Flapping wing air vehicle with variable flapping angle

Abstract

The flapping-angle-variable flapping-wing air vehicle comprises a main body rack, and transmission racks are fixed to the two sides of the front portion and the two sides of the rear portion of the main body rack correspondingly; the clamping plate is arranged in a groove of the bent sliding way in a penetrating mode through a first plug pin, and the clamping plate is driven to do circular motion through rotation of the driven rotating shaft. The circular motion of the clamping plate is converted into transverse swing and longitudinal swing of the U-shaped connecting plate, the longitudinal swing drives the wings to flap, and the amplitude change of the circular motion of the clamping plate is converted into the swing amplitude change of the U-shaped connecting plate, so that the flapping amplitude adjustment of the wings is realized; and the turning of the main body rack is realized by adjusting the flapping amplitude of the two wings positioned on one side. The simulated dragonfly flapping wing aircraft integrates flapping and turning control, and realizes simulated dragonfly flapping wing flight of maneuvering turning flight by adjusting wings on the left side and the right side instead of the tail.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a flapping-wing aircraft with variable flapping angle. Background Art

[0002] Flapping-wing aircraft is a new type of aircraft that provides lift and thrust by flapping. It has the advantages of small size, good concealment and high maneuverability. Flapping-wing aircraft has played an increasingly important role in military and civilian fields.

[0003] Based on the maneuvering flight principles of birds and flying insects, existing flapping-wing aircraft are mainly divided into two types: one is the tail-maneuverable flapping-wing aircraft, which is a maneuverable flight method combining flapping wings with traditional tail wings, and is mostly used to imitate large flying creatures such as birds; the other is the wing-maneuverable flapping-wing aircraft, which achieves maneuverable flight through the wings on both sides, and is mostly used to imitate small flying creatures such as insects.

[0004] Due to the limitations of its own size and load, flapping-wing aircraft can only generate a very small aerodynamic torque by relying on the swing of the tail wing, and the maneuvering effect is similar to a slow maneuvering turn with a large radius under the action of sideslip. Due to the limitations of using the tail control surface to achieve maneuvering flight, some designs have tried to use the wings on both sides to achieve maneuvering flight of flapping-wing aircraft. However, due to the complex structure, numerous parts, and large size, the load and endurance performance are greatly reduced, and some maneuvering flight parameters are not satisfactory. At the same time, the adjustment mechanism uses gear transmission, which makes processing and installation difficult, the cost is high, and it is not conducive to miniaturization. Summary of the invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the background technology, the present invention discloses a flapping-wing aircraft with variable flapping angle.

[0006] Technical solution: The variable flapping angle flapping-wing aircraft disclosed in the present invention comprises: a main frame, and transmission frames are fixed on both sides of the front and rear parts of the main frame; The front and rear parts of the main frame are respectively provided with driven shafts passing through, the driven shafts are rotatably connected to the main frame, and both ends extend into the transmission frames on both sides, and a driving shaft and a steering gear are provided between the two driven shafts located at the front and rear parts of the main frame, the driving end of the steering gear is connected to the driving shaft, and the driving shaft is simultaneously transmission-connected to the driven shafts at both ends; The four transmission racks are provided with transmission mechanisms of the same structure; The end of the driven shaft extends into the transmission frame, and is fixedly connected to a curved slideway at the end. The curved slideway is a circular arc through groove structure. The end of the driven shaft is fixed to one end of the outer arc edge of the curved slideway. The inner arc edge of the curved slideway is provided with a clamping plate. The clamping plate is penetrated through the groove of the curved slideway by a first latch pin. The rotation of the driven shaft drives the clamping plate to make a circular motion. A wing shaft is provided on the other side of the transmission frame relative to the main frame, the wing shaft and the driven shaft are located in the same plane and are perpendicular to each other, a wing swing rod is fixed on the wing shaft, and the wing swing rod fixes the wing; a U-shaped connecting plate is provided on the other side of the wing shaft relative to the wing swing rod, the U-shaped connecting plate is connected to the wing shaft through a vertical rotating shaft, and can swing laterally relative to the wing device, the U-shaped connecting plate is connected to the clamping plate through a linear rod, and the circular motion of the clamping plate is converted into the lateral swing and longitudinal swing of the U-shaped connecting plate, and its longitudinal swing drives the wing to flap; The two wheels are connected to each other by a plurality of gears, and the two gears are connected to each other by a plurality of gears, and the two gears are connected to each other by a plurality of gears.

[0007] Furthermore, the servo is fixed on the main frame, and its driving end is connected to the driving shaft through a bevel gear mechanism, and both ends of the driving shaft are connected to the driven shaft through a bevel gear mechanism.

[0008] Furthermore, the two driven rotating shafts are parallel to each other and are arranged perpendicular to the main frame.

[0009] Furthermore, the wing swing rod, the U-shaped connecting plate and the driven rotating shaft are located in the same straight line.

[0010] Furthermore, the movable connection mechanism includes two connecting rod forks with the same structure, the connecting rod fork including an active fork rod and a passive fork rod, the active fork rod and the passive fork rod are bolted and fixed at an angle, a second pin is fixed on the reciprocating slider, a fork fixing piece is provided on the outer periphery of the curved slide, the active fork rod and the passive fork rod are rotatably connected to the fork fixing piece at the bolt connection, the connecting rod fork is respectively arranged on both sides of the fork fixing piece, and the second pin is located in the active fork rod and slides, and the first pin is located in the passive fork rod and slides, and when the reciprocating slider moves axially, it drives the connecting rod fork to rotate an angle, so as to realize the sliding position of the first pin in the curved slide.

[0011] Furthermore, the passive telescopic rod comprises an inner rod fixed to the clamping plate and an outer rod sleeve fixed to the U-shaped connecting plate, and the inner rod is sleeved in the outer rod sleeve and is coaxially arranged therewith.

[0012] Beneficial effects: Compared with the prior art, the advantages of the present invention are: it integrates flapping and turning control, and realizes dragonfly-like flapping flight by adjusting the left and right wings rather than the tail maneuvering and turning flight. The variable flapping angle mechanism no longer uses a gear drive mechanism, but a linear motor drive mechanism, which makes processing and installation simpler and more conducive to miniaturization, making flapping-wing aircraft more flexible, efficient and easy to operate in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the overall structure diagram of the present invention; Figure 2 It is a structural arrangement diagram of the main frame and the transmission frame of the present invention; Figure 3 It is a schematic diagram of the internal structure of the transmission frame of the present invention; Figure 4 This is a schematic diagram of the right-turn structure of the present invention; Figure 5 It is a schematic diagram of the left-turn structure of the present invention. DETAILED DESCRIPTION

[0014] like Figure 1-5 The variable flapping angle flapping wing aircraft shown comprises: a main frame 1, and a transmission frame 2 is fixed to both sides of the front and rear parts of the main frame 1; The front and rear parts of the main frame 1 are respectively provided with driven shafts 3 passing through, the driven shaft 3 is rotatably connected to the main frame 1, and both ends extend into the transmission frames 2 on both sides, and a driving shaft 4 and a steering gear 5 are provided between the two driven shafts 3 located at the front and rear parts of the main frame 1, the driving end of the steering gear 5 is connected to the driving shaft 4, and the driving shaft 4 is simultaneously connected to the driven shafts 3 at both ends; the steering gear 5 is fixed on the main frame 1, and its driving end is connected to the driving shaft 4 through a bevel gear mechanism 6, and both ends of the driving shaft 4 are connected to the driven shaft 3 through a bevel gear mechanism 6.

[0015] The two driven shafts 3 are parallel to each other and are arranged perpendicular to the main frame 1 .

[0016] Transmission mechanisms with the same structure are arranged in the four transmission frames 2 .

[0017] The end of the driven shaft 3 extends into the transmission frame 2, and is fixedly connected to a curved slideway 7 at the end. The curved slideway 7 is a circular arc through groove structure. The end of the driven shaft 3 is fixed to one end of the outer arc edge of the curved slideway 7. The inner arc edge of the curved slideway 7 is provided with a clamping plate 8. The clamping plate 8 is penetrated by a first latch 9 in the groove of the curved slideway 7. The rotation of the driven shaft 3 drives the clamping plate 8 to make a circular motion. A wing shaft 10 is provided on the other side of the transmission frame 2 relative to the main frame 1. The wing shaft 10 and the driven shaft 3 are located in the same plane and are perpendicular to each other. A wing swing rod 11 is fixed on the wing shaft 10, and the wing swing rod 11 fixes the wing 12; a U-shaped connecting plate 13 is provided on the other side of the wing shaft 10 relative to the wing swing rod 11. The U-shaped connecting plate 13 is connected to the wing shaft 10 through a vertical shaft 13-1 and can swing laterally relative to the wing device 10. The U-shaped connecting plate 13 is connected to the clamping plate 8 through a linear rod. The circular motion of the clamping plate 8 is converted into the lateral swing and longitudinal swing of the U-shaped connecting plate 13, and its longitudinal swing drives the wing 12 to flap; The wing swing rod 11, the U-shaped connecting plate 13 and the driven rotating shaft 3 are located in the same straight line.

[0018] The main frame 1 is provided with push rods 14 parallel to the driven shaft 3, and the two push rods 14 are fixed by a reciprocating rod 15. The main frame 1 is provided with a linear motor 16, and the reciprocating rod 15 is fixed at the driving end of the linear motor 16 to drive the push rod 14 to move axially back and forth in the transmission frame 2. A reciprocating slider 17 is sleeved on the driven shaft 3, and the reciprocating slider 17 has a circumferential groove structure. A reciprocating disk 18 is fixed to the end of the push rod 14, and the reciprocating disk 18 is embedded in the circumferential groove of the reciprocating slider 17, so as to ensure the normal rotation of the driven shaft 3 while forming an axial linkage with the push rod 14. The return slider 17 is connected to the first latch 9 through a movable connection mechanism. The axial movement of the reciprocating slider 17 enables the first pin shaft 9 to move in the curved slide 7, thereby achieving the amplitude change of the circular motion of the splint 8. The splint 8 and the U-shaped connecting plate 13 are connected by a passive telescopic rod. The amplitude change of the circular motion of the splint 8 is converted into the swing amplitude change of the U-shaped connecting plate 13, thereby achieving the flapping amplitude adjustment of the wing 12. The turning of the main frame 1 is achieved by adjusting the flapping amplitude of the two wings 12 on one side. When the flapping amplitude of the wing 12 on one side is significantly larger than that of the other side, the turning to the side with a smaller flapping amplitude can be achieved.

[0019] The movable connection mechanism includes two connecting rod forks with the same structure, and the connecting rod fork includes an active fork rod 19 and a passive fork rod 20. The active fork rod 19 and the passive fork rod 20 are bolted and fixed at an angle. A second pin 21 is fixed on the reciprocating slider 17, and a fork fixing piece 22 is provided on the outer periphery of the curved slide 7. The active fork rod 19 and the passive fork rod 20 are rotatably connected to the fork fixing piece 22 at the bolting point. The connecting rod fork is respectively arranged on both sides of the fork fixing piece 22, and the second pin 21 is located in the active fork rod 19 and slides, and the first pin is located in the passive fork rod 20 and slides. When the reciprocating slider 17 moves axially, it drives the connecting rod fork to rotate an angle, so as to realize the sliding position of the first pin 21 in the curved slide 7.

[0020] The passive telescopic rod comprises an inner rod 23 fixed to the clamping plate 8 and an outer rod sleeve 24 fixed to the U-shaped connecting plate 13 . The inner rod 23 is sleeved in the outer rod sleeve 24 and is coaxially arranged therewith.

Claims

1. A flapping-wing aircraft with a variable flapping angle, characterized in that: include: A main frame (1), wherein transmission frames (2) are fixed to both sides of the front and rear parts of the main frame (1); The front and rear parts of the main frame (1) are respectively provided with driven rotating shafts (3) passing through, the driven rotating shaft (3) is rotatably connected to the main frame (1), and both ends extend into the transmission frames (2) on both sides, a driving rotating shaft (4) and a steering gear (5) are provided between the two driven rotating shafts (3) located at the front and rear parts of the main frame (1), the driving end of the steering gear (5) is connected to the driving rotating shaft (4), and the driving rotating shaft (4) is simultaneously transmission-connected to the driven rotating shafts (3) at both ends; Transmission mechanisms with the same structure are arranged in the four transmission frames (2); The end of the driven shaft (3) extends into the transmission frame (2) and is fixedly connected to a curved slideway (7) at the end. The curved slideway (7) is a circular arc through groove structure. The end of the driven shaft (3) is fixed to one end of the outer arc edge of the curved slideway (7). The inner arc edge of the curved slideway (7) is provided with a clamping plate (8). The clamping plate (8) penetrates the groove of the curved slideway (7) through a first latch (9). The rotation of the driven shaft (3) drives the clamping plate (8) to make a circular motion. A wing shaft (10) is provided on the other side of the transmission frame (2) relative to the main frame (1); the wing shaft (10) and the driven shaft (3) are located in the same plane and are perpendicular to each other; a wing swing rod (11) is fixed on the wing shaft (10); the wing swing rod (11) fixes the wing (12); a U-shaped connecting plate (13) is provided on the other side of the wing shaft (10) relative to the wing swing rod (11); the U-shaped connecting plate (13) is connected to the wing shaft (10) via a vertical shaft (13-1) and can swing laterally relative to the wing device (10); the U-shaped connecting plate (13) is connected to the clamping plate (8) via a linear rod; the circular motion of the clamping plate (8) is converted into the lateral swing and longitudinal swing of the U-shaped connecting plate (13); the longitudinal swing drives the wing (12) to flap; The main frame (1) is provided with push rods (14) parallel to the driven shaft (3), and the two push rods (14) are fixed by a reciprocating rod (15). The main frame (1) is provided with a linear motor (16), and the driving end of the linear motor (16) fixes the reciprocating rod (15) to drive the push rod (14) to move axially back and forth in the transmission frame (2). The driven shaft (3) is sleeved with a reciprocating slider (17), and the reciprocating slider (17) has a circumferential groove structure. The end of the push rod (14) is fixed with a reciprocating disk (18), and the reciprocating disk (18) is embedded in the circumferential groove of the reciprocating slider (17), so as to ensure that the driven shaft (3) ) rotates normally, and forms an axial linkage with the push rod (14). The reciprocating slider (17) is connected to the first latch (9) through a movable connection mechanism. The axial movement of the reciprocating slider (17) enables the first pin shaft (9) to move in the curved slideway (7), thereby achieving the amplitude change of the circular motion of the splint (8). The splint (8) and the U-shaped connecting plate (13) are connected by a passive telescopic rod. The amplitude change of the circular motion of the splint (8) is converted into the swing amplitude change of the U-shaped connecting plate (13), thereby achieving the flapping amplitude adjustment of the wings (12). The steering of the main frame (1) is achieved by adjusting the flapping amplitude of the two wings (12) located on one side.

2. The variable flapping angle flapping-wing aircraft according to claim 1, characterized in that: The steering gear (5) is fixed on the main frame (1), and its driving end is connected to the driving shaft (4) through a bevel gear mechanism (6), and both ends of the driving shaft (4) are connected to the driven shaft (3) through a bevel gear mechanism (6).

3. The variable flapping angle flapping-wing aircraft according to claim 1, characterized in that: The two driven rotating shafts (3) are parallel to each other and are arranged perpendicular to the main frame (1).

4. The variable flapping angle flapping-wing aircraft according to claim 1, characterized in that: The wing swing rod (11), the U-shaped connecting plate (13) and the driven rotating shaft (3) are located on the same straight line.

5. The variable flapping angle flapping-wing aircraft according to claim 1, characterized in that: The movable connection mechanism comprises two connecting rod forks of the same structure, the connecting rod fork comprising an active fork rod (19) and a passive fork rod (20), the active fork rod (19) and the passive fork rod (20) being bolted and fixed at an angle, a second latch (21) being fixed on the reciprocating slider (17), a fork fixing piece (22) being provided on the outer periphery of the curved slideway (7), the active fork rod (19) and the passive fork rod (20) being rotatably connected to the fork fixing piece (22) at the bolted joint, the connecting rod fork being respectively arranged on both sides of the fork fixing piece (22), the second latch (21) being located in the active fork rod (19) and sliding, the first latch being located in the passive fork rod (20) and sliding, and when the reciprocating slider (17) moves axially, it drives the connecting rod fork to rotate at an angle, thereby realizing the sliding position of the first latch (21) in the curved slideway (7).

6. The variable flapping angle flapping-wing aircraft according to claim 1, characterized in that: The passive telescopic rod comprises an inner rod (23) fixed to a clamping plate (8) and an outer rod sleeve (24) fixed to a U-shaped connecting plate (13); the inner rod (23) is sleeved in the outer rod sleeve (24) and is coaxially arranged therewith.

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