High performance integrated biomimetic ornithopter

Abstract

The application discloses a high-efficiency integrated bionic flapping-wing aircraft, which comprises a frame, a transmission system, a spatial six-pole flapping-wing mechanism and a tail wing module. The aircraft adopts a mode of single motor driving symmetrically arranged spatial six-pole flapping-wing mechanism, the flapping-wing mechanism couples flapping motion of wings with torsional motion of outer wings, and active torsional motion of wing tips of birds during flight is realized through deformation of membrane wings. Specifically, the aircraft twists the wing tips downward and stretches the wings to generate lift and thrust in the downstroke stage, twists the wing tips upward in the upstroke stage, and accompanies with a certain degree of wing folding to reduce flight resistance, thereby improving the aerodynamic performance of the bionic flapping-wing aircraft, and the aircraft can be applied to dangerous environment monitoring and detection reconnaissance.

Description

Technical Field

[0001] This invention relates to the field of aircraft design, and in particular to a high-performance integrated biomimetic flapping-wing aircraft that can achieve biomimetic coupled motions of flapping, folding and twisting, and can be used as a flapping-wing flight platform for detection and reconnaissance. Background Technology

[0002] Flying creatures in nature offer a good solution to the problem of significantly reduced propulsion efficiency of traditional fixed-wing and rotary-wing aircraft when flying in low Reynolds number airflow fields. Flapping-wing flight can effectively utilize unsteady aerodynamic characteristics to obtain high lift. Flapping-wing aircraft designed based on biomimetic principles have advantages such as high maneuverability, light weight, and good stealth, and have become a research hotspot both domestically and internationally, with very attractive application prospects in civilian and military fields.

[0003] Birds and bats can perform maneuvers such as climbing, diving, and gliding by altering their wing flapping angle of attack during flight. Research shows that the coupling of the up-and-down flapping and torsional motion of the wings in flying organisms can significantly improve the thrust characteristics of their wings. This torsional motion mechanism along the wing span can reduce flight energy consumption and affect flight efficiency.

[0004] Chinese patent CN214690172U discloses a "Bionic Two-Segment Flapping-Wing Aircraft," which proposes a large-scale bionic flapping-wing aircraft capable of mimicking the flapping and folding movements of bird wings. The flapping of both wings is completely symmetrical, achieving dynamic balance. This patent employs a dual-loop closed-chain mechanism design, achieving the coupling of flapping, folding, and torsional movements, thus improving the flight efficiency of the flapping-wing aircraft. Summary of the Invention

[0005] This invention aims to solve the above-mentioned technical problems and proposes a high-efficiency integrated biomimetic flapping-wing aircraft that can improve the aerodynamic performance of flapping-wing aircraft.

[0006] To solve the above technical problems, the technical solution provided by the present invention is: a high-efficiency integrated bionic flapping-wing aircraft, comprising a frame, a transmission system, a spatial six-bar flapping-wing mechanism, and a tail fin module; the tail fin module is mounted on the frame; the transmission system is mounted on the frame; the transmission system drives a small bevel gear to rotate via gear transmission; The six-bar flapping wing mechanism has two sets, with identical structure, connection method and transmission method, and is installed on the left and right sides of the frame respectively; the six-bar flapping wing mechanism includes a bevel crank, a three-bar spatial linkage, an inner wing linkage, a two-bar spatial linkage and an outer wing linkage; One end of the bevel crank is rotatably mounted on the frame, forming a first revolute joint, and the bevel teeth of the bevel crank mesh with a small bevel gear. The other end forms a second revolute joint with the first end of the spatial three-link rod. The second end of the spatial three-link rod forms a third revolute joint with the second end of the inner wing rod. The first end of the inner wing rod is rotatably connected to the inner wing rod fixing frame, forming a fourth revolute joint. The third end of the inner wing rod forms a fifth revolute joint with the first end of the outer wing rod. The second end of the outer wing rod forms a sixth revolute joint with the second end of the spatial two-link rod. The first end of the spatial two-link rod forms a seventh revolute joint with the third end of the spatial three-link rod. The rotation axes of the third, fifth, sixth, and seventh revolute joints intersect at a single point in space.

[0007] The transmission system includes a drive motor, a small spur gear, a large spur gear, a drive shaft, and a small bevel gear; The drive motor is fixed to the frame through the motor mounting hole, and the small spur gear is mounted on the output shaft of the drive motor; the transmission shaft is mounted on the frame; there are two large spur gears, which are mounted on the transmission shaft and rotate synchronously with the transmission shaft, and the large spur gears mesh with the small spur gears; there are two small bevel gears, which are mounted on the left and right ends of the transmission shaft and rotate synchronously with the transmission shaft.

[0008] The tail fin module includes a yaw servo, a servo output shaft, a tail fin connecting plate, a tail fin connecting frame, a tail fin frame, and an adjustable pitch joint; The yaw servo is fixedly mounted on the frame; the tail fin connecting plate is fixedly connected to the servo's output shaft to maintain synchronous rotation; the tail fin connecting plate is fixedly installed with the tail fin connecting frame; the tail fin connecting frame and the tail fin frame form an adjustable pitch joint.

[0009] The frame includes a frame body, an inner wing rod fixing frame arranged in front of the frame body, a crank support rod passing through the front and rear of the frame body, a drive shaft support rod arranged inward of the frame body, a stabilizing support rod inclined inside the frame body, a motor mounting frame arranged in front of the frame body, a drive shaft mounting frame arranged in front of the frame body, a pinion positioning plate arranged in front of the frame body, a servo mounting frame arranged behind the frame body, a fuselage support rod arranged behind the frame body, and a drive shaft limiting frame arranged in front of the frame body. The frame body has connecting bracket mounting holes on both sides at the center; the inner wing rod fixing bracket has inner wing rod mounting holes; the crank support rod has crank mounting holes; the drive shaft support rod has drive shaft mounting holes; the motor mounting bracket has motor mounting holes; the drive shaft mounting bracket has drive shaft support holes; the pinion positioning plate has pinion positioning holes; the servo mounting bracket has servo mounting holes; the rear sides of the frame body have fuselage weight reduction holes; and the drive shaft limiting bracket has drive shaft limiting holes.

[0010] The advantages of this invention compared to existing technologies are as follows: This invention employs a single-motor driven, symmetrically arranged spatial six-bar flapping wing mechanism. This mechanism couples the flapping motion of the wings with the torsional motion of the outer wings, achieving active torsional motion of the wingtips during flight through the deformation of the membranous wings. Specifically, during the wing-down flapping phase, the aircraft twists the wingtips downward and extends the wings to generate lift and thrust; during the lift phase, the wingtips twist upward and are accompanied by a certain degree of wing folding, reducing flight drag and improving the aerodynamic performance of the biomimetic flapping wing aircraft. Attached Figure Description

[0011] Figure 1 A schematic diagram of one embodiment of a high-performance integrated biomimetic flapping-wing aircraft provided by the present invention. Figure 2 A schematic diagram of the transmission system of a high-performance integrated bionic flapping-wing aircraft provided by the present invention. Figure 3 A schematic diagram of the spatial six-bar flapping wing mechanism of a high-efficiency integrated biomimetic flapping wing aircraft provided by the present invention. Figure 4 A schematic diagram of the tail fin module of a high-performance integrated bionic flapping-wing aircraft provided by the present invention. Figure 5 A schematic diagram of the frame structure of a high-performance integrated bionic flapping-wing aircraft provided by the present invention. The components include: 1. Frame; 100. Frame body; 101. Connecting bracket mounting hole; 102. Inner wing rod mounting hole; 103. Inner wing rod fixing bracket; 104. Crank support rod; 105. Crank mounting hole; 106. Drive shaft support rod; 107. Drive shaft mounting hole; 108. Stabilizing support rod; 109. Motor mounting bracket; 110. Motor mounting hole; 111. Drive shaft mounting bracket; 112. Drive shaft support hole; 113. Pinion positioning plate; 114. Pinion positioning hole; 115. Servo mounting bracket; 116. Servo mounting hole; 117. Fuselage support rod; 118. Fuselage weight reduction hole; 119. Drive shaft limiting bracket; 120. Drive shaft limiting hole; 2. Transmission system; 201. Drive motor; 202. Small spur gear; 203. Large spur gear; 204. Drive shaft; 205. Small bevel gear; 3. Spatial six-bar flapping wing mechanism; 301. Bevel crank; 302. Spatial three-link; 303. Inner wing link; 304. Spatial two-link; 305. Outer wing link; 306. First revolute joint; 307. Second revolute joint; 308. Third revolute joint; 309. Fourth revolute joint; 310. Fifth revolute joint; 311. Sixth revolute joint; 312. Seventh revolute joint; 4. Tail wing module; 401. Yaw servo; 402. Servo output shaft; 403. Tail wing connecting plate; 404. Tail wing connecting frame; 405. Tail wing frame; 406. Adjustable pitch joint. Detailed Implementation

[0012] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0013] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0014] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0015] like Figure 1 As shown, a high-performance integrated bionic flapping-wing aircraft includes a frame 1, a transmission system 2, two sets of spatial six-bar flapping-wing mechanisms 3, and a tail module 4; the tail module 4 is mounted on the fuselage 4, the transmission system 2 is mounted on the frame 1, and the transmission system 2 drives the small bevel gear 205 to rotate through gear transmission.

[0016] like Figure 2 As shown, the transmission system 2 includes a drive motor 201, a small spur gear 202, two large spur gears 203, a transmission shaft 204, and two small bevel gears 205. The drive motor 201 is fixed to the frame 1 through the motor mounting hole. The small spur gear 202 is mounted on the drive motor 201. The transmission shaft 204 is mounted on the frame 1. The large spur gears 203 are mounted on the transmission shaft 204 and rotate synchronously with the transmission shaft 204. The large spur gears 203 mesh with the small spur gears 202. The small bevel gears 205 are mounted on the left and right ends of the transmission shaft 204 and rotate synchronously with the transmission shaft 204.

[0017] like Figure 3 As shown, two sets of spatial six-bar flapping wing mechanisms 3 with identical structural form, connection method, and transmission method include a bevel crank 301, a spatial three-link 302, an inner wing rod 303, a spatial two-link 304, and an outer wing rod 305. One end of the bevel crank 301 is rotatably mounted on the frame 1, forming a first revolute joint 306, and the bevel teeth of the bevel crank 301 mesh with a small bevel gear 205, thereby driving the crank to rotate a full circle. The other end forms a second revolute joint 307 with the first end of the spatial three-link 302. The second end of the spatial three-link 302 forms a third revolute joint 308 with the second end of the inner wing rod 303. The first end of the inner wing rod 303 is rotatably connected to the inner wing rod fixing frame 103, forming a fourth revolute joint 309. The third end forms a fifth revolute joint 310 with the first end of the outer wing rod 305; the second end of the outer wing rod 305 forms a sixth revolute joint 311 with the second end of the spatial second rod 304; the first end of the spatial second rod 304 forms a seventh revolute joint 312 with the third end of the spatial third rod 302; the rotation axes of the third revolute joint 308, the fifth revolute joint 310, the sixth revolute joint 311, and the seventh revolute joint 312 intersect at a point in space; the bevel crank 301, the spatial third rod 302, the inner wing rod 303, the spatial second rod 304, the outer wing rod 305, and a portion of the frame 1 form two closed loops, constituting a spatial six-bar flapping wing mechanism 3; the inner wing rod 303 and the outer wing rod 305 extend rearward to form a wing vein skeleton, on which a polyester film is then adhered.

[0018] like Figure 4 As shown, the tail module 4 includes a yaw servo 401, a servo output shaft 402, a tail connecting plate 403, a tail connecting frame 404, a tail frame 405, and an adjustable pitch joint 406. The yaw servo 401 is fixedly mounted on the frame 1. The tail connecting plate 403 is fixedly connected to the servo output shaft 402 and rotates synchronously. The tail connecting plate 403 is fixedly mounted to the tail connecting frame 404. The tail connecting frame 404 and the tail frame 405 form an adjustable pitch joint 406, which allows manual adjustment of the tail pitch angle. The yaw servo 401 can drive the tail frame 405 to swing left and right in the symmetrical direction of the frame 1, thereby controlling the yaw state of the aircraft.

[0019] like Figure 5 As shown, the frame 1 includes a frame body 100, an inner wing rod fixing bracket 103 arranged in front of the frame body 100, a crank support rod 104 passing through the front and rear of the frame body 100, a drive shaft support rod 106 arranged inward of the frame body 100, a stabilizing support rod 108 placed obliquely inside the frame body 100, a motor mounting bracket 109 arranged in front of the frame body 100, a drive shaft mounting bracket 111 arranged in front of the frame body 100, a pinion positioning plate 113 arranged in front of the frame body 100, a servo mounting bracket 115 arranged behind the frame body 100, a fuselage support rod 117 arranged behind the frame body 100, and a drive shaft limiting bracket 119 arranged in front of the frame body 100. The frame body 100 has connecting bracket mounting holes 101 at the center of both sides; the inner wing rod fixing bracket 103 has an inner wing rod mounting hole 102; the crank support rod 104 has a crank mounting hole 105; the drive shaft support rod 106 has a drive shaft mounting hole 107; the motor mounting bracket 109 has a motor mounting hole 110; the drive shaft mounting bracket 111 has a drive shaft support hole 112; the pinion positioning plate 113 has a pinion positioning hole 114; the servo mounting bracket 115 has a servo mounting hole 116; the frame body 100 has fuselage weight reduction holes 118 on both rear sides; and the drive shaft limiting bracket 119 has a drive shaft limiting hole 120.

[0020] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A high-performance integrated biomimetic flapping-wing aircraft, characterized in that: It includes a frame (1), a transmission system (2), a spatial six-bar flapping wing mechanism (3), and a tail wing module (4); the tail wing module (4) is mounted on the frame (1); the transmission system (2) is mounted on the frame (1); the transmission system (2) drives a small bevel gear (205) to rotate through gear transmission; The six-bar flapping wing mechanism (3) has two sets, with the same structure, connection method and transmission method, and is installed on the left and right sides of the frame (1) respectively; the six-bar flapping wing mechanism (3) includes a bevel crank (301), a three-bar spatial linkage (302), an inner wing linkage (303), a two-bar spatial linkage (304) and an outer wing linkage (305). One end of the bevel crank (301) is rotatably mounted on the frame (1) to form a first revolute joint (306), and the bevel teeth of the bevel crank (301) mesh with the small bevel gear (205). The other end forms a second revolute joint (307) with the first end of the spatial three-link rod (302). The second end of the spatial three-link rod (302) forms a third revolute joint (308) with the second end of the inner wing rod (303). The first end of the inner wing rod (303) is rotatably connected to the inner wing rod fixing frame (103) to form a fourth revolute joint (309). The third end of the inner wing rod (303) and the first end of the outer wing rod (305) form a fifth revolute joint (310); the second end of the outer wing rod (305) and the second end of the spatial second rod (304) form a sixth revolute joint (311); the first end of the spatial second rod (304) and the third end of the spatial third rod (302) form a seventh revolute joint (312); the rotation axes of the third revolute joint (308), the fifth revolute joint (310), the sixth revolute joint (311) and the seventh revolute joint (312) intersect at a point in space.

2. The high-performance integrated bionic flapping-wing aircraft according to claim 1, characterized in that: The transmission system (2) includes a drive motor (201), a small spur gear (202), a large spur gear (203), a transmission shaft (204), and a small bevel gear (205). The drive motor (201) is fixed on the frame (1) through the motor mounting hole. The small spur gear (202) is mounted on the output shaft of the drive motor (201). The transmission shaft (204) is mounted on the frame (1). There are two large spur gears (203), which are mounted on the transmission shaft (204) and rotate synchronously with the transmission shaft (204). The large spur gears (203) mesh with the small spur gears (202). There are two small bevel gears (205), which are mounted on the left and right ends of the transmission shaft (204) and rotate synchronously with the transmission shaft (204).

3. The high-performance integrated bionic flapping-wing aircraft according to claim 1, characterized in that: The tail fin module (4) includes a yaw servo (401), a servo output shaft (402), a tail fin connecting plate (403), a tail fin connecting frame (404), a tail fin skeleton (405), and an adjustable pitch joint (406). The yaw servo (401) is fixedly mounted on the frame (1); the tail fin connecting plate (403) is fixedly connected to the servo output shaft (402) and rotates synchronously; the tail fin connecting plate (403) is fixedly installed with the tail fin connecting frame (404); the tail fin connecting frame (404) and the tail fin frame (405) form an adjustable pitch angle joint (406).

4. The high-performance integrated bionic flapping-wing aircraft according to claim 1, characterized in that: The frame (1) includes a frame body (100), an inner wing rod fixing bracket (103) arranged in front of the frame body (100), a crank support rod (104) passing through the front and rear of the frame body (100), a drive shaft support rod (106) arranged inward of the frame body (100), a stabilizing support rod (108) placed obliquely inside the frame body (100), a motor mounting bracket (109) arranged in front of the frame body (100), a drive shaft mounting bracket (111) arranged in front of the frame body (100), a pinion positioning plate (113) arranged in front of the frame body (100), a servo mounting bracket (115) arranged behind the frame body (100), a fuselage support rod (117) arranged behind the frame body (100), and a drive shaft limiting bracket (119) arranged in front of the frame body (100). The frame body (100) has connecting bracket mounting holes (101) on both sides of the middle; the inner wing rod fixing bracket (103) has an inner wing rod mounting hole (102); the crank support rod (104) has a crank mounting hole (105); the drive shaft support rod (106) has a drive shaft mounting hole (107); the motor mounting bracket (109) has a motor mounting hole (110); the drive shaft mounting bracket (111) has a drive shaft support hole (112); the pinion positioning plate (113) has a pinion positioning hole (114); the servo mounting bracket (115) has a servo mounting hole (116); the frame body (100) has fuselage weight reduction holes (118) on both sides at the rear; and the drive shaft limiting bracket (119) has a drive shaft limiting hole (120).

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