Bionic flapping wing aircraft capable of efficiently converting air and water dual modes

Abstract

The invention discloses an air-water bimodal efficient conversion bionic flapping-wing air vehicle and a control method thereof, and relates to the technical field of bionic flapping-wing air vehicles, the air-water bimodal efficient conversion bionic flapping-wing air vehicle comprises an air vehicle body, a mounting column is arranged in a storage groove, a fourth servo motor is fixedly connected to the upper surface in the mounting column, and an electric push rod is connected to the upper surface of a first support. Compared with the prior art, the wing folding device has the advantages that an electric push rod is started to pull a clamping block to be separated from a first clamping groove, a first servo motor drives a second support to rotate, a fourth servo motor drives a first support to rotate, wing folding storage is achieved, conversion of the wing form between an underwater streamline form and an air efficient flight form is achieved, and the space requirement for compact storage is met; a second servo motor can be started to drive a rotating disc to rotate, a protective cover rotates along with the rotating disc, an opening in a mounting column is blocked through the protective cover, the underwater streamline wing form is achieved, and the resistance of the device advancing in water can be reduced.

Description

Technical Field

[0001] This invention relates to the field of biomimetic flapping-wing aircraft technology, specifically to a biomimetic flapping-wing aircraft with efficient air-water dual-mode switching and its control method. Background Technology

[0002] The air-water dual-imitation bio-flapping wing aircraft is a new type of aircraft that imitates the flight mechanism of birds, insects and other organisms. Its core is to generate lift and thrust through the periodic flapping of the wings, which is different from the take-off of fixed wings or the rotation drive of rotors. At the same time, it can also adapt to underwater travel. However, existing biomimetic flapping-wing aircraft cannot fold and stow their wings during operation in water, resulting in high drag while traveling in water and difficulty in meeting the space requirements for compact storage. Summary of the Invention

[0003] The purpose of this invention is to provide a biomimetic flapping-wing aircraft with efficient air-water dual-mode switching and its control method.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a biomimetic flapping-wing aircraft with efficient air-water dual-mode conversion, comprising an aircraft body, an internal storage slot provided inside the aircraft body, a storage slot provided on the side of the aircraft body, a mounting column provided in the storage slot, the mounting column being rotatably connected to the aircraft body, a third servo motor mounted on the side of the aircraft body, and the transmission end of the third servo motor being fixedly connected to the side of the mounting column; A fourth servo motor is fixedly connected to the upper surface of the mounting column. The transmission end of the fourth servo motor is fixedly connected to the upper surface of the first bracket. A first side wing is fixedly connected to the first bracket. A first servo motor is connected to the first bracket. The transmission end of the first servo motor is connected to the upper surface of the second bracket. A first slot is opened on the upper surface of the second bracket. An electric actuator is connected to the upper surface of the first bracket. The telescopic end of the electric actuator is connected to the upper surface of the locking block, and the lower end of the locking block is locked in the first slot.

[0005] As a further aspect of the present invention: a second side wing is fixedly connected to the second bracket, and the second bracket is rotatably connected to the first bracket.

[0006] As a further aspect of the present invention: a tilt sensor is fixedly connected to the first bracket, and a second slot is provided on the first bracket.

[0007] As a further embodiment of the present invention: a rotating disk and a second servo motor are provided on the inner side of the mounting column, and a protective cover is provided inside the mounting column, the protective cover sliding along the second slot.

[0008] As a further embodiment of the present invention: the second servo motor is fixedly connected to the inner side of the mounting column, and the transmission end of the second servo motor is fixedly connected to the side of the rotating disk.

[0009] As a further aspect of the present invention: the rotating disk has a circular plate-like structure, and the protective cover is fixedly connected to the side of the rotating disk.

[0010] As a further aspect of the present invention: a control method for a biomimetic flapping-wing aircraft with efficient air-water dual-mode switching, applied to the aforementioned biomimetic flapping-wing aircraft, includes the following steps: S1. Environmental Detection and Modal Judgment: The main body of the aircraft identifies whether the current environment is in the air or underwater through built-in sensors. If it enters the underwater environment from the air, it executes a mode transition procedure. S2, Wing Unlocking and Folding: Activate the electric push rod to retract, causing the locking block to disengage from the first slot of the second bracket and unlock; activate the first servo motor to drive the second bracket to rotate 90° relative to the first bracket, so that the second wing is folded to be parallel to the first wing; S3, Wing Retraction: Start the fourth servo motor to drive the first bracket to rotate 90°, so that the folded first and second side wings fit into the mounting post; start the third servo motor to drive the mounting post to rotate, and with the tilt sensor detecting the angle, retract the entire wing into the storage slot and inner storage slot; S4. Streamlined enclosure: Start the second servo motor to drive the rotating disk to rotate, causing the protective cover to slide along the second slot, sealing the opening of the mounting column, forming an underwater streamlined structure, and completing the mode conversion from air to underwater.

[0011] As a further aspect of the present invention: In S2, the rotational angular velocity of the first servo motor is 30° / s-60° / s, and after the second bracket rotates into position, the tilt sensor feedback angle error is ≤1°, ensuring that the parallelism error between the second side wing and the first side wing is ≤2°.

[0012] As a further aspect of the present invention: in S4, the sliding stroke of the protective cover is 1 / 3 to 1 / 2 of the circumference of the mounting post opening, the sliding speed is 50mm / s to 100mm / s, and the engagement depth between the protective cover and the second slot is ≥5mm after it is in place.

[0013] As a further aspect of the present invention: when transitioning from underwater to air, steps S4 to S2 are executed in reverse: first, the second servo motor is started to open the protective cover, then the third servo motor rotates out the mounting post, then the fourth servo motor and the first servo motor sequentially unfold the wings, and finally the electric push rod extends to make the locking block engage with the first slot to complete the locking.

[0014] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows: 1. This invention uses an electric actuator to pull the locking block out of the first slot, a first servo motor drives the second bracket to rotate, and a fourth servo motor drives the first bracket to rotate, thereby achieving wing folding and storage. This realizes the conversion between the wing shape and the efficient flight configuration in the air, meeting the space requirements for compact storage. The second servo motor can be activated to drive the rotating disk to rotate, causing the protective cover to rotate accordingly. The protective cover seals the opening on the mounting column, achieving a streamlined wing shape underwater. The above can reduce the resistance of the device when traveling in water. 2. The present invention drives the rotating disk to rotate by starting the second servo motor, so that the protective cover rotates accordingly and is locked into the second slot. The protective cover can support the first bracket and improve its stability during operation.

[0015] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the device structure in an embodiment of the present invention; Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle; Figure 3 for Figure 1 Enlarged structural diagram at point B; Figure 4 This is a schematic cross-sectional view of a partial structure of the device in an embodiment of the present invention; Figure 5 This is a schematic cross-sectional view of a portion of the device structure in an embodiment of the present invention; Figure 6 for Figure 5 Enlarged structural diagram at point C; Figure 7 for Figure 5 Enlarged structural diagram at point D.

[0017] In the diagram: 1. Main body of the aircraft; 2. Mounting column; 3. First bracket; 4. First side wing; 5. First servo motor; 6. Electric push rod; 7. Locking block; 8. Second bracket; 9. Second side wing; 10. First slot; 11. Tilt sensor; 12. Second slot; 13. Protective cover; 14. Rotating disk; 15. Second servo motor; 16. Third servo motor; 17. Storage slot; 18. Fourth servo motor; 19. Internal storage slot. Detailed Implementation

[0018] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0019] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] Please see the appendix Figure 1 - Appendix Figure 7 This invention relates to a biomimetic flapping-wing aircraft with efficient air-water dual-mode switching, comprising an aircraft body 1, an internal storage slot 19, and a storage slot 17 on the side of the aircraft body 1. A mounting post 2 is disposed within the storage slot 17 and rotatably connected to the aircraft body 1. A third servo motor 16 is mounted on the side of the aircraft body 1, and the transmission end of the third servo motor 16 is fixedly connected to the side of the mounting post 2. A fourth servo motor 18 is fixedly connected to the upper surface of the inner part of the mounting post 2, and the transmission end of the fourth servo motor 18 is fixedly connected to the upper surface of the first support 3. A first side wing 4 is fixedly connected to the first bracket 3. A first servo motor 5 is connected to the first bracket 3, and the transmission end of the first servo motor 5 is connected to the upper surface of the second bracket 8. A first slot 10 is formed on the upper surface of the second bracket 8. An electric push rod 6 is connected to the upper surface of the first bracket 3. The telescopic end of the electric push rod 6 is connected to the upper surface of the locking block 7. The lower end of the locking block 7 is locked in the first slot 10. In actual use, by activating the electric push rod 6 to pull the locking block 7 out of the first slot 10, the first servo motor 5 can be activated to drive the second bracket 8 to rotate 90 degrees. (See attached diagram) Figure 5 At the position shown, activate the fourth servo motor 18 to drive the first bracket 3 to rotate 90 degrees, as shown in the attached diagram. Figure 4 As shown, the wing folds at the above position.

[0021] In embodiment one, a second side wing 9 is fixedly connected to the second bracket 8, and the second bracket 8 is rotatably connected to the first bracket 3. The first bracket 3 and the second bracket 8 are as shown in the attached figure. Figure 1 As shown, by starting the third servo motor 16 to drive the mounting column 2 to rotate back and forth, the first bracket 3 and the second bracket 8 are coordinated with the first side wing 4 and the second side wing 9 to swing, thereby realizing the flapping action and enabling the device to flap its wings and fly. A tilt sensor 11 is fixedly connected to the first bracket 3. A second slot 12 is provided on the first bracket 3. The tilt sensor 11 involved in the device is a miniature angle sensor produced by Qiangxin Electronics Co., Ltd. The sensitive element inside the tilt sensor 11 will generate physical quantity changes as the object rotates. These physical quantity changes are converted into electrical signals by the conversion circuit. After processing, the output signal corresponds to the rotation angle, thereby realizing angle monitoring. In conjunction with the third servo motor 16 driving the mounting column 2 to rotate, the angle of the folded first bracket 3 and second bracket 8 is changed, so that the first bracket 3 and second bracket 8 can be tilted and moved into the internal storage slot 19 opened in the main body of the aircraft 1, as shown in the attached figure. Figure 4 The location shown.

[0022] In the second embodiment, a rotating disk 14 and a second servo motor 15 are provided on the inner side of the mounting column 2. A protective cover 13 is provided inside the mounting column 2. The protective cover 13 slides along the second slot 12 and can be locked in the second slot 12. The protective cover 13 can support the first bracket 3 and improve its stability. A second servo motor 15 is fixedly connected to the inner side of the mounting column 2. The transmission end of the second servo motor 15 is fixedly connected to the side of the rotating disk 14. When the first bracket 3 and the second bracket 8 are in the inner storage slot 19, the protective cover 13 has a fan-shaped plate structure, which can start the second servo motor 15 to drive the rotating disk 14 to rotate. The rotating disk 14 has a circular plate structure, and a protective cover 13 is fixedly connected to the side of the rotating disk 14, so that the protective cover 13 rotates with it. The protective cover 13 seals the opening on the mounting column 2. This reduces the resistance of the device in water and realizes the conversion between the wing shape underwater streamline and the efficient flight configuration in the air, meeting the space requirements for compact storage.

[0023] This invention discloses a control method for a biomimetic flapping-wing aircraft with efficient air-water dual-mode switching, comprising the following steps: S1. Environmental Detection and Modal Judgment: The main body of the aircraft 1 identifies whether the current environment is in the air or underwater through built-in sensors. If it enters the underwater environment from the air, it executes a mode transition procedure. S2, Wing unlocking and folding: Activate electric push rod 6 to retract, causing block 7 to disengage from the first slot 10 of second bracket 8 and unlock; activate first servo motor 5 to drive second bracket 8 to rotate 90° relative to first bracket 3, so that second side wing 9 is folded to be parallel to first side wing 4. S3, Wing Retraction: Start the fourth servo motor 18 to drive the first bracket 3 to rotate 90°, so that the folded first side wing 4 and second side wing 9 fit against the mounting post 2; start the third servo motor 16 to drive the mounting post 2 to rotate, and cooperate with the tilt sensor 11 to detect the angle, so that the entire wing is retracted into the storage slot 17 and the inner storage slot 19. S4. Streamlined enclosure: Start the second servo motor 15 to drive the rotating disk 14 to rotate, which in turn drives the protective cover 13 to slide along the second slot 12, sealing the opening of the mounting column 2 and forming an underwater streamlined structure, thus completing the mode conversion from air to underwater.

[0024] In S2, the rotational angular velocity of the first servo motor 5 is 30° / s-60° / s. After the second bracket 8 rotates into position, the tilt sensor 11 feeds back an angle error of ≤1°, ensuring that the parallelism error between the second side wing 9 and the first side wing 4 is ≤2°.

[0025] In S4, the sliding stroke of the protective cover 13 is 1 / 3 to 1 / 2 of the circumference of the opening of the mounting post 2, and the sliding speed is 50mm / s to 100mm / s. After it is in place, the engagement depth between the protective cover 13 and the second slot 12 is ≥5mm, ensuring that the underwater sealing resistance is reduced by more than 30%.

[0026] When transitioning from underwater to air, steps S4 to S2 are executed in reverse: first, the second servo motor 15 is started to open the protective cover 13, then the third servo motor 16 rotates out the mounting post 2, then the fourth servo motor 18 and the first servo motor 5 unfold the wings in sequence, and finally the electric push rod 6 extends to make the locking block 7 engage with the first slot 10 to complete the locking. The entire transition process takes ≤10 seconds.

[0027] Working principle: First, by activating the electric actuator 6, the locking block 7 is pulled out of the first slot 10. The first servo motor 5 drives the second bracket 8 to rotate, and the fourth servo motor 18 drives the first bracket 3 to rotate, realizing the wing folding and storage. This achieves the conversion between the wing shape in the underwater streamlined form and the efficient flight configuration in the air, meeting the space requirements for compact storage. The second servo motor 15 can be activated to drive the rotating disk 14 to rotate, causing the protective cover 13 to rotate accordingly. The protective cover 13 seals the opening on the mounting column 2, realizing the wing shape in the underwater streamlined form. The above can reduce the resistance of the device in the water. At this point, the entire workflow is completed.

[0028] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.

[0029] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0030] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0031] For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A biomimetic flapping-wing aircraft with efficient air-water dual-mode switching, comprising an aircraft body (1), wherein an internal storage slot (19) is provided inside the aircraft body (1), characterized in that: The aircraft body (1) has a storage slot (17) on its side, and a mounting column (2) is provided in the storage slot (17). The mounting column (2) is rotatably connected to the aircraft body (1). A third servo motor (16) is installed on the side of the aircraft body (1), and the transmission end of the third servo motor (16) is fixedly connected to the side of the mounting column (2). The upper inner surface of the mounting column (2) is fixedly connected to a fourth servo motor (18), the transmission end of the fourth servo motor (18) is fixedly connected to the upper surface of the first bracket (3), the first bracket (3) is fixedly connected to a first side wing (4), the first bracket (3) is connected to a first servo motor (5), the transmission end of the first servo motor (5) is connected to the upper surface of the second bracket (8), and the upper surface of the second bracket (8) is provided with a first slot (10). An electric push rod (6) is connected to the upper surface of the first bracket (3). The telescopic end of the electric push rod (6) is connected to the upper surface of the locking block (7). The lower end of the locking block (7) is locked in the first slot (10).

2. The biomimetic flapping-wing aircraft with efficient air-water dual-mode switching according to claim 1, characterized in that: The second bracket (8) is fixedly connected to a second side wing (9), and the second bracket (8) is rotatably connected to the first bracket (3).

3. The biomimetic flapping-wing aircraft with efficient air-water dual-mode switching according to claim 1, characterized in that: An inclination sensor (11) is fixedly connected to the first bracket (3), and a second slot (12) is provided on the first bracket (3).

4. The biomimetic flapping-wing aircraft with efficient air-water dual-mode switching according to claim 3, characterized in that: The mounting post (2) is provided with a rotating disk (14) and a second servo motor (15) on its inner side. A protective cover (13) is provided inside the mounting post (2). The protective cover (13) slides along the second slot (12).

5. The biomimetic flapping-wing aircraft with efficient air-water dual-mode switching according to claim 4, characterized in that: The second servo motor (15) is fixedly connected to the inner side of the mounting column (2), and the transmission end of the second servo motor (15) is fixedly connected to the side of the rotating disk (14).

6. The biomimetic flapping-wing aircraft with efficient air-water dual-mode switching according to claim 5, characterized in that: The rotating disk (14) has a circular plate structure, and the protective cover (13) is fixedly connected to the side of the rotating disk (14).

7. A control method for a biomimetic flapping-wing aircraft with efficient air-water dual-mode switching, applied to the biomimetic flapping-wing aircraft according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Environmental detection and modal judgment: The main body of the aircraft (1) identifies whether the current environment is in the air or underwater through built-in sensors. If it enters the underwater environment from the air, it executes the modal conversion procedure. S2, Wing unlocking and folding: Activate the electric push rod (6) to retract, causing the locking block (7) to disengage from the first slot (10) of the second bracket (8), thus unlocking; Start the first servo motor (5) to drive the second bracket (8) to rotate 90° relative to the first bracket (3), so that the second side wing (9) folds to be parallel to the first side wing (4); S3, Wing Retraction: Start the fourth servo motor (18) to drive the first bracket (3) to rotate 90°, so that the folded first wing (4) and second wing (9) fit against the mounting post (2); start the third servo motor (16) to drive the mounting post (2) to rotate, and cooperate with the tilt sensor (11) to detect the angle, and retract the entire wing into the storage slot (17) and the inner storage slot (19); S4, Streamlined enclosure: Start the second servo motor (15) to drive the rotating disk (14) to rotate, and drive the protective cover (13) to slide along the second slot (12) to seal the opening of the mounting column (2), forming an underwater streamlined structure and completing the mode conversion from air to underwater.

8. The control method according to claim 7, characterized in that: In S2, the rotational angular velocity of the first servo motor (5) is 30° / s-60° / s. After the second bracket (8) rotates into place, the tilt sensor (11) feeds back an angle error ≤1°, and the parallelism error between the second side wing (9) and the first side wing (4) is ≤2°.

9. The control method according to claim 7, characterized in that: In S4, the sliding stroke of the protective cover (13) is 1 / 3 to 1 / 2 of the circumference of the opening of the mounting post (2), the sliding speed is 50mm / s to 100mm / s, and the engagement depth between the protective cover (13) and the second slot (12) is ≥5mm after it is in place.

10. The control method according to claim 7, characterized in that: When transitioning from underwater to air, steps S4 to S2 are executed in reverse: first, the second servo motor (15) is started to open the shield (13), then the third servo motor (16) rotates out the mounting post (2), then the fourth servo motor (18) and the first servo motor (5) unfold the wings in sequence, and finally the electric push rod (6) extends to make the locking block (7) engage with the first slot (10) to complete the locking.

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