Flapping-wing structure and dragonfly-like flapping-wing aircraft using the same

Abstract

The invention provides a flapping-wing structure and a dragonfly-like flapping-wing aircraft using the flapping-wing structure, which relate to the field of bionics and include a U-shaped base frame, including two parallel sections and a connecting section connected to the two parallel sections, the connecting section is provided with a slide groove in the same length direction as the connecting section, the connecting section is provided with a sliding block sliding along the length direction of the connecting section, and the sliding block is provided with an insertion hole; a rotary unit includes a first shaft, one end of the first shaft is rotatably arranged on one of the parallel sections, and the other end is provided with a first connecting plate, a power shaft is provided on the first connecting plate, the power shaft is perpendicular to the first connecting plate, and the angle between the first shaft and the axis of the power shaft is an obtuse angle; a wing unit includes a connecting rod, one end of the connecting rod is provided with a snap piece, and the other end is provided with a wing plate, the connecting rod is penetrated into the insertion hole and the slide groove, and the snap piece is gap-matched with the power shaft. The application can realize the reciprocating flapping of the wing unit and adjust the attack angle of the wing unit.

Description

Technical Field

[0001] The invention relates to the field of bionics, in particular to a flapping-wing structure and a dragonfly-like flapping-wing aircraft using the flapping-wing structure. Background Art

[0002] The flapping wing structure is an important component of the aircraft. The flapping wing structure generates lift through the flapping of the wings, which enables the aircraft to fly. At present, researchers have studied the flapping wing structure by imitating dragonflies, but the research results are not satisfactory. On the one hand, the flapping method of the existing flapping wing structure is rigid, and the stability and continuity of the flight process are poor, and it is more obvious in the yaw and roll movements. On the other hand, the flapping wing structure usually uses a connecting rod mechanism as the driving unit, which has a complex structure, a large number of mechanical parts, and requires a large space to accommodate, resulting in the aircraft being too large in size and weight, not concealed, and difficult to apply to special fields. Summary of the invention

[0003] The invention provides a flapping-wing structure and a dragonfly-like flapping-wing aircraft using the flapping-wing structure, the purpose of which is to optimize the flapping effect of the flapping-wing structure and improve the kinematic capability of the aircraft.

[0004] In order to achieve the above object, an embodiment of the present invention provides a flapping wing structure, comprising:

[0005] The U-shaped base frame comprises two parallel sections and a connecting section connected to the two parallel sections, wherein the connecting section is provided with a slide groove in the same length direction as the connecting section, the connecting section is provided with a sliding block sliding along the length direction of the connecting section, and the sliding block is provided with an insertion hole;

[0006] The rotary unit comprises a first shaft, one end of which is rotatably arranged on one of the parallel segments, and the other end of which is provided with a first connecting plate, a power shaft is arranged on the first connecting plate, the power shaft is perpendicular to the first connecting plate, and the angle between the first shaft and the axis of the power shaft is an obtuse angle;

[0007] The wing unit comprises a connecting rod, one end of which is provided with a snap-fit ​​piece, and the other end of which is provided with a wing plate. The connecting rod is inserted into the insertion hole and the slide groove, and the snap-fit ​​piece is clearance-matched with the power shaft.

[0008] Preferably, the rotating unit also includes a second shaft, one end of which is rotatably arranged on another parallel section, and the other end of the second shaft is provided with a second connecting plate, the second connecting plate is parallel to the first connecting plate, the power shaft is vertically arranged on the second connecting plate, and the first shaft is parallel to the second shaft.

[0009] Preferably, the central angle corresponding to the slide groove is 60°.

[0010] Preferably, the buckle is C-shaped, and the opening of the buckle is parallel to the generatrix of the power shaft.

[0011] The present application also provides a dragonfly-like flapping-wing aircraft, which adopts the aforementioned flapping-wing structure.

[0012] The machine comprises a frame, the frame is cylindrical, and a front window and a rear window are respectively provided on both sides of the frame;

[0013] Two pairs of flapping wing structures are respectively arranged in the front window and the rear window;

[0014] The first power structure and the second power structure are used to drive the flapping-wing structure located at the front window and the flapping-wing structure located at the rear window to flap, respectively.

[0015] Preferably, the first power structure includes a first motor and a planetary speed increaser, the planetary speed increaser includes a ring gear, a sun gear, a planetary gear and a planetary bracket, the first motor is transmission-connected to the planetary bracket, the planetary gear is rotatably arranged on the planetary bracket, the sun gear is provided with an output shaft with a first gear, and a second gear meshing with the first gear is provided on the first shaft of the flapping wing structure located on the front window.

[0016] Preferably, the axial direction of the output shaft is perpendicular to the line connecting the two front windows, the first gear and the second gear are bevel gears or helical gears; and the axis intersection angle between the first gear and the second gear is a right angle.

[0017] Preferably, two second power structures are provided, each power structure is provided with a third gear, and a fourth gear meshing with the third gear is provided on the first shaft of the flapping-wing structure located on the rear window.

[0018] Preferably, a tail adjustment structure is also provided at the rear of the frame, and the tail adjustment structure includes a servo, an adjustment plate, an L-plate and a tail body, the servo is provided at the rear of the frame, and the output end of the servo is connected to the rotation center of the adjustment plate, one end of the L-plate is fixedly connected to the adjustment plate, the tail body is connected to the other end of the L-plate, and the adjustment plate is parallel to the tail body.

[0019] The above scheme of the present invention has the following beneficial effects:

[0020] The flapping wing structure provided by the present application has a simple structure. The first axis is used as the input axis for fixed-axis rotation. The connecting rod is restricted by the slide groove and the insertion hole to flap back and forth along the direction of the slide groove. At the same time, the connecting rod can rotate around its own rotation axis to form the flapping and rotation of the wings.

[0021] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a first-person view of the flapping wing structure;

[0023] Figure 2 It is a second-view diagram of the flapping-wing structure;

[0024] Figure 3 It is a schematic diagram of a dragonfly-like flapping-wing aircraft;

[0025] Figure 4 It is a schematic diagram of the rack and accessories;

[0026] Figure 5 This is a first-person view of the interior of the rack;

[0027] Figure 6 This is a second perspective view of the inside of the rack.

[0028] [Description of Reference Numerals]

[0029] A. flapping wing structure;

[0030] 1. U-shaped frame; 11. parallel section; 12. connecting section; 13. slide groove; 14. sliding block;

[0031] 2. Rotary unit; 21. First shaft; 22. First connecting plate; 23. Power shaft; 24. Second shaft; 25. Second connecting plate; 26. Second gear; 27. Fourth gear;

[0032] 3. Wing unit; 31. Connecting rod; 32. Fastener; 33. Wing plate;

[0033] 4. Frame; 41. Front window; 42. Rear window;

[0034] 5. First power structure; 51. First motor; 521. Ring gear; 523. Planetary gear; 524. Planetary bracket; 525. First gear;

[0035] 6. Second power structure; 61. Third gear;

[0036] 7. Tail wing adjustment structure; 71. Servo; 72. Adjustment plate; 73. L plate; 74. Tail wing body;

[0037] 8. Record structure, 81. File bar. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0039] like Figure 1 and 2As shown, an embodiment of the present invention provides a flapping-wing structure, including a U-shaped base frame 1, a rotating unit 2 and a wing unit 3, wherein the U-shaped base frame 1 includes two parallel sections 11 parallel to each other and a connecting section 12 connected to the ends of the two parallel sections 11, a slide groove 13 having the same length direction as the connecting section 12 is provided on the connecting section 12, a sliding block 14 sliding along the length direction of the connecting section 12 is provided on the connecting section 12, and an insertion hole is provided on the sliding block 14.

[0040] The aforementioned rotary unit 2 includes a first shaft 21, one end of which is rotatably arranged in one of the parallel sections 11, and a first connecting plate 22 is arranged on the other end, a power shaft 23 is arranged on the first connecting plate 22, the power shaft 23 is perpendicular to the first connecting plate 22, and the axis angle α between the first shaft 21 and the power shaft 23 is an obtuse angle. The aforementioned wing unit 3 includes a connecting rod 31, one end of which is provided with a snap-fitting member 32, and the other end is provided with a wing plate 33, the connecting rod 31 is penetrated in the insertion hole and the slide groove 13, and the snap-fitting member 32 and the power shaft 23 are clearance-matched.

[0041] When the first shaft 21 rotates around its own rotation axis, it drives the first connecting plate 22 to rotate. The fastener 32 that is clearance-matched with the power shaft 23 can slide along the axial direction of the power shaft 23 under the action of the power shaft 23, and then the connecting rod 31 swings along the slide groove 13 under the restriction of the slide groove 13 and the insertion hole, thereby realizing the flapping of the wing unit 3 and providing lift. At the same time, while the connecting rod 31 is flapping, it can also rotate around its own rotation axis to change the angle of attack of the wing plate 33.

[0042] Specifically, in this embodiment, the two parallel sections 11 of the U-shaped frame 4 are respectively a first parallel section and a second parallel section, the first parallel section and the second parallel section are parallel and have the same length, the aforementioned connecting section 12 is arranged at the first end of the first parallel section and the second parallel section, the connecting section 12 is arc-shaped, and a slide groove 13 is arranged in the arc length direction of the connecting section 12. The sliding block 14 is slidably arranged on the connecting section 12, and the sliding end does not detach from the connecting section 12.

[0043] Further, the rotary unit 2 includes a first shaft 21, a first end of the first shaft 21 is rotatably arranged at the second end of the first parallel section, a first connecting plate 22 is arranged on the second end of the first shaft 21, the first connecting plate 22 is preferably waist-shaped, the aforementioned power shaft 23 is arranged on the first connecting plate 22, and the power shaft 23 is perpendicular to the first connecting plate 22. The axis angle between the first shaft 21 and the power shaft 23 is an obtuse angle.

[0044] Furthermore, the aforementioned clip 32 is a C-type clip block, which is clipped onto the power shaft 23 and has a clearance fit with the power shaft 23. The C-type clip block is conveniently assembled onto the power shaft 23, and when the power shaft 23 rotates, a certain force is formed between the clip 32 and the power shaft 23, which can promote the fluttering of the transmission rod. At the same time, the opening slit of the C-type clip block is parallel to the generatrix of the power shaft 23, the connecting rod 31 is arranged in the radial direction of the clip 32, and the angle between the connecting rod 31 and the opening slit is a flat angle, and the attack angle of the wing plate 33 is the same as the inclination of the opening slit to the vertical direction.

[0045] In the present application, the rotary unit 2 also includes a second shaft 24, one end of which is rotatably set on another parallel section 11, and the other end of the second shaft 24 is provided with a second connecting plate 25, the second connecting plate 25 is parallel to the first connecting plate 22, and the power shaft 23 is also perpendicular to the second connecting plate 25, and the first shaft 21 is parallel to the second shaft 24.

[0046] The upper and lower structures of the rotary unit 2 are the same, so that the flapping wing structure A can be installed upright or inverted on the aircraft, making assembly easier. The first connecting plate 22 and the second connecting plate 25 are arranged at both ends of the power shaft 23 to prevent the snap member 32 from being separated from the power shaft 23 during the sliding process. Preferably, the height of the power shaft 23 is greater than the height of the snap member 32.

[0047] In this embodiment, the first end of the second shaft 24 is disposed at the second end of the second parallel section 11 , and the second end of the second shaft 24 is provided with a second connecting plate 25 , which is congruent with the first connecting plate 22 . The power shaft 23 is perpendicular to the second connecting plate 25 .

[0048] Preferably, the second end of the first shaft 21 is fixedly connected to the first end of the first connecting plate 22, and the second end of the second shaft 24 is connected to the second end of the second connecting plate 25. The power shaft 23 is connected to the second end of the first connecting plate 22 and the first end of the second connecting plate 25 respectively.

[0049] In some embodiments of the present application, the central angle corresponding to the slide groove 13 is an acute angle, preferably 60°.

[0050] Combination Figure 1 , 2 As shown in Figures 4-6, the present application also provides a dragonfly-like flapping-wing aircraft using the aforementioned flapping-wing structure, including a frame 4, two pairs of flapping-wing structures A, and a first power structure 5 and a second power structure 6.

[0051] The frame 4 is generally in the form of a cylinder with open ends, and a front window 41 and a rear window 42 are respectively provided on the left and right sides of the frame 4. Two pairs of flapping wing structures A are respectively located in the front window 41 and the rear window 42, forming two pairs of double-wing structures similar to dragonflies, and the first dynamic structure and the second power structure 6 are respectively used to drive the flapping wing structure A located in the front window 41 and the flapping wing structure A located in the rear window 42 to flap, so as to realize the bionic flight of the aircraft to the dragonfly.

[0052] In this embodiment, the frame 4 is in the shape of a rectangular parallelepiped, and a front window 41 and a rear window 42 are respectively provided on the left and right sides of the frame 4, and the front window 41 and the rear window 42 are parallel. For the convenience of description, the front windows 41 are respectively the left front window and the right front window, and the rear windows 42 are respectively the left rear window and the right rear window. The second ends of the U-shaped base frame 1 extend into the frame 4 through the front window 41 and the rear window 42, respectively, to ensure that the slewing unit 2 and the wing unit 3 are respectively located inside and outside the frame 4. The first power structure 5 and the second power structure 6 are arranged inside the frame 4 to realize the driving of the flapping wing structures A at both ends.

[0053] The first power structure 5 includes a first motor 51 and a planetary speed increaser, which includes a ring gear 521, a sun gear fixed to the frame 4, a planetary gear 523 and a planetary bracket 524. The output end of the first motor 51 is fixedly connected to the rotation center of the planetary bracket 524 to drive the planetary bracket 524 to rotate around the output end of the first motor 51. The planetary gear 523 is rotatably arranged on the planetary bracket 524, and the planetary gear 523 is also meshed with the internal teeth of the ring gear 521. The sun gear is respectively meshed with each planetary gear 523, and the sun gear is provided with an output shaft, and the output shaft is provided with a first gear 525.

[0054] Furthermore, a second gear 26 is provided on the first shaft 21 of the flapping-wing structure A located at the left front window and the right front window, and the two second gears 26 are engaged with the first gear 525 at the same time, that is, the first gear 525 can simultaneously drive the two second gears 26 to rotate synchronously, so that the flapping-wing structure A located at the left front window and the right front window can flap at the same frequency and the same amplitude.

[0055] The output shaft on the sun gear is perpendicular to the line connecting the left front window and the right front window. The first gear 525 and the second gear 26 are bevel gears or helical gears, and the axis intersection angle between the first gear 525 and the second gear 26 is a right angle, so as to change the transmission direction of the sun gear, so that the planetary speed increaser can be arranged in the frame 4 along the front and rear direction, making full use of the space of the frame 4, so that the overall volume of the aircraft is reduced, and the front and rear openings can reduce the impact of air on the aircraft, optimize the kinematic capabilities of the aircraft, and enable the aircraft provided by the present application to be used for special field reconnaissance. The planetary speed increaser gear can increase the flapping frequency of the flapping structure and has good flight capabilities.

[0056] The second gear 26 is arranged on the first shaft 21, so as to effectively lower the center of gravity of the entire aircraft and maintain the stability of the aircraft during flight.

[0057] Furthermore, two second power structures 6 are provided. The second power structure 6 is a second motor. A third gear 61 is provided on the output shaft of the second motor. A fourth gear 27 is provided on the first shaft 21 of the flapping wing structure A located in the left rear window and the right rear window. The third gear 61 is meshed with the fourth gear 27.

[0058] It is understandable that the fourth gear 27 can also be set on the second shaft 24, and the space below the two second power structures 6 can be used for counterweight, or to install and add other structures, such as a flight control board, a power supply, etc.

[0059] Furthermore, a tail adjustment structure 7 is also provided at the rear of the frame 4, and the tail adjustment structure 7 is used to assist the pitch of the aircraft. The specific displacement adjustment structure includes a servo 71, which is fixed to the rear end of the frame 4, and an adjustment plate 72 is provided at the output end of the servo 71, and the output end of the servo 71 is provided at the center of the adjustment plate 72, so that the adjustment plate 72 can rotate around a fixed point. At the same time, an L plate 73 is also provided on the adjustment plate 72, and one end of the L plate 73 is eccentrically provided on the adjustment plate 72, and the other end of the L plate 73 is provided with a tail body 74, and the tail body 74 is parallel to the adjustment plate 72.

[0060] In this embodiment, when the adjustment plate 72 is rotated under the drive of the servo 71, it can be adjusted to an angle between the plate body and the horizontal plane, and the flapping of the four flapping wing structures A can achieve pitch control of the flight.

[0061] The present application also includes a flight control board, which is connected to the first power structure 5 and the second power structure 6 by signals to control the working states of the first power structure 5 and the second power structure 6, so as to facilitate adjustment of the flight attitude of the aircraft.

[0062] The present application may also include a flying frame, which is arranged on the lower side of the frame 4 to assist the take-off, landing and parking of the aircraft.

[0063] The present application may also include a recording structure 8 with recording and detection functions, and the recording structure 8 is fixed to the frame 4 through a stop bar 81, preferably fixed to the front end of the frame 4. The recording structure 8 is also connected to the aforementioned flight control board signal.

[0064] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flapping wing structure, characterized in that: include: The U-shaped base frame (1) comprises two parallel sections (11) and a connecting section (12) connected to the two parallel sections (11), the connecting section (12) being provided with a sliding groove (13) in the same length direction as the connecting section (12), the connecting section (12) being provided with a sliding block (14) sliding along the length direction of the connecting section (12), and the sliding block (14) being provided with an insertion hole; The rotary unit (2) comprises a first shaft (21), one end of the first shaft (21) is rotatably arranged on one of the parallel sections (11), and the other end is provided with a first connecting plate (22), a power shaft (23) is provided on the first connecting plate (22), the power shaft (23) is perpendicular to the first connecting plate (22), and the angle between the axes of the first shaft (21) and the power shaft (23) is an obtuse angle; The wing unit (3) comprises a connecting rod (31), one end of the connecting rod (31) is provided with a snap-fit ​​piece (32), and the other end is provided with a wing plate (33), the connecting rod (31) is inserted into the insertion hole and the slide groove (13), and the snap-fit ​​piece (32) and the power shaft (23) are clearance-matched; The rotary unit (2) further comprises a second shaft (24), one end of the second shaft (24) being rotatably arranged on another parallel section (11), a second connecting plate (25) being arranged at the other end of the second shaft (24), the second connecting plate (25) being parallel to the first connecting plate (22), the power shaft (23) being perpendicularly arranged to the second connecting plate (25), and the first shaft (21) being parallel to the second shaft (24).

2. The flapping wing structure according to claim 1, characterized in that: The central angle corresponding to the slide groove (13) is 60°.

3. The flapping wing structure according to claim 1, characterized in that: The buckle piece (32) is C-shaped, and the opening of the buckle piece (32) is parallel to the generatrix of the power shaft (23).

4. A dragonfly-like flapping-wing aircraft, adopting the flapping-wing structure according to any one of claims 1 to 3, characterized in that: It comprises a frame (4), the frame (4) is cylindrical, and a front window (41) and a rear window (42) are respectively provided on both sides of the frame (4); Two pairs of flapping wing structures (A) are respectively arranged in the front window (41) and the rear window (42); The first power structure (5) and the second power structure (6) are respectively used to drive the flapping-wing structure (A) located at the front window (41) and the flapping-wing structure (A) located at the rear window (42) to flap.

5. The dragonfly-like flapping-wing aircraft according to claim 4, characterized in that: The first power structure (5) comprises a first motor (51) and a planetary speed increaser, wherein the planetary speed increaser comprises a ring gear (521), a sun gear, a planetary gear (523) and a planetary support (524), wherein the first motor (51) is drivingly connected to the planetary support (524), wherein the planetary gear (523) is rotatably arranged on the planetary support (524), wherein the sun gear is provided with an output shaft having a first gear (525), and wherein a second gear (26) meshing with the first gear (525) is provided on the first shaft (21) of the flapping wing structure (A) located at the front window (41).

6. The dragonfly-like flapping-wing aircraft according to claim 5, characterized in that: The axial direction of the output shaft is perpendicular to the line connecting the two front windows (41); the first gear (525) and the second gear (26) are bevel gears or helical gears; and the axis intersection angle between the first gear (525) and the second gear (26) is a right angle.

7. The dragonfly-like flapping-wing aircraft according to claim 4, characterized in that: Two of the second power structures (6) are provided, each of which is provided with a third gear (61), and a fourth gear (27) meshing with the third gear (61) is provided on the first shaft (21) of the flapping wing structure (A) located at the rear window (42).

8. The dragonfly-like flapping-wing aircraft according to claim 4, characterized in that: A tail adjustment structure (7) is also provided at the tail of the frame (4), the tail adjustment structure (7) comprising a steering gear (71), an adjustment plate (72), an L plate (73) and a tail body (74), the steering gear (71) being provided at the tail of the frame (4), and the output end of the steering gear (71) being connected to the rotation center of the adjustment plate (72), one end of the L plate (73) being fixedly connected to the adjustment plate (72), the tail body (74) being connected to the other end of the L plate (73), and the adjustment plate (72) being parallel to the tail body (74).

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