Bionic opposite-flapping four-wing flapping-wing aircraft

Abstract

The invention discloses a bionic opposite-flapping four-wing flapping-wing aircraft which comprises a fuselage, and main wings, empennages, opposite-flapping driving mechanisms and tail driving mechanisms which are arranged on the fuselage, the opposite-beating driving mechanism comprises an opposite-beating driving steering engine, a gear set and a transmission connecting rod; an output shaft of the opposite-beating driving steering engine is in meshing transmission with the two gear sets; the two gear sets are respectively in transmission connection with the two transmission connecting rods; the two transmission connecting rods are respectively connected with two main wings, and the circulating swing of the two transmission connecting rods is used for driving the main wings to do opposite flapping motion; the tail driving mechanism is in transmission connection with the empennage and is used for adjusting the swinging angle of the empennage; according to the flapping wing aircraft, a single opposite flapping driving steering engine is used for driving, opposite flapping of the adjacent main wings is achieved, meanwhile, each main wing has the flapping angle of 90 degrees, a flapping-throwing mechanism is better used for providing lift force for the aircraft, and the problems that an existing flapping wing aircraft is too complex in structure, and the flapping wing aircraft cannot be used for flapping are practically solved. And four-wing opposite-shooting flight cannot be realized by utilizing a simple structure.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, and in particular to a bionic four-wing flapping aircraft. Background Art

[0002] Flapping-wing aircraft are micro-aircraft that imitate the flight of birds or insects. They have high maneuverability and stealth and are widely used in military reconnaissance, environmental monitoring, disaster relief and other fields. However, existing flapping-wing aircraft still face many challenges in terms of drive mode, transmission mechanism and aerodynamic design. In particular, how to achieve quadruple-wing flight with a simple structure has become an urgent problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic four-wing flapping aircraft to solve the problem that the existing flapping-wing aircraft has a too complex structure and cannot realize the four-wing flight with a simple structure.

[0004] In order to solve the above technical problems, the present invention provides a bionic parallel-beat four-wing flapping aircraft, comprising a fuselage, and main wings, tail wings, parallel-beat driving mechanisms and tail driving mechanisms arranged on the fuselage; the parallel-beat driving mechanisms comprise parallel-beat driving servos, gear sets and transmission connecting rods; the output shafts of the parallel-beat driving servos are meshed and transmitted with two sets of the gear sets; the two sets of the gear sets are respectively connected to the two transmission connecting rods; the two transmission connecting rods are respectively connected to the two main wings, and the cyclic swing of the two transmission connecting rods is used to drive the main wings to perform parallel-beat motion; the tail driving mechanism is connected to the tail wing, and the tail driving mechanism is used to adjust the swing angle of the tail wing.

[0005] In one embodiment, the output shaft of the beat-drive servo is provided with a driving gear; the gear set includes a first gear, a second gear and a third gear; the first gear is meshed with the driving gear for transmission; the second gear is connected to the first gear as a coaxial rotation structure, and the second gear is meshed with the third gear for transmission; the third gear is connected to the transmission connecting rod for transmission.

[0006] In one embodiment, the beat drive mechanism also includes a first mounting frame, a second mounting frame and a connecting column; the first mounting frame is connected and fixed to the fuselage, the first mounting frame and the second mounting frame are arranged separately from each other, and the connecting column is connected between the first mounting frame and the second mounting frame; the beat drive servo is provided on the surface of the second mounting frame facing away from the first mounting frame, and the first gear, the second gear and the third gear are rotatably installed on the surface of the second mounting frame facing the first mounting frame.

[0007] In one embodiment, a linear guide groove is provided on the first mounting bracket; the transmission connecting rod includes a first rod section, a second rod section, a third rod section, a fourth rod section, a sliding block and a bent rod section; the first end of the first rod section is fixedly connected to the axis position of the third gear, and the second end of the first rod section is connected to the first end of the second rod section and the first end of the third rod section to form a coaxial rotation structure; the second end of the second rod section is rotatably connected to the sliding block; the second end of the third rod section is rotatably connected to the first mounting bracket; the first ends of the two fourth rod sections are rotatably connected to the first mounting bracket, and the second ends of the two fourth rod sections are respectively rotatably connected to the bends of the two bent rod sections; the sliding block is slidably mounted in the linear guide groove; the first ends of the two bent rod sections are respectively rotatably connected to opposite sides of the sliding block, and the main wings are respectively connected to the second ends of the two bent rod sections.

[0008] In one embodiment, the tail wing includes a fixed wing and a swing wing, and the two fixed wings and the two swing wings are alternately arranged in a cross shape; the tail drive mechanism is used to adjust the swing angle of the swing wing.

[0009] In one embodiment, the tail drive mechanism includes a tail servo, a swing arm and a rope; the output shaft of the tail servo is connected to the swing arm; one end of the swing arm is connected to the rope; the rope is connected to the swingable part of the swing wing.

[0010] The beneficial effects of the present invention are as follows:

[0011] The present invention uses a single counter-phase drive servo for driving to achieve the counter-phase flapping of adjacent main wings. At the same time, each main wing has a flapping angle of 90°, so as to better utilize the flapping-throwing mechanism to provide lift for the aircraft; adopt a cross-shaped tail wing control surface layout to increase the stability of the aircraft during flight; adopt a double-tail servo to drive double control surfaces to control the movement of the aircraft in the pitching and yaw directions. Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for implementation will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0013] Figure 1 is a schematic structural diagram provided by an embodiment of the present invention;

[0014] Figure 2 is Figure 1 the structural diagram of the counter-phase drive mechanism;

[0015] Figure 3 is Figure 2 a partial structural schematic diagram of

[0016] Figure 4 is Figure 3 a partial structural schematic diagram of

[0017] Figure 5 is Figure 4 a bottom view structural schematic diagram of

[0018] Figure 6 is Figure 1 a structural schematic diagram of the tail drive mechanism of

[0019] Figure 7 is the drive principle diagram of a bionic flapping four-wing flapping wing aircraft;

[0020] Figure 8 is the output angle schematic diagram of the bent rod segment and the fourth rod segment.

[0021] The reference numerals are as follows:

[0022] 10, fuselage;

[0023] 20, main wing;

[0024] 30, tail wing; 31, fixed wing; 32, swinging wing;

[0025] 40, flapping drive mechanism; 41, flapping drive servo; 42, gear set; 421, first gear; 422, second gear; 423, third gear; 43, transmission connecting rod; 431, first rod segment; 432, second rod segment; 433, third rod segment; 434, fourth rod segment; 435, sliding block; 436, bent rod segment; 44, driving gear; 451, first mounting bracket; 452, second mounting bracket; 46, connecting column; 47, linear guide groove;

[0026] 50, tail drive mechanism; 51, tail servo; 52, swinging arm; 53, rope. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] The present invention provides a bionic flapping four-wing flapping wing aircraft, and its embodiments are as Figures 1 to 8As shown, it includes a fuselage 10, and a main wing 20, a tail wing 30, a beat driving mechanism 40 and a tail driving mechanism 50 arranged on the fuselage 10; the beat driving mechanism 40 includes a beat driving servo 41, a gear set 42 and a transmission connecting rod 43; the output shaft of the beat driving servo 41 is meshed and transmitted with two sets of gear sets 42; the two sets of gear sets 42 are respectively connected to the two transmission connecting rods 43; the two transmission connecting rods 43 are respectively connected to the two main wings 20, and the cyclic swing of the two transmission connecting rods 43 is used to drive the main wings 20 to perform a beat movement; the tail driving mechanism 50 is connected to the tail wing 30, and the tail driving mechanism 50 is used to adjust the swing angle of the tail wing 30.

[0029] When in use, the beat-driving servo 41 will drive the gear set 42 to operate, and the operation of the gear set 42 will provide power to the transmission connecting rod 43. After obtaining the power, the transmission connecting rod 43 will perform a connecting rod swinging motion, and thereby drive the main wing 20 to beat, thereby realizing the beat motion control of the aircraft; and when the flight direction needs to be adjusted, it is only necessary to use the tail drive mechanism 50 to adjust the swing angle of the tail wing 30 to complete the adjustment of the flight direction.

[0030] like Figure 2 and Figure 3 As shown, in this embodiment, the output shaft of the beat driving servo 41 is provided with a driving gear 44; the gear set 42 includes a first gear 421, a second gear 422 and a third gear 423; the first gear 421 is meshed with the driving gear 44 for transmission; the second gear 422 is connected to the first gear 421 as a coaxial rotation structure, and the second gear 422 is meshed with the third gear 423 for transmission; the third gear 423 is connected to the transmission connecting rod 43 for transmission.

[0031] After adopting this setting, once the beat driving servo 41 is working, the driving gear 44 can be controlled to rotate. The rotation of the driving gear 44 will drive the first gear 421, the second gear 422 and the third gear 423 to rotate, and the rotation of the third gear 423 will provide power for the transmission connecting rod 43, thereby realizing the power supply of the transmission connecting rod 43.

[0032] like Figures 1 to 3 As shown, the beat driving mechanism 40 of this embodiment also includes a first mounting frame 451, a second mounting frame 452 and a connecting column 46; the first mounting frame 451 is connected and fixed to the fuselage 10, the first mounting frame 451 and the second mounting frame 452 are arranged separately from each other, and a connecting column 46 is connected between the first mounting frame 451 and the second mounting frame 452; the beat driving servo 41 is provided on the surface of the second mounting frame 452 facing away from the first mounting frame 451, and the first gear 421, the second gear 422 and the third gear 423 are rotatably installed on the surface of the second mounting frame 452 facing toward the first mounting frame 451.

[0033] After adopting this setting method, the first mounting bracket 451 and the second mounting bracket 452 can be used to install and fix each component of the racket driving mechanism 40.

[0034] As Figure 1 , Figure 2 , Figure 4 and Figure 5 shown, in this embodiment, a linear guide groove 47 is provided on the first mounting bracket 451; the transmission connecting rod 43 includes a first rod segment 431, a second rod segment 432, a third rod segment 433, a fourth rod segment 434, a sliding block 435 and a bent rod segment 436; the first end of the first rod segment 431 is fixedly connected to the axial center position of the third gear 423, and the second end of the first rod segment 431 is connected to the first end of the second rod segment 432 and the first end of the third rod segment 433 to form a coaxial rotation structure; the second end of the second rod segment 432 is rotatably connected to the sliding block 435; the second end of the third rod segment 433 is rotatably connected to the first mounting bracket 451; the first ends of the two fourth rod segments 434 are rotatably connected to the first mounting bracket 451, and the second ends of the two fourth rod segments 434 are respectively rotatably connected to the bends of the two bent rod segments 436; the sliding block 435 is slidably installed in the linear guide groove 47; the first ends of the two bent rod segments 436 are respectively rotatably connected to opposite sides of the sliding block 435, and the second ends of the two bent rod segments 436 are respectively connected with the main wings 20.

[0035] After adopting this setting method, the rotation of the third gear 423 will drive the first rod segment 431 to swing, the swing of the first rod segment 431 will drive the second rod segment 432 and the third rod segment 433 to swing, and the swing of the second rod segment 432 will drive the sliding block 435 to perform linear reciprocating movement in the linear guide groove 47. Finally, the linear reciprocating movement of the sliding block 435 will drive the fourth rod segment 434 to swing, and the fourth rod segment 434 will control the bent rod segment 436 to rotate cyclically through the swing, so as to realize the control of the racket movement of the main wing 20.

[0036] As Figure 1 and Figure 6 shown, in this embodiment, the tail wing 30 is provided with a fixed wing 31 and a swing wing 32, and the two fixed wings 31 and the two swing wings 32 are alternately arranged in a cross shape; the tail driving mechanism 50 is used to adjust the swing angle of the swing wing 32; specifically, at this time, the tail driving mechanism 50 includes a tail servo 51, a swing arm 52 and a rope 53; the output shaft of the tail servo 51 is connected with the swing arm 52; one end of the swing arm 52 is connected with a rope 53; the rope 53 is connected with the swingable part of the swing wing 32.

[0037] After adopting this setting, the tail servo 51 can control the swing arm 52 to swing in different directions by rotating clockwise or counterclockwise, and the swing of the swing arm 52 can achieve the tightening and loosening of the rope 53, so as to adjust the swing angle of the swingable part of the swing wing 32.

[0038] The driving principle of the present invention is as follows Figure 7 and Figure 8 Among them, OA, AB, BC, CD, and DE correspond to: the third rod segment 433, the second rod segment 432, the sliding block 435, the bending rod segment 436, and the fourth rod segment 434, respectively.

[0039] The origin of the fixed coordinate system is located at the root O of the third rod segment 433. The angle θ of the third rod segment 433 is defined as the angle between the positive direction of the x-axis and OA. In order to calculate the flapping angle of the wing, the third rod segment 433-sliding block 435 (OAB) is first analyzed to obtain the relationship between its stroke and the input angle θ of the third rod segment 433 to determine the position s of the sliding block 435, and then the output angle of the sliding block 435-second rod segment 432 (CDE) is analyzed.

[0040] From the vector relationship we can get:

[0041]

[0042] Wherein, s is the position of the sliding block 435 on the y-axis, and r is the length of the third rod segment 433 .

[0043] Combining (1) and (2) we can get the relationship between the position s of the sliding block 435:

[0044]

[0045] Similarly, we can get:

[0046]

[0047]

[0048] Among them, (x1, y1) is the coordinate of point E, is the angle between rod DE and the positive direction of x-axis, we can get:

[0049]

[0050] From the geometric relationship of triangle CDE, we can get:

[0051]

[0052] From formula (7), we can get:

[0053]

[0054] The relational expression of the target angle β can be obtained as follows:

[0055]

[0056] where γ is the fixed angle between the CD rod and the leading edge of the wing.

[0057] Meanwhile, in order to make full use of the flapping-closing mechanism in the high-lift mechanism of insect flight, the present invention designs the dimensions of the rods according to the above formula, as shown in Table 1.

[0058] Table 1 Corresponding rod dimension table

[0059]

[0060] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A bionic flapping four-winged aircraft, characterized in that it includes a fuselage, and a main wing, a tail wing, a flapping driving mechanism and a tail driving mechanism provided on the fuselage; The flapping driving mechanism includes a flapping driving servo, a gear set and a transmission connecting rod; the output shaft of the flapping driving servo meshes and drives with two groups of the gear sets; the two groups of the gear sets are respectively in transmission connection with the two transmission connecting rods; the two transmission connecting rods are respectively connected with the two main wings, and the cyclic swing of the two transmission connecting rods is used to drive the main wings to perform a flapping motion; The tail driving mechanism is in transmission connection with the tail wing, and the tail driving mechanism is used to adjust the swing angle of the tail wing.

2. The bionic flapping four-winged aircraft according to claim 1, characterized in that the output shaft of the flapping driving servo is provided with a driving gear; the gear set includes a first gear, a second gear and a third gear; the first gear meshes and drives with the driving gear; the second gear is connected with the first gear to form a coaxial rotation structure, and the second gear meshes and drives with the third gear; the third gear is in transmission connection with the transmission connecting rod.

3. The bionic flapping four-winged aircraft according to claim 2, characterized in that the flapping driving mechanism further includes a first mounting bracket, a second mounting bracket and a connecting column; the first mounting bracket is fixedly connected with the fuselage, the first mounting bracket and the second mounting bracket are arranged separately from each other, and the connecting column is connected between the first mounting bracket and the second mounting bracket; the flapping driving servo is provided on the surface of the second mounting bracket facing away from the first mounting bracket, and the first gear, the second gear and the third gear are rotatably mounted on the surface of the second mounting bracket facing the first mounting bracket.

4. The bionic flapping four-winged aircraft according to claim 3, characterized in that a linear guide groove is provided on the first mounting bracket; the transmission connecting rod includes a first rod section, a second rod section, a third rod section, a fourth rod section, a sliding block and a bent rod section; the first end of the first rod section is fixedly connected with the axial center position of the third gear, and the second end of the first rod section is connected with the first end of the second rod section and the first end of the third rod section to form a coaxial rotation structure; the second end of the second rod section is rotatably connected with the sliding block; the second end of the third rod section is rotatably connected with the first mounting bracket; the first ends of the two fourth rod sections are rotatably connected with the first mounting bracket, and the second ends of the two fourth rod sections are respectively rotatably connected with the bent parts of the two bent rod sections; the sliding block is slidably mounted in the linear guide groove; the first ends of the two bent rod sections are respectively rotatably connected with the opposite sides of the sliding block, and the second ends of the two bent rod sections are respectively connected with the main wings.

5. The bionic flapping four-winged aircraft according to claim 1, characterized in that the tail wing includes a fixed wing and a swinging wing, and the two fixed wings and the two swinging wings are alternately arranged in a cross shape; the tail driving mechanism is used to adjust the swing angle of the swinging wing.

6. The bionic flapping four-winged aircraft according to claim 5, characterized in that The tail drive mechanism includes a tail servo, a swing arm, and a rope; The output shaft of the tail servo is connected to the swing arm; One end of the swing arm is connected to the rope; The rope is connected to the swingable part of the swing wing.

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