Flapping wing flight device capable of realizing multi-degree-of-freedom flight

Abstract

The utility model belongs to the technical field of micro flapping-wing aircrafts, and discloses a flapping-wing flight device capable of realizing multi-degree-of-freedom flight, which comprises a fuselage, the fuselage comprises a tailstock and a fixing rod, and one end of the fixing rod is fixedly connected with the top of the tailstock through a corresponding hole site; a connecting rod is arranged on the fuselage and at the top of the tailstock; a plurality of wings are arranged at two ends of the top of the connecting rod; the wings are movably connected with the fuselage through flapping driving mechanisms and sector gears, the sector gears comprise the first sector gear and the second sector gear, and motors are arranged at the bottoms of the first sector gear and the second sector gear. The flapping wing flight device capable of achieving multi-degree-of-freedom flight is simple in structure and small in mass and size, flapping of the wings is achieved through a gear connecting rod structure, deflection of the wings is controlled through the steering engines, the sector gears and the connecting rods, and multi-degree-of-freedom flight can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of micro flapping wing aircraft, and particularly relates to a flapping wing flight device capable of realizing multi-degree-of-freedom flight. Background Art

[0002] In the field of micro flapping wing aircraft, due to the unique aerodynamic mechanism at low Reynolds numbers, flapping wing aircraft have great advantages compared with fixed-wing and rotary-wing aircraft. Compared with fixed-wing and rotary-wing aircraft, flapping wing aircraft have the advantages of small size, light weight, agility, easy camouflage and concealment, etc., and can perform some special tasks; therefore, micro flapping wing aircraft have broad application prospects.

[0003] According to the research of bionics and aerodynamics, when the wingspan is less than 15 cm, the flapping wing aircraft has greater aerodynamic advantages. However, due to the technical challenges brought by strict weight and size limitations, most existing designs cannot obtain sufficient flight degrees of freedom and have poor agility. Therefore, on the basis of realizing multi-degree-of-freedom flight, the mass of the flapping wing aircraft should be as small as possible, and the design of the flapping wing mechanism should be simple in structure. Therefore, the utility model proposes a flapping wing flight device capable of realizing multi-degree-of-freedom flight. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a flapping wing flight device capable of realizing multi-degree-of-freedom flight, which has a simple structure, small mass and volume. The flapping of the wings is realized through a gear-linkage structure, and the deflection of the wings is controlled by a servo motor, a sector gear and a linkage, so as to realize multi-degree-of-freedom flight.

[0005] To achieve the above purpose, the utility model provides a flapping wing flight device capable of realizing multi-degree-of-freedom flight, including a fuselage. The fuselage includes a tail seat and a fixed rod. One end of the fixed rod is fixedly connected to the top of the tail seat through corresponding holes; a linkage is provided on the fuselage and at the top of the tail seat. A plurality of wings are provided at both ends of the top of the linkage; the wings are movably connected to the fuselage through a flapping drive mechanism and a sector gear. The sector gear includes a first sector gear and a second sector gear, and motors are provided at the bottoms of the first sector gear and the second sector gear.

[0006] Preferably, a fixed frame, a first fixed sleeve and a second fixed sleeve are sequentially arranged on the fixed rod from top to bottom; the first sector gear and the second sector gear are both installed on the fixed frame; the first servo motor and the second servo motor are respectively fixed in the first fixed sleeve and the second fixed sleeve; the second sector gear and the linkage are respectively connected to the output ends of the first servo motor and the second servo motor.

[0007] Preferably, the flapping drive mechanism includes a power gear, a double gear, a first gear, a second gear, a first connecting rod, a second connecting rod, a first rocker arm and a second rocker arm. The power gear is fixedly connected to the output shaft of the motor;

[0008] The power gear, the double gear, the first gear and the second gear have the same module; the double gear, the first gear, the second gear, the first rocker arm and the second rocker arm are all installed through corresponding mounting holes on the sector gears.

[0009] Preferably, the power gear meshes with the double gear, the double gear meshes with the first gear, the first gear meshes with the second gear, the first gear is hinged to the lower end of the first connecting rod, the upper end of the first connecting rod is hinged to the lower end of the first rocker arm, the second gear is hinged to the lower end of the second connecting rod, and the upper end of the second connecting rod is hinged to the upper end of the second rocker arm; the output ends of the first rocker arm and the second rocker arm are fixedly connected with wings.

[0010] Preferably, the first sector gear meshes with the second sector gear. The first sector gear, the second sector gear and the connecting rod are all installed on the fixed rod through corresponding mounting holes on the fuselage; the tops of the first sector gear and the second sector gear are both connected to the flapping drive mechanism and the wings, and are symmetrically distributed.

[0011] Preferably, the wings include a main beam, auxiliary beams and a wing membrane. The main beam is fixedly connected to the first rocker arm and the second rocker arm by interference fit; the lower end of the auxiliary beam is connected to the connecting rod.

[0012] Preferably, the main beam and the auxiliary beams are both carbon rods with the same diameter. The auxiliary beams are vertically fixed to the main beam by glue; the wing membrane is a thin film material and is fixed to the main beam and the auxiliary beams by glue.

[0013] Therefore, the present utility model adopts the above-mentioned flapping flight device capable of realizing multi-degree-of-freedom flight, which has a simple structure, a small mass and volume. The flapping of the wings is realized through a gear connecting rod structure, and the deflection of the wings is controlled by a steering gear, a sector gear and a connecting rod, so that multi-degree-of-freedom flight can be realized.

[0014] Advantages of the present utility model:

[0015] (1) In the present utility model, a gear connecting rod mechanism is adopted to realize the flapping of the wings and control the deflection of the wings to realize multi-degree-of-freedom flight. The structure is simple and the size is small, thus making it possible to study new methods of animal flight;

[0016] (2) In the present utility model, two motors are respectively used as power outputs to realize the flapping of the wings, and side flight and rolling can be realized by changing the flapping frequencies of the wings on both sides;

[0017] (3) The present utility model uses two sector gears and connecting rods to control the deflection of the wings, achieving forward and backward flight and arbitrary rotation, with extremely high agility.

[0018] The technical solution of the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0019] Figure 1 It is a top view structural schematic diagram of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0020] Figure 2 It is a bottom view structural schematic diagram of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0021] Figure 3 It is a structural schematic diagram of the fuselage of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0022] Figure 4 It is a structural schematic diagram of the flapping drive mechanism of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0023] Figure 5 It is a structural schematic diagram of the first rocker arm of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0024] Figure 6 It is a structural schematic diagram of the second rocker arm of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0025] Figure 7 It is a structural schematic diagram of the sector gear of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model;

[0026] Figure 8 It is a structural schematic diagram of the wing of an embodiment of a flapping flight device capable of achieving multi-degree-of-freedom flight according to the present utility model.

[0027] Reference Signs

[0028] 1, fuselage; 2, tailstock; 3, fixed rod; 4, connecting rod;

[0029] 5, wing; 501, main beam; 502, auxiliary beam; 503, wing membrane;

[0030] 6, flapping drive mechanism; 601, power gear; 602, double gear; 603, first gear; 604, second gear; 605, first connecting rod; 606, second connecting rod; 607, first rocker arm; 608, second rocker arm;

[0031] 7. Sector gear; 701. First sector gear; 702. Second sector gear;

[0032] 8. Motor; 9. Fixed frame; 10. First fixed sleeve; 11. Second fixed sleeve; 12. First servo; 13. Second servo. Detailed implementation mode

[0033] The technical solution of the present utility model will be further described below with reference to the accompanying drawings and embodiments.

[0034] Unless otherwise defined, the technical terms or scientific terms used in the present utility model should have the ordinary meanings understood by those with ordinary skills in the field to which the present utility model belongs. The "first", "second" and similar words used in the present utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0035] Embodiment

[0036] A flapping flight device capable of realizing multi-degree-of-freedom flight, as Figures 1 - 2 shown, includes a fuselage 1. The fuselage 1 includes a tail seat 2 and a fixed rod 3. One end of the fixed rod 3 is fixedly connected to the top of the tail seat 2 through corresponding holes. A connecting rod 4 is provided on the fuselage 1 and at the top of the tail seat 2. A plurality of wings 5 are provided at both ends of the top of the connecting rod 4. The wings 5 are movably connected to the fuselage 1 through a flapping drive mechanism 6 and a sector gear 7. The sector gear 7 includes a first sector gear 701 and a second sector gear 702. Motors 8 are provided at the bottoms of the first sector gear 701 and the second sector gear 702. The motors 8 can provide power output for the flapping drive mechanism 6.

[0037] As Figure 3 shown, the fixed rod 3 is successively provided with a fixed frame 9, a first fixed sleeve 10 and a second fixed sleeve 11 from top to bottom. The first sector gear 701 and the second sector gear 702 are both installed on the fixed frame 9. A first servo 12 and a second servo 13 are respectively fixed in the first fixed sleeve 10 and the second fixed sleeve 11. The first servo 12 and the second servo 13 can provide torque for controlling the deflection of the wings 5. The second sector gear 702 is connected to the output end of the first servo 12, thereby controlling the deflection of the upper end of the wings 5. The connecting rod 4 is connected to the output end of the second servo 13, thereby realizing the deflection of the lower end of the wings 5.

[0038] As shown in Figures 4 - 7 FIG. 4, the flapping drive mechanism 6 includes a power gear 601, a double gear 602, a first gear 603, a second gear 604, a first link 605, a second link 606, a first rocker 607 and a second rocker 608. The power gear 601 is fixedly connected to the output shaft of the motor 8.

[0039] The power gear 601, the double gear 602, the first gear 603, and the second gear 604 have the same module. The double gear 602, the first gear 603, the second gear 604, the first rocker 607 and the second rocker 608 are all installed through corresponding mounting holes on the sector gear 7.

[0040] The power gear 601 meshes with the double gear 602, the double gear 602 meshes with the first gear 603, and the first gear 603 meshes with the second gear 604, which can reduce the high speed of the motor 8. The first gear 603 is hinged to the lower end of the first link 605, the upper end of the first link 605 is hinged to the lower end of the first rocker 607, the second gear 604 is hinged to the lower end of the second link 606, and the upper end of the second link 606 is hinged to the upper end of the second rocker 608. The output ends of the first rocker 607 and the second rocker 608 are fixedly connected to the wings 5, so as to realize the flapping of the wings 5 driven by the first rocker 607 and the second rocker 608.

[0041] The first sector gear 701 meshes with the second sector gear 702. The tops of the first sector gear 701 and the second sector gear 702 are both connected to the flapping drive mechanism 6 and the wings 5, and are symmetrically distributed. The first sector gear 701, the second sector gear 702, and the link 4 are all installed on the fixed rod 3 through corresponding mounting holes on the fuselage 1. Furthermore, the first sector gear 701, the second sector gear 702, and the link 4 can rotate to control the deflection of the wings 5.

[0042] As shown in Figure 8 FIG. 5, the wing 5 includes a main beam 501, a secondary beam 502, and a wing membrane 503. The main beam 501 is fixedly connected to the first rocker 607 and the second rocker 608 by interference fit. The lower end of the secondary beam 502 is connected to the link 4.

[0043] The main beam 501 and the secondary beam 502 are both made of carbon rods with the same diameter. The secondary beam 502 is vertically fixed to the main beam 501 by glue. The wing membrane 503 is made of a thin film material and is fixed to the main beam 501 and the secondary beam 502 by glue.

[0044] The process of specifically realizing multi-degree-of-freedom flight in this embodiment is as follows:

[0045] The flapping drive mechanism 6 drives the first rocker arm 607 and the second rocker arm 608 to drive the wings 5 to flap under the drive of the motor 8, so as to realize flight. By adjusting the rotation speed of the motors 8 installed on the first sector gear 701 and the second sector gear 702, the flapping drive mechanism 6 located on the first sector gear 701 and the second sector gear 702 has different flapping frequencies, so as to realize the lateral flight of the aircraft.

[0046] The first sector gear 701 and the second sector gear 702 are installed on the fixing frame 9 on the fixing rod 3 in cooperation with each other. Under the drive of the steering gear, the first sector gear 701 and the second sector gear 702 can form different included angles, so as to realize the forward and backward flight of the aircraft.

[0047] The lower end of the wing 5 is matched with the connecting rod 4 through the mounting hole. Under the drive of the steering gear, it can drive the connecting rod 4 to rotate a certain angle, so that the wings 5 on the left and right sides of the fuselage 1 deflect in opposite directions, so as to control the rotation of the aircraft.

[0048] Therefore, the present utility model adopts the above-mentioned flapping flight device capable of realizing multi-degree-of-freedom flight, which has a simple structure, small mass and volume. The flapping of the wings is realized through a gear connecting rod structure, and the deflection of the wings is controlled by a steering gear, a sector gear and a connecting rod, so as to realize multi-degree-of-freedom flight.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present utility model, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present utility model.

Claims

1. A flapping-wing flight device capable of achieving multi-degree-of-freedom flight, characterized in that: It includes a fuselage, and the fuselage includes a tailstock and a fixed rod. One end of the fixed rod is fixedly connected to the top of the tailstock through corresponding holes; on the fuselage and at the top of the tailstock, there is a connecting rod, and there are several wings at both ends of the top of the connecting rod; the wings are movably connected to the fuselage through a flapping drive mechanism and a sector gear. The sector gear includes a first sector gear and a second sector gear, and motors are provided at the bottoms of the first sector gear and the second sector gear.

2. The flapping-wing flight device capable of achieving multi-degree-of-freedom flight according to claim 1, wherein: The fixed rod is successively provided with a fixed bracket, a first fixed sleeve, and a second fixed sleeve from top to bottom; the first sector gear and the second sector gear are both installed on the fixed bracket; the first servo and the second servo are respectively fixed in the first fixed sleeve and the second fixed sleeve; the second sector gear and the connecting rod are respectively connected to the output ends of the first servo and the second servo.

3. A flapping flight device capable of achieving multi-degree-of-freedom flight according to claim 1, characterized in that: The flapping drive mechanism includes a power gear, a double gear, a first gear, a second gear, a first connecting rod, a second connecting rod, a first rocker arm, and a second rocker arm. The power gear is fixedly connected to the output shaft of the motor; The power gear, the double gear, the first gear, and the second gear have the same module; the double gear, the first gear, the second gear, the first rocker arm, and the second rocker arm are all installed through corresponding mounting holes on the sector gear.

4. A flapping-wing flight device capable of achieving multi-degree-of-freedom flight according to claim 3, characterized in that: The power gear meshes with the double gear, the double gear meshes with the first gear, the first gear meshes with the second gear, the first gear is hinged to the lower end of the first connecting rod, the upper end of the first connecting rod is hinged to the lower end of the first rocker arm, the second gear is hinged to the lower end of the second connecting rod, and the upper end of the second connecting rod is hinged to the upper end of the second rocker arm; the output ends of the first rocker arm and the second rocker arm are fixedly connected to the wings.

5. The flapping flight device capable of achieving multi-degree-of-freedom flight according to claim 4, characterized in that: The first sector gear meshes with the second sector gear, and the first sector gear, the second sector gear, and the connecting rod are all installed on the fixed rod through corresponding mounting holes on the fuselage; the tops of the first sector gear and the second sector gear are both connected to the flapping drive mechanism and the wings, and are symmetrically distributed.

6. The flapping-wing flight device capable of achieving multi-degree-of-freedom flight according to claim 5, characterized in that: The wings include a main beam, a secondary beam, and a wing film. The main beam is fixedly connected to the first rocker arm and the second rocker arm through interference fit; the lower end of the secondary beam is connected to the connecting rod.

7. The flapping-wing flight device capable of achieving multi-degree-of-freedom flight according to claim 6, characterized in that: The main beam and the secondary beam are both made of carbon rods with the same diameter. The secondary beam is vertically fixed to the main beam with glue; the wing film is made of a thin film material and is fixed to the main beam and the secondary beam with glue.

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