Multi-degree-of-freedom bionic bat-shaped flapping wing device

Abstract

The utility model discloses a multi-degree-of-freedom bionic bat-shaped flapping wing device, and belongs to the technical field of bionic flapping wing devices. The unmanned aerial vehicle consists of a rack main body, two wings and an empennage, the machine frame body is composed of two large gears, two small gears, a motor, a pull rod, an outer support, a supporting plate, a driven gear, a machine frame and a driving gear. The wing on each side is composed of a connecting rod, a first wing part, a second wing part, a third wing part, a fourth wing part, a wing connecting rod and a shaft rod. The multi-angle and multi-degree-of-freedom reconnaissance high-speed flight robot can be suitable for multi-angle and multi-degree-of-freedom reconnaissance high-speed flight in various environments. And meanwhile, a connecting rod and pull rod mode is adopted, so that the wings can stretch out, draw back and flapping. And in the aspect of scientific research, the device can be used for researching and experimenting flying organisms by bioscholars, can be used for repelling birds in farmlands and airports and monitoring specific environments such as forests in the civil field, can work in a space closer to people, and is beneficial to later application expansion.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of multi-degree-of-freedom bionic bat type flapping wing device, belong to degree bionic flapping wing device technical field. BACKGROUND

[0002] Bats are the only mammals that can fly, and they make opening or retracting movements when flapping their wings. They can fly at high speed and float by virtue of excellent flight capability. The flight modes of micro air vehicles include fixed wing, rotor, fixed wing-rotor hybrid, oscillating wing, etc. Micro fixed wing aircrafts have the characteristics of high speed, strong structural stability, large cruising radius, high durability, large load, etc. When landing, they usually assume parachute landing, net impact or runway; micro rotors can realize vertical take-off and landing, air flyover and rapid maneuvering in restricted space or complex terrain area, but their flight efficiency is much lower than that of fixed wing aircrafts; hybrid fixed wing micro aircrafts combine the vertical take-off and landing capability of rotorcrafts with the flight efficiency, speed and range of fixed wing aircrafts. However, since the rotors do not work during high-speed flight, the carrying capacity and aerodynamic performance are affected; micro rotary wing aircrafts imitate the rotary wing flight of insects, birds and bats; some can take off and land vertically, hover in the air, fly laterally and reversely, while others can taxi, fly at high speed and navigate for a long distance. They are quiet, stealthy, highly maneuverable and have little contact with people. They are suitable for deep penetration of enemy territory for reconnaissance and electronic interference in military field, and can be used for research experiments on flying organisms by biologists in scientific research field. In civil field, they can be used for driving birds in farmland and airport, monitoring specific environment such as forest, and working in a space closer to people, which is beneficial to the expansion of subsequent applications.

[0003] Most existing small flapping wing aircrafts are imitations of insects and birds, and there are few bionic products of bats. Currently, there are bionic products of bats that can spread wings, but cannot achieve the flight capability of higher and more postures of bats. SUMMARY

[0004] The utility model aims at solving the problems existing in the prior art, and further provides a multi-degree-of-freedom bionic bat type flapping wing device.

[0005] The utility model aims at solving the problems existing in the prior art, and further provides a multi-degree-of-freedom bionic bat type flapping wing device.

[0006] A multi-degree-of-freedom bionic bat type flapping wing device is composed of a frame main body, two wings and a tail wing.

[0007] The rack body is composed of two large gears, two small gears, a motor, a pull rod, an outer support, a support plate, a passive gear, a rack and a driving gear; the two large gears, the two small gears, the motor, the passive gear and the driving gear are all installed on the rack, the driving gear is installed on the output shaft of the motor, the two small gears and the passive gear are coaxially installed, the two large gears are coaxially installed, the driving gear and the passive gear are engaged, the two small gears are engaged with the two large gears respectively, the outer support is fixed on the upper part of the front end of the rack, the support plate is fixed on the upper part of the middle position of the rack, and the pull rod is slidably connected with the support plate;

[0008] The two wings are symmetrically arranged on the left and right sides of the rack body, and each wing is composed of a connecting rod, a wing part one, a wing part two, a wing part three, a wing part four, a wing connecting rod and a shaft rod; one end of the wing connecting rod is hingedly connected with one side of the outer support, the other end of the wing connecting rod is hingedly connected with one end of the wing part four, one end of the shaft rod is fixedly connected with the outer side of the large gear, one end of the connecting rod is hingedly connected with the other end of the shaft rod, the other end of the connecting rod is hingedly connected with the middle position of the wing connecting rod, one end of the wing part two is hingedly connected with one end of the pull rod, the other end of the wing part two is hingedly connected with the middle position of the wing part one, one end of the wing part one is hingedly connected with one end of the wing part three, the other end of the wing part three is hingedly connected with the middle position of the wing part four, and the other end of the wing part four is hingedly connected with the middle position of the wing part two.

[0009] The tail wing is composed of a tail wing part one, a tail wing part two, a tail wing part three, a rudder, a tail wing part four and a tail wing part five; the tail wing part four is fixed on the upper end of the rack, the tail wing part one is fixed on the tail wing part four, the tail wing part two is fixed on the tail of the tail wing part four, the main body part of the tail wing part five is hingedly connected with the tail wing part two, the front end of the tail wing part five is hingedly connected with the tail wing part one, the rudder is installed in the tail wing part five, the tail wing part three is arranged at the rear of the tail wing part five, and the shaft rod of the tail wing part three is connected with the rudder through the hole of the tail wing part five.

[0010] The whole machine drives the gear part to rotate through the motor, drives the connecting rod to perform the circular motion, drives the wing to perform the wing vibration, simultaneously drives the pull rod to perform the horizontal motion, so that the wing can perform the stretching and contraction, the tail wing part can perform the upward and downward deflection motion through the rudder, and the above motions can drive the flapping-wing machine to perform the multi-degree-of-freedom motion, so that the flapping-wing machine has more postures to fly in the air.

[0011] The utility model discloses the beneficial effect: the utility model discloses the present bionic bat flapping wing machine technology is not mature and develops, and its application range is wide, and it is suitable for the enemy side in -depth investigation and electronic interference on the military, can be used for the research experiment of the flying biology of the biologist in the scientific research aspect, can drive the bird in the farmland and the airport in the civil field, carries out the monitoring to the specific environment such as forest, can work in the space that is closer to people, is favorable to the development of application afterwards. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the overall structure schematic diagram (stereogram) of the utility model multi-degree-of-freedom bionic bat type flapping wing device.

[0013] Figure 2 It is the front view of the utility model multi-degree-of-freedom bionic bat type flapping wing device.

[0014] Figure 3 It is Figure 2 A view.

[0015] Figure 4 It is the local structure schematic diagram of frame main body.

[0016] The reference numeral in the drawing, 1 is connecting rod, 2 is big gear, 3 is pinion, 4 is motor, 5 is pull rod, 6 is tail wing part one, 7 is tail wing part two, 8 is tail wing part three, 9 is rudder, 10 is tail wing part four, 11 is tail wing part five, 12 is wing part one, 13 is wing part two, 14 is wing part three, 15 is wing part four, 16 is wing connecting rod, 17 is outer support, 18 is support plate, 19 is passive gear, 20 is frame, 21 is driving gear, 22 is shaft. DETAILED DESCRIPTION

[0017] The utility model will be further explained in detail in conjunction with the drawings: the embodiment is implemented under the premise of the utility model technical scheme, gives detailed implementation mode, but the protection scope of the utility model is not limited to the following examples.

[0018] As Figures 1-4 Shown, a multi-degree-of-freedom bionic bat type flapping wing device of the embodiment is composed of frame main body, two wings and tail wing;

[0019] The rack body is composed of two large gears 2, two small gears 3, a motor 4, a pull rod 5, an outer support 17, a support plate 18, a passive gear 19, a rack 20 and a driving gear 21; wherein the two large gears 2, the two small gears 3, the motor 4, the passive gear 19 and the driving gear 21 are all installed on the rack 20, the driving gear 21 is installed on the output shaft of the motor 4, the two small gears 3 and the passive gear 19 are coaxially installed, the two large gears 2 are coaxially installed, the driving gear 21 and the passive gear 19 are engaged, the two small gears 3 are engaged with the two large gears 2 respectively, the outer support 17 is fixed on the upper part of the front end of the rack 20, the support plate 18 is fixed on the upper part of the middle position of the rack 20, and the pull rod 5 is slidably connected with the support plate 18;

[0020] The two wings are symmetrically arranged on the left and right sides of the rack body, and each wing is composed of a connecting rod 1, a wing part one 12, a wing part two 13, a wing part three 14, a wing part four 15, a wing connecting rod 16 and a shaft rod 22; one end of the wing connecting rod 16 is hingedly connected with one side of the outer support 17, the other end of the wing connecting rod 16 is hingedly connected with one end of the wing part four 15, one end of the shaft rod 22 is fixedly connected with the outer side of the large gear 2, one end of the connecting rod 1 is hingedly connected with the other end of the shaft rod 22 (the connecting rod 1 and the large gear 2 are in a worm and gear relationship), the other end of the connecting rod 1 is hingedly connected with the middle position of the wing connecting rod 16, one end of the wing part two 13 is hingedly connected with one end of the pull rod 5, the other end of the wing part two 13 is hingedly connected with the middle position of the wing part one 12, one end of the wing part one 12 is hingedly connected with one end of the wing part three 14, the other end of the wing part three 14 is hingedly connected with the middle position of the wing part four 15, and the other end of the wing part four 15 is hingedly connected with the middle position of the wing part two 13;

[0021] The wing part one 12, the wing part two 13, the wing part three 14 and the wing part four 15 form a four-bar linkage mechanism.

[0022] The tail fin is composed of tail fin part one 6, tail fin part two 7, tail fin part three 8, rudder 9, tail fin part four 10 and tail fin part five 11; the tail fin part four 10 is fixed on the upper end of the frame 20, the tail fin part one 6 is fixed on the tail fin part four 10, the tail fin part two 7 is fixed on the tail of the tail fin part four 10, the main part of the tail fin part five 11 is hinged with the tail fin part two 7, the front end of the tail fin part five 11 is hinged with the tail fin part one 6, the rudder 9 is installed in the tail fin part five 11, the tail fin part three 8 is arranged at the rear of the tail fin part five 11, and the shaft rod of the tail fin part three 8 is connected with the rudder 9 through the hole of the tail fin part five 11.

[0023] Working process:

[0024] When the multi-degree-of-freedom bionic bat type flapping wing device works, the two pinions 3 are driven by the motor 4 to drive the two gear wheels 2 to rotate, the two connecting rods 1 are connected with the two gear wheels 2, the two gear wheels 2 perform circular motion to drive the whole wing structure to vibrate up and down, the pull rod 5 moves horizontally under the movement limitation of the baffle to make the two wing structures contract and expand, so that the whole aircraft moves in more degrees of freedom. The tail fin part mainly controls the up and down deflection movement of the whole tail fin part through the rudder 9, so that the required attitude is maintained during the whole flight process.

[0025] The fixed or fixed connection in the above embodiment can be welding, bonding or bolt connection.

[0026] The use of lithium batteries and remote control technology is a mature technology, and the utility model aims at protecting the mechanical part of the flapping wing device.

[0027] The above technical scheme has obtained the support of the college student innovation and entrepreneurship plan training project of Jiamusi University.

Claims

1. A multi-degree-of-freedom bionic bat type flapping wing device, comprising a frame body, two wings and a tail wing, characterized in that, the frame body is composed of two large gears (2), two small gears (3), a motor (4), a pull rod (5), an outer support (17), a support plate (18), a passive gear (19), a frame (20) and a driving gear (21); wherein the two large gears (2), the two small gears (3), the motor (4), the passive gear (19) and the driving gear (21) are all installed on the frame (20), the driving gear (21) is installed on the output shaft of the motor (4), the two small gears (3) and the passive gear (19) are coaxially installed, the two large gears (2) are coaxially installed, the driving gear (21) and the passive gear (19) are engaged, the two small gears (3) are respectively engaged with the two large gears (2), the outer support (17) is fixed on the upper part of the front end of the frame (20), the support plate (18) is fixed on the upper part of the middle position of the frame (20), and the pull rod (5) is slidably connected with the support plate (18); the two wings are symmetrically arranged on the left and right sides of the frame body, and each wing is composed of a connecting rod (1), a wing part one (12), a wing part two (13), a wing part three (14), a wing part four (15), a wing connecting rod (16) and a shaft rod (22); one end of the wing connecting rod (16) is hingedly connected with one side of the outer support (17), the other end of the wing connecting rod (16) is hingedly connected with one end of the wing part four (15), one end of the shaft rod (22) is fixedly connected with the outer side of the large gear (2), one end of the connecting rod (1) is hingedly connected with the other end of the shaft rod (22), the other end of the connecting rod (1) is hingedly connected with the middle position of the wing connecting rod (16), one end of the wing part two (13) is hingedly connected with one end of the pull rod (5), the other end of the wing part two (13) is hingedly connected with the middle position of the wing part one (12), one end of the wing part one (12) is hingedly connected with one end of the wing part three (14), the other end of the wing part three (14) is hingedly connected with the middle position of the wing part four (15), and the other end of the wing part four (15) is hingedly connected with the middle position of the wing part two (13); the tail wing is composed of a tail wing part one (6), a tail wing part two (7), a tail wing part three (8), a rudder (9), a tail wing part four (10) and a tail wing part five (11); the tail wing part four (10) is fixed on the upper end of the frame (20), the tail wing part one (6) is fixed on the tail wing part four (10), the tail wing part two (7) is fixed on the tail of the tail wing part four (10), the main body part of the tail wing part five (11) is hingedly connected with the tail wing part two (7), the front end of the tail wing part five (11) is hingedly connected with the tail wing part one (6), the rudder (9) is installed in the tail wing part five (11), the tail wing part three (8) is arranged at the rear of the tail wing part five (11), and the shaft rod of the tail wing part three (8) is connected with the rudder (9) through the hole of the tail wing part five (11).

2. The multi-degree-of-freedom robotic bat-flapping device of claim 1, wherein, The wing part one (12), the wing part two (13), the wing part three (14) and the wing part four (15) constitute a four-bar linkage.

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