Amplitude-variable steering adjusting mechanism and bionic flapping wing aircraft

Abstract

The invention discloses a variable-amplitude steering adjusting mechanism, which relates to the technical field of aircrafts, and comprises a rack, two flapping wing rods, a swing driving assembly, a swing driving assembly and a swing amplitude adjusting assembly, the two flapping wing rods are movably arranged relative to the rack, and the two flapping wing rods are used for being connected with the two bionic flapping wings respectively; the swing driving assembly is arranged on the rack and connected with the two flapping wing rods, and the swing driving assembly is used for driving the two flapping wing rods to swing; the steering adjusting assembly is arranged on the rack and can adjust the flapping wing angles of the two flapping wing rods; the swing amplitude adjusting assembly is arranged on the rack and connected with the two flapping wing rods, and the swing amplitude adjusting assembly can adjust the swing amplitudes of the two flapping wing rods respectively. The variable-amplitude steering adjusting mechanism provided by the invention can improve the flexibility of the aircraft. The invention further provides a bionic flapping wing aircraft comprising the amplitude-variable steering adjusting mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, and in particular to a variable amplitude steering adjustment mechanism and a bionic flapping-wing aircraft. Background Art

[0002] Bionic flapping-wing aircraft is a new concept aircraft that imitates biological flight. It has the advantages of high bionics, high efficiency and good maneuverability. The bionic flapping-wing aircraft can utilize the vortex effect of the air by adjusting the flapping movement of its wings, so it has strong maneuverability and a greater lift-to-drag ratio and flight efficiency. However, existing bionic flapping-wing aircraft can usually only achieve turning, resulting in low flexibility of the aircraft. Summary of the invention

[0003] The purpose of the present invention is to provide a variable amplitude steering adjustment mechanism and a bionic flapping-wing aircraft to solve the problems existing in the above-mentioned prior art and to improve the flexibility of the aircraft.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a variable amplitude steering adjustment mechanism, comprising a frame, two flapping wing rods, a swing drive assembly, a swing drive assembly and a swing amplitude adjustment assembly; the two flapping wing rods are movably arranged relative to the frame, and the two flapping wing rods are used to respectively connect two bionic flapping wings; the swing drive assembly is arranged on the frame and connected to the two flapping wing rods, and the swing drive assembly is used to drive the two flapping wing rods to swing; the steering adjustment assembly is arranged on the frame, and the steering adjustment assembly can adjust the flapping angles of the two flapping wing rods; the swing amplitude adjustment assembly is arranged on the frame and connected to the two flapping wing rods, and the swing amplitude adjustment assembly can respectively adjust the swing amplitudes of the two flapping wing rods.

[0006] Preferably, the swing drive assembly includes a swing drive member, a transmission rod and a steering adjustment rod; the swing drive member and the steering adjustment rod are arranged on the frame, the swing drive member is connected to the transmission rod, the transmission rod is slidingly connected to the steering adjustment rod, and the two flapping wing rods are arranged on both sides of the transmission rod and are rotatably connected to the transmission rod; the swing drive member can drive the transmission rod to move reciprocatingly relative to the steering adjustment rod along the length direction of the steering adjustment rod, so that the two flapping wing rods can swing relative to the transmission rod in coordination with the force corresponding to the bionic flapping wings.

[0007] Preferably, the steering adjustment rod is provided with a first guide slot extending along the length direction, and the transmission rod can slide into the first guide slot.

[0008] Preferably, the transmission rod includes a first rod and a second rod fixedly connected side by side, one end of the first rod is connected to the swing drive member, and the two flapping-wing rods are rotatably connected to the second rod; one end of the first rod and the second rod both slide and extend into the first guide slot.

[0009] Preferably, the steering adjustment assembly includes a steering drive, which is fixedly arranged on the frame, and the steering adjustment rod is rotatably arranged on the frame. The steering drive is connected to the steering adjustment rod, and the steering drive can drive the steering adjustment rod to rotate and fix around an axis parallel to the flight direction.

[0010] Preferably, the swing driving component includes a swing driving motor, a driving gear, a transmission gear and a driving rod, the swing driving motor is fixedly arranged on the frame, the transmission gear is rotatably connected to the frame, the output end of the swing driving motor is fixedly connected to the driving gear, the driving gear is meshingly connected to the transmission gear, one end of the driving rod is eccentrically rotationally connected to the transmission gear, and the other end of the driving rod is rotatably connected to the transmission rod; the swing driving motor can drive the driving gear to rotate, and drive the driving rod to rotate eccentrically through the transmission gear, so as to drive the transmission rod to reciprocate and move linearly.

[0011] Preferably, the swing amplitude adjustment assembly includes two swing amplitude adjustment devices, which are respectively connected to the two flapping-wing rods and can adjust the swing amplitude of the corresponding flapping-wing rods.

[0012] Preferably, each of the swing adjustment devices includes a swing drive motor and a swing adjustment rod, the swing drive motor is fixedly arranged on the frame, the lower end of the swing adjustment rod is rotatably connected to the frame, and the upper end of the swing adjustment rod is rotatably connected to the corresponding flapping wing rod and can slide relative to the flapping wing rod along the length direction of the flapping wing rod; the swing drive motor is used to drive the swing adjustment rod to rotate and fix around an axis parallel to the flight direction, so as to adjust the rotational connection position of the swing adjustment rod and the flapping wing rod.

[0013] Preferably, each of the flapping-wing rods is provided with a second guide slot extending along the length direction, and the end of the swing-amplitude adjusting rod away from the frame can be movably connected to the second guide slot.

[0014] The present invention also provides a bionic flapping-wing aircraft, comprising two bionic flapping wings and the variable amplitude steering adjustment mechanism as described above, wherein the two bionic flapping wings are respectively connected to two flapping-wing rods of the variable amplitude steering adjustment mechanism.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The present invention provides a variable amplitude steering adjustment mechanism, which drives two flapping-wing rods to swing through a swing driving component, which can drive the bionic flapping wings to swing and realize the flight of the aircraft; the steering adjustment component can adjust the flapping angles of the two flapping-wing rods, so that the two flapping-wing rods are tilted from a symmetrical state along a vertical plane to a symmetrical state along an inclined plane, so that the flapping angle changes, the two flapping-wing rods tilt to one side, and under the lift coupling effect of the two bionic flapping wings, the steering of the aircraft is realized; in addition, the amplitude adjustment component can also adjust the swing amplitudes of the two flapping-wing rods respectively, and then adjust the lift of the two bionic flapping wings respectively, which can further improve the flexibility of the aircraft; in this way, the swing control, angle control and amplitude control of the flapping-wing rods are performed, and the control flexibility of the aircraft is improved.

[0017] The present invention also provides a bionic flapping-wing aircraft, which couples two flapping-wing rods through a variable amplitude steering adjustment mechanism to achieve swing control, angle control and variable amplitude control, thereby improving the maneuverability of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a side axis of the variable amplitude steering adjustment mechanism provided in the first embodiment;

[0020] Figure 2 Another axial schematic diagram of the variable amplitude steering adjustment mechanism provided in the first embodiment;

[0021] Figure 3 A front side schematic diagram of the variable amplitude steering adjustment mechanism provided in Example 1;

[0022] Figure 4 This is an axonometric schematic diagram of the bionic flapping-wing aircraft provided in Example 2.

[0023] In the figure: 1-variable amplitude steering adjustment mechanism; 10-frame; 20-wing flapping rod; 21-second guide chute; 30-swing drive assembly; 31-swing drive member; 311-swing drive motor; 312-drive gear; 313-transmission gear; 314-drive rod; 32-transmission rod; 321-first rod; 322-second rod; 33-steering adjustment rod; 331-first guide chute; 40-steering adjustment assembly; 41-steering drive member; 50-swing amplitude adjustment assembly; 51-swing amplitude drive device; 511-swing amplitude drive motor; 512-swing amplitude adjustment rod; 2-bionic flapping wing. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0025] The purpose of the present invention is to provide a variable amplitude steering adjustment mechanism and a bionic flapping-wing aircraft to solve the problems existing in the above-mentioned prior art and to improve the flexibility of the aircraft.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Embodiment 1

[0028] This embodiment provides a variable amplitude steering adjustment mechanism 1, see Figure 1-Figure 4 , including a frame 10, two flapping-wing rods 20, a swing drive assembly 30, a steering adjustment assembly 40 and a swing amplitude adjustment assembly 50; the two flapping-wing rods 20 are movably arranged relative to the frame 10, and the two flapping-wing rods 20 are used to respectively connect two bionic flapping wings 2; the swing drive assembly 30 is arranged on the frame 10 and connected to the two flapping-wing rods 20, and the swing drive assembly 30 is used to drive the two flapping-wing rods 20 to swing; the steering adjustment assembly 40 is arranged on the frame 10, and the steering adjustment assembly 40 can adjust the flapping angles of the two flapping-wing rods 20; the swing amplitude adjustment assembly 50 is arranged on the frame 10 and connected to the two flapping-wing rods 20, and the swing amplitude adjustment assembly 50 can respectively adjust the swing amplitudes of the two flapping-wing rods 20.

[0029] By driving the two flapping-wing rods 20 to swing through the swing drive component 30, the bionic flapping wings 2 can be driven to swing, thereby realizing the flight of the aircraft; the steering adjustment component 40 can adjust the flapping angles of the two flapping-wing rods 20, so that the two flapping-wing rods 20 are tilted from a symmetrical state along a vertical plane to a symmetrical state along an inclined plane, so that the flapping angle changes, and the two flapping-wing rods 20 tilt to one side, and under the lift coupling effect of the two bionic flapping wings 2, the steering of the aircraft is realized; in addition, the amplitude adjustment component 50 can also adjust the swing amplitude of the two flapping-wing rods 20 respectively, and then adjust the lift of the two bionic flapping wings 2 respectively, which can further improve the flexibility of the aircraft; in this way, the swing control, angle control and amplitude control of the flapping-wing rods 20 are performed, and the control flexibility of the aircraft is improved.

[0030] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 1The swing drive assembly 30 includes a swing drive member 31, a transmission rod 32 and a steering adjustment rod 33; the swing drive member 31 and the steering adjustment rod 33 are arranged on the frame 10, the swing drive member 31 is connected to the transmission rod 32, the transmission rod 32 is slidably connected to the steering adjustment rod 33, and the two flapping wing rods 20 are arranged on both sides of the transmission rod 32 and are rotatably connected to the transmission rod 32; specifically, the swing drive member 31 can drive the transmission rod 32 to move back and forth linearly relative to the steering adjustment rod 33 along the length direction of the steering adjustment rod 33, thereby driving the two flapping wing rods 20 to move up and down, and cooperate with the corresponding force of the bionic flapping wing 2 to make the flapping wing rod 20 rotate relative to the transmission rod 32 to swing.

[0031] In the optional scheme of this embodiment, it is more preferred that a first guide groove 331 extending along the length direction is provided on the steering adjustment rod 33, and the transmission rod 32 can slide into the first guide groove 331; under the guidance of the first guide groove 331, the transmission rod 32 reciprocates in a straight line.

[0032] In the optional scheme of this embodiment, it is more preferred that the transmission rod 32 includes a first rod 321 and a second rod 322 that are fixedly connected side by side, one end of the first rod 321 is connected to the swing drive member 31, and the two flapping-wing rods 20 are rotatably connected to the second rod 322; the first rod 321 and the second rod 322 are arranged side by side along the length direction of the first guide groove 331, and one end of the first rod 321 and the second rod 322 both slide into the first guide groove 331, so that the transmission rod 32 can be prevented from rotating; one end of the two flapping-wing rods 20 is rotatably mounted on the second rod 322; and the axes of the two flapping-wing rods 20 are arranged in the same plane to ensure the overall stability of the aircraft.

[0033] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 The steering adjustment assembly 40 includes a steering drive 41, which is fixedly arranged on the frame 10, and the steering adjustment rod 33 is rotatably arranged on the frame 10. The steering drive 41 is connected to the steering adjustment rod 33, and the steering drive 41 can drive the steering adjustment rod 33 to rotate and fix around an axis parallel to the flight direction; specifically, the steering drive 41 is configured as a driving motor, and the lower end of the steering adjustment rod 33 is configured as an arc surface and is rotatably connected to the frame 10 on the arc surface, and the driving end of the steering drive 41 is fixedly connected to the steering adjustment rod 33.

[0034] Specifically, when the aircraft is in a level flight state, the steering adjustment rod 33 is in a vertical state, and the transmission rod 32 reciprocates linearly up and down. Figure 3 As shown, when steering is required, the steering adjustment rod 33 is driven to rotate by the steering drive member 41. Figure 3The flapping angles of the two flapping-wing rods 20 are changed and fixed by rotating left and right. The flapping angle can be understood as the angle of the axis of the flapping-wing rod 20 relative to the middle vertical plane of the aircraft. When the steering adjustment rod 33 is tilted, the two flapping-wing rods 20 are tilted synchronously. At this time, the linear motion direction of the transmission rod 32 is tilted, so that steering can be achieved through the coupling of the two flapping-wing rods 20.

[0035] In the optional scheme of this embodiment, it is more preferred that the swing driving member 31 includes a swing driving motor 311, a driving gear 312, a transmission gear 313 and a driving rod 314, the swing driving motor 311 is fixedly arranged on the frame 10, the transmission gear 313 is rotatably connected to the frame 10, the output end of the swing driving motor 311 is fixedly connected to the driving gear 312, the driving gear 312 is meshedly connected to the transmission gear 313, one end of the driving rod 314 is eccentrically rotationally connected to the transmission gear 313, and the other end of the driving rod 314 is rotationally connected to the transmission rod 32; wherein, the gear meshing transmission improves stability, one end of the driving rod 314 is eccentrically rotationally connected to the transmission gear 313 through a pin shaft, so that the rotation of the transmission gear 313 can drive the other end of the driving rod 314 to move up and down, and at the same time, even if the steering adjustment rod 33 is tilted, the transmission gear 313 can still drive the transmission rod 43 to reciprocate through the driving rod 314; the transmission gear 313 can also be rotationally connected to the frame 10 through a pin shaft.

[0036] In the optional scheme of this embodiment, it is more preferred that the swing amplitude adjustment component 50 includes two swing amplitude adjustment devices 51, and the two swing amplitude adjustment devices 51 are respectively connected to the two flapping wing rods 20, and can adjust the swing amplitude of the corresponding flapping wing rods 20; by setting two swing amplitude adjustment devices 51, the two flapping wing rods 20 are adjusted separately, thereby improving the flexibility of control.

[0037] In the optional scheme of this embodiment, it is more preferred that each swing adjustment device 51 includes a swing drive motor 511 and a swing adjustment rod 512, the swing drive motor 511 is fixedly arranged on the frame 10, the lower end of the swing adjustment rod 512 is rotatably connected to the frame 10, and the upper end of the swing adjustment rod 512 is rotatably connected to the corresponding flapping wing rod 20 and can slide relative to the flapping wing rod 20 along the length direction of the flapping wing rod 20; specifically, the lower end of the swing adjustment rod 512 is set as an arc surface and is rotatably connected to the frame 10, and the swing drive motor 511 is used to drive the swing adjustment rod 512 to rotate and fix around an axis parallel to the flight direction, that is, Figure 3 The middle driving swing amplitude adjustment rod 512 rotates left and right to adjust the rotation connection position of the swing amplitude adjustment rod 512 and the flapping-wing rod 20, thereby limiting the swing amplitude of the flapping-wing rod 20.

[0038] In the optional scheme of this embodiment, it is more preferred that each flapping wing rod 20 is provided with a second guide slot 21 extending in the length direction, and the end of the swing adjustment rod 512 away from the frame 10 can be movably connected to the second guide slot 21; the upper end of the swing adjustment rod 512 is connected to the second guide slot 21 through a pin shaft; when the swing adjustment rod 512 rotates, the connection position of the upper end of the swing adjustment rod 512 and the second guide slot 21 is as follows Figure 3 In the state shown, when the swing amplitude adjustment rod 512 is driven to rotate inward, the connection position is closer to the inside, and the swing amplitude of the flapping-wing rod 20 increases. Conversely, when it is rotated outward, the connection position is closer to the outside, and the swing amplitude of the flapping-wing rod 20 decreases.

[0039] The swing drive assembly 30, the steering adjustment assembly 40, and the swing amplitude adjustment assembly 50 in the variable amplitude steering adjustment mechanism 1 provided in this embodiment are centrally arranged on the frame 10, with high integration; and a protective cover can be arranged on the frame 10 to protect and fix each drive motor.

[0040] Embodiment 2

[0041] This embodiment provides a bionic flapping-wing aircraft. Figure 4 , including two bionic flapping wings 2 and a variable amplitude steering adjustment mechanism 1 as provided in Example 1, the two bionic flapping wings 2 are respectively connected to the two flapping wing rods 20 of the variable amplitude steering adjustment mechanism 1; the two flapping wing rods 20 are coupled and controlled by the variable amplitude steering adjustment mechanism 1 to realize swing control, angle control and amplitude control, thereby improving the maneuverability of the aircraft.

[0042] Furthermore, the variable amplitude steering adjustment mechanism 1 can be connected to the control mechanism of the bionic flapping-wing aircraft for communication to achieve intelligent control.

[0043] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A variable amplitude steering adjustment mechanism, characterized in that: include: Frame (10); Two flapping-wing rods (20) are movably arranged relative to the frame (10), and the two flapping-wing rods (20) are used to respectively connect the two bionic flapping wings (2); A swing drive assembly (30) is arranged on the frame (10) and connected to the two flapping-wing rods (20), and the swing drive assembly (30) is used to drive the two flapping-wing rods (20) to swing; A steering adjustment component (40) is arranged on the frame (10), and the steering adjustment component (40) is capable of adjusting the flapping angles of the two flapping wing rods (20); and The swing amplitude adjustment component (50) is arranged on the frame (10) and connected to the two flapping-wing rods (20). The swing amplitude adjustment component (50) can adjust the swing amplitudes of the two flapping-wing rods (20) respectively.

2. The variable amplitude steering adjustment mechanism according to claim 1, characterized in that: The swing drive assembly (30) comprises a swing drive member (31), a transmission rod (32) and a steering adjustment rod (33); the swing drive member (31) and the steering adjustment rod (33) are arranged on the frame (10), the swing drive member (31) is connected to the transmission rod (32), the transmission rod (32) is slidably connected to the steering adjustment rod (33), and the two flapping wing rods (20) are arranged on both sides of the transmission rod (32) and are rotatably connected to the transmission rod (32); The swing drive member (31) can drive the transmission rod (32) to move linearly and reciprocatingly relative to the steering adjustment rod (33) along the length direction of the steering adjustment rod (33), so that the two flapping wing rods (20) can swing relative to the transmission rod (32) in coordination with the action force of the corresponding bionic flapping wing (2).

3. The variable amplitude steering adjustment mechanism according to claim 2, characterized in that: The steering adjustment rod (33) is provided with a first guide slot (331) extending along the length direction, and the transmission rod (32) can slide into the first guide slot (331).

4. The variable amplitude steering adjustment mechanism according to claim 3, characterized in that: The transmission rod (32) comprises a first rod (321) and a second rod (322) which are fixedly connected side by side; one end of the first rod (321) is connected to the swing driving member (31); the two flapping-wing rods (20) are rotatably connected to the second rod (322); one end of each of the first rod (321) and the second rod (322) slides into the first guide slot (331).

5. The variable amplitude steering adjustment mechanism according to claim 2, characterized in that: The steering adjustment assembly (40) comprises a steering drive member (41), the steering drive member (41) is fixedly arranged on the frame (10), the steering adjustment rod (33) is rotatably arranged on the frame (10), the steering drive member (41) is connected to the steering adjustment rod (33), and the steering drive member (41) can drive the steering adjustment rod (33) to rotate and fix around an axis parallel to the flight direction.

6. The variable amplitude steering adjustment mechanism according to claim 2, characterized in that: The swing driving member (31) comprises a swing driving motor (311), a driving gear (312), a transmission gear (313) and a driving rod (314); the swing driving motor (311) is fixedly arranged on the frame (10); the transmission gear (313) is rotationally connected to the frame (10); the output end of the swing driving motor (311) is fixedly connected to the driving gear (312); the driving gear (312) is meshingly connected to the transmission gear (313); one end of the driving rod (314) is eccentrically rotationally connected to the transmission gear (313); and the other end of the driving rod (314) is rotationally connected to the transmission rod (32); The swing drive motor (311) can drive the drive gear (312) to rotate, and drive the drive rod (314) to rotate eccentrically through the transmission gear (313), so as to drive the transmission rod (32) to move reciprocatingly in a linear manner.

7. The variable amplitude steering adjustment mechanism according to claim 1, characterized in that: The swing amplitude adjustment component (50) comprises two swing amplitude adjustment devices (51), and the two swing amplitude adjustment devices (51) are respectively connected to the two flapping wing rods (20) and can adjust the swing amplitude of the corresponding flapping wing rods (20).

8. The variable amplitude steering adjustment mechanism according to claim 7, characterized in that: Each of the swing amplitude adjustment devices (51) comprises a swing amplitude drive motor (511) and a swing amplitude adjustment rod (512), wherein the swing amplitude drive motor (511) is fixedly arranged on the frame (10), the lower end of the swing amplitude adjustment rod (512) is rotatably connected to the frame (10), and the upper end of the swing amplitude adjustment rod (512) is rotatably connected to the corresponding flapping wing rod (20) and can slide relative to the flapping wing rod (20) along the length direction of the flapping wing rod (20); The swing amplitude driving motor (511) is used to drive the swing amplitude adjusting rod (512) to rotate and fix around an axis parallel to the flight direction, so as to adjust the rotation connection position of the swing amplitude adjusting rod (512) and the flapping wing rod (20).

9. The variable amplitude steering adjustment mechanism according to claim 8, characterized in that: Each of the flapping-wing rods (20) is provided with a second guide slot (21) extending in the length direction, and the end of the swing-amplitude adjustment rod (512) away from the frame (10) can be movably connected to the second guide slot (21).

10. A bionic flapping-wing aircraft, characterized in that: It comprises two bionic flapping wings (2) and a variable amplitude steering adjustment mechanism (1) as claimed in any one of claims 1 to 9, wherein the two bionic flapping wings (2) are respectively connected to two flapping wing rods (20) of the variable amplitude steering adjustment mechanism (1).

Images