Three-degree-of-freedom miniature bionic flapping-wing air vehicle for operation in rugged environment of Mars

Abstract

The invention discloses a three-degree-of-freedom miniature bionic flapping-wing air vehicle for operation in a rugged environment of Mars, and the three-degree-of-freedom miniature bionic flapping-wing air vehicle comprises a rack, wings, a circuit control part, a flapping mechanism wing root regulation and control part and a landing part, the two pairs of wings are connected with the flapping mechanism through wing root pieces, and the wing roots of the two pairs of wings are connected with the wing root regulation and control part through titanium-nickel alloy wing roots; the wing root regulation and control part is used for carrying out three-degree-of-freedom regulation and control on pitching, rolling and yawing by controlling a titanium-nickel alloy wing root; the circuit control part is connected with the wing root regulation and control part through a carbon rod; the landing part is installed at the end, away from the wing root regulation and control part, of the circuit control part. The titanium-nickel alloy material is used as the titanium-nickel alloy wing root, better regulation and control performance and sensitivity are achieved, and meanwhile three-degree-of-freedom control over the ornithopter is achieved in combination with the rotary steering engine regulation and control mechanism and the linear steering engine regulation and control mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of flapping-wing aircraft, and in particular to a three-degree-of-freedom micro bionic flapping-wing aircraft for operating in the rugged environment of Mars. Background Art

[0002] Humanity is currently conducting scientific research and exploration of the Martian environment. Aircraft could greatly improve the efficiency of Martian exploration, but the extremely thin Martian atmosphere poses a significant challenge to traditional aircraft. Inspired by the high efficiency and maneuverability of birds' flapping wings, which achieve high maneuverability and agile hovering through the flapping and deformation of their wings, researchers have created micro-bionic flapping-wing aircraft, which perform exceptionally well in the Martian atmosphere.

[0003] However, the terrain of Mars is rugged and complex, and bionic flapping-wing aircraft need to face the challenge of landing and working in a rugged operating environment. Current bionic flapping-wing aircraft find it difficult to achieve control stability. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a three-degree-of-freedom micro-bionic flapping-wing aircraft for operating in the rugged environment of Mars. Titanium-nickel alloy material is used as the titanium-nickel alloy wing root, which has better control performance and sensitivity. At the same time, the three-degree-of-freedom control of the flapping-wing aircraft is realized by combining the rotary servo control mechanism and the linear servo control mechanism.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A three-degree-of-freedom micro-bionic flapping-wing aircraft for operating in the rugged environment of Mars, comprising: a frame, wings, a circuit control unit, a flapping mechanism wing root control unit, and a landing unit; the flapping mechanism is connected to the frame via carbon rods, and two pairs of wings are connected to the flapping mechanism via wing root members, and the wing roots of the two pairs of wings are connected to the wing root control unit using titanium-nickel alloy wing roots;

[0007] The wing root control part controls the titanium-nickel alloy wing root to control the three degrees of freedom of pitch, roll and yaw;

[0008] The circuit control part is connected to the wing root regulating part through a carbon rod;

[0009] The landing part is installed at one end of the circuit control part away from the wing root control part.

[0010] Furthermore, the wing root control part includes a rotary servo control part and a linear servo control part; the rotary servo control part and the linear servo control part are connected.

[0011] Furthermore, the rotary servo control part includes an integrated rotary servo connector, a rotary servo and a rotary servo arm; the integrated rotary servo connector is connected to the frame through a carbon rod, the rotary servo is installed on the integrated rotary servo connector, and the rotary servo output end is connected to the rotary servo arm, and the rotary servo arm is connected to the linear servo control part.

[0012] Furthermore, the linear servo control part includes an integrated linear servo connector and a linear servo. There are two linear servos, which are connected to the rotary servo arm through the integrated linear servo connector and driven to rotate by the rotary servo control part to achieve three-degree-of-freedom control.

[0013] Furthermore, the circuit control part includes a circuit integrated fixing frame, a flight control circuit board and a lithium battery; the circuit integrated fixing frame is connected to the bottom of the wing root control part and is fixedly connected to the carbon rod, and the flight control circuit board and the lithium battery are connected to the top of the circuit integrated fixing frame through slots, and the flight control circuit board is respectively connected to the input ends of the rotary servo and the linear servo.

[0014] Furthermore, the landing part includes a disc connector, a landing foot connector rod, a foot connector rod, a frame rocker and a suction cup foot. The landing part is connected to the circuit integrated fixing frame by the disc connector groove. One end of the landing foot connector rod is hinged to the disc connector, and the other end is hinged to the suction cup foot. One end of the frame rocker is hinged to the bottom of the disc connector, and the other end is hinged to one end of the foot connector rod. The other end of the foot connector rod is hinged to one side of the landing foot connector rod.

[0015] Beneficial effects of the present invention:

[0016] The present invention provides a three-degree-of-freedom micro-bionic flapping-wing aircraft for operating in the rugged environment of Mars. Titanium-nickel alloy material is used as the titanium-nickel alloy wing root, which has better control performance and sensitivity. At the same time, a rotary servo control mechanism and a linear servo control mechanism are combined to realize the three-degree-of-freedom stable control of the flapping-wing aircraft; a landing part based on a connecting rod mechanism and a suction cup foot for use in rugged terrain is carried under the flapping-wing aircraft, which enables the flapping-wing aircraft to complete landing and detection in special operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 This is a schematic structural diagram of the wing root control part of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the landing part of the present invention.

[0020] Among them, in the figure:

[0021] 1-Frame, 2-Wings, 3-Flapping mechanism, 4-Circuit control part, 5-Wing root control part, 6-Landing part, 7-Wing root part, 8-Carbon rod, 9-Titanium-nickel alloy wing root, 10-Flight control circuit board, 11-Circuit integrated fixing frame, 12-Lithium battery, 501-Rotary servo control part, 502-Integrated rotary servo connector, 503-Rotary servo, 504-Rotary servo arm, 505-Linear servo control part, 506-Linear servo, 507-Integrated linear servo connector, 601-Disc connector, 602-Landing foot connecting rod, 603-Foot connecting rod, 604-Frame rocker, 605-Suction cup foot. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0023] refer to Figure 1-3 The present invention provides a three-degree-of-freedom micro-bionic flapping-wing aircraft for operating in the rugged environment of Mars, comprising: a frame 1, wings 2, a circuit control unit 4, a flapping mechanism 3, a wing root control unit 5, and a landing unit 6. The frame 1 is improved to POM plastic injection molding, and the flapping mechanism 3 is composed of an existing gear pair amplifying a flapping mechanism. The flapping mechanism 3 is connected to the frame 1 via a carbon rod 8. Two pairs of wings 2 are connected to the flapping mechanism 3 via wing root members 7. The wing roots of the two pairs of wings 2 are connected to the wing root control unit 5 using titanium-nickel alloy wing roots 9.

[0024] The wing root control part 5 controls the three degrees of freedom of pitch, roll and yaw by controlling the titanium-nickel alloy wing root 9;

[0025] The circuit control part 4 is connected to the wing root regulating part 5 via a carbon rod 8;

[0026] The landing part 6 is installed at one end of the circuit control part 4 away from the wing root control part 5 .

[0027] The wing root control part 5 includes a rotary servo control part 501 and a linear servo control part 505 ; the rotary servo control part 501 and the linear servo control part 505 are connected.

[0028] The rotary servo control section 501 includes an integrated rotary servo connector 502, a rotary servo 503, and a rotary servo arm 504. The integrated rotary servo connector 502 is connected to the frame 1 via a carbon rod 8, and the rotary servo 503 is connected to the integrated rotary servo connector via a slot. The output end of the rotary servo 503 is connected to the rotary servo arm 504, and the rotary servo arm 504 is connected to the linear servo control section 505. The rotary servo output drives the rotary servo arm to achieve roll freedom control.

[0029] The linear servo control section 505 includes an integrated linear servo connector 507 and a linear servo 506. Two linear servos 506 are connected to the rotary servo arm 504 via the integrated linear servo connector 507. The linear servo 506 is driven by the rotary servo control section 501 to achieve three-degree-of-freedom control. The integrated linear servo connector 507 is coaxially connected to the rotary servo arm. The output end of the linear servo 506 is connected to the titanium-nickel alloy wing root 9.

[0030] In this embodiment, Figure 2 As shown, the wing 2 uses a 0.5mm titanium-nickel alloy wing root 9, one end of which is connected to the linear servo 506 and the other end is fixed to the integrated rotary servo connector 502 by glue. The rotary servo 503 will drive the integrated linear servo connector 507 to rotate, and the titanium-nickel alloy wing root 9 of the wing 2 will also undergo bending deformation in the same direction. This change creates a lift difference due to the change in the relaxation angle on both sides of the wing 2, causing the prototype to generate a rolling moment in the rolling direction, thereby achieving the control of the roll direction.

[0031] The titanium-nickel alloy wing root 9 is connected to the linear servo 506, which drives the titanium-nickel alloy wing roots 9 on both sides to move in the same direction / opposite direction, so that the prototype generates torque in the pitch and yaw directions, thereby realizing the regulation of the pitch and yaw directions.

[0032] The circuit control section 4 includes an integrated circuit mounting bracket 11, a flight control circuit board 10, and a lithium battery 12. The integrated circuit mounting bracket 11 is attached to the underside of the wing root control section 5 and fixedly connected to the carbon rod 8. The upper portion of the integrated circuit mounting bracket 11 is connected to the flight control circuit board 10 and the lithium battery 12 via slots. The flight control circuit board 10 is connected to the input terminals of the rotary servo 503 and the linear servo 506, respectively. The lithium battery 12 is electrically connected to the flight control circuit board 10, which is in turn connected to the flapping mechanism.

[0033] The landing part 6 includes a disc connector 601, a landing foot connector rod 602, a foot connector rod 603, a connecting rocker 604 and a suction cup foot 605. The landing part 6 is connected to the circuit integrated fixing frame 11 by the notch of the disc connector 601. The landing foot connector rod 602 is connected to the disc connector 601 through a rotating pair; the foot connector rod 603 is connected to the landing foot connector rod 602 through a rotating pair; the connecting rocker 604 is connected to the foot connector rod 603 through a rotating pair; the connecting rocker 604 is connected to the disc connector 601 through a rotating pair; and the suction cup foot 605 is connected to the landing foot connector rod 602 through a rotating pair.

[0034] In this embodiment, Figure 3 As shown, the disc connector 601, landing foot connector 602, foot connector 603, frame rocker 604, and suction cup foot 605 are connected via a revolute pair. When the prototype lands on rough terrain, the suction cup foot 605 contacts the rough terrain, acting as the input end of the linkage mechanism and causing the landing foot connector 602 and foot connector 603 to deform. This deformation of the foot connector 602 and foot connector 603 drives the frame rocker 604. When the landing foot connector 602, foot connector 603, and frame rocker 604 deform to a stable position, the suction cup foot 605 adheres to the rough terrain. Because the disc connector 601 is a fixed frame, the prototype remains stable on the disc connector 601.

[0035] This invention provides a three-degree-of-freedom (DOF) micro-bionic flapping-wing aircraft designed for operation in the rugged Martian environment. This technology achieves three-degree-of-freedom control of the micro-bionic flapping-wing aircraft, improving its control stability. The use of a new titanium-nickel alloy wing root material optimizes the flapping-wing aircraft's control efficiency and sensitivity. Furthermore, the invention incorporates a landing section suitable for use in the rugged terrain of Martian scientific exploration, significantly enhancing the flapping-wing aircraft's operational missions in Martian environments. The flapping-wing aircraft's superior aerodynamic efficiency and high maneuverability will be crucial in Martian operational scenarios, offering broad development prospects.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A three-degree-of-freedom micro bionic flapping-wing aircraft for operation in the rugged environment of Mars, characterized by: include: A frame (1), wings (2), a circuit control part (4), a flapping mechanism (3), a wing root control part (5), and a landing part (6); the flapping mechanism (3) is connected to the frame (1) via a carbon rod (8); two pairs of wings (2) are connected to the flapping mechanism (3) via wing root parts (7); and the wing roots of the two pairs of wings (2) are connected to the wing root control part (5) using a titanium-nickel alloy wing root (9); The wing root control part (5) controls the titanium-nickel alloy wing root (9) to control the three degrees of freedom of pitch, roll and yaw; The circuit control part (4) is connected to the wing root regulating part (5) via a carbon rod (8); The landing part (6) is installed at one end of the circuit control part (4) away from the wing root control part (5).

2. The three-degree-of-freedom micro bionic flapping-wing aircraft for operation in the rugged environment of Mars according to claim 1, characterized in that: The wing root control part (5) comprises a rotary steering gear control part (501) and a linear steering gear control part (505); the rotary steering gear control part (501) and the linear steering gear control part (505) are connected.

3. The three-degree-of-freedom micro bionic flapping-wing aircraft for operation in the rugged environment of Mars according to claim 2, characterized in that: The rotary servo control part (501) comprises an integrated rotary servo connector (502), a rotary servo (503) and a rotary servo arm (504); the integrated rotary servo connector (502) is connected to the frame (1) via a carbon rod (8); the rotary servo (503) is mounted on the integrated rotary servo connector (502); the output end of the rotary servo (503) is connected to the rotary servo arm (504); and the rotary servo arm (504) is connected to the linear servo control part (505).

4. The three-degree-of-freedom micro bionic flapping-wing aircraft for operation in the rugged environment of Mars according to claim 3, characterized in that: The linear servo control part (505) includes an integrated linear servo connector (507) and a linear servo (506). Two linear servos (506) are provided and connected to the rotary servo arm (504) via the integrated linear servo connector (507). The linear servo control part (505) is driven to rotate by the rotary servo control part (501) to achieve three-degree-of-freedom control.

5. The three-degree-of-freedom micro bionic flapping-wing aircraft for operation in the rugged environment of Mars according to claim 4, characterized in that: The circuit control part (4) includes a circuit integrated fixing frame (11), a flight control circuit board (10) and a lithium battery (12); the circuit integrated fixing frame (11) is connected to the bottom of the wing root control part (5) and fixedly connected to the carbon rod (8); the top of the circuit integrated fixing frame (11) is connected to the flight control circuit board (10) and the lithium battery (12) through a notch, and the flight control circuit board (10) is respectively connected to the input ends of the rotary servo (503) and the linear servo (506).

6. The three-degree-of-freedom micro bionic flapping-wing aircraft for operation in the rugged environment of Mars according to claim 5, characterized in that: The landing portion (6) comprises a disc connector (601), a landing foot connector rod (602), a foot connector rod (603), a connecting rocker (604) and a suction cup foot (605). The landing portion (6) is connected to the circuit integrated fixing frame (11) via a notch of the disc connector (601). One end of the landing foot connector rod (602) is hinged to the disc connector (601), and the other end is hinged to the suction cup foot (605). One end of the connecting rocker (604) is hinged to the bottom of the disc connector (601), and the other end is hinged to one end of the foot connector rod (603). The other end of the foot connector rod (603) is hinged to one side of the landing foot connector rod (602).

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