Three-drive flapping-frequency-adjustable ornithopter

Abstract

The invention discloses a three-drive flapping-frequency-adjustable ornithopter. The unmanned aerial vehicle comprises a fuselage, two wings, an empennage, a battery and a remote controller, the two wings are mounted on two sides of the fuselage; the empennage is mounted at the rear end of the fuselage; the battery is arranged on the machine body; the remote controller is held by a worker and is used for controlling the flight of the ornithopter main body. The unmanned aerial vehicle has the beneficial effects that through accurate adjustment of the full-angle steering engine, flexible control over the flapping frequency is achieved, and different flight requirements are met; the main motor provides basic power, and the power distribution optimization of the steering engine is combined, so that the maximum energy utilization efficiency is ensured; the gear set adopts modular design, the structure is compact, and rapid assembly and maintenance are facilitated; meanwhile, the aircraft has multiple functions and can flexibly complete complex flight actions such as linear flight, circling and rapid turning.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft design, and in particular relates to a flapping-wing aircraft with three drives and adjustable flapping frequency. Background Art

[0002] Bionic flapping-wing aircraft imitate the flight patterns of birds and insects in nature, using the flapping motion of wings to generate lift and propulsion. This flying method has broad application prospects due to its high efficiency and flexibility. However, existing flapping-wing aircraft still have significant design problems, which limits the further improvement of their performance.

[0003] First, the flapping frequency of existing flapping-wing aircraft is usually difficult to adjust or has a narrow adjustment range, which makes it difficult for the aircraft to adapt to different flight states, such as cruising, acceleration or turning. In complex flight environments, a fixed flapping frequency is difficult to meet the requirements of rapid response, thus limiting the application scenarios of flapping-wing aircraft.

[0004] Secondly, most of the current power systems adopt a single-drive design. The single-drive system has limitations in power distribution and control flexibility, making it difficult to achieve complex power coordination, especially when differential flapping of the left and right wings is required to achieve precise steering or attitude adjustment. This design limits the maneuverability of flapping-wing aircraft and makes it perform poorly in the face of dynamically changing flight conditions.

[0005] In addition, the structural design of existing flapping-wing aircraft is usually complex, involving the close coordination of multiple components. This complexity not only increases the manufacturing cost, but also makes maintenance and repair difficult, further limiting the promotion of its practical application.

[0006] Therefore, it is of great practical significance to develop a new type of flapping-wing aircraft that can break through the limitations of existing designs, has the ability to flexibly adjust the flapping frequency, has a simple structural design, and can adapt to multiple flight modes. By innovatively designing the power system, such as introducing technical solutions based on multi-stage gear sets and multi-drive modules, the performance and control capabilities of the aircraft can be greatly improved. This new design can not only meet diverse flight needs, but also significantly reduce manufacturing and maintenance costs, paving the way for the widespread application of flapping-wing aircraft. Summary of the invention

[0007] In order to solve the above problems, the purpose of the present invention is to provide a flapping-wing aircraft with three drives and adjustable flapping frequency, which can realize flexible adjustment of the flapping frequency by driving a gear set through the cooperation of a main motor and a full-angle servo, while ensuring a compact structure and stable performance.

[0008] In order to achieve the above-mentioned purpose, the three-drive flapping-wing aircraft with adjustable flapping frequency provided by the present invention comprises a fuselage, two wings, a tail wing, a battery and a remote control; wherein the fuselage comprises a primary gear, a secondary gear, a tertiary gear, a main gear, a full-angle servo, a driving gear, a brushless motor, a frame, a crank rod and a connecting frame; the frame is a structural component for supporting the entire device; the brushless motor is fixed to one side of the rear end face of the frame, and its output shaft is horizontally forward and connected to the central axis of the driving gear; the main gear is a bevel gear, which is arranged on one side of the interior of the frame, and the central axis is perpendicular to the output shaft of the brushless motor; the driving gear is also a bevel gear and is vertically meshed with the main gear; the connecting frame is a cylindrical structure, which is arranged horizontally, one end of which is connected to the inner side surface of the main gear, and the bottom surface of the other end is arranged parallel to the main gear; the two ends of the connecting frame are connected to the inner side surface of the main gear, and the bottom surface of the other end is arranged parallel to the main gear; The first-stage gears are symmetrically arranged on the outside of the bottom surface of the main gear and the connecting frame, and are coaxially arranged with the main gear and the connecting frame respectively; the second-stage gear is composed of a coaxially arranged large gear and a small gear located on the outside of the large gear, and the two second-stage gears are respectively arranged on the outside of the bottom surface of the main gear and the connecting frame, and the large gear is meshed with the first-stage gear; the two third-stage gears are respectively arranged on the outside of the two second-stage gears, and are meshed with the small gears on the second-stage gears; the two full-angle servos are respectively installed on the inner side of the bottom surface of the main gear and the connecting frame, and their output shafts respectively penetrate the bottom surface of the main gear and the connecting frame and are connected to the central axes of the two first-stage gears; the crank rod is a Z-shaped structure, one end of the two crank rods is respectively hinged on the outer side of the two third-stage gears, and the other end is respectively connected to the middle section of the two wings to realize the reciprocating transmission of motion;

[0009] The tail wing includes a steering gear, a connecting rod, a Y-shaped connecting piece, an XY-direction connecting piece, a ZY-direction connecting piece, a horizontal tail wing and a metal wire; wherein two steering gears are respectively installed at the two sides of the rear part of the frame; the Y-shaped connecting piece is horizontally arranged and its opening faces backward; the front and rear ends of the connecting rod are respectively connected to the middle of the rear end of the frame and the front end of the Y-shaped connecting piece; the rear part of the Y-shaped connecting piece is connected to the front part of the XY-direction connecting piece by a horizontally arranged pin shaft; the rear part of the XY-direction connecting piece is connected to the front part of the ZY-direction connecting piece by a vertically arranged pin shaft; the front end of the horizontal tail wing is inserted into the middle of the rear end of the ZY-direction connecting piece; one end of the two metal wires is respectively connected to the output ends of the two steering gears, and the other end is respectively connected to the upper ends of the two sides of the ZY-direction connecting piece, and the differential of the two steering gears is used to control the horizontal tail wing to realize the yaw and pitch of the fuselage;

[0010] The battery includes a main battery and a secondary battery; the secondary battery is installed inside the main gear to power the full-angle servo; the main battery is installed at the rear of the frame to power the brushless motor and the servo;

[0011] The remote controller is held by the staff and is wirelessly connected to the full-angle servo, brushless motor and servo respectively.

[0012] The skin on the wing is made of polyurethane film, and the outer frame is made of thin carbon tubes.

[0013] The frame is made of high-strength glass fiber or carbon fiber composite material and is provided with a protective shell on the outside.

[0014] The first-stage gear, second-stage gear, third-stage gear, main gear and driving gear are all made of ABS plastic gears.

[0015] The beneficial effects of the present invention are as follows: through the precise adjustment of the full-angle servo, the flapping frequency can be flexibly controlled to meet different flight requirements; the main motor provides basic power, combined with the power distribution optimization of the servo to ensure maximum energy utilization efficiency; the gear set adopts a modular design with a compact structure, which is convenient for rapid assembly and maintenance; at the same time, the aircraft is multifunctional and can flexibly complete complex flight movements such as straight flight, circling and rapid turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A top view of the structure of a flapping-wing aircraft with three drives and adjustable flapping frequency provided by the present invention.

[0017] Figure 2 A three-dimensional diagram of the internal structure of the fuselage of the flapping-wing aircraft with three drives and adjustable flapping frequency provided by the present invention.

[0018] Figure 3 A top view of the internal structure of the fuselage of the flapping-wing aircraft with three drives and adjustable flapping frequency provided by the present invention.

[0019] Figure 4 A schematic diagram of the tail structure of a flapping-wing aircraft with three drives and adjustable flapping frequency provided by the present invention. DETAILED DESCRIPTION

[0020] 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.

[0021] like Figure 1-Figure 4As shown, the flapping-wing aircraft with three drives and adjustable flapping frequency provided by the present invention comprises a fuselage, two wings 301, a tail wing, a battery and a remote controller; wherein the fuselage comprises a primary gear 103, a secondary gear 102, a tertiary gear 101, a main gear 104, a full-angle servo 105, a driving gear 106, a brushless motor 107, a frame 109, a crank rod 110 and a connecting frame 111; the frame 109 is a structural component for supporting the entire device; the brushless motor 107 is fixed on the frame On one side of the rear end face of 109, its output shaft is horizontally forward and connected to the central axis of the driving gear 106; the main gear 104 is a bevel gear, which is arranged on one side of the interior of the frame 109, and the central axis is perpendicular to the output shaft of the brushless motor 107; the driving gear 106 is also a bevel gear and is vertically meshed with the main gear 104; the connecting frame 111 is a barrel-shaped structure, which is arranged horizontally, one end is connected to the inner side of the main gear 104, and the bottom surface of the other end is arranged parallel to the main gear 104; the two primary gears 103 are symmetrically arranged on the outside of the bottom surface of the main gear 104 and the connecting frame 111, and are coaxially arranged with the main gear 104 and the connecting frame 111 respectively; the secondary gear 102 is composed of a coaxially arranged large gear and a small gear located on the outside of the large gear, and the two secondary gears 102 are respectively arranged on the outside of the bottom surface of the main gear 104 and the connecting frame 111, and the large gear is meshed with the primary gear 103; the two tertiary gears 101 are respectively arranged on the outside of the two secondary gears 102, and are The pinion gears on the gear 102 are meshed; two full-angle servos 105 are respectively installed on the inner sides of the bottom surfaces of the main gear 104 and the connecting frame 111, and their output shafts respectively penetrate the bottom surfaces of the main gear 104 and the connecting frame 111 and are connected to the central axes of the two first-stage gears 103; the crank rod 110 is a Z-shaped structure, one end of the two crank rods 110 is respectively hinged on the outer sides of the two third-stage gears 103, and the other end is respectively connected to the middle sections of the two wings 301 to realize the reciprocating transmission of motion;

[0022] The tail wing includes a steering engine 108, a connecting rod 201, a Y-shaped connecting piece 202a, an XY direction connecting piece 202b, a ZY direction connecting piece 202c, a horizontal tail wing 202d and a metal wire 112; wherein the two steering engines 108 are respectively installed at the two sides of the rear part of the frame 109; the Y-shaped connecting piece 202a is arranged horizontally and its opening faces backward; the front and rear ends of the connecting rod 201 are respectively connected to the middle of the rear end of the frame 109 and the front end of the Y-shaped connecting piece 202a; the rear end of the Y-shaped connecting piece 202a is connected to the front end of the XY direction connecting piece 202b The rear part of the XY direction connecting member 202b is connected to the front part of the ZY direction connecting member 202c by a horizontally arranged pin shaft; the front end of the horizontal tail wing 202d is inserted into the middle part of the rear end of the ZY direction connecting member 202c; one end of the two metal wires 112 is respectively connected to the output ends of the two steering gears 108, and the other end is respectively connected to the upper ends of both sides of the ZY direction connecting member 202c, and the differential of the two steering gears 108 is used to control the horizontal tail wing 202d to achieve the yaw and pitch of the fuselage;

[0023] The battery includes a main battery and a secondary battery; wherein the secondary battery is installed inside the main gear 104 to power the full-angle servo 105; the main battery is installed at the rear of the frame 109 to power the brushless motor 107 and the servo 108;

[0024] The remote controller is held by a staff member and is wirelessly connected to the full-angle servo 105 , the brushless motor 107 and the servo 108 respectively.

[0025] The skin on the wing 301 is made of polyurethane film, and the outer frame is made of thin carbon tubes.

[0026] The frame 109 is made of high-strength glass fiber or carbon fiber composite material and is provided with a protective shell on the outside.

[0027] The first-stage gear 103 , the second-stage gear 102 , the third-stage gear 101 , the main gear 104 and the driving gear 106 are all made of ABS plastic gears.

[0028] The working principle of the three-drive flapping-wing aircraft with adjustable flapping frequency provided by the present invention is described as follows:

[0029] First, the staff uses the remote control to start the brushless motor 107. Under the drive of the brushless motor 107, the driving gear 106 will rotate at a high speed, thereby driving the main gear 104 and the connecting frame 111 to rotate, and then the first-stage gear 103, the second-stage gear 102, and the third-stage gear 101 are multi-stage deceleration, and finally the output speed reaches the flapping frequency of the flapping-wing aircraft during normal flight, so that the wing 301 is basically flapping, thereby making the flapping-wing aircraft fly normally in a straight line; under the condition that the amplitude of the left and right sides of the flapping-wing aircraft is the same during normal flight, if a turn or hovering is required, two full-angle steering gears 105 are used to change the rotation speed of the first-stage gear 103 on both sides separately to make it achieve differential operation compared with the rotation speed of the main gear, so that the crank rod 110 drives the change of the flapping frequency and amplitude of the wing 301 to perform a turn or hovering operation. At the same time, the steering gear 108 can be used to control the multi-degree-of-freedom movement of the tail through the metal wire 112 to realize the pitch and yaw of the flapping-wing aircraft in space.

Claims

1. A flapping-wing aircraft with three drives and adjustable flapping frequency, characterized in that: The flapping-wing aircraft comprises a fuselage, two wings (301), a tail wing, a battery and a remote controller; wherein the fuselage comprises a primary gear (103), a secondary gear (102), a tertiary gear (101), a main gear (104), a full-angle steering gear (105), a driving gear (106), a brushless motor (107), a frame (109), a crank rod (110) and a connecting frame (111); the frame (109) is a structural component for supporting the entire device; the brushless motor (107) is fixed on one side of the rear end surface of the frame (109) , its output shaft is horizontally forward and connected to the central axis of the driving gear (106); the main gear (104) is a bevel gear, which is arranged on one side of the interior of the frame (109), and the central axis is perpendicular to the output shaft of the brushless motor (107); the driving gear (106) is also a bevel gear and is vertically meshed with the main gear (104); the connecting frame (111) is a cylindrical structure, which is arranged horizontally, one end of which is connected to the inner side of the main gear (104), and the bottom surface of the other end is arranged parallel to the main gear (104); the two primary gears (103) are symmetrical The two second-stage gears (102) are arranged outside the bottom surfaces of the main body gear (104) and the connecting frame (111), and are respectively arranged coaxially with the main body gear (104) and the connecting frame (111); the second-stage gear (102) is composed of a coaxially arranged large gear and a small gear located outside the large gear; the two second-stage gears (102) are respectively arranged outside the bottom surfaces of the main body gear (104) and the connecting frame (111), and the large gear is meshed with the first-stage gear (103); the two third-stage gears (101) are respectively arranged outside the two second-stage gears (102), and are meshed with the second-stage gear (103); The two full-angle steering gears (105) are respectively mounted on the inner sides of the bottom surfaces of the main gear (104) and the connecting frame (111), and their output shafts respectively penetrate the bottom surfaces of the main gear (104) and the connecting frame (111) and are connected to the central axes of the two first-stage gears (103); the crank rod (110) is a Z-shaped structure, one end of the two crank rods (110) is respectively hinged on the outer sides of the two third-stage gears (103), and the other end is respectively connected to the middle sections of the two wings (301) to realize the reciprocating transmission of motion; The tail wing comprises a steering gear (108), a connecting rod (201), a Y-shaped connecting piece (202a), an XY-direction connecting piece (202b), a ZY-direction connecting piece (202c), a horizontal tail wing (202d) and a metal wire (112); wherein two steering gears (108) are respectively installed at two sides of the rear part of a frame (109); the Y-shaped connecting piece (202a) is arranged horizontally and its opening faces backward; the front and rear ends of the connecting rod (201) are respectively connected to the middle part of the rear end of the frame (109) and the front end of the Y-shaped connecting piece (202a); the rear part of the Y-shaped connecting piece (202a) is connected to the XY-direction connecting piece (2 The front part of the XY direction connecting piece (202b) is connected with the front part of the ZY direction connecting piece (202c) by a horizontally arranged pin shaft; the rear part of the XY direction connecting piece (202b) is connected with the front part of the ZY direction connecting piece (202c) by a vertically arranged pin shaft; the front end of the horizontal tail wing (202d) is inserted into the middle part of the rear end of the ZY direction connecting piece (202c); one end of the two metal wires (112) is respectively connected to the output ends of the two steering gears (108), and the other end is respectively connected to the upper ends of both sides of the ZY direction connecting piece (202c), and the differential of the two steering gears (108) is used to control the horizontal tail wing (202d) to realize the yaw and pitch of the fuselage; The battery comprises a main battery and a secondary battery; wherein the secondary battery is installed inside the main gear (104) and is used to supply power to the full-angle steering gear (105); the main battery is installed at the rear of the frame (109) and is used to supply power to the brushless motor (107) and the steering gear (108); The remote controller is held by a staff member and is wirelessly connected to the full-angle steering engine (105), the brushless motor (107) and the steering engine (108) respectively.

2. The flapping-wing aircraft with three drives and adjustable flapping frequency according to claim 1, characterized in that: The skin on the wing (301) is made of polyurethane film, and the outer frame is made of thin carbon tubes.

3. The flapping-wing aircraft with three drives and adjustable flapping frequency according to claim 1, characterized in that: The frame (109) is made of high-strength glass fiber or carbon fiber composite material and is provided with a protective shell on the outside.

4. The flapping-wing aircraft with three drives and adjustable flapping frequency according to claim 1, characterized in that: The first-stage gear (103), the second-stage gear (102), the third-stage gear (101), the main gear (104) and the driving gear (106) are all made of ABS plastic gears.

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