A multi-mode bionic aircraft capable of flapping-wing and fixed-wing flight

Abstract

The present invention discloses a multimodal bionic aircraft capable of flapping-wing and fixed-wing flight, belonging to the field of unmanned aerial vehicles, comprising a fuselage, a flapping-wing and fixed-wing mechanism and a hydraulic wing folding mechanism; the fuselage comprises a frame, the flapping-wing and fixed-wing mechanism comprises a driving motor, the driving motor is fixedly connected to the frame, the driving motor shaft is fixedly connected to the output rocker, the transmission gear and the driven gear are connected to the frame, the active rocker is connected to the frame and fixedly connected to the transmission gear, and the output rocker is slidably connected to the inner groove of the active rocker; the hydraulic wing folding mechanism comprises a hydraulic power assembly, the wings are respectively fixedly connected to the foldable wing rod and the wing fixing frame, the hydraulic pipe extends into the internal cavity of the foldable wing rod, the other end of the hydraulic pipe is fixedly connected to the hydraulic power assembly, the head end of the elastic member is respectively fixedly connected to the two foldable wing rods, and the distal ends of the two elastic members are fixedly connected to the connecting rod installed on the driven gear and the transmission gear. The wings of the aircraft can be folded, which is convenient for carrying and recycling.

Description

Technical Field

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

[0002] Bionic flapping-wing aircraft are aircraft based on bionic principles, mimicking the reciprocating motion of natural flying creatures and generating lift and thrust using the reciprocating motion of their wings. They offer advantages such as high maneuverability, flexibility, and low energy consumption, and hold broad application prospects in both military and civilian fields. Many flying creatures possess the ability to glide, float, and walk on the water, but most current flapping-wing aircraft lack these complex capabilities. Gliding flight improves flight stability and speed compared to flapping-wing flight, while the ability to float and walk on the water expands the application scenarios and maneuverability of unmanned aerial vehicles.

[0003] Therefore, designing a multi-modal bionic flapping-wing aircraft with diverse functions is a technical problem that urgently needs 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. The aircraft can complete four modes of movement: flapping-wing flight, fixed-wing flight, floating on water and walking on the ground, and the wings can be folded for easy carrying and recycling.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A multi-modal bionic aircraft capable of flapping-wing-fixed-wing flight, comprising a fuselage, a flapping-wing-fixed-wing mechanism, and a hydraulic wing folding mechanism;

[0007] The fuselage includes the frame;

[0008] The flapping-wing-fixed-wing mechanism includes an electronic equipment integration package, an active rocker, a drive motor, an output rocker, a pin, a driven gear, and a transmission gear;

[0009] The electronic equipment integration package and the housing of the drive motor are both fixedly connected to the frame. The rotating shaft of the drive motor is fixedly connected to the head end of the output rocker. The transmission gear and the driven gear are symmetrically connected to the frame through pins. The transmission gear and the driven gear are meshed with each other. The active rocker is rotationally connected to the frame and fixedly connected to the transmission gear. The end of the output rocker is limitedly slidably connected to the inner groove of the active rocker.

[0010] 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;

[0011] The hydraulic power assembly and the wing fixing frame are both fixedly connected to the frame, the two wings are respectively fixedly connected to the two foldable wing rods and the wing fixing frame, the first end of the hydraulic pipe extends into the internal 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 first end of the elastic member is respectively fixedly connected to the two foldable wing rods, and the ends of the two elastic members are respectively fixedly connected to the connecting rods installed on the driven gear and the transmission gear.

[0012] Preferably, the fuselage further includes a front wheel, a steering rudder, a vertical tail steering surface, a vertical tail, a tail body, a connecting frame, a front wheel bracket, a rear wheel, a float, a waterproof ducted motor, and a propeller;

[0013] The end of the frame is fixedly connected to a tail body, and a vertical tail is fixedly connected to the bottom of the tail body. The vertical tail steering surface is rotatably connected to the vertical tail through a steering rudder. The lower end of the vertical tail is fixedly connected to the waterproof ducted motor housing, and a propeller is fixedly connected to the rotating shaft of the waterproof ducted motor. The lower end of the waterproof ducted motor housing is rotatably connected to the rear wheel through the rear wheel bracket. The lower end of the frame is fixedly connected to two floats through a connecting frame. Both floats are fixedly connected to front wheel brackets, and each front wheel bracket is rotatably connected to the front wheel.

[0014] Preferably, the fuselage further comprises an anti-collision frame, which is fixedly connected to the front end of the frame and extends to the outside of the frame.

[0015] Preferably, the water float is of hollow structure and made of lightweight hard foam.

[0016] Preferably, the flapping-wing-fixed-wing mechanism includes an electromagnet, and the two electromagnets are respectively fixed on both sides of the inner groove. In the flapping wing 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 wing motion. In the fixed wing motion state, the electromagnets at both ends of the inner groove of the active rocker are energized. The output rocker is made of magnetic material, and the end of the output rocker can be magnetically attracted to any electromagnet. The active rocker, the output rocker and the driven gear are in a horizontal state.

[0017] Preferably, the transmission gear and the driven gear are non-full gears.

[0018] The beneficial effects of the present invention are as follows:

[0019] The multimodal bionic aircraft capable of flapping-wing and fixed-wing flight provided by the present invention can realize flapping-wing flight functions, fixed-wing flight functions, ground movement functions and water surface movement functions. In the fixed-wing flight, ground movement and water surface movement states, power is provided by a waterproof ducted motor. During 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 magnetic material and can be magnetically attracted to any electromagnet. The active rocker, output rocker and driven gear are in a horizontal state. In the ground movement and water surface movement states, the foldable wing rod is in a folded state under the constraint of the elastic member. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the flapping-wing flight mode structure of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention;

[0021] Figure 2 It is a schematic diagram of the fixed-wing flight mode structure of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention in motion states on land and on water;

[0023] Figure 4 1. It is a schematic structural diagram of a flapping-wing-fixed-wing control mechanism of a multi-modal bionic aircraft capable of flapping-wing-fixed-wing flight according to the present invention;

[0024] Figure 5 It is a schematic diagram of the tail wing and waterproof ducted motor structure of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention;

[0025] Figure 6 Schematic diagram of the structure of the active rocker of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention;

[0026] Figure 7 Schematic diagram of the transmission gear of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention;

[0027] Figure 8 Schematic diagram of the driven gear of the flapping-wing-fixed-wing multi-modal bionic aircraft of the present invention;

[0028] Figure 9 is a schematic diagram of the elastic member of the present invention when it is not deformed;

[0029] In the figure: 1: wing; 2: foldable wing rod; 3: anti-collision frame; 4: front wheel; 5: steering rudder; 6: vertical tail steering surface; 7: vertical tail; 8: tail body; 9: electronic equipment integration package; 10: wing fixing frame; 11: hydraulic pipe; 12: connecting frame; 13: elastic member; 14: front wheel bracket; 15: hydraulic power assembly; 16: rear wheel; 17: 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 DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings.

[0031] See also Figures 1 to 9As shown, a multi-modal bionic aircraft capable of flapping-wing-fixed-wing flight comprises a fuselage, a flapping-wing-fixed-wing mechanism and a hydraulic wing folding mechanism;

[0032] The fuselage includes a front wheel 4, a steering rudder 5, a vertical tail steering surface 6, a vertical tail 7, a tail body 8, a connecting frame 12, a front wheel bracket 14, a rear wheel 16, a float 17, a frame 18, a waterproof ducted motor 25, a propeller 26 and an anti-collision frame 3;

[0033] The end of the frame 18 is fixedly connected to the tail body 8, and the vertical tail 7 is fixedly connected to the bottom of the tail body 8. The vertical tail steering surface 6 is rotatably connected to the vertical tail 7 through the steering rudder 5. The lower end of the vertical tail 7 is fixedly connected to the housing 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 housing of the waterproof ducted motor 25 is rotatably connected to the rear wheel 16 through the rear wheel bracket. The lower end of the frame 18 is fixedly connected to two floats 17 through the connecting frame 12. The two floats 17 are fixedly connected to the front wheel bracket 14. Each front wheel bracket 14 is rotatably connected to the front wheel 4. The anti-collision frame 3 is fixedly connected to the head end of the frame 18 and extends to the outside of the frame 18. The float 17 is a hollow structure made of lightweight hard foam.

[0034] The flapping-wing-fixed-wing mechanism includes an electronic equipment integrated 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;

[0035] The housings of the electronic equipment integrated package 9 and the drive motor 21 are 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 connected to the frame 18 through the pin 23. The transmission gear 29 and the driven gear 24 are meshed 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 fixedly connected to the transmission gear 29. The end limit sliding connection of the output rocker 22 is connected to the active rocker 2 0, two electromagnets 28 are 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 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;

[0036] The steering rudder 5 controls the direction of movement in fixed-wing flight, water surface movement, and land movement. The waterproof ducted motor 25 is fixedly connected to the vertical tail 7 and provides power in fixed-wing flight, water surface movement, and land movement. The buoy 17 is hollow inside and provides buoyancy when moving on the water surface.

[0037] 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;

[0038] The hydraulic power assembly 15 and the wing fixing frame 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 frame 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 frame 10. The interior of the foldable wing rod 2 is a hollow structure. The first end of the hydraulic pipe 11 extends into the internal cavity of the foldable wing rod 2. 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 as follows. Figure 9 The right-angle configuration shown in the figure makes the foldable wing rod 2 in a folded state. When the hydraulic power assembly 15 is working, under the action of hydraulic pressure, the foldable wing rod 2 is in an open state stretched to both sides. The elastic member 13 is in an open state under the action of external force. The head end of the elastic member 13 is respectively fixedly connected to the two foldable wing rods 2, and the end of the two elastic members 13 is respectively fixedly connected to the connecting rod 19 installed on the driven gear 24 and the transmission gear 29. When the hydraulic power assembly 15 is not working, the elastic member 13 returns to its original state (the deformation range is one The right-angle member is connected to a horizontal rectangular member. When the foldable wing rod 2 is in the folded state, it is 90 degrees. Under the hydraulic pressure, the elastic member 13 of the foldable wing rod 2 opens to a horizontal angle, acting as a limit block, driving the foldable wing rod 2 back to the folded state. In this state, land and water movement is achieved. When the hydraulic power assembly 15 is in the 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. The foldable wing rod 2 is in the open state, and flapping-wing to fixed-wing flight is achieved in this state.

[0039] The working principle and use process of the present invention:

[0040] like Figure 1 The figure shows that the aircraft of the present invention is in flapping flight mode, with the hydraulic power assembly 15 in operation. 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. The foldable wing rod 2 is in the open state, the wing 1 is in the deployed state, and in the flapping state, the electromagnets 28 at both ends of the inner groove 27 of the active rocker 20 are de-energized, and the active rocker 20 swings back and forth to output the flapping motion.

[0041] like Figure 2The figure shows the aircraft of the present invention in 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 magnetic material and 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 position. The hydraulic power assembly 15 is in operation. 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. The foldable wing rod 2 is in an unfolded position, the wing 1 is in an open position, and the waterproof ducted motor 25 is in operation, providing power for fixed-wing flight.

[0042] like Figure 3 The figure shows the aircraft of the present invention in a state of motion on land or water. The hydraulic power assembly 15 is in an inoperative state, and the elastic member 13 returns to its original position (90° position), driving the foldable wing rod 2 back to the folded state. When in the ground motion state, the front wheels 4 and rear wheels 16 are in operation. When in the water motion state, the float 17 provides buoyancy. When in both land and water motion, power is provided by the waterproof ducted motor 25.

[0043] like Figure 4 The figure shows a schematic diagram of the structure of the flapping-fixed-wing control mechanism of the present invention. 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 swings back and forth to output the flapping 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, and the end of 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.

[0044] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations 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 any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0046] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify 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 by: It includes a fuselage, a flapping-fixed wing mechanism and a hydraulic wing folding mechanism; The fuselage includes a frame (18); The flapping-wing-fixed-wing mechanism includes an electronic equipment integrated 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 housings of the electronic equipment integrated package (9) and the drive motor (21) are 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 connected to the frame (18), the transmission gear (29) and the driven gear (24) are meshed with each other, the active rocker (20) is rotationally connected to the frame (18) and fixedly connected to the transmission gear (29), and the end of the output rocker (22) is limitedly slidably connected to the inner groove (27) of the active rocker (20); The hydraulic wing folding mechanism comprises 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 frame (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 frame (10), the first end of the hydraulic pipe (11) extends into the internal cavity of the foldable wing rod (2), the other end of the hydraulic pipe (11) is fixedly connected to the output end of the hydraulic power assembly (15), the first end of the elastic member (13) is 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 rod (19) installed on the driven gear (24) and the transmission gear (29); The fuselage further includes a front wheel (4), a steering rudder (5), a vertical tail steering surface (6), a vertical tail (7), a tail body (8), a connecting frame (12), a front wheel bracket (14), a rear wheel (16), a float (17), a waterproof ducted motor (25), and a propeller (26); The end of the frame (18) is fixedly connected to a tail body (8), a vertical tail (7) is fixedly connected to the bottom of the tail body (8), a vertical tail steering surface (6) is rotatably connected to the vertical tail (7) through a steering rudder (5), the lower end of the vertical tail (7) is fixedly connected to the housing of a 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 the rear wheel (16) through a rear wheel bracket, the lower end of the frame (18) is fixedly connected to two floats (17) through a connecting frame (12), the two floats (17) are fixedly connected to a front wheel bracket (14), and each front wheel bracket (14) is rotatably connected to a front wheel (4).

2. The multi-mode bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 1, characterized in that: The fuselage further comprises an anti-collision frame (3), which is fixedly connected to the front end of the frame (18) and extends to the outside of the frame (18).

3. The multi-mode bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 1, characterized in that: The water float (17) is a hollow structure, and the material is a light hard foam.

4. The multi-modal bionic aircraft capable of flapping-wing and fixed-wing flight according to claim 1, characterized in that: The flapping-wing-fixed-wing mechanism includes an electromagnet (28), and 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. 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). The active rocker (20), the output rocker (22) and the driven gear (24) are in a horizontal state.

5. The multi-mode 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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