Two-section type flapping wing bionic bird

Abstract

The invention discloses a two-section type flapping wing bionic bird which is provided with a lightweight fuselage 1, wings 2 and an empennage 3, the wings 2 are driven by a wing driving mechanism to imitate the action of flapping the wings when birds fly, and the empennage 3 is driven by an empennage driving mechanism to imitate the action of adjusting the tails when the birds fly. The two-section type flapping wing bionic bird is further provided with an electric control system module used for controlling the wing driving mechanisms and the empennage driving mechanism. The invention provides a design of a two-section type flapping wing bionic bird (aircraft) structure, the operation is convenient, the flight attitude is close to that of a normal bird, and free steering in the air can be realized. The purposes of light weight and pneumatic performance improvement are achieved, the flight maneuverability is improved, and the control convenience is further improved; due to the improvement of light weight and aerodynamic performance, the two-section type flapping wing bionic bird can be suitable for various use environments.

Description

Technical Field

[0001] The invention relates to the field of bionic machinery, and in particular to a two-stage flapping-wing bionic bird. Background Art

[0002] From the emergence of Archaeopteryx to the present, in the long evolutionary process of hundreds of millions of years, birds have formed many effective navigation, recognition, calculation, energy conversion and other systems, and their sensitivity, efficiency, accuracy and drought resistance are amazing. People study these structural and functional principles and simulate them to improve existing or create new machinery, instruments and processes. This is an important part of bionics research.

[0003] Birds have superb flying skills. Of course, modern aircraft far surpass birds in many aspects, but they pale in comparison in terms of energy conservation and agility. For example, a bird can fly over the ocean for more than 4,000 kilometers continuously and lose 0.06 kg in weight. The small hummingbird can not only take off and land vertically, but also stand upright while sucking nectar, and can move freely in the air. It is extremely flexible. The research and utilization of these special functions will further improve the performance of aircraft.

[0004] For example, wild ducks can fly at an altitude of 9,500 meters, while humans have difficulty breathing at 4,500 meters. Studying why birds can maintain smooth cerebral blood vessels in thin air can be of great significance to humans living normally and prolonging their lives in an environment with insufficient oxygen supply.

[0005] Pigeons have made great contributions to bionics. There is a small and sensitive special structure on its legs that can sense earthquakes. People have imitated a new seismograph based on its principle, making earthquake prediction more accurate. Its eyes have special recognition abilities, which is due to the six types of ganglion cells with specific functions on its retina: leaf brightness detector, ordinary edge detector, convex edge detector, direction detector, vertical edge detector, and horizontal detector. People have imitated the cell structure on its retina to make an electronic model of pigeon eyes. Although the structure is not as complex and perfect as its, it has broad prospects for installation on warning radars and application in electronic computers to process relevant data.

[0006] Birds have a much longer history than humans, but they have not yet become extinct and have the ability to fly that people have always dreamed of. Therefore, bionic bird machines have a long-term significance. We can gain a lot of information on the structure and movement patterns of birds, which will ultimately benefit humans.

[0007] The use of bionic birds requires solving the lightweight design and aerodynamic design of the device. Summary of the invention

[0008] In view of the above background, the purpose of the present invention is to develop a two-stage flapping-wing bionic bird to solve the problems in the prior art.

[0009] The specific scheme of the present invention is as follows:

[0010] A two-stage flapping-wing bionic bird, the two-stage flapping-wing bionic bird having a lightweight fuselage 1, wings 2 and a tail 3. The wings 2 are driven by a wing driving mechanism to imitate the flapping action of a bird in flight, and the tail 3 is driven by a tail driving mechanism to imitate the adjustment action of a bird's tail in flight. An electric control system module for controlling the wing driving mechanism and the tail driving mechanism is also provided on the two-stage flapping-wing bionic bird.

[0011] Furthermore, the wing drive mechanism includes a brushless motor 4 fixed to the fuselage 1, a driving wheel 5 is fixed to the output shaft of the brushless motor 4, the driving wheel 5 is connected to the transmission wheel 7 through a transition wheel 6, transmission wheels 7 are arranged on both sides of the fuselage 1, a connecting rod 8 is eccentrically hinged on the transmission wheel 7, one end of the connecting rod 8 is hinged to the transmission wheel 7 through a cupless ball head 9, the other end of the connecting rod 8 is hinged to the wing joint 10 through the cupless ball head 9, one end of the wing joint 10 is hinged to the two-hole plate 11, the two-hole plate 11 is fixed to the fuselage 1, and the wing joint A main frame 14 is fixed to the other end of the one 10, a frame 12 is hinged at the middle part of the connecting rod 8, an inner wing frame 15 is connected to the other end of the frame 12, the main frame 14 and the inner wing frame 15 are hinged to the end of the frame 2 16, an outer wing frame 17 is fixed to the frame 2 16, the frame 12 on both sides of the fuselage 1 are hinged to the end of the connecting piece 13; wing cloths 18 are connected to the inner wing frame 15 and the outer wing frame 17, the wing cloths 18 are a whole, and the wing cloths 18 on both sides of the fuselage 1 are connected above the fuselage 1.

[0012] Furthermore, the connecting member 13 is a whole or includes a connecting plate 13.1 and a connecting rod 13.2, the connecting plate 13.1 is fixed to the fuselage 1, connecting rods 13.2 are hinged on both sides of the connecting plate 13.1, and the connecting rods 13.2 are hinged to the frame 12.

[0013] Furthermore, a servo 19 is fixed on the rear side of the fuselage 1, and the servo 19 is connected to a servo connecting rod 20. The servo connecting rod 20 is hinged to a connecting frame 22 hinged to the tail of the fuselage 1 through a pull rod 21, and the pull rod 21 can pull the connecting frame 22 to rotate on the fuselage 1; a servo 23 is arranged on the connecting frame 22, and the output of the servo 23 is connected to a turntable 24, and a plurality of carbon rods 25 are fixed on the turntable 24, and a tail cloth 26 is arranged on the carbon rods 25; the carbon rods on both sides are used as main carbon rods, and their diameter is 4 mm; the four carbon rods in the middle are auxiliary carbon rods, and their diameter is 2 mm.

[0014] Furthermore, an opening is provided at the folding part of the inner wing and the outer wing on the wing cloth 18 for the end of the second frame 16 to extend out, so that the inner wing and the outer wing are more flexible when flapping, thereby enhancing the flying effect when flapping.

[0015] Furthermore, the distance between the midpoint of the hinge between the connecting rod 8 and the transmission wheel 7 and the rotation axis of the transmission wheel 7 is d o The distance between the uppermost position and the lowermost position of the lowest point in the area where the two wing cloths 18 are connected is d m , then the influence factor of the vibration amplitude of the wing cloth 18 on the aerodynamics can be expressed as:

[0016]

[0017] in, is d m The influence coefficient of is d o The influence coefficient of is d m The influence coefficient of the increased margin, λ1 is d m With d o Conversion factor of

[0018] Considering the effect of stretching and squeezing of the connection between the two wing cloths 18 on aerodynamics,

[0019] Δd min <d m -λ1·2d o ≤Δd max ,

[0020] Δd max The maximum difference, Δd min The minimum difference of .

[0021] Furthermore, in order to enhance the aerodynamics of the wing cloth 18, wrinkles are provided on the wing cloth 18. The inner wing is divided into region 1 and the outer wing is divided into region 2 from the folding portion of the inner wing and the outer wing on the wing cloth 18. Therefore, the influence factor of the distribution of wrinkles on the aerodynamics can be expressed as:

[0022]

[0023] Among them, k1 is the influence coefficient of coverage, k2 is the influence coefficient of concentration, k3 is the influence coefficient of the middle distance of the wrinkle, ρ1 is the coverage of wrinkles in area 1, is the average value of ρ1, σ1 is the concentration of wrinkles in region 1, p1 is the distance from the middle of the wrinkles in region 1 to the fuselage, is the average value of p1, the coverage of wrinkles in region 2, is the average value of ρ2, σ2 is the concentration of wrinkles in region 2, p2 is the distance from the middle of the wrinkles in region 2 to the fold, is the average value of p2.

[0024] Furthermore, the influencing factors of the comprehensive vibration amplitude on aerodynamics are A The influence of the distribution of wrinkles on aerodynamics W ,

[0025]

[0026] α and β are the set proportional parameters.

[0027] Furthermore, the wing cloth 18 and the tail cloth 26 are both made of kite cloth material.

[0028] Furthermore, the electric control system module communicates with a remote controller.

[0029] The present invention provides a two-stage flapping-wing bionic bird (aircraft) structure design, which is easy to operate, has a flying posture close to that of a normal bird, and can achieve free turning in the air. It also achieves the purpose of lightweight and improved aerodynamics, improves the maneuverability of flight, and further improves the convenience of control; due to the lightweight and improved aerodynamics, the two-stage flapping-wing bionic bird of the present invention can be applied to a variety of use environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The overall structure of the two-stage flapping-wing bionic bird of the present invention is schematically shown. Figure 1 ;

[0031] Figure 2 Schematic diagram of the driving mechanism of the wings of the present invention Figure 1 ;

[0032] Figure 3Schematic diagram of the driving mechanism of the wings of the present invention Figure 2 ;

[0033] Figure 4 The driving mechanism of the tail wing of the present invention is shown in FIG. Figure 1 ;

[0034] Figure 5 The driving mechanism of the tail wing of the present invention is shown in FIG. Figure 2 ;

[0035] Figure 6 The overall structure of the two-stage flapping-wing bionic bird of the present invention is schematically shown. Figure 2 ;

[0036] Figure 7 The overall structure of the two-stage flapping-wing bionic bird of the present invention is schematically shown. Figure 3 ;

[0037] Figure 8 Another embodiment of the connector of the present invention;

[0038] Fig. 9 This is a schematic diagram of the distance between the connection points of the present invention;

[0039] Fig.10 It is a schematic diagram of the distance on the transmission wheel of the present invention;

[0040] Fig.11 Schematic diagram of wrinkles on the wing cloth of the present invention (can be wavy or broken line);

[0041] In the figure, fuselage 1, wing 2, tail wing 3, brushless motor 4, driving wheel 5, transition wheel 6, transmission wheel 7, connecting rod 8, cupless ball head 9, wing joint 1 10, two-hole plate 11, frame 1 12, connecting piece 13, connecting plate 13.1, connecting rod 13.2, main frame 14, inner wing frame 15, frame 2 16, outer wing frame 17, wing cloth 18 (kite cloth), servo 1 19, servo connecting rod 20, pull rod 21, connecting frame 22, servo 2 23, turntable 24, carbon rod 25, tail cloth 26 (kite cloth).

[0042] Specific real-time method

[0043] The technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] like Figure 1As shown, the present invention discloses a two-stage flapping-wing bionic bird, which has a lightweight fuselage 1, wings 2 and a tail 3. The wings 2 are driven by a wing driving mechanism to imitate the flapping action of a bird in flight, and the tail 3 is driven by a tail driving mechanism to imitate the adjustment action of a bird's tail in flight. An electric control system module for controlling the wing driving mechanism and the tail driving mechanism is also provided on the two-stage flapping-wing bionic bird.

[0045] like Figure 2 , 3 As shown, the wing driving mechanism includes a brushless motor 4 fixed on the fuselage 1, a driving wheel 5 is fixed on the output shaft of the brushless motor 4, the driving wheel 5 is connected to the transmission wheel 7 through a transition wheel 6, and transmission wheels 7 are arranged on both sides of the fuselage 1, and a connecting rod 8 is eccentrically hinged on the transmission wheel 7, one end of the connecting rod 8 is hinged to the transmission wheel 7 through a cupless ball head 9, and the other end of the connecting rod 8 is hinged to the wing joint 10 through the cupless ball head 9, and one end of the wing joint 10 is hinged to the two-hole plate 11, and the two-hole plate 11 is fixed on the fuselage 1, a main frame 14 is fixed on the other end of the wing joint 10, a frame 12 is hinged at the middle of the connecting rod 8, and the other end of the frame 12 is connected to the inner wing frame 15, the main frame 14 and the inner wing frame 15 are both hinged to the end of the frame 2 16, an outer wing frame 17 is fixed to the frame 2 16, and the frame 12 on both sides of the fuselage 1 is hinged to the end of the connecting piece 13; the wing cloth 18 (such as Figure 6 ), the wing cloth 18 is a whole, and the wing cloths 18 on both sides of the fuselage 1 are connected above the fuselage 1.

[0046] like Figure 8 As shown, the connecting member 13 is a whole or includes a connecting plate 13.1 and a connecting rod 13.2. The connecting plate 13.1 is fixed to the fuselage 1. Connecting rods 13.2 are hinged on both sides of the connecting plate 13.1. The connecting rods 13.2 are hinged to the frame 12.

[0047] like Figure 4 , 5 As shown, a servo 19 is fixed to the rear side of the fuselage 1, and the servo 19 is connected to a servo connecting rod 20. The servo connecting rod 20 is hinged to a connecting frame 22 hinged to the tail of the fuselage 1 through a pull rod 21, and the pull rod 21 can pull the connecting frame 22 to rotate on the fuselage 1; a servo 23 is arranged on the connecting frame 22, and the output of the servo 23 is connected to a turntable 24, and a plurality of carbon rods 25 are fixed to the turntable 24, and a tail cloth 26 (as shown in FIG. 2 ) is arranged on the carbon rods 25. Figure 6 ); the carbon rods on both sides are the main carbon rods, and their diameter is 4mm; the four carbon rods in the middle are the auxiliary carbon rods, and their diameter is 2mm.

[0048] like Figure 7 As shown, an opening is provided at the folding part of the inner wing and the outer wing on the wing cloth 18 for the end of the second frame 16 to extend out, so that the inner wing and the outer wing are more flexible when flapping, thereby enhancing the flying effect when flapping.

[0049] like Fig. 9 , 10 As shown, the distance between the midpoint of the hinge between the connecting rod 8 and the transmission wheel 7 and the rotation axis of the transmission wheel 7 is d o The distance between the uppermost position and the lowermost position of the lowest point in the area where the two wing cloths 18 are connected is d m , then the influence factor of the vibration amplitude of the wing cloth 18 on the aerodynamics can be expressed as:

[0050]

[0051] in, is d m The influence coefficient of is d o The influence coefficient of is d m The influence coefficient of the increased margin, λ1 is d m With d o Conversion factor of

[0052] Considering the effect of stretching and squeezing of the connection between the two wing cloths 18 on aerodynamics,

[0053] Δd min <d m -λ1·2d o ≤Δd max ,

[0054] Δd max The maximum difference, Δd min The minimum difference of .

[0055] In order to enhance the aerodynamics of the wing cloth 18, wrinkles are provided on the wing cloth 18, such as Fig.11 As shown, it can be wavy or folded. The inner wing is divided into area 1 and the outer wing is divided into area 2 from the folding part of the inner wing and the outer wing on the wing cloth 18. Therefore, the influence factor of the distribution of wrinkles on aerodynamics can be expressed as:

[0056]

[0057] Among them, k1 is the influence coefficient of coverage, k2 is the influence coefficient of concentration, k3 is the influence coefficient of the middle distance of the wrinkle, ρ1 is the coverage of wrinkles in area 1, is the average value of ρ1, σ1 is the concentration of wrinkles in region 1, p1 is the distance from the middle of the wrinkles in region 1 to the fuselage, is the average value of p1, the coverage of wrinkles in region 2, is the average value of ρ2, σ2 is the concentration of wrinkles in region 2, p2 is the distance from the middle of the wrinkles in region 2 to the fold, is the average value of p2.

[0058] The influencing factors of comprehensive vibration amplitude on aerodynamics A The influence of the distribution of wrinkles on aerodynamics W ,

[0059]

[0060] α and β are the set proportional parameters.

[0061] The wing cloth 18 and the tail cloth 26 are both made of kite cloth material.

[0062] The electronic control system module communicates with the remote controller.

[0063] The present invention provides a two-stage flapping-wing bionic bird (aircraft) structure design, which is easy to operate, has a flying posture close to that of a normal bird, and can achieve free turning in the air. It also achieves the purpose of lightweight and improved aerodynamics, improves the maneuverability of flight, and further improves the convenience of control; due to the lightweight and improved aerodynamics, the two-stage flapping-wing bionic bird of the present invention can be applied to a variety of use environments.

[0064] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-stage flapping-wing bionic bird, characterized in that: The two-stage flapping-wing bionic bird comprises a lightweight fuselage (1), wings (2) and a tail wing (3); the wings (2) are driven by a wing driving mechanism to imitate the flapping action of a bird in flight; the tail wing (3) is driven by a tail wing driving mechanism to imitate the adjustment action of a bird's tail in flight; and an electric control system module for controlling the wing driving mechanism and the tail wing driving mechanism is also provided on the two-stage flapping-wing bionic bird.

2. A two-stage flapping-wing bionic bird according to claim 1, characterized in that: The wing driving mechanism comprises a brushless motor (4) fixed on the fuselage (1); a driving wheel (5) is fixed on the output shaft of the brushless motor (4); the driving wheel (5) is connected to a transmission wheel (7) through a transition wheel (6); transmission wheels (7) are arranged on both sides of the fuselage (1); a connecting rod (8) is eccentrically hinged on the transmission wheel (7); one end of the connecting rod (8) is hinged to the transmission wheel (7) through a cupless ball head (9); the other end of the connecting rod (8) is hinged to a wing joint (10) through a cupless ball head (9); one end of the wing joint (10) is hinged to a two-hole plate (11); the two-hole plate (11) is fixed to the fuselage (1); and the wing joint (10) is hinged to a two-hole plate (11) fixed to the fuselage (1); 0), a main frame (14) is fixed on the other end, a frame one (12) is hinged at the middle of the connecting rod (8), the other end of the frame one (12) is connected to the inner wing frame (15), the main frame (14) and the inner wing frame (15) are both hinged to the end of the frame two (16), an outer wing frame (17) is fixed to the frame two (16), the frame one (12) on both sides of the fuselage (1) is hinged to the end of the connecting piece (13); wing cloths (18) are connected to the inner wing frame (15) and the outer wing frame (17), the wing cloths (18) are a whole, and the wing cloths (18) on both sides of the fuselage (1) are connected above the fuselage (1).

3. A two-stage flapping-wing bionic bird according to claim 2, characterized in that: The connecting member (13) is a whole or comprises a connecting plate (13.1) and a connecting rod (13.2); the connecting plate (13.1) is fixed to the fuselage (1), connecting rods (13.2) are hinged on both sides of the connecting plate (13.1), and the connecting rods (13.2) are hinged to the frame (12).

4. The two-stage flapping-wing bionic bird according to claim 3, characterized in that: A servo 1 (19) is fixed on the rear side of the fuselage (1), and the servo 1 (19) is connected to a servo connecting rod (20). The servo connecting rod (20) is hinged to a connecting frame (22) hinged to the tail of the fuselage (1) through a pull rod (21), and the pull rod (21) can pull the connecting frame (22) to rotate on the fuselage (1); a servo 2 (23) is arranged on the connecting frame (22), and the output of the servo 2 (23) is connected to a turntable (24), and a plurality of carbon rods (25) are fixed on the turntable (24), and a tail fin cloth (26) is arranged on the carbon rods (25); the carbon rods on both sides are main carbon rods, and their diameter is 4 mm; the four carbon rods in the middle are auxiliary carbon rods, and their diameter is 2 mm.

5. The two-stage flapping-wing bionic bird according to claim 4, characterized in that: An opening is provided at the folded portion of the inner wing and the outer wing on the wing cloth (18) for the end of the second frame (16) to extend out, so that the inner wing and the outer wing are more flexible when flapping, thereby enhancing the flying effect when flapping.

6. The two-stage flapping-wing bionic bird according to claim 5, characterized in that: The distance between the midpoint of the hinge between the connecting rod (8) and the transmission wheel (7) and the rotation axis of the transmission wheel (7) is d o The distance between the uppermost position and the lowermost position of the lowest point in the area where the two wing cloths (18) are connected is d m , then the influence factor of the vibration amplitude of the wing cloth (18) on the aerodynamic performance can be expressed as: in, is d m The influence coefficient of is d o The influence coefficient of is d m The influence coefficient of the increased margin, λ1 is d m With d o Conversion factor of Considering the effect of stretching and squeezing at the connection between the two wing cloths (18) on aerodynamics, Δd min <d m -λ1·2d o ≤Δd max , Δd max The maximum difference, Δd min The minimum difference of .

7. The two-stage flapping-wing bionic bird according to claim 6, characterized in that: In order to enhance the aerodynamics of the wing cloth (18), wrinkles are provided on the wing cloth (18), and the inner wing is divided into region 1 and the outer wing is divided into region 2 from the folding point of the inner wing and the outer wing on the wing cloth (18). Therefore, the influence factor of the distribution of wrinkles on the aerodynamics can be expressed as: Among them, k1 is the influence coefficient of coverage, k2 is the influence coefficient of concentration, k3 is the influence coefficient of the middle distance of the wrinkle, ρ1 is the coverage of wrinkles in area 1, is the average value of ρ1, σ1 is the concentration of wrinkles in region 1, p1 is the distance from the middle of the wrinkles in region 1 to the fuselage, is the average value of p1, the coverage of wrinkles in region 2, is the average value of ρ2, σ2 is the concentration of wrinkles in region 2, p2 is the distance from the middle of the wrinkles in region 2 to the fold, is the average value of p2.

8. The two-stage flapping-wing bionic bird according to claim 7, characterized in that: The influencing factors of comprehensive vibration amplitude on aerodynamics A The influence of the distribution of wrinkles on aerodynamics W , α and β are the set proportional parameters.

9. The two-stage flapping-wing bionic bird according to claim 8, characterized in that: The wing cloth (18) and the tail wing cloth (26) are both made of kite cloth material.

10. The two-stage flapping-wing bionic bird according to claim 9, characterized in that: The electronic control system module communicates with the remote controller.

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