A flapping-wing aircraft with flap-slide conversion and differential deployment functions
By introducing flutter-slip conversion and differential expansion and closing functions into the flutter-wing aircraft, the flight state conversion is achieved using slotted gears and engaging devices, and asymmetric aerodynamics are achieved through differential wing control, which solves the poor maneuverability of the flutter-wing aircraft and the problem of low flight efficiency, high maneuverability and high efficiency flight is achieved.
Patent Information
- Application Number
- CN202211355583.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-01
- Publication Date
- 2025-02-14
- Estimated Expiration
- 2042-11-01
AI Technical Summary
The existing flapping wing aircraft have poor maneuverability and low flight efficiency, and the inherent system errors of the wings on both sides lead to asymmetric lift, making it difficult to actively correct them.
A flapping wing aircraft with flutter-slip conversion and differential expansion and closing functions was designed. The flapping wing and fixed wing composite flight state conversion was realized through slotted gears and engaging devices, and asymmetric air was realized through differential expansion and closing wings. Power, improve mobility.
The high maneuverability and high flight efficiency of the flapping-wing aircraft are achieved, the flight resistance and endurance pressure are reduced, and complex attitude transformation is achieved through differential control.
Smart Images
Figure CN115610650B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of flapping-wing aircraft, in particular to a flapping-wing aircraft with flapping-slip conversion and differential expansion functions. Background Art
[0002] Large fixed-wing aircraft cannot complete tasks in specific complex environments due to their lack of maneuverability, large size, and long take-off distance. Rotorcraft are also limited in their applicable occasions due to their high noise and poor endurance. With the development of science and technology, flapping-wing aircraft that imitate the flight modes of birds, insects, and bats have attracted widespread attention from the world due to their superior flight characteristics such as small size, high maneuverability, and high flight efficiency, and have made great progress. They currently have broad application prospects in both military and civilian fields, such as target tracking and terrain surveying.
[0003] However, existing flapping-wing aircraft have a fixed flapping flight mode. The inherent flapping mechanical motion will produce continuous power output. Compared with the flexible flapping and gliding conversion flight modes of birds, its flight efficiency is relatively low, which will produce additional endurance pressure. The fixed shape of the wings on both sides will also produce asymmetric lift due to the inherent system errors of the wings on both sides during flight, resulting in deviations in the flight state on both sides, and it is difficult to actively correct. Furthermore, due to the limitation of the tail area for controlling the pitch and deflection of the flight, its flight maneuverability still has room for improvement. Summary of the invention
[0004] In order to solve the technical problems of poor maneuverability and low flight efficiency of flapping-wing aircraft in the prior art, an embodiment of the present invention provides a flapping-wing aircraft with flapping-slip conversion and differential spreading and closing functions, the flapping-wing aircraft comprising: a flapping-slip conversion and driving mechanism, a pair of spreading and closing wings and a tail wing;
[0005] The flap-slide conversion and driving mechanism comprises a fuselage plate, a motor and a grooved gear are mounted on the fuselage plate, the motor gear of the motor meshes with a triple gear, the triple gear meshes with the grooved gear, and drives the grooved gear to rotate;
[0006] The rotating shaft of the grooved gear is fixed with a crank, the crank is connected to a rocker through a ball-jointed connecting rod, the rocker is connected to the unfolding wing, and when the grooved gear rotates, the rocker is driven to swing up and down, driving the unfolding wing to flap;
[0007] A flapping and sliding structure servo is also installed on the fuselage plate, the output shaft of the flapping and sliding structure servo is connected to a first servo arm, the first servo arm is connected to a rotating piece through a first ball head pull rod, a rotating block is fixed at the center of the rotating piece, and a ball plunger is arranged on the rotating block;
[0008] Wherein, a groove is arranged on the side of the grooved gear, and when the sliding structure servo drives the first servo arm to rotate, the rotating block is driven to rotate, so that the ball plunger is engaged with or separated from the groove on the side of the grooved gear;
[0009] A fuselage square tube is also installed on the fuselage plate, and the fuselage square tube is connected to the tail wing.
[0010] In some preferred embodiments, a bearing seat is also installed on the fuselage plate, and the rotating block is installed on the bearing seat through a bearing.
[0011] In some preferred embodiments, the fuselage plate comprises an upper clamping plate, a lower clamping plate and a square tube clamp, and an inner core insert and an outer core insert are arranged on one side of the fuselage plate where the fuselage square tube is mounted;
[0012] The inner core insert is inserted into the fuselage square tube, the fuselage square tube is located between the upper clamping plate and the lower clamping plate, and the square tube clamp is clamped on the outer periphery of the fuselage square tube and clamps the upper clamping plate and the lower clamping plate.
[0013] In some preferred embodiments, the body panel further includes an inner plug-in and an outer plug-in, an inner core slot is provided on the inner core insert strip, the inner plug-in and the outer plug-in are sequentially inserted into the inner core slot, and the inner plug-in and the outer plug-in are perpendicular to the inner core insert strip.
[0014] In some preferred embodiments, the foldable wing comprises an inner wing and an outer wing.
[0015] The inner section wing comprises a leading edge rod and an oblique fixed rod, one end of the leading edge rod is fixed to one end of the oblique fixed rod through a connecting block, the other end of the leading edge rod is fixed to the rocker, and the other end of the oblique fixed rod is rotatably connected to the middle section of the fuselage square tube through a wing-body connector;
[0016] The leading edge rod and the oblique fixed rod are covered with wing skin.
[0017] In some preferred embodiments, the outer wing includes a wing root plate and an expansion and contraction rod, a first wing piece fixed to the wing root plate, and a plurality of wing pieces hinged to the wing root plate, wherein the first wing piece is connected to the plurality of wing pieces via a first elastic rope;
[0018] A wing spreading structure servo is arranged on the wing-body connection member, and the wing spreading structure servo is connected to one end of the spreading rod through a second servo arm; the connecting block is hinged to the wing root plate, and the wing root plate is hinged to the other end of the spreading rod.
[0019] In some preferred embodiments, the tail wing comprises a tail wing square tube, and the tail wing square tube is connected to the fuselage square tube via a spring;
[0020] The tail wing root plate is fixed on the tail wing square tube, the left servo and the right servo are fixed on the fuselage square tube, the left servo and the right servo are respectively connected to the second ball head tie rod, and the second ball head tie rod is fixed to the tail wing root plate through a stud.
[0021] In some preferred embodiments, the tail includes a vertical tail and a plurality of tail panels, and the vertical tail is fixed to the tail root plate;
[0022] The plurality of tail wing panels are hinged to the tail wing root plate, and the plurality of tail wing panels are connected by a second elastic rope.
[0023] In some preferred embodiments, the plurality of tail fins include at least a first tail fin and a second tail fin located on the outside; the first tail fin and the second tail fin are respectively hinged to the tail root plate through hinge rods,
[0024] A tail wing folding structure servo is arranged on the fuselage square tube, and the tail wing folding structure servo is connected to a rigid rope through a third servo arm, and the rigid rope is connected to one end of the hinged rod.
[0025] In some preferred embodiments, bolts are provided on the tail root plate, and the rigid rope is divided into two paths through the bolts, one of which is connected to the hinge rod of the first tail piece, and the other is connected to the hinge rod of the second tail piece.
[0026] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:
[0027] The present invention provides a flapping-wing aircraft with flapping-slip conversion and differential spreading functions. The flapping-wing driving gear is designed as a grooved gear with a groove, and a locking device is provided to cooperate with the groove to realize the conversion of flapping-wing and fixed-wing composite flight states.
[0028] The present invention proposes a flapping-wing aircraft with flapping-slip conversion and differential spreading functions. One rotation of the grooved gear corresponds to one cycle of up and down flapping of the spreading wing. By changing the position of the groove of the grooved gear and adjusting the stuck position, the anti-angle of the spreading wing can be changed to achieve aerodynamic effects under different anti-angle states of the spreading wing.
[0029] The present invention provides a flapping-wing aircraft with flapping-slip conversion and differential expansion and closing functions. Each wing is connected by a first elastic rope. At different angles during the rotation of the wing root plate, the first elastic rope deforms differently, thereby causing the wing to open and close to different degrees.
[0030] The present invention provides a flapping-wing aircraft with flap-slide conversion and differential expansion and contraction functions. The differential expansion and contraction of the outer wings of the folding wings on both sides can make the folding wings generate asymmetric aerodynamic forces, thereby realizing attitude conversion and improving maneuverability. When the outer wings of the folding wings are synchronously expanded or contracted to different degrees, the flight resistance can be increased or reduced, thereby reducing or increasing the flight speed.
[0031] The present invention proposes a flapping-wing aircraft with flapping-slip conversion and differential deployment functions. The tail wing can swing in left and right and up and down directions, and the pitch and deflection angles of the tail wing can be differentially controlled. Different degrees of deployment can generate different resistances and control torques, which can be controlled according to the needs of different flight states. The deployment of the outer wing of the deployment wing can achieve complex posture changes under corresponding conditions. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0033] Figure 1 It is a schematic diagram of the overall structure of a flapping-wing aircraft with flapping-slip conversion and differential deployment functions in one embodiment of the present invention.
[0034] Figure 2 It is a structural schematic diagram of a flap-slide conversion and driving mechanism in one embodiment of the present invention.
[0035] Figure 3 It is a schematic diagram of fixing the fuselage panel and the fuselage square tube in one embodiment of the present invention.
[0036] Figure 4 It is a schematic diagram of the first state of the flapping-sliding conversion and driving mechanism in one embodiment of the present invention.
[0037] Figure 5 It is a schematic diagram of the second state of the flapping-sliding conversion and driving mechanism in one embodiment of the present invention.
[0038] Figure 6 It is a top view of a flapping-sliding structure servo driving a rotating block to rotate in one embodiment of the present invention.
[0039] Figure 7 It is a bottom view of one of a pair of foldable wings in one embodiment of the present invention.
[0040] Figure 8 It is a schematic structural diagram of a wing root plate of a folding wing in one embodiment of the present invention.
[0041] Fig. 9 It is a schematic diagram of the maximum expanded state of the outer section wing of the unfolding wing in one embodiment of the present invention.
[0042] Fig.10 It is a schematic diagram of the maximum folded state of the outer section wing of the foldable wing in one embodiment of the present invention.
[0043] Fig.11 It is a schematic structural diagram of a tail wing in one embodiment of the present invention.
[0044] Fig.12 1 is a top view of a tail wing according to an embodiment of the present invention.
[0045] Fig.13 It is a schematic structural diagram of a tail wing root plate in one embodiment of the present invention.
[0046] Fig.14 It is a schematic diagram of a maximum folded state of multiple tail fins in one embodiment of the present invention.
[0047] Fig.15 It is a schematic diagram of a maximum deployed state of a plurality of tail fins in one embodiment of the present invention. DETAILED DESCRIPTION
[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of the present invention.
[0049] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0050] like Figure 1The figure shows an overall structural schematic diagram of a flapping-wing aircraft with flapping-slip conversion and differential spreading functions in one embodiment of the present invention. According to an embodiment of the present invention, a flapping-wing aircraft with flapping-slip conversion and differential spreading functions is provided, including: a flapping-slip conversion and driving mechanism 1, a pair of spreading wings 2 and a tail wing 3.
[0051] like Figure 2 The structural diagram of the flap-slide conversion and driving mechanism in one embodiment of the present invention is shown in FIG. Figure 3 The figure shows a schematic diagram of fixing the fuselage plate and the fuselage square tube in one embodiment of the present invention. Figure 4 The first state schematic diagram of the flap-slide conversion and driving mechanism in one embodiment of the present invention is shown, Figure 5 FIG. 1 is a schematic diagram of a second state of a flap-slide conversion and driving mechanism in one embodiment of the present invention, Figure 6 The figure shows a top view of a flapping structure servo driving a rotating block to rotate in one embodiment of the present invention.
[0052] Combination Figures 2 to 6 According to an embodiment of the present invention, the flutter-slide conversion and driving mechanism 1 includes a rocker 101, a ball head connecting rod 102, a crank 103, a fuselage side panel 104, a fuselage panel 105, a fuselage square tube 106, a motor 107, a triple gear 108, a grooved gear 109, a ball plunger 110, a rotating block 111, a rotating plate 112, a bearing seat 113, a first ball head pull rod 114, a first servo arm 115, a flutter-slide structure servo 116, a lower clamp 117, an external plug-in 118, an internal plug-in 119, an upper clamp 120, a square tube clamp 121 and a pin 122.
[0053] According to an embodiment of the present invention, a motor 107 and a grooved gear 109 are respectively installed on the fuselage board 105 on both sides of the fuselage board 105. In the embodiment, only the motor 107 and the grooved gear 109 installed on one side of the fuselage board 105 are taken as an example, the motor gear of the motor 107 meshes with the triple gear 108, and the triple gear 108 meshes with the grooved gear 109, driving the grooved gear 109 to rotate.
[0054] In some specific embodiments, the motor gear of the motor 107 meshes with the rotating shaft of the triple gear 108 , and the pinion of the triple gear 109 meshes with the grooved gear 109 , driving the grooved gear 109 to rotate.
[0055] In some preferred embodiments, fuselage side panels 104 are provided on both sides of the fuselage panel 105 , and the triple gear 108 and the grooved gear 109 are installed between the fuselage panel 105 and the fuselage side panels 104 .
[0056] The rotating shaft of the grooved gear 109 fixes the crank 103, and the crank 103 is connected to the rocker 101 through the ball-end connecting rod 102. The rocker 101 is connected to the unfolding wing 2. When the grooved gear 109 rotates, the rocker 101 is driven to swing up and down, driving the unfolding wing 2 to flap.
[0057] A flapping and sliding structure servo 116 is also installed on the fuselage plate 105, the output shaft of the flapping and sliding structure servo 116 is connected to the first servo arm 115, the first servo arm 115 is connected to the rotating plate 112 through the first ball head tie rod 114, the rotating block 111 is fixed at the center of the rotating plate 112, and a ball plunger 110 is arranged on the rotating block 111. Preferably, the rotating block 111 is a cylindrical structure, a bearing seat 113 is installed on the fuselage plate 105, and the rotating block 111 is installed on the bearing seat 113 through a bearing.
[0058] According to an embodiment of the present invention, a groove is arranged on the side of the grooved gear 109. When the flapping structure servo 116 drives the first servo arm 115 to rotate, the first ball head pull rod 114 is driven to pull the rotating plate 112 to rotate, thereby driving the rotating block 111 to rotate, so that the ball plunger 110 on the rotating block 111 engages with or separates from the groove on the side of the grooved gear 109, thereby completing the mutual conversion between the gliding state and the flapping state.
[0059] When the flapping-wing aircraft with flapping-slip conversion and differential spreading functions provided by the present invention is in a flapping state, the ball plunger 110 of the rotating block 111 rotates until it is not in contact with the grooved gear 109, and the motor 107 is in a working state. The grooved gear 109 is driven to rotate through the triple gear 108, and is decelerated through the secondary gear set, thereby driving the rocker 101 to swing up and down through the crank rocker mechanism, driving the spreading wing 2 to flap.
[0060] When it is necessary to convert to the gliding state, the motor 107 stops rotating, and the foldable wing 2 is propped up under the action of aerodynamic force. The flapping structure servo 116 drives the first servo arm 115 to rotate, driving the first ball head pull rod 114 to pull the rotating plate 112 to rotate, thereby driving the rotating block 111 to rotate, so that the ball plunger 110 on the rotating block 111 engages with the groove on the side of the grooved gear 109, locking the grooved gear 109, and then the position of the foldable wing 2 is also stuck, realizing the conversion from the flapping state to the gliding state.
[0061] When the transition from the gliding state to the flapping state is required, the flapping structure servo 116 is reset and the motor 107 is started immediately.
[0062] When the foldable wing 2 of the present invention is in the flapping state, the flapping structure servo 116 is in the reset state, and the rotating block 111 and the ball plunger 110 are not in contact with the grooved gear 109. When it is necessary to switch to the gliding state, the flapping structure servo 116 is converted to the working state, driving the ball plunger 110 to engage with the groove of the grooved gear 109.
[0063] The grooved gear 109 rotates one circle, the rocker 101 flaps up and down one cycle, and the foldable wing 2 flaps up and down one cycle completely. It should be understood that the position of the groove on the grooved gear 109 is determined according to the relative position of the grooved gear 109 and the foldable wing 2, ensuring that when the ball plunger 110 is stuck in the groove of the grooved gear 109, the foldable wing 2 can be in a position suitable for gliding.
[0064] According to the embodiment of the present invention, a fuselage square tube 106 is installed on the fuselage panel 105 , and the fuselage square tube 106 is used to connect the foldable wing 2 and the tail wing 3 .
[0065] like Figure 3 As shown, the fuselage panel 105 includes an upper clamping plate 120, a lower clamping plate 117 and a square tube clamp 121. An inner core inserting strip 1051 and an outer core inserting strip 1052 are arranged on one side of the fuselage panel 105 where the fuselage square tube 106 is mounted. A first gap 1054 is formed between the fuselage panel 105 and the inner core inserting strip 1051. A second gap 1055 is formed between the inner core inserting strip 1051 and the outer core inserting strip 1052.
[0066] The inner core insert strip 1051 is inserted into the fuselage square tube 106, the fuselage square tube 106 is located between the upper clamping plate 120 and the lower clamping plate 117, the upper clamping plate 120 is inserted into the second gap 1055, the lower clamping plate 117 is inserted into the first gap 1054, and the square tube clamp 121 is clamped on the outer periphery of the fuselage square tube 106 and clamps the upper clamping plate 120 and the lower clamping plate 117. The pin 122 is inserted into the outer side of the square tube clamp 121 and inserted into the circular hole of the fuselage square tube 106 to fix the fuselage square tube 106. The lower end of the square tube clamp 121 is fixed to the fuselage plate 105 by bolts.
[0067] According to an embodiment of the present invention, the fuselage plate 105 further includes an inner plug-in 119 and an outer plug-in 118. An inner core slot 1053 is provided on the inner core insert strip 1051. The inner plug-in 119 and the outer plug-in 118 are sequentially inserted into the inner core slot 1053, so that the inner plug-in 119 and the outer plug-in 118 are perpendicular to the inner core insert strip 1051. The inner plug-in 119 and the outer plug-in 118 are inserted into the fuselage square tube 106 together with the inner core insert strip 1051.
[0068] The inner plug-in 119 and the outer plug-in 118 of the present invention are vertically inserted into the fuselage square tube 106 with the inner core insert strip 1051, which ensures the reliability of the fixed connection between the fuselage plate 105 and the fuselage square tube 106, prevents the fuselage plate 105 and the fuselage square tube 10 from deflecting and moving with each other, and solves the connection problem between the plate parts and the tubular parts.
[0069] like Figure 7 A bottom view of one of a pair of foldable wings in one embodiment of the present invention is shown, Figure 8 The structure diagram of the wing root plate of the unfolded wing in one embodiment of the present invention is shown in FIG. Fig. 9 The figure shows a schematic diagram of the maximum expansion state of the outer section wing of the unfolding wing in one embodiment of the present invention, Fig.10 The figure shows a schematic diagram of the maximum folded state of the outer section of the foldable wing in one embodiment of the present invention.
[0070] Combination Figure 1 , Figures 7 to 10 According to an embodiment of the present invention, the unfolding wing 2 includes an inner wing section and an outer wing section.
[0071] The inner wing includes a leading edge rod 201, an oblique fixed rod 203, a connecting block 204, and a wing-body connecting piece 219. The outer wing includes a wing root plate 205, an expansion rod 216, a wing expansion structure servo 218, a second servo arm 217, and a plurality of wing blades.
[0072] According to an embodiment of the present invention, for the inner wing, one end of the leading edge rod 201 is fixed to one end of the oblique fixed rod 203 through a connecting block 204. The other end of the leading edge rod 201 is fixed to the rocker 101, and the other end of the oblique fixed rod 203 is rotatably connected to the middle section of the fuselage square tube 106 through a wing-body connector 209. The leading edge rod 201 and the oblique fixed rod 203 are covered with a wing skin 202. In some preferred embodiments, wing ribs are fixed to the leading edge rod 201 and the oblique fixed rod 203, and the wing skin 202 is covered by the wing ribs.
[0073] When the rocker 101 swings up and down, it drives the leading edge rod 201 and the oblique fixed rod 203 to swing up and down, and drives the foldable wing 2 as a whole to swing up and down.
[0074] According to an embodiment of the invention, for the outer wing, a wing deployment structure servo 218 is arranged on the wing-body connecting member 219, and the wing deployment structure servo 218 is connected to one end of the deployment rod 216 through the second servo arm 217, the connecting block 204 is hinged to the wing root plate 205, and the wing root plate 205 is hinged to the other end of the deployment rod 216.
[0075] In the embodiment of the present invention, the structure of the wing-body connector 209 is not specifically limited, as long as it can drive the oblique fixing rod 203 and the wing deployment structure servo 218 to rotate around the fuselage square tube 106.
[0076] The first wing 207 fixed on the wing root plate 205 and the plurality of wing pieces hinged on the wing root plate 205 are connected by a first elastic rope 206. In this embodiment, nine wing pieces are provided, namely, the first wing 207 fixed on the wing root plate 205, and the second wing 208, the third wing 209, the fourth wing 210, the fifth wing 211, the sixth wing 212, the seventh wing 213, the eighth wing 214, and the ninth wing 215 hinged on the wing root plate 205.
[0077] According to the embodiment of the present invention, the shape of the inner wing is fixed, and the outer wing can be unfolded and folded. Specifically, during the unfolding and folding of the outer wing, the wing folding structure servo 218 drives the folding and folding rod 216 to pull / push the wing root plate 205 and the first wing piece 207 fixed on the wing root plate 205 to rotate relative to the connecting block 204 through the second servo arm 217, and the wing pieces of the outer wing are opened and closed under the drive of the first elastic rope 206. Fig. 9 and Fig.10 shown.
[0078] According to the embodiment of the present invention, the inner wing of the unfolding wing 2 is fixed, and the outer wing can be extended to be actively unfolded and folded. During the flapping process of the unfolding wing 2, the wing unfolding structure servo 218 drives the unfolding pull rod 216 to pull the wing root plate 205 to rotate according to the needs, so that the sweep angle of the outer wing changes from the negative angle ( Fig.10 shown) to the positive angle when unfolded ( Fig. 9 At the same time, each wing flap opens and closes to different degrees, and the wing expansion structure servo 218 rotates around the fuselage square tube 106.
[0079] According to an embodiment of the present invention, each wing is connected by a first elastic rope 206. At different angles during the rotation of the wing root plate 205, the first elastic rope 206 deforms differently, so that the wing opens and closes to different degrees. In some preferred embodiments, the sweep angle of the leading edge of the outer section of the outer section wing is deployed in a range of -45° to 30°.
[0080] According to the embodiment of the present invention, the differential expansion of the outer wings of the foldable wings 2 on both sides can make the foldable wings 2 generate asymmetric aerodynamic force, thereby achieving attitude conversion and improving maneuverability. When the outer wings of the foldable wings 2 are synchronously expanded or retracted to different degrees, the flight resistance can be increased or reduced, thereby reducing or increasing the flight speed.
[0081] like Fig.11 The structure diagram of the tail wing in one embodiment of the present invention is shown in FIG. Fig.12 A top view of a tail wing according to an embodiment of the present invention is shown. Fig.13 The schematic diagram of the structure of the tail wing root plate in one embodiment of the present invention is shown. Fig.14 The figure shows a schematic diagram of a maximum folded state of a plurality of tail fins in one embodiment of the present invention, Fig.15 A schematic diagram of a maximum deployed state of a plurality of tail fins in one embodiment of the present invention is shown.
[0082] Combination Figures 11 to 15According to an embodiment of the present invention, the end of the fuselage square tube 106 is connected to the tail 3, and the tail 3 includes a right servo 301, a left servo 302, a second ball head pull rod 303, a stud 304, a vertical tail 305, a tail square tube 306, a spring 307, a rigid rope 308, a third servo arm 309, a tail deployment structure servo 310, a bolt 311, a tail root plate 312, a second elastic rope 313, and a plurality of tail pieces.
[0083] The tail square tube 306 is connected to the fuselage square tube 106 by a spring 307. Further, the spring 307 has a total length of 3 cm, and 1 cm at each end is respectively connected to the inner hole wall of the fuselage square tube 106 and the tail square tube 306 to form a flexible universal joint.
[0084] A tail root plate 312 is fixed on the tail square tube 306 , the vertical tail 305 is fixed on the tail root plate 312 , a plurality of tail pieces are hinged on the tail root plate 312 , and the plurality of tail pieces are connected by a second elastic rope 313 .
[0085] The left servo 302 and the right servo 301 (in the embodiment, the left servo 302 and the right servo 301) are fixed on the fuselage square tube 106. Fig.12 The left and right directions are based on the left and right directions shown in the figure, the left side is the left servo, and the right side is the right servo). The left servo 302 and the right servo 301 are respectively connected to the second ball head tie rod 303, and the second ball head tie rod 303 is fixed to the tail root plate 312 through the stud 304. Specifically, the second ball head tie rod 303 is hinged to the stud 304, and the stud 304 is fixed to the tail root plate 312.
[0086] In a further embodiment, the left servo 302 and the right servo 301 are respectively connected to the second ball-end tie rod 303 via connecting rods.
[0087] According to an embodiment of the present invention, the left servo 302 and the right servo 301 are differentially controlled and have two degrees of freedom of left and right and up and down swinging. Specifically, when the left servo 302 pulls / pushes the tail root plate 312 through the second ball head pull rod 303 and the right servo 301 pushes / pull the tail root plate 312 through the second ball head pull rod 303, the tail root plate 312 swings left and right around the spring 307, thereby driving the vertical tail 305 and multiple tail panels to swing left and right.
[0088] When the left servo 302 and the right servo 301 simultaneously pull / push the tail root plate 312 through the second ball head pull rod 303, the tail root plate 312 swings up and down around the spring 307, thereby driving the vertical tail 305 and the plurality of tail pieces to swing up and down.
[0089] According to an embodiment of the present invention, the tail square tube 306 is connected to the fuselage square tube 106 by a spring 307 to form a flexible universal joint. Through the differential control of the left servo 302, the right servo 301 and the second ball head tie rod 303, the tail 3 can be swung in the left and right and up and down directions to control the tail attitude, and the pitch and deflection angles of the tail can be differentially controlled.
[0090] According to an embodiment of the present invention, a plurality of tail fins are hinged on the tail root plate 312, and the plurality of tail fins are connected by a second elastic rope 313. In this embodiment, nine tail fins are provided, namely, a first tail fin 314, a second tail fin 322, a third tail fin 315, a fourth tail fin 316, a fifth tail fin 317, a sixth tail fin 318, a seventh tail fin 319, an eighth tail fin 320, and a ninth tail fin 321.
[0091] According to the embodiment of the present invention, a first tail fin piece 314 and a second tail fin piece 322 located at the outer side of the plurality of tail fin pieces are respectively hinged to the tail root plate 312 through hinge rods 3081 .
[0092] The fuselage square tube 106 is provided with a tail wing deployment structure servo 310, which is connected to a rigid rope 308 via a third servo arm 309. The end of the rigid rope 308 is divided into two paths and connected to one end of a hinge rod 3081 of the first tail wing piece 314 and the second tail wing piece 322 respectively.
[0093] In a further preferred embodiment, a bolt 311 is provided on the tail root plate 312 , and the rigid rope 308 is divided into two paths through the bolt 311 , one of which is connected to the hinge rod 3081 of the first tail piece 314 , and the other is connected to the hinge rod 3081 of the second tail piece 322 .
[0094] According to an embodiment of the present invention, during the execution of the tail wing deployment, the tail wing deployment structure servo 310 drives the third servo arm 309 to swing back and forth to pull the rigid rope 308, driving the first tail wing piece 314 and the second tail wing piece 322 to rotate around the rotation center of the hinge rod 3081, thereby causing the first tail wing piece 314 and the second tail wing piece 322 to be deployed or retracted, so that the second elastic rope 313 drives other tail wing pieces to rotate around the tail root plate 312, thereby realizing the folding and deployment of multiple tail wing pieces. In a preferred embodiment, the outer edge angles of the multiple tail wing pieces are in the range of 40°-100°, such as Fig.14 and Fig.15 shown.
[0095] The tail wing 3 of the present invention swings in left and right and up and down directions, differentially controls the pitch and deflection angles of the tail wing, and different degrees of expansion and contraction can generate different resistances and control torques, which can be controlled according to the needs of different flight states. The expansion and contraction of the outer wings of the expansion and contraction wings 2 can achieve complex posture changes under corresponding conditions.
[0096] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A flapping-wing aircraft with flap-slide conversion and differential deployment functions, characterized in that: The flapping-wing aircraft comprises: a flapping-slip conversion and driving mechanism, a pair of spreading wings and a tail wing; The flap-slide conversion and driving mechanism comprises a fuselage plate, a motor and a grooved gear are mounted on the fuselage plate, the motor gear of the motor meshes with a triple gear, the triple gear meshes with the grooved gear, and drives the grooved gear to rotate; The rotating shaft of the grooved gear is fixed with a crank, the crank is connected to a rocker through a ball-jointed connecting rod, the rocker is connected to the unfolding wing, and when the grooved gear rotates, the rocker is driven to swing up and down, driving the unfolding wing to flap; A flapping and sliding structure servo is also installed on the fuselage plate, the output shaft of the flapping and sliding structure servo is connected to a first servo arm, the first servo arm is connected to a rotating piece through a first ball head pull rod, a rotating block is fixed at the center of the rotating piece, and a ball plunger is arranged on the rotating block; Wherein, a groove is arranged on the side of the grooved gear, and when the sliding structure servo drives the first servo arm to rotate, the rotating block is driven to rotate, so that the ball plunger is engaged with or separated from the groove on the side of the grooved gear; A fuselage square tube is also installed on the fuselage plate, and the fuselage square tube is connected to the tail wing; The fuselage plate comprises an upper clamping plate, a lower clamping plate and a square tube clamp, and an inner core inserting strip and an outer core inserting strip are arranged on one side of the fuselage plate where the fuselage square tube is mounted; The inner core insert is inserted into the fuselage square tube, the fuselage square tube is located between the upper clamping plate and the lower clamping plate, and the square tube clamp is clamped on the outer periphery of the fuselage square tube and clamps the upper clamping plate and the lower clamping plate; The body panel further comprises an inner plug-in and an outer plug-in, an inner core slot is provided on the inner core insert strip, the inner plug-in and the outer plug-in are sequentially inserted into the inner core slot, and the inner plug-in and the outer plug-in are perpendicular to the inner core insert strip; The unfolded wing comprises an inner wing and an outer wing. The inner section wing comprises a leading edge rod and an oblique fixed rod, one end of the leading edge rod is fixed to one end of the oblique fixed rod through a connecting block, the other end of the leading edge rod is fixed to the rocker, and the other end of the oblique fixed rod is rotatably connected to the middle section of the fuselage square tube through a wing-body connector; The leading edge rod and the oblique fixed rod are covered with wing skin; The tail wing comprises a tail wing square tube, and the tail wing square tube is connected to the fuselage square tube via a spring; The tail wing root plate is fixed on the tail wing square tube, the left servo and the right servo are fixed on the fuselage square tube, the left servo and the right servo are respectively connected to the second ball head tie rod, and the second ball head tie rod is fixed to the tail wing root plate through a stud.
2. The flapping-wing aircraft according to claim 1, characterized in that: A bearing seat is also installed on the fuselage plate, and the rotating block is installed on the bearing seat through a bearing.
3. The flapping-wing aircraft according to claim 1, characterized in that: The outer wing comprises a wing root plate and an unfolding rod, a first wing piece fixed to the wing root plate, and a plurality of wing pieces hinged to the wing root plate, wherein the first wing piece is connected to the plurality of wing pieces via a first elastic rope; A wing spreading structure servo is arranged on the wing-body connection member, and the wing spreading structure servo is connected to one end of the spreading rod through a second servo arm; the connecting block is hinged to the wing root plate, and the wing root plate is hinged to the other end of the spreading rod.
4. The flapping-wing aircraft according to claim 1, characterized in that: The tail comprises a vertical tail and a plurality of tail fins, wherein the vertical tail is fixed to the tail root plate; The plurality of tail wing panels are hinged to the tail wing root plate, and the plurality of tail wing panels are connected by a second elastic rope.
5. The flapping-wing aircraft according to claim 4, characterized in that: The plurality of tail fins at least include a first tail fin and a second tail fin located on the outside; the first tail fin and the second tail fin are respectively hinged to the tail root plate through a hinge rod, A tail wing folding structure servo is arranged on the fuselage square tube, and the tail wing folding structure servo is connected to a rigid rope through a third servo arm, and the rigid rope is connected to one end of the hinged rod.
6. The flapping-wing aircraft according to claim 5, characterized in that: Bolts are arranged on the tail root plate, and the rigid rope is divided into two paths through the bolts, one of which is connected to the hinge rod of the first tail piece, and the other is connected to the hinge rod of the second tail piece.
Citation Information
Patent Citations
Three-dimensional flapping flapping-wing drive mechanism
CN104477383A
Freely flying aircraft
CN1086778A