A winged flapping aircraft capable of active wing deployment and folding

Abstract

This utility model discloses an active flapping-wing aircraft, comprising a fuselage, a flapping-wing drive mechanism, wings, a folding-wing drive mechanism, and a tail fin. The flapping-wing drive mechanism is installed at the front of the fuselage. The wings are symmetrically installed on both sides of the fuselage, and the flapping-wing movement is achieved by using servos and rocker arms in the flapping-wing drive mechanism. The folding-wing drive mechanism is installed on the fuselage, and the folding and unfolding of the wings is achieved by using servos and crank-rocker mechanisms in the folding-wing drive mechanism. The tail fin is installed at the rear of the fuselage and is used to adjust the vertical flight of the wings. The active flapping-wing aircraft provided by this utility model can change the aerodynamic characteristics of the wings by actively unfolding and folding them during flight, achieving efficient flight. Furthermore, by adjusting the tail fin, the flight attitude of the flapping-wing aircraft is made more stable during takeoff, landing, and gliding, thus overcoming the shortcomings of existing flapping-wing aircraft, such as limited foldable wings, uncontrollable folding, small retractable area, and unstable flight.

Description

Technical Field

[0001] This utility model belongs to the field of flapping-wing aircraft technology, specifically relating to a flapping-wing aircraft whose wings can actively deploy and fold. Background Technology

[0002] With the rapid advancement of micro-aircraft technology, flapping-wing aircraft, with their lightweight structure, high-efficiency flight characteristics, superior maneuverability, and stealth capabilities, have shown broad application prospects in both military and civilian fields. To improve the adaptability of biomimetic flapping-wing aircraft in complex environments and to better simulate bird-like flight maneuvers such as takeoff, hovering, and maneuvering, a systematic optimization of their motion mechanisms is urgently needed. While current technology has achieved basic flapping motion, there is still a significant gap compared to the precise control capabilities of birds in nature, which dynamically adjust their wingspan and alter aerodynamic characteristics.

[0003] Existing flapping-wing aircraft can already mimic the flapping of birds' wings to achieve flight. In nature, birds optimize their flight performance by dynamically adjusting their wingspan and tail attitude, a mechanism that provides important inspiration for the design of flapping-wing aircraft. Therefore, in order to achieve better biomimicry and enable flapping-wing aircraft to achieve more stable and efficient flight, it is necessary to design a flapping-wing aircraft that is stable in flight, controllable in folding, has good folding performance, a large wing retraction area, and an adjustable tail. Utility Model Content

[0004] The purpose of this invention is to solve the above-mentioned problems and proposes a flapping-wing aircraft with good folding performance, stable flight, light weight, controllable folding, and adjustable tail attitude to achieve active wing deployment and stable folding flight.

[0005] To solve the above problems, the technical solution of this utility model is: a flapping-wing aircraft with actively deployable and foldable wings, comprising a fuselage, a flapping-wing drive mechanism, wings, a folding-wing drive mechanism, and a tail fin, characterized in that: the flapping-wing drive mechanism is fixed to the front end of the fuselage, the wings are mounted on both sides of the fuselage and are symmetrical on both sides, and the flapping-wing servo and rocker arm in the flapping-wing drive mechanism realize the up-and-down flapping of the wings; the folding-wing drive mechanism is mounted on the fuselage, and the folding-wing servo drives the wing folding mechanism to realize the folding and deployment of the wings; the tail fin is mounted on the rear support plate at the rear of the fuselage and is used to adjust the up-and-down flight of the wings; the fuselage includes a flapping-wing servo support frame, an upper support rod, a lower support rod, and a rear support plate, wherein one end of the lower support rod and two symmetrical upper support rods are fixed to the flapping-wing servo support frame, and the other end is fixed to the rear support plate.

[0006] Preferably, the flapping wing drive mechanism includes a flapping wing servo rocker arm, a front fixing plate of the rocker arm, a rear fixing plate of the rocker arm, a first flapping wing servo, and a second flapping wing servo. The flapping wing servo rocker arm is fixed on the first flapping wing servo and the second flapping wing servo respectively. The first flapping wing servo and the second flapping wing servo are fixed on the left and right sides of the flapping wing servo support frame. The front fixing plate of the rocker arm and the rear fixing plate of the rocker arm are connected and tightened to the first main rod. The rear fixing plate of the rocker arm is fixed on the flapping wing servo rocker arm. The rotation of the first flapping wing servo and the second flapping wing servo drives the flapping wing servo rocker arm, the front fixing plate of the rocker arm, and the rear fixing plate of the rocker arm to rotate together, so that the wing folding mechanism can flap the wing up and down.

[0007] Preferably, the wing includes a first main rod, a hinge block, a second main rod, a connector, a first articulated arm, a second articulated arm, a third articulated arm, a wing-folding joint, a first wing-folding rod, a second wing-folding rod, and a third wing-folding rod. One end of the first main rod is tightened by a front fixing plate and a rear fixing plate of the rocker arm, and the other end is connected to the hinge block. The hinge block is connected to the first, second, and third articulated arms respectively via rivets. The first, second, and third articulated arms are connected to the first, second, and third wing-folding rods respectively. The side of the first articulated arm is connected to the wing-folding joint. One end of the second main rod is connected to the side of the hinge block, and the other end is connected to the fuselage via connector.

[0008] Preferably, the folding wing drive mechanism includes a folding wing servo, a folding wing servo frame, a rocker arm, a connecting rod, joint one, joint two, a drive joint, and a traction rod. The folding wing servo frame is fixed to the fuselage, the folding wing servo is fixed to the folding wing servo frame, one end of the rocker arm is connected to the folding wing servo, and the other end is connected to the connecting rod. The other end of the connecting rod is connected to the drive joint. The drive joint is axially engaged with two upper support plates. The folding wing servo drives the rocker arm to rotate, thereby driving the drive joint to move back and forth along the fuselage. Joint one and joint two are connected by rivets and engage with the drive joint, which can realize multi-degree-of-freedom hinge and improve folding efficiency. Joint one is connected to the folding wing joint on the wing through the traction rod.

[0009] Preferably, the tail fin includes tail fin side rods, tail fin center rods, tail fin clips, and tail fin mounting brackets. Two tail fin side rods and one tail fin center rod are fixed to the tail fin mounting brackets. The tail fin mounting brackets are hinged to the rear support plate on the fuselage via tail fin clips. The rods and the wing membrane form a triangular structure. By manual adjustment, the plane in which it is located can rotate around the line connecting the two ends of the fuselage, thereby flexibly adjusting the flight angle.

[0010] Preferably, in the folding wing drive mechanism, the folding wing servo drives the drive joint to move back and forth along the fuselage. Under the action of the traction rod, it pulls the first joint arm to rotate around the hinge block. When the wing folds, the folding wing servo drives the drive joint to move backward along the fuselage. Under the action of the traction rod, it pulls the first joint arm towards the fuselage. The second and third joint arms move towards the fuselage along with the first joint arm by means of collision, thus completing the wing folding. When the wing unfolds, the folding wing servo drives the drive joint to move forward along the fuselage. Under the action of the traction rod, it pushes the first joint arm to unfold outward. The second and third joint arms unfold outward along with the first joint arm by means of collision, thus realizing the unfolding of the wing.

[0011] The beneficial effects of this utility model are as follows: The flapping-wing aircraft provided by this utility model has the characteristics of good folding performance, controllable wing deformation, stable flight, light weight, and adjustable tail attitude. During flight, the flapping-wing servo transmits power to the wing through the flapping-wing servo arm, realizing the flapping of the wing up and down. The folding-wing servo drives the drive joint to move back and forth along the fuselage through the rocker arm, causing the traction rod to move, thereby driving the wing to actively fold and unfold. The attitude of the tail is adjusted by manually adjusting the angle between the tail and the horizontal plane. Attached Figure Description

[0012] Figure 1 This is a top view of the fuselage of this utility model.

[0013] Figure 2 This is a schematic diagram of the wing in this utility model.

[0014] Figure 3 This is a structural diagram of the wing hinge block in this utility model.

[0015] Figure 4 This is a schematic diagram of the fuselage structure in this utility model.

[0016] Figure 5 This is a schematic diagram of the drive joint on the body of the present invention.

[0017] Figure 6 This is a schematic diagram of the wing in the deployed state in this utility model.

[0018] Figure 7 This is a schematic diagram of the wing in the folded state of this utility model.

[0019] Explanation of reference numerals in the attached figures

[0020] 1. Fuselage; 2. Flapping wing drive mechanism; 3. Wing; 4. Folding drive mechanism; 5. Tail wing; 6. Tow bar; 7. Front mounting plate of rocker arm; 8. Rear mounting plate of rocker arm; 9. Flapping wing servo rocker arm; 10. Flapping wing servo support frame; 11. Flapping wing servo one; 12. Flapping wing servo two; 13. Joint one; 14. Joint two; 15. Drive joint; 16. Linkage rod; 17. Rocker arm; 18. Folding wing servo; 19. Folding wing servo frame; 20. Upper support rod; 21. Connector 1; 22. Lower support rod; 23. Rear support plate; 24. Tail wing clip; 25. Tail wing mounting bracket; 26. Tail wing side rod; 27. Tail wing center rod; 28. First main rod; 29. ​​Second main rod; 30. Hinge block; 31. Joint arm 1; 32. Joint arm 2; 33. Joint arm 3; 34. Folding wing joint; 35. First folding wing rod; 36. Second folding wing rod; 37. Third folding wing rod. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] like Figure 1As shown, this utility model provides a flapping-wing aircraft with actively deployable and foldable wings, including a fuselage 1, a flapping-wing drive mechanism 2, wings 3, a folding drive mechanism 4, and a tail 5. The flapping-wing drive mechanism 2 is fixed to the front end of the fuselage 1. The wings 3 are mounted on both sides of the fuselage 1, symmetrically arranged. The flapping-wing servo 11, flapping-wing servo 22, and flapping-wing servo rocker arm 9 in the flapping-wing drive mechanism 2 are used to achieve the up-and-down flapping motion of the wings 3. The folding drive mechanism 4 is mounted on the fuselage 1, and the folding-wing servo 18 drives the wing folding mechanism to achieve the folding and deployment of the wings 3. The tail 5 is mounted on the rear support plate 23 at the rear of the fuselage 1, used to adjust the up-and-down flight of the wings 3. The fuselage 1 includes a flapping-wing servo support frame 10, an upper support rod 20, a lower support rod 22, and a rear support plate 23, wherein the lower support rod 20... One end of the support rod 22 and the two symmetrical upper support rods 20 are fixed to the flapping servo support frame 10, and the other end is fixed to the rear support plate 23. The flapping servo drive mechanism 2 includes a flapping servo rocker arm 9, a rocker arm front fixing plate 7, a rocker arm rear fixing plate 8, a flapping servo one 11, and a flapping servo two 12. The flapping servo rocker arm 9 is fixed to the flapping servo one 11 and the flapping servo two 12 respectively. The flapping servo one 11 and the flapping servo two 12 are fixed on the left and right sides of the flapping servo support frame 10. The rocker arm front fixing plate 7 and the rocker arm rear fixing plate 8 are connected and clamp the first main rod 28. The rocker arm rear fixing plate 8 is fixed to the flapping servo rocker arm 9. The rotation of the flapping servo one 11 and the flapping servo two 12 drives the flapping servo rocker arm 9, the rocker arm front fixing plate 7, and the rocker arm rear fixing plate 8 to rotate together, so that the wing 3 flaps up and down.

[0023] like Figure 2 and Figure 3 As shown, the wing 3 includes a first main rod 28, a hinge block 30, a second main rod 29, a connector 21, a first articulated arm 31, a second articulated arm 32, a third articulated arm 33, a wing-folding joint 34, a first wing-folding rod 35, a second wing-folding rod 36, and a third wing-folding rod 37. One end of the first main rod 28 is clamped by the front fixing plate 7 and the rear fixing plate 8 of the rocker arm, and the other end is connected to the hinge block 30. The hinge block 30 is connected to the first articulated arm 31, the second articulated arm 32, and the third articulated arm 33 by rivets. The first articulated arm 31, the second articulated arm 32, and the third articulated arm 33 are connected to the first wing-folding rod 35, the second wing-folding rod 36, and the third wing-folding rod 37, respectively. The side of the first articulated arm 31 is connected to the wing-folding joint 34. One end of the second main rod 29 is connected to the side of the hinge block 30, and the other end is connected to the fuselage 1 through the connector 21, ensuring that the wing 3 unfolds and folds smoothly and completely.

[0024] like Figure 4 and Figure 5As shown, the folding drive mechanism 4 includes a folding servo motor 18, a folding servo frame 19, a rocker arm 17, a connecting rod 16, joint 13, joint 2 14, a drive joint 15, and a traction rod 6. The folding servo frame 19 is fixed to the fuselage 1, and the folding servo motor 18 is fixed to the folding servo frame 19. One end of the rocker arm 17 is connected to the folding servo motor 18, and the other end is connected to the connecting rod 16. The other end of the connecting rod 16 is connected to the drive joint 15. The drive joint 15 is axially engaged with two upper support rods 20. The folding servo motor 18 drives the rocker arm 17 to rotate, thereby driving the drive joint 15 to move back and forth along the fuselage 1. Joint 13 and joint 2 14... Section 2 14 is connected by rivets and cooperates with the drive joint 15 to achieve multi-degree-of-freedom hinge, improving folding efficiency. Joint 1 13 is connected to the folding wing joint 34 on the wing 3 through the traction rod 6. The tail wing 5 includes tail wing side rods 26, tail wing center rods 27, tail wing clips 24 and tail wing fixing frame 25. The two tail wing side rods 26 and one tail wing center rod 27 are fixed on the tail wing fixing frame 25. The tail wing fixing frame 25 is hinged to the rear support plate 23 on the fuselage 1 through the tail wing clips 24. The rods and the wing membrane form a triangular structure. By manual adjustment, the plane in which it is located can rotate around the line connecting the two ends of the fuselage 1, thereby flexibly adjusting the flight angle.

[0025] like Figure 6 and Figure 7 As shown, the folding servo 18 in the folding drive mechanism 4 drives the drive joint 15 to move back and forth along the fuselage 1. Under the action of the traction rod 6, it pulls the first joint arm 31 to rotate around the hinge block 30. When the wing 3 is folded, the folding servo 18 drives the drive joint 15 to move backward along the fuselage 1. Under the action of the traction rod 6, it pulls the first joint arm 31 to retract towards the fuselage 1. The second joint arm 32 and the third joint arm 33 move towards the fuselage 1 with the first joint arm 31 by collision, thus completing the folding of the wing 3. When the wing 3 is unfolded, the folding servo 18 drives the drive joint 15 to move forward along the fuselage 1. Under the action of the traction rod 6, it pushes the first joint arm 31 to unfold outward. The second joint arm 32 and the third joint arm 33 unfold outward with the first joint arm 31 by collision, thus realizing the unfolding of the wing 3.

[0026] Working principle: In the flapping wing drive mechanism 2, flapping wing servo motors 11 and 12 drive the first main rod 28 via flapping wing servo rocker arm 9, causing the symmetrically arranged wings 3 to flap up and down. Simultaneously, in the folding drive mechanism 4, the folding wing servo motor 18 drives the drive joint 15 to move back and forth via rocker arm 17 and connecting rod 16. This movement is linked to the articulated arm system via traction rod 6. When the drive joint 15 moves backward, the traction articulated arm 31 retracts inward, folding the wings 3; when it moves forward, it pushes the articulated arm 31 outward. The wings 3 employ a multi-link hinged structure, using rivets to achieve multi-degree-of-freedom movement, ensuring smooth folding and maintaining wing surface integrity. The tail fin 5 uses a triangular frame structure, with manual angle adjustment via a tail fin mounting bracket 25 hinged to the rear support plate 23, allowing for flexible changes in flight attitude.

[0027] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A flapping-wing aircraft capable of actively deploying and folding its wings, comprising a fuselage (1), a flapping-wing drive mechanism (2), a wing (3), a folding drive mechanism (4), and a tail fin (5), characterized in that: The flapping wing drive mechanism (2) is fixed at the front end of the fuselage (1). The wings (3) are installed on both sides of the fuselage (1) and are symmetrical. The flapping wing servo one (11), flapping wing servo two (12) and flapping wing servo rocker arm (9) in the flapping wing drive mechanism (2) are used to realize the flapping of the wings (3) up and down. The folding drive mechanism (4) is installed on the fuselage (1). The folding wing servo (18) is used to drive the wings (3) to realize the folding and unfolding of the wings. The tail wing (5) is installed on the rear support plate (23) at the rear of the fuselage (1) and is used to adjust the up and down flight of the wings. The fuselage (1) includes a flapping wing servo support frame (10), an upper support rod (20), a lower support rod (22) and a rear support plate (23). The lower support rod (22) and two symmetrical upper support rods (20) are fixed at one end on the flapping wing servo support frame (10) and at the other end on the rear support plate (23).

2. The flapping-wing aircraft with actively deployable and foldable wings according to claim 1, characterized in that: The flapping wing drive mechanism (2) includes a flapping wing servo rocker arm (9), a rocker arm front fixing plate (7), a rocker arm rear fixing plate (8), a flapping wing servo one (11), and a flapping wing servo two (12). The flapping wing servo rocker arm (9) is fixed on the flapping wing servo one (11) and the flapping wing servo two (12) respectively. The flapping wing servo one (11) and the flapping wing servo two (12) are fixed on the left and right sides of the flapping wing servo support frame (10). The rocker arm front fixing plate (7) and the rocker arm rear fixing plate (8) are connected and clamp the first main rod (28). The rocker arm rear fixing plate (8) is fixed on the flapping wing servo rocker arm (9). The flapping wing servo one (11) and the flapping wing servo two (12) rotate to drive the flapping wing servo rocker arm (9), the rocker arm front fixing plate (7), and the rocker arm rear fixing plate (8) to rotate together, so that the wing (3) flaps up and down.

3. A flapping-wing aircraft with actively deployable and foldable wings according to claim 1, characterized in that: The wing (3) includes a first main rod (28), a hinge block (30), a second main rod (29), a connector (21), a first articulated arm (31), a second articulated arm (32), a third articulated arm (33), a wing-folding joint (34), a first wing-folding rod (35), a second wing-folding rod (36), and a third wing-folding rod (37). One end of the first main rod (28) is clamped by the front fixing plate (7) and the rear fixing plate (8) of the rocker arm, and the other end is connected to the hinge block (30). The first joint arm (31), the second joint arm (32), and the third joint arm (33) are connected to each other by rivets. The first joint arm (31), the second joint arm (32), and the third joint arm (33) are connected to the first wing rod (35), the second wing rod (36), and the third wing rod (37) respectively. The side of the first joint arm (31) is connected to the wing joint (34). One end of the second main rod (29) is connected to the side of the hinge block (30), and the other end is connected to the fuselage (1) through the connector (21).

4. A flapping-wing aircraft with actively deployable and foldable wings according to claim 1, characterized in that: The folding drive mechanism (4) includes a folding servo (18), a folding servo frame (19), a rocker arm (17), a connecting rod (16), joint one (13), joint two (14), a drive joint (15), and a traction rod (6). The folding servo frame (19) is fixed to the fuselage (1), the folding servo (18) is fixed to the folding servo frame (19), one end of the rocker arm (17) is connected to the folding servo (18), and the other end is connected to the connecting rod (16). The other end of the connecting rod (16) is connected to... Connected to the drive joint (15), the drive joint (15) is axially engaged with the two upper support rods (20). The folding servo (18) drives the rocker arm (17) to rotate, thereby driving the drive joint (15) to move back and forth along the fuselage (1). Joint one (13) and joint two (14) are connected by rivets and engaged with the drive joint (15), which can realize multi-degree-of-freedom hinge and improve folding efficiency. Joint one (13) is connected to the folding joint (34) on the wing (3) through the traction rod (6).

5. A flapping-wing aircraft with actively deployable and foldable wings according to claim 1, characterized in that: The tail fin (5) includes tail fin side rods (26), tail fin center rods (27), tail fin clips (24) and tail fin mounting brackets (25). Two tail fin side rods (26) and one tail fin center rod (27) are fixed on the tail fin mounting brackets (25). The tail fin mounting brackets (25) are hinged to the rear support plate (23) on the fuselage (1) through the tail fin clips (24). The rods and the wing membrane form a triangular structure. By manual adjustment, the plane in which it is located can rotate around the line connecting the two ends of the fuselage (1), thereby flexibly adjusting the flight angle.

6. A flapping-wing aircraft with actively deployable and foldable wings according to claim 1, characterized in that: The folding drive mechanism (4) in which the folding servo (18) drives the drive joint (15) to move back and forth along the fuselage (1). Under the action of the traction rod (6), it pulls the first joint arm (31) to rotate around the hinge block (30). When the wing (3) is folded, the folding servo (18) drives the drive joint (15) to move backward along the fuselage (1). Under the action of the traction rod (6), it pulls the first joint arm (31) to retract towards the fuselage (1). The second joint arm (32) and Joint arm three (33) moves toward the fuselage (1) with joint arm one (31) by relying on collision, completing the folding of the wing (3). When the wing (3) unfolds, the folding servo (18) drives the drive joint (15) to move forward along the fuselage (1). Under the action of the traction rod (6), it pushes joint arm one (31) to unfold outward. Joint arm two (32) and joint arm three (33) unfold outward with joint arm one (31) by relying on collision, realizing the unfolding of the wing (3).

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