connecting hole (28) and connecting hole (31), wing control rod (3) and wing rotation shaft (7) are coaxially movably connected by third connecting hole (32) and fourth connecting hole (33), wing rotation shaft (7) and mainframe (22) are coaxially movably connected by fifth connecting hole (34) and wing rotation shaft connecting hole (23);The steering tail mechanism includes steering rudder (14) and mainframe (22) fixed connection as a whole, tail rudder connecting rod (12) and steering rudder (14) fixed connection as a whole, tail rudder connecting rod (12) and tail wing (5) fixed connection as a whole, tail wing (5) and carbon fiber tail wing rod (6) fixed connection as a whole, carbon fiber tail wing rod (6) and mainframe (22) fixed connection as a whole, steering rudder (14) controls tail wing (5) by tail rudder connecting rod (12) output torque.

2. A multi-modal ornithopter driven by a single motor as in claim 1, wherein: The motor (13) is fixedly connected with the mainframe (22) by the motor support.

3. A multi-modal ornithopter driven by a single motor as in claim 1, wherein: The transmission shaft (18) is located inside the fuselage and is fixedly connected with a first driven gear (17) at one end and a first driving gear (15) fixedly connected with the output shaft of the motor (13).

4. A multi-modal ornithopter driven by a single motor as in claim 1, wherein: The connecting shaft (19) is fixedly connected with the connecting rod driving wheel (10) at two sections outside the fuselage.

5. A multi-modal ornithopter driven by a single motor as in claim 1, wherein: The electromagnetic straight-connection shaft (16) is movably connected with the driving rod connecting rod (4) and the connecting rod driving wheel (10) through the electromagnetic connecting hole (35) and the sixth connecting hole (36).

6. A multi-modal ornithopter driven by a single motor as in claim 1, wherein: The material of the flapping mechanism rod is photosensitive resin; the material of the carbon fiber tail wing rod (6) is carbon fiber; the membrane of the wing and the tail wing is polyvinyl chloride film.

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