Bionic aircraft with folding wing mechanism

Abstract

The invention discloses a bionic aircraft with a folding wing mechanism. The bionic aircraft comprises a fuselage, a left folding wing, a right folding wing, a left folding driving mechanism and a right folding driving mechanism, the left folding wing is rotatably mounted on the left side of the fuselage, the right folding wing is rotatably mounted on the right side of the fuselage, the left folding driving mechanism is mounted on the fuselage and is in transmission connection with the left folding wing, and the right folding driving mechanism is in transmission connection with the right folding wing. And the right folding driving mechanism is mounted on the fuselage and is in transmission connection with the right folding wing. The unfolding degree of the left wing wing and the unfolding degree of the right wing wing are adjusted through the independent left folding driving mechanism and the independent right folding driving mechanism respectively, the wing wings on the two sides do asymmetric folding and unfolding movement, the lift force difference can be generated on the left side and the right side, and therefore left-right rolling flight operation is conducted, and rolling can be conducted in the flapping wing-fixed wing double-flight mode.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular, relates to a bionic aerial vehicle with a folding wing mechanism. Background Art

[0002] The flapping wing flight of birds in nature has the advantages of good maneuverability and high flexibility. When flying, the wings of birds can adjust their flight posture through a series of complex movements such as flapping, twisting, and retracting. Bionic aircraft with folding wing mechanisms imitate many advantages of flying creatures, and have the characteristics of good concealment, high flight efficiency, low noise, and good maneuverability. However, there are still many problems to be solved in the development of flapping wing aircraft, among which the most critical one is the attitude control problem of flapping wing aircraft.

[0003] Existing flapping-wing aircraft generate lift and thrust by flapping wings, and adjust the fuselage attitude and control the flight direction by controlling the tail rudder of the aircraft. The tail rudder is responsible for providing all the yaw and pitch moments required for flight during flight. Since the tail rudder wing aspect ratio is relatively small, the rolling moment generated is limited, the aircraft has low maneuverability and flexibility, and has a large control delay. In addition, the fuselage torque transmission needs to be considered, which also puts forward high requirements for structural design.

[0004] Most of the flapping-wing aircraft that have been successfully developed so far only generate lift and thrust through the up and down flapping of the wings, and their wings cannot be directly controlled to generate rolling torque. The way of achieving rolling through the tail is contrary to the way in which flying creatures in nature adjust their flight posture by controlling their wings, which reduces the bionics and biological nature of flapping-wing aircraft. The existing method of achieving rolling flight by changing the shape of the wings on both sides is mostly applied to fixed-wing aircraft, and is rarely used in flapping-wing aircraft. Summary of the invention

[0005] The technical problem solved by the present invention is: how to provide a bionic aircraft with a folding wing mechanism, which can realize rolling operation control in both flapping wing and fixed wing dual modes.

[0006] The present application provides a bionic aircraft with a folding wing mechanism, the bionic aircraft comprising:

[0007] body;

[0008] A left folding wing, wherein the left folding wing is rotatably mounted on the left side of the fuselage;

[0009] A right folding wing, the right folding wing being rotatably mounted on the right side of the fuselage;

[0010] A left folding drive mechanism, the left folding drive mechanism is installed on the fuselage and is in transmission connection with the left folding wing, the left folding drive mechanism is used to adjust the degree of expansion of the left folding wing;

[0011] A right folding drive mechanism is installed on the fuselage and is transmission-connected to the right folding wing, and the right folding drive mechanism is used to adjust the degree of expansion of the right folding wing.

[0012] Optionally, the left folding wing comprises:

[0013] A left leading edge rod, the head end of which is rotatably connected to the head of the fuselage;

[0014] a left wing finger, the left wing finger being mounted on the left leading edge rod;

[0015] A left folding wing rib is rotatably connected between the left leading edge rod and the fuselage.

[0016] Optionally, the left folding rib includes a first rib, a second rib and a third rib, the first rib is rotationally connected to the second rib, the first rib is rotationally connected to the middle part of the left leading edge rod, the second rib is rotationally connected to the tail part of the fuselage, and both ends of the third rib are rotationally connected to the head end of the left leading edge rod and the left folding drive mechanism respectively.

[0017] Optionally, the left folding wing rib also includes a first cross shaft and a second cross shaft, the two shafts of the first cross shaft are perpendicular to each other and are respectively rotatably connected to the second wing rib and the tail of the fuselage, and the two shafts of the second cross shaft are perpendicular to each other and are respectively rotatably connected to the third wing rib and the left folding drive mechanism.

[0018] Optionally, the left folding wing further includes:

[0019] A left rocker arm, the left rocker arm being rotatably connected to the head of the fuselage;

[0020] A leading edge rod folding piece, the leading edge rod folding piece is rotatably connected to the left rocker arm, the head end of the left leading edge rod is connected to the leading edge rod folding piece, and the third wing rib is rotatably connected to the leading edge rod folding piece.

[0021] Optionally, the left folding drive mechanism includes a left servo and a left rudder arm, the left servo is installed on the fuselage, the left rudder arm is connected to the output shaft of the left servo, and the left rudder arm is rotatably connected to one of the rotating shafts of the second cross rotating shaft.

[0022] Optionally, the left folding wing further includes:

[0023] A wing finger connecting member is installed at the middle part of the left leading edge rod, the left wing finger is installed on the wing finger connecting member, and the number of the left wing fingers is multiple, and the first wing rib is rotatably connected to the wing finger connecting member.

[0024] Optionally, the right folding wing has the same structure as the left folding wing, and the right folding wing is symmetrical with the left folding wing about the central axis of the fuselage.

[0025] Optionally, the left folding drive mechanism and the right folding drive mechanism have the same structure, and the left folding drive mechanism and the right folding drive mechanism are symmetrical about the central axis of the fuselage.

[0026] Optionally, the bionic aircraft further comprises:

[0027] A flapping drive mechanism is installed on the fuselage, and the flapping drive mechanism is used to drive the right folding wing and the left folding wing to flap.

[0028] The present invention discloses a bionic aircraft with a folding wing mechanism, which has the following technical effects:

[0029] Independent left and right folding drive mechanisms are used to adjust the degree of expansion of the left and right wings respectively, so that the wings on both sides can perform asymmetrical folding and unfolding movements, which can create a lift difference between the left and right sides, thereby performing left and right rolling flight operations, and rolling can be performed in both flapping-wing and fixed-wing dual flight modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of a bionic aircraft with a folding wing mechanism according to the first embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the overall structure of the bionic aircraft with a folding wing mechanism according to the first embodiment of the present invention from another angle;

[0032] Figure 3 This is a schematic diagram of the wings of the bionic aircraft with a folding wing mechanism according to the first embodiment of the present invention being fully unfolded;

[0033] Figure 4 A schematic diagram of folding the right wing of a bionic aircraft with a folding wing mechanism according to the first embodiment of the present invention;

[0034] Figure 5 A schematic diagram of folding the left wing of a bionic aircraft with a folding wing mechanism according to the first embodiment of the present invention;

[0035] The corresponding relationship between the reference numerals and the component names is as follows:

[0036] 10-fuselage, 11-fixed base plate, 12-fixing part, 20-left folding wing, 21-left leading edge rod, 22-left wing finger, 23-left folding wing rib, 230-wing rib connecting part, 231-first wing rib, 232-second wing rib, 233-third wing rib, 234-first cross shaft, 235-second cross shaft, 24-left rocker arm, 25-leading edge rod folding part, 26-left leading edge rod fixing part, 27-wing finger connecting part, 30-right folding wing, 40-left folding drive mechanism, 41-left servo, 42-left rudder arm, 43-servo seat, 50-right folding drive mechanism. DETAILED DESCRIPTION

[0037] 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 used to limit the present invention.

[0038] Before describing in detail the various embodiments of the present application, the technical concept of the present application is first briefly described: it is difficult for current bionic aircraft to achieve rolling flight operations in both flapping-wing and fixed-wing dual flight modes. To this end, the bionic aircraft with a folding wing mechanism provided in the present application is provided with foldable left folding wings and right folding wings on both sides of the fuselage, and uses independent left folding drive mechanisms and right folding drive mechanisms to respectively adjust the degree of expansion of the left and right wings, so that the wings on both sides perform asymmetric folding and unfolding movements, thereby achieving left and right rolling flight operations of the bionic aircraft, and rolling can be performed in both flapping-wing and fixed-wing dual flight modes. The specific structure of the bionic aircraft with a folding wing mechanism of the present application is described below in conjunction with more embodiments.

[0039] Specifically, Figure 1 , Figure 2 As shown, the bionic flying machine with a folding wing mechanism of the first embodiment includes a fuselage 10, a left folding wing 20, a right folding wing 30, a left folding driving mechanism 40, and a right folding driving mechanism 50. The left folding wing 20 is rotatably mounted on the left side of the fuselage, and the right folding wing 30 is rotatably mounted on the right side of the fuselage 10. The left folding driving mechanism 40 is mounted on the fuselage 10 and is in transmission connection with the left folding wing 20. The left folding driving mechanism 40 is used to adjust the degree of expansion of the left folding wing 20. The right folding driving mechanism 50 is mounted on the fuselage 10 and is in transmission connection with the right folding wing 30. The right folding driving mechanism 50 is used to adjust the degree of expansion of the right folding wing 30. By adjusting the wings on both sides to different degrees of expansion, a lift difference can be generated on the left and right sides, thereby performing left and right rolling flight operations.

[0040] In one or more embodiments, the right folding wing 30 has the same structure as the left folding wing 20, and the right folding wing 30 and the left folding wing 30 are symmetrical about the central axis of the fuselage 10. The left folding drive mechanism 40 has the same structure as the right folding drive mechanism 50, and the left folding drive mechanism 40 and the right folding drive mechanism 50 are symmetrical about the central axis of the fuselage 10. The left folding wing 20 and the left folding drive mechanism 40 are described in detail below.

[0041] Exemplarily, the left folding wing 20 includes a left leading edge rod 21, a left wing finger 22, and a left folding wing rib 23. The head end of the left leading edge rod 21 is rotatably connected to the head of the fuselage 10, the left wing finger 22 is installed on the left leading edge rod 21, and the left folding wing rib 23 is rotatably connected between the left leading edge rod 21 and the fuselage 10. The left folding drive mechanism 40 is used to drive the left folding wing rib 23 to fold or unfold, so that the left folding wing 20 is in different degrees of folding or unfolding.

[0042] Among them, the left folding rib 23 includes a first rib 231, a second rib 232 and a third rib 233. The first rib 231 is rotationally connected to the second rib 232. The first rib 231 is rotationally connected to the middle part of the left leading edge rod 21. The second rib 232 is rotationally connected to the tail part of the fuselage 10. Both ends of the third rib 233 are rotationally connected to the head end of the left leading edge rod 21 and the left folding drive mechanism 40 respectively.

[0043] In one or more embodiments, the left folding rib 23 further includes a first cross rotating shaft 234 and a second cross rotating shaft 235, wherein the two rotating shafts of the first cross rotating shaft 234 are perpendicular to each other and are respectively rotatably connected to the second wing rib 232 and the tail of the fuselage 10, and the two rotating shafts of the second cross rotating shaft 235 are perpendicular to each other and are respectively rotatably connected to the third wing rib 233 and the left folding drive mechanism 40. Among them, one of the rotating shafts of the first cross rotating shaft 234 and the second cross rotating shaft 235 is a vertical rotating shaft, so that the left folding rib 23 can rotate around the vertical rotating shaft to be folded or unfolded. The other rotating shaft of the first cross rotating shaft 234 and the second cross rotating shaft 235 is a horizontal rotating shaft, so that the left folding rib 23 can rotate around the horizontal rotating shaft to flap up and down.

[0044] Exemplarily, the left folding rib 23 also includes a plurality of rib connectors 230, and both ends of the first rib 231, the second rib 232, and the third rib 233 are connected with rib connectors 230. The first cross shaft 234 is rotatably connected to the rib connector 230 at the end of the second rib 232, and the second cross shaft 235 is rotatably connected to the rib connector 230 at the end of the third rib 233, wherein the rotatable connection may be hinged by screws. The rib connector 230 is conducive to improving the connection stability of each rib. Among them, the rib connector 230 at the end of the first rib 231 and the rib connector 230 at the end of the second rib 232 are hinged by screws.

[0045] In one or more embodiments, the left folding wing 20 further includes a left rocker arm 24 and a leading edge rod folding member 25, the left rocker arm 24 is rotatably connected to the head of the fuselage 10, the leading edge rod folding member 25 is rotatably connected to the left rocker arm 24, the head end of the left leading edge rod 21 is connected to the leading edge rod folding member 25, and the third rib 233 is rotatably connected to the leading edge rod folding member 25. The rotation axis direction of the left rocker arm 24 relative to the fuselage 10 is the same as the horizontal rotation axis direction, which can ensure that the left leading edge rod 21 flaps downward, and the rotation axis direction of the leading edge rod folding member 25 relative to the left rocker arm 24 is the same as the vertical rotation axis direction, which can ensure that the left leading edge rod 21 is folded or unfolded. The head end of the left leading edge rod 21 has a left leading edge rod fixing member 26, and the left leading edge rod fixing member 26 is inserted into the leading edge rod folding member 25.

[0046] Exemplarily, the main structure of the fuselage 10 is a fuselage rod, and the head of the fuselage 10 is provided with a fixed base plate 11 and the tail is provided with a fixing member 12. The left rocker arm 24 is hinged to the fixing base plate 11 by screws in the illustrated manner, and can rotate up and down on the fixing base plate 11; the leading edge rod folding member 25 is hinged to the rocker arm 24 by screws in the illustrated manner, and can rotate backward around the rocker arm 24. The horizontal axis of the first cross axis 234 is rotationally connected to the fixing member 12, and the rotational connection can be hinged by screws, for example. The vertical axis of the first cross axis 234 is hinged to the rib connecting member 230 at the end of the second rib 232 by screws.

[0047] Further, the left folding wing 20 further includes a wing finger connector 27, which is mounted at the middle of the left leading edge rod 21, and the left wing finger 22 is mounted on the wing finger connector 27, and the number of the left wing finger 22 is multiple, and the first wing rib 231 is rotatably connected to the wing finger connector 27. Exemplarily, the wing rib connector 230 at the end of the first wing rib 231 is rotatably connected to the wing finger connector 27. Among them, the multiple rotational connections involved in this embodiment can be realized by screw hinges, and the rotational connection can also be realized by using a flexible hinge such as a flexible rod, a flexible tube, a flexible film, etc. to flexibly connect the two wing ribs.

[0048] In one or more embodiments, the left folding drive mechanism 40 includes a left servo 41 and a left servo arm 42, the left servo 41 is installed on the fuselage 10, the left servo arm 42 is connected to the output shaft of the left servo 41, and the left servo arm 42 is rotatably connected to one of the rotating shafts of the second cross rotating shaft 235. Exemplarily, the left servo arm 42 is connected to one of the wing rib connecting members 230, and the wing rib connecting member 230 is rotatably connected to the horizontal rotating shaft of the second cross rotating shaft 235. The left servo 41 drives the left servo arm 42 to rotate horizontally, thereby driving the third wing rib 233, the left leading edge rod 21, the first wing rib 231, and the second wing rib 232 to rotate in sequence. In other embodiments, a linear motor can also be used to replace the left servo 41.

[0049] Exemplarily, the left folding drive mechanism 40 further includes a servo seat 43, the servo seat 43 is mounted on the fuselage 10, and the left servo 41 is mounted inside the servo seat 43. The servo seat 43 is mounted at the middle position of the fuselage 10.

[0050] In one or more embodiments, the bionic aircraft further includes a flapping drive mechanism (not shown), which is mounted on the fuselage 10 and is used to drive the right folding wing 30 and the left folding wing 20 to flap.

[0051] Combination Figure 3 , Figure 4 , Figure 5 , the folding process, unfolding process and rolling control mechanism of the bionic aircraft are further explained below.

[0052] Folding process: the left servo 41 drives the left rudder arm 42 to rotate backward, and the left rudder arm 42 drives the third wing rib 233 to move backward through the second cross shaft 235, so that the third wing rib 233 pulls the leading edge rod folding piece 25 to rotate backward, and then the left leading edge rod 21 fixed on the leading edge rod folding piece 25 rotates backward; at this time, the first wing rib 231 and the second wing rib 232 are both passively moved backward synchronously, thereby realizing the folding of the wing.

[0053] Deployment process: the left servo 41 drives the left rudder arm 42 to rotate forward, and the left rudder arm 42 pushes the third wing rib 233 to move forward through the second cross shaft 235, so that the third wing rib 233 pushes the leading edge rod folding piece 25 to rotate forward, and then the left leading edge rod 21 fixed in the leading edge rod folding piece 25 rotates forward; at this time, the first wing rib 231 and the second wing rib 232 are both passively moved forward synchronously, thereby realizing the deployment of the wings.

[0054] Roll control mechanism: when the bionic aircraft flaps up and down after the wings on both sides are fully unfolded, the lift generated by the wings on both sides is the same, and normal forward flight can be achieved; when the left folding wing 20 of the bionic aircraft is folded through the above-mentioned folding process, the right folding wing 30 remains in a fully unfolded state and flaps, the lift generated by the left folding wing 20 will be smaller than the lift generated by the right folding wing 30, thereby causing the bionic aircraft to generate a rolling moment to the left, and the bionic aircraft rolls to the left; similarly, when the right folding wing 30 of the bionic aircraft is folded through the above-mentioned folding process, the left folding wing 20 remains in a fully unfolded state and flaps, the lift generated by the right folding wing 30 will be smaller than the lift generated by the left folding wing 20, thereby causing the bionic aircraft to generate a rolling moment to the right, and the bionic aircraft rolls to the right. By flexibly controlling the folding or unfolding state of the wings on both sides of the bionic aircraft during flight, the wings on both sides can perform asymmetrical folding and unfolding movements, thereby realizing the left and right rolling flight operation of the bionic aircraft.

[0055] The bionic aircraft with folding wing mechanism of this embodiment has the following technical advantages:

[0056] (1) The lift difference is generated by unequally folding the wings on both sides, and the controllable range of the wing folding angle is larger; the effect of controlling the difference in lift generated by controlling the difference in wing area on both sides and thus generating the lift difference is more significant, and the rolling moment generated is also greater, thereby improving the sensitivity of the rolling control.

[0057] (2) The method of controlling the flight posture by controlling the deformation of the wings is similar to the control behavior of flying organisms in nature, which is conducive to improving the bionics and bio-likeness of bionic flapping-wing aircraft.

[0058] (3) This asymmetric folding wing mechanism is simple, reliable, and easy to operate. It can realize the folding and unfolding of the wings simultaneously during the flapping movement of the wings without interfering with the flapping movement of the wings. The left and right wings can fold and unfold independently without interfering with each other.

[0059] It should be noted that it is understandable that a complete bionic aircraft with a folding wing mechanism should also have other necessary basic components, but the other components are not the focus of this embodiment, so they are not shown in the drawings and are not described in detail in the specification, and these components are well-known technologies to those skilled in the art.

[0060] The specific implementation methods of the present invention are described in detail above. Although some embodiments have been shown and described, those skilled in the art should understand that these embodiments can be modified and improved without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents. These modifications and improvements should also be within the scope of protection of the present invention.

Claims

1. A bionic aircraft with a folding wing mechanism, characterized in that: The bionic aircraft comprises: body; A left folding wing, wherein the left folding wing is rotatably mounted on the left side of the fuselage; A right folding wing, the right folding wing being rotatably mounted on the right side of the fuselage; A left folding drive mechanism, the left folding drive mechanism is installed on the fuselage and is in transmission connection with the left folding wing, the left folding drive mechanism is used to adjust the degree of expansion of the left folding wing; A right folding drive mechanism is installed on the fuselage and is transmission-connected to the right folding wing, and the right folding drive mechanism is used to adjust the degree of expansion of the right folding wing.

2. The bionic aircraft with a folding wing mechanism according to claim 1, characterized in that: The left folding wing comprises: A left leading edge rod, the head end of which is rotatably connected to the head of the fuselage; a left wing finger, the left wing finger being mounted on the left leading edge rod; A left folding wing rib is rotatably connected between the left leading edge rod and the fuselage.

3. The bionic aircraft with folding wing mechanism according to claim 2, characterized in that: The left folding rib includes a first rib, a second rib and a third rib, the first rib is rotationally connected to the second rib, the first rib is rotationally connected to the middle part of the left leading edge rod, the second rib is rotationally connected to the tail part of the fuselage, and both ends of the third rib are rotationally connected to the head end of the left leading edge rod and the left folding drive mechanism respectively.

4. The bionic aircraft with folding wing mechanism according to claim 3, characterized in that: The left folding wing rib also includes a first cross shaft and a second cross shaft, the two shafts of the first cross shaft are perpendicular to each other and are respectively rotatably connected to the second wing rib and the tail of the fuselage, and the two shafts of the second cross shaft are perpendicular to each other and are respectively rotatably connected to the third wing rib and the left folding drive mechanism.

5. The bionic aircraft with folding wing mechanism according to claim 4, characterized in that: The left folding wing also includes: A left rocker arm, the left rocker arm being rotatably connected to the head of the fuselage; A leading edge rod folding piece, the leading edge rod folding piece is rotatably connected to the left rocker arm, the head end of the left leading edge rod is connected to the leading edge rod folding piece, and the third wing rib is rotatably connected to the leading edge rod folding piece.

6. The bionic aircraft with folding wing mechanism according to claim 4, characterized in that: The left folding drive mechanism comprises a left servo and a left servo arm, wherein the left servo is mounted on the fuselage, the left servo arm is connected to an output shaft of the left servo, and the left servo arm is rotationally connected to one of the rotating shafts of the second cross rotating shaft.

7. The bionic aircraft with folding wing mechanism according to claim 3, characterized in that: The left folding wing also includes: A wing finger connecting member is installed at the middle part of the left leading edge rod, the left wing finger is installed on the wing finger connecting member, and the number of the left wing fingers is multiple, and the first wing rib is rotatably connected to the wing finger connecting member.

8. The bionic aircraft with a folding wing mechanism according to any one of claims 1 to 7, characterized in that: The right folding wing has the same structure as the left folding wing, and the right folding wing is symmetrical with the left folding wing about the central axis of the fuselage.

9. The bionic aircraft with a folding wing mechanism according to any one of claims 1 to 7, characterized in that: The left folding drive mechanism and the right folding drive mechanism have the same structure, and the left folding drive mechanism and the right folding drive mechanism are symmetrical about the central axis of the fuselage.

10. The bionic aircraft with folding wing mechanism according to claim 1, characterized in that: The bionic aircraft also includes: A flapping drive mechanism is installed on the fuselage, and the flapping drive mechanism is used to drive the right folding wing and the left folding wing to flap.

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