A multi-modal ornithopter

Abstract

The application provides a multi-mode ornithopter to solve the problem of low aerodynamic efficiency of the ornithopter, and the wing has good flexibility, the electromagnetic driving mechanism changes the magnetic field direction through an electromagnetic coil to realize the speed difference when the wing flaps up and flaps down, has better flexibility, the variable attack angle gear mechanism is controlled by two motors respectively, can provide different angles of attack angles for two wings, and more accurately simulates the flapping motion of the migratory beetle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ornithopter, in particular to a multi-modal ornithopter. BACKGROUND

[0002] Ornithopter refers to an aerial vehicle heavier than air with wings that can flap up and down like the wings of birds and insects, also known as flapping-wing aircraft. The flapping wings not only generate lift, but also generate forward thrust.

[0003] Modern ornithopter has achieved better flight and control, but still has a certain gap from practicality, and still cannot be widely applied, but can only be used in some special tasks, such as narrow space reconnaissance in cities. The main problems of modern ornithopter to be solved are low aerodynamic efficiency, high power and mechanism requirements, high material requirements, and small effective load. Taking the aerodynamic problem as an example, the micro ornithopter belongs to low Reynolds number and unsteady process, and the flow model and accurate aerodynamic force change in the flapping process of the ornithopter cannot be fully understood at present, and there is no perfect analysis method that can be used for ornithopter aerodynamic force calculation, and the related research mainly relies on experiments. SUMMARY

[0004] The main purpose of the present application is to provide a multi-modal ornithopter to solve the problem of low aerodynamic efficiency of the current ornithopter, and the wing has good flexibility. The purpose is achieved by the following technical scheme:

[0005] The utility model provides a multi -mode ornithopter, including fuselage, wing 12, wing control mechanism and aerodynamic propulsion mechanism, the fuselage includes upper shell 1 and lower shell 2, and upper shell 1 and lower shell 2 fixedly connected as a whole, the semicircular recess of upper shell 1 and the semicircular recess of lower shell form the round hole of fuselage, and the annular groove is formed on the wall of the round hole of fuselage, the wing control mechanism includes motor 21 fixedly connected on the bottom of lower shell 2, transmission shaft 18 movably connected on the two inner sides of lower shell 2, variable attack angle transmission wheel 15 movably connected in the annular groove, variable attack angle gear 16 coaxial with variable attack angle transmission wheel 15, two pairs of electromagnet winding columns, the electromagnet winding column is wound with magnetic coil group, and the variable attack angle gear 16 is fixedly connected with variable attack angle transmission wheel 15 as a whole, and the center is provided with cross hole for wing extension, the transmission shaft 18 is fixedly connected with transmission gear 17, and transmission gear 17 is engaged with variable attack angle gear 16, and the rotating shaft of motor 21 is connected with transmission shaft 18 through bevel gear transmission, the one end of wing 12 is fixedly connected in cross hole through wing connecting rod 13 with the fuselage connection, and the one end of wing 12 is connected with rubidium magnet and is inserted into the inside of fuselage, and the rubidium magnet is driven by magnetic coil group and reciprocates up and down, the aerodynamic propulsion mechanism includes air pump 25, and air pump 25 is communicated with suspension gas pressure nozzle 26 and propelling gas pressure nozzle 24, and propelling gas pressure nozzle 24 and suspension gas pressure nozzle 26 are installed on the fuselage.

[0006] As a more of the utility model technical scheme: motor 21 is fixedly connected on the bottom of lower shell 2 through motor support 6.

[0007] As a more of the utility model technical scheme: the one end of transmission shaft 18 fixedly connected in the inside of fuselage is engaged with driving bevel gear fixedly connected on the rotating shaft of motor 21.

[0008] As a more of the utility model technical scheme: each pair of electromagnet winding columns includes upper shell electromagnet winding column 11 fixedly connected on the bottom of inside of upper shell 1 and lower shell electromagnet winding column 4 on the bottom of inside of lower shell 2, and the upper shell electromagnet winding column 11 is wound with upper magnetic coil group 22, and the lower shell electromagnet winding column 4 is wound with lower magnetic coil group 23.

[0009] As a more of the utility model technical scheme, the material of the skeleton of wing is photosensitive resin, and the membrane of wing is polyvinyl chloride film.

[0010] Beneficial effect is:

[0011] The ornithopter provided by the application adopts electromagnetic driving and variable attack angle gear mechanism to control the wings, the driving element is high in efficiency and low in energy consumption. Compared with the common gear, crank connecting rod flapping mechanism, the electromagnetic driving mechanism of the application changes the magnetic field direction through the electromagnetic coil to realize the flapping of the wings, reduces the component friction and energy consumption, has high energy conversion ratio, reduces the noise, and makes the ornithopter fly more quietly. In addition, the electromagnetic driving mechanism can better realize the speed difference when the wings flap up and down, and has better flexibility. The variable attack angle gear mechanism is controlled by two motors respectively, can provide different angles of attack angle for two wings, and more accurately simulates the flapping motion of the migratory beetle. Finally, the ground effect structure of the application is composed of nozzles, can be suspended near the ground, and realizes the multi-mode function. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 FIG. 1 is a schematic structural diagram of the multi-mode ornithopter of the application;

[0013] Figure 2 FIG. 2 is a lower shell structure diagram of the multi-mode ornithopter of the application, Figure 2 FIG. 2b is a top view thereof;

[0014] Figure 3 FIG. 3 is an upper shell structure diagram of the multi-mode ornithopter of the application;

[0015] Figure 4 FIG. 4 is a wing assembly structure diagram of the multi-mode ornithopter of the application;

[0016] Figure 5 FIG. 5a is an attack angle control wheel structure of the multi-mode ornithopter of the application, Figure 5 FIG. 5b is a side view thereof;

[0017] Figure 6 FIG. 6a is an attack angle adjusting mechanism structure diagram of the multi-mode ornithopter of the application, Figure 6 FIG. 6b is a top view thereof;

[0018] Figure 7 FIG. 7 is an electromagnet flapping mechanism of the multi-mode ornithopter of the application;

[0019] Figure 8 FIG. 8a is an aerodynamic suspension and jet propulsion mechanism of the multi-mode ornithopter of the application, Figure 8 FIG. 8b is a top view thereof; DETAILED DESCRIPTION

[0020] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0021] As Figure 1As shown, the present application provides a fuselage, a wing 12, a wing control mechanism and a pneumatic propulsion mechanism, the fuselage comprises an upper shell 1 and a lower shell 2, the upper shell 1 and the lower shell 2 are fixedly connected as a whole, the semicircular groove of the upper shell 1 and the semicircular groove of the lower shell form a round hole of the fuselage, and an annular groove is formed on the wall of the round hole of the fuselage; the wing control mechanism comprises a motor 21 fixedly connected on the bottom of the lower shell 2, a transmission shaft 18 movably connected on the two inner sides of the lower shell 2, a variable attack angle transmission wheel 15 movably connected in the annular groove, a variable attack angle gear 16 coaxial with the variable attack angle transmission wheel 15, and two pairs of electromagnetic iron winding columns; the electromagnetic iron winding columns are wound with magnetic coil groups, the variable attack angle gear 16 is fixedly connected with the variable attack angle transmission wheel 15 as a whole, and a cross-shaped hole is formed at the center for the wing to extend out, the transmission shaft 18 is fixedly connected with a transmission gear 17, the transmission gear 17 is engaged with the variable attack angle gear 16, and the rotating shaft of the motor 21 is connected with the transmission shaft 18 through bevel gear transmission; one end of the wing 12 connected with the fuselage is fixedly connected in the cross-shaped hole through a wing connecting rod 13, and one end of the wing 12 extending into the fuselage is connected with a rubidium magnet, and the rubidium magnet reciprocates up and down under electromagnetic drive of the magnetic coil groups; the pneumatic propulsion mechanism comprises an air pump 25, the air pump 25 is connected with a suspension air pressure nozzle 26 and a propulsion air pressure nozzle 24, and the propulsion air pressure nozzle 24 and the suspension air pressure nozzle 26 are installed on the fuselage.

[0022] In other embodiments, the motor 21 is fixedly connected on the bottom surface of the lower shell 2 through a motor support 6.

[0023] In other embodiments, the transmission shaft 18 is fixedly connected with a driven bevel gear at one end inside the fuselage, and the rotating shaft of the motor 21 is fixedly connected with a driving bevel gear.

[0024] In other embodiments, each pair of electromagnetic iron winding columns comprises an upper shell electromagnetic iron winding column 11 fixedly connected on the inner bottom surface of the upper shell 1 and a lower shell electromagnetic iron winding column 4 on the inner bottom surface of the lower shell 2, the upper shell electromagnetic iron winding column 11 is wound with an upper magnetic coil group 22, and the lower shell electromagnetic iron winding column 4 is wound with a lower magnetic coil group 23.

[0025] The multimodal flapping-wing aircraft provided by this invention is powered by electromagnets and a miniature compressed air pump. It consists of an upper shell 1, a lower shell 2, and a wing control mechanism. The wing control mechanism includes an electromagnet transmission mechanism composed of wound electromagnet coil groups 22 and 23 and a neodymium magnet 14; a wing angle-of-attack changing mechanism composed of a variable angle-of-attack transmission wheel 15, a variable angle-of-attack gear 16, a transmission gear 17, a transmission shaft 18, a transmission helical gear (connected to the transmission shaft) 19, a transmission helical gear (connected to the motor) 20, and a motor 21; and a near-ground levitation propulsion mechanism composed of a propulsion air pressure nozzle 24, a miniature air pump 25, a levitation air pressure nozzle 26, and an air guide pipe 27.

[0026] like Figure 6 As shown in Figure a, the angle of attack adjustment mechanism is a structural diagram. Power is output by motor 21, and the variable angle of attack gear 16, transmission gear 17, transmission shaft 18, transmission helical gear 19 (connected to the transmission shaft), and transmission helical gear (connected to the motor) transmit power to change the angle of attack of the wing, thereby achieving the goal of controlling the flight speed and turning of the ornithopter.

[0027] like Figure 7 As shown, this is an electromagnet flapping wing mechanism. The neodymium magnet 14 is a lightweight, high-magnetic-density permanent magnet. The upper winding magnetic coil group 22 and the lower winding magnetic coil group 23 rapidly change the direction of the magnetic field. Under the action of the magnetic field, the neodymium magnet moves up and down reciprocally, driving the wings to flap and generating lift, thus providing lift for the flapping wing aircraft. The electromagnetic drive mechanism can better realize the speed difference during wing flapping and descent, providing better flexibility. The variable angle of attack gear mechanism is controlled by two motors respectively, which can provide different angles of attack to the two wings, more accurately mimicking the flapping motion of migratory beetles.

[0028] like Figure 8 As shown, the structure for achieving the jet ground effect of an ornithopter consists of a miniature air pump 25, propulsion air nozzles 24, levitation air nozzles 26, and air guide pipes 27. The miniature air pump 25 compresses gas to provide air pressure. The four levitation air nozzles 26 spray gas to the ground through the air guide pipes 27 to provide near-ground buoyancy. The air guide pipes 27 provide high-pressure gas to the propulsion air nozzles 24. The two propulsion air nozzles 24 provide forward thrust to the aircraft, achieving the function of near-ground levitation and forward movement.

[0029] Since the innovation of this invention lies in the aircraft structure itself, the aircraft drive system, power source and control system are not included in this invention.

[0030] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connection", "connecting", "fixed", and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0032] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A multimodal flapping-wing aircraft, characterized in that: The system includes a fuselage, wings, a wing control mechanism, and an aerodynamic propulsion mechanism. The fuselage comprises an upper shell and a lower shell, which are fixedly connected as a single unit. Semi-circular grooves on the upper and lower shells form a circular hole in the fuselage, and an annular groove is formed on the wall of this circular hole. The wing control mechanism includes a motor fixedly connected to the bottom of the lower shell, a drive shaft movably connected to two inner sides of the lower shell, a variable angle-of-attack drive wheel movably connected within the annular groove, a variable angle-of-attack gear coaxial with the drive wheel, and two pairs of electromagnet winding cylinders. Magnetic coils are wound around the electromagnet winding cylinders. The variable angle-of-attack... The angle gear and the variable angle of attack transmission wheel are fixedly connected as one unit, and both have a cross-shaped hole at the center for the wing to extend. A transmission gear is fixedly connected to the transmission shaft, and the transmission gear meshes with the variable angle of attack gear. The rotating shaft of the motor is connected to the transmission shaft through a bevel gear transmission. The end of the wing that is connected to the fuselage is fixedly connected to the cross-shaped hole through the wing connecting rod. The end of the wing that extends into the fuselage is connected to a neodymium magnet. The magnetic coil group electromagnetically drives the neodymium magnet to reciprocate up and down. The pneumatic propulsion mechanism includes an air pump, which is connected to a suspension air pressure nozzle and a propulsion air pressure nozzle. Both the propulsion air pressure nozzle and the suspension air pressure nozzle are mounted on the fuselage.

2. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: The motor is fixedly connected to the bottom surface of the lower housing via a motor bracket.

3. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: The driven bevel gear fixedly connected to one end of the drive shaft inside the machine body meshes with the driving bevel gear fixedly connected to the rotating shaft of the motor.

4. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: Each pair of electromagnet winding cylinders includes an upper housing electromagnet winding cylinder fixedly connected to the bottom surface inside the upper housing and a lower housing electromagnet winding cylinder fixedly connected to the bottom surface inside the lower housing. An upper winding magnetic coil group is wound on the upper housing electromagnet winding cylinder, and a lower winding magnetic coil group is wound on the lower housing electromagnet winding cylinder.

5. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: The wing frame is made of photosensitive resin; the wing membrane is made of polyvinyl chloride film.

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