A decelerating gliding ornithopter
By designing a servo-driven deceleration landing flapping-wing aircraft, the problem of unstable landing and high energy consumption of flapping-wing aircraft is solved by using servo motors to drive the rotation of the nose and wings, thus achieving stable landing and low energy consumption.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- QINGDAO UNIV OF TECH
- Filing Date
- 2025-08-26
- Publication Date
- 2026-07-07
AI Technical Summary
Existing flapping-wing aircraft lack deceleration capabilities during landing, resulting in unstable landings, high energy consumption, and heavy weight.
Design a servo-driven deceleration and landing flapping-wing aircraft, including a nose assembly, fuselage assembly, wing assembly, tail assembly and servo torsion linkage mechanism. Deceleration is achieved by driving the rotation of the nose and wings with servos, and stable landing is achieved by using torsion servos and flapping servos working together.
It achieves good deceleration performance, stable flight, low energy consumption, and light weight for ornithopter aircraft during landing, thus protecting the safety of ornithopter aircraft.
Smart Images
Figure CN224466113U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of deceleration aircraft technology, specifically relating to a deceleration landing flapping-wing aircraft. Background Technology
[0002] With the rapid development of flight technology, ornithopter aircraft have become a research hotspot for more and more people due to their lightweight, low energy consumption, ease of manufacture and control. Various biomimetic ornithopter aircraft can achieve different flight functions and fly in complex environments, exhibiting excellent flight performance.
[0003] Current development of ornithopter aircraft primarily focuses on the wing's flapping mechanism, neglecting the need for deceleration during descent. In specific flight environments, ornithopter aircraft require deceleration capabilities to ensure more stable landings and protect the aircraft. To achieve this deceleration during landing, a corresponding deceleration mechanism needs to be designed. Therefore, designing a mechanism with good deceleration performance, low energy consumption, and lightweight design is an urgent problem to be solved. Utility Model Content
[0004] The purpose of this invention is to solve the above-mentioned problems and provide a deceleration and landing flapping-wing aircraft with good deceleration performance, stable flight, low energy consumption and light weight.
[0005] To solve the above problems, this utility model adopts a servo-driven deceleration and landing flapping-wing aircraft, including a nose assembly, fuselage assembly, wing assembly, tail assembly, and servo torsion linkage mechanism. Its features are: the front part of the nose assembly has a flapping servo frame, and the rear half of the nose is connected by a rectangular rod; the lower part of the flapping servo frame is connected to a servo frame pivot, and two flapping servos are fixed to the flapping servo frame with screws; an extension rod and a torsion rod are respectively connected and fixed to the two sides and the rear end of the rear part of the nose.
[0006] Preferably, in the fuselage assembly, one end of the lower fuselage support rod passes through the front fuselage support and connects to the servo frame pivot, while the other end connects to the lower part of the rear fuselage support. One end of each of the two upper fuselage support rods is connected above the front support, and the other end is connected to the lower rear support. The upper end of the torsion servo frame is fixedly connected to one of the upper support rods, and the lower end is fixedly connected to the lower support rod, positioned at the front end of the entire fuselage assembly.
[0007] Preferably, the wing assembly comprises a servo arm, a wing main shaft, a three-way valve device, a first hinged link, a second hinged link, a wing rod one, a wing rod two, a wing rod three, a first support rod, a second support rod, and a third hinged link. The servo shaft is connected to the servo arm, and the servo arm is connected and fixed to the wing main shaft. One end of the wing main shaft is connected to the front hinge. The three-way valve device, the first hinged link, and the second hinged link are simultaneously fixed to the wing main shaft. One end of the second support rod is connected to the first hinged link, and the other end... Connected to the third hinge link, one end of the first support rod is connected to the second hinge link, and the other end is connected to the rear hinge. The three-way valve device has angles of 20°, 40°, and 60°. The 20° port is connected to wing rod three, the 40° port is connected to wing rod two, and the 60° port is connected to wing rod one. The front hinge is fixedly connected to the front of the nose, and the rear hinge is fixedly connected to the rear of the nose. The third hinge link is fixedly connected to the extension rod. The other half of the wing assembly is symmetrically distributed on the other side of the flapping wing aircraft.
[0008] Preferably, the tail fin assembly consists of a tail fin tail clamp, a tail fin mounting bracket, and three tail fin rods. The tail fin tail clamp is fixed to the rear support of the fuselage, the tail fin mounting bracket is fixed to the tail fin tail clamp, and the tail fin rods are fixed to the tail fin mounting bracket.
[0009] Preferably, the torsion linkage mechanism consists of three parts: a torsion servo, a torsion servo rocker arm, and a torsion link. The torsion servo is fixed on the torsion servo frame, one end of the torsion servo rocker arm is fixedly connected to the torsion link, and the other end of the torsion link is fixedly connected to the torsion rod at the rear end of the nose.
[0010] The beneficial effects of this invention are as follows: The servo-driven deceleration and landing flapping-wing aircraft provided by this invention has the characteristics of good deceleration performance, stable flight, low energy consumption, and light weight. During normal flight, the two flapping servos control the wing assembly to flap up and down. During descent, the servo-driven deceleration and landing flapping-wing aircraft twists the servo to drive the nose assembly and wing assembly to rotate at an angle of approximately 65°, and the two flapping servos control the wing assembly to flap approximately back and forth. In addition, the deceleration function of the flapping-wing aircraft can also protect the flapping-wing aircraft during landing. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the overall design of this utility model.
[0012] Figure 2 This is a top view of the machine head assembly in this utility model.
[0013] Figure 3 This is a side view of the fuselage assembly and tail assembly in this utility model. (The revised drawing includes a servo mount pivot.)
[0014] Figure 4 This is a top view of the wing assembly in this utility model.
[0015] Figure 5 This is a schematic diagram showing the connection between the wing assembly and the nose assembly.
[0016] Figure 6 This is a schematic diagram showing the connection between the head assembly and the torsion linkage mechanism in this utility model.
[0017] Figure 7 This is a top view of the overall structure of the flapping-wing aircraft in normal flight according to this utility model.
[0018] Explanation of reference numerals in the attached diagrams: 1. Nose assembly; 1.1 Front of nose; 1.2 Striking servo; 1.3 Striking servo mount; 1.4 Servo mount pivot; 1.5 Rear of nose; 1.6 Extension rod; 1.7 Torsion rod; 2. Fuselage assembly; 2.1 Front support; 2.2 Torsion servo mount; 2.3 Lower support rod; 2.4 Upper support rod; 2.5 Rear support; 3. Tail assembly; 3.1 Tail tail clip; 3.2 Tail mounting bracket; 3.3 Tail strut; 4. Wing assembly 4.1 Wing main strut; 4.2 First hinged link; 4.3 Three-way valve device; 4.4 Second hinged link; 4.5 Servo rocker arm; 4.6 Front hinge; 4.7 Rear hinge; 4.8 Third hinged link; 4.9 First support rod; 4.10 Second support rod; 4.11 Wing rod one; 4.12 Wing rod two; 4.13 Wing rod three; 5. Torsion linkage mechanism; 5.1 Torsion servo; 5.2 Torsion servo rocker arm; 5.3 Torsion link. Detailed Implementation
[0019] The technical solutions of this utility model will now be clearly and completely described with reference to the accompanying drawings in the examples of this utility model. Obviously, the described examples are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0020] Depend on Figure 1 As shown, this utility model adopts a servo-driven deceleration landing flapping-wing aircraft, including a nose assembly 1, a fuselage assembly 2, a wing assembly 4, a tail assembly 3, and a servo torsion linkage mechanism 5.
[0021] Depend on Figures 2 to 3As shown, the front part 1.1 of the nose assembly 1, the striking servo frame 1.3, and the rear part 1.5 of the nose are connected by a rectangular rod. The bottom of the striking servo frame 1.3 is connected to the servo frame pivot 1.4. Two striking servos 1.2 are fixed to the striking servo frame with screws. The extension rod 1.6 and the torsion rod 1.7 are respectively connected and fixed to the two sides and the rear end of the rear part of the nose. In the fuselage assembly 2, one end of the lower support rod 2.3 passes through the front support 2.1 and connects to the servo frame pivot 1.4, and the other end connects to the bottom of the rear support 2.5. One end of each of the two upper support rods 2.4 is connected to the top of the front support 2.1, and the other end is connected to the top of the rear support 2.5. The upper end of the torsion servo frame 2.2 is fixedly connected to one of the upper support rods 2.4, and the lower end is fixedly connected to the lower support rod 2.3, and it is located at the front end of the entire fuselage assembly 2. The tail wing assembly 3 consists of a tail wing tail clamp 3.1, a tail wing fixing frame 3.2, and a tail wing rod 3.3. The tail wing tail clamp 3.1 is fixed to the rear support 2.5, the tail wing fixing frame 3.2 is fixed to the tail wing tail clamp 3.1, and the tail wing rod 3.3 is fixed to the tail wing fixing frame 3.2.
[0022] Depend on Figure 4 and Figure 5 As shown, the wing assembly 4 comprises a servo arm 4.5, a wing main shaft 4.1, a three-way valve device 4.3, a first hinged link 4.2, a second hinged link 4.4, wing rod one 4.11, wing rod two 4.12, wing rod three 4.13, a first support rod 4.9, a second support rod 4.10, and a third hinged link 4.8. The flapping servo 1.2 is pivotally connected to the servo arm 4.5, and the servo arm 4.5 is fixedly connected to the wing main shaft 4.1. One end of the wing main shaft 4.1 is connected to the front hinge 4.6. The three-way valve device 4.3, the first hinged link 4.2, and the second hinged link 4.4 are all fixed to the wing main shaft 4.1. One end of the second support rod 4.10 is connected to... One end of the first hinge link 4.2 is connected to the third hinge link 4.8. One end of the first support rod 4.9 is connected to the second hinge link 4.4, and the other end is connected to the rear hinge 4.7. The three-way valve device 4.3 has angles of 20°, 40°, and 60°. The 20° port is connected to wing rod three 4.13, the 40° port is connected to wing rod two 4.12, and the 60° port is connected to wing rod one 4.11. The front hinge 4.6 is fixedly connected to the front part of the nose 1.1, the rear hinge 4.7 is fixedly connected to the rear part of the nose 1.5, and the third hinge link 4.8 is fixedly connected to the extension rod 1.6. The other half of the wing assembly is symmetrically distributed on the other side of the flapping wing aircraft.
[0023] like Figure 6As shown, the torsion linkage mechanism 5 consists of a torsion servo 5.1, a torsion servo rocker arm 5.2, and a torsion link 5.3. The torsion servo 5.1 is fixed on the torsion servo frame 2.2. One end of the torsion servo rocker arm 5.2 is fixedly connected to the torsion link 5.3, and the other end of the torsion link 5.3 is connected and fixedly connected to the torsion rod 1.7 at the rear end of the rear part 1.5 of the nose.
[0024] Working principle, by Figure 7 and Figure 1 As shown, during normal flight, the twist servo 5.1 is not engaged, while the two flapping servos 1.2 drive the wing assembly 4 to flap up and down. During landing, the twist servo 5.1 drives the twist servo arm 5.2 to rotate counterclockwise, which in turn drives the torsion linkage 5.3 to rotate counterclockwise. The torsion linkage 5.3 then drives the torsion rod 1.7 to rotate counterclockwise around the servo frame pivot 1.4. Simultaneously, the nose assembly 1 and the wing assembly 4 also rotate counterclockwise. The two flapping servos 1.2 drive the wing assembly 4 to flap approximately back and forth, thereby reducing the forward speed of the ornithopter during landing and protecting it.
[0025] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A deceleration landing flapping-wing aircraft, comprising a nose assembly (1), a fuselage assembly (2), a tail assembly (3), a wing assembly (4), and a torsion linkage mechanism (5); characterized in that: The nose assembly (1) includes a front nose section, a flapping servo, a flapping servo frame, a rear nose section, a frame pivot, an extension rod, and a torsion rod; the fuselage assembly (2) includes a front support, a rear support, an upper support rod, a lower support rod, and a torsion servo frame; the tail assembly (3) includes a tail fin tail clamp, a tail fin fixing frame, and tail fin rods; the wing assembly (4) includes a wing main rod, a first hinged link, a three-way valve device, a second hinged link, a servo rocker arm, a front hinge, a rear hinge, a third hinged link, a first support rod, and a second... Support rod, wing rod one, wing rod two, wing rod three; the torsion linkage mechanism (5) includes a torsion servo, a torsion servo rocker arm and a torsion linkage; the nose assembly (1) is installed at the front of the aircraft, the nose assembly (1) is fixedly connected to the fuselage assembly (2), the tail assembly (3) is assembled at the tail end of the fuselage assembly (2), the wing assembly (4) is hinged to both sides of the nose assembly (1), and the torsion linkage mechanism (5) is connected to the fuselage assembly (2) and the nose assembly (1) respectively, and is used to adjust the angle of the torsion linkage during the landing phase to achieve the deceleration of the whole aircraft.
2. The deceleration and landing flapping-wing aircraft according to claim 1, characterized in that: The front part (1.1) of the head assembly (1), the servo frame (1.3), and the rear part (1.5) of the head are connected by a rectangular rod; the servo frame (1.3) is connected to the servo frame pivot (1.4) below, and two servos (1.2) are fixed to the servo frame with screws. The extension rod (1.6) and the torsion rod (1.7) are respectively connected and fixed to the two sides and the rear end of the rear part of the head.
3. A deceleration landing flapping-wing aircraft according to claim 1, characterized in that: The fuselage assembly (2) has a lower support rod (2.3) with one end passing through the front support (2.1) and connected to the frame pivot (1.4), and the other end connected to the lower part of the rear support (2.5). Two upper support rods (2.4) have one end connected to the upper part of the front support (2.1) and the other end connected to the upper part of the rear support (2.5). The upper end of the torsion servo frame (2.2) is fixedly connected to one of the upper support rods (2.4), and the lower end is fixedly connected to the lower support rod (2.3), and is located at the front end of the entire fuselage assembly (2).
4. A deceleration landing flapping-wing aircraft according to claim 1, characterized in that: The tail wing assembly (3) consists of a tail wing tail clamp (3.1), a tail wing fixing frame (3.2), and a tail wing rod (3.3). The tail wing tail clamp (3.1) is fixed to the rear support (2.5), the tail wing fixing frame (3.2) is fixed to the tail wing tail clamp (3.1), and the tail wing rod (3.3) is fixed to the tail wing fixing frame (3.2).
5. A deceleration landing flapping-wing aircraft according to claim 1, characterized in that: The wing assembly (4) consists of a servo rocker arm (4.5), a wing main rod (4.1), a three-way valve device (4.3), a first hinge link (4.2), a second hinge link (4.4), a wing rod one (4.11), a wing rod two (4.12), a wing rod three (4.13), a first support rod (4.9), a second support rod (4.10), and a third hinge link (4.8). The flapping servo (1.2) is connected to the servo rocker arm (4.5) by a pivot. The servo rocker arm (4.5) is also fixed to the wing main rod (4.1). One end of the wing main rod (4.1) is connected to the front hinge (4.6). The three-way valve device (4.3), the first hinge link (4.2), and the second hinge link (4.4) are all fixed to the wing main rod (4.1). One end of the second support rod (4.10) is connected to... One end of the first hinge link (4.2) is connected to the third hinge link (4.8). One end of the first support rod (4.9) is connected to the second hinge link (4.4). The other end of the first support rod (4.9) is connected to the rear hinge (4.7). The three-way valve device (4.3) has angles of 20°, 40° and 60°. The 20° port is connected to the third wing rod (4.13), the 40° port is connected to the second wing rod (4.12), and the 60° port is connected to the first wing rod (4.11). The front hinge (4.6) is fixedly connected to the front of the nose (1.1). The rear hinge (4.7) is fixedly connected to the rear of the nose (1.5). The third hinge link (4.8) is fixedly connected to the extension rod (1.6). The other half of the wing assembly is symmetrically distributed on the other side of the flapping wing aircraft.
6. A deceleration landing flapping-wing aircraft according to claim 1, characterized in that: The torsion linkage mechanism (5) consists of a torsion servo (5.1), a torsion servo rocker arm (5.2), and a torsion link (5.3). The torsion servo (5.1) is fixed on the torsion servo frame (2.2). One end of the torsion servo rocker arm (5.2) is fixedly connected to the torsion link (5.3), and the other end of the torsion link (5.3) is fixedly connected to the torsion rod (1.7) at the rear end of the rear part (1.5) of the nose.