Micro flapping-wing aircraft

Abstract

The present invention provides a micro flapping-wing aircraft, comprising an X-shaped soft iron core, a frame, a coil, a mover, a grooved wheel on the periphery, a rubber ring, a wing, a rubber pad, a steering gear, a steering gear connecting rod, and a tail wing. The flapping-wing aircraft comprises two wings, the two wings are directly driven by the same mover, and the flapping-wing mechanism is simple. The flapping-wing aircraft has a low center of gravity and high rolling stability, and the rolling of the flapping-wing aircraft does not need to be controlled. The flapping-wing aircraft can use high-rigidity wings, and when the vertical axis of the flapping-wing aircraft is vertical and the mover swings greatly, the average area of ​​the orthographic projection of the wing on the horizontal plane during the wing flapping up process is small, and the average area of ​​the orthographic projection of the wing on the horizontal plane during the wing flapping down process is large, and the lift generated by the wing is large.

Description

Technical Field

[0001] The invention relates to the field of aircraft, in particular to a micro flapping-wing aircraft. Background Art

[0002] Insects, birds, and bats that can fly in nature all use flapping wings to fly, which has the characteristics of high maneuverability and low energy consumption. Flapping-wing aircraft are different from fixed-wing aircraft and rotary-wing aircraft. They use the flying methods of insects, birds, and bats, and are widely used in military and civilian fields. Many flapping-wing aircraft have achieved flight, such as the "SmartBird" flapping-wing aircraft of Festo, Germany.

[0003] There are the following problems in flapping-wing aircraft in the prior art:

[0004] 1. When one wing flaps up, the other wing also flaps up. When one wing flaps down, the other wing also flaps down. The flapping wing mechanism is complicated.

[0005] 2. The wing is not stiff enough, and the lift generated by the wing is difficult to further increase. Summary of the invention

[0006] In order to solve the problems of the prior art, the present invention provides a micro flapping-wing aircraft.

[0007] The invention comprises an X-shaped soft iron core, a frame, a coil, a mover, a grooved wheel on the periphery, a rubber ring, a wing, a rubber pad, a steering gear, a steering gear connecting rod and a tail wing.

[0008] The X-shaped soft iron core is fixed on the frame, and there is a through hole in the center of the X-shaped soft iron core. The axis of the through hole is parallel to the longitudinal axis of the flapping-wing aircraft. The outer side of the X-shaped soft iron core is an arc, and the center of the arc is on the axis of the through hole. A coil is wound on the X-shaped soft iron core, and the coil is connected to the power supply. The X-shaped soft iron core is surrounded by a mover, and the mover is connected to the frame through a first swing pair. The first swing pair passes through the through hole in the center of the X-shaped soft iron core, and the axis of the first swing pair coincides with the axis of the through hole in the center of the X-shaped soft iron core. A ring-shaped magnetic conductive material is fixed on the mover, and the center of the "circle" in the ring-shaped magnetic conductive material is on the first swing pair axis; four arc-shaped permanent magnets are fixed on the inner side of the ring-shaped magnetic conductive material, and the center of the "arc" in the arc-shaped permanent magnet is on the first swing pair axis. The arc-shaped permanent magnets are magnetized by radiation, with the N poles of two arc-shaped permanent magnets on the inside and the S poles of the other two arc-shaped permanent magnets on the inside, and the two arc-shaped permanent magnets are arranged at intervals.

[0009] When the flapping-wing aircraft is stationary, observe the flapping-wing aircraft from the front, and when a positive voltage is applied to the coil, the magnetic field force on the mover causes the mover to obtain a clockwise torque; when a reverse voltage is applied to the coil, the magnetic field force on the mover causes the mover to obtain a counterclockwise torque. There are two peripheral grooved wheels, one peripheral grooved wheel is connected to the mover through the second swing pair, and the second swing pair axis is parallel to the longitudinal axis of the flapping-wing aircraft, and the other peripheral grooved wheel is connected to the frame through the third swing pair, and the third swing pair axis is parallel to the longitudinal axis of the flapping-wing aircraft. The rubber ring is tightened between the two peripheral grooved wheels, so that when the flapping-wing aircraft is stationary, the first swing pair axis, the second swing pair axis, and the third swing pair axis are in the same plane, and the rubber ring provides a restoring force when the mover swings around the first swing pair axis and leaves the equilibrium position.

[0010] The wing is connected to the mover through the fourth swing pair, and the fourth swing pair axis is perpendicular to the longitudinal axis of the flapping-wing aircraft. When a square wave alternating current with a constant frequency is passed through the coil, the wing will swing around the first swing pair axis. The swing amplitude of the mover can be changed by changing the time of applying voltage to the coil within a cycle. The maximum swing amplitude of the mover is less than 90 degrees, and the maximum angle that the mover can reach when swinging clockwise and counterclockwise around the first swing pair axis is the same. The frequency of the alternating current should be close to the natural frequency of the wing swinging around the first swing pair axis.

[0011] A protrusion is fixed on the mover, which limits the swing range of the wing around the fourth swing axis, so that when the vertical axis of the flapping-wing aircraft is vertical, when the mover swings greatly, the average area of ​​the wing's orthographic projection on the horizontal plane is small during the wing's upward flapping process, and the average area of ​​the wing's orthographic projection on the horizontal plane is large during the wing's downward flapping process. The protrusion is wrapped with a rubber pad, and when the mover swings greatly, the root of the wing collides with the rubber pad.

[0012] The flapping-wing aircraft includes two wings, each wing is connected to the same mover through a fourth swing pair, when the left wing is in the process of flapping up, the right wing is in the process of flapping down, and when the left wing is in the process of flapping down, the right wing is in the process of flapping up. The base of the servo is fixed on the frame, and the servo controls the tail wing through the servo connecting rod. The tail wing is connected to the frame through the fifth swing pair, and the axis of the fifth swing pair is perpendicular to the longitudinal axis of the flapping-wing aircraft. The micro flapping-wing aircraft includes two tail wings, and the two tail wings form a V-shaped tail wing. Each tail wing is controlled by a servo, so that the pitch and yaw of the aircraft can be controlled. The flapping-wing aircraft has a low center of gravity and high rolling stability, and the roll of the flapping-wing aircraft does not need to be controlled.

[0013] The beneficial effects of the present invention are:

[0014] 1. The flapping-wing aircraft includes two wings, which are directly driven by the same mover, and the flapping-wing mechanism is simple.

[0015] 2. The flapping-wing aircraft can use high-rigidity wings, and when the vertical axis of the flapping-wing aircraft is vertical and the rotor swings greatly, the average area of ​​the wing's orthographic projection on the horizontal plane is small during the wing's upward flapping process, and the average area of ​​the wing's orthographic projection on the horizontal plane is large during the wing's downward flapping process, and the lift generated by the wing is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an axonometric drawing of the present invention.

[0017] Figure 2 It is a top view of the present invention, in which the left wing is in a downward flapping process and the right wing is in an upward flapping process.

[0018] Figure 3 It is an axonometric view of the X-shaped soft iron core of the present invention.

[0019] Figure 4 It is an axonometric view of the frame of the present invention.

[0020] Figure 5 It is an axonometric view of the coil of the present invention.

[0021] Figure 6 It is an axonometric view of the X-shaped soft iron core and coil of the present invention.

[0022] Figure 7 It is an axonometric view of the mover of the present invention.

[0023] Figure 8 It is an axonometric diagram of the X-shaped soft iron core, coil, annular magnetic conductive material, and arc-shaped permanent magnet of the present invention.

[0024] Fig. 9 It is an axonometric view of the invention with a grooved wheel around it.

[0025] Fig.10 It is an axonometric diagram of the present invention when the mover swings around the first swing secondary axis and leaves the equilibrium position.

[0026] Fig.11 It is an axonometric view of the wing of the present invention.

[0027] Fig.12 It is an axonometric view of the mover and rubber pad of the present invention.

[0028] Fig.13 It is an axonometric view of the steering gear of the present invention.

[0029] Fig.14 It is an axonometric view of the steering gear connecting rod of the present invention.

[0030] Fig.15 It is an axonometric view of the tail wing of the present invention. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] The present invention provides a micro flapping-wing aircraft, such as Figure 1 , Figure 2 The micro flapping-wing aircraft comprises an X-shaped soft iron core 1, a frame 2, a coil 3, a mover 4, a grooved wheel 5, a rubber ring 6, a wing 7, a rubber pad 8, a steering gear 9, a steering gear connecting rod 10, and a tail 11.

[0033] The X-shaped soft iron core 1 is fixed on the frame 2. Figure 3 As shown, rack 2 is Figure 4 As shown. The X-shaped soft iron core 1 has a through hole in the center, the axis of the through hole is parallel to the longitudinal axis of the flapping-wing aircraft, and the outer side of the X-shaped soft iron core 1 is an arc, wherein the center of the arc is on the axis of the through hole. A coil 3 is wound around the X-shaped soft iron core 1, and the coil 3 is connected to a power source. Figure 5 As shown. X-shaped soft iron core 1, coil 3 Figure 6 As shown. The X-shaped soft iron core 1 is surrounded by the mover 4, and the mover 4 is connected to the frame 2 through the first swing pair. The first swing pair passes through the through hole in the center of the X-shaped soft iron core 1, and the axis of the first swing pair coincides with the axis of the through hole in the center of the X-shaped soft iron core 1. Figure 7 As shown. A ring-shaped magnetic conductive material 12 is fixed on the mover 4, and the center of the "ring" in the ring-shaped magnetic conductive material 12 is on the first swing secondary axis; four arc-shaped permanent magnets 13 are fixed on the inner side of the ring-shaped magnetic conductive material 12, and the center of the "arc" in the arc-shaped permanent magnet 13 is on the first swing secondary axis. The arc-shaped permanent magnets 13 are magnetized by radiation magnetization, with the N poles of two arc-shaped permanent magnets 13 on the inner side and the S poles of the other two arc-shaped permanent magnets 13 on the inner side, and these two types of arc-shaped permanent magnets 13 are arranged at intervals. The X-shaped soft iron core 1, the coil 3, the ring-shaped magnetic conductive material 12, and the arc-shaped permanent magnets 13 are as shown. Figure 8 shown.

[0034] When the flapping-wing aircraft is stationary, observe the flapping-wing aircraft from the front, when a positive voltage is applied to the coil 3, the magnetic field force exerted on the mover 4 causes the mover 4 to obtain a clockwise torque; when a reverse voltage is applied to the coil 3, the magnetic field force exerted on the mover 4 causes the mover 4 to obtain a counterclockwise torque. There are two peripheral grooved wheels 5, one peripheral grooved wheel 5 is connected to the mover 4 through a second swing pair, and the axis of the second swing pair is parallel to the longitudinal axis of the flapping-wing aircraft, and the other peripheral grooved wheel 5 is connected to the frame 2 through a third swing pair, and the axis of the third swing pair is parallel to the longitudinal axis of the flapping-wing aircraft. The peripheral grooved wheel 5 is as follows Fig. 9The rubber ring 6 is stretched between two peripheral grooved wheels 5, so that when the flapping-wing aircraft is stationary, the first swing axis, the second swing axis, and the third swing axis are in the same plane, and the rubber ring 6 provides a restoring force when the mover 4 swings around the first swing axis and leaves the equilibrium position. Fig.10 shown.

[0035] The wing 7 is connected to the mover 4 via a fourth swing pair, and the axis of the fourth swing pair is perpendicular to the longitudinal axis of the flapping-wing aircraft. Fig.11 As shown. When a square wave AC with a constant frequency is passed through the coil 3, the wing 7 will swing around the first swing axis. The swing amplitude of the mover 4 can be changed by changing the time of applying voltage to the coil 3 in one cycle. The maximum swing amplitude of the mover 4 is less than 90 degrees. The maximum angles that the mover 4 can reach when swinging clockwise and counterclockwise around the first swing axis are the same. The frequency of the AC should be close to the natural frequency of the wing 7 swinging around the first swing axis.

[0036] A protrusion 14 is fixed on the mover 4. The protrusion 14 limits the swing range of the wing 7 around the fourth swing axis, so that when the vertical axis of the flapping-wing aircraft is vertical, when the mover 4 swings greatly, the average area of ​​the orthographic projection of the wing 7 on the horizontal plane is small during the flapping process of the wing 7, and the average area of ​​the orthographic projection of the wing 7 on the horizontal plane is large during the flapping process of the wing 7. The protrusion 14 is wrapped with a rubber pad 8. When the mover 4 swings greatly, the rod 15 at the root of the wing 7 collides with the rubber pad 8. The mover 4 and the rubber pad 8 are as shown in FIG. Fig.12 shown.

[0037] The flapping-wing aircraft comprises two wings 7, each wing 7 is connected to the same mover 4 via a fourth swing pair, when the left wing 7 is in the process of flapping up, the right wing 7 is in the process of flapping down, and when the left wing 7 is in the process of flapping down, the right wing 7 is in the process of flapping up. The base of the steering gear 9 is fixed on the frame 2. The steering gear 9 is as shown in FIG. Fig.13 The servo 9 controls the tail 11 through the servo connecting rod 10. The tail 11 is connected to the frame 2 through the fifth swing pair. The axis of the fifth swing pair is perpendicular to the longitudinal axis of the flapping-wing aircraft. Fig.14 As shown, the tail 11 is as shown in Fig.15 As shown. The micro flapping-wing aircraft comprises two tail wings 11, which form a V-shaped tail wing. Each tail wing 11 is respectively controlled by a steering gear 9, so as to realize the control of the pitch and yaw of the aircraft. The flapping-wing aircraft has a low center of gravity and high rolling stability, and the roll of the flapping-wing aircraft does not need to be controlled.

[0038] The present invention has many specific application paths. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A flapping-wing micro aircraft, characterized in that: It comprises an X-shaped soft iron core (1), a frame (2), a coil (3), a mover (4), a grooved wheel (5) on the periphery, a rubber ring (6), a wing (7), a rubber pad (8), a steering gear (9), a steering gear connecting rod (10), and a tail wing (11); The X-shaped soft iron core (1) is fixed on the frame (2); the X-shaped soft iron core (1) has a through hole at its center, the axis of the through hole is parallel to the longitudinal axis of the flapping-wing aircraft, the outer side of the X-shaped soft iron core (1) is an arc, and the center of the arc is on the axis of the through hole; a coil (3) is wound around the X-shaped soft iron core (1), and the coil (3) is connected to a power source; the X-shaped soft iron core (1) is surrounded by a passive member (4), and the active member (4) is connected to the frame (2) via a first swing pair, and the first swing pair The rotating pair passes through a through hole at the center of the X-shaped soft iron core (1), and the first swinging pair axis coincides with the axis of the through hole at the center of the X-shaped soft iron core (1); a circular ring-shaped magnetic conductive material (12) is fixed on the mover (4), and the center of the "circle" in the circular ring-shaped magnetic conductive material (12) is on the first swinging pair axis; four arc-shaped permanent magnets (13) are fixed inside the circular ring-shaped magnetic conductive material (12), and the center of the "arc" in the circular arc-shaped permanent magnets (13) is on the first swinging pair axis; When the flapping-wing aircraft is stationary and the flapping-wing aircraft is observed from the front, when a positive voltage is applied to the coil (3), the magnetic field force exerted on the mover (4) causes the mover (4) to obtain a clockwise torque; when a reverse voltage is applied to the coil (3), the magnetic field force exerted on the mover (4) causes the mover (4) to obtain a counterclockwise torque; There are two peripheral grooved wheels (5), one peripheral grooved wheel (5) is connected to the mover (4) via a second swing pair, the axis of the second swing pair is parallel to the longitudinal axis of the flapping-wing aircraft, and the other peripheral grooved wheel (5) is connected to the frame (2) via a third swing pair, the axis of the third swing pair is parallel to the longitudinal axis of the flapping-wing aircraft; the rubber ring (6) is tightened between the two peripheral grooved wheels (5), so that when the flapping-wing aircraft is stationary, the first swing axis, the second swing axis, and the third swing axis are in the same plane, and the rubber ring (6) provides a restoring force when the mover (4) swings around the first swing axis and leaves the equilibrium position; The wing (7) is connected to the mover (4) via a fourth swing pair, and the fourth swing pair axis is perpendicular to the longitudinal axis of the flapping-wing aircraft; a square wave alternating current with a constant frequency is passed through the coil (3), and the wing (7) will swing around the first swing pair axis; the swing amplitude of the mover (4) is changed by changing the time for applying voltage to the coil (3) within a cycle; the maximum swing amplitude of the mover (4) is less than 90 degrees, and the maximum angles that the mover (4) can reach when swinging clockwise and counterclockwise around the first swing pair axis are the same; the frequency of the alternating current is close to the natural frequency of the wing (7) swinging around the first swing pair axis; The flapping-wing aircraft comprises two wings (7), each wing (7) is connected to the same mover (4) via a fourth swing-rotation pair, the left wing (7) is in the process of flapping up while the right wing (7) is in the process of flapping down, and the left wing (7) is in the process of flapping down while the right wing (7) is in the process of flapping up; the steering gear (9) controls the tail wing (11) via a steering gear connecting rod (10), the tail wing (11) is connected to the frame (2) via a fifth swing-rotation pair, the axis of the fifth swing-rotation pair being perpendicular to the longitudinal axis of the flapping-wing aircraft; the arc-shaped permanent magnet (13) is magnetized by radiation magnetization , the N poles of two arc-shaped permanent magnets (13) are on the inner side, and the S poles of the other two arc-shaped permanent magnets (13) are on the inner side, and the two arc-shaped permanent magnets (13) are arranged at intervals; a protrusion (14) is fixed on the mover (4), and the protrusion (14) limits the swing range of the wing (7) around the fourth swing secondary axis, so that when the vertical axis of the flapping-wing aircraft is vertical, when the mover (4) swings greatly, the average area of ​​the orthographic projection of the wing (7) on the horizontal plane during the flapping process of the wing (7) is small, and the average area of ​​the orthographic projection of the wing (7) on the horizontal plane during the flapping process of the wing (7) is large.

2. The flapping-wing micro aircraft according to claim 1, characterized in that: The protrusion (14) is covered with a rubber pad (8), and when the mover (4) swings greatly, the rod (15) at the root of the wing (7) collides with the rubber pad (8).

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