Variable-amplitude steering adjustment mechanism and bionic flapping-wing aircraft

Abstract

The present invention discloses a variable amplitude steering adjustment mechanism, which relates to the technical field of aircraft, and includes a frame, two flapping rods, a swing drive assembly, a swing drive assembly and a swing amplitude adjustment assembly; the two flapping rods are movably arranged relative to the frame, and the two flapping rods are respectively used to connect two bionic flapping wings; the swing drive assembly is arranged on the frame and connected to the two flapping rods, and the swing drive assembly is used to drive the two flapping 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 rods; the swing amplitude adjustment assembly is arranged on the frame and connected to the two flapping rods, and the swing amplitude adjustment assembly can respectively adjust the swing amplitudes of the two flapping rods. The variable amplitude steering adjustment mechanism provided by the present invention can improve the flexibility of the aircraft. The present invention also provides a bionic flapping wing aircraft including the variable amplitude steering adjustment mechanism.

Description

Technical Field

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

[0002] A bionic flapping-wing aircraft is a new concept aircraft that mimics biological flight and has the advantages of high bionic degree, high efficiency, and good maneuverability. The bionic flapping-wing aircraft can utilize the eddy effect of air by adjusting the movement of the wings flapping, so it has strong maneuverability, a larger lift-drag ratio, and higher flight efficiency. However, the existing bionic flapping-wing aircraft usually can only achieve steering, 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 improve the flexibility of the aircraft.

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

[0005] The present invention provides a variable-amplitude steering adjustment mechanism, including a frame, two flapping-wing rods, a swing driving assembly, a swing driving 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 respectively used to connect two bionic flapping wings. The swing driving assembly is arranged on the frame and is connected to the two flapping-wing rods. The swing driving 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 is connected to the two flapping-wing rods. The swing amplitude adjustment assembly can respectively adjust the swing amplitudes of the two flapping-wing rods.

[0006] Preferably, the swing driving assembly includes a swing driving member, a transmission rod, and a steering adjustment rod. The swing driving member and the steering adjustment rod are arranged on the frame. The swing driving member is connected to the transmission rod. The transmission rod is slidably connected to the steering adjustment rod. The two flapping-wing rods are arranged on both sides of the transmission rod and are rotatably connected to the transmission rod. The swing driving member can drive the transmission rod to reciprocate linearly 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 cooperation with the acting forces of the corresponding bionic flapping wings.

[0007] Preferably, a first guiding chute extending along the length direction is arranged on the steering adjustment rod, and the transmission rod can slidably extend into the first guiding chute.

[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 component comprises two swing amplitude adjustment devices, the two swing amplitude adjustment devices 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. By driving two flapping rods to swing through a swing drive assembly, the bionic flapping wings can be driven to swing, realizing the flight of the aircraft; the steering adjustment assembly can adjust the flapping angles of the two flapping rods, so that the two flapping rods are inclined from the symmetric state along the vertical plane to the symmetric state along an inclined plane. In this way, the flapping angle changes, and the two flapping rods tilt to one side. Under the combined lift of the two bionic flapping wings, the steering of the aircraft is realized; in addition, the amplitude adjustment assembly can also adjust the swing amplitudes of the two flapping rods respectively, and then adjust the lift of the two bionic flapping wings respectively, which can further improve the flexibility of the aircraft; thus, by controlling the swing, angle, and variable amplitude of the flapping rods, the maneuverability of the aircraft is improved.

[0017] The present invention also provides a bionic flapping-wing aircraft. By coupling and controlling two flapping rods through a variable-amplitude steering adjustment mechanism, swing control, angle control, and variable-amplitude control are realized, and the maneuverability of the aircraft is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 An isometric schematic view of the variable-amplitude steering adjustment mechanism provided in Embodiment 1;

[0020] Figure 2 Another isometric schematic view of the variable-amplitude steering adjustment mechanism provided in Embodiment 1;

[0021] Figure 3 A front view schematic view of the variable-amplitude steering adjustment mechanism provided in Embodiment 1;

[0022] Figure 4 An isometric schematic view of the bionic flapping-wing aircraft provided in Embodiment 2.

[0023] In the figure: 1 - variable-amplitude steering adjustment mechanism; 10 - frame; 20 - flapping rod; 21 - second guiding 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 guiding 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 OF THE EMBODIMENTS

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0025] The object 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 improve the flexibility of the aircraft.

[0026] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be 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. Please refer to Figures 1 - 4 , which includes a frame 10, two flapping rods 20, a swing drive assembly 30, a steering adjustment assembly 40, and a swing amplitude adjustment assembly 50; the two flapping rods 20 are movably arranged relative to the frame 10, and the two flapping rods 20 are respectively used to connect two bionic flapping wings 2; the swing drive assembly 30 is arranged on the frame 10 and is connected to the two flapping rods 20, and the swing drive assembly 30 is used to drive the two flapping 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 rods 20; the swing amplitude adjustment assembly 50 is arranged on the frame 10 and is connected to the two flapping rods 20, and the swing amplitude adjustment assembly 50 can respectively adjust the swing amplitudes of the two flapping rods 20.

[0029] By driving the two flapping rods 20 to swing through the swing drive assembly 30, the bionic flapping wings 2 can be driven to swing to realize the flight of the aircraft; the steering adjustment assembly 40 can adjust the flapping angles of the two flapping rods 20, so that the two flapping rods 20 are inclined from the symmetric state along the vertical plane to the symmetric state along an inclined plane. In this way, the flapping angle changes, and the two flapping rods 20 are inclined to one side. Under the lift coupling action of the two bionic flapping wings 2, the steering of the aircraft is realized; in addition, the amplitude adjustment assembly 50 can also respectively adjust the swing amplitudes of the two flapping rods 20, and further adjust the lift of the two bionic flapping wings 2, which can further improve the flexibility of the aircraft; in this way, by controlling the swing, angle, and variable amplitude of the flapping rods 20, the maneuvering flexibility of the aircraft is improved.

[0030] In an alternative embodiment of this embodiment, preferably, please refer to Figure 1, the 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 two flapping 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 reciprocate linearly relative to the steering adjustment rod 33 along the length direction of the steering adjustment rod 33, thereby driving the two flapping rods 20 to move up and down, and cooperating with the acting force of the corresponding bionic flapping wings 2, so that the flapping rods 20 rotate relative to the transmission rod 32 to perform swinging.

[0031] In an alternative embodiment of the present embodiment, preferably, a first guiding chute 331 extending along the length direction is provided on the steering adjustment rod 33, and the transmission rod 32 can be slidably inserted into the first guiding chute 331; under the guidance of the first guiding chute 331, the transmission rod 32 performs a reciprocating linear motion.

[0032] In an alternative embodiment of the present embodiment, preferably, the transmission rod 32 includes a first rod 321 and a second rod 322 fixedly connected side by side. One end of the first rod 321 is connected to the swing drive member 31, and the two flapping 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 guiding chute 331, and one ends of the first rod 321 and the second rod 322 are both slidably inserted into the first guiding chute 331, so as to prevent the transmission rod 32 from rotating; one ends of the two flapping rods 20 are rotatably sleeved on the second rod 322; and the axes of the two flapping rods 20 are arranged in the same plane to ensure the overall stability of the aircraft.

[0033] In an alternative embodiment of the present embodiment, preferably, please refer to Figure 2 , the steering adjustment assembly 40 includes 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 be fixed around an axis parallel to the flight direction; specifically, the steering drive member 41 is set as a drive motor, the lower end of the steering adjustment rod 33 is set as an arc surface and is rotatably connected to the frame 10 through the arc surface, and the drive end of the steering drive member 41 is fixedly connected to the steering adjustment rod 33.

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

[0035] In an alternative embodiment of the present embodiment, preferably, 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 meshed with the transmission gear 313. One end of the driving rod 314 is eccentrically rotatably connected to the transmission gear 313, and the other end of the driving rod 314 is rotatably connected to the transmission rod 32. Among them, gear meshing transmission improves stability. One end of the driving rod 314 is eccentrically rotatably 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. 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 rotatably connected to the frame 10 through a pin shaft.

[0036] In an alternative embodiment of the present embodiment, preferably, the swing amplitude adjustment assembly 50 includes two swing amplitude adjustment devices 51. The two swing amplitude adjustment devices 51 are respectively connected to the two flapping rods 20 and can adjust the swing amplitude of the corresponding flapping rod 20. By providing two swing amplitude adjustment devices 51 to adjust the two flapping rods 20 respectively, the flexibility of control is improved.

[0037] In an alternative embodiment of the present embodiment, preferably, each swing amplitude adjustment device 51 includes a swing amplitude driving motor 511 and a swing amplitude adjustment rod 512. The swing amplitude driving 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. The upper end of the swing amplitude adjustment rod 512 is rotatably connected to the corresponding flapping rod 20 and can slide relative to the flapping rod 20 along the length direction of the flapping rod 20. Specifically, the lower end of the swing amplitude adjustment rod 512 is set as an arc surface and is rotatably connected to the frame 10. The swing amplitude driving motor 511 is used to drive the swing amplitude adjustment rod 512 to rotate and be fixed around an axis parallel to the flight direction, that is Figure 3 drive the swing amplitude adjustment rod 512 to rotate left and right to adjust the rotational connection position between the swing amplitude adjustment rod 512 and the flapping rod 20, thereby restricting the swing amplitude of the flapping 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: Comprising: A frame (10); Two flapping rods (20), movably arranged relative to the frame (10), and the two flapping rods (20) are respectively used for connecting two bionic flapping wings (2); A swing drive assembly (30), including 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), the two flapping rods (20) are arranged on both sides of the transmission rod (32) and are rotatably connected to the transmission rod (32); a first guide chute (331) extending along the length direction is arranged on the steering adjustment rod (33), and the transmission rod (32) can slidably extend into the first guide chute (331); the swing drive assembly (30) is used for driving the two flapping rods (20) to swing; A steering adjustment assembly (40), including 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 be fixed around an axis parallel to the flight direction; the steering adjustment assembly (40) can adjust the flapping angles of the two flapping rods (20); And A swing amplitude adjustment assembly (50), arranged on the frame (10), including two swing amplitude adjustment devices (51), the two swing amplitude adjustment devices (51) are respectively connected to the two flapping rods (20), and can adjust the swing amplitude of the corresponding flapping rod (20).

2. The variable amplitude steering adjustment mechanism according to claim 1, wherein: The swing drive member (31) can drive the transmission rod (32) to reciprocate linearly relative to the steering adjustment rod (33) along the length direction of the steering adjustment rod (33), so that the two flapping rods (20) can swing relative to the transmission rod (32) in cooperation with the acting force of the corresponding bionic flapping wing (2).

3. The variable amplitude steering adjustment mechanism according to claim 2, characterized in that: The transmission rod (32) includes a first rod (321) and a second rod (322) fixedly connected in parallel, one end of the first rod (321) is connected to the swing drive member (31), and the two flapping rods (20) are rotatably connected to the second rod (322); one ends of the first rod (321) and the second rod (322) both slidably extend into the first guide chute (331).

4. The variable amplitude steering adjustment mechanism according to claim 2, characterized in 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 meshed with the transmission gear (313). One end of the driving rod (314) is eccentrically rotatably connected to the transmission gear (313), and the other end of the driving rod (314) is rotatably connected to the transmission rod (32). The swing driving motor (311) can drive the driving gear (312) to rotate, and drive the driving rod (314) to eccentrically rotate through the transmission gear (313), so as to drive the transmission rod (32) to reciprocate linearly.

5. The variable amplitude steering adjustment mechanism according to claim 4, characterized in that: Each of the swing amplitude adjusting devices (51) includes a swing amplitude driving motor (511) and a swing amplitude adjusting rod (512). The swing amplitude driving motor (511) is fixedly arranged on the frame (10). The lower end of the swing amplitude adjusting rod (512) is rotatably connected to the frame (10). The upper end of the swing amplitude adjusting 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 be fixed around an axis parallel to the flight direction, so as to adjust the rotational connection position between the swing amplitude adjusting rod (512) and the flapping wing rod (20).

6. The variable amplitude steering adjustment mechanism according to claim 5, characterized in that: Each of the flapping wing rods (20) is provided with a second guiding chute (21) extending along the length direction. One end of the swing amplitude adjusting rod (512) away from the frame (10) can be movably connected to the second guiding chute (21).

7. A bionic flapping-wing aircraft, characterized in that: It includes two bionic flapping wings (2) and the variable amplitude steering adjusting mechanism (1) according to any one of claims 1-6. The two bionic flapping wings (2) are respectively connected to the two flapping wing rods (20) of the variable amplitude steering adjusting mechanism (1).

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