A flapping plane controllable micro flapping-wing aircraft and a flight control method thereof

Abstract

The application discloses a micro flapping-wing aircraft with controllable flapping plane and a flight control method thereof. The device comprises two sets of transmission mechanisms, two flexible wings, two sets of control mechanisms, a connecting bracket and a battery. The transmission mechanism converts the rotation of the motor shaft into the reciprocating flapping of the driving rod. The bistable flexible wing reciprocally flaps under the driving of the driving rod of the transmission mechanism to generate aerodynamic force. The control mechanism changes the direction of the aerodynamic force resultant generated by the bistable flexible wing by changing the flapping plane. The connecting bracket is used for mounting the transmission mechanism, the control mechanism and the battery. The battery is used for providing electric energy for the motor. The micro flapping-wing aircraft can quickly generate a control torque meeting the flight control requirement by changing the flapping plane and the motor rotating speed, and the design difficulty of the aircraft control system is reduced.

Description

Technical Field

[0001] This invention provides a micro flapping-wing aircraft with controllable wing flapping plane and its flight control method, belonging to the field of micro aircraft. Background Technology

[0002] Micro flapping-wing aircraft are a type of aircraft that mimics the flight processes of insects and birds in nature. Compared with traditional micro fixed-wing and micro rotorcraft, micro flapping-wing aircraft possess more efficient aerodynamic performance and stronger maneuverability, and have become a hot research topic in micro aircraft development. Micro flapping-wing aircraft generate lift against their own gravity by reciprocating the flapping of flexible wings. In addition, some micro flapping-wing aircraft generate corresponding control torque by adjusting the flapping process of flexible wings, thereby achieving flight control.

[0003] Most existing tailless micro flapping-wing aircraft change the tension of the wing membrane by altering the wing root position of the flexible wing, thereby changing the angle of attack of the flexible wing during a flapping cycle. This ultimately alters the magnitude and direction of the aerodynamic resultant force generated by the flexible wing, producing the control torque required for the micro flapping-wing aircraft. This control method has the advantages of simple mechanical structure and ease of implementation. Patent "A Bionic Flapping-Wing Micro Aircraft Based on Differential Binocular Movement and Servo Center of Gravity Change to Achieve High Control Torque Generation" (Application Publication No.: CN 112009682 A) discloses a micro flapping-wing aircraft that generates aerodynamic torque and achieves flight control by changing the wing root position of the flexible wing. However, in practical use, there is a significant aerodynamic delay problem because it takes time for the flexible wing to stably generate the corresponding control torque after changing the wing root position, greatly limiting the control capability of the micro flapping-wing aircraft. Furthermore, the method of generating control torque by changing the wing root position has a weak control torque generation capability and is prone to insufficient control torque. Furthermore, the method of generating control torque by changing the root position of the flexible wing has a coupling effect. That is, while controlling the flexible wing to generate two of the control torques of pitch, roll and yaw, the flexible wing will always generate a third undesirable control torque. For example, when the flexible wing generates the desired pitch and yaw torques, it will also generate the undesirable pitch torque. This phenomenon increases the design difficulty of the control system of the micro flapping-wing aircraft.

[0004] Considering the problems existing in existing micro flapping-wing aircraft, it is necessary to design a new micro flapping-wing aircraft that uses a new control method to quickly and effectively generate the expected control torque. At the same time, the control torque generated by the micro flapping-wing aircraft meets the flight control requirements, making the design of the micro flapping-wing aircraft control system simpler. Summary of the Invention

[0005] Existing micro flapping-wing aircraft suffer from problems such as aerodynamic delay, insufficient control torque, coupling effects of the generated control torque, and high design complexity of the control system. To address these issues, this invention proposes a micro flapping-wing aircraft with a controllable flapping plane and its flight control method. This micro flapping-wing aircraft directly changes the direction and magnitude of the aerodynamic resultant force generated by the flexible wing by rotating the flapping plane of the flexible wing and the motor speed. This enables the rapid generation of the control torque required by the aircraft, avoiding the coupling of control torque and simplifying the design of the control system.

[0006] The aforementioned micro flapping-wing aircraft with controllable wing flapping plane includes two transmission mechanisms, two flexible wings, two control mechanisms, a connecting bracket, and a battery. Since the installation relationships of the transmission mechanisms, flexible wings, control mechanisms, and connecting brackets on both sides of the micro flapping-wing aircraft are completely identical, only the structural composition of one side will be described.

[0007] The transmission mechanism includes an upper base, a lower base, a reduction gear set, a moving roller seat, a fixed roller seat, a rocker arm, a sliding rack, a roller bearing, an output gear, a motor, a spherical hinge fixing seat, a bearing, an oil-impregnated bearing, and a wing root fixing rod.

[0008] The upper base is a three-dimensional spatial structure, functionally divided into a motor mounting area, a gear mounting area, a bracket connection area, and an upper base support structure. The motor mounting area includes a cylindrical sleeve and a mounting baffle. The inner diameter of the cylindrical sleeve is slightly larger than the outer diameter of the motor for motor mounting. The mounting baffle, located within the cylindrical sleeve, restricts the motor's mounting position and has a circular through-hole to avoid the motor and its gears. The gear mounting area includes double-layer gear mounting holes and single-layer gear mounting holes for mounting the double-layer and single-layer gears of the reduction gear set, respectively. Both gear mounting holes also have cylindrical grooves for mounting bearings. The bracket connection area is a spatial "L"-shaped structure with shaft mounting holes and cylindrical grooves for bearing mounting. The bracket connection area is used to mount the upper base onto the connecting bracket, allowing the transmission mechanism to rotate around the connecting bracket. The upper base support structure consists of four square protrusions extending from the upper base. Two of the square protrusions have cylindrical grooves, and the other two square protrusions have cylindrical protrusions. The function of the upper base support structure is to fix it to the lower base and provide installation space for other components of the transmission mechanism.

[0009] The lower base is a three-dimensional spatial structure, functionally divided into a roller bearing mounting area, a fixed roller seat mounting area, an output gear mounting area, a flange root fixing rod mounting area, a control mechanism mounting area, and a lower base support structure. The roller bearing mounting area has four cylindrical bosses with shaft mounting holes for mounting roller bearings, which restrict the reciprocating motion of the sliding rack in a straight line. The fixed roller seat mounting area has shaft mounting holes for mounting the fixed roller seats and cylindrical grooves for mounting bearings. The output gear mounting area has shaft mounting holes for mounting the output gear and cylindrical grooves for mounting bearings. The flange root fixing rod mounting area has a hollow cylinder into which the flange root fixing rod is inserted, and the flange root fixing rod is inserted into a bistable flexible flange root sleeve. The control mechanism mounting area is located on the left and right sides of the lower base. Each side has two pivot mounting holes and a hemispherical groove. The two pivot mounting holes are used to install spherical hinge mounting seats, and the hemispherical grooves are used to install the spherical hinge rods in the control mechanism. In actual assembly, only the spherical hinge mounting seats are installed on the left side. The lower base support structure consists of four square bosses extending from the lower base. Two of these square bosses have cylindrical bosses that mate with the square bosses with cylindrical grooves on the upper base. The other two square bosses also have cylindrical grooves that mate with the square bosses with cylindrical bosses on the upper base, while simultaneously providing mounting space for other components of the transmission mechanism.

[0010] The reduction gear set includes a motor gear, a double-layer gear, and a single-layer gear. The motor gear is mounted on the motor shaft. The double-layer gear is mounted on the upper base through a double-layer gear mounting hole in the upper base. The single-layer gear is mounted on the upper base through a single-layer gear mounting hole in the upper base. The single-layer gear has a shaft mounting hole for mounting a motion roller seat and a cylindrical groove for mounting an oil-impregnated bearing. The motor gear meshes with the large-tooth-count gear of the double-layer gear, and the small-tooth-count gear of the double-layer gear meshes with the single-layer gear.

[0011] The moving roller seat is mounted on the single-layer gear and moves as the single-layer gear rotates; therefore, it is called a moving roller seat to distinguish it from the fixed roller seat mounted on the lower base. The moving roller seat includes a rotating base and two roller bearings. The rotating base has a large-diameter shaft mounting hole and two cylindrical bosses with shaft mounting holes, as well as cylindrical grooves for mounting oil-impregnated bearings. The large-diameter circular mounting hole is used to mount the moving roller seat to the single-layer gear, and the two cylindrical bosses with shaft mounting holes are used to mount the roller bearings.

[0012] The fixed roller seat is mounted on the lower base and includes a rotating base and two roller bearings. The rotating base has a large-diameter shaft mounting hole and two cylindrical bosses with shaft mounting holes. The large-diameter shaft mounting hole is used to mount the moving roller seat to the lower base, and the two cylindrical bosses with shaft mounting holes are used to mount the roller bearings. The rocker arm is functionally divided into a groove area and a rack connection area. The groove area has grooves on both sides that mate with the roller bearings of the moving roller seat and the fixed roller seat. When the single-layer gear rotates, it drives the moving roller seat to rotate, and the moving roller seat drives the rocker arm to swing. The rack connection area has a shaft mounting hole and a cylindrical groove for mounting bearings, which connects the rocker arm to the groove rack, allowing one end of the rocker arm to rotate around the groove rack.

[0013] The sliding rack is functionally divided into a rocker arm connection area, a sliding groove area, and a rack area. The rocker arm connection area has a shaft mounting hole for mounting the sliding rack on the rocker arm. The sliding groove area has four grooves that mate with four roller bearings mounted on the lower base. The rack area has a rack that mates with the output gear for driving the output gear to reciprocate.

[0014] The output gear includes a reciprocating gear and a drive rod. The reciprocating gear includes a shaft mounting hole, a partial gear, and a hollow cylindrical rod. The output gear is mounted on the lower base through the shaft mounting hole. The partial gear meshes with the rack of the sliding rack, converting the linear reciprocating motion of the sliding rack into the reciprocating rotation of the output gear. The drive rod is inserted into the hollow cylinder, and swings back and forth accordingly when the output gear reciprocates.

[0015] The motor is a cylindrical hollow cup motor, installed in the cylindrical sleeve of the motor mounting area of ​​the upper base. The motor drives the transmission mechanism to move. The complete driving process is as follows: when the motor shaft rotates, the motor gear installed on the motor drives the other gears of the reduction gear set to rotate. The single-layer gear in the reduction gear set drives the motion roller seat installed on it to rotate. The motion roller seat drives the rocker arm to swing. The rocker arm drives the slide rack connected to it to reciprocate in a straight line. The reciprocating slide rack drives the output gear to rotate reciprocally, which drives the drive rod on it to swing reciprocally.

[0016] The spherical hinge mounting base has two pivot mounting holes, a hemispherical groove, and a circular through hole. The two pivot mounting holes respectively mate with the two pivot mounting holes in the control mechanism mounting area on the left side of the lower base, for fixing the spherical hinge mounting base onto the lower base. The hemispherical groove and the hemispherical groove on the left side of the lower base together form a spherical groove, which mates with the circular through hole, for mounting one end of the spherical hinge rod in the control mechanism onto the lower base.

[0017] The flexible wing comprises a wing membrane, wing veins, a leading-edge sleeve, and a wing root sleeve. The wing membrane is made of a polymer film material; the wing veins are made of carbon fiber composite sheets; and the leading-edge sleeve and wing vein sleeve are respectively formed by curling and bonding the leading edge and root of the wing membrane. When installing the flexible wing onto the transmission mechanism, the drive rod on the output gear is inserted into the leading-edge sleeve, and the wing root fixing rod on the lower base is inserted into the wing root sleeve. When the motor shaft in the transmission mechanism rotates, it drives the output gear in the transmission mechanism to reciprocate. The drive rod on the output gear causes the flexible wing to flap reciprocally, generating aerodynamic force.

[0018] The control mechanism includes a servo motor, a servo arm, and a spherical hinge rod. The servo motor is mounted on a connecting bracket and drives the servo arm to rotate. The servo arm includes a main servo arm and a spherical hinge mounting base. The main servo arm is mounted on the servo motor via a mounting groove, and the spherical hinge mounting base is mounted on the main servo arm via rivet mounting holes on the main servo arm and the spherical hinge mounting base. One end of the spherical hinge rod can be mounted on the outside of the servo arm via a hemispherical groove and a circular through hole on the main servo arm, and a hemispherical groove on the spherical hinge mounting base. The spherical hinge rod has spherical sides and a slender straight rod in the middle. Its two ends are respectively mounted on the servo arm and the lower base. When the servo motor drives the servo arm to rotate, the servo arm pulls the spherical hinge rod, causing the transmission mechanism to rotate around the connecting bracket, thereby changing the flapping plane of the flexible wing.

[0019] The connecting bracket is a three-dimensional spatial structure, functionally divided into a transmission mechanism mounting area, a servo mounting area, and a battery mounting area. The transmission mechanism mounting area is located above the connecting bracket, with two circular mounting holes on each of its left and right sides for mounting the transmission mechanism on the left and right sides of the connecting bracket, respectively. The servo mounting areas are located on the lower left and right sides of the connecting bracket, each with one square mounting hole and two circular mounting holes for mounting servos on the left and right sides of the connecting bracket, respectively. The battery mounting areas are located on the lower left and right sides of the connecting bracket for mounting the battery. Installing the battery lowers the aircraft's center of gravity, facilitating pitch control.

[0020] The battery is mounted on the connecting bracket and is used to output electrical energy to the motor in the transmission mechanism.

[0021] The implementation process of pitch control for the micro flapping-wing aircraft with controllable flapping plane is as follows:

[0022] (1) When the aircraft needs to generate a pitching moment, the servos mounted on the left and right sides of the connecting bracket drive their respective servo arms to rotate downwards and upwards, respectively. The servo arms pull the ball hinge rod to rotate the transmission mechanism, causing the flapping planes of the flexible wings on both sides to tilt towards the rear of the aircraft. The aerodynamic resultant force generated by the flapping of the two flexible wings produces a horizontal rearward component. Since the center of gravity of the aircraft is located on the lower side of the aircraft, and the position where the flexible wings generate aerodynamic force is higher than the center of gravity of the aircraft, a pitching moment is generated.

[0023] (2) When the aircraft needs to generate a pitching moment, the servos mounted on the left and right sides of the connecting bracket drive their respective servo arms to rotate up and down. The servo arms pull the ball joint rod to rotate the transmission mechanism, causing the flapping planes of the flexible wings on both sides to tilt forward of the aircraft. The aerodynamic resultant force generated by the flapping of the two flexible wings produces a horizontal forward component. Since the center of gravity of the aircraft is located on the lower side of the aircraft, and the position where the flexible wings generate aerodynamic force is higher than the center of gravity of the aircraft, a pitching moment is generated.

[0024] The implementation process of the roll control of the micro flapping-wing aircraft with controllable flapping plane is as follows:

[0025] (1) When the aircraft needs to generate a left rolling torque, the motor speed of the left transmission mechanism decreases, the lift generated by the flapping of the left flexible wing decreases, the motor speed of the right transmission mechanism increases, and the lift generated by the flapping of the right flexible wing increases. Since the lift provided by the left and right transmission mechanisms is inconsistent, a left rolling torque is generated.

[0026] (2) When the aircraft needs to generate a right roll torque, the motor speed of the left transmission mechanism increases, the lift generated by the flapping of the left flexible wing increases, the motor speed of the right transmission mechanism decreases, and the lift generated by the flapping of the right flexible wing decreases. Since the lift provided by the left and right transmission mechanisms is inconsistent, a right roll torque is generated.

[0027] The implementation process of yaw control for a micro flapping-wing aircraft with controllable flapping plane is as follows:

[0028] (1) When the aircraft needs to generate a left yaw moment, the servo motors installed on the left and right sides of the connecting bracket drive their respective servo motor arms to rotate downwards. The servo motor arms pull the ball hinge rod to rotate the transmission mechanism, so that the flapping plane of the left flexible wing is tilted to the rear of the aircraft. The left flexible wing generates a horizontal rearward aerodynamic force component, so that the flapping plane of the right flexible wing is tilted to the front of the aircraft. The right flexible wing generates a horizontal forward aerodynamic force component. The horizontal components on both sides together generate a left yaw moment.

[0029] (2) When the aircraft needs to generate a right yaw moment, the servo motors installed on the left and right sides of the connecting bracket drive their respective servo motor arms to rotate upward. The servo motor arms pull the ball hinge rod to rotate the transmission mechanism, so that the flapping plane of the left flexible wing is tilted forward of the aircraft. The left flexible wing generates a horizontal forward aerodynamic component, so that the flapping plane of the right flexible wing is tilted backward of the aircraft. The right flexible wing generates a horizontal backward aerodynamic component. The horizontal components on both sides together generate a right yaw moment.

[0030] The advantages of this invention are: a micro flapping-wing aircraft with controllable flapping plane generates control torque by changing the flapping plane of the flexible wing and the motor speed, which simplifies the process of generating control torque, improves the speed and capability of micro flapping-wing aircraft to generate control torque, and reduces the design difficulty of micro flapping-wing aircraft control system. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0032] Figure 2 This is a schematic diagram of the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0033] Figure 3 This is an exploded view of the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0034] Figure 4 This is a schematic diagram of the upper base in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0035] Figure 5 This is a schematic diagram of the lower base in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0036] Figure 6 This is an assembly diagram of the reduction gear set in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0037] Figure 7 This is a schematic diagram of a single-layer gear in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0038] Figure 8 This is an exploded view and a schematic diagram of the motion roller seat in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0039] Figure 9 This is an exploded view and a schematic diagram of the fixed roller seat in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0040] Figure 10 This is a schematic diagram of the pendulum rod in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0041] Figure 11 This is an assembly diagram of the moving roller seat, fixed roller seat, and swing arm in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention.

[0042] Figure 12 This is a schematic diagram of the sliding rack in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0043] Figure 13 This is a schematic diagram of the assembly of the sliding rack and roller bearing in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention.

[0044] Figure 14 This is a schematic diagram of the output gear in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0045] Figure 15 This is a schematic diagram of the spherical hinge fixing seat in the transmission mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0046] Figure 16 This is an exploded view of the spherical hinge rod in the control mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention, which is installed on the transmission mechanism;

[0047] Figure 17 This is a schematic diagram of the flexible wing of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0048] Figure 18 This is a schematic diagram of the main servo arm in the control mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0049] Figure 19 This is a schematic diagram of the spherical hinge mounting base in the control mechanism of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0050] Figure 20 This is an exploded view and a schematic diagram of the control mechanism and battery of a micro flapping-wing aircraft with controllable flapping plane according to the present invention, mounted on a connecting bracket;

[0051] Figure 21 This is a schematic diagram of the connecting bracket of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0052] Figure 22 This is the implementation process of pitch and head control of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0053] Figure 23 This is the implementation process of pitch and droop control of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0054] Figure 24 This is the implementation process of the left roll control of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0055] Figure 25 This is the implementation process of the right roll control of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0056] Figure 26 This is the implementation process of the left yaw control of a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0057] Figure 27 This is the implementation process of right yaw control for a micro flapping-wing aircraft with controllable flapping plane according to the present invention;

[0058] In the picture:

[0059] 1-Transmission mechanism 2-Transmission mechanism 3-Flexible wing

[0060] 4-Flexible wing 5-Control mechanism 6-Control mechanism

[0061] 7 Connecting bracket 8 - Battery

[0062] 1-1 Upper base 1-2 Lower base 1-3 Reduction gear set

[0063] 1-4 Moving roller seat; 1-5 Fixed roller seat; 1-6 Swing arm

[0064] 1-7 Sliding rack; 1-8 Roller bearing; 1-9 Roller bearing

[0065] 1-10 Roller bearing 1-11 Roller bearing 1-12 Output gear

[0066] 1-13 Motor; 1-14 Spherical hinge mounting base; 1-15 Bearing

[0067] 1-16 bearing, 1-17 bearing, 1-18 bearing

[0068] 1-19 bearing, 1-20 bearing, 1-21 oil-impregnated bearing

[0069] 1-22 Oil-impregnated bearing; 1-23 Flange root fixing rod

[0070] 1-3-1 Motor gear; 1-3-2 Double-layer gear; 1-3-3 Single-layer gear

[0071] 1-4-1 Rotating base; 1-4-2 Roller bearing; 1-4-3 Roller bearing

[0072] 1-5-1 Rotating base; 1-5-2 Roller bearing; 1-5-3 Roller bearing

[0073] 1-12-1 Reciprocating gear; 1-12-2 Drive rod

[0074] 1-101 Cylindrical sleeve; 1-102 Mounting baffle; 1-103 Double-layer gear mounting hole

[0075] 1-104 Single-layer gear mounting hole; 1-105 Cylindrical groove; 1-106 Cylindrical groove

[0076] 1-107 Shaft mounting hole; 1-108 Cylindrical groove; 1-109 Square boss

[0077] 1-110 Square Boss 1-111 Square Boss 1-112 Square Boss

[0078] 1-201 Cylindrical Boss, 1-202 Cylindrical Boss, 1-203 Cylindrical Boss

[0079] 1-204 Cylindrical boss; 1-205 Shaft mounting hole; 1-206 Cylindrical groove

[0080] 1-207 Shaft mounting hole; 1-208 Cylindrical groove; 1-209 Hollow cylindrical rod

[0081] 1-210 Hemispherical groove; 1-211 Hemispherical groove; 1-212 Square boss

[0082] 1-213 Square Boss 1-214 Square Boss 1-215 Square Boss

[0083] 1-3-301 Shaft mounting hole; 1-3-302 Cylindrical groove

[0084] 1-4-101 Shaft mounting hole; 1-4-102 Cylindrical boss; 1-4-103 Cylindrical boss

[0085] 1-4-104 Cylindrical Groove

[0086] 1-5-101 Shaft mounting hole; 1-5-102 Cylindrical boss; 1-5-103 Cylindrical boss

[0087] 1-601 Groove, 1-602 Groove, 1-603 Shaft mounting hole

[0088] 1-604 Cylindrical Groove

[0089] 1-701 Shaft mounting hole; 1-702 Groove; 1-703 Groove

[0090] 1-704 Groove 1-705 Groove 1-706 Gear

[0091] 1-12-1 Reciprocating gear; 1-12-2 Drive rod

[0092] 1-12-101 Shaft mounting hole; 1-12-102 Partial gear; 1-12-103 Hollow cylindrical rod

[0093] 1-1401 Shaft mounting hole; 1-1402 Shaft mounting hole; 1-1403 Hemispherical groove

[0094] 1-1404 Circular Through Hole

[0095] 3-1 Wing membrane; 3-2 Wing veins; 3-3 Leading edge sleeve

[0096] 3-4 wing root sleeve

[0097] 5-1 Servo motor; 5-2 Servo motor arm; 5-3 Spherical hinge rod

[0098] 5-2-1 Main servo arm; 5-2-2 Spherical hinge mounting base

[0099] 5-2-101 Mounting groove; 5-2-102 Rivet mounting hole; 5-2-103 Hemispherical groove

[0100] 5-2-104 Circular Through Hole

[0101] 5-2-201 Rivet mounting hole; 5-2-202 Hemispherical groove

[0102] 701 Circular mounting hole; 702 Circular mounting hole; 703 Square mounting hole

[0103] 704 Round mounting hole; 705 Round mounting hole; 706 Square mounting hole

[0104] 707 Circular Mounting Hole 708 Circular Mounting Hole Detailed Implementation

[0105] The specific implementation method of the present invention will be described in detail below with reference to the accompanying drawings.

[0106] The aforementioned micro flapping-wing aircraft with controllable flapping plane includes a transmission mechanism 1, a transmission mechanism 2, a flexible wing 3, a flexible wing 4, a control mechanism 5, a control mechanism 6, a connecting bracket 7, and a battery 8. Figure 1 As shown.

[0107] The transmission mechanism 1 and transmission mechanism 2, flexible wing 3 and flexible wing 4, and control mechanism 5 and control mechanism 6 are structurally identical. Furthermore, the structural relationship between transmission mechanism 1, flexible wing 3, control mechanism 5 and connecting bracket 7 is identical to the connection relationship between transmission mechanism 2, flexible wing 4, control mechanism 6 and connecting bracket 7. Therefore, transmission mechanism 2, flexible wing 4 and control mechanism 6 will not be described further.

[0108] The transmission mechanism includes an upper base 1-1, a lower base 1-2, a reduction gear set 1-3, a moving roller seat 1-4, a fixed roller seat 1-5, a swing arm 1-6, a sliding rack 1-7, roller bearings 1-8, 1-9, 1-10, and 1-11, an output gear 1-12, a motor 1-13, a spherical hinge fixing seat 1-14, bearings 1-15, 1-16, 1-17, 1-18, 1-19, and 1-20, an oil-impregnated bearing 1-21, an oil-impregnated bearing 1-22, and a wing root fixing rod 1-23. Figure 2 and Figure 3 As shown.

[0109] The upper base 1-1 is a three-dimensional spatial structure, such as Figure 4 As shown, the structure is functionally divided into a motor mounting area, a gear mounting area, a bracket connection area, and an upper base support structure. The motor mounting area includes a cylindrical sleeve 1-101 and a mounting baffle 1-102. The inner diameter of the cylindrical sleeve 1-101 is slightly larger than the outer diameter of the motor 1-13, used for motor mounting. The mounting baffle 1-102 is located within the cylindrical sleeve 1-101, used to restrict the mounting position of the motor 1-13. The mounting baffle 1-102 also has a circular through hole to avoid the motor 1-13 and the motor gear 1-3-1. The gear mounting area includes double-layer gear mounting holes 1-103 and single-layer gear mounting holes 1-104, used for mounting the double-layer gear 1-3-2 and single-layer gear 1-3-3 of the reduction gear set, respectively. The gear mounting holes also have cylindrical grooves 1-105 and 1-106 for mounting bearings, used for mounting bearings 1-15 and 1-16, respectively. The bracket connection area is a spatial "L"-shaped structure with a rotating shaft mounting hole 1-107 and a cylindrical groove 1-108 for mounting the bearing 1-17. The bracket connection area is used to mount the upper base 1-1 onto the connecting bracket 7, allowing the transmission mechanism 1 to rotate around the connecting bracket 7. The upper base support structure consists of square bosses 1-109, 1-110, 1-111, and 1-112 extending from the upper base. Square bosses 1-109 and 1-110 have cylindrical grooves, while square bosses 1-111 and 1-112 have cylindrical bosses. The function of the upper base support structure is to fix it to the lower base 1-2 and provide installation space for other components of the transmission mechanism.

[0110] The lower base 1-2 is a three-dimensional spatial structure, such as Figure 5 As shown, the structure is functionally divided into a roller bearing mounting area, a fixed roller seat mounting area, an output gear mounting area, a flange root fixing rod mounting area, a control mechanism mounting area, and a lower base support structure. The roller bearing mounting area has cylindrical bosses 1-201, 1-202, 1-203, and 1-204 with shaft mounting holes, used to mount roller bearings 1-8, 1-9, 1-10, and 1-11, respectively. These roller bearings restrict the reciprocating motion of the sliding rack 1-7 in a straight line. The fixed roller seat mounting area has a shaft mounting hole 1-205 for mounting the fixed roller seat and a cylindrical groove 1-206 for mounting bearing 1-18. The output gear mounting area has a shaft mounting hole 1-207 for mounting the output gear 1-12 and a cylindrical groove 1-208 for mounting bearing 1-19. The wing root fixing rod mounting area has a hollow cylinder 1-209, into which the wing root fixing rod 1-23 is inserted. The wing root fixing rod 1-23 is also inserted into the wing root sleeve 3-4 of the bistable flexible 3. The control mechanism mounting area is located on the left and right sides of the lower base. The left side has shaft mounting holes for cylindrical bosses 1-201 and 1-202, and a hemispherical groove 1-210. The shaft mounting holes for cylindrical bosses 1-201 and 1-202 are used to install the spherical hinge fixing seat 1-14, and the hemispherical groove 1-210 is used to mate with the spherical hinge rod 4-3 in the control mechanism 4. The right side has the same structure and function as the left side, but in actual assembly, only the spherical hinge fixing seat 1-14 needs to be installed on the left side. The lower base support structure consists of square bosses 1-212, 1-213, 1-214, and 1-215 extending from the lower base. Square bosses 1-212 and 1-213 have cylindrical bosses that mate with square bosses 1-109 and 1-110 of the upper base 1-1, respectively. Square bosses 1-214 and 1-215 have cylindrical grooves that mate with square bosses 1-111 and 1-112 of the upper base 1-1, respectively. They also provide installation space for other components of the transmission mechanism 1.

[0111] The reduction gear set includes a motor gear 1-3-1, a double-layer gear 1-3-2, and a single-layer gear 1-3-3, as follows: Figure 6As shown. The motor gear 1-3-1 is mounted on the shaft of the motor 1-13. The double-layer gear 1-3-2 is mounted on the upper base 1-1 through the double-layer gear mounting hole 1-1-3. The single-layer gear 1-3-3 is mounted on the upper base 1-1 through the single-layer gear mounting hole 1-1-4. The single-layer gear 1-3-3 has a shaft mounting hole 1-3-301 for mounting the motion roller seat 1-4 and a cylindrical groove 1-3-302 for mounting the oil-impregnated bearing 1-21. Figure 7 As shown. The motor gear 1-3-1 meshes with the large number of teeth of the double-layer gear 1-3-2, and the small number of teeth of the double-layer gear 1-3-2 meshes with the single-layer gear 1-3-3.

[0112] The moving roller seat 1-4 is mounted on the single-layer gear 1-3-3 and moves as the single-layer gear 1-3-3 rotates; therefore, it is called the moving roller seat 1-4, distinguishing it from the fixed roller seat 1-5 mounted on the lower base 1-2. The moving roller seat 1-4 includes a rotating base 1-4-1, roller bearings 1-4-2 and 1-4-3, as shown below. Figure 8 As shown. The rotating base 1-4-1 has a shaft mounting hole 1-4-101, cylindrical bosses 1-4-102 and 1-4-103 with shaft mounting holes, and a cylindrical groove 1-4-104 for mounting oil-impregnated bearings. The circular mounting hole 1-4-101 is used to mount the moving roller seat onto the single-layer gear 1-3-3, and the cylindrical bosses 1-4-102 and 1-4-103 with shaft mounting holes are used to mount roller bearings 1-4-2 and 1-4-3, respectively.

[0113] The fixed roller seat 1-5 includes a rotating base 1-5-1, a roller bearing 1-5-2, and a roller bearing 1-5-3, as follows: Figure 9 As shown. The rotating base 1-5-1 has a rotating shaft mounting hole 1-5-101 and cylindrical bosses 1-5-102 and 1-5-103 with rotating shaft mounting holes. The rotating shaft mounting hole 1-5-101 is used to install the moving roller seat 1-5 onto the lower base 1-2. The cylindrical bosses 1-5-102 and 1-5-103 with rotating shaft mounting holes are used to install roller bearings 1-5-2 and 1-5-3.

[0114] The rocker arms 1-6 are functionally divided into a sliding groove area and a rack and pinion connection area, such as Figure 10 As shown. The left and right sides of the chute area have grooves 1-601 and 1-602 that mate with the roller bearings of the moving roller seat 1-4 and the fixed roller seat 1-5. Groove 1-601 mates with roller bearings 1-4-3 and 1-5-2, and groove 1-602 mates with roller bearings 1-4-2 and 1-5-3, as shown. Figure 11As shown. When the single-layer gear 1-3-3 rotates, it drives the motion roller seat 1-4 to rotate, and the motion roller seat 1-4 drives the rocker arm 1-6 to swing. The rack connection area has a shaft mounting hole 1-603 and a cylindrical groove 1-604 for mounting the bearing 1-20, which is used to connect the rocker arm 1-6 to the sliding rack 1-7, so that one end of the rocker arm 1-6 can rotate around the sliding rack 1-7.

[0115] The sliding racks 1-7 are functionally divided into a rocker arm connection area, a sliding groove area, and a rack area, such as... Figure 12 As shown. The rocker arm connection area has a pivot mounting hole 1-701 for mounting the sliding rack 1-7 onto the rocker arm 1-6. The sliding area has grooves 1-702, 1-703, 1-704, and 1-705, which respectively mate with roller bearings 1-8, 1-9, 1-10, and 1-11 mounted on the lower base, as shown. Figure 13 As shown. The rack area has a rack 1-706 that meshes with the output gear 1-12 and is used to drive the output gear 1-12 to reciprocate.

[0116] The output gear 1-12 includes a reciprocating gear 1-12-1 and a drive rod 1-12-2, such as Figure 14 As shown. The reciprocating gear 1-12-1 includes a shaft mounting hole 1-12-101, a partial gear 1-12-102, and a hollow cylindrical rod 1-12-103. The output gear 1-12 is mounted on the lower base 1-2 through the shaft mounting hole 1-12-101. The partial gear 1-12-102 meshes with the rack 1-706, converting the linear reciprocating motion of the sliding rack 1-7 into the reciprocating rotation of the output gear 1-12. The drive rod 1-12-2 is inserted into the hollow cylinder 1-12-3, and when the output gear 1-12 reciprocates, the drive rod 1-12-2 swings back and forth accordingly.

[0117] The motor 1-13 is a cylindrical hollow cup motor, installed in the cylindrical sleeve 1-101 of the motor mounting area of ​​the upper base 1-1. The motor 1-13 drives the transmission mechanism 1 to move. The complete driving process is as follows: when the shaft of the motor 1-13 rotates, the motor gear 1-3-1 installed on the motor drives the other gears of the reduction gear set 1-3 to rotate. The single-layer gear 1-3-3 in the reduction gear set drives the motion roller seat 1-4 installed on it to rotate. The motion roller seat 1-4 drives the rocker arm 1-6 to swing. The rocker arm 1-6 drives the connected sliding rack 1-7 to reciprocate in a straight line. The reciprocating sliding rack 1-7 drives the output gear 1-12 to rotate reciprocally, which drives the drive rod 1-12-2 on it to swing reciprocally.

[0118] The spherical hinge fixing seat 1-14 has a pivot mounting hole 1-1401, a pivot mounting hole 1-1402, a hemispherical groove 1-1403, and a circular through hole 1-1404, as shown below. Figure 15 As shown. The pivot mounting holes 1-1401 and 1-1402 respectively mate with the pivot mounting holes on the cylindrical bosses 1-201 and 1-202 on the left side of the lower base, for fixing the spherical hinge fixing seat 1-14 onto the lower base 1-2; the hemispherical groove 1-1403 and the hemispherical groove 1-210 on the left side of the lower base 1-2 together form a spherical groove, which mates with the circular through hole 1-1404, for mounting one end of the spherical hinge rod 5-3 in the control mechanism 5 onto the lower base 1-2, as shown. Figure 16 As shown.

[0119] The flexible wing includes a wing membrane 3-1, wing veins 3-2, a leading edge sleeve 3-3, and a wing root sleeve 3-4, as shown below. Figure 17 As shown, the wing membrane 3-1 is made of polymer film material; the wing vein 3-2 is made of carbon fiber composite sheet; the leading edge sleeve 3-3 and the wing root sleeve 3-4 are respectively obtained by curling and pasting the leading edge and root of the wing membrane 3-1. When the flexible wing 3 is installed on the transmission mechanism, the drive rod 1-12-2 on the output gear 1-12 needs to be inserted into the leading edge sleeve 3-3, and the wing root fixing rod 1-23 on the lower base 1-2 needs to be inserted into the wing root sleeve 3-4. When the motor 1-13 in the transmission mechanism 1 rotates, it drives the output gear 1-12 in the transmission mechanism to rotate back and forth. The drive rod 1-12-2 on the output gear 1-12 drives the flexible wing 3 to flap back and forth to generate lift.

[0120] The control mechanism 5 includes a servo motor 5-1, a servo arm 5-2, and a spherical hinge rod 5-3. The servo motor 5-1 is mounted on the connecting bracket 7 and is used to drive the servo arm 5-2 to rotate. The servo arm 5-2 includes a main servo arm 5-2-1 and a spherical hinge mounting base 5-2-2. The main servo arm 5-2-1 is mounted on the servo motor 5-1 through a mounting groove 5-2-101. The spherical hinge mounting base 5-2-2 is mounted on the main servo arm 5-2-1 through rivet mounting holes 5-2-102 and rivet mounting holes 5-2-201 on the main servo arm 5-2-1 and the spherical hinge mounting base 5-2-2. The main servo arm 5-2-1 has a hemispherical groove 5-2-103 and a circular through hole 5-2-104. The spherical hinge mounting base 5-2-2 has a hemispherical groove 5-2-202 for mounting one end of the spherical hinge rod 5-3 on the outside of the servo arm 5-2. The assembly relationship of the entire control mechanism is as follows: Figure 21As shown. The spherical hinge rod 5-3 has spherical sides and a slender straight rod in the middle. The two ends of the spherical hinge rod 5-3 are respectively mounted on the servo arm 5-2 and the lower base 1-2. When the servo 5-1 drives the servo arm 5-2 to rotate, the servo arm 5-2 pulls the spherical hinge rod 5-3 to drive the transmission mechanism 1 to rotate around the connecting bracket 7, thereby changing the flapping plane of the flexible wing 3; similarly, when the servo 6-1 drives the servo arm 6-2 to rotate, the servo arm 6-2 pulls the spherical hinge rod 6-3 to drive the transmission mechanism 2 to rotate around the connecting bracket 7, thereby changing the flapping plane of the flexible wing 4.

[0121] The connecting bracket 7 is a three-dimensional spatial structure, such as... Figure 20 As shown, the aircraft is functionally divided into a transmission mechanism mounting area, a servo mounting area, and a battery mounting area. The transmission mechanism mounting area is located above the connecting bracket. Circular mounting holes 701 and 702 are located on the left and right sides of this area, respectively, for mounting transmission mechanism 1 and transmission mechanism 2 on the left and right sides of the connecting bracket. The servo mounting areas are located on the left and right sides below the connecting bracket. The left servo mounting area has square mounting holes 703, circular mounting holes 704, and circular mounting holes 705 for mounting servo 5-1, while the right servo mounting area has square mounting holes 706, circular mounting holes 707, and circular mounting holes 708 for mounting servo 6-1. The battery mounting areas are located on the left and right sides below the connecting bracket and are used to mount battery 8. Installing battery 8 lowers the center of gravity of the entire aircraft, which is beneficial for pitch control.

[0122] The battery 8 is mounted on the connecting bracket 7 and is used to output electrical energy to the motors 1-13 and 2-13 in the transmission mechanism 1 and the transmission mechanism 2.

[0123] The implementation process of pitch control for the micro flapping-wing aircraft with controllable flapping plane is as follows:

[0124] (1) When the aircraft needs to generate a pitching moment, the servo 5-1 on the left side of the connecting bracket 7 drives the servo arm 5-2 to rotate downward, and the servo 6-1 on the right side drives the servo arm 6-2 to rotate upward; the servo arm 5-2 pulls the spherical hinge rod 5-3, causing the transmission mechanism 1 on the left side to rotate backward, and the servo arm 6-2 pulls the spherical hinge rod 6-3, causing the transmission mechanism 2 on the right side to rotate backward around the connecting bracket 7. The flapping planes of the flexible wings 3 and 4 are tilted towards the rear of the aircraft, and the aerodynamic resultant force generates a horizontal rearward component. Since the center of gravity of the aircraft is located on the lower side of the aircraft, and the position where the flexible wings 3 and 4 generate aerodynamic forces is higher than the center of gravity of the aircraft, a pitching moment is generated.

[0125] (2) When the aircraft needs to generate a pitching moment, the servo 5-1 on the left side of the connecting bracket 7 drives the servo arm 5-2 to rotate upward, and the servo 6-1 on the right side drives the servo arm 6-2 to rotate downward; the servo arm 5-2 pulls the spherical hinge rod 5-3, causing the transmission mechanism 1 on the left side to rotate forward, and the servo arm 6-2 pulls the spherical hinge rod 6-3, causing the transmission mechanism 2 on the right side to rotate forward around the connecting bracket 7. The flapping planes of the flexible wings 3 and 4 tilt forward towards the aircraft, and the aerodynamic resultant force generates a horizontal forward component. Since the center of gravity of the aircraft is located on the lower side of the aircraft, and the position where the flexible wings 3 and 4 generate aerodynamic forces is higher than the center of gravity of the aircraft, a pitching moment is generated.

[0126] The implementation process of the roll control of the micro flapping-wing aircraft with controllable flapping plane is as follows:

[0127] (1) When the aircraft needs to generate a left rolling torque, the speed of motor 1-13 of the left transmission mechanism 1 decreases, the lift generated by the flapping of the left flexible wing 3 decreases, the speed of motor 2-13 of the right transmission mechanism 2 increases, and the lift generated by the flapping of the right flexible wing 4 increases. Since the lift generated by the flexible wings on the left and right sides is inconsistent, a left rolling torque is generated.

[0128] (2) When the aircraft needs to generate a right roll torque, the speed of motor 1-13 of the left transmission mechanism 1 increases, the lift generated by the flapping of the left flexible wing 3 increases, the speed of motor 2-13 of the right transmission mechanism 2 decreases, and the lift generated by the flapping of the right flexible wing 4 decreases. Since the lift generated by the flexible wings on the left and right sides is inconsistent, a right roll torque is generated.

[0129] The implementation process of yaw control for a micro flapping-wing aircraft with controllable flapping plane is as follows:

[0130] (1) When the aircraft needs to generate a left yaw moment, the servo motor 5-1 installed on the left side of the connecting bracket 7 drives the servo arm 5-2 to rotate downward. The servo arm 5-2 pulls the ball hinge rod 5-3 to rotate the rotation transmission mechanism 1 backward, so that the flapping plane of the flexible wing 3 on the left side tilts towards the rear of the aircraft, and the flexible wing 3 on the left side generates a horizontal rearward aerodynamic component. The servo motor 6-1 installed on the right side of the connecting bracket 7 drives the servo arm 6-2 to rotate downward. The servo arm 6-2 pulls the ball hinge rod 6-3 to rotate the rotation transmission mechanism 2 forward, so that the flapping plane of the flexible wing 4 on the right side tilts towards the front of the aircraft, and the flexible wing 4 on the right side generates a horizontal forward aerodynamic component. The horizontal aerodynamic components on both sides together generate a left yaw moment.

[0131] (2) When the aircraft needs to generate a right yaw moment, the servo motor 5-1 installed on the left side of the connecting bracket 7 drives the servo arm 5-2 to rotate upward. The servo arm 5-2 pulls the spherical hinge rod 5-3 to rotate the rotation transmission mechanism 1 forward, so that the flapping plane of the left flexible wing 3 tilts towards the front of the aircraft, and the left flexible wing 3 generates a horizontal forward aerodynamic component. The servo motor 6-1 installed on the right side of the connecting bracket 7 drives the servo arm 6-2 to rotate upward. The servo arm 6-2 pulls the spherical hinge rod 6-3 to tilt the rotation transmission mechanism 2 backward, so that the flapping plane of the right flexible wing 4 tilts towards the rear of the aircraft, and the right flexible wing 4 generates a horizontal rearward aerodynamic component. The horizontal aerodynamic components on both sides together generate a right yaw moment.

Claims

1. A micro flapping-wing aircraft with controllable wing flapping plane, characterized in that, It includes two transmission mechanisms, two flexible wings, two control mechanisms, a connecting bracket, and a battery; Each transmission mechanism includes an upper base, a lower base, a reduction gear set, a moving roller seat, a fixed roller seat, a swing arm, a sliding rack, an output gear, a motor, and a wing root fixing rod. The reduction gear set includes a motor gear, a double-layer gear, and a single-layer gear. The motor gear is mounted on the rotating shaft of the motor. The double-layer gear with a large number of teeth meshes with the motor gear, and the double-layer gear with a small number of teeth meshes with the single-layer gear. The motion roller seat is mounted on the single-layer gear. The fixed roller seat is mounted on the lower base. The movable roller seat and the fixed roller seat are respectively engaged with the swing arm. The swing arm is connected to the sliding rack. The sliding rack meshes with the output gear. The output gear is provided with a drive rod. The motor drives the reduction gear set to rotate. The reduction gear set drives the movable roller seat to rotate. The movable roller seat drives the swing arm to swing. The swing arm drives the sliding rack to reciprocate in a straight line. The sliding rack drives the output gear to reciprocate. The drive rod swings back and forth with the output gear. The two flexible wings are respectively mounted on two sets of transmission mechanisms. Each flexible wing includes a wing membrane, a wing vein, a leading edge sleeve, and a wing root sleeve. The drive rod on the output gear is inserted into the leading edge sleeve. The wing root fixing rod is set on the lower base of the transmission mechanism. The wing root sleeve is sleeved on the wing root fixing rod. The two sets of transmission mechanisms independently drive the two flexible wings to flap back and forth. The connecting bracket has a three-dimensional spatial structure. Two sets of transmission mechanisms are respectively disposed on both sides of the connecting bracket and are rotatably connected to the connecting bracket, so that each set of transmission mechanisms can rotate relative to the connecting bracket as a whole. Two sets of control mechanisms are respectively installed on the connecting bracket and are respectively connected to the corresponding transmission mechanisms. Each control mechanism includes a servo motor, a servo arm, and a spherical hinge rod. The servo motor is mounted on the connecting bracket. The two ends of the spherical hinge rod are respectively connected to the servo arm and the corresponding transmission mechanism. The servo motor drives the servo arm to rotate. The servo arm drives the corresponding transmission mechanism to rotate as a whole relative to the connecting bracket through the spherical hinge rod, so that the flapping plane of the flexible wing mounted on the transmission mechanism changes with the overall rotation of the transmission mechanism. The two sets of control mechanisms independently control the rotation angle of the two sets of transmission mechanisms relative to the connecting bracket, so as to independently change the position of the flapping plane of the two flexible wings, thereby changing the direction of the aerodynamic resultant force generated by the two flexible wings. The battery is mounted on the connecting bracket and is used to supply power to the motors in the two sets of transmission mechanisms.

2. A micro flapping-wing aircraft with controllable flapping plane according to claim 1, characterized in that, Each of the control mechanisms further includes a spherical hinge mounting base, which is fixedly mounted on the lower base of the transmission mechanism; The servo arm includes a main servo arm and a spherical hinge mounting base. The main servo arm is mounted on the servo, and the spherical hinge mounting base is mounted on the main servo arm. The spherical hinge rod has spherical sides and a slender straight rod in the middle. One end of the spherical hinge rod is connected to the spherical hinge mounting seat on the servo arm, and the other end is connected to the spherical hinge fixing seat, so that the rotation of the servo arm is transmitted to the transmission mechanism through the spherical hinge rod, and drives the transmission mechanism to rotate around the connecting bracket.

Images