Flapping wing air vehicle with foldable wings

Abstract

The ornithopter comprises a main beam, folding and unfolding steering engines are symmetrically installed on the two sides of the main beam, and humerus assemblies and second connecting rods located below the humerus assemblies are arranged on the two sides of the main beam; a radius component is movably connected to one end, far away from the main beam, of the humerus component; one end of the second connecting rod away from the girder is movably connected with a first connecting rod; the radius assembly is movably connected with the first connecting rod through the wing rib assembly, a parallelogram-shaped folding and unfolding structure is formed, the folding and unfolding steering engine is connected to the second connecting rod through the driving assembly, and the folding and unfolding steering engine can drive the folding and unfolding structure to fold and unfold. The wing ribs and the radius form a parallelogram folding and unfolding structure, the strength of the radius is enhanced, the whole folding and unfolding structure is movably connected, the folding and unfolding structure is driven to move smoothly and is not prone to being blocked, the driving stroke of the steering engines is short, folding and unfolding response is fast, the wings on the two sides are independently controlled by the steering engines to be folded and unfolded, and rapid steering of the ornithopter can be achieved. And the flying capability of the folding and unfolding wings is improved.

Description

Technical Field

[0001] The invention relates to the technical field of flapping-wing aircraft, and in particular to a flapping-wing aircraft with foldable wings. Background Art

[0002] In recent years, the rapid development of science and technology has greatly expanded the scope of human activities, giving rise to the demand for high-performance sea, land and air unmanned systems for various auxiliary operations. Flapping-wing aircraft have set off a research boom with their bionic characteristics and high energy utilization. For flapping-wing aircraft, the flight performance of the wings is an important factor affecting the flight state of flapping-wing aircraft. At present, large flapping-wing aircraft turn in the air by generating a deflection torque through the deflection of the tail wing, but this method has a delay, and the direction change of flapping-wing aircraft is not so flexible, resulting in a long period of training required for control.

[0003] Patent announcement number CN107719665B, patent name flapping-wing aircraft wing and flapping-wing aircraft prior art, specifically discloses "including a first link assembly, the first link assembly includes a first link, a second link, a connection of the first link, a first hinge and a second hinge; a second link assembly, the second link assembly includes a third link and a fourth link; a drive link, including a connection of the drive link; the second hinge is located between the connection of the first link and the first hinge; the first link assembly also includes a fifth link, a sixth link and a telescopic link. Through the above structural arrangement, the aircraft structure is compact and can carry a larger weight than previous bionic aircraft; and is closer to the flight movements of birds." The above technology also uses the left and right swing of the tail to generate a deflection torque to achieve the turning of the flapping-wing aircraft. The deflection torque generated by the tail is used to change the direction, which has the problems of delay and slow response time, and the direction of navigation needs to be constantly corrected to stabilize the direction of the flapping-wing aircraft. Summary of the invention

[0004] The technical problem to be solved by the present invention is: how to solve the problem of delay in direction change of a flapping-wing aircraft.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A flapping-wing aircraft with foldable wings comprises a main beam, foldable steering gears are symmetrically mounted on both sides of the main beam, humeral components and connecting rod 2 located below the humeral components are arranged on both sides of the main beam;

[0007] One end of the humeral component away from the main beam is movably connected to the radius component;

[0008] One end of the connecting rod 2 away from the main beam is movably connected with the connecting rod 1;

[0009] The radius component and the connecting rod 1 are movably connected through the wing rib component to form a parallelogram-shaped folding structure, wherein the folding steering gear is connected to the connecting rod 2 through the driving component, and the folding steering gear can drive the folding structure to fold.

[0010] The present application sets a servo, a humeral assembly, a radial assembly, a wing-rib assembly and a connecting rod, wherein the wing-rib and the radius form a folding and unfolding structure of a parallelogram structure, which enhances the strength of the radius and is movably connected as a whole, drives the folding and unfolding structure to move smoothly without getting stuck, has a short servo drive stroke, and uses servos on both sides of the wings to individually control the folding and unfolding, so that the flapping-wing aircraft can achieve rapid turning and improve the flight ability of the folding wings. The present application generates a deflection torque by folding and unfolding to change the flight direction of the flapping-wing aircraft. Since the deflection torque generated by the folding and unfolding of the wings has a fast response and a low delay, the flapping-wing aircraft can achieve rapid turning.

[0011] As a further solution of the present invention: the rib assembly includes rib one, rib two, rib three and rib four, each of which has an end movably connected to the radial assembly, wherein the other ends of rib one, rib two, rib three and rib four are movably connected to connecting rod one.

[0012] As a further solution of the present invention: the connecting rod 1 is arranged parallel to the radial component.

[0013] As a further solution of the present invention: an intermediate support plate is movably connected above the connection position between the radial component and the humeral component, and is movably connected to the second connecting rod through a connecting rod below.

[0014] As a further solution of the present invention: the wing rib assembly also includes a wing rib five, the top of the wing rib five is movably connected to the bottom of the humeral assembly, a slide groove is provided on the wing rib five, a guide rod is provided on the connecting rod two, the guide rod is installed in the slide groove on the wing rib five, and can slide in the slide groove.

[0015] As a further solution of the present invention: the driving assembly includes a crank-connecting rod structure connected to the folding and unfolding servo, the crank-connecting rod structure is connected to connecting rod three, the top of connecting rod three is movably connected to the bottom of the humeral assembly, and the lower position of connecting rod three is movably connected to an end of connecting rod two close to the main beam.

[0016] As a further solution of the present invention: the crank-connecting rod structure includes a steering gear crank connected to the steering gear output shaft, and the other end of the steering gear crank is connected to the steering gear connecting rod; guide spindles parallel to the main beam are arranged on both sides of the main beam, and a folding slider and a driving slider are slidably connected to the outer side of the guide spindle, wherein the driving slider is installed on the inner side of the folding slider; the other end of the steering gear connecting rod is connected to the driving slider, and the bottom of the connecting rod three is movably connected to the folding slider.

[0017] As a further solution of the present invention: wings are installed on the humeral component and the radial component, and a power component is installed on the main beam, wherein the power component controls the flapping of the wings on the humeral component through a swing component.

[0018] As a further solution of the present invention: the power assembly includes two sets of gear groups symmetrically installed on the main beam, the gear groups are driven by a motor arranged on the main beam, the output shaft of the gear groups is connected to a driving coupling through a crank, wherein the end of the driving coupling is connected to a Y-shaped swivel block, and the end of the Y-shaped swivel block is movably connected to one end of the humeral assembly close to the main beam.

[0019] As a further solution of the present invention: swing main shafts parallel to the main beam are arranged on both sides of the main beam, the ends of the Y-shaped rotating block can be slidably connected and sleeved on the swing main shaft, and the gear set can drive the Y-shaped rotating block to swing back and forth by driving the connecting shaft.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present application sets a servo, a humerus assembly, a radius assembly, a wing rib assembly and a connecting rod, wherein the wing rib and the radius form a folding and unfolding structure of a parallelogram structure, which enhances the strength of the radius, is integrally movably connected, drives the folding and unfolding structure to move smoothly and is not prone to jamming, has a short servo drive stroke, and uses servos to individually control the folding and unfolding of the wings on both sides, so that the flapping-wing aircraft can achieve rapid steering and improve the flight ability of the folding wings. The present application generates a deflection torque by folding and unfolding to change the flight direction of the flapping-wing aircraft. Since the deflection torque generated by the folding and unfolding of the wings has a fast response and a low delay, the flapping-wing aircraft can achieve rapid steering;

[0022] 2. In the present application, wing ribs 1, wing ribs 2, wing ribs 3 and wing ribs 4 are arranged between the radius component and the connecting rod 1, and wing ribs 5 are also arranged between the humerus component and the connecting rod 2. The five wing ribs are connected in sequence, which can greatly improve the strength and stability of the radius and the humerus. The radius component is arranged in parallel with the connecting rod 1, and the four wing ribs are connected in sequence to form a parallelogram folding and unfolding structure. This structure can make the folding and unfolding process smoother, thereby improving the flight ability of the folded and unfolded wings;

[0023] 3. The present application installs wings on the humeral component and the radial component, and one end of the humeral component drives the Y-shaped turn block to swing through the power component. The up and down reciprocating swing of the Y-shaped turn block around the swing axis is converted into the up and down reciprocating swing of the wing, thereby realizing the up and down flapping of the wing, providing flight power for the flapping-wing aircraft, and the folding and unfolding servo and the power component are independent of each other, so the flapping of the wing and the folding and unfolding of the wing are independently controlled and do not affect each other, thereby preventing damage from causing the two functions to fail completely. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the flapping-wing aircraft when the wings are unfolded according to an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of a part of the structure of the flapping-wing aircraft when the wings are unfolded according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the flapping-wing aircraft in flight according to an embodiment of the present invention;

[0027] Figure 4 For the embodiment of the present invention Figure 3 A magnified view of area A in;

[0028] Figure 5 It is a partial structural schematic diagram of a flapping-wing aircraft according to an embodiment of the present invention;

[0029] Figure 6 For the embodiment of the present invention Figure 5 A partial enlarged view of the

[0030] Figure 7 This is a schematic diagram of the structure of the bottom of a flapping-wing aircraft according to an embodiment of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the flapping-wing aircraft in the embodiment of the present invention when it is partially retracted;

[0032] Fig. 9 The present invention is a flowchart of the flapping-wing aircraft steering process;

[0033] Description of reference numerals:

[0034] 1. Left wing; 2. Power assembly; 3. Right wing; 4. Right folding servo; 5. Main beam; 6. Left folding servo; 7. Y-shaped turn block; 8. Swing spindle; 9. Humerus assembly; 10. Middle support plate; 11. Radius assembly; 12. Wing rib one; 13. Connecting rod one; 14. Wing rib two; 15. Wing rib three; 16. Wing rib four; 17. Connecting rod two; 18. Wing rib five; 19. Connecting rod three; 20. Guide spindle; 21. Drive slider; 22. Folding slider; 23. Servo connecting rod; 24. Servo crank; 25. Guide rod; 26. Drive coupling; 27. Gear set. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Reference Figure 1 and Figure 8 , a flapping-wing aircraft with foldable wings, the wing structure has high strength, a wingspan of up to 2 meters, and a strong load capacity; it includes a left wing 1, a power assembly 2, a right wing 3, a right folding steering gear 4, a main beam 5, and a left folding steering gear 6; wherein the main beam 5 is vertically placed in the middle position, the power assembly 2 is installed at the upper position of the main beam 5, the left folding steering gear 6 and the right folding steering gear 4 are respectively installed on the left and right sides of the main beam 5, and the left wing 1 and the right wing 3 are respectively located on the left and right sides of the main beam 5. The present application can control the swing of the left wing 1 and the right wing 3 through the power assembly 2, and the left folding steering gear 6 and the right folding steering gear 4 respectively control the folding and expansion of the left wing 1 and the right wing 3.

[0037] The present application can set a driver and a controller on the flapping-wing aircraft. The driver can control the operation of the power assembly 2, the left folding servo 6 and the right folding servo 4. The controller controls the operation of the driver. The staff can remotely operate the operation of the controller through a remote controller, and then remotely control the power assembly 2 to drive the wings to flap, and remotely control the left folding servo 6 and the right folding servo 4 to drive the wings to fold, thereby realizing the flight and turning of the flapping-wing aircraft in the air.

[0038] Reference Figure 2 and Figure 5 , humeral components 9 are arranged on both sides of the main beam 5, wherein the humeral component 9 has a hole on one side away from the main beam 5 and is connected to the radial component 11 by a plug screw, and the humeral component 9 and the radial component 11 can both rotate around the plug screw; the intermediate support plate 10 is inserted into one end of the radial component 11 connected to the humeral component 9, and the intermediate support plate 10 can also rotate around the plug screw;

[0039] The right wing 3 is installed above the humeral component 9 and the radial component 11 located on the right side of the main beam 5; similarly, the left wing 1 is installed above the humeral component 9 and the radial component 11 located on the left side of the main beam 5.

[0040] Reference Figure 2 and Figure 5 A connecting rod 2 17 is provided on both sides of the main beam 5 and below the humeral assembly 9. The connecting rod 2 17 has a hole on one side away from the main beam 5 and is connected to the connecting rod 1 13 by a plug screw. Both the connecting rod 1 13 and the connecting rod 2 17 can rotate around the plug screw.

[0041] Furthermore, the connecting rod 13 is arranged parallel to the radial component 11, and a rib 12, a rib 2 14, a rib 3 15 and a rib 4 16 are installed therebetween, wherein one end of the rib 12, the rib 2 14, the rib 3 15 and the rib 4 16 are fixed to the radial component 11 by a plug screw and can rotate around the plug screw, and the other end is fixed to the connecting rod 13 by a plug screw and can rotate around the plug screw. It should also be noted that the above-mentioned rib 12, the rib 2 14, the rib 3 15 and the rib 4 16 are parallel to each other, and the distance between the two fixing plug screws on the ribs is also the same; the connecting rod 13 and the radial component 11 can be assembled into a parallelogram structure through the ribs.

[0042] Furthermore, a connecting rod extends from the position where the radial component 11 is connected to the humeral component 9. The connecting rod is connected to the upper part of the connecting rod 2 17 near the middle position by a plug screw, and can also rotate around the plug screw. One end of the connecting rod 2 17 is connected to one end of the connecting rod 1 13 by a plug screw, and can rotate with each other. The other end of the connecting rod 2 17 is connected to the middle part of the connecting rod 3 19 by a plug screw and can rotate with each other. At the same time, the bottom of the humeral component 9 is also connected to the wing rib 5 18 by a plug screw, and the top of the connecting rod 2 17 and the side of the connecting rod close to the main beam 5 are provided with a guide rod 25 (refer to Figure 4 ), the guide rod 25 can be slidably connected in the slide groove provided on the wing rib five 18, so when the wing is folded, the positions of the humeral assembly 9 and the connecting rod two 17 change accordingly, and the guide rod 25 can slide in the slide groove provided on the wing rib five 18.

[0043] Reference Figure 2 , Figure 5 and Figure 6 The top of the connecting rod 3 19 is connected to the middle position of the bottom of the humeral component 9 by a plug screw, and can rotate with each other, and is connected to the wing rib 5 18 at one place. A protrusion is set at the bottom position of the connecting rod 3 19, and the protrusion is connected to the end of the connecting rod 2 17 close to the main beam 5 by a plug screw, and can rotate with each other; and the bottom of the connecting rod 3 19 is connected to the folding slider 22 by a plug screw, and can rotate with each other. A driving slider 21 is installed inside the folding slider 22, and the driving slider 21 is embedded in the folding slider 22 and assembled coaxially on the guide main shaft 20; the driving slider 21 is embedded in the folding slider 22 and assembled coaxially on the guide main shaft 20, and the guide main shaft 20 is installed on both sides of the main beam 5 through a connecting rod, and is arranged parallel to the main beam 5. At the same time, a support rod is also provided on one side of the guide main shaft 20, and the support rod is arranged parallel to the guide main shaft 20;

[0044] Taking the right folding servo 4 as an example, the output shaft of the right folding servo 4 is connected to a servo crank 24, wherein the other end of the servo crank 24 is movably connected to a servo connecting rod 23, and the other end of the servo connecting rod 23 is connected to the driving slider 21. Therefore, by controlling the right folding servo 4, the servo crank 24 can be driven to rotate. When the servo crank 24 rotates, it can drive the servo connecting rod 23 to achieve vertical lifting, thereby driving the driving slider 21 and the folding slider 22 to rise and fall along the guide spindle 20, thereby realizing the folding and unfolding of the humeral component 9, the connecting rod 2 17, the radial component 11 and the connecting rod 1 13.

[0045] It should be noted that the forward and backward movement of the driving slider 21 will drive the forward and backward movement of the folding and unfolding slider 22, thereby driving the connecting rod 3 19 to move, driving the humeral component 9 and the radial component 11 to move, and realizing the folding and unfolding of the wings. The folding and unfolding of the wings is realized by the folding and unfolding servo, the right folding and unfolding servo 4 is connected to the servo crank 24, the servo crank 24 is connected to the servo connecting rod 23 by a plug screw, and the other end of the servo connecting rod 23 is connected to the driving slider 21 by a plug screw.

[0046] Reference Figure 2 and Figure 7 The power assembly 2 includes a gear set 27 and a driving coupling 26 installed at the output end of the gear set 27. The gear set 27 is driven by a motor fixed on the main beam 5, and the other end of the driving coupling 26 is movably connected to the bottom of the Y-shaped swivel block 7. The top two ends of the Y-shaped swivel block 7 are movably connected to the end of the humeral assembly 9 close to the main beam 5, and the end of the humeral assembly 9 close to the main beam 5 is slidably connected to the swing main shaft 8. The swing main shaft 8 is installed on both sides of the main beam 5 through a connecting rod and is arranged parallel to the main beam 5. The swing main shaft 8 is located directly above the guide main shaft 20, and the two are located on the same vertical line. At the same time, the support rod on one side of the guide main shaft 20 is connected to the connecting rod on one side of the swing main shaft 8 to achieve a supporting effect.

[0047] The specific operating principles of this application are as follows:

[0048] When the large-wingspan flapping-wing aircraft is in normal forward flight, the staff can remotely control the controller on the robot through the remote control to issue control instructions. The left folding and unfolding servo 6 and the right folding and unfolding servo 4 are controlled by the controller to make the driving slider 21 move forward through the servo crank 24 and the servo connecting rod 23, and the driving slider 21 drives the folding and unfolding slider 22 to move forward, so that the wings are in the unfolded position and remain in this state. This state can be referred to Figure 1 , the humeral component 9, the radial component 11, the connecting rod 2 17 and the connecting rod 1 13 are all in the deployed state; at the same time, under the control of the controller, the power component 2 drives the Y-shaped rotating block 7 to swing outside the swing main shaft 8 to drive the left and right wings to flap and achieve stable forward flight.

[0049] When turning is required, such as turning to the right, the right folding servo 4 rotates under the control of the controller, controls the driving slider 21 to move backward, drives the folding slider 22 to move backward, and drives the right wing to fold up. When turning to the specified direction, the controller controls the right wing 3 to unfold, and the turning operation can be completed at this time; if turning to the left, the principle is the same as above. This application designs a wing with a wingspan of 2m and a wing that can be folded on one side. This solution simulates the unfolding and folding of bird wings, and realizes the unfolding and folding of wings through a connecting rod structure to generate a deflection torque, thereby realizing the change of the heading direction of the flapping-wing aircraft. The folding of the wings generates a large deflection torque, and the corresponding steering speed is fast, which is conducive to improving the flight efficiency of the flapping-wing aircraft.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flapping-wing aircraft with foldable wings, comprising a main beam (5), characterized in that: The main beam (5) is symmetrically provided with folding and unfolding steering gears on both sides, and a humeral component (9) and a second connecting rod (17) located below the humeral component (9) are provided on both sides of the main beam (5); One end of the humeral component (9) away from the main beam (5) is movably connected to a radial component (11); One end of the second connecting rod (17) away from the main beam (5) is movably connected to the first connecting rod (13); The radial component (11) and the connecting rod 1 (13) are movably connected via a wing rib component to form a parallelogram-shaped folding structure, wherein the folding steering gear is connected to the connecting rod 2 (17) via a driving component, and the folding steering gear can drive the folding structure to fold.

2. A flapping-wing aircraft with foldable wings according to claim 1, characterized in that: The wing rib assembly includes wing rib one (12), wing rib two (14), wing rib three (15) and wing rib four (16), each end of which is movably connected to the radial assembly (11), wherein the other ends of wing rib one (12), wing rib two (14), wing rib three (15) and wing rib four (16) are all movably connected to connecting rod one (13).

3. A flapping-wing aircraft with foldable wings according to claim 2, characterized in that: The connecting rod 1 (13) is arranged parallel to the radial component (11).

4. A flapping-wing aircraft with foldable wings according to claim 1, characterized in that: An intermediate support plate (10) is movably connected to the upper portion of the connection position between the radial component (11) and the humeral component (9), and is movably connected to a second connecting rod (17) via a connecting rod at the lower portion.

5. A flapping-wing aircraft with foldable wings according to claim 2, characterized in that: The wing rib assembly also includes a wing rib five (18), the top of the wing rib five (18) is movably connected to the bottom of the humeral assembly (9), a slide groove is provided on the wing rib five (18), and a guide rod (25) is provided on the connecting rod two (17), and the guide rod (25) is installed in the slide groove on the wing rib five (18) and can slide in the slide groove.

6. A flapping-wing aircraft with foldable wings according to claim 1, characterized in that: The driving assembly comprises a crank-connecting rod structure connected to the folding and unfolding steering gear, the crank-connecting rod structure is connected to a connecting rod three (19), the top of the connecting rod three (19) is movably connected to the bottom of the humeral assembly (9), and the lower position of the connecting rod three (19) is movably connected to an end of the connecting rod two (17) close to the main beam (5).

7. A flapping-wing aircraft with foldable wings according to claim 6, characterized in that: The crank-connecting rod structure comprises a steering gear crank (24) connected to the steering gear output shaft, and the other end of the steering gear crank (24) is connected to the steering gear connecting rod (23); Guide main shafts (20) parallel to the main beam (5) are arranged on both sides of the guide main shaft (20), and a folding and unfolding slider (22) and a driving slider (21) are slidably connected to the outer side of the guide main shaft (20), wherein the driving slider (21) is installed on the inner side of the folding and unfolding slider (22); The other end of the steering gear connecting rod (23) is connected to the driving slider (21), and the bottom of the connecting rod three (19) is movably connected to the folding slider (22).

8. The flapping-wing aircraft with foldable wings according to claim 1, characterized in that: The humeral component (9) and the radial component (11) are equipped with wings, and the main beam (5) is equipped with a power component (2), wherein the power component (2) controls the flapping of the wings on the humeral component (9) through a swing component.

9. A flapping-wing aircraft with foldable wings according to claim 8, characterized in that: The power assembly (2) comprises two sets of gear sets (27) symmetrically mounted on the main beam (5), the gear sets (27) being driven by a motor arranged on the main beam (5), the output shaft of the gear sets (27) being connected to a driving coupling (26) via a crank, wherein the end of the driving coupling (26) is connected to a Y-shaped rotating block (7), and the end of the Y-shaped rotating block (7) is movably connected to one end of the humeral assembly (9) close to the main beam (5).

10. A flapping-wing aircraft with foldable wings according to claim 8, characterized in that: The two sides of the main beam (5) are provided with swing main shafts (8) parallel thereto, the ends of the Y-shaped rotating block (7) can be slidably connected and sleeved on the swing main shafts (8), and the gear set (27) can drive the Y-shaped rotating block (7) to swing back and forth via the driving shaft (26).

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