A variable angle of attack multimodal flapping-wing aircraft

Abstract

The main objective of this invention is to provide a variable angle-of-attack multimodal flapping-wing aircraft that simulates the flight posture of insects. As shown in Figure 1, it includes a fuselage frame 2, a wing 1, a flapping control mechanism 3, and a tracked walking mechanism 4. The flapping control mechanism is movably connected to a 60-degree guide rail 5 in the fuselage frame and has an external half-gear. The half-gear meshes with a gear on the transmission shaft of the variable angle-of-attack motor, and the motor outputs power to achieve the function of variable angle of attack. The combination of variable angle of attack motion and wing flapping motion can realize the imitation of the wingtip trajectory of insect flapping. As shown in Figure 2, the tracked walking mechanism consists of a motor 6, a pair of meshing helical gears 7, a transmission shaft 8, a driven wheel (movably mounted on the fuselage), a driving wheel (fixed to both ends of the transmission shaft) 9, and a track. In the case of inconvenient flight and energy-saving mode, a land-based walking mode can be selected.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft, and more specifically to a variable angle-of-attack multimodal flapping-wing aircraft. Background Technology

[0002] An ornithopter is a heavier-than-air aircraft whose wings flap up and down like those of birds and insects; it is also known as a flapping-wing aircraft. The flapping wings generate not only lift but also forward thrust.

[0003] While modern flapping wings have achieved relatively good flight and control, they still fall short of practical application and cannot be widely used. They are primarily suited for specific missions with demanding requirements, such as reconnaissance in confined spaces during urban counter-terrorism operations. The main challenges facing modern flapping wings are low aerodynamic efficiency, high demands on power and mechanisms, high material requirements, and small payload capacity. Taking aerodynamics as an example, micro-flapping wings involve low Reynolds number, unsteady processes. Currently, we still lack a complete understanding of the flow models and accurate aerodynamic changes during flapping, and there are no comprehensive analytical methods for calculating flapping wing aerodynamics. Related research mainly relies on experiments. Summary of the Invention

[0004] The main objective of this invention is to provide a variable angle-of-attack multimodal flapping-wing aircraft that simulates the flight posture of insects, thereby solving the problems of low aerodynamic efficiency and inability to mimic the figure-eight flapping motion of insect wings in current flapping-wing aircraft, while also being easy to manufacture. This objective is achieved through the following technical solution:

[0005] A multimodal flapping-wing aircraft includes a fuselage, wings, flapping control mechanism, and tracked walking mechanism. The fuselage, as shown in the figure, includes a 60-degree circular arc track, a drive shaft support, a track drive motor frame, a variable angle of attack motor support, and a track driven wheel axle.

[0006] The flapping control mechanism includes a flapping wing variable angle of attack mechanism bracket movably connected to a 60-degree arc slide rail, a first motor fixedly connected to a motor bracket, a gear fixedly connected to the first motor, a first transmission gear movably mounted on a first mounting hole, a driven gear and a second transmission gear movably mounted on a second mounting hole, the driven gear and the second transmission gear being fixedly connected as one unit, a crank movably mounted on a third mounting hole, a connecting rod movably mounted on the crank and the first transmission gear, a half gear fixedly connected to a groove, a variable angle of attack motor fixedly connected to the variable angle of attack motor bracket, a third transmission gear fixedly connected to the variable angle of attack motor, and a wing fixedly connected to the crank.

[0007] The tracked walking mechanism includes a second motor fixed to the track drive motor frame, a first bevel gear fixed to the second motor, a drive shaft movably connected to the drive shaft bracket, track drive wheels fixed to both ends of the drive shaft, and a second bevel gear fixedly mounted on the drive shaft. The first bevel gear and the second bevel gear mesh with each other, and a driven wheel movably mounted on the track driven wheel shaft, and a track movably mounted on the driven wheel and the drive wheel.

[0008] As a more preferred technical solution of the present invention: the first motor is fixedly connected to the flapping wing variable angle of attack mechanism bracket through a motor bracket.

[0009] As a more preferred technical solution of the present invention: the gear is fixed on the transmission shaft of the first motor and meshes with the driven gear.

[0010] As a preferred technical solution of the present invention: the driven gear is coaxial with the second transmission gear and is fixedly connected.

[0011] As a preferred technical solution of the present invention: the half gear is fixedly connected in the groove and meshes with the transmission gear.

[0012] As a more preferred technical solution of the present invention: the flapping wing variable angle of attack mechanism bracket is movably connected to a 60-degree circular arc track through slide rails at both ends.

[0013] As a more preferred technical solution of the present invention: the variable angle of attack motor is fixedly connected to the variable angle of attack motor bracket, and a third transmission gear is fixedly connected to its transmission shaft.

[0014] As a preferred technical solution of the present invention, the frame of the fuselage and the frame of the wings are made of photosensitive resin; the membrane of the wings is a polyvinyl chloride film.

[0015] The beneficial effects are:

[0016] The multimodal variable angle-of-attack flapping wing aircraft provided by this invention provides the power for flapping wings through a gear-crank-connecting rod mechanism. The variable angle-of-attack function is achieved through a pair of meshing variable angle-of-attack gears, an arc-shaped frame slide rail, and a cooperating arc-shaped track on the frame. The coordination between the variable angle of attack and the wing flapping system enables the wing to flap in an "8" shape. When navigating in confined spaces where flight is inconvenient, the aircraft can move on the ground using a tracked walking mechanism. Its energy consumption is significantly lower when moving on the ground than in flight, thus enabling multimodal functionality and reducing energy consumption. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the multimodal flapping-wing aircraft of the present invention;

[0018] Figure 2 This is a structural diagram of the fuselage frame of the multimodal flapping-wing aircraft of the present invention;

[0019] Figure 3 This is a structural diagram of the variable angle of attack flapping mechanism of the multi-mode flapping wing aircraft of the present invention;

[0020] Figure 4 This is a structural diagram of the support frame for the variable angle of attack flapping mechanism of the multimodal flapping wing aircraft of the present invention;

[0021] Figure 5 This is a structural diagram of the tracked walking mechanism of the multimodal flapping-wing aircraft of the present invention;

[0022] Figure 6 This is a structural diagram of the transmission mechanism of the tracked walking mechanism of the multimodal flapping-wing aircraft of the present invention;

[0023] Figure 7 This is a structural diagram of the wing of the multimodal flapping-wing aircraft of the present invention;

[0024] Figure 8 The variable angle-of-attack half gear of the multi-modal flapping-wing aircraft of the present invention;

[0025] Figure 9 This is a structural diagram of the flapping mechanism of the multimodal flapping wing aircraft of the present invention.

[0026] In the diagram: 1. 60-degree circular arc track; 2. Drive shaft bracket; 3. Track drive motor bracket; 4. Variable angle of attack motor bracket; 5. Track driven wheel axle; 6. First motor; 7. Crank; 8. Connecting rod; 9. Half gear; 10. Third transmission gear; 11. Flapping wing variable angle of attack mechanism bracket; 12. Second transmission gear; 13. Driven gear; 14. Variable angle of attack motor; 15. Third mounting hole; 16. Slide rail; 17. First mounting hole; 18. Groove; 19. Motor bracket; 20. Second mounting hole; 21. Second motor; 22. Track; 23. Driven wheel; 24. Drive wheel; 25. First bevel gear; 26. Second bevel gear; 27. Drive shaft; 28. Flapping wing; 29. ​​Connecting seat; 30. First transmission gear; 31. Gear. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following will provide a detailed description with reference to the accompanying drawings and embodiments.

[0028] A multimodal flapping-wing aircraft includes a fuselage, wings 28, a flapping control mechanism, and a tracked running gear, wherein the fuselage is as follows: Figure 1 As shown, it includes a 60-degree circular arc track 1, a drive shaft bracket 2, a track drive motor bracket 3, a variable angle of attack motor bracket 4, and a track driven wheel axle 5;

[0029] The flapping control mechanism includes a flapping wing variable angle of attack mechanism bracket 11 movably connected to a 60-degree circular arc track 1, a first motor 6 fixedly connected to a motor bracket 19, a gear 31 fixedly connected to the first motor 6, a first transmission gear 30 movably mounted on a first mounting hole 17, a driven gear 13 and a second transmission gear 12 movably mounted on a second mounting hole 20, the driven gear 13 and the second transmission gear 12 being fixedly connected as one unit, a crank 7 movably mounted on a third mounting hole 15, a connecting rod 8 movably mounted on the crank 7 and the first transmission gear 30, a half gear 9 fixedly connected to a groove 18, a variable angle of attack motor 14 fixedly connected to a variable angle of attack motor bracket 4, a third transmission gear 10 fixedly connected to the variable angle of attack motor 14, and a wing 28 fixedly connected to the crank 7, the wing 28 being connected to the crank 7 via a connecting seat 29;

[0030] The tracked walking mechanism includes a second motor 21 fixed to the track drive motor frame 3, a first bevel gear 25 fixed to the second motor 21, a drive shaft 27 movably connected to the drive shaft bracket 2, track drive wheels 24 fixed to both ends of the drive shaft 27, and a second bevel gear 26 fixedly installed on the drive shaft 27. The first bevel gear 25 and the second bevel gear 26 mesh with each other and are movably installed on the track driven wheel shaft 5. The track 22 is movably installed on the driven wheel 23 and the drive wheel 24.

[0031] In other embodiments, the first motor 6 is fixedly connected to the flapping wing variable angle of attack mechanism bracket 11 via a motor bracket 19.

[0032] In other embodiments, the gear 31 is fixed on the drive shaft of the first motor 6 and meshes with the driven gear 13.

[0033] In other embodiments, the driven gear 13 is coaxial with and fixedly connected to the second transmission gear 12.

[0034] In other embodiments, the half gear 9 is fixedly connected in the groove 18, and the half gear 9 meshes with the transmission gear 10.

[0035] In other embodiments, the flapping wing variable angle of attack mechanism bracket 11 is movably connected to the 60-degree circular arc track 1 via slide rails 16 at both ends.

[0036] In some other embodiments, the variable angle of attack motor 14 is fixedly connected to the variable angle of attack motor bracket 4, and a third transmission gear 10 is fixedly connected to its transmission shaft.

[0037] In other embodiments, the frame of the fuselage and the frame of the wing 28 are made of photosensitive resin; the film of the wing 28 is a polyvinyl chloride film.

[0038] The multimodal flapping-wing aircraft provided by this invention is powered by a micro motor and consists of a fuselage frame, a variable angle of attack flapping control mechanism, a wing 28, and a tracked walking mechanism. The variable angle of attack flapping control mechanism includes a variable angle of attack mechanism consisting of a 60-degree circular arc track 1, a flapping wing variable angle of attack mechanism support 11, a variable angle of attack motor support 4, a variable angle of attack motor 14, and a half gear 9 fixed in a slot 18. The flapping wing mechanism consists of a first motor 6, a first transmission gear 30, a crank 7, a connecting rod 8, a driven gear 13, and a second transmission gear 12. The tracked walking mechanism consists of a motor 21, a first bevel gear 25, a transmission shaft 27, a track drive wheel 24, a second bevel gear 26, a driven wheel 23, and a track 22.

[0039] like Figure 3 The diagram shows the structure of the angle-of-attack adjustment mechanism. Power is output through the variable angle-of-attack motor 14, and the third transmission gear 10 (connected to the motor), half gear 9, and flapping wing variable angle-of-attack mechanism bracket 11 transmit power to change the angle of attack of the wing 28, thereby achieving the goal of controlling the flight speed and turning of the flapping wing aircraft.

[0040] like Figure 9 As shown, the flapping wing mechanism consists of a first motor 6 that outputs power, a gear 31 (connected to the motor), a driven gear 13 (meshing with gear 31), a first transmission gear 30 (meshing with gear 12), a second transmission gear 12 (coaxial with and fixed to gear 13), a crank 7, and a connecting rod 8 that convert the rotational torque of the motor into flapping torque, driving the wing 28 to flap and generate lift, thus providing lift for the flapping wing aircraft.

[0041] like Figure 5 The diagram shows the structure of the tracked walking mechanism of an ornithopter, which consists of a second motor 21, a first bevel gear 25, a second bevel gear 26, a drive shaft 27, a driven wheel 23, a drive wheel 24, a track 22, and a drive shaft support 2. The second motor 21 outputs power, the first bevel gear 25 (connected to the motor) meshes with the second bevel gear 26, the second bevel gear 26 is fixedly connected to the drive shaft 27, and the two ends of the drive shaft 27 are connected to the drive wheel 24. After the motor torque is output, it is transmitted to the drive wheel 24, and the drive wheel 24 drives the track 22 and the driven wheel 23 to achieve the walking function.

[0042] 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.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A multimodal flapping-wing aircraft, characterized in that: It includes the fuselage, wings (28), flapping control mechanism and tracked walking mechanism, including a 60-degree circular arc track (1), a drive shaft support (2), a track push motor frame (3), a variable angle of attack motor support (4), and a track driven wheel axle (5); The flapping control mechanism includes a flapping wing angle-of-attack mechanism bracket (11) movably connected to a 60-degree circular arc track (1), a first motor (6) fixed in a motor bracket (19), a gear (31) fixedly connected to the first motor (6), a first transmission gear (30) movably mounted on a first mounting hole (17), a driven gear (13) and a second transmission gear (12) movably mounted on a second mounting hole (20), the driven gear (13) and the second transmission gear (12) being fixed together and movably mounted on a third mounting hole (15), a connecting rod (8) movably mounted on the crank (7) and the first transmission gear (30), a half gear (9) fixed in a groove (18), a variable angle-of-attack motor (14) fixed in a variable angle-of-attack motor bracket (4), a third transmission gear (10) fixed in a variable angle-of-attack motor (14), and a wing (28) fixed in a crank (7). The tracked walking mechanism includes a second motor (21) fixed to the track drive motor frame (3), a first bevel gear (25) fixed to the second motor (21), a drive shaft (27) movably connected to the drive shaft bracket (2), track drive wheels (24) fixed to both ends of the drive shaft (27), and a second bevel gear (26) fixedly installed on the drive shaft (27). The first bevel gear (25) and the second bevel gear (26) mesh with each other and are movably installed on the track driven wheel shaft (5), and the track (22) is movably installed on the driven wheel (23) and the drive wheel (24).

2. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: The first motor (6) is fixedly connected to the flapping wing variable angle of attack mechanism bracket (11) via a motor bracket (19).

3. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: The gear (31) is fixed on the transmission shaft of the first motor (6) and meshes with the driven gear (13).

4. The multimodal flapping-wing aircraft as described in claim 1, characterized in that: The driven gear (13) is coaxial with the second transmission gear (12) and is fixedly connected.

5. The multimodal flapping wing aircraft as described in claim 1, wherein the flapping wing variable angle of attack mechanism bracket (11) is movably connected to the 60-degree circular arc track (1) through the slide rails (16) at both ends.

6. The multi-mode flapping wing aircraft as described in claim 1, wherein the variable angle of attack motor (14) is fixedly connected to the variable angle of attack motor bracket (4), and a third transmission gear (10) is fixedly connected to its transmission shaft.

7. The multimodal flapping-wing aircraft as described in claim 1, wherein the frame of the fuselage and the frame of the wing (28) are made of photosensitive resin; and the film of the wing (28) is a polyvinyl chloride film.

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