Honeycomb-bird-imitating ornithopter with adjustable flapping amplitude

Abstract

The invention discloses a hummingbird-imitating flapping wing aircraft with adjustable flapping amplitude, and relates to the technical field of aircrafts, the hummingbird-imitating flapping wing aircraft specifically comprises a main framework of the aircraft, the main framework comprises a front side plate and a rear side plate which are arranged in parallel, the two sides of the front side plate are rotatably connected with flapping wings, and the front side plate and the rear side plate are connected with a driving structure for driving the flapping wings to flap up and down; a posture control mechanism for changing the flight posture of the aircraft is arranged on the rear side of the main framework and comprises a pitching control structure rotationally connected with the rear side plate, and a yaw control structure for driving the two flapping wings to rotate reversely and a rolling control structure for driving the two flapping wings to move in the same direction are arranged on the rear side of the pitching control structure; the flapping wing comprises a rocker arm and a sleeve connected with the rear side plate, the rocker arm is connected with a front edge beam, the sleeve is perpendicular to the front edge beam in position, a wing film is laid between the sleeve and the front edge beam in an extending mode, reinforcing ribs are arranged on the wing film, the flapping wing can have the hovering and level flight capacity, and the flapping amplitude can be adjusted.

Description

Technical Field

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

[0002] The design concept of a hovering flapping-wing aircraft is very different from that of a forward-flying flapping-wing aircraft. Compared with forward-flying flapping-wing aircraft, a hovering flapping-wing aircraft has a higher flapping frequency and a larger flapping angle. In terms of control, since a hovering flapping-wing aircraft has no tail as a control surface, it can only rely on symmetrically or asymmetrically changing the motion parameters of the left and right flapping wings, such as flapping angle, flapping angle of attack or flapping frequency to simultaneously generate aerodynamic force and control torque. These differences in flight methods make the forward-flying flapping-wing aircraft and the vertical take-off and landing flapping-wing aircraft very different in terms of flapping wing aerodynamic design, drive mechanism operation mode, dynamic model establishment and analysis, and attitude position controller design.

[0003] Unlike traditional flapping wings for level flight, hummingbird flapping wings for vertical takeoff and landing need to be placed vertically to the ground, so that the thrust generated by the flapping wings can be regarded as the lift of the entire aircraft to overcome gravity. At the same time, the lift of the flapping wings is approximately equal in magnitude and opposite in direction during the up and down flapping processes and cancels out. Compared with forward-flying flapping-wing aircraft, hovering flapping-wing aircraft have a higher flapping frequency and a larger flapping angle. Flapping wings are the main source of lift and thrust for hovering flapping-wing aircraft. The flapping mode and law of the flapping wings and the flexibility of the flapping wings are the key factors for them to obtain high lift for hovering and high thrust for level flight. Therefore, it is necessary to study the aerodynamic design of the flapping wings of hummingbird-like hovering flapping-wing aircraft suitable for hovering flight based on the aerodynamic characteristics of hummingbird hovering flight, and then design a hummingbird-like flapping-wing aircraft that has both hovering and level flight capabilities and can switch between the two flight modes. This is of great significance. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In order to overcome the shortcomings of the existing technology, a hummingbird-like flapping-wing aircraft with adjustable flapping amplitude is proposed, which can have the ability of hovering and level flying and can adjust the flapping amplitude.

[0006] (II) Technical solution

[0007] The present invention is achieved through the following technical scheme: The present invention proposes a hummingbird-like flapping-wing aircraft with adjustable flapping amplitude, comprising a main frame of the aircraft, wherein the main frame comprises a front side plate and a rear side plate arranged in parallel, flapping wings are rotatably connected on both sides of the front side plate, and a driving structure for driving the flapping wings to flap up and down is connected to the front side plate and the rear side plate, an attitude control mechanism for changing the flight attitude of the aircraft is arranged on the rear side of the main frame, the attitude control mechanism comprises a pitch control structure rotatably connected to the rear side plate, a yaw control structure for driving two flapping wings to rotate in opposite directions and a roll control structure for driving two flapping wings to move in the same direction are respectively arranged on the rear side of the pitch control structure, the flapping wing comprises a rocker arm and a sleeve connected to the rear side plate, a leading edge beam is connected to the rocker arm, the sleeve is perpendicular to the leading edge beam and a wing membrane is stretched between the sleeve, and reinforcing ribs are arranged on the wing membrane.

[0008] Furthermore, the driving structure includes a gear structure driven by a motor, and the gear structure drives a driven plate connected to it to perform reciprocating linear motion. Racks are provided on both sides of the driven plate, and a rocker arm gear is provided on the rocker arm of the flapping wing, and the rocker arm gear is meshed with the rack for transmission.

[0009] Furthermore, the gear structure includes an input gear, which is meshed with an eccentric gear through an intermediate gear. An eccentric pin is connected to the eccentric gear, and a slot is provided on the driven plate. The eccentric pin moves in the slot with the eccentric gear to drive the driven plate to perform reciprocating linear motion.

[0010] Furthermore, the pitch control structure includes a first servo arranged on a servo frame, an output end of the first servo is transmission-connected with a first lever, the first lever is connected to the rear side plate, and the servo frame is rotationally connected to the rear side plate.

[0011] Furthermore, the yaw control structure includes a second steering gear, an output end of the second steering gear is transmission-connected to a second shifting rod, and the sleeve is socketed on both sides of the second shifting rod.

[0012] Furthermore, the roll control structure includes a third steering gear, and the output end of the third steering gear is transmission-connected to a third lever.

[0013] (III) Beneficial effects

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention mentions a hummingbird-like flapping-wing aircraft with adjustable flapping amplitude. The eccentric pin in the driving structure adjusts its eccentricity by mechanical means. The pilot or ground control personnel can adjust the eccentricity before flight according to the attributes of the flight mission (such as hovering or long-term cruising). When the flight mission is mainly hovering, the eccentricity can be set to a larger value to increase the flapping amplitude, increase the thrust and thus increase the maneuverability of the person; when the mission is mainly cruising, the eccentricity can be set to a smaller value to reduce the flapping amplitude, reduce the energy consumption during hovering, and extend the flight time, thereby enhancing the cruising capability of the aircraft.

[0016] The structural design of the aircraft is further simplified, eliminating the need for complex electronic control systems, reducing the weight and maintenance difficulty of the system. At the same time, since the adjustment mechanism can only be adjusted manually before flight, this also improves the stability of the system and avoids possible adjustment failures during flight. In addition, this design is particularly suitable for scenarios with clear mission objectives, such as surveillance, reconnaissance or patrolling. Before flight, the appropriate flapping amplitude can be selected according to the nature of the mission, thereby achieving the best balance between performance and endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the structure of a flapping wing.

[0019] Figure 3 It is a structural diagram of the drive structure.

[0020] Figure 4 It is a structural diagram of the attitude control mechanism.

[0021] 1-front side plate; 2-rear side plate; 3-flapping wing; 4-driving structure; 5-attitude control mechanism; 31-rocker arm; 32-sleeve; 33-leading edge beam; 34-wing membrane; 35-rocker arm gear; 41-driven plate; 42-input gear; 43-intermediate gear; 44-eccentric gear; 45-eccentric pin; 51-pitch control structure; 52-yaw control structure; 53-roll control structure; 54-servo frame; 511-first servo; 512-first lever; 521-second servo; 522-second lever; 531-third servo; 532-third lever. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] like Figure 1-Figure 4 A hummingbird-like flapping-wing aircraft with adjustable flapping amplitude is shown, comprising a main frame of the aircraft, the main frame comprising a front side panel 1 and a rear side panel 2 arranged in parallel, flapping wings 3 are rotatably connected to both sides of the front side panel 1, a driving structure 4 for driving the flapping wings 3 to flap up and down is connected to the front side panel 1 and the rear side panel 2, an attitude control mechanism 5 for changing the flight attitude of the aircraft is arranged on the rear side of the main frame, the attitude control mechanism 5 comprises a pitch control structure 51 rotatably connected to the rear side panel 2, a yaw control structure 52 for driving the two flapping wings 3 to rotate in opposite directions, and a roll control structure 53 for driving the two flapping wings 3 to move in the same direction are respectively arranged on the rear side of the pitch control structure 51, the flapping wing 3 comprises a rocker arm 31 and a sleeve 32 connected to the rear side panel 2, a leading edge beam 33 is connected to the rocker arm 31, the sleeve 32 is perpendicular to the leading edge beam 33 and a wing membrane 34 is stretched between them, and reinforcing ribs are arranged on the wing membrane 34 to ensure the flexible deformation of the flapping wing 4 and increase the thrust.

[0024] Among them, the driving structure 4 includes a gear structure driven by a motor, and the gear structure drives a driven plate 41 connected thereto to perform reciprocating linear motion. Racks are provided on both sides of the driven plate 41, and a rocker gear 35 is provided on the rocker arm 31 of the flapping wing 3. The rocker gear 35 is meshed with the rack for transmission. The gear structure includes an input gear 42, and the input gear 42 is meshed with an eccentric gear 44 through an intermediate gear 43 for transmission. An eccentric pin 45 is connected to the eccentric gear 44, and a slot is provided on the driven plate 41. The eccentric pin 45 moves in the slot with the eccentric gear 44 to drive the driven plate 41 to perform reciprocating linear motion. The eccentric pin 45 can be connected to the eccentric gear 44 by threads, and a plurality of mounting holes for installing the eccentric pin 45 are provided on the eccentric gear 44. The eccentric distance can be adjusted by adjusting the position of the eccentric pin 45, and then the moving distance of the driven plate 41 can be adjusted, and finally the flapping amplitude of the flapping wing 3 can be adjusted.

[0025] The pitch control structure 51 includes a first servo 511 arranged on a servo frame 54, the output end of the first servo 511 is transmission-connected to a first lever 512, the first lever 512 is connected to the rear side plate 2, the servo frame 54 is rotationally connected to the rear side plate 2, the first servo 511 is rotated to drive the first lever 512 to move, and then drive the rear side plate 2 to rotate around the connection point, thereby realizing the pitch attitude adjustment function.

[0026] The yaw control structure 52 includes a second servo 521, the output end of which is transmission-connected to a second lever 522, and the sleeve 32 is socketed on both sides of the second lever 522. The rotation of the second servo 521 drives the second lever 522 to move, which can drive the wing root to rotate in the opposite direction, thereby changing the thrust direction, generating a clockwise / counterclockwise yaw moment, and finally adjusting the yaw attitude.

[0027] The roll control structure 53 includes a third servo 531, and the output end of the third servo 531 is transmission-connected to a third lever 532. The rotation of the third servo 531 drives the third lever 532 to move, which can drive the wing root to deflect in the same direction, thereby changing the tension of the flapping wing membrane, generating a left-right thrust difference, and generating a control torque in the roll direction, thereby realizing the adjustment of the roll attitude.

[0028] The present invention mentions a hummingbird-like flapping-wing aircraft with adjustable flapping amplitude. When it is used specifically, the eccentricity can be adjusted in advance according to different specific tasks. When the flight mission is mainly hovering, the eccentricity can be set to a larger value to increase the flapping amplitude, increase the thrust and thus increase the maneuverability of the person; when the mission is mainly cruising, the eccentricity can be set to a smaller value to reduce the flapping amplitude, reduce the energy consumption during hovering, and extend the flight time, thereby enhancing the cruising capability of the aircraft.

[0029] This preset adjustment method simplifies the structural design of the aircraft, does not require a complex electronic control system, and reduces the weight and maintenance difficulty of the system. At the same time, since the adjustment mechanism can only be manually adjusted before flight, this also improves the stability of the system and avoids possible adjustment failures during flight. In addition, this design is particularly suitable for scenarios with clear mission objectives, such as surveillance, reconnaissance or patrol missions. Before flight, the appropriate flapping amplitude can be selected according to the nature of the mission, thereby achieving the best balance between performance and endurance.

[0030] The above embodiments are only for describing the preferred implementation of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by ordinary persons in the art to the technical solution of the present invention should fall within the protection scope of the present invention, and the technical contents for which protection is sought in the present invention have been fully recorded in the claims.

Claims

1. A hummingbird-like flapping-wing aircraft with adjustable flapping amplitude, characterized in that: The invention comprises a main frame of an aircraft, wherein the main frame comprises a front side plate (1) and a rear side plate (2) arranged in parallel, the two sides of the front side plate (1) are rotatably connected with flapping wings (3), the front side plate (1) and the rear side plate (2) are connected with a driving structure (4) for driving the flapping wings (3) to flap up and down, the rear side of the main frame is provided with an attitude control mechanism (5) for changing the flight attitude of the aircraft, the attitude control mechanism (5) comprises a pitch control structure (51) rotatably connected with the rear side plate (2), the pitch control structure (51) The rear side of the pitch control structure (51) is respectively provided with a yaw control structure (52) for driving the two flapping wings (3) to rotate in opposite directions, and a roll control structure (53) for driving the two flapping wings (3) to move in the same direction. The flapping wing (3) comprises a rocker arm (31) and a sleeve (32) connected to the rear side plate (2). The rocker arm (31) is connected to a leading edge beam (33). The sleeve (32) and the leading edge beam (33) are perpendicular to each other and a wing membrane (34) is spread between them. The wing membrane (34) is provided with reinforcing ribs.

2. The hummingbird-like flapping-wing aircraft with adjustable flapping amplitude according to claim 1, characterized in that: The driving structure (4) comprises a gear structure driven by a motor, the gear structure drives a driven plate (41) connected thereto to perform reciprocating linear motion, racks are provided on both sides of the driven plate (41), a rocker arm gear (35) is provided on the rocker arm (31) of the flapping wing (3), and the rocker arm gear (35) is meshed with the rack for transmission.

3. The hummingbird-like flapping-wing aircraft with adjustable flapping amplitude according to claim 2, characterized in that: The gear structure comprises an input gear (42), the input gear (42) meshes with an eccentric gear (44) through an intermediate gear (43), an eccentric pin (45) is connected to the eccentric gear (44), a slot is provided on the driven plate (41), and the eccentric pin (45) moves in the slot with the eccentric gear (44) to drive the driven plate (41) to perform reciprocating linear motion.

4. The hummingbird-like flapping-wing aircraft with adjustable flapping amplitude according to claim 1, characterized in that: The pitch control structure (51) comprises a first servo (511) arranged on a servo frame (54); the output end of the first servo (511) is transmission-connected to a first shifting rod (512); the first shifting rod (512) is connected to the rear side plate (2); and the servo frame (54) is rotationally connected to the rear side plate (2).

5. The hummingbird-like flapping-wing aircraft with adjustable flapping amplitude according to claim 4, characterized in that: The yaw control structure (52) comprises a second steering gear (521), the output end of the second steering gear (521) is transmission-connected to a second shifting rod (522), and the sleeve (32) is socketed on both sides of the second shifting rod (522).

6. The hummingbird-like flapping-wing aircraft with adjustable flapping amplitude according to claim 5, characterized in that: The rolling control structure (53) comprises a third steering gear (531), and the output end of the third steering gear (531) is transmission-connected to a third shifting rod (532).

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