Multi-mode bionic aircraft capable of flying in flapping wing-fixed wing mode

Abstract

The invention discloses a multi-mode bionic aircraft capable of flying in a flapping wing-fixed wing mode, and belongs to the field of unmanned aerial vehicles. The multi-mode bionic aircraft comprises a fuselage, a flapping wing-fixed wing mechanism and a hydraulic wing folding mechanism; the fuselage comprises a rack, the flapping wing-fixed wing mechanism comprises a driving motor, the driving motor is fixedly connected with the rack, a rotating shaft of the driving motor is fixedly connected with an output rocker, a transmission gear and a driven gear are connected to the rack, a driving rocker is connected to the rack and fixedly connected with the transmission gear, and the output rocker is slidably connected into an inner groove of the driving rocker; the hydraulic wing folding mechanism comprises a hydraulic power assembly, wings are fixedly connected to the foldable wing rods and the wing fixing frame respectively, hydraulic pipes extend into cavities in the foldable wing rods, the other ends of the hydraulic pipes are fixedly connected with the hydraulic power assembly, and the head ends of elastic pieces are fixedly connected with the two foldable wing rods respectively. The tail ends of the two elastic pieces are fixedly connected with connecting rods installed on the driven gear and the transmission gear, and the aircraft wing can be folded and is convenient to carry and recycle.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicles, and particularly relates to a multi-modal bionic aircraft capable of flapping-wing and fixed-wing flight. Background Art

[0002] A bionic flapping-wing aircraft refers to an aircraft that, based on the principle of bionics, imitates flying organisms in nature and generates lift and thrust by the reciprocating motion of the wings. The flapping-wing aircraft has the advantages of strong maneuverability, high flexibility, and low energy consumption ratio, and has broad application prospects in both military and civilian fields. Many flying organisms also have the abilities of gliding, floating on water, and walking on the ground. Currently, most flapping-wing aircraft do not have these complex functions. Gliding flight can improve flight stability and flight speed compared to flapping-wing flight, and the abilities of floating on water and walking on the ground can expand the application scenarios and passing capabilities of unmanned aerial vehicles.

[0003] Therefore, designing a multi-modal bionic flapping-wing aircraft with diverse functions is an urgent technical problem to be solved in this technical field. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-modal bionic aircraft capable of flapping-wing and fixed-wing flight, which can complete the movements of four modes: flapping-wing flight, fixed-wing flight, floating on water, and walking on the ground, and the wings can be folded, facilitating carrying and recovery.

[0005] The purpose of the present invention is achieved through the following technical solutions: A multi-modal bionic aircraft capable of flapping-wing and fixed-wing flight, comprising a fuselage, a flapping-wing and fixed-wing mechanism, and a hydraulic wing folding mechanism; The fuselage includes a frame; The flapping-wing and fixed-wing mechanism includes an electronic equipment integration package, an active rocker, a driving motor, an output rocker, a pin, a driven gear, and a transmission gear; The outer shells of the electronic equipment integration package and the driving motor are both fixedly connected to the frame. The rotating shaft of the driving motor is fixedly connected to the head end of the output rocker. The transmission gear and the driven gear are symmetrically rotatably connected to the frame through pins respectively, and the transmission gear meshes with the driven gear. The active rocker is rotatably connected to the frame and fixedly connected to the transmission gear. The tail end of the output rocker is limited and slidably connected to the inner groove of the active rocker; The hydraulic wing folding mechanism includes two wings, two foldable wing rods, a wing fixing frame, a hydraulic pipe, a hydraulic power assembly, an elastic member, and a connecting rod; The hydraulic power assembly and the wing fixing frame are both fixedly connected to the frame. The two wings are respectively fixedly connected to two foldable wing rods and the wing fixing frame. The head end of the hydraulic pipe extends into the inner cavity of the foldable wing rod, and the other end of the hydraulic pipe is fixedly connected to the output end of the hydraulic power assembly. The head ends of the elastic members are respectively fixedly connected to the two foldable wing rods, and the tail ends of the two elastic members are respectively fixedly connected to the connecting rods mounted on the driven gear and the driving gear.

[0006] Preferably, the fuselage further includes a front wheel, a steering rudder, a vertical tail fin steering surface, a vertical tail fin, a tail fin body, a connecting frame, a front wheel bracket, a rear wheel, a flotation device, a waterproof ducted motor, and a propeller. The end of the frame is fixedly connected to the tail fin body. A vertical tail fin is fixedly connected below the tail fin body. The vertical tail fin steering surface is rotatably connected to the vertical tail fin through the steering rudder. The lower end of the vertical tail fin is fixedly connected to the housing of the waterproof ducted motor. A propeller is fixedly connected to the rotating shaft of the waterproof ducted motor. The lower end of the housing of the waterproof ducted motor is rotatably connected to the rear wheel through the rear wheel bracket. Two flotation devices are fixedly connected to the lower end of the frame through the connecting frame. Front wheel brackets are fixedly connected to both flotation devices, and each front wheel bracket is rotatably connected to a front wheel.

[0007] Preferably, the fuselage further includes a collision avoidance frame, which is fixedly connected to the head end of the frame and extends outside the frame.

[0008] Preferably, the flotation device is of a hollow structure and is made of lightweight hard foam.

[0009] Preferably, the flapping-fixed wing mechanism includes electromagnets, and the two electromagnets are respectively fixedly connected to both sides of the inner groove. When the wings are in the flapping motion state, the electromagnets at both ends of the inner groove of the active rocker are not energized, and the active rocker swings to output the flapping motion. When the fixed wings are in the motion state, the electromagnets at both ends of the inner groove of the active rocker are energized. The output rocker is made of a magnetic material, and the end of the output rocker can be magnetically attracted to any one of the electromagnets, and the active rocker, the output rocker, and the driven gear are in a horizontal state.

[0010] Preferably, the driving gear and the driven gear are non-full gears.

[0011] The beneficial effects of the present invention are as follows: The multi-modal bionic aircraft capable of flapping-fixed wing flight provided by the present invention can realize the functions of flapping flight, fixed wing flight, ground movement, and water surface movement. In the states of fixed wing flight, ground movement, and water surface movement, the power is provided by the waterproof ducted motor. When in fixed wing flight, the electromagnets at both ends of the inner groove of the active rocker are energized, and the end of the output rocker is made of a magnetic material and can be magnetically attracted to any one of the electromagnets, and the active rocker, the output rocker, and the driven gear are in a horizontal state. In the states of ground movement and water surface movement, the foldable wing rods are in a folded state under the constraint of the elastic members. Description of the Drawings

[0012] Figure 1 It is a schematic structural diagram of the flapping - fixed - wing flight mode of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 2 It is a schematic structural diagram of the fixed - wing flight mode of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 3 It is a schematic structural diagram of the land and water motion states of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 4 It is a schematic structural diagram of the flapping - fixed - wing control mechanism of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 5 It is a schematic structural diagram of the tail wing and waterproof ducted motor of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 6 It is a schematic structural diagram of the active rocker of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 7 It is a schematic diagram of the transmission gear of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 8 It is a schematic diagram of the driven gear of the multi - modal bionic aircraft with flapping - fixed - wing flight of the present invention; Figure 9 It is a schematic diagram when the elastic member is not deformed in the present invention; In the figure: 1: wing; 2: foldable wing rod; 3: anti - collision frame; 4: front wheel; 5: steering rudder; 6: vertical tail wing steering surface; 7: vertical tail wing; 8: tail wing body; 9: electronic equipment integration package; 10: wing fixing frame; 11: hydraulic pipe; 12: connecting frame; 13: elastic member; 14: front wheel support; 15: hydraulic power component; 16: rear wheel; 17: water float; 18: frame; 19: connecting rod; 20: active rocker; 21: drive motor; 22: output rocker; 23: pin; 24: driven gear; 25: waterproof ducted motor; 26: propeller; 27: inner groove; 28: electromagnet; 29: transmission gear. Detailed implementation mode

[0013] The present invention will be described in detail below with reference to the accompanying drawings.

[0014] Please refer to Figures 1 to 9 As shown, a multi - modal bionic aircraft with flapping - fixed - wing flight includes a fuselage, a flapping - fixed - wing mechanism, and a hydraulic wing folding mechanism; The fuselage includes a front wheel 4, a steering rudder 5, a vertical tail wing steering surface 6, a vertical tail wing 7, a tail wing body 8, a connecting frame 12, a front wheel support 14, a rear wheel 16, a water float 17, a frame 18, a waterproof ducted motor 25, a propeller 26, and an anti - collision frame 3; At the end of the frame 18, there is a tail fin body 8 fixedly connected. Below the tail fin body 8, there is a vertical tail fin 7 fixedly connected. The turning surface 6 of the vertical tail fin is rotatably connected to the vertical tail fin 7 through a steering rudder 5. The lower end of the vertical tail fin 7 is fixedly connected to the housing of the waterproof ducted motor 25. A propeller 26 is fixedly connected to the rotating shaft of the waterproof ducted motor 25. The lower end of the housing of the waterproof ducted motor 25 is rotatably connected to a rear wheel 16 through a rear wheel bracket. The lower end of the frame 18 is fixedly connected to two floaters 17 through a connecting frame 12. Front wheel brackets 14 are fixedly connected to both of the two floaters 17. Each front wheel bracket 14 is rotatably connected to a front wheel 4. A collision avoidance frame 3 is fixedly connected to the front end of the frame 18 and extends outside the frame 18. The floater 17 is of a hollow structure and is made of lightweight hard foam; The flapping-fixed wing mechanism includes an electronic equipment integration package 9, an active rocker 20, a drive motor 21, an output rocker 22, a pin 23, a driven gear 24, an electromagnet 28, and a transmission gear 29; The housings of the electronic equipment integration package 9 and the drive motor 21 are both fixedly connected to the frame 18. The rotating shaft of the drive motor 21 is fixedly connected to the front end of the output rocker 22. The transmission gear 29 and the driven gear 24 are symmetrically rotatably connected to the frame 18 through pins 23 respectively. The transmission gear 29 and the driven gear 24 mesh with each other, and the transmission gear 29 and the driven gear 24 are non-full gears. The active rocker 20 is rotatably connected to the frame 18 and is fixedly connected to the transmission gear 29. The end of the output rocker 22 is limit slidably connected to the inner groove 27 of the active rocker 20. Two electromagnets 28 are respectively fixedly connected to both sides of the inner groove 27. In the flapping wing motion state, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are not energized, and the active rocker 20 swings to output the flapping wing motion. In the fixed wing motion state, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are energized. Since the output rocker 22 is made of a magnetic material, the end of the output rocker 22 can be magnetically attracted to any one of the electromagnets 28. At this time, the active rocker 20, the output rocker 22, and the driven gear 24 are in a horizontal state; In the fixed wing flight, water surface motion, and land motion states, the motion direction is controlled by the steering rudder 5. The waterproof ducted motor 25 is fixedly connected to the vertical tail fin 7. In the fixed wing flight, water surface motion, and land motion states, the power is provided by the waterproof ducted motor 25. The inside of the floater 17 is hollow and provides buoyancy during water surface motion; The hydraulic wing folding mechanism includes two wings 1, two foldable wing rods 2, a wing fixing frame 10, a hydraulic pipe 11, a hydraulic power assembly 15, an elastic member 13, and a connecting rod 19; The hydraulic power assembly 15 and the wing fixing bracket 10 are both fixedly connected to the frame 18. The two wings 1 are respectively fixedly connected to the two foldable wing rods 2 and the wing fixing bracket 10. The leading edge of the wing 1 is fixedly connected to the foldable wing rod 2, and the end of the wing 1 is fixedly connected to the wing fixing bracket 10. The inside of the foldable wing rod 2 is a hollow structure. The head end of the hydraulic pipe 11 extends into the inner cavity of the foldable wing rod 2, and the other end of the hydraulic pipe 11 is fixedly connected to the output end of the hydraulic power assembly 15. When the two elastic members 13 are not deformed, they are in the right-angle configuration as shown in Figure 9 so that the foldable wing rod 2 is in a folded state. When the hydraulic power assembly 15 works, under the action of hydraulic pressure, the foldable wing rod 2 is in an open state of stretching to both sides, and the elastic members 13 are in an open state under the action of external force. The head ends of the two elastic members 13 are respectively fixedly connected to the two foldable wing rods 2, and the end ends of the two elastic members 13 are respectively fixedly connected to the connecting rods 19 mounted on the driven gear 24 and the driving gear 29. When the hydraulic power assembly 15 is in a non-working state, the elastic members 13 return to their original state (the deformation range is from a right-angle member to a horizontal cuboid member. When the foldable wing rod 2 is in the folded state, it is at 90°. When the foldable wing rod 2 is in the state of hydraulic pressure, the elastic members 13 are opened to the horizontal angle and act as limit blocks), driving the foldable wing rod 2 back to the folded state. In this state, land and water movement are realized. When the hydraulic power assembly 15 is in a working state, the hydraulic fluid in the hydraulic power assembly 15 is pumped into the cavity of the foldable wing rod 2 through the hydraulic pipe 11, and the foldable wing rod 2 is in an open state. In this state, flapping-fixed wing flight is realized.

[0015] The working principle and usage process of the present invention: As Figure 1 shown, when the aircraft of the present invention is in the flapping flight mode, the hydraulic power assembly 15 is in a working state. The hydraulic power assembly 15 includes a hydraulic pump and a hydraulic fluid tank. The hydraulic fluid in the hydraulic power assembly 15 is pumped into the cavity of the foldable wing rod 2 through the hydraulic pipe 11, and the foldable wing rod 2 is in an open state. The wing 1 is in an unfolded state. In the flapping motion state, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are not energized, and the active rocker 20 reciprocates to output the flapping motion; As Figure 2 shown, when the aircraft of the present invention is in the fixed-wing flight mode, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are energized. The output rocker 22 is made of a magnetic material, and the output rocker 22 is magnetically attracted to any one of the electromagnets 28. The active rocker 20, the output rocker 22 and the driven gear 24 are in a horizontal state. The hydraulic power assembly 15 is in a working state. The hydraulic fluid in the hydraulic power assembly 15 is pumped into the cavity of the foldable wing rod 2 through the hydraulic pipe 11, and the foldable wing rod 2 is in an unfolded state. The wing 1 is in an open state. The waterproof ducted motor 25 is in a working state, providing the power for fixed-wing flight; AsFigure 3 As shown in the figure, when the aircraft of the present invention is in the land or water movement state, the hydraulic power assembly 15 is in the non-operating state, the elastic member 13 returns to its original state (90° state), driving the foldable wing rod 2 back to the folded state. When in the ground movement state, the front wheel 4 and the rear wheel 16 work. When in the water movement state, the float 17 provides buoyancy. When moving on the ground or in the water, the power is provided by the waterproof ducted motor 25 working. As Figure 4 As shown in the figure is a schematic structural diagram of the flapping-fixed wing control mechanism of the present invention. In the flapping wing movement state, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are not energized, and the active rocker 20 swings reciprocally to output the flapping wing movement. In the fixed wing movement state, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are energized, and the end of the output rocker 22 is magnetically attracted to any one of the electromagnets 28, and the active rocker 20, the output rocker 22 and the driven gear 24 are in the horizontal state.

[0016] In the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0017] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0018] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-modal bionic aircraft capable of flapping-wing and fixed-wing flight, characterized in that: It includes a fuselage, a flapping-fixed wing mechanism, and a hydraulic wing folding mechanism; The fuselage includes a frame (18); The flapping-fixed wing mechanism includes an electronic equipment integration package (9), an active rocker (20), a drive motor (21), an output rocker (22), a pin (23), a driven gear (24), and a transmission gear (29); The outer casings of the electronic equipment integration package (9) and the drive motor (21) are both fixedly connected to the frame (18). The rotating shaft of the drive motor (21) is fixedly connected to the head end of the output rocker (22). The transmission gear (29) and the driven gear (24) are symmetrically rotatably connected to the frame (18), and the transmission gear (29) meshes with the driven gear (24). The active rocker (20) is rotatably connected to the frame (18) and fixedly connected to the transmission gear (29). The end of the output rocker (22) is limited and slidably connected within the inner groove (27) of the active rocker (20); The hydraulic wing folding mechanism includes two wings (1), two foldable wing rods (2), a wing fixing bracket (10), a hydraulic pipe (11), a hydraulic power assembly (15), an elastic member (13), and a connecting rod (19); The hydraulic power assembly (15) and the wing fixing bracket (10) are both fixedly connected to the frame (18). The two wings (1) are respectively fixedly connected to the two foldable wing rods (2) and the wing fixing bracket (10). The head end of the hydraulic pipe (11) extends into the inner cavity of the foldable wing rod (2), and the other end of the hydraulic pipe (11) is fixedly connected to the output end of the hydraulic power assembly (15). The head ends of the elastic members (13) are respectively fixedly connected to the two foldable wing rods (2), and the end of the two elastic members (13) are respectively fixedly connected to the connecting rod (19) installed on the driven gear (24) and the transmission gear (29).

2. The multimodal bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 1, characterized in that: The fuselage further includes a front wheel (4), a steering rudder (5), a vertical tail fin steering surface (6), a vertical tail fin (7), a tail fin body (8), a connecting frame (12), a front wheel bracket (14), a rear wheel (16), a flotation device (17), a waterproof ducted motor (25), and a propeller (26); The end of the frame (18) is fixedly connected to the tail fin body (8). The vertical tail fin (7) is fixedly connected below the tail fin body (8). The vertical tail fin steering surface (6) is rotatably connected to the vertical tail fin (7) through the steering rudder (5). The lower end of the vertical tail fin (7) is fixedly connected to the outer casing of the waterproof ducted motor (25). The propeller (26) is fixedly connected to the rotating shaft of the waterproof ducted motor (25). The lower end of the outer casing of the waterproof ducted motor (25) is rotatably connected to the rear wheel (16) through a rear wheel bracket. The lower end of the frame (18) is fixedly connected to two flotation devices (17) through a connecting frame (12). Front wheel brackets (14) are fixedly connected to both flotation devices (17), and each front wheel bracket (14) rotatably connects a front wheel (4).

3. The multimodal bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 2, characterized in that: The fuselage further includes a collision avoidance frame (3), and the collision avoidance frame (3) is fixedly connected to the head end of the frame (18) and extends outside the frame (18).

4. The multimodal bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 2, characterized in that: The flotation device (17) is of a hollow structure and is made of lightweight hard foam.

5. The multimodal bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 1, wherein: The flapping-fixed wing mechanism includes electromagnets (28), and the two electromagnets (28) are respectively fixedly connected to both sides of the inner groove (27). When the flapping wing is in the motion state, the electromagnets (28) at both ends of the inner groove (27) of the active rocker (20) are not energized, and the active rocker (20) swings to output the flapping wing motion. When the fixed wing is in the motion state, the electromagnets (28) at both ends of the inner groove (27) of the active rocker (20) are energized. The output rocker (22) is made of magnetic material, and the end of the output rocker (22) can be magnetically attracted to any one of the electromagnets (28), and the active rocker (20), the output rocker (22) and the driven gear (24) are in a horizontal state.

6. The multimodal bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 1, characterized in that: The transmission gear (29) and the driven gear (24) are non-full gears.

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