A ground effect vehicle having bistable passive twist wings

Abstract

The application discloses a slidable flapping-wing aircraft with bistable passive torsion double wings and belongs to the technical field of aircrafts. The aircraft comprises a fuselage framework, left and right flapping wings, a bistable passive torsion mechanism, a transmission flapping mechanism, a gliding mechanism and a tail rudder. The transmission flapping mechanism is a space crank rocker mechanism driven by a motor. The root of the left and right flapping wings is provided with the bistable passive torsion mechanism. The gliding mechanism is a speed reduction claw-damping runner mechanism controlled by a rudder mechanism. The damping runner is fixed to the output shaft of the transmission flapping mechanism. The aircraft is passively torsioned during the flapping process of the flapping wings, reciprocally switches between two stable states, improves the average lift in one flapping cycle of the flapping wings and is helpful to the improvement of the effective load of the aircraft. The elastic support mechanism can provide the stable force for the flapping wings, prevents the lateral wind and turbulence from interfering with the stable state of the flapping wings, the slidable function is helpful to the long-distance flight of the aircraft and the improvement of the endurance capacity. The tail rudder can control the yaw and pitch movements.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aircraft, and particularly relates to a taxiing flapping-wing aircraft with double-stable passive torsion double wings. BACKGROUND

[0002] At present, most of the existing flapping-wing aircrafts adopt the method of driving single-section flapping wings to flap up and down to generate the lift required for flight. The effective mass that can be loaded by the aircraft itself structure and its control system is very small. That is, the single-section flapping method cannot provide sufficient lift at the same flapping frequency, and it is difficult for such aircrafts to realize long-distance or long-time flight.

[0003] In summary, the existing flapping-wing aircrafts generally have the problem of limited lift provided by flapping wings, which directly affects the performance of the aircraft, such as small effective load and insufficient endurance. SUMMARY

[0004] The present application belongs to the field of aircraft, and particularly relates to a taxiing flapping-wing aircraft with double-stable passive torsion double wings.

[0005] A taxiing flapping-wing aircraft with double-stable passive torsion double wings, comprising: a fuselage skeleton 1, left and right flapping wings 2, a double-stable passive torsion mechanism 3, a transmission flapping mechanism 4, a gliding mechanism 5, and a tail rudder 6.

[0006] The transmission flapping mechanism 4 drives the left and right flapping wings 2 to flap up and down by driving the flapping wing rockers on the left and right sides of the fuselage skeleton 1.

[0007] The double-stable passive torsion mechanism 3 is arranged between the flapping wing rocker and the flapping wing.

[0008] The double-stable passive torsion mechanism 3 comprises a passive torsion support 30, a cam-shaped turntable 31, an elastic support mechanism 32, a leading edge rod support table 33, and two buffer limiting piles 34.

[0009] The passive torsion support 30 is internally provided with an inner connecting table 30c and externally provided with a main support table 30a, and the inner connecting table 30c is fixedly connected to the outer end of the flapping wing rocker.

[0010] The cam-shaped turntable 31 is axially connected to the main support table 30a, and is provided with a wing root rod fixing sleeve 31a at the rear part thereof, and the outer end surface of the cam-shaped turntable 31 is fixedly connected to the leading edge rod support table 33.

[0011] The leading edge rod support table 33 and the wing root rod fixing sleeve 31a are respectively fixedly connected to the leading edge rod of the flapping wing and the wing root rod of the flapping wing.

[0012] The passive torsion bracket 30 is fixed with a buffer limiting pile 34 on the upper and lower sides of the rear side, and a wing root rod fixing sleeve 31a is located between the two;

[0013] The elastic support mechanism 32 comprises a top rod, a steady spring 32b, and a sliding rail block, the top rod and the sliding rail block are in sliding fit, and the steady spring 32b in a compressed state is arranged between the two;

[0014] The main support table 30a of the passive torsion bracket 30 is provided with a vice support table 30b below, and the sliding rail block is arranged on the vice support table 30b;

[0015] The top rod end of the elastic support mechanism 32 is connected with the “convex end” of the cam-shaped rotating disc 31, so as to provide a steady contact force between the wing root rod fixing sleeve 31a and the upper and lower buffer limiting piles 34.

[0016] The sliding rail block of the elastic support mechanism 32 is in shaft connection or fixed connection with the vice support table 30b;

[0017] If the two are in shaft connection, the top rod end of the elastic support mechanism 32 is in shaft connection with the “convex end” of the cam-shaped rotating disc 31;

[0018] If the two are in fixed connection, the top rod of the elastic support mechanism 32 slides up and down relative to the sliding rail block, the top head of the top rod end is connected with the outer contour of the “convex end” of the cam-shaped rotating disc 31, and the axis of the top rod intersects with the rotating shaft of the cam-shaped rotating disc 31 in space.

[0019] The gliding mechanism 5 comprises a gliding drive steering engine 50, a crank cylindrical pin steering arm 51, a damping deceleration support 52, a sliding sleeve 53, a gliding spring 54, and a damping rotating wheel 55;

[0020] The gliding drive steering engine 50 is fixed to the main support plate 10 at the front part of the fuselage framework 1, and the output shaft thereof is fixed with the crank cylindrical pin steering arm 51; the damping rotating wheel 55 is fixedly connected to the output shaft 45 of the transmission flapping mechanism 4;

[0021] The damping deceleration support 52 is provided with a damping claw 52c at one end close to the damping rotating wheel 55, the middle sliding rod 52b is in sliding connection with the sliding sleeve 53 fixed to the main support plate 10, and the other end of the damping deceleration support 52 is provided with a deceleration claw allowance ring 52a;

[0022] The gliding spring 54 is sleeved on the sliding rod 52b, one end of the gliding spring 54 is connected with the sliding sleeve 53, and the other end is connected with the damping claw 52c; the cylindrical pin of the crank cylindrical pin steering arm 51 is located in the deceleration claw allowance ring 52a, and the contact and separation between the cylindrical pin and the inner ring of the deceleration claw allowance ring 52a are controlled by the gliding drive steering engine 50.

[0023] The gliding spring 54 is in a compressed state; the gliding mechanism 5 is provided with a distance sensor or an angle sensor at the root of the left flapping rocker 20b and the right flapping rocker 20a.

[0024] The wing root rod fixing sleeve 31a of the cam-shaped turntable 31 is fixedly connected to the energy storage elastic rope I 37a on the upper side and to the energy storage elastic rope II 37b on the lower side; the other ends of the energy storage elastic rope I 37a and the energy storage elastic rope II 37b are respectively fixedly connected to the upper and lower sides of the passive torsion bracket 30; when the flapping wing is in the middle position of the upper and lower buffer limit piles 34, the energy storage elastic rope I 37a and the energy storage elastic rope II 37b are both in an unstretched state.

[0025] The left and right flapping wings 2 include a right flapping wing 21 and a left flapping wing 22, and the two have the same structure; the left flapping wing 22 includes a leading edge rod 22a, a wing root rod 22b, wing veins and a wing surface skin 22e; when the flapping wings flap, the flapping wings and the cam-shaped turntable 31 are twisted due to fluid-solid coupling. When the wing root rod fixing sleeve 31a is connected to the upper buffer limit pile 34, the flapping wing surface is in a horizontal steady state position, and the position of the wing root rod 22b is recorded as OA; when the wing root rod fixing sleeve 31a is connected to the lower buffer limit pile 34, the flapping wing surface is in the extreme steady state position of torsional motion, and the position of the wing root rod 22b is recorded as OB; ∠AOB is the torsion angle of the flapping wing torsional motion.

[0026] The transmission flapping mechanism 4 is driven by a drive motor 40, and the drive motor 40 is fixed to the main support plate 10; the left and right crank transmission arms of the transmission flapping mechanism 4 rotate symmetrically and synchronously in a circular motion, and drive the left flapping wing rocker 20b and the right flapping wing rocker 20a to swing up and down through the left ball head pull rod 47b and the right ball head pull rod 47a, respectively, thereby realizing the symmetrical and synchronous flapping of the left flapping wing 22 and the right flapping wing 21.

[0027] The tail rudder 6 includes a pitch servo 61, a yaw servo 65 and a fan-shaped tail 67. The pitch servo 61 and the yaw servo 65 are both arranged at the rear of the fuselage frame 1, and the two respectively control the lifting and lowering movement and the left and right rotation of the fan-shaped tail 67.

[0028] Another object of the present invention is to provide a flight and gliding method for a flapping-wing aircraft;

[0029] A method for gliding a flapping-wing aircraft, comprising:

[0030] 1) The drive motor 40 starts, the left and right flapping wings 2 flap, the aircraft takes flight, and the gliding drive servo 50 separates the damping claw 52c of the damping and deceleration support 52 from the damping wheel 55 via the crank pin rudder arm 51;

[0031] 2) before sliding, the glide drive rudder 50 controls the crank cylindrical pin rudder arm 51 to be in a separated state with the deceleration pawl allowance ring 52a of the damping deceleration support 52, the damping pawl 52c is contacted with the damping wheel sleeve 55b of the damping runner 55 by the elastic force of the glide spring 54;

[0032] 3) during sliding, the drive motor 40 is decelerated, the distance sensor or angle sensor arranged at the root of the left and right flapping wings 2 detects the flapping wings 2 to the gliding position, and the drive motor 40 is stopped; the glide drive rudder 50 controls the crank cylindrical pin rudder arm 51 to increase the contact force between the damping pawl 52c and the damping runner 55, so that the rotation of the damping runner 55 is prevented, and the aircraft slides;

[0033] 4) when the sliding is released, the glide drive rudder 50 drives the crank cylindrical pin rudder arm 51 to rotate outward, so that the damping pawl 52c and the damping runner 55 are separated; when the two are separated, the drive motor 40 is started quickly to restore the flapping of the double wings, and the aircraft flies.

[0034] The application provides a slidable flapping wing aircraft with a bistable passive torsion double wing, and belongs to the technical field of aircrafts.

[0035] Compared with the prior art, the application has the beneficial effects and advantages as follows.

[0036] The bistable passive torsion mechanism 3 is arranged at the root of the left and right flapping wings 2 of the flapping wing aircraft, and the passive torsion of the left and right flapping wings 2 can be realized through the fluid-solid coupling effect, the release of the energy storage of the energy storage elastic rope and the inertia of the mechanism movement during the up-down flapping of the double wings, so that the average lift of the flapping wings in one flapping cycle is improved, and the improvement of the effective load of the aircraft is facilitated.

[0037] The elastic support mechanism 32 of the bistable passive torsion mechanism 3 provides the stable state force for the flapping wings, so that the flapping wings are prevented from being disturbed by the side wind and turbulence during the flapping or sliding.

[0038] The flapping wing aircraft has a sliding function, can convert between two flight modes of flapping and sliding, is provided with a speed reduction claw-damping rotating wheel sliding mechanism controlled by a rudder, and helps the aircraft to fly long distance and improve the endurance, so that the flapping wing aircraft is suitable for image collection, environment detection and information collection and monitoring work. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a whole structure schematic diagram of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0040] Figure 2 is a three-dimensional structure schematic diagram of the fuselage skeleton of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0041] Figure 3 is an explosion structure schematic diagram of the front part of the fuselage skeleton of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0042] Figure 4 is a three-dimensional structure schematic diagram of the transmission flapping mechanism and the sliding mechanism of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0043] Figure 5 is a three-dimensional structure schematic diagram of the transmission flapping mechanism of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0044] Figure 6 is a schematic diagram of the sliding mechanism state and specific structure of the flapping wing aircraft with the double-stable passive torsion double wings according to the application when the sliding is released;

[0045] Figure 7 is a sliding mechanism state of the flapping wing aircraft with the double-stable passive torsion double wings according to the application before sliding;

[0046] Figure 8 is a sliding mechanism state of the flapping wing aircraft with the double-stable passive torsion double wings according to the application when sliding;

[0047] Figure 9 is a schematic diagram of the connection mode of the flapping wing and the double-stable torsion mechanism of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0048] Figure 10 is a schematic diagram of the left flapping wing of the flapping wing aircraft with the double-stable passive torsion double wings according to the application;

[0049] Figure 11is a schematic diagram of two stable positions of the bistable passive torsion mechanism in embodiment 1 of the application; wherein Figure 11 (a) is the stable position I of the bistable passive torsion mechanism in embodiment 1, the passive torsion angle of the flapping wing is 0° (the state of the flapping wing in the downstroke process) ; Figure 11 (b) is the stable position II of the bistable passive torsion mechanism in embodiment 1, the flapping wing is in the limit position of the torsion motion, and the passive torsion angle of the flapping wing is maximum (the state of the flapping wing in the upstroke process) ;

[0050] Figure 12 is an exploded structural schematic diagram of the bistable passive torsion mechanism in embodiment 1 of the application;

[0051] Figure 13 is a schematic diagram of the state change of the bistable passive torsion mechanism in the flapping process of the flapping wing in embodiment 1 of the application; wherein Figure 13 (a) is the stable position I of the bistable passive torsion mechanism in embodiment 1, the state of the flapping wing in the downstroke process; Figure 13 (b) is the position state of the bistable passive torsion mechanism in the transition process from the downstroke to the upstroke (from the upstroke to the downstroke) of the flapping wing in embodiment 1; Figure 13 (c) is the stable position II of the bistable passive torsion mechanism in embodiment 1, the state of the flapping wing in the upstroke process;

[0052] Figure 14 is a schematic diagram of two stable positions of the bistable passive torsion mechanism in embodiment 2 of the application; wherein Figure 14 (a) is the stable position I of the bistable passive torsion mechanism in embodiment 2, the passive torsion angle of the flapping wing is 0° (the state of the flapping wing in the downstroke process) ; Figure 14 (b) is the stable position II of the bistable passive torsion mechanism in embodiment 2, the flapping wing is in the limit position of the torsion motion, and the passive torsion angle of the flapping wing is maximum (the state of the flapping wing in the upstroke process) ;

[0053] Figure 15 is a schematic diagram of the state change of the bistable passive torsion mechanism in the flapping process of the flapping wing in embodiment 2 of the application; wherein Figure 15 (a) is the stable position I of the bistable passive torsion mechanism in embodiment 2, the state of the flapping wing in the downstroke process; Figure 15 (b) is the position state of the bistable passive torsion mechanism in the transition process from the downstroke to the upstroke (from the upstroke to the downstroke) of the flapping wing in embodiment 2; Figure 15 (c) is the stable position II of the bistable passive torsion mechanism in embodiment 2, the state of the flapping wing in the upstroke process;

[0054] Figure 16 is a specific structure diagram of the energy storage elastic rope added to the bistable passive torsion mechanism in embodiment 1 and embodiment 2 of the application; wherein Figure 16 (a) is a specific structure state of the energy storage elastic rope added to the bistable passive torsion mechanism in embodiment 1; Figure 16 (b) is a specific structure state of the energy storage elastic rope added to the bistable passive torsion mechanism in embodiment 2;

[0055] Figure 17 is a three-dimensional structure diagram of the tail rudder of the application;

[0056] Figure 18 is an exploded structure diagram of the tail rudder of the application;

[0057] Figure 19 is a schematic diagram of the flapping wing of the application in the upper limit position state;

[0058] Figure 20 is a schematic diagram of the flapping wing of the application in the lower flapping state;

[0059] Figure 21 is a schematic diagram of the flapping wing of the application in the lower limit position state;

[0060] Figure 22 is a schematic diagram of the flapping wing of the application in the upper flapping state;

[0061] Figure 23 is the tail rudder state A of the application when the flapping wing is in the pitch motion;

[0062] Figure 24 is the tail rudder state B of the application when the flapping wing is in the pitch motion;

[0063] Figure 25 is the tail rudder state of the application when the flapping wing is in the yaw motion.

[0064] In the drawings:

[0065] 1. fuselage skeleton; 10. main support plate; 10a. anti-collision strip; 11. right support plate; 12. left support plate; 13. connecting column; 14. bearing; 15. hollow connecting rod;

[0066] 2. Flapping wings; 20. Flapping wing support seat; 20a. Right flapping wing rocker; 20b. Left flapping wing rocker; 21. Right flapping wing; 22. Left flapping wing; 22a. Leading edge rod; 22b. Wing root rod; 22c. Connecting head; 22d. Wing vein rod; 22e. Wing skin;

[0067] 3. Bistable passive torsion mechanism; 30. Passive torsion support; 30a. Main support table; 30b. Auxiliary support table; 30c. Inner connecting table; 31. Cam-shaped turntable; 31a. Wing root rod fixing sleeve; 32. Elastic support mechanism; 32a. Elastic top rod; 32b. Stable spring; 32c. Slide rail rotating block; 33. Leading edge rod support table; 34. Buffer limiting pile; 35. Centering elastic top rod; 35a. Top head; 36. Slide rail fixing block; 37a. Energy storage elastic rope I; 37b. Energy storage elastic rope II;

[0068] 4. Transmission flapping mechanism; 40. Drive motor; 41. Small gear; 42. Double-layer composite gear; 43. Output gear; 44. Transmission shaft; 45. Output shaft; 46a. Right crank transmission arm; 46b. Left crank transmission arm; 47a. Right ball head pull rod; 47b. Left ball head pull rod;

[0069] 5. Gliding mechanism; 50. Gliding drive rudder; 51. Crank cylindrical pin rudder arm; 52. Damping deceleration support; 52a. Deceleration claw margin ring; 52b. Slide rod; 52c. Damping claw; 53. Slide sleeve; 54. Gliding spring; 55. Damping rotating wheel; 55a. Fixed disc; 55b. Damping wheel sleeve;

[0070] 6. Tail rudder; 60. Tail rudder support; 61. Pitching rudder; 62. Pitching rudder arm; 63. Connecting rod; 64. Rocker support; 65. Yawing rudder; 66. Yawing rudder arm; 67. Sector tail; 67a. Tail support; 67b. Tail support rod; 67c. Tail skin. DETAILED DESCRIPTION

[0071] Example 1

[0072] A slidable flapping-wing aircraft with bistable passive torsion double wings comprises: a fuselage skeleton 1, left and right flapping wings 2, a bistable passive torsion mechanism 3, a transmission flapping mechanism 4, a gliding mechanism 5, and a tail rudder 6.

[0073] The transmission flapping mechanism 4 drives the left flapping wing rocker 20b and the right flapping wing rocker 20a on the left and right sides of the fuselage skeleton 1 to swing up and down, and the left and right flapping wings 2 flap up and down.

[0074] The bistable passive torsion mechanism 3 is arranged between the flapping wing rocker and the flapping wing.

[0075] The bistable passive torsion mechanism 3 comprises a passive torsion support 30, a cam-shaped rotating disc 31, an elastic support mechanism 32, a leading edge support platform 33, and two buffer limiting piles 34.

[0076] The passive torsion support 30 is vertically provided with an inner connecting platform 30c and a main support platform 30a, and the inner connecting platform 30c is fixedly connected with the outer end of the flapping lever;

[0077] The cam-shaped rotating disc 31 is axially connected with the main support platform 30a, and the rear part of the cam-shaped rotating disc 31 is provided with a wing root rod fixing sleeve 31a, and the outer end surface of the wing root rod fixing sleeve 31a is fixedly connected with the leading edge support platform 33;

[0078] The leading edge support platform 33 and the wing root rod fixing sleeve 31a are respectively fixedly connected with the leading edge rod of the flapping wing and the wing root rod of the flapping wing;

[0079] The two buffer limiting piles 34 are fixedly connected with the upper and lower ends of the rear side of the passive torsion support 30, and the wing root rod fixing sleeve 31a is located between the two buffer limiting piles 34;

[0080] The elastic support mechanism 32 comprises an elastic top rod 32a, a steady-state spring 32b, and a sliding rail rotating block 32c, and the elastic top rod 32a and the sliding rail rotating block 32c are slidingly matched;

[0081] The steady-state spring 32b is sleeved on the elastic top rod 32a, the upper end of the steady-state spring 32b is connected with the end of the elastic top rod 32a, the lower end of the steady-state spring 32b is connected with the upper end surface of the sliding rail rotating block 32c, and the steady-state spring 32b is in a compressed state;

[0082] The main support platform 30a of the passive torsion support 30 is provided below with a secondary support platform 30b, the secondary support platform 30b is axially connected with the sliding rail rotating block 32c, and the upper end of the elastic top rod 32a of the elastic support mechanism 32 is axially connected with the "convex end" of the cam-shaped rotating disc 31;

[0083] Therefore, the elastic support mechanism 32 provides a steady-state contact force between the wing root rod fixing sleeve 31a and the upper and lower buffer limiting piles 34, that is, provides a steady-state force for the passive torsion movement in the flapping process of the flapping wing, so as to prevent the interference of the side wind and the turbulence on the flapping wing in flight.

[0084] The gliding mechanism 5 comprises a gliding drive rudder 50, a crank cylindrical pin rudder arm 51, a damping deceleration support 52, a sliding sleeve 53, a gliding spring 54, and a damping rotating wheel 55;

[0085] The gliding drive rudder 50 is fixedly connected with the main support plate 10 at the front part of the fuselage framework 1, and the output shaft of the gliding drive rudder 50 is fixedly connected with the crank cylindrical pin rudder arm 51;

[0086] The damping rotating wheel 55 comprises a fixed disc 55a and a damping wheel sleeve 55b, the fixed disc 55a is fixedly connected with the output shaft 45 of the transmission flapping mechanism 4, and the outer side of the fixed disc 55a is provided with the damping wheel sleeve 55b.

[0087] The damping deceleration support 52 is provided with a damping claw 52c at one end close to the damping runner 55, and the middle sliding rod 52b is in sliding connection with the sliding sleeve 53 fixed on the main support plate 10, and the other end of the damping deceleration support 52 is provided with a deceleration claw allowance ring 52a;

[0088] The glide spring 54 is in a compressed state and is sleeved on the sliding rod 52b, one end of which is connected with the sliding sleeve 53, and the other end is connected with the damping claw 52c; the cylindrical pin of the crank cylindrical pin rudder arm 51 is located in the deceleration claw allowance ring 52a, and the contact and separation between the cylindrical pin and the inner ring of the deceleration claw allowance ring 52a is controlled by the glide drive rudder 50.

[0089] The glide mechanism 5 is provided with a distance sensor or an angle sensor at the root of the left flapping wing rocker 20b and the right flapping wing rocker 20a.

[0090] Referring to the accompanying drawings Figure 16 The upper end of the wing root rod fixing sleeve 31a of the cam-shaped turntable 31 is fixedly connected with the energy storage elastic rope I 37a, and the lower end is fixedly connected with the energy storage elastic rope II 37b; the other ends of the energy storage elastic rope I 37a and the energy storage elastic rope II 37b are fixedly connected with the upper and lower ends of the passive torsion support 30 respectively; when the elastic top rod 32a is opposite to the "convex end" of the cam-shaped turntable 31, the wing root rod fixing sleeve 31a at the rear side of the cam-shaped turntable 31 is located at the position between the upper and lower two buffer limiting piles 34, that is, the transition position between the two stable positions of the flapping wing; at this time, the energy storage elastic rope I 37a and the energy storage elastic rope II 37b are both in an unstretched state.

[0091] The left and right flapping wings 2 include a right flapping wing 21 and a left flapping wing 22, and the right flapping wing 21 and the left flapping wing 22 are the same in structure; the left flapping wing 22 is composed of a leading edge rod 22a, a wing root rod 22b, a connecting head 22c, a wing vein rod 22d and a wing skin 22e; the leading edge rod 22a is fixedly connected to the leading edge rod support table 33 and is perpendicular to the outer end face of the cam-shaped turntable 31; the wing root rod 22b is fixedly connected in the wing root rod fixing sleeve 31a at the rear end of the cam-shaped turntable 31;

[0092] The leading edge rod 22a is connected with the wing vein rod 22d through the connecting head 22c, thereby forming a flapping wing vein skeleton;

[0093] Referring to the accompanying drawings Figure 15, flapping due to fluid-structure coupling causes passive torsion of the flapping wing and cam-shaped rotating disc 31. When the wing root rod fixing sleeve 31a is in contact with the upper buffer limiting post 34, the wing root rod 22b and the entire flapping wing surface are in a horizontal position, and the position of the wing root rod 22b at this time is recorded as OA. When the wing root rod fixing sleeve 31a is in contact with the lower buffer limiting post 34, the wing root rod 22b and the entire flapping wing surface are in a lower limit position of the torsional motion, and the position of the wing root rod 22b at this time is recorded as OB. Therefore, the angle of torsion of the flapping wing is ∠AOB.

[0094] The front edge rod 22a, the wing root rod 22b and the wing vein rod 22d can be made of carbon fiber rods of different thicknesses in actual manufacture, and the wing surface skin 22e is made of lightweight and high-strength polyester or nylon film in actual manufacture.

[0095] The fuselage framework 1 includes a main support plate 10, an anti-collision strip 10a, a right support plate 11, a left support plate 12, a connecting column 13, a hollow connecting rod 15, and a flapping wing support seat 20. The left support plate 12 and the right support plate 11 are symmetrically fixed to the left and right sides of the main support plate 10 through the connecting column 13. The anti-collision strip 10a is fixed to the front of the main support plate 10. The front end of the hollow connecting rod 15 is fixed to the rear end of the main support plate 10, and the rear end is fixedly connected with the rudder support 60 of the rudder 6. The flapping wing support seat 20 is fixedly connected to the upper end of the main support plate 10, and the left and right sides are symmetrically connected with the left flapping wing rocker 20b and the right flapping wing rocker 20a.

[0096] The transmission flapping mechanism 4 includes a driving motor 40, a pinion gear 41, a double-layer composite gear 42, an output gear 43, a transmission shaft 44, an output shaft 45, a left crank transmission arm 46b, a right crank transmission arm 46a, a left ball head pull rod 47b, a right ball head pull rod 47a, a left flapping wing rocker 20b and a right flapping wing rocker 20a.

[0097] The transmission flapping mechanism 4 is driven by the driving motor 40, and the driving motor 40 is fixedly connected to the rear part of the main support plate 10. The transmission shaft 44 and the output shaft 45 are sequentially connected to the middle and front parts of the fuselage framework 1, and bearings 14 are arranged at the connection positions.

[0098] The double-layer composite gear 42 is fixedly connected to the transmission shaft 44, the output gear 43 is fixedly connected to the output shaft 45, and the pinion gear 41 is fixedly connected to the output shaft of the driving motor 40.

[0099] The double-layer composite gear 42 is engaged with the pinion 41 at the large-tooth end and with the output gear 43 at the small-tooth end; the output shaft 45 is symmetrically fixed with the left crank transmission arm 46b and the right crank transmission arm 46a on the left and right sides, the left crank transmission arm 46b and the right crank transmission arm 46a are symmetrically and synchronously circumferentially rotated, and drive the left flapping wing rocker 20b and the right flapping wing rocker 20a on the left and right sides to swing up and down through the left ball head pull rod 47b and the right ball head pull rod 47a respectively, thereby realizing the symmetric and synchronous flapping of the left flapping wing 22 and the right flapping wing 21, and thus forming the transmission flapping mechanism 4 of the spatial crank rocker mechanism (RSSR).

[0100] The tail rudder 6 comprises a tail rudder support 60, a pitch rudder machine 61, a pitch rudder arm 62, a connecting rod 63, a rocker support 64, a yaw rudder machine 65, a yaw rudder arm 66, and a fan-shaped tail fin 67.

[0101] The pitch rudder machine 61 is fixed on the front support of the tail rudder support 60, the output shaft of the pitch rudder machine 61 is fixed with the pitch rudder arm 62, and the pitch rudder machine 61 can drive the pitch rudder arm 62 to rotate; the rocker support 64 is in the shape of a V, the rocker support 64 is connected to the rear part of the tail rudder support 60 through the front side corner shaft, the top end of the side is connected with one end of the connecting rod 63, and the other end of the connecting rod 63 is connected with the pitch rudder arm 62, thereby forming a crank rocker mechanism.

[0102] The rear side of the rocker support 64 is fixed with the yaw rudder machine 65, the output shaft of the yaw rudder machine 65 is fixed with the yaw rudder arm 66, the yaw rudder arm 66 is fixed with the tail fin support 67a of the fan-shaped tail fin 67 at the rear side, and the yaw rudder machine 65 can drive the fan-shaped tail fin 67 to rotate around the output shaft; the fan-shaped tail fin 67 further comprises a tail fin support rod 67b fixed on the tail fin support 67a and a tail fin skin 67c wrapped outside the tail fin support rod 67b.

[0103] Embodiment 2

[0104] In embodiment 2, only the structure of the elastic support mechanism 32 in the bistable passive torsion mechanism 3 in embodiment 1 is partially replaced, and the passive torsion bistable function of the flapping wing in the application can also be realized, which is specifically as follows:

[0105] Referring to the drawings of Figure 14 and the drawings of Figure 15 The elastic support mechanism 32 is replaced by a centric elastic top rod 35, and the slide rail rotating block 32c is replaced by a slide rail fixed block 36; the slide rail fixed block 36 is fixed on the auxiliary support table 30b of the lower part of the passive torsion support 30, and the centric elastic top rod 35 slides up and down along the slide rail fixed block 36.

[0106] The upper end of the centric elastic top rod 35 is provided with a top head 35a, the top head 35a is connected with the "convex end" outer contour of the cam-shaped rotating disc 31, and the lower side of the top head 35a is also provided with a stable spring 32b between the upper end surface of the slide rail fixed block 36; the stable spring 32b is sleeved on the centric elastic top rod 35, and provides the contact force between the top head 35a and the outer contour of the cam-shaped rotating disc 31 and the stable force of the flapping wing; the axis of the centric elastic top rod 35 and the rotating shaft of the cam-shaped rotating disc 31 are spatially intersected, that is, the centric elastic top rod 35 is arranged centrically.

[0107] The mechanism movement process of the slidable flapping-wing aircraft with the bistable passive torsion double wings is as follows:

[0108] When working, the transmission flapping mechanism 4 of the slidable flapping-wing aircraft with the bistable passive torsion double wings is driven by the driving motor 40, the output shaft of the driving motor 40 drives the pinion gear 41 to rotate, the pinion gear 41 drives the large-toothed end of the double-layer composite gear 42 to rotate, and then the small-toothed end of the double-layer composite gear 42 drives the output gear 43 to rotate, thereby forming a two-stage speed reduction transmission; the output shaft 45 drives the left crank transmission arm 46b and the right crank transmission arm 46a on the left and right sides thereof to rotate symmetrically and synchronously, and drives the left flapping-wing rocker 20b and the right flapping-wing rocker 20a to swing up and down through the left ball head pull rod 47b and the right ball head pull rod 47a respectively, and the swinging of the two drives the bistable passive torsion mechanism 3 and the flapping wing on the outer side thereof to flap synchronously.

[0109] When the double wings flap, the left flapping wing 22 and the right flapping wing 21 of the flapping-wing aircraft flap symmetrically and synchronously, and the roots of the left flapping wing 22 and the right flapping wing 21 are both provided with the bistable passive torsion mechanism 3, so that the bistable passive torsion mechanism 3 is passively torsionally moved through the fluid-solid coupling effect in the up-and-down flapping process of the left and right flapping wings 2 (the flapping wing is an asymmetric flapping wing, and the axis of the flapping wing leading edge rod is the rotating shaft of the flapping wing torsional movement), so as to realize the passive torsional movement of the flapping wing between the two stable positions (stable position I and stable position II); since the left flapping wing 22 and the right flapping wing 21 are passively torsionally moved in the same way in the flapping process, the left flapping wing 22 and the bistable passive torsion mechanism 3 at the root thereof are taken as an example:

[0110] Referring to the accompanying drawings, Figure 19 When the left flapping wing 22 is at the upper limit position, the wing root rod fixed sleeve 31a of the cam-shaped rotating disc 31 in the bistable passive torsion mechanism 3 is connected with the upper buffer limiting stake 34, and specific reference can be made to the accompanying drawings, Figure 11 (a) and the accompanying drawings, Figure 13 (a), (b) and the accompanying drawings, Figure 14 (a) and the accompanying drawings, Figure 15 (a), and the accompanying drawings,

[0111] See attached Figure 20 and attached Figure 21 During the flapping process of the left flapping wing 22 from the upper limit position to the lower limit position, due to the fluid-solid coupling effect on the lower surface of the left flapping wing 22 and the existence of the upper buffer limit pile 34, the left flapping wing 22 and the bistable passive torsion mechanism 3 are always in the stable position I, that is, no torsion occurs, providing positive lift for the fuselage during the entire downward flapping process of the left flapping wing 22; during this process, the energy storage elastic rope I 37a is always in the unstretched state, and the energy storage elastic rope II 37b is in the extended and stretched energy storage state;

[0112] During the transition from the left flapping wing 22 to the lower limit position and the upper limit position, due to the fluid-solid coupling effect, the release of the energy stored in the energy storage elastic rope II 37b and the inertia of the mechanism, the cam-shaped turntable 31 in the bistable passive torsion mechanism 3 rotates rapidly. Due to the action of the elastic support mechanism 32, the upper wing root rod fixing sleeve 31a quickly connects with the lower buffer limit pile 34 and tends to be stable. For details, please refer to the attached Figure 11 (b) and attached Figure 13 (c) Attachment Figure 14 (b) and attached Figure 15 (c) The left flapping wing 22 undergoes passive torsional motion during this process, and the bistable passive torsional mechanism 3 twists to the stable position II with a torsional angle of ∠AOB. During this process, the energy storage elastic rope I 37a changes to an extended and stretched energy storage state, and the energy storage elastic rope II 37b changes to an unstretched state.

[0113] See attached Figure 22 During the flapping process of the left flapping wing 22 from the lower limit position to the upper limit position, the bistable passive torsion mechanism 3 is in the stable position II after passive torsion, which reduces the upward resistance of the left flapping wing 22 and thus increases the average lift of the left flapping wing 22 in one cycle; when the left flapping wing 22 flaps to the upper limit position, due to the fluid-solid coupling effect, the release of the energy stored in the energy storage elastic rope I 37a and the inertia of the mechanism, the left flapping wing 22 will return to the adjacent position. Figure 19 The upper limit position shown is the stable position I where the flapping wings and the bistable passive torsion mechanism 3 do not undergo torsion;

[0114] The movement process of the right flapping wing 21 and the bistable passive torsion mechanism 3 at its root on the right side is the same as that on the left side.

[0115] When the flapping-wing aircraft of the present invention is flying, the gliding mechanism 5 can be used to switch between the flapping and gliding flight modes. The specific process is as follows:

[0116] The driving motor 40 starts, the left and right flapping wings 2 flap, and the aircraft flies. At this time, the gliding mechanism 5 is in the vicinity of Figure 6The state shown, that is, through the glide drive rudder 50 control crank cylindrical pin rudder arm 51, damping deceleration support 52 damping pawl 52c and damping runner 55 damping runner set 55b is separated;

[0117] Referring to the accompanying drawings Figure 7 , before sliding, through the glide drive rudder 50 control crank cylindrical pin rudder arm 51, damping deceleration support 52 damping pawl 52c and damping runner 55 damping runner set 55b is separated, damping pawl 52c by glide spring 54 elastic force and damping runner 55 damping runner set 55b is connected, at this time the aircraft is in the pre sliding state;

[0118] Referring to the accompanying drawings Figure 8 , when sliding, through the left flapping wing rocker 20b, right flapping wing rocker 20a the root of the distance sensor or angle sensor real-time grasp flapping wing position, control drive motor 40 deceleration to stop, make left and right flapping wing 2 stop in the accompanying drawings Figure 20 The lower flapping stage shown in the figure, the wings are symmetrical horizontally, due to the fluid-solid coupling and elastic support mechanism 32 effect flapping wing and bistable passive torsion mechanism 3 will maintain in the steady state position I state, that is, no passive torsion, in this process, through the glide drive rudder 50 control crank cylindrical pin rudder arm 51, damping deceleration support 52 damping pawl 52c and damping runner 55 damping runner set 55b is separated, and gradually improve the contact force between damping pawl 52c and damping runner 55, stop damping runner 55 rotation, make the aircraft maintain in the sliding state;

[0119] When the sliding state is released, through the glide drive rudder 50 control crank cylindrical pin rudder arm 51, damping deceleration support 52 damping pawl 52c and damping runner 55 damping runner set 55b is separated, and further control damping pawl 52c and damping runner 55 damping runner set 55b is separated, when the two are separated, the drive motor 40 is started quickly to restore the flapping state of the wings, and the glide mechanism 5 returns to the state shown in the accompanying drawings Figure 6 The aircraft flapping wings fly.

[0120] When the flapping wing aircraft of the present application flies, the pitch and yaw movements of the aircraft can be controlled by the tail rudder 6, and the specific process is as follows:

[0121] Referring to the accompanying drawings Figure 23 And the accompanying drawings Figure 24 The tail rudder 6 located at the rear of the aircraft rotates the rocker bracket 64 through the pitch rudder 61, so as to control the lifting and lowering of the fan-shaped tail 67 to realize the pitch and roll movements of the flapping wing aircraft of the present application; referring to the accompanying drawings Figure 25 The fan-shaped tail 67 is driven to rotate by controlling the yaw rudder 65 located on the rocker bracket 64, the left and right rotations of the entire fan-shaped tail 67 are controlled, and the yaw movement of the flapping wing aircraft of the present application is realized.

[0122] The overall structure of the gliding flapping aircraft with the bistable passive torsion double wings disclosed by the present application can be fully understood through the above embodiments and the specific movement process of the mechanism. In summary, the overall structure of the gliding flapping aircraft with the bistable passive torsion double wings disclosed by the present application can be fully understood through the attached Figure 7 , the attached Figure 8 , and the attached Figure 6 The working state of the gliding mechanism 5 of the flapping aircraft of the present application before, during and after gliding is better shown, and the attached Figure 20 The gliding state of the flapping aircraft of the present application is better shown, and the attached Figures 11-15 , the attached Figures 19-22 The position and state of the left and right flapping wings 2 and the bistable passive torsion mechanism 3 at the root thereof of the flapping aircraft of the present application within one flapping cycle are better shown, and the attached Figures 23-25 The working state of the tail rudder 6 of the flapping aircraft of the present application in the pitch and yaw movement is better shown.

Claims

1. A skid ornithopter having a bistable passive twist diplane, comprising: The fuselage skeleton (1), left and right flapping wings (2), a bistable passive torsion mechanism (3), a transmission flapping mechanism (4), a gliding mechanism (5), and a tail rudder (6); The transmission flapping mechanism (4) drives the left and right flapping wings (2) to flap up and down. The bistable passive torsion mechanism (3) is arranged between the flapping wing rocker and the flapping wing. The bistable passive torsion mechanism (3) comprises a passive torsion support (30), a cam-shaped rotating disc (31), an elastic support mechanism (32), a leading edge rod support table (33), and two buffer limiting piles (34). The passive torsion support (30) is internally provided with an inner connecting table (30c) and externally provided with a main support table (30a), and the inner connecting table (30c) is fixedly connected to the outer end of the flapping wing rocker. The cam-shaped rotating disc (31) is axially connected to the main support table (30a), and the rear part of the cam-shaped rotating disc (31) is provided with a wing root rod fixing sleeve (31a), and the outer end surface of the cam-shaped rotating disc (31) is fixedly connected to the leading edge rod support table (33). The leading edge rod support table (33) and the wing root rod fixing sleeve (31a) are respectively fixedly connected to the leading edge rod of the flapping wing and the wing root rod of the flapping wing. The two buffer limiting piles (34) are fixedly connected to the upper and lower sides of the rear side of the passive torsion support (30), and the wing root rod fixing sleeve (31a) is located between the two buffer limiting piles (34). The elastic support mechanism (32) comprises a top rod, a stable spring (32b), and a sliding rail block, the top rod and the sliding rail block are in sliding fit, and the stable spring (32b) in a compressed state is arranged between the top rod and the sliding rail block. The main support table (30a) of the passive torsion support (30) is provided with a secondary support table (30b) below, and the sliding rail block is arranged on the secondary support table (30b). The top rod end of the elastic support mechanism (32) is connected to the "convex end" of the cam-shaped rotating disc (31), and the stable contact force between the wing root rod fixing sleeve (31a) and the upper and lower buffer limiting piles (34) is provided.

2. The slideable flapping-wing aircraft with bistable passive torsion double wings according to claim 1, wherein: The sliding rail block of the elastic support mechanism (32) is axially connected or fixedly connected to the secondary support table (30b). The axial connection is that the top rod end of the elastic support mechanism (32) is axially connected to the "convex end" of the cam-shaped rotating disc (31). The fixed connection is that the top rod of the elastic support mechanism (32) slides up and down relative to the sliding rail block, the top head of the top rod end is connected to the outer contour of the "convex end" of the cam-shaped rotating disc (31), and the axis of the top rod intersects the rotation axis of the cam-shaped rotating disc (31) in space.

3. The slideable flapping-wing aircraft with bistable passive torsion double wings according to claim 1 or 2, wherein: The gliding mechanism (5) comprises a gliding drive rudder (50), a crank cylindrical pin rudder arm (51), a damping deceleration support (52), a sliding sleeve (53), a gliding spring (54), and a damping rotating wheel (55). The glide drive rudder engine (50) is fixed to the main support plate (10) at the front of the fuselage skeleton (1), and the output shaft is fixed to the crank cylindrical pin rudder arm (51); the damping rotating wheel (55) is fixed to the output shaft (45) of the transmission flapping mechanism (4); The damping deceleration support (52) is provided with a damping claw (52c) at one end close to the damping rotating wheel (55), the middle slide rod (52b) is slidably connected with the slide sleeve (53) fixed to the main support plate (10), and the other end of the damping deceleration support (52) is provided with a deceleration claw allowance ring (52a); The glide spring (54) is sleeved on the slide rod (52b), one end is connected with the slide sleeve (53), and the other end is connected with the damping claw (52c); the cylindrical pin of the crank cylindrical pin rudder arm (51) is located in the deceleration claw allowance ring (52a), and the contact and separation between the cylindrical pin and the inner ring of the deceleration claw allowance ring (52a) are controlled by the glide drive rudder engine (50).

4. A hover-flapping aircraft with a bistable passive twist biwing according to claim 3, characterized in that: The glide spring (54) is in a compressed state; the glide mechanism (5) is provided with a distance sensor or an angle sensor at the roots of the left flapping wing rocker (20b) and the right flapping wing rocker (20a).

5. The slidable flapping-wing aircraft with bistable passive torsion double wings according to claim 4, characterized in that: The upper side of the wing root rod fixing sleeve (31a) of the cam-shaped rotating disc (31) is fixed with the energy storage elastic rope I (37a), and the lower side is fixed with the energy storage elastic rope II (37b); the other ends of the energy storage elastic rope I (37a) and the energy storage elastic rope II (37b) are fixed with the upper and lower sides of the passive torsion support (30) respectively; when the flapping wings are in the middle position of the upper and lower buffer limiting piles (34), the energy storage elastic rope I (37a) and the energy storage elastic rope II (37b) are both in an unstretched state.

6. The slidable flapping-wing aircraft with bistable passive torsion double wings according to claim 5, characterized in that: The left and right flapping wings (2) include a right flapping wing (21) and a left flapping wing (22), and the two are the same in structure; the left flapping wing (22) includes a leading edge rod (22a), a wing root rod (22b), a wing vein and a wing skin (22e); when the flapping wings flap, the flapping wings and the cam-shaped rotating disc (31) are twisted due to fluid-structure coupling; when the wing root rod fixing sleeve (31a) is connected with the upper buffer limiting pile (34), the flapping wing surface is in a horizontal stable position, and the position of the wing root rod (22b) is recorded as OA; when the wing root rod fixing sleeve (31a) is connected with the lower buffer limiting pile (34), the flapping wing surface is in a limit stable position of torsional motion, and the position of the wing root rod (22b) is recorded as OB; ∠AOB is the torsional angle of the flapping wing torsional motion.

7. The slidable flapping-wing aircraft with bistable passive torsion double wings according to claim 6, characterized in that: The transmission flapping mechanism (4) is driven by a driving motor (40) fixed to the main support plate (10); the left and right crank transmission arms of the transmission flapping mechanism (4) rotate synchronously and symmetrically, and drive the left flapping wing rocker (20b) and the right flapping wing rocker (20a) to swing up and down through the left ball head pull rod (47b) and the right ball head pull rod (47a) respectively, thereby realizing the symmetrical and synchronous flapping of the left flapping wing (22) and the right flapping wing (21).

8. The slidable flapping-wing aircraft with bistable passive torsional biwings according to claim 6 or 7, characterized in that: The tail rudder (6) comprises a pitch rudder mechanism (61) and a yaw rudder mechanism (65), and a fan-shaped tail fin (67); the pitch rudder mechanism (61) and the yaw rudder mechanism (65) are arranged at the rear part of the fuselage framework (1) and control the lifting and lowering movement and the left and right rotation of the fan-shaped tail fin (67) respectively.

9. A method of flying a flapping-wing aircraft, characterized by: The slidable flapping-wing aircraft with bistable passive torsional biwings according to claim 4; 1) The driving motor (40) is started, the left and right flapping wings (2) flap, the aircraft flies, and the gliding driving rudder mechanism (50) separates the damping pawl (52c) of the damping deceleration support (52) from the damping rotating wheel (55) through the crank cylindrical pin rudder arm (51); 2) Before sliding, the cylindrical pin of the crank cylindrical pin rudder arm (51) and the deceleration pawl allowance ring (52a) of the damping deceleration support (52) are in a separated state under the control of the gliding driving rudder mechanism (50), the damping pawl (52c) is connected with the damping wheel sleeve (55b) of the damping rotating wheel (55) under the elastic force of the gliding spring (54); 3) When sliding, the driving motor (40) is decelerated, the distance sensor or angle sensor arranged at the root of the left and right flapping wing rockers detects that the left and right flapping wings (2) reach the gliding position, and the driving motor (40) stops; the gliding driving rudder mechanism (50) increases the contact force between the damping pawl (52c) and the damping rotating wheel (55) by controlling the cylindrical pin of the crank cylindrical pin rudder arm (51), and stops the rotation of the damping rotating wheel (55), so that the aircraft slides; 4) When the sliding is released, the crank cylindrical pin rudder arm (51) is driven to rotate outward by the gliding driving rudder mechanism (50), so that the damping pawl (52c) and the damping rotating wheel (55) are separated; when the two are separated, the driving motor (40) is quickly started to restore the flapping of the biwings, and the aircraft flies.

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