Flapping wing air vehicle capable of steering flexibly

Abstract

The utility model discloses an ornithopter with flexible steering, which comprises a main beam, wings are symmetrically mounted on two sides of the main beam, a folding and unfolding steering engine for folding and unfolding the wings and a power component for driving the wings to flap are further mounted on the main beam, and the folding and unfolding steering engine and the power component independently control the wings. The folding and unfolding steering engines and the power assemblies are arranged and are mutually independent, the wings can be driven to be folded, unfolded and flapped through the folding and unfolding steering engines and the power assemblies correspondingly, the folding and unfolding structure is driven to move smoothly and is not prone to being blocked, the driving stroke of the steering engines is short, the wings on the two sides are independently controlled to be folded and unfolded through the steering engines correspondingly, and the folding and unfolding efficiency is improved. According to the flapping-wing air vehicle, rapid steering can be achieved, the flying capacity of folding and unfolding wings is improved, the flying direction of the flapping-wing air vehicle is changed through the deflection torque generated through folding and unfolding, response is fast, delay is low, and rapid steering of the flapping-wing air vehicle can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of flapping-wing aircraft, in particular to a flapping-wing aircraft with flexible steering. Background Art

[0002] In recent years, the rapid development of science and technology has greatly expanded the scope of human activities, giving rise to the demand for high-performance unmanned systems for various auxiliary operations at sea, on land, and in the air. Flapping-wing aircraft, with their biomimetic properties and high energy efficiency, have sparked a research boom. However, the flight performance of the wings is a key factor affecting the flight state of flapping-wing aircraft. Currently, large flapping-wing aircraft achieve mid-air steering by deflecting the tail fin to generate a deflection torque. However, this method has a delay, making the directional changes of flapping-wing aircraft less flexible and requiring extensive training to control.

[0003] Patent announcement number CN107719665B, patent name "Wings of Flapping-Wing Aircraft and Prior Art of Flapping-Wing Aircraft", specifically discloses "including a first link assembly, the first link assembly including a first link, a second link, a connection of the first link, a first hinge and a second hinge; a second link assembly, the second link assembly including a third link and a fourth link; a drive link including a connection of the drive link; the second hinge is located between the connection of the first link and the first hinge; the first link assembly also includes a fifth link, a sixth link and a telescopic link. Through the above structural arrangement, the aircraft structure is compact and can carry a larger weight than previous bionic aircraft; and is closer to the flight movements of birds." The above technology also uses the left and right swing of the tail to generate a deflection torque to achieve the steering of the flapping-wing aircraft. Using the deflection torque generated by the tail to change direction has problems of delay and slow response time, and it is necessary to constantly correct the navigation direction to stabilize the direction of the flapping-wing aircraft. Utility Model Content

[0004] The technical problem to be solved by the present invention is how to solve the problem of delay in direction change of a flapping-wing aircraft.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A flapping-wing aircraft with flexible steering comprises a main beam, with wings symmetrically mounted on both sides of the main beam. A folding servo for folding the wings and a power assembly for driving the wings to flap are also mounted on the main beam, wherein the folding servo and the power assembly control the wings independently of each other.

[0007] The present application sets up a folding servo and a power assembly, and the folding servo and the power assembly are independent of each other. The folding servo and the power assembly can respectively drive the wings to fold and flap, and the folding structure is driven to move smoothly without getting stuck. The servo drive stroke is short, and the wings on both sides are individually controlled to fold and unfold by servos, which can realize rapid steering of the flapping-wing aircraft and improve the flight capability of the folding wings. The present application generates a deflection torque by folding to change the flight direction of the flapping-wing aircraft. Since the deflection torque generated by the wing folding has a fast response and low delay, the flapping-wing aircraft can achieve rapid steering.

[0008] As a further solution of the present invention: a humeral assembly and a second connecting rod located below the humeral assembly are provided on both sides of the main beam; a radial assembly is movably connected to one end of the humeral assembly away from the main beam;

[0009] The end of the second connecting rod away from the main beam is movably connected to the first connecting rod;

[0010] The radius assembly and the connecting rod 1 are movably connected through the rib assembly to form a parallelogram-shaped folding structure, wherein the folding steering gear is connected to the connecting rod 2 through the driving assembly.

[0011] As a further solution of the present invention: the rib assembly includes rib one, rib two, rib three and rib four, whose ends are movably connected to the radial assembly, wherein the other ends of rib one, rib two, rib three and rib four are movably connected to connecting rod one.

[0012] As a further solution of the present invention: an intermediate support plate is movably connected above the connection position between the radial component and the humeral component, and is movably connected to the second connecting rod through a connecting rod below.

[0013] As a further solution of the present invention: the wing rib assembly also includes a wing rib five, the top of the wing rib five is movably connected to the bottom of the humeral assembly, a slide groove is provided on the wing rib five, and a guide rod is provided on the connecting rod two. The guide rod is installed in the slide groove on the wing rib five and can slide in the slide groove.

[0014] As a further solution of the present invention: the drive assembly includes a crank-connecting rod structure connected to the folding servo, the crank-connecting rod structure is connected to connecting rod three, the top of connecting rod three is movably connected to the bottom of the humeral assembly, and the lower position of connecting rod three is movably connected to an end of connecting rod two close to the main beam.

[0015] As a further solution of the present invention: the crank-connecting rod structure includes a steering gear crank connected to the steering gear output shaft, and the other end of the steering gear crank is connected to the steering gear connecting rod;

[0016] Guide main shafts parallel to the main beam are provided on both sides of the main beam, and a folding slider and a driving slider are slidably connected to the outer side of the guide main shaft, wherein the driving slider is installed on the inner side of the folding slider;

[0017] The other end of the steering gear connecting rod is connected to the driving slider, and the bottom of the connecting rod three is movably connected to the folding slider.

[0018] As a further solution of the present invention: the power assembly includes two sets of gear groups symmetrically installed on the main beam, the gear groups are driven by a motor arranged on the main beam, the output shaft of the gear group is connected to a drive coupling through a crank, wherein the end of the drive coupling is connected to a Y-shaped turn block, and the end of the Y-shaped turn block is movably connected to one end of the humeral assembly close to the main beam.

[0019] As a further solution of the present invention: a swing main shaft parallel to the main beam is provided on both sides of the main beam, the end of the Y-shaped rotating block can be slidably connected and sleeved on the swing main shaft, and the gear set can drive the Y-shaped rotating block to swing back and forth by driving the connecting shaft.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. This application provides a folding servo and a power assembly, which are independent of each other and do not affect each other. The folding servo and the power assembly can drive the wings to fold and flap respectively, driving the folding structure to move smoothly and not easily get stuck. The servo drive stroke is short, and the servos on both sides of the wings are independently controlled to fold and unfold, which can achieve rapid steering of the flapping-wing aircraft and enhance the flight capability of the folding wings. This application generates a deflection torque through folding to change the flight direction of the flapping-wing aircraft. Since the deflection torque generated by the wing folding has a fast response and low latency, the flapping-wing aircraft can achieve rapid steering.

[0022] 2. This application provides ribs 1, 2, 3, and 4 between the radial assembly and connecting rod 1. Rib 5 is also provided between the humeral assembly and connecting rod 2. These five ribs are sequentially connected, significantly enhancing the strength and stability of the radius and humerus. Furthermore, the radial assembly is arranged parallel to connecting rod 1, with the four ribs sequentially connected to form a parallelogram-shaped folding and unfolding structure. This structure allows for smoother folding and unfolding, thereby enhancing the flight capability of the folded wings.

[0023] 3. The present application installs wings on the humeral component and the radial component, and one end of the humeral component drives the Y-shaped turn block to swing through the power component. The up and down reciprocating swing of the Y-shaped turn block around the swing axis is converted into the up and down reciprocating swing of the wings, thereby realizing the up and down flapping of the wings, providing flight power for the flapping-wing aircraft. In addition, the swinging and folding of the wings of the present application are independently controlled and do not affect each other, preventing damage from causing the complete failure of both functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the flapping-wing aircraft according to an embodiment of the present invention when its wings are unfolded;

[0025] Figure 2 This is a partial structural diagram of the flapping-wing aircraft according to an embodiment of the present invention when its wings are unfolded;

[0026] Figure 3 This is a schematic diagram of the structure of the flapping-wing aircraft in flight according to an embodiment of the utility model;

[0027] Figure 4 For the embodiment of the utility model Figure 3 A magnified view of area A in ;

[0028] Figure 5 This is a partial structural diagram of a flapping-wing aircraft according to an embodiment of the present utility model;

[0029] Figure 6 For the embodiment of the utility model Figure 5 A partial enlarged view of the

[0030] Figure 7 This is a schematic structural diagram of the bottom of the flapping-wing aircraft according to an embodiment of the present utility model;

[0031] Figure 8 This is a schematic diagram of the structure of the flapping-wing aircraft according to an embodiment of the present invention when it is partially retracted;

[0032] Figure 9 This is a flowchart of the steering process of a flapping-wing aircraft according to an embodiment of the present invention;

[0033] Description of reference numerals:

[0034] 1. Left wing; 2. Power assembly; 3. Right wing; 4. Right folding servo; 5. Main beam; 6. Left folding servo; 7. Y-shaped turn block; 8. Swing spindle; 9. Humerus assembly; 10. Intermediate support plate; 11. Radius assembly; 12. Rib one; 13. Connecting rod one; 14. Rib two; 15. Rib three; 16. Rib four; 17. Connecting rod two; 18. Rib five; 19. Connecting rod three; 20. Guide spindle; 21. Drive slider; 22. Folding slider; 23. Servo connecting rod; 24. Servo crank; 25. Guide rod; 26. Drive coupling; 27. Gear set. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0036] Reference Figure 1 and Figure 8 , a flapping-wing aircraft with flexible steering, high wing structure strength, a wingspan of up to 2 meters, and strong load capacity; it includes a left wing 1, a power assembly 2, a right wing 3, a right folding servo 4, a main beam 5, and a left folding servo 6; wherein the main beam 5 is vertically placed in the middle position, the power assembly 2 is installed at the upper position of the main beam 5, the left folding servo 6 and the right folding servo 4 are respectively installed on the left and right sides of the main beam 5, and the left wing 1 and the right wing 3 are respectively located on the left and right sides of the main beam 5. The present application can control the swing of the left wing 1 and the right wing 3 through the power assembly 2, and the left folding servo 6 and the right folding servo 4 control the folding and expansion of the left wing 1 and the right wing 3 respectively.

[0037] The present application can set a driver and a controller on the flapping-wing aircraft. The driver can control the operation of the power assembly 2, the left folding servo 6 and the right folding servo 4. The controller controls the operation of the driver. The staff can remotely operate the operation of the controller through a remote control, and then remotely control the power assembly 2 to drive the wings to flap, and remotely control the left folding servo 6 and the right folding servo 4 to drive the wings to fold, thereby realizing the flight and steering of the flapping-wing aircraft in the air.

[0038] Reference Figure 2 and Figure 5 A humeral component 9 is provided on both sides of the main beam 5, wherein the humeral component 9 has a hole on one side away from the main beam 5 and is connected to the radial component 11 by a plug screw. Both the humeral component 9 and the radial component 11 can rotate around the plug screw; an intermediate support plate 10 is inserted into one end of the radial component 11 connected to the humeral component 9, and the intermediate support plate 10 can also rotate around the plug screw;

[0039] The right wing 3 is installed above the humeral component 9 and the radial component 11 located on the right side of the main beam 5; similarly, the left wing 1 is installed above the humeral component 9 and the radial component 11 located on the left side of the main beam 5.

[0040] Reference Figure 2 and Figure 5, a connecting rod 2 17 is provided on both sides of the main beam 5 and below the humeral assembly 9. The connecting rod 2 17 has a hole on one side away from the main beam 5 and is connected to the connecting rod 1 13 by a plug screw. Both the connecting rod 13 and the connecting rod 2 17 can rotate around the plug screw;

[0041] Furthermore, connecting rod 13 is arranged parallel to radial component 11, and rib 12, rib 2 14, rib 3 15 and rib 4 16 are installed between the two, wherein one end of rib 12, rib 2 14, rib 3 15 and rib 4 16 are fixed to radial component 11 by plug screws and can rotate around the plug screws, and the other end are fixed to connecting rod 13 by plug screws and can rotate around the plug screws. It should also be noted that the above-mentioned rib 12, rib 2 14, rib 3 15 and rib 4 16 are parallel to each other, and the distance between the two fixing plug screws on the ribs is also the same; the connecting rod 13 and radial component 11 can be assembled into a parallelogram structure through the ribs.

[0042] Furthermore, a connecting rod extends from the position where the radial component 11 is connected to the humeral component 9. The connecting rod is connected to the upper middle position of the connecting rod 2 17 by a plug screw, and can also rotate around the plug screw. One end of the connecting rod 2 17 is connected to one end of the connecting rod 1 13 by a plug screw, and can rotate with each other. The other end of the connecting rod 2 17 is connected to the middle part of the connecting rod 3 19 by a plug screw and can rotate with each other. At the same time, the bottom middle position of the humeral component 9 is also connected to the wing rib 5 18 by a plug screw, and the top of the connecting rod 2 17 and the side of the connecting rod close to the main beam 5 are provided with a guide rod 25 (refer to Figure 4 ), the guide rod 25 can be slidably connected in the sliding groove opened on the wing rib five 18, so when the wings are folded, the positions of the humeral assembly 9 and the connecting rod two 17 change accordingly, and at this time the guide rod 25 can slide accordingly in the sliding groove opened on the wing rib five 18.

[0043] Reference Figure 2 、 Figure 5 and Figure 6The top of the connecting rod 3 19 is connected to the middle position of the bottom of the humeral component 9 by a plug screw, and can rotate with each other, and is connected to the wing rib 5 18 at one place. A protrusion is provided at the bottom position of the connecting rod 3 19, and the protrusion is connected to the end of the connecting rod 2 17 close to the main beam 5 by a plug screw, and can rotate with each other; and the bottom of the connecting rod 3 19 is connected to the folding slider 22 by a plug screw, and can rotate with each other. A driving slider 21 is installed inside the folding slider 22, and the driving slider 21 is embedded in the folding slider 22 and is coaxially assembled on the guide main shaft 20; the driving slider 21 is embedded in the folding slider 22 and is coaxially assembled on the guide main shaft 20. The guide main shaft 20 is installed on both sides of the main beam 5 through a connecting rod and is arranged parallel to the main beam 5. At the same time, a support rod is provided on one side of the guide main shaft 20, and the support rod is arranged parallel to the guide main shaft 20;

[0044] Taking the right folding servo 4 as an example, the output shaft of the right folding servo 4 is connected to the servo crank 24, wherein the other end of the servo crank 24 is movably connected to the servo connecting rod 23, and the other end of the servo connecting rod 23 is connected to the driving slider 21. Therefore, by controlling the right folding servo 4, the servo crank 24 can be driven to rotate. When the servo crank 24 rotates, it can drive the servo connecting rod 23 to achieve vertical lifting, and then drive the driving slider 21 and the folding slider 22 to rise and fall along the guide main shaft 20, thereby realizing the folding and unfolding of the humeral component 9, the connecting rod 2 17, the radial component 11 and the connecting rod 1 13.

[0045] It's important to note that the forward and backward movement of the drive slider 21 drives the forward and backward movement of the folding and deploying slider 22, which in turn drives the movement of the connecting rod 3 19, driving the movement of the humeral assembly 9 and the radial assembly 11, thereby achieving wing folding and deployment. The wing folding and deployment is achieved by the folding and deploying servo. The right folding and deploying servo 4 is connected to the servo crank 24, which is connected to the servo connecting rod 23 via a screw. The other end of the servo connecting rod 23 is also connected to the drive slider 21 via a screw.

[0046] Reference Figure 2 and Figure 7 The power assembly 2 includes a gear set 27 and a drive coupling 26 installed at the output end of the gear set 27. The gear set 27 is driven by a motor fixed to the main beam 5, and the other end of the drive coupling 26 is movably connected to the bottom of the Y-shaped turn block 7. The top two ends of the Y-shaped turn block 7 are movably connected to the end of the humeral assembly 9 close to the main beam 5, and the end of the humeral assembly 9 close to the main beam 5 is slidably connected to the swing main shaft 8. The swing main shaft 8 is installed on both sides of the main beam 5 through a connecting rod and is arranged parallel to the main beam 5. The swing main shaft 8 is located directly above the guide main shaft 20, and the two are located on the same vertical line. At the same time, the support rod on one side of the guide main shaft 20 is connected to the connecting rod on one side of the swing main shaft 8, which plays a supporting effect.

[0047] The specific operating principles of this application are as follows:

[0048] When the large wingspan flapping wing aircraft is in normal forward flight, the staff can remotely control the controller on the robot through the remote control to issue control instructions. The left folding servo 6 and the right folding servo 4 are controlled by the controller to move the driving slider 21 forward through the servo crank 24 and the servo connecting rod 23. The driving slider 21 drives the folding slider 22 to move forward, so that the wings are in the unfolded position and remain in this state. This state can be referred to Figure 1 The humeral component 9, the radial component 11, the connecting rod 2 17 and the connecting rod 1 13 are all in the expanded state; at the same time, under the control of the controller, the power component 2 drives the Y-shaped rotating block 7 to swing outside the swing main shaft 8 to drive the left and right wings to flap and achieve stable forward flight.

[0049] When turning is required, such as turning to the right, the right folding servo 4 rotates under the control of the controller, controlling the drive slider 21 to move backward, driving the folding slider 22 to move backward, thereby driving the right wing to fold. When turning to the specified direction, the controller controls the right wing 3 to unfold, and the turning operation is completed at this time; if turning to the left, the principle is the same as above. This application designs a wing with a wingspan of up to 2m and a unilateral wing that can be folded. This solution simulates the unfolding and folding of bird wings and realizes the unfolding and folding of wings through a connecting rod structure to generate a deflection torque, thereby achieving a change in the heading direction of the flapping-wing aircraft. The folding of the wings generates a large deflection torque and a fast steering response speed, which is beneficial to improving the flight efficiency of the flapping-wing aircraft.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flapping-wing aircraft with flexible steering, comprising a main beam (5), characterized in that: Wings are symmetrically mounted on both sides of the main beam (5), and a folding steering gear for folding the wings and a power assembly (2) for driving the wings to flap are also mounted on the main beam (5), wherein the folding steering gear and the power assembly (2) control the wings independently of each other.

2. The flapping-wing aircraft with flexible steering according to claim 1, characterized in that: A humeral component (9) and a second connecting rod (17) located below the humeral component (9) are provided on both sides of the main beam (5); One end of the humeral component (9) away from the main beam (5) is movably connected to the radial component (11); The end of the second connecting rod (17) away from the main beam (5) is movably connected to the first connecting rod (13); The radial component (11) and the connecting rod 1 (13) are movably connected via a rib component to form a parallelogram-shaped folding structure, wherein the folding steering gear is connected to the connecting rod 2 (17) via a driving component.

3. The flapping-wing aircraft with flexible steering according to claim 2, characterized in that: The wing rib assembly includes wing rib one (12), wing rib two (14), wing rib three (15) and wing rib four (16), the ends of which are movably connected to the radial assembly (11), wherein the other ends of wing rib one (12), wing rib two (14), wing rib three (15) and wing rib four (16) are all movably connected to connecting rod one (13).

4. The flapping-wing aircraft with flexible steering according to claim 2, characterized in that: The radial component (11) and the humeral component (9) are connected at the upper part thereof with an intermediate support plate (10) movably connected thereto, and at the lower part thereof with a connecting rod movably connected thereto to a second connecting rod (17).

5. The flapping-wing aircraft with flexible steering according to claim 3, characterized in that: The wing rib assembly also includes a wing rib five (18), the top of the wing rib five (18) is movably connected to the bottom of the humeral assembly (9), a sliding groove is provided on the wing rib five (18), and a guide rod (25) is provided on the connecting rod two (17). The guide rod (25) is installed in the sliding groove on the wing rib five (18) and can slide in the sliding groove.

6. The flapping-wing aircraft with flexible steering according to claim 2, characterized in that: The driving assembly includes a crank-connecting rod structure connected to the folding steering gear, the crank-connecting rod structure is connected to the connecting rod three (19), the top of the connecting rod three (19) is movably connected to the bottom of the humeral assembly (9), and the lower position of the connecting rod three (19) is movably connected to the end of the connecting rod two (17) close to the main beam (5).

7. The steerable flapping-wing aircraft according to claim 6, characterized in that: The crank-connecting rod structure includes a steering gear crank (24) connected to the steering gear output shaft, and the other end of the steering gear crank (24) is connected to the steering gear connecting rod (23); Guide main shafts (20) parallel to the main beam (5) are provided on both sides of the guide main shaft (20), and a folding slider (22) and a driving slider (21) are slidably connected to the outer side of the guide main shaft (20), wherein the driving slider (21) is installed on the inner side of the folding slider (22); The other end of the steering gear connecting rod (23) is connected to the driving slider (21), and the bottom of the connecting rod three (19) is movably connected to the folding slider (22).

8. The flapping-wing aircraft with flexible steering according to claim 1, characterized in that: The power assembly (2) comprises two gear sets (27) symmetrically mounted on the main beam (5), the gear sets (27) being driven by a motor arranged on the main beam (5), the output shaft of the gear set (27) being connected to a drive coupling (26) via a crank, wherein the end of the drive coupling (26) is connected to a Y-shaped rotating block (7), and the end of the Y-shaped rotating block (7) is movably connected to one end of the humeral assembly (9) close to the main beam (5).

9. The steerable flapping-wing aircraft according to claim 8, characterized in that: Both sides of the main beam (5) are provided with swing main shafts (8) parallel thereto, and the ends of the Y-shaped rotating block (7) can be slidably connected and sleeved on the swing main shafts (8), and the gear set (27) can drive the Y-shaped rotating block (7) to swing back and forth via the driving coupling shaft (26).

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