A flapping-wing biomimetic micro-aircraft

Abstract

This invention provides a torsion-inspired bionic flapping-wing micro-aircraft. By recording the flight process of a beetle using a high-speed camera, it was discovered that the beetle's hindwings generate an active torsional motion during flapping. This flapping method optimizes aerodynamic characteristics and reduces energy consumption. The invention consists of a drive mechanism comprised of a motor and a two-stage reduction gear transmission. The torsion mechanism achieves wing torsion through the height difference of the connecting rod in a crank-rocker mechanism, thus realizing the flapping-torsional coupled motion of the aircraft. This invention achieves the flapping-torsional coupled motion of the bionic aircraft through a single drive mechanism, resulting in a sophisticated structure that more closely resembles the flight mechanism of insects.

Description

Technical Field

[0001] This invention belongs to the field of micro-aircraft design and manufacturing technology, specifically relating to a flapping-wing biomimetic micro-aircraft. Background Technology

[0002] Micro-aircraft are widely used in military and civilian fields due to their small size, high sensitivity, good concealment, and portability. The high-lift mechanism of insect locomotion has always been a research hotspot, among which the flapping-wing biomimetic micro-aircraft has become a research focus in various countries due to its excellent aerodynamic characteristics.

[0003] By observing the hindwing flapping trajectories of migratory beetles such as scarab beetles using high-speed cameras, we discovered that during flight, the leading edge of the hindwing twists with the flapping motion. This flapping method reduces energy consumption and generates sufficient lift and thrust to support the insect's flight. Therefore, the study of insects such as scarab beetles is beneficial for the research of flapping-twist micro-aircraft.

[0004] Currently, research on biomimetic flapping-wing micro-aircraft mainly focuses on their lift theory and flight control. Most designed flapping-wing aircraft require servo motors or other drive devices to achieve flapping-torsional motion, resulting in low drive efficiency and significant aircraft weight. This invention addresses these problems by using a single motor to drive a flapping mechanism to achieve flapping-torsional coupled motion in the biomimetic flapping-wing micro-aircraft. Summary of the Invention

[0005] The purpose of this invention is to design a single-motor driven torsion flapping mechanism to reduce the weight of the biomimetic flapping-wing micro-aircraft and reduce flight energy consumption.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] This invention comprises a fuselage A, a transmission mechanism B, a flapping-torsion mechanism C, a left wing D, and a right wing E. Specifically: the left wing D and left wing E are symmetrical about the central axis of the fuselage aa; wing vein I18 in the left wing D is fixedly connected to torsion bar I14 in the flapping-torsion mechanism C, and wing vein II19 in the right wing E is fixedly connected to torsion bar II15 in the flapping-torsion mechanism C; ball joints I10, II11, III12, and IV13 in the flapping-torsion mechanism are rotatably connected to secondary reduction gears I6, II7, III8, and IV9 in the transmission mechanism, respectively; secondary reduction gears I6, II7, III8, and IV9, motor gear 3, and primary reduction gear I4 in the transmission mechanism are rotatably connected to fuselage A.

[0008] The left wing D and right wing E are symmetrical structures about the micro-aircraft centerline aa. They have the same structure but opposite directions. The left wing consists of wing vein I18 and wing membrane I20, and the right wing consists of wing vein II19 and wing membrane II21. Among them, wing membrane I20 is bonded to wing vein I18, and wing membrane II21 is bonded to wing vein II19.

[0009] The transmission mechanism B consists of a brushless motor 2, a motor gear 3, a first-stage reduction gear I4, a first-stage reduction gear II5, a second-stage reduction gear I6, II7, a second-stage reduction gear III8, and IV9.

[0010] The torsion mechanism C consists of ball joint rods I10, II11, III12, IV13, torsion bar I14, torsion bar II15, and connecting rod components I16 and II17.

[0011] The body A is provided with holes a, c1, d1, e1, g1, f1, t, u, v, and w;

[0012] Motor 2 is fixedly connected to the machine body 1 through hole a; motor gear 3 is rotatably connected to the front end of motor 2; first-stage reduction gear I4 is rotatably connected to the machine body 1 through hole c1; first-stage reduction gear I4 is fixedly connected to first-stage reduction gear II5; second-stage reduction gear I6 is rotatably connected to the machine body 1 through hole d1; second-stage reduction gear II7 is rotatably connected to the machine body 1 through hole e1; second-stage reduction gear III8 is rotatably connected to the machine body 1 through hole f1; second-stage reduction gear IV9 is rotatably connected to the machine body 1 through hole g1.

[0013] The transmission mechanism B includes a motor gear 3 meshing with a first-stage reduction gear I4; a first-stage reduction gear I4 being fixedly connected to a first-stage reduction gear II5; a second-stage reduction gear II7 meshing with both a first-stage reduction gear II5 and a second-stage reduction gear I6; a second-stage reduction gear III8 meshing with both a first-stage reduction gear II5 and a second-stage reduction gear IV9; and second-stage reduction gears I6 and III8 being installed with their right-view reference planes overlapping, as are second-stage reduction gears II7 and IV9.

[0014] The torsion mechanism C comprises: ball joint rod I10 rotatably connected to secondary reduction gear I6; ball joint rod II11 rotatably connected to secondary reduction gear II7; ball joint rod III12 rotatably connected to secondary reduction gear III8; ball joint rod IV13 rotatably connected to secondary reduction gear IV9; torsion rod I14 rotatably connected at both ends of the lateral direction to ball joint rod I10 and ball joint rod III12 respectively, and rotatably connected at one end of the longitudinal direction to connecting rod member I16, thus limiting their relative displacement; torsion rod II15 rotatably connected at both ends of the lateral direction to ball joint rod II11 and ball joint rod IV13 respectively, and rotatably connected at one end of the longitudinal direction to connecting rod member II17, thus limiting their relative displacement; connecting rod member I16 rotatably connected to the machine body 1 through t-holes and u-holes; and connecting rod member II17 rotatably connected to the machine body 1 through v-holes and w-holes.

[0015] As a preferred technical solution of the present invention, the gear rotational connection is all via a pin.

[0016] As a preferred technical solution of the present invention, the gear module is 0.5; the number of teeth of the motor gear 3 is 20; the number of teeth of the first-stage reduction gear I4 is 56; the number of teeth of the first-stage reduction gear II5 is 10; the number of teeth of the second-stage reduction gear I6 is 56; the number of teeth of the second-stage reduction gear II7 is 56; the number of teeth of the second-stage reduction gear III8 is 56; and the number of teeth of the second-stage reduction gear IV9 is 56.

[0017] As a preferred technical solution of the present invention, the materials of the wing vein I18, wing vein II19, ball joint rod I10, ball joint rod II11, ball joint rod III12, and ball joint rod IV13 are all carbon fiber.

[0018] As a preferred technical solution of the present invention, the materials of the fuselage 1, torsion bar I14, torsion bar II15, connecting rod component I16, and connecting rod component II17 are all photosensitive resin.

[0019] As a preferred technical solution of the present invention, the materials of the motor gear 3, the first-stage reduction gear I4, the first-stage reduction gear II5, the second-stage reduction gear I6, the second-stage reduction gear II7, the second-stage reduction gear III8, and the second-stage reduction gear IV9 are all POM plastic.

[0020] As a preferred technical solution of the present invention, the fin membrane I20 and fin membrane II21 are both made of polyvinyl chloride; the pin shaft is made of high-density polyethylene.

[0021] The beneficial effects of this invention are as follows:

[0022] The flapping and twisting motion of the biomimetic flapping-wing micro-aircraft provided by this invention is driven by a single drive mechanism, which reduces the mass of the biomimetic flapping-wing micro-aircraft, improves the lift and thrust of flight while increasing the efficiency of motor drive, and greatly reduces the flight energy consumption of the biomimetic flapping-wing micro-aircraft. Attached Figure Description

[0023] Figure 1 This is a front view of the twistable flapping-wing aircraft of the present invention.

[0024] Figure 2 This is an isometric drawing of the twistable flapping-wing aircraft of the present invention.

[0025] Figure 3 This is a left view of the twistable flapping-wing aircraft of the present invention.

[0026] Figure 4 This is a top view of the flapping structure of the twistable flapping-wing aircraft of the present invention.

[0027] Figure 5 Axonometric drawing of the fuselage in this invention

[0028] Figure 6 Axonometric drawing of the motor gear in this invention.

[0029] Figure 7 Axonometric drawing of the first-stage reduction gear in this invention.

[0030] Figure 8 Axonometric drawing of the two-stage reduction gear in this invention.

[0031] Figure 9 Isometric view of the ball joint tie rod in this invention

[0032] Figure 10 Axonometric drawing of the torsion bar in this invention.

[0033] Figure 11 Axonometric drawing of the connecting rod component in this invention.

[0034] Figure 12 This is a schematic diagram illustrating the working principle and structure of the twistable flapping-wing aircraft of the present invention.

[0035] Figure 13 This is a diagram illustrating the motion attitude of the reversible flapping-wing aircraft of the present invention. Detailed Implementation

[0036] The invention will now be further described with reference to the accompanying drawings:

[0037] like Figures 1 to 4As shown, the present invention comprises fuselage A, transmission mechanism B, flapping-torsion mechanism C, left wing D, and right wing E. Specifically: the left wing D and left wing E are symmetrical about the central axis of fuselage aa; wing vein 18 in left wing D is fixedly connected to torsion bar 14 in flapping-torsion mechanism C, and wing vein 19 in right wing E is fixedly connected to torsion bar 15 in flapping-torsion mechanism C; ball joints I10, II11, III12, and IV13 in flapping-torsion mechanism are rotatably connected to secondary reduction gears I6, II7, III8, and IV9 in transmission mechanism, respectively; secondary reduction gears I6, II7, III8, and IV9, motor gear 3, and primary reduction gear 4 in transmission mechanism are rotatably connected to fuselage A.

[0038] like Figures 1 to 2 As shown, the left wing D and right wing E are symmetrical structures about the micro-aircraft centerline aa. They have the same structure but opposite directions. The left wing consists of wing vein I18 and wing membrane I20, while the right wing consists of wing vein I19II and wing membrane II21. Specifically, wing membrane I20 is bonded to wing vein I18, and wing membrane II21 is bonded to wing vein II19.

[0039] like Figures 4 to 7 As shown, the transmission mechanism B consists of a brushless motor 2, a motor gear 3, a first-stage reduction gear I4, a first-stage reduction gear II5, and second-stage reduction gears I6, II7, III8, and IV9. Specifically: motor gear 3 has a hole b; first-stage reduction gear I4 has a hole c2; first-stage reduction gear II5 has a hole c3; second-stage reduction gear I6 has holes d2 and h1; second-stage reduction gear II7 has holes e2 and i1; second-stage reduction gear III8 has holes f2 and j1; and second-stage reduction gear IV9 has holes g2 and k1.

[0040] like Figures 8 to 10 As shown, the torsion mechanism C consists of ball joint rods I10, II11, III12, IV13, torsion bar I14, torsion bar II15, and connecting rod components I16 and II17. Specifically: ball joint rod I10 has holes 1 and h2; ball joint rod II11 has holes m and i2; ball joint rod III12 has holes n and j2; ball joint rod IV13 has holes o and k2; torsion bar I14 has end A1 on the left, end B1 on the right, and end C1 in the longitudinal direction; torsion bar II15 has end A2 on the left, end B2 on the right, and end C2 in the longitudinal direction; connecting rod component I16 has holes q and p; and connecting rod component II17 has holes s and r.

[0041] like Figure 11As shown, the machine body A is provided with holes a, c1, d1, e1, g1, f1, t, u, v, and w; the motor 2 is fixedly connected to the machine body 1 through hole a; the motor gear 3 is rotatably connected to the front end of the motor 2 through hole b; the first-stage reduction gear I4 is rotatably connected to the machine body 1 through hole c2; the first-stage reduction gear II5 is fixedly connected to the first-stage reduction gear I4 through hole c2; the second-stage reduction gear I6 is rotatably connected to the machine body 1 through hole d2; the second-stage reduction gear II7 is rotatably connected to the machine body 1 through hole e2; the second-stage reduction gear III8 is rotatably connected to the machine body through hole f1; and the second-stage reduction gear IV9 is rotatably connected to the machine body 1 through hole g1.

[0042] The transmission mechanism B includes a motor gear 3 meshing with a first-stage reduction gear I4; a first-stage reduction gear I4 being fixedly connected to a first-stage reduction gear II5; a second-stage reduction gear II7 meshing with both a first-stage reduction gear II5 and a second-stage reduction gear I6; a second-stage reduction gear III8 meshing with both a first-stage reduction gear II5 and a second-stage reduction gear IV9; and second-stage reduction gears I6 and III8 being installed with their right-view reference planes overlapping, as are second-stage reduction gears II7 and IV9.

[0043] The torsion mechanism C has the following connections: the h2 hole on the ball joint rod I10 is fixedly connected to the h1 hole on the secondary reduction gear I6; the i2 hole on the ball joint rod II11 is fixedly connected to the i1 hole on the secondary reduction gear II7; the j2 hole on the ball joint rod III12 is fixedly connected to the j1 hole on the secondary reduction gear III8; the k2 hole on the ball joint rod IV13 is fixedly connected to the k1 hole on the secondary reduction gear IV9; and the A1 and B1 ends of the torsion rod I14 are respectively connected to the n hole on the ball joint rod III12 and the ball joint… The tie rod I10 is fixedly connected to hole 1, and end C1 is rotatably connected to hole q on the connecting rod component I16, thus limiting its relative displacement; the torsion bar II15 is fixedly connected to holes m on ball-end tie rod II11 and o on ball-end tie rod IV13, respectively, and end C2 is rotatably connected to hole s on the connecting rod component II17, thus limiting its relative displacement; hole p on the connecting rod component I16 is rotatably connected to holes t and u on the body 1; hole r on the connecting rod component II17 is rotatably connected to holes v and w on the body 1.

[0044] like Figures 5 to 12As shown, the secondary reduction gear I6, together with the ball joint rod I10, the torsion bar I14, and the connecting rod component I16, forms a crank-rocker mechanism; the secondary reduction gear III8, together with the ball joint rod III12, the torsion bar I14, and the connecting rod component I16, forms a crank-rocker mechanism; the secondary reduction gear II7, together with the ball joint rod II11, the torsion bar II15, and the connecting rod component II17, forms a crank-rocker mechanism; and the secondary reduction gear IV9, together with the ball joint rod IV13, the torsion bar II15, and the connecting rod component II17, forms a crank-rocker mechanism. Specifically, the height difference between the h1 hole on the second-stage reduction gear I6 and the j1 hole on the second-stage reduction gear III8, and the i1 hole on the second-stage reduction gear II7 and the k1 hole on the second-stage reduction gear IV9, creates a height difference in the connection between the ball joint rod I10 and the ball joint rod III12, and between the ball joint rod II11 and the ball joint rod IV13. This height difference allows the left wing D and the right wing E, which are fixedly connected to the torsion rod I14 and the torsion rod II15, to achieve an angle α with the horizontal direction during flapping around the connecting rod component I16 and the connecting rod component II17. Furthermore, α changes periodically with the flapping motion, thereby achieving flapping torsion motion.

[0045] The gear module is 0.5; the number of teeth of motor gear 3 is 20; the number of teeth of first-stage reduction gear I4 is 56; the number of teeth of first-stage reduction gear II5 is 10; the number of teeth of second-stage reduction gear I6 is 56; the number of teeth of second-stage reduction gear II7 is 56; the number of teeth of second-stage reduction gear III8 is 56; and the number of teeth of second-stage reduction gear IV9 is 56.

[0046] The wing veins I18, II19, ball joint rods I10, II11, III12, and IV13 are all made of carbon fiber; the fuselage 1, torsion rods I14 and II15 are all made of photosensitive resin; the motor gears 3, first-stage reduction gears I4, II5, I6, II7, III8, and IV9 are all made of POM plastic; the wing membranes I20 and II21 are both made of polyvinyl chloride; and the pins are all made of high-density polyethylene.

[0047] The present application discloses a flapping-wing biomimetic micro-aircraft that achieves motion through the following means:

[0048] During flight, the aircraft's motor gear 3 is driven to rotate at high speed by motor 2 in transmission mechanism B. After being reduced in speed by first-stage reduction gear I4, first-stage reduction gear I4 drives first-stage reduction gear II5 to rotate. First-stage reduction gear II5 meshes and drives second-stage reduction gears II7 and IV9 to rotate. Second-stage reduction gears II7 and IV9 mesh and drive second-stage reduction gears I6 and III8 to rotate, respectively. The rotational motion of the gears is converted into the flapping motion of the left wing D and the right wing E by flapping mechanism C. In flapping mechanism, the height difference formed by the connection of ball joint rod I10 and ball joint rod III12, and ball joint rod 11II and ball joint rod IV13 changes periodically with the rotation of the gears, causing the torsion angle α to change periodically, thereby realizing the torsion motion.

[0049] 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.

[0050] 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.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A twistable biomimetic flapping-wing micro air vehicle, characterized by: It is composed of fuselage (A), transmission mechanism (B), twist mechanism (C), left wing (D) and right wing (E); Wherein: the left wing (D) and the right wing (E) are symmetrical structures about the central axis of the fuselage (A); the wing vein I (18) in the left wing (D) is fixedly connected with the torsion rod I (14) in the twist mechanism (C), and the wing vein II (19) in the right wing (E) is fixedly connected with the torsion rod II (15) in the twist mechanism (C); the ball head pull rod I (10), the ball head pull rod II (11), the ball head pull rod III (12) and the ball head pull rod IV (13) in the twist mechanism are rotationally connected with the secondary reduction gear I (6), the secondary reduction gear II (7), the secondary reduction gear III (8) and the secondary reduction gear IV (9) in the transmission mechanism respectively; the secondary reduction gear I (6), the secondary reduction gear II (7), the secondary reduction gear III (8), the secondary reduction gear IV (9), the motor gear (3) and the primary reduction gear I (4) in the transmission mechanism (B) are rotationally connected with the fuselage (A); The twist mechanism (C) is composed of the ball head pull rod I (10), the ball head pull rod II (11), the ball head pull rod III (12), the ball head pull rod IV (13), the torsion rod I (14), the torsion rod II (15), the connecting rod member I (16) and the connecting rod member II (17); the upper (h2) hole of the ball head pull rod I (10) is fixedly connected with the upper (h1) hole of the secondary reduction gear I (6); the upper (i2) hole of the ball head pull rod II (11) is fixedly connected with the upper (i1) hole of the secondary reduction gear II (7); the upper (j2) hole of the ball head pull rod III (12) is fixedly connected with the upper (j1) hole of the secondary reduction gear III (8); the upper (k2) hole of the ball head pull rod IV (13) is fixedly connected with the upper (k1) hole of the secondary reduction gear IV (9); the (A1) end and the (B1) end of the torsion rod I (14) are fixedly connected with the upper (n) hole of the ball head pull rod III (12) and the upper (1) hole of the ball head pull rod I (10) respectively, and the (C1) end is rotationally connected with the upper (q) hole of the connecting rod member I (16) and limits the relative displacement thereof; the (A2) end and the (B2) end of the torsion rod II (15) are fixedly connected with the upper (m) hole of the ball head pull rod II (11) and the upper (o) hole of the ball head pull rod IV (13) respectively, and the (C2) end is rotationally connected with the upper (s) hole of the connecting rod member II (17) and limits the relative displacement thereof; the upper (p) hole of the connecting rod member I (16) is rotationally connected with the upper (t) hole and the upper (u) hole of the fuselage (A); the upper (r) hole of the connecting rod member II (17) is rotationally connected with the upper (v) hole and the upper (w) hole of the fuselage (A); The transmission mechanism (B) is composed of a brushless motor (2), a motor gear (3), a first-stage reduction gear I (4), a first-stage reduction gear II (5), a second-stage reduction gear I (6), a second-stage reduction gear II (7), a second-stage reduction gear III (8), and a second-stage reduction gear IV (9), wherein the motor gear (3) is engaged with the first-stage reduction gear I (4); the first-stage reduction gear I (4) is fixedly connected with the first-stage reduction gear II (5); the second-stage reduction gear II (7) is engaged with the first-stage reduction gear II (5) and the second-stage reduction gear I (6), respectively; the second-stage reduction gear III (8) is engaged with the first-stage reduction gear II (5) and the second-stage reduction gear IV (9), respectively; the second-stage reduction gear I (6) and the second-stage reduction gear III (8) are installed in the same right view reference plane; and the second-stage reduction gear II (7) and the second-stage reduction gear IV (9) are installed in the same right view reference plane. The second-stage reduction gear I (6), the ball head pull rod I (10), the torsion rod I (14), and the connecting rod member I (16) form a crank rocker mechanism; the second-stage reduction gear III (8), the ball head pull rod III (12), the torsion rod I (14), and the connecting rod member I (16) form a crank rocker mechanism; the second-stage reduction gear II (7), the ball head pull rod II (11), the torsion rod II (15), and the connecting rod member II (17) form a crank rocker mechanism; and the second-stage reduction gear IV (9), the ball head pull rod IV (13), the torsion rod II (15), and the connecting rod member II (17) form a crank rocker mechanism. The upper hole (h1) of the second-stage reduction gear I (6) is set to have a height difference with the upper hole (j1) of the second-stage reduction gear III (8) and the upper hole (i1) of the second-stage reduction gear II (7) is set to have a height difference with the upper hole (k1) of the second-stage reduction gear IV (9), so that the connection of the ball head pull rod I (10) and the ball head pull rod III (12) and the connection of the ball head pull rod II (11) and the ball head pull rod IV (13) form a height difference, so that the left wing D and the right wing E fixedly connected with the torsion rod I (14) and the torsion rod II (15) realize an angle α with the horizontal direction during flapping around the connecting rod member I (16) and the connecting rod member II (17), and α periodically changes with the flapping movement to realize a twist flapping movement.

2. The twistable biomimetic ornithopter micro air vehicle of claim 1, wherein: The left wing (D) and the right wing (E) are symmetrical structures about the micro air vehicle center line (a-a), have the same structure, and are opposite in direction; the left wing (D) is composed of a wing vein I (18) and a wing membrane I (20); and the right wing (E) is composed of a wing vein II (19) and a wing membrane II (21). The wing membrane I (20) is bonded to the wing vein I (18), and the wing membrane II (21) is bonded to the wing vein II (19).

3. The twistable biomimetic ornithopter micro air vehicle of claim 1, wherein: The wing vein I (18), the wing vein II (19), the ball head pull rod I (10), the ball head pull rod II (11), the ball head pull rod III (12), and the ball head pull rod IV (13) are all made of carbon fiber.

4. The twistable biomimetic ornithopter micro air vehicle of claim 1, wherein: The fuselage (A), the torsion rod I (14), the torsion rod II (15), the connecting rod member I (16), and the connecting rod member II (17) are all made of photosensitive resin.

5. The twistable biomimetic ornithopter micro air vehicle of claim 1, wherein: The motor gear (3), the first-stage reduction gear I (4), the first-stage reduction gear II (5), the second-stage reduction gear I (6), the second-stage reduction gear II (7), the second-stage reduction gear III (8), and the second-stage reduction gear IV (9) are all made of POM plastic.

6. The twistable biomimetic ornithopter micro air vehicle of claim 2, wherein: The wing membrane I (20) and the wing membrane II (21) are both made of polyvinyl chloride.

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