Flapping wing air vehicle with adjustable attitude

By setting up multiple flutter devices on the rack of the flutter-wing aircraft, and using the combination of a rotating frame, rotating block and connecting rod, multiple flutters of the wings are achieved, the problem of poor maneuverability of the existing flutter-wing aircraft is solved, and the maneuverability and overall efficiency of the aircraft are improved.

CN119551236APending Publication Date: 2025-03-04HUAIYIN INSTITUTE OF TECHNOLOGY
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Patent Information

Application Number
CN202411690632.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-25
Publication Date
2025-03-04

AI Technical Summary

Technical Problem

The existing flapping aircraft have poor maneuverability and excessive turning radius, which is mainly due to insufficient aerodynamic torque due to the size limitation of the tail rudder surface.

Method used

A flapping wing aircraft including a rack, a left and right rack and a plurality of flutter devices is designed. By providing a flapping device on the rack, multiple flapping of the wings is achieved by using the combination of a rotating frame, a rotating block and a connecting rod, thereby changing the flying posture.

Benefits of technology

Through multiple flapping of the wings, more flight attitude changes are achieved, the maneuverability of the aircraft is improved, the mechanism design of the aircraft is simplified, which helps to miniaturize and lighten the aircraft, and improves the overall flight efficiency.

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Abstract

The invention discloses an ornithopter with an adjustable attitude. Belongs to the field of aircrafts. Two flapping devices are arranged at the front ends and the rear ends of the left rack and the right rack, each flapping device comprises a front gear, a rear gear, a front steering engine and a rear steering engine, rotating frames are connected to the gears, the gears are connected with rotating blocks after passing through the rotating frames, rotating connecting rods are connected to the rotating blocks, connecting rods are connected to the other ends of the rotating frames, and flapping rods are connected between the connecting rods; wings are arranged on the flapping rod, and the other end of the rotary connecting rod is connected to the flapping rod. The invention designs a novel bionic flapping wing aircraft. More flight attitudes are realized through flapping of the wings, meanwhile, the maneuvering characteristics of the aircraft are improved, and miniaturization and portability of the aircraft are facilitated; through the improvement, not only is the control process simplified, but also the overall flight efficiency is improved, so that the ornithopter is more flexible, efficient and convenient in application.
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Description

Technical Field

[0001] The invention belongs to the field of aircraft, and relates to a flapping-wing aircraft with adjustable attitude. Background Art

[0002] Birds and flying insects in nature both use flapping wings to fly, but the principles of their maneuvering flight are completely different. Birds have tails that can adjust their flight posture, which is similar to the tail of a fixed-wing aircraft. Due to the limitations of their own size and load, bird-like aircraft can only generate a very small aerodynamic torque by swinging their tails, and the maneuvering effect is similar to the large-radius slow maneuvering turn under the side slip of a fixed-wing aircraft, which makes the turning radius of bird-like flapping-wing aircraft too large and the maneuverability poor. The tail of flying insects has evolved into a columnar body and no longer has the function of a tail. However, for flying insects such as flies, butterflies and dragonflies, they can achieve multiple flight posture changes with only the wings on both sides. The current flapping-wing aircraft simply imitates the control method of fixed-wing aircraft, using rudders to control yaw and pitch maneuvering flight, and the control flight effect is poor.

[0003] The flapping-wing aircraft currently under development is similar to bird-like flight, that is, it uses a spliced ​​structure of a flapping device and a tail. The flapping device provides the lift and thrust required for flight, and the tail is used for rudder control to achieve attitude changes such as forward flight, climbing, and turning. Due to the size limitation of the tail rudder, only a small aerodynamic torque can be generated by the swing of the tail, resulting in poor maneuverability of bird-like flapping-wing aircraft.

[0004] Therefore, it is necessary to improve the existing technology to solve the shortcomings of the existing technology. Summary of the invention

[0005] In view of the above problems, the present invention aims to provide a flapping-wing aircraft with adjustable attitude.

[0006] The technical solution of the present invention is: the attitude-adjustable flapping-wing aircraft of the present invention comprises a frame, and a left rack and a right rack are respectively arranged at the bottom of the left and right side ends of the frame;

[0007] Two flapping devices are arranged between the front and rear ends of the left and right racks and the left and right side ends of the frame.

[0008] Furthermore, the flapping device on the upper head of the left rack includes a left front gear matched with the left rack, a left front servo is connected to the inner side of the left front gear, a rotating frame is connected to the outer side of the left front gear, the left front gear is connected to a rotating block after passing through the rotating frame, and a rotating connecting rod is connected to the rotating block;

[0009] A connecting rod is connected to the other end of the rotating frame, a flapping rod is connected between the connecting rods, and wings are arranged on the flapping rod;

[0010] The other end of the rotating connecting rod is connected to the flapping rod.

[0011] Furthermore, the flapping device at the tail of the left rack includes a rotating frame connecting gear matched with the left rack, a left rear servo is connected to the inner side of the rotating frame connecting gear, a rotating frame is connected to the outer side of the rotating frame connecting gear, the rotating frame connecting gear is connected to a rotating block after passing through the rotating frame, and a rotating connecting rod is connected to the rotating block;

[0012] A connecting rod is connected to the other end of the rotating frame, a flapping rod is connected between the connecting rods, and wings are arranged on the flapping rod;

[0013] The other end of the rotating connecting rod is connected to the flapping rod.

[0014] Furthermore, the flapping device on the head of the right rack includes a right front gear matched with the right rack, a right front servo is connected to the side of the right front gear facing inward, a rotating frame is connected to the side of the right front gear facing outward, the right front gear is connected to a rotating block after passing through the rotating frame, and a rotating connecting rod is connected to the rotating block;

[0015] A connecting rod is connected to the other end of the rotating frame, a flapping rod is connected between the connecting rods, and wings are arranged on the flapping rod;

[0016] The other end of the rotating connecting rod is connected to the flapping rod.

[0017] Furthermore, the flapping device at the tail of the right rack includes a right rotating frame connecting gear matched with the right rack, a right rear servo is connected to the side of the right rotating frame connecting gear facing inward, a rotating frame is connected to the side of the right rotating frame connecting gear facing outward, the right rotating frame connecting gear is connected to a rotating block after passing through the rotating frame, and a rotating connecting rod is connected to the rotating block;

[0018] A connecting rod is connected to the other end of the rotating frame, a flapping rod is connected between the connecting rods, and wings are arranged on the flapping rod;

[0019] The other end of the rotating connecting rod is connected to the flapping rod.

[0020] Furthermore, a matching left middle gear is arranged at the middle position of the left rack, a left middle servo is connected to the inner side of the left middle gear, and a baffle is arranged on the outer side of the left middle gear.

[0021] Furthermore, the volumes of the left front gear, the left middle gear and the rotating frame connecting gear are adapted to each other.

[0022] Furthermore, a matching right middle gear is arranged at the middle position of the right rack, a right middle servo is connected to the inner side of the right middle gear, and a baffle is also arranged on the outer side of the right middle gear.

[0023] Furthermore, the volumes of the right front gear, the right middle gear and the right rotating frame connecting gear are adapted to each other.

[0024] Furthermore, a tail wing is connected to the outside of the frame.

[0025] The beneficial effects of the present invention are as follows: the current flapping-wing aircraft mainly imitate the flying mode of birds, but their maneuvering control strategies are often directly borrowed from the mode of fixed-wing aircraft, which limits the flight efficiency and increases the complexity of the control mechanism; the present invention adopts an innovative mechanism to imitate the flying mode of dragonflies and designs a new type of bionic flapping-wing aircraft; it aims to achieve more flight postures by flapping wings, while improving the maneuverability of the aircraft, simplifying the mechanical design of the aircraft, and helping to realize the miniaturization and lightness of the aircraft; through this improvement, not only the control process is simplified, but also the overall efficiency of the flight is improved, making the flapping-wing aircraft more flexible, efficient and convenient in application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of each device in the device of the present invention;

[0028] Figure 3 is a forward flight diagram of the device of the present invention;

[0029] Figure 4 is a hover diagram of the device of the present invention;

[0030] Figure 5 It is a rear flight diagram of the device of the present invention;

[0031] Figure 6 is a schematic diagram of a fluttering device in the device of the present invention;

[0032] Figure 7 It is a schematic diagram of the initial state of the device of the present invention;

[0033] Figure 8 It is a process diagram of the device of the present invention changing to a forward flight state;

[0034] Fig. 9 It is a process diagram of the device of the present invention changing to a rear flight state;

[0035] Fig.10 It is a left-hand diagram of the device of the present invention;

[0036] Fig.11 It is a right-hand diagram of the device of the present invention;

[0037] In the figure, 1 is the frame, 2 is the wing, 3 is the right rack, 4 is the left front servo, 5 is the left front gear, 6 is the left rack, 7 is the left middle gear, 8 is the baffle, 9 is the left middle servo, 10 is the rotating frame, 11 is the flapping rod, 12 is the connecting rod, 13 is the rotating connecting rod, 14 is the rotating block, 15 is the rotating frame connecting gear, 16 is the left rear servo, 17 is the right rear servo, 18 is the right middle gear, 19 is the right middle servo, and 20 is the right front servo. DETAILED DESCRIPTION

[0038] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0039] As shown in the figure, the adjustable attitude flapping-wing aircraft of the present invention comprises a frame 1, and a left rack 6 and a right rack 3 are respectively arranged at the bottom of the left and right side ends of the frame 1;

[0040] Two flapping devices are arranged between the front and rear ends of the left rack 6 and the right rack 3 and the left and right side ends of the frame 1.

[0041] The flapping device on the head of the left rack 6 includes a left front gear 5 adapted to the left rack 6, a left front servo 4 is connected to the side of the left front gear 5 facing inward, a rotating frame 10 is connected to the side of the left front gear 5 facing outward, the left front gear 5 is connected to a rotating block 14 after passing through the rotating frame 10, and a rotating connecting rod 13 is connected to the rotating block 14;

[0042] A connecting rod 12 is connected to the other end of the rotating frame 10, a flapping rod 11 is connected between the connecting rods 12, and a wing 2 is arranged on the flapping rod 11;

[0043] The other end of the rotating connecting rod 13 is connected to the flapping rod 11 .

[0044] The flapping device at the tail of the left rack 6 includes a rotating frame connecting gear 15 adapted to the left rack 6, a left rear servo 16 is connected to the inner side of the rotating frame connecting gear 15, a rotating frame 10 is connected to the outer side of the rotating frame connecting gear 15, the rotating frame connecting gear 15 is connected to a rotating block 14 after passing through the rotating frame 10, and a rotating connecting rod 13 is connected to the rotating block 14;

[0045] A connecting rod 12 is connected to the other end of the rotating frame 10, a flapping rod 11 is connected between the connecting rods 12, and a wing 2 is arranged on the flapping rod 11;

[0046] The other end of the rotating connecting rod 13 is connected to the flapping rod 11 .

[0047] The flapping device on the head of the right rack 3 includes a right front gear matched with the right rack 3, a right front servo 20 is connected to the inner side of the right front gear, a rotating frame 10 is connected to the outer side of the right front gear, the right front gear is connected to a rotating block 14 through the rotating frame 10, and a rotating connecting rod 13 is connected to the rotating block 14;

[0048] A connecting rod 12 is connected to the other end of the rotating frame 10, a flapping rod 11 is connected between the connecting rods 12, and a wing 2 is arranged on the flapping rod 11;

[0049] The other end of the rotating connecting rod 13 is connected to the flapping rod 11 .

[0050] The flapping device at the tail of the right rack 3 includes a right rotating frame connecting gear matched with the right rack 3, a right rear servo 17 is connected to the inner side of the right rotating frame connecting gear, a rotating frame 10 is connected to the outer side of the right rotating frame connecting gear, the right rotating frame connecting gear is connected to a rotating block 14 after passing through the rotating frame 10, and a rotating connecting rod 13 is connected to the rotating block 14;

[0051] A connecting rod 12 is connected to the other end of the rotating frame 10, a flapping rod 11 is connected between the connecting rods 12, and a wing 2 is arranged on the flapping rod 11;

[0052] The other end of the rotating connecting rod 13 is connected to the flapping rod 11 .

[0053] A matching left middle gear 7 is arranged in the middle position of the left rack 6 , a left middle steering gear 9 is connected to the inner side of the left middle gear 7 , and a baffle 8 is arranged on the outer side of the left middle gear 7 .

[0054] The volumes of the left front gear 5, the left middle gear 7 and the rotating frame connecting gear 15 are adapted to each other.

[0055] A matching right middle gear 18 is arranged in the middle position of the right rack 3 , a right middle steering gear 19 is connected to the inner side of the right middle gear 18 , and a baffle 8 is also arranged on the outer side of the right middle gear 18 .

[0056] The volumes of the right front gear, the right middle gear 18 and the right rotating frame connecting gear are adapted to each other.

[0057] A tail wing is connected to the outside of the frame 1 .

[0058] The wing flapping process in the present invention is as follows Figure 6 As shown, taking the flapping device at the tail of the left rack 6 as an example; start the left rear servo 16, the intermediate shaft of the left rear servo 16 drives the rotating block 14 to rotate, thereby driving the cylindrical part above the rotating connecting rod 13 to make a circular motion, so that the lower ring part slides on the flapping rod 11, and because the circular motion and sliding are carried out simultaneously, the flapping rod 11 is driven to swing back and forth, and the two ends of the flapping rod 11 are connected to the rotating blocks 14, which in turn drives the rotating blocks 14 at both ends to swing back and forth, and the wings 2 are fixed on the rotating blocks 14 at both ends, so the flapping of the wings 2 is achieved.

[0059] The flight state change process of the present invention: the initial state is as follows Figure 7 The figure shows a hovering state, in which the rotating frame 10 and the other three rotating frames are all in a vertical state; if forward flight is to be achieved, Figure 3 and Figure 8 As shown, it is necessary to start the left middle servo 9 in the servo to make the left middle gear 7 rotate counterclockwise, drive the left rack 6 to move backward, so that the front and rear gears on the left can rotate counterclockwise at the same time, drive the front and rear rotating frames 10 to rotate counterclockwise. At the same time, start the right middle servo 9 to make the right middle gear 7 rotate clockwise, drive the right rack 6 to move backward, so that the front and rear gears on the right can rotate clockwise at the same time, drive the front and rear rotating frames 10 to rotate clockwise, so that the flapping plane of the wing 2 changes, and the forward flight state is achieved; if backward flight is to be achieved, as shown in FIG. Figure 5 and Fig. 9 As shown, the left middle servo 9 is started to make the left middle gear 7 rotate clockwise, driving the left rack 6 to move forward, so that the front and rear gears on the left can rotate clockwise at the same time, driving the front and rear rotating frames 10 to rotate clockwise. At the same time, the right middle servo 9 in the servo is started to make the right middle gear 7 rotate counterclockwise, driving the right rack 6 to move forward, so that the front and rear gears on the right can rotate counterclockwise at the same time, driving the front and rear rotating frames 10 to rotate counterclockwise, so that the flapping plane of the wing 2 is changed, and the backward flight state is achieved.

[0060] Steering process: The initial state is as follows Figure 7 The figure shows a hovering state, at which the rotating frame 10 and the other three rotating frames 10 are all in a vertical state; if a left turn is to be achieved, Fig.10As shown, it is necessary to start the left middle servo 9 in the servo to make the left middle gear 7 rotate counterclockwise, drive the left rack 6 to move backward, start the right middle servo 9 to make the right middle gear 18 rotate counterclockwise, drive the right rack 3 to move forward, so that the front and rear gears on the right can rotate counterclockwise at the same time, drive the front and rear rotating frames 10 to rotate counterclockwise, make the right front and rear wings 2 generate forward thrust, and the left front and rear wings 2 generate backward thrust, and the left turn is achieved; if the right turn is to be achieved, as Fig.11 As shown, it is necessary to start the left middle servo 9 in the servo to make the left middle gear 7 rotate clockwise, driving the left rack 6 to move forward, and start the right middle servo 9 to make the right middle gear 18 rotate clockwise, driving the right rack 3 to move backward, so that the front and rear gears on the right can rotate clockwise at the same time, driving the front and rear rotating frames 10 to rotate clockwise, so that the left front and rear wings 2 generate forward thrust, and the right front and rear wings 2 generate backward thrust, and the right turn is achieved.

Claims

1. A flapping-wing aircraft with adjustable attitude, characterized in that: It comprises a frame (1), wherein a left rack (6) and a right rack (3) are respectively arranged at the bottom of the left and right side ends of the frame (1); Two flapping devices are arranged between the front and rear ends of the left rack (6) and the right rack (3) and the left and right side ends of the frame (1).

2. The attitude-adjustable flapping-wing aircraft according to claim 1, characterized in that: The flapping device on the head of the left rack (6) comprises a left front gear (5) adapted to the left rack (6); a left front steering gear (4) is connected to the side of the left front gear (5) facing inwards; a rotating frame (10) is connected to the side of the left front gear (5) facing outwards; the left front gear (5) is connected to a rotating block (14) after passing through the rotating frame (10); and a rotating connecting rod (13) is connected to the rotating block (14); A connecting rod (12) is connected to the other end of the rotating frame (10), a flapping rod (11) is connected between the connecting rods (12), and a wing (2) is arranged on the flapping rod (11); The other end of the rotating connecting rod (13) is connected to the flapping rod (11).

3. The attitude-adjustable flapping-wing aircraft according to claim 2, characterized in that: The flapping device at the tail of the left rack (6) comprises a rotating frame connecting gear (15) adapted to the left rack (6); a left rear steering gear (16) is connected to the inner side of the rotating frame connecting gear (15); a rotating frame (10) is connected to the outer side of the rotating frame connecting gear (15); the rotating frame connecting gear (15) is connected to a rotating block (14) after passing through the rotating frame (10); and a rotating connecting rod (13) is connected to the rotating block (14); A connecting rod (12) is connected to the other end of the rotating frame (10), a flapping rod (11) is connected between the connecting rods (12), and a wing (2) is arranged on the flapping rod (11); The other end of the rotating connecting rod (13) is connected to the flapping rod (11).

4. The attitude-adjustable flapping-wing aircraft according to claim 1, characterized in that: The flapping device on the upper head of the right rack (3) comprises a right front gear matched with the right rack (3); a right front steering gear (20) is connected to the side of the right front gear facing inwards; a rotating frame (10) is connected to the side of the right front gear facing outwards; the right front gear is connected to a rotating block (14) after passing through the rotating frame (10); and a rotating connecting rod (13) is connected to the rotating block (14); A connecting rod (12) is connected to the other end of the rotating frame (10), a flapping rod (11) is connected between the connecting rods (12), and a wing (2) is arranged on the flapping rod (11); The other end of the rotating connecting rod (13) is connected to the flapping rod (11).

5. The attitude-adjustable flapping-wing aircraft according to claim 4, characterized in that: The flapping device at the tail of the right rack (3) comprises a right rotating frame connecting gear matched with the right rack (3); a right rear steering gear (17) is connected to the side of the right rotating frame connecting gear facing inward; a rotating frame (10) is connected to the side of the right rotating frame connecting gear facing outward; the right rotating frame connecting gear is connected to a rotating block (14) after passing through the rotating frame (10); and a rotating connecting rod (13) is connected to the rotating block (14); A connecting rod (12) is connected to the other end of the rotating frame (10), a flapping rod (11) is connected between the connecting rods (12), and a wing (2) is arranged on the flapping rod (11); The other end of the rotating connecting rod (13) is connected to the flapping rod (11).

6. The attitude-adjustable flapping-wing aircraft according to claim 3, characterized in that: A matching left middle gear (7) is arranged in the middle of the left rack (6), a left middle steering gear (9) is connected to the side of the left middle gear (7) facing inward, and a baffle (8) is arranged on the side of the left middle gear (7) facing outward.

7. The attitude-adjustable flapping-wing aircraft according to claim 6, characterized in that: The volumes of the left front gear (5), the left middle gear (7) and the rotating frame connecting gear (15) are compatible.

8. The attitude-adjustable flapping-wing aircraft according to claim 5, characterized in that: A matching right middle gear (18) is arranged in the middle of the right rack (3); a right middle steering gear (19) is connected to the side of the right middle gear (18) facing inwards; and a baffle (8) is also arranged on the side of the right middle gear (18) facing outwards.

9. The attitude-adjustable flapping-wing aircraft according to claim 8, characterized in that: The volumes of the right front gear, the right middle gear (18) and the right rotating frame connecting gear are compatible.

10. The attitude-adjustable flapping-wing aircraft according to claim 1, characterized in that: A tail wing is connected to the outside of the frame (1).