A tri-copter biomimetic flapping wing micro air vehicle

Abstract

The application discloses a kind of triphibian bionic flapping wing micro air vehicle, the aircraft includes air bag shell, wing, tail, leg mechanism and control device;Air bag shell inside inflation, for floating in water;Wing includes driving device and two flapping wings of antisymmetry installation;Driving device is connected with flapping wing, for driving flapping wing rotation and / or flapping;Two leg mechanisms are symmetrically installed on the bottom of driving device two sides, and are each provided with metal spring leg with duck webbed sole;Tail is installed on the top rear side of driving device;Driving device and control device are installed in air bag shell;Leg mechanism and wing are installed outside air bag shell.The above-mentioned micro air vehicle has the triphibian movement ability of air flight, ground running, water swimming.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of micro air vehicles, in particular to a triphibian bionic flapping-rotor micro air vehicle. BACKGROUND

[0002] In modern military battlefield, reconnaissance task is particularly important, and traditional human reconnaissance soldiers often suffer great losses due to various reasons, and even result in failure of reconnaissance task. Micro air vehicles have high practical value and broad application prospect in future military field due to their small size, light weight, strong maneuverability and good concealment, and can easily enter narrow space to complete special tasks such as monitoring and reconnaissance, eavesdropping and interference. Therefore, micro air vehicles are also the research focus of various countries.

[0003] However, there are many common amphibious unmanned aerial vehicles, but few triphibian unmanned aerial vehicles, and most of the flight parts of the unmanned aerial vehicles are mainly four-rotor, and the fixed-wing unmanned aerial vehicles are mostly large aircraft, and the unmanned aerial vehicles based on flapping-wing structure are few. Most unmanned aerial vehicles do not have bionic elements, and the few unmanned aerial vehicles with bionic elements are not overall bionic, but use bionic structure in land or water, which is limited in use. For example, a micro triphibian four-rotor aircraft of Chongqing University (patent application number CN201510306015.5) is mainly based on four-rotor aircraft, and has relatively few bionic elements. Compared with other triphibian aircraft, the size is relatively large, and micro triphibian aircraft is not achieved. SUMMARY

[0004] Therefore, in order to overcome the above disadvantages of micro air vehicles, the present application provides a triphibian bionic flapping-rotor micro air vehicle, which has the advantages of micro flapping-wing aircraft and micro rotor aircraft, can realize vertical take-off and landing, has high take-off efficiency, high flight efficiency, small flight noise and high aerodynamic efficiency, and can also consider various use scenarios, can fly in the sky through flapping-rotor, can run on the ground through spring legs, and can float on the water surface through inflatable air bag shell and leg mechanism.

[0005] The present application adopts the following specific technical solutions:

[0006] A triphibian bionic flapping-rotor micro air vehicle, which comprises an air bag shell, a wing, a tail wing, a leg mechanism and a control device.

[0007] The air bag shell is inflated inside to float in water.

[0008] The wing comprises a driving device and two flapping-rotors installed in anti-symmetry; the driving device is connected with the flapping-rotors to drive the flapping-rotors to rotate and / or flap.

[0009] Two said leg mechanisms are symmetrically installed on both sides of the bottom of the driving device, and each is provided with a metal spring leg with a duck webbed foot sole for walking on land and swimming in water;

[0010] The tail wing is installed on the top rear side of the driving device for lift control and direction control;

[0011] The driving device and the control device are both installed in the airbag shell; the leg mechanism and the wing are both installed outside the airbag shell;

[0012] The control device is signal connected with the driving device, the leg mechanism and the tail wing for controlling the driving device, the leg mechanism and the tail wing.

[0013] Further, the driving device comprises a motor base, a driving motor and a transmission mechanism;

[0014] The driving motor is fixedly installed in the mounting hole of the motor base;

[0015] The transmission mechanism is driving connected between the driving motor and the flapping rotor for transmitting the power of the driving motor to the flapping rotor;

[0016] The two sides of the motor base are provided with side columns which are axially symmetrical about the mounting hole;

[0017] The leg mechanism is fixedly installed at the outer end of the side column.

[0018] Further, the wing further comprises a rotating structure and flapping structures which are symmetrically installed on both sides of the rotating structure;

[0019] The rotating structure comprises a central shaft, a top seat, a stainless steel sleeve and a thin wing strut seat; the bottom end of the central shaft is fixedly connected with the transmission mechanism, and the top end is fixedly connected with the top seat; the stainless steel sleeve is sleeved on the outer circumferential side of the central shaft and is fixedly connected with the thin wing strut seat;

[0020] The flapping structure comprises a thin wing strut, a thin wing seat and a wing arm; one end of the wing arm is connected with the top seat through a pin, and the other end is fixedly connected with two thin wing seats through pins; one end of the thin wing strut is connected with the thin wing strut seat through a pin, and the other end is connected with the middle part of the wing arm through a pin, so that the thin wing strut drives the wing arm to swing up and down by sliding up and down on the central shaft; the flapping rotor is fixedly installed in the thin wing seat.

[0021] Further, the transmission mechanism comprises a two-stage planetary gear mechanism, a crank and a rocker;

[0022] The secondary planetary gear mechanism is installed in the motor base and is drivingly connected between the driving motor and the crank;

[0023] One end of the rocker is rotationally connected with the crank, and the other end is rotationally connected with the central shaft.

[0024] Further, the leg mechanism further comprises a rudder frame, a leg rudder, a half gear, a leg gear and a connecting rope;

[0025] The rudder frame is fixedly installed on the side column;

[0026] The half gear is rotatably installed on the outer end of the side column;

[0027] The leg rudder is fixedly installed on the rudder frame and is signal connected with the control device;

[0028] The leg gear is fixedly installed on the output shaft of the leg rudder and is engaged with the half gear;

[0029] The metal spring leg comprises an upper leg, a lower leg and the duck webbed foot sole which are sequentially hinged from top to bottom;

[0030] The top of the upper leg is fixedly installed on the output shaft of the leg rudder, and the upper leg is driven to swing by the leg rudder;

[0031] The lower leg is connected with the upper leg through a half joint spring;

[0032] The lower leg is connected with the duck webbed foot sole through a webbed foot spring;

[0033] The connecting rope is connected between the lower leg and the half gear, the lower leg is bent by the connecting rope and is stretched by the webbed foot spring.

[0034] Further, the rudder frame is spliced by the front rudder rib plate and the rear rudder rib plate which are oppositely arranged through the intermediate connecting plate;

[0035] The rudder frame is provided with a columnar gap which penetrates the front rudder rib plate, the connecting plate and the rear rudder rib plate;

[0036] The lower part of the front rudder rib plate is hollowed out;

[0037] The lower part of the rear rudder rib plate is provided with a rudder fixing hole and is fixed with the leg rudder through a screw;

[0038] The side column penetrates the columnar gap and is fixedly connected with the rudder frame;

[0039] The output shaft of the leg rudder extends towards the outer end of the side column.

[0040] Further, the tail wing comprises a tail rod, a lift control mechanism and a direction control mechanism.

[0041] The front end of the tail rod is fixed in a tail rod fixing hole at the top of the motor seat.

[0042] The lift control mechanism comprises a tail plane, a tail plane shaft, a first rocker arm, a first connecting rod mechanism and a first linear servo. The tail plane shaft passes through a horizontal hole at the end of the tail rod and is fixed with two tail planes on both sides of the tail rod, so that the two tail planes are symmetrically placed on both sides of the tail rod. One end of the first rocker arm is fixed with the tail plane shaft, and the other end is connected with the first linear servo through the first connecting rod mechanism. The first linear servo is fixedly installed on the motor seat and is signal connected with the control device, and is used for controlling the swing of the tail plane to realize lift control.

[0043] The direction control mechanism comprises a vertical tail, a vertical tail shaft, a limiting block, a second rocker arm, a second connecting rod mechanism and a second linear servo. The vertical tail shaft passes through a vertical hole in the middle of the tail rod and is rotatably installed on the tail rod through the limiting block. The middle of the vertical tail shaft is fixed with one end of the second rocker arm, and the other end of the second rocker arm is connected with the second linear servo through the second connecting rod mechanism. The second linear servo is fixedly installed on the motor seat and is signal connected with the control device, and is used for controlling the swing of the vertical tail to realize direction control.

[0044] Further, the airbag shell adopts a life jacket type airbag.

[0045] Beneficial effects:

[0046] The triphibian bionic flapping-rotor micro air vehicle of the present application adopts two flapping rotors installed in an antisymmetry and a bionic structure of double legs for land walking installed in a symmetry, has the advantages of both micro flapping-wing air vehicles and micro rotor air vehicles, can realize vertical take-off, has high take-off efficiency, has high flight efficiency, small flight noise and high aerodynamic efficiency, can fly in the sky through the flapping rotors, can run on the ground through the metal spring legs, can float on the water surface through the inflatable air bag shell, and can swim in the water through the duck webbed soles, can take off in a flapping manner in a flight state, can increase the average lift in the flight process through wing twist adjustment in cruising, can improve the aerodynamic efficiency, and can realize simple and efficient wing twist movement, can simulate the posture of bird land walking through the joint action of the metal spring legs of the leg mechanism and the wings in a land walking state, has good maneuverability and high walking efficiency, and can realize swimming in the water through the movement of the leg mechanism in a water swimming state, so that the above micro air vehicle has the triphibian movement ability of air flight, ground running and water swimming. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 Fig. 1 is a structural schematic view of the triphibian bionic flapping-rotor micro air vehicle of the present application;

[0048] Figure 2 Fig. 2 is a top view of the triphibian bionic flapping-rotor micro air vehicle of the present application;

[0049] Figure 3 Fig. 3 is a structural schematic view of the triphibian bionic flapping-rotor micro air vehicle of the present application without the air bag shell;

[0050] Figure 4 Fig. 4 is a partial structural schematic view of the triphibian bionic flapping-rotor micro air vehicle of the present application;

[0051] Figure 5 Fig. 5 is a structural schematic view of the motor seat;

[0052] Figure 6 Fig. 6 is a structural schematic view of the leg mechanism;

[0053] Figure 7 Fig. 7 is a structural schematic view of the steering gear frame;

[0054] Figure 8 Fig. 8 is a structural schematic view of the wing;

[0055] Figure 9 Fig. 9 is a partial structural schematic view of the wing; Figure 8 ​

[0056] Figure 10 Figure 8 is an exploded view of the motor seat after assembly;

[0057] Figure 11 Figure 9 is an exploded view of the driving motor and transmission mechanism from one angle;

[0058] Figure 12 Figure 10 is an exploded view of the driving motor and transmission mechanism from another angle;

[0059] Figure 13 Figure 11 is a structural view of the tail wing;

[0060] Figure 14 Figure 12 is a schematic view of the walking process of the leg mechanism.

[0061] In the figure, 1 is the air bag shell, 2 is the wing, 3 is the tail wing, 4 is the leg mechanism, and 5 is the control device.

[0062] 21 is the flapping wing, 22 is the motor seat, 23 is the driving motor, 211 is the central shaft, 212 is the top seat, 213 is the stainless steel sleeve, 214 is the thin wing strut seat, 215 is the thin wing strut, 216 is the thin wing seat, 217 is the wing arm, 221 is the mounting hole, 222 is the side column, 223 is the tail rod fixing hole, 224 is the central shaft through hole, 241 is the first planetary carrier, 242 is the first sun gear, 243 is the first planetary gear, 244 is the second planetary carrier, 245 is the second sun gear, 246 is the second planetary gear, 247 is the crank, 248 is the rocker, 249 is the pull ring, 250 is the gear ring cover, and 251 is the gear ring.

[0063] 31 is the tail rod, 321 is the horizontal tail, 322 is the horizontal tail shaft, 323 is the first rocker arm, 324 is the first connecting rod mechanism, 325 is the first linear actuator, 331 is the vertical tail, 332 is the vertical tail shaft, 333 is the limit block, 334 is the second rocker arm, 335 is the second connecting rod mechanism, and 336 is the second linear actuator.

[0064] 41 is the metal spring leg, 42 is the actuator frame, 43 is the leg actuator, 44 is the half gear, 45 is the leg gear, 46 is the connecting rope, 411 is the duck webbed foot sole, 412 is the upper leg, 413 is the lower leg, 414 is the half joint spring, 415 is the webbed spring, 421 is the front actuator rib plate, 422 is the rear actuator rib plate, 423 is the connecting plate, 424 is the columnar gap, 441 is the first protrusion, and 4131 is the second protrusion. DETAILED DESCRIPTION

[0065] The application will be described in detail below with reference to the drawings and examples.

[0066] The embodiment of the application provides a triphibian bionic flapping wing micro air vehicle, which comprises a wing, a tail wing, a leg mechanism and a control device. Figure 1 andFigure 2 As shown in the structure, the aircraft comprises an airbag shell 1, a wing 2, a tail 3, a leg mechanism 4 and a control device 5;

[0067] The airbag shell 1 is inflated inside to achieve floating in water; the floating of the micro aircraft relies on the buoyancy of the airbag shell 1; the airbag shell 1 can adopt a life jacket type airbag and is composed of two layers of inner and outer membranes; during the walking on land and flying in the air stage, the inner and outer membranes of the airbag shell 1 are retracted and wrapped on the body, when the aircraft is about to row in water, a motor can be used to quickly inflate the airbag, or a chemical reaction method can be used to inflate the airbag, so that the airbag is fully filled and can float in water;

[0068] As shown in the structure, Figure 3 and Figure 4 As shown in the structure, the wing 2 comprises a driving device and two counter-symmetrically installed flapping rotors 21; the driving device is connected with the flapping rotors 21 for driving the flapping rotors 21 to rotate and / or flap;

[0069] The two leg mechanisms 4 are symmetrically installed on the bottom of the driving device, and each is provided with a metal spring leg 41 with a duck webbed sole 411 for walking on land and rowing in water;

[0070] As shown in the structure, Figure 4 The tail 3 is installed on the top rear side of the driving device for realizing lift control and direction control;

[0071] The driving device and the control device 5 are installed in the airbag shell 1; the leg mechanism 4 and the wing 2 are installed outside the airbag shell 1;

[0072] The control device 5 is signal connected with the driving device, the leg mechanism 4 and the tail 3 for controlling the actions of the driving device, the leg mechanism 4 and the tail 3.

[0073] The above-mentioned tri-bionic flapping-rotor micro air vehicle adopts two flapping-rotor 21s installed in an anti-symmetrical manner and a symmetrical bionic structure of double legs for land walking, has the advantages of both micro flapping-wing air vehicles and micro rotor air vehicles, can realize vertical take-off and landing, has high take-off efficiency, high flight efficiency, low flight noise and high aerodynamic efficiency, can fly in the sky through the flapping-rotor 21, can run on the ground through the metal spring legs 41, can float on the water surface through the inflatable air bag shell 1, and can swim in the water through the duck webbed soles 411; in the flight state, the micro air vehicle can take off in the flapping manner, can increase the average lift in the flight process through the twist adjustment of the wing 2 attack angle, and can improve the aerodynamic efficiency; in the land walking state, the metal spring legs of the leg mechanism 4 and the wing 2 jointly simulate the posture of bird land walking, have good maneuverability and high walking efficiency; in the water swimming state, the inflatable air bag shell 1 carried by the micro air vehicle is quickly inflated to wrap the entire micro air vehicle body, so that the micro air vehicle is not soaked by water, the air bag shell 1 generates buoyancy to make the micro air vehicle float on the water surface, and the leg mechanism 4 moves to realize swimming in the water; therefore, the above-mentioned micro air vehicle has the tri-bionic motion capability of air flight, ground running and water swimming.

[0074] In the above-mentioned tri-bionic flapping-rotor micro air vehicle, the driving device includes a motor seat 22, a driving motor 23 and a transmission mechanism; the motor seat 22 is a core component of the entire micro air vehicle, and the motor seat 22 connects the wing 2, the tail 3, the leg mechanism 4 and the control device 5 together; as shown in Figure 5 and Figure 10 , the driving motor 23 is fixedly installed in the mounting hole 221 of the motor seat 22, and the driving motor 23 is used to drive the wing 2 to move; the transmission mechanism is transmissionally connected between the driving motor 23 and the flapping-rotor 21, and is used to transmit the power of the driving motor 23 to the flapping-rotor 21; as shown in Figure 5 , the motor seat 22 is provided with a side column 222 axially symmetrical to the mounting hole 221 on both sides; as shown in Figure 4 and Figure 6 , the leg mechanism 4 is fixedly installed at the outer end of the side column 222.

[0075] The wing 2 not only includes the driving device and the two flapping-rotors 21, but also includes a rotating structure and flapping structures symmetrically installed on both sides of the rotating structure; as shown in Figure 8 and Figure 9 , the rotating structure includes a central shaft 211, a top seat 212, a stainless steel sleeve 213 and a thin wing support seat 214; as shown in Figure 9As shown, the central shaft 211 is arranged along the vertical direction, the bottom end of the central shaft 211 is fixedly connected with the transmission mechanism, and the top end is fixedly connected with the top seat 212; the stainless steel sleeve 213 is sleeved on the outer circumferential side of the central shaft 211 and is fixedly connected with the thin wing strut seat 214; the flapping structure includes the thin wing strut 215, the thin wing seat 216 and the wing arm 217; as shown Figure 9 As shown, the wing arm 217 extends along the horizontal direction, one end of the wing arm 217 is connected with the top seat 212 through a pin, and the other end is fixedly connected with two thin wing seats 216 through a pin; as shown Figure 9 As shown, the thin wing strut 215 is arranged obliquely, one end of the thin wing strut 215 is connected with the thin wing strut seat 214 through a pin, and the other end is connected with the middle part of the wing arm 217 through a pin, so that the thin wing strut 215 drives the wing arm 217 to realize up-down swing through the up-down sliding of the central shaft 211; the flapping rotor 21 is fixedly installed on the thin wing seat 216. The use of the stainless steel sleeve 213 reduces the swing of the central shaft 211 in the movement process, improves the stability and smoothness of the flapping rotor 21 in the movement process, and reduces the power consumption in the movement process of the aircraft; at the same time, the rotating structure and the rotating structure are compact, simple in structure, easy to process and assemble, and manufacture. The flapping rotor 21 can be composed of a main beam, a secondary beam perpendicular to the main beam and a wing membrane.

[0076] As shown Figure 4 , Figure 10 , Figure 11 and Figure 12As shown, the transmission mechanism includes a two-stage planetary gear mechanism, a crank 247 and a rocker 248; the two-stage planetary gear mechanism is installed in the motor base 22 through a gear ring cover 250, and is drivingly connected between the driving motor 23 and the crank 247; one end of the rocker 248 is rotatably connected with the crank 247, and the other end is rotatably connected with the central shaft 211. The two-stage planetary gear mechanism includes a first-stage carrier 241, a first-stage sun gear 242, a first-stage planetary gear 243, a second-stage carrier 244, a second-stage sun gear 245, a second-stage planetary gear 246 and a gear ring 251; the output shaft of the driving motor 23 is fixedly connected with the first-stage sun gear 242, the first-stage planetary gear 243 is installed on the first-stage carrier 241, the first-stage carrier 241 and the second-stage carrier 244 are both installed on the gear ring 251, the first-stage sun gear 242 is engaged with the first-stage planetary gear 243, the second-stage sun gear 245 is engaged with the second-stage planetary gear 246, the second-stage planetary gear 246 is installed on the second-stage carrier 244, the center of the second-stage carrier 244 is provided with an output shaft which is fixedly connected with the crank 247; the other end of the rocker 248 is rotatably connected with the central shaft 211 through a pull ring 249, the central shaft 211 passes through a central shaft through hole 224 on the top of the motor base 22, and the movement of the central shaft 211 is guided by the motor base 22. The motor base 22 is provided with an inner gear ring which is engaged with the first-stage planetary gear 243 and the second-stage planetary gear 246; the first-stage carrier 241 and the second-stage carrier 244 are cooperatively connected through the gear ring 251, so that the first-stage carrier 241 can drive the second-stage carrier 244 to rotate at the same angular velocity when the first-stage carrier 241 rotates; the first-stage carrier 241 and the second-stage carrier 244 have the same structure; the second-stage sun gear 245 is fixedly connected with the second-stage carrier 244. The second-stage planetary gear 246 is installed on the second-stage carrier 244 through a bearing, so that the second-stage planetary gear 246 can drive the second-stage carrier 244 to rotate when the motor base 22 in which the second-stage planetary gear 246 is engaged rotates, the second-stage carrier 244 is provided with a crank 247 connecting shaft which is fixedly connected therewith and passes through the gear ring cover 250.

[0077] As Figure 6As shown, the leg mechanism 4 further comprises a rudder frame 42, a leg rudder 43, a half gear 44, a leg gear 45 and a connecting rope 46; the rudder frame 42 is fixedly installed on the side column 222; the half gear 44 is rotatably installed on the outer end of the side column 222; the leg rudder 43 is fixedly installed on the rudder frame 42 and is signal connected with the control device 5; the leg gear 45 is fixedly installed on the output shaft of the leg rudder 43 and is engaged with the half gear 44; the thickness of the half gear 44 and the leg gear 45 can be 1.5 mm; the metal spring leg 41 comprises an upper leg 412, a lower leg 413 and a duck webbed foot 411 which are sequentially hingedly connected from top to bottom; the top of the upper leg 412 is fixedly installed on the output shaft of the leg rudder 43, and the upper leg 412 is driven to swing by the leg rudder 43; the lower leg 413 is connected with the upper leg 412 through a half joint spring 414; the lower leg 413 is connected with the duck webbed foot 411 through a webbed foot spring 415; the connecting rope 46 is connected between the lower leg 413 and the half gear 44, and the lower leg 413 is bent by the connecting rope 46 and is stretched by the webbed foot spring 415; as shown in the structure, an eccentric first protrusion 441 is arranged on the outer end surface of the half gear 44, a second protrusion 4131 is arranged on the outer surface of the lower leg 413, and one end of the connecting rope 46 is tied to the first protrusion 441 and the other end is tied to the second protrusion 4131, so that the connecting rope 46 is driven to move the lower leg 413 by the rotation of the half gear 44. Figure 6

[0078] In the Figure 14 , the walking process principle of the leg mechanism 4 is simply shown, the principle of advancing by rowing in water is the same as the walking principle, the direction of the webbed foot is the backward direction, the gear mechanism reciprocates, A-B-C is the movement process, at A, the connecting rope pulls up the lower leg because it is at the highest position, in the process from A to B, the lower leg is gradually lowered to the lowest position, in the process from B to C, it is from the lowest position to the highest position, and the lower leg is gradually pulled up by the same reason. The leg gear 45 and the half gear 44 are engaged and constrained to drive, under the restriction of the spring and the connecting rope, the leg mechanism drives the body to move forward. The process C-B-A is the reverse process of the A-B-C movement process due to the reciprocating movement of the gear mechanism. The whole body is continuously advanced by the alternating movement of the two legs.

[0079] As shown in the Figure 6 and Figure 7 ​As shown, the rudder frame 42 is spliced by the front rudder rib plate 421 and the rear rudder rib plate 422 through the intermediate connecting plate 423; the rudder frame 42 is provided with a columnar gap 424, the columnar gap 424 is arranged through the front rudder rib plate 421, the connecting plate 423 and the rear rudder rib plate 422; the lower part of the front rudder rib plate 421 is hollowed out; the lower part of the rear rudder rib plate 422 is provided with a rudder fixing hole, and is fixed with the leg rudder 43 through a screw; the side column 222 passes through the columnar gap 424 and is fixedly connected with the rudder frame 42; the output shaft of the leg rudder 43 extends towards the outer end of the side column 222.

[0080] As shown in Figure 4 and Figure 13 As shown, the tail wing 3 includes a tail rod 31, a lifting control mechanism and a direction control mechanism; the front end of the tail rod 31 is fixed in the tail rod fixing hole 223 at the top of the motor seat 22; the lifting control mechanism includes a flat tail 321, a flat tail shaft 322, a first rocker arm 323, a first connecting rod mechanism 324 and a first linear rudder 325; the flat tail shaft 322 passes through the horizontal hole at the end of the tail rod 31 and is fixed with the two flat tails 321 on both sides of the tail rod 31, so that the two flat tails 321 are symmetrically placed on both sides of the tail rod 31; one end of the first rocker arm 323 is fixed with the flat tail shaft 322, and the other end is connected with the first linear rudder 325 through the first connecting rod mechanism 324; the first linear rudder 325 is fixedly installed on the motor seat 22 and is signal connected with the control device 5, and is used for controlling the swing of the flat tail 321 to realize lifting control; the direction control mechanism includes a vertical tail 331, a vertical tail shaft 332, a limiting block 333, a second rocker arm 334, a second connecting rod mechanism 335 and a second linear rudder 336; the vertical tail shaft 332 passes through the vertical hole in the middle of the tail rod 31, and is rotatably installed on the tail rod 31 with the vertical tail 331 and the limiting block 333; the middle part of the vertical tail shaft 332 is fixed with one end of the second rocker arm 334, and the other end of the second rocker arm 334 is connected with the second linear rudder 336 through the second connecting rod mechanism 335; the second linear rudder 336 is fixedly installed on the motor seat 22 and is signal connected with the control device 5, and is used for controlling the swing of the vertical tail 331 to realize direction control.

[0081] The lifting and direction control method of the tail wing 3 is as follows: the lifting control link controls the rotation of the first linear rudder 325, drives the first connecting rod mechanism 324 to rotate the first rocker arm 323, makes the flat tail 321 rotate around the flat tail shaft 322 by a certain angle, and completes the lifting control of the flapping rotor 21; the direction control link controls the rotation of the second linear rudder 336, drives the second connecting rod mechanism 335 to rotate the second rocker arm 334, makes the vertical tail 331 rotate around the vertical tail shaft 332 by a certain angle, and completes the direction control of the flapping rotor 21.

[0082] Observation and research on the simulated biological object is the basis of bionics research, and is also a necessary link for the invention to study the propulsion method of rowing. The floating mechanism of the micro air vehicle is designed by imitating the rowing motion posture of a duck. During rowing, the paddles of the forward legs are always collinear with the leg links because the water thrust direction is the same as the spring tension direction; while the paddles of the hind legs can rotate because the water thrust direction is opposite to the spring tension direction, and the direction of the paddles can be made horizontal by appropriately reducing the spring stiffness.

[0083] At this time, because the angles of the two paddles are different, the water resistance they receive is also different. Because the paddles of the forward legs are collinear, the vertical force area of the paddles will first increase and then decrease until it is 0; while the paddles of the hind legs are always horizontal, so the resistance effect is very small. Therefore, the overall forward thrust can be generated to drive the body forward.

[0084] Compared with the four-axle micro air vehicle, the triphibian bionic flapping wing 21 micro air vehicle of the embodiment has simple structure, lighter weight, agility, smaller motor torque, smaller take-off and landing influencing factors, portability, smaller transmission friction loss, longer service life, more compact structure, larger strength, larger transmission ratio, simpler and more practical joint structure, and reduced number of parts.

[0085] In summary, the above is only a preferred embodiment of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A tri-copter biomimetic flapping wing micro air vehicle, characterized in that, The airbag shell, the wing, the tail, the leg mechanism and the control device are included; The airbag shell is inflated to float in water; The wing includes a driving device and two counter-symmetrically installed flapping rotors; the driving device is connected with the flapping rotors to drive the flapping rotors to rotate and / or flap; Two leg mechanisms are symmetrically installed on the bottom of the driving device, and each is provided with a metal spring leg with a duck webbed sole to walk on land and swim in water; The tail is installed on the top rear side of the driving device to control the lift and the direction; The driving device and the control device are installed in the airbag shell; the leg mechanism and the wing are installed outside the airbag shell; The control device is signal-connected with the driving device, the leg mechanism and the tail to control the driving device, the leg mechanism and the tail to act; The driving device includes a motor base, a driving motor and a transmission mechanism; The driving motor is fixedly installed in the installation hole of the motor base; The transmission mechanism is transmission-connected between the driving motor and the flapping rotors to transmit the power of the driving motor to the flapping rotors; The motor base is provided with side columns on both sides about the axis of the installation hole; The leg mechanism is fixedly installed on the outer end of the side column; The leg mechanism includes a rudder frame, a leg rudder, a half gear, a leg gear and a connecting rope; The rudder frame is fixedly installed on the side column; The half gear is rotatably installed on the outer end of the side column; The leg rudder is fixedly installed on the rudder frame and signal-connected with the control device; The leg gear is fixedly installed on the output shaft of the leg rudder and engaged with the half gear; The metal spring leg includes an upper leg, a lower leg and the duck webbed sole which are sequentially hingedly connected from top to bottom; The top of the upper leg is fixedly installed on the output shaft of the leg rudder to swing by the driving of the leg rudder; The lower leg is connected with the upper leg by a half joint spring; The lower leg is connected with the duck webbed sole by a webbed spring; The lower leg is connected with the half gear by the connecting rope, and the lower leg is bent by the connecting rope and stretched by the webbed spring.

2. The tri-copter ornithopter micro air vehicle of claim 1, wherein, The wing further includes a rotating structure and a flapping structure symmetrically installed on both sides of the rotating structure; The rotating structure includes a center shaft, a top seat, a stainless steel sleeve and a thin wing support seat; the bottom end of the center shaft is fixedly connected with the transmission mechanism, and the top end is fixedly connected with the top seat; the stainless steel sleeve is hollowly sleeved on the outer circumferential side of the center shaft and fixedly connected with the thin wing support seat; The flapping structure includes a thin wing support, a thin wing seat and a wing arm; one end of the wing arm is connected with the top seat by a pin, and the other end is fixedly connected with two thin wing seats by a pin. One end of the thin wing strut is connected with the thin wing strut seat through a pin, and the other end is connected with the middle part of the wing arm through a pin, so that the thin wing strut drives the wing arm to swing up and down by sliding up and down along the central shaft; the flapping rotor is fixedly installed on the thin wing seat.

3. The tri-copter ornithopter micro air vehicle of claim 2, wherein, The transmission mechanism comprises a two-stage planetary gear mechanism, a crank and a rocker; The two-stage planetary gear mechanism is installed in the motor seat and is in transmission connection between the driving motor and the crank; One end of the rocker is in rotation connection with the crank, and the other end is in rotation connection with the central shaft.

4. The tri-copter ornithopter micro air vehicle of claim 1, wherein, The rudder frame is spliced by oppositely arranged front and rear rudder rib plates through an intermediate connecting plate; The rudder frame is provided with a columnar gap, and the columnar gap penetrates the front rudder rib plate, the connecting plate and the rear rudder rib plate; The lower part of the front rudder rib plate is hollowed out; The lower part of the rear rudder rib plate is provided with a rudder fixing hole, and the rudder is fixed through a screw and the leg rudder; The side column penetrates the columnar gap and is fixedly connected with the rudder frame; The output shaft of the leg rudder extends towards the outer end of the side column.

5. The tri-copter ornithopter micro air vehicle of claim 4, wherein, The tail wing comprises a tail rod, a lifting control mechanism and a direction control mechanism; The front end of the tail rod is fixed in a tail rod fixing hole at the top of the motor seat; The lifting control mechanism comprises a tail plane, a tail plane shaft, a first rocker, a first connecting rod mechanism and a first linear rudder; the tail plane shaft penetrates a horizontal hole at the tail end of the tail rod and is fixedly connected with two tail planes located on both sides of the tail rod, so that the two tail planes are symmetrically arranged on both sides of the tail rod; one end of the first rocker is fixedly connected with the tail plane shaft, and the other end is connected with the first linear rudder through the first connecting rod mechanism; the first linear rudder is fixedly installed on the motor seat and is in signal connection with the control device, and is used for controlling the swing of the tail plane to realize lifting control; The direction control mechanism comprises a vertical tail, a vertical tail shaft, a limiting block, a second rocker, a second connecting rod mechanism and a second linear rudder; the vertical tail shaft penetrates a vertical hole in the middle of the tail rod and is connected with the vertical tail and the limiting block, and is rotatably installed on the tail rod through the limiting block; the middle part of the vertical tail shaft is fixedly connected with one end of the second rocker, and the other end of the second rocker is connected with the second linear rudder through the second connecting rod mechanism; the second linear rudder is fixedly installed on the motor seat and is in signal connection with the control device, and is used for controlling the swing of the vertical tail to realize direction control.

6. The tri-copter ornithopter micro air vehicle of any of claims 1-5, wherein, The airbag shell adopts a life jacket type airbag.

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