Anti-phase ornithopter with adjustable flapping angle

Abstract

The invention discloses an anti-phase ornithopter with an adjustable flapping angle. Belongs to the field of aircrafts and comprises a rack, a motor is mounted at the top end of the rack, a turntable is connected to the lower end of the motor, a linear motor is mounted on the rack, a driver is mounted on the linear motor, and flapping devices are connected to two ends of the driver. Rockers are arranged on the rack, and the outer wall of the rocker on the upper side is sleeved with a rocker sleeve; a shaft penetrates through the lower side rocker, and flapping devices penetrate through the two ends of the shaft; the flapping device comprises a coupling and a flapping rod; wing supports are arranged on the two sides of the machine frame, and flapping rod sleeves are arranged on the wing supports. The reverse-phase flapping of the wings and the adjustment of the flapping angle are realized by adopting a shaft or a connecting rod mechanism. Flapping angles on the two sides can be adjusted to realize turning flight while flapping is performed in an anti-phase manner; the structure is simple, the control mode is simplified, miniaturization and portability of the aircraft are facilitated, meanwhile, the energy consumption rate is low, and batteries with the same capacity have larger endurance mileage.

Description

Technical Field

[0001] The invention belongs to the field of aircraft, and relates to an anti-phase flapping-wing aircraft with adjustable flapping angle. Background Art

[0002] Bird-like flapping-wing aircraft need to adjust their posture to make turns during flight. However, the current bird-like flapping-wing aircraft have poor turning performance and cannot quickly complete the turning action. At the same time, most flapping-wing aircraft use gear transmission, which consumes a lot of energy, is noisy, and has a short service life.

[0003] The current research and development trend tends to imitate the bird's flight mode, that is, using a combination of bird's flapping wings and traditional fixed-wing flight tail to simulate the bird's flight mode. Although the tail can guide the flight direction of the aircraft to a certain extent, it often fails to meet the requirements when faced with flight missions that require fast and flexible turns. Limited by the size of the tail, the aerodynamic torque generated by the swing of the tail is limited, which makes the turning radius of this type of flapping-wing aircraft large, the turning is slow, and the turning performance is poor. Therefore, in order to realize the practical application of flapping-wing aircraft, it is urgent to develop an insect-like aircraft that relies only on the wings on both sides rather than the tail to achieve turning flight. Summary of the invention

[0004] In view of the above problems, the present invention aims to provide an anti-phase flapping-wing aircraft with adjustable flapping angle.

[0005] The technical solution of the present invention is: the anti-phase flapping-wing aircraft with adjustable flapping angle described in the present invention comprises a frame, a motor is installed on the top of the frame, and a turntable is connected to the lower end of the motor after passing through the frame.

[0006] Furthermore, a linear motor is installed on the frame, and a transmission is installed on the linear motor;

[0007] Both ends of the transmission are respectively connected with flapping devices.

[0008] Furthermore, a rocker is installed on the frame near the lower end of the turntable, and a matching rocker sleeve is sleeved on the center of the outer wall of the upper rocker;

[0009] A shaft is inserted into the rocker at the lower side, and two ends of the shaft are inserted into flapping devices at two ends after passing through a transmission.

[0010] Furthermore, the rocker sleeve is connected to the turntable.

[0011] Furthermore, the flapping device includes a coupling connected to the transmission and passing through the shaft,

[0012] Four flapping rods are respectively connected to the two ends of the coupling.

[0013] Furthermore, rotatable wing brackets are respectively installed at the extended ends on both sides of the frame and the lower ends of the four flapping rods, and a flapping rod sleeve for sleeve-mounting the flapping rod is installed on the wing bracket.

[0014] Furthermore, the outer diameter of the flapping rod sleeve is matched with the inner diameter of the wing bracket, and the flapping rod sleeve is movably connected to the wing bracket.

[0015] Furthermore, the coupling and the flapping rod are spherically connected.

[0016] Furthermore, a tail wing is connected to one end of the frame.

[0017] Furthermore, wings are connected to the other ends of the flapping rods.

[0018] The beneficial effects of the present invention are as follows: the present invention does not use a gear transmission device in the overall design, but only uses a shaft or connecting rod mechanism to achieve anti-phase flapping of the wings and adjust the flapping angle. While flapping in anti-phase, the flapping angles on both sides can be adjusted to achieve turning flight. Compared with traditional flapping-wing aircraft, the present invention has a simpler structure and a simplified control method, which helps to achieve miniaturization and lightness of the aircraft. At the same time, the energy consumption rate is low, and batteries of the same capacity have a longer cruising range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 is a front view of the device of the present invention;

[0021] Figure 3 is a diagram of a fluttering device of the device of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of each device in the device of the present invention;

[0023] Figure 5 is a side view of the device of the present invention;

[0024] In the figure, 100 is a frame, 101 is a motor, 102 is a turntable, 103 is a rocker sleeve, 104 is a rocker, 105 is a shaft, 106 is a coupling, 107 is a flapping rod, 108 is a flapping rod sleeve, 109 is a wing bracket, 201 is a linear motor, and 202 is a transmission. DETAILED DESCRIPTION

[0025] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0026] As shown in the figure, the anti-phase flapping-wing aircraft with adjustable flapping angle described in the present invention includes a frame 100, a motor 101 is installed on the top of the frame 100, and a turntable 102 is connected to the lower end of the motor 101 after passing through the frame 100.

[0027] Furthermore, a linear motor 201 is installed on the frame 100, and a transmission device 202 is installed on the linear motor 201;

[0028] Both ends of the transmission device 202 are connected with flapping devices respectively.

[0029] Furthermore, a rocker 104 is installed on the frame 100 near the lower end of the turntable 102, and a matching rocker sleeve 103 is sleeved at the center of the outer wall of the upper rocker 104;

[0030] A shaft 105 is inserted into the lower rocker 104 , and two ends of the shaft 105 are inserted into flapping devices at two ends after passing through a transmission 202 .

[0031] Furthermore, the rocker sleeve 103 is connected to the turntable 102 .

[0032] Furthermore, the flapping device includes a coupling 106 connected to the transmission 202 and passing through the shaft 105.

[0033] Four flapping rods 107 are respectively connected to the two ends of the coupling 106 .

[0034] Furthermore, rotatable wing brackets 109 are respectively installed at the extended ends on both sides of the frame 100 and the lower ends of the four flapping rods 107, and a flapping rod sleeve 108 for sleeve-mounting the flapping rod 107 is installed on the wing bracket 109.

[0035] Furthermore, the outer diameter of the flapping rod sleeve 108 is matched with the inner diameter of the wing bracket 109 , and the flapping rod sleeve 108 is movably connected to the wing bracket 109 .

[0036] Furthermore, the coupling 106 and the flapping rod 107 are spherically connected.

[0037] Furthermore, a tail wing is connected to one end of the frame 100 .

[0038] Furthermore, wings are connected to the other ends of the flapping rods 107 .

[0039] Working principle of the device: flapping process: the motor 101 rotates, causing the turntable 102 to rotate, driving the rocker sleeve 103 to move in an elliptical shape, and at this time the rocker 104 swings back and forth;

[0040] The coupling 106 is driven by the shaft 105 to make a swinging motion, and the coupling 106 drives the flapping rod 107 to flap, so that the front and rear wings flap in opposite phases; (1. The flapping rod 107 and the coupling 106 are spherically connected, so that the freedom of the flapping rod 107 is not restricted when the flapping rod 107 flaps up and down; 2. The wing bracket 109 is rotatable, and by cooperating with the flapping rod sleeve 108, the flapping rod 107 can rotate left and right while flapping up and down).

[0041] Turning process: When it is necessary to turn left, the linear motor 201 is used to move the transmission device 202 to the left, and then drive the coupling 106 to move left and right, so as to change the flapping angle of the wings, so that the flapping angle on the right side is greater than the flapping angle on the left side, thereby realizing turning; the opposite is true for turning right; (the connection between the transmission device 202 and the coupling 106 is concentric, and no motion interference will occur when the coupling 106 swings).

[0042] The present invention achieves turning flight by adjusting the flapping angles of the wings on both sides. At the same time, considering that dragonflies usually adopt a flying mode in which the front and rear pairs of wings flap in opposite phases in order to obtain a higher range and flight efficiency, the present invention abandons the traditional tail wing and designs the front and rear pairs of wings to be able to flap in opposite phases.

[0043] In the present invention, the four wing anti-phase flapping devices are driven by only one motor, and no gear transmission is used. In addition, in order to achieve more flexible turning control of the aircraft, the flapping angle devices of the four wings on both sides are also adjusted by a gearless steering method without changing the wing fulcrum, and the four wing flapping angle devices on both sides are adjusted and driven by a linear motor. The present invention simplifies the structure of the flapping-wing aircraft, reduces the cost, and improves its turning performance.

Claims

1. An anti-phase flapping-wing aircraft with adjustable flapping angle, characterized in that: The invention comprises a frame (100), a motor (101) is arranged at the top of the frame (100), and a rotating disk (102) is connected to the lower end of the motor (101) after passing through the frame (100).

2. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 1, characterized in that: A linear motor (201) is mounted on the frame (100), and a transmission (202) is mounted on the linear motor (201); Both ends of the transmission device (202) are respectively connected with flapping devices.

3. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 2, characterized in that: A rocker (104) is installed on the frame (100) near the lower end of the rotating disk (102), and a matching rocker sleeve (103) is sleeved at the center of the outer wall of the upper rocker (104); A shaft (105) is inserted into the rocker (104) at the lower side, and two ends of the shaft (105) are inserted into flapping devices at two ends after passing through a transmission (202).

4. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 3, characterized in that: The rocker sleeve (103) is connected to the rotating disk (102).

5. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 3, characterized in that: The flapping device comprises a coupling (106) connected to the transmission (202) and passing through the shaft (105), Four flapping rods (107) are respectively connected to the two ends of the coupling (106).

6. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 5, characterized in that: Rotatable wing brackets (109) are respectively installed at the extended ends on both sides of the frame (100) and the lower ends of the four flapping rods (107), and a flapping rod sleeve (108) for sleeve-mounting the flapping rod (107) is arranged on the wing bracket (109).

7. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 6, characterized in that: The outer diameter of the flapping rod sleeve (108) is matched with the inner diameter of the wing bracket (109), and the flapping rod sleeve (108) is movably connected to the wing bracket (109).

8. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 5, characterized in that: The coupling (106) and the flapping rod (107) are spherically connected.

9. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 1, characterized in that: A tail wing is connected to one end of the frame (100).

10. The anti-phase flapping-wing aircraft with adjustable flapping angle according to claim 5, characterized in that: The other end of the flapping rod (107) is connected with a wing.

Images