A modular ornithopter structure

Abstract

The utility model discloses a modularization's whole machine structure of ornithopter, including fuselage board, drive module, wing and tail, the front end of fuselage board is provided with the mounting hole for assembling drive module, and the back of fuselage board is provided with the mounting frame at intervals, and the top of mounting frame is provided with the mounting groove, and the horizontal flexible pressing plate is jointly inserted in the mounting groove, and the wing membrane of wing is tightly pressed between mounting frame and flexible pressing plate, and the shoulder part and tail part of wing are provided with shoulder part connecting piece and rear end connecting piece respectively, and shoulder part connecting piece and rear end connecting piece are rotatably arranged with fuselage board, tail wing fixing piece is arranged on the tail wing, and the rear end of fuselage board is detachably provided with tail wing connecting piece, and rudder is arranged on tail wing connecting piece, and tail wing fixing piece is rotatably arranged with rudder through universal joint and connecting rod mechanism. The utility model carries out complete installation decoupling to large area plane component and small volume three -dimensional component, and the transportation cost of ornithopter whole machine is reduced to the maximum, and it is convenient to dismount and maintain.

Description

Technical Field

[0001] This utility model relates to the field of flapping-wing aircraft technology, and in particular to a modular flapping-wing aircraft overall structure. Background Technology

[0002] Ornithoptering aircraft are a type of aircraft that achieve flight by mimicking the wing vibrations of birds or insects. Unlike traditional fixed-wing aircraft or rotary-wing drones, ornithoptering aircraft rely on rhythmic wing flapping to generate lift and thrust, enabling hovering, forward movement, and turning. This flight mode has strong biomimetic characteristics and has become a hot research area in aerodynamics, bionics, and unmanned aerial vehicles in recent years. Despite the unique advantages of ornithoptering aircraft, their development still faces certain limitations: 1. Many existing ornithoptering mechanism designs typically involve multi-degree-of-freedom linkages and complex multi-drive systems, making manufacturing and maintenance difficult; 2. The nonlinear and strongly coupled characteristics of ornithoptering flight make flight control algorithms complex and highly dependent on sensors and real-time feedback systems. For example, the three-dimensional flapping wing drive mechanism based on a cross-axis hinge and a conical rocker arm disclosed in application number CN201810814396.1 achieves flapping wing motion under single-motor drive through the core drive structure of the cross-axis hinge and adaptive conical rocker arm, combined with variable amplitude sweep servo differential control. It also introduces a glider lock to extend the flight mode, achieving a balance between lightweight design, reliability, and bird biomimicry. However, the design is relatively complex, the manufacturing and processing technology is complicated, and assembly is inconvenient. To solve these problems, there is an urgent need to develop a modular flapping wing aircraft structure that completely decouples large-area planar components from small-volume three-dimensional components, minimizing the overall transportation cost of the flapping wing aircraft and facilitating disassembly and maintenance. Utility Model Content

[0003] The purpose of this utility model is to overcome the shortcomings of the prior art and to provide a modular flapping wing aircraft structure that completely decouples large-area planar components from small-volume three-dimensional components, thereby minimizing the transportation cost of the entire flapping wing aircraft and facilitating disassembly and maintenance.

[0004] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0005] A modular flapping-wing aircraft structure includes a fuselage plate, a drive module, a wing, and a tail. The fuselage plate has mounting holes at its front end for assembling the drive module. Mounting brackets are spaced apart on the back of the fuselage plate, with their bottoms embedded in the fuselage plate via slots and detachably connected via connectors. Each mounting bracket has a mounting groove at its top, into which a horizontal flexible pressure plate is inserted. The sides of the mounting brackets have an outer edge embedded in the upper surface of the flexible pressure plate. The wing membrane is pressed tightly between the mounting brackets and the flexible pressure plate. Shoulder and rear end connectors are respectively provided at the shoulder and tail of the wing, both rotatably mounted to the fuselage plate. The shoulder connector is rotatably connected to the drive module via a linkage mechanism. A tail wing fixing component is provided on the tail wing. A tail wing connector is detachably mounted at the rear end of the fuselage plate, and a servo is mounted on the tail wing connector. The tail wing fixing component is rotatably mounted to the servo via a universal joint and a linkage mechanism.

[0006] Furthermore, one end of the shoulder connector is connected to the shoulder rod of the wing, and the other end is rotatably connected to the front connector. The front connector is detachably inserted into the fuselage plate. An internal threaded pin is provided between the shoulder connector and the front connector. From the inside to the outside, a bushing and a flange bearing are arranged on the internal threaded pin.

[0007] Furthermore, one end of the rear-end connector is connected to the tail rod of the wing, and the other end is rotatably connected to the tail connector. The tail connector is detachably inserted into the fuselage plate, and a pin is provided between the rear-end connector and the tail connector.

[0008] Furthermore, a fixing hole is provided around the mounting hole, and the edge of the mounting hole has a recess that matches the outer surface of the drive module. The fixing hole and the recess are alternately arranged.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] The entire machine of this utility model features a modular design, with the fuselage, wings, tail, and drive module all capable of being disassembled and reassembled. This not only facilitates assembly but also allows for easy replacement and repair of individual components, reducing maintenance costs. It achieves complete decoupling of large-area planar components from small-volume three-dimensional components, minimizing transportation difficulties. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model;

[0012] Figure 2 for Figure 1 Enlarged view of part A;

[0013] Figure 3This is a connection structure diagram of the shoulder connector and the front connector in this utility model;

[0014] Figure 4 This is a structural diagram showing the connection between the rear wing component and the fuselage plate in this utility model;

[0015] Figure 5 for Figure 4 Enlarged view of part B;

[0016] Figure 6 This is a side view of the present invention;

[0017] Figure 7 for Figure 6 Enlarged view of part C;

[0018] Figure 8 This is a structural diagram showing the connection between the flexible pressure plate and the body plate in this utility model;

[0019] Figure 9 for Figure 8 Top view;

[0020] Figure 10 for Figure 8 Side view.

[0021] Figure label:

[0022] 1-Fuselage plate, 2-Drive module, 3-Mounting hole, 4-Wing, 5-Tail, 6-Flexible pressure plate, 7-Mounting bracket, 8-Shoulder connector, 9-Front end connector, 10-Tail end connector, 11-Rear end connector, 12-Tail fin connector, 13-Servo, 14-Universal joint, 15-Universal joint connector, 16-Tail fin fixing component, 17-Wing membrane. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] like Figures 1 to 10As shown, a modular flapping-wing aircraft structure includes a fuselage plate 1, a drive module 2, a wing 4, and a tail fin 5. The front end of the fuselage plate 1 has mounting holes 3 for assembling the drive module 2. Mounting brackets 7 are spaced apart on the back of the fuselage plate 1. The bottom of each mounting bracket 7 is embedded in the fuselage plate 1 via slots and detachably connected via connectors. Each mounting bracket 7 has a mounting groove at its top, into which a horizontal flexible pressure plate 6 is inserted. The side of each mounting bracket 7 has an outer edge embedded in the upper surface of the flexible pressure plate 6. The wing membrane 1 of the wing 4... 7 is pressed tightly between the mounting bracket 7 and the flexible pressure plate 6. The shoulder and tail of the wing 4 are respectively provided with a shoulder connector 8 and a rear connector 11. Both the shoulder connector 8 and the rear connector 11 are rotatably set with the fuselage plate 1. The shoulder connector 8 is rotatably connected to the drive module 2 through a linkage mechanism. The tail wing 5 is provided with a tail wing fixing member 16. The rear end of the fuselage plate 1 is detachably provided with a tail wing connector 12. The tail wing connector 12 is provided with a servo motor 13. The tail wing fixing member 16 is rotatably set with the servo motor 13 through a universal joint 14 and a linkage mechanism.

[0025] like Figure 1 and Figure 2 As shown, one end of the shoulder connector 8 is connected to the shoulder rod of the wing 4, and the other end is rotatably connected to the front connector 9. The front connector 9 is detachably inserted into the fuselage plate 1. An internally threaded pin is provided between the shoulder connector 8 and the front connector 9. From the inside to the outside, a bushing and a flange bearing are sequentially arranged on the internally threaded pin. The rotation mechanism at the front end of the wing 4 uses the internally threaded pin as the pivot. From the inside to the outside, the bushing and the flange bearing sequentially achieve low-friction rotational freedom contact between the two sides of the shoulder connector 8 and the inner side of the front connector 9, while simultaneously providing axial constraint. This part of the shaft system can be directly assembled sequentially from the axial direction. Figure 3 As shown, the two front-end connectors 9 can be connected to the front end of the fuselage plate 1 via a mortise and tenon structure. The front-end connectors 9 are then completely fixed to the fuselage plate 1 using screws and nuts, thereby constraining the axial movement of the front-end connectors 9. The above design and assembly sequence achieves modular assembly of the wing 4's front-end rotating mechanism and enables rapid assembly.

[0026] like Figure 4 and Figure 5 As shown, one end of the rear connecting member 11 is connected to the tail rod of the wing 4, and the other end is rotatably connected to the tail connecting member 10. The tail connecting member 10 is detachably inserted into the fuselage plate 1, and a pin is provided between the rear connecting member 11 and the tail connecting member 10. The rotation mechanism at the rear of the wing 4 uses the pin as the pivot. After the tail connecting member 10 is initially fixed to the fuselage plate 1 through a slot, it is fixed by pre-embedded nuts and screws, thus achieving the effect of individual module assembly and overall boundary assembly.

[0027] like Figure 8 As shown, mounting holes 3 are surrounded by fixing holes, and the edges of mounting holes 3 have recesses that match the outer surface of the drive module 2. The fixing holes and recesses are alternately arranged. Because the recesses match the outer surface of the drive module 2, the drive module 2 can be directly inserted into the mounting holes 3 from one side of the body plate 1 without interfering with the body plate 1. After insertion, the drive module 2 is rotated so that the mounting holes on its outer surface align with the corresponding fixing holes on the body plate 1, and a reliable connection is achieved using screws and nuts. Similarly, disassembling the drive module 2 only requires removing the screws on its outer surface and rotating the drive module 2 in the opposite direction to quickly separate it from the body plate 1, achieving a modular quick-disassembly effect.

[0028] The entire machine of this utility model is modularly designed, and the fuselage plate 1, wings 4, tail wing 5, and drive module 2 can all be disassembled and reassembled. The wings 4 are modularly assembled through shoulder connectors 8 and front connectors 9, tail connectors 10 and rear connectors 11. The front connectors 9 and tail connectors 10 can be pulled out from the back of the fuselage plate 1 after the fasteners are removed.

[0029] like Figure 6 and Figure 7 As shown, to achieve the detachable installation of the tail fin 5 and the fuselage panel 1, the tail fin 5 achieves two degrees of freedom of movement—pitch and yaw—through a servo motor 13 driving a linkage mechanism that drives the universal joint connector 15. The pitch of the tail fin 5 is achieved by the servo motor 13 pushing and pulling the linkage mechanism, causing the universal joint connector 15 to rotate around the universal joint 14, thus rotating the tail fin fixing member 16 up and down. The yaw of the tail fin 5 is achieved by the servo motor 13 driving the linkage mechanism to deflect, causing the universal joint connector 15 to rotate around the universal joint 14, thus rotating the tail fin fixing member 16 left and right.

[0030] like Figures 8 to 10 As shown, to achieve detachable installation of the integrated wing 4 and fuselage panel 1, the mounting bracket 7 and flexible pressure plate 6 are interlocked to reliably install the integrated wing 4 onto the back of the fuselage panel 1. Three identical mounting brackets 7 are connected to the upper part of the fuselage panel 1 via slots and screws and nuts. The flexible pressure plate 6 is 3D printed from low-rigidity TPU material, with a thickness slightly greater than the height of the mounting slot of the mounting bracket 7, thus achieving an interference fit. The mounting bracket 7 has inwardly curved outer edges on both sides, facilitating the deformation and insertion of the flexible pressure plate 6 and the fixation of the wing membrane 17.

[0031] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A modular flapping-wing aircraft structure, comprising a fuselage plate (1), a drive module (2), a wing (4), and a tail fin (5), characterized in that: The front end of the fuselage plate (1) is provided with mounting holes (3) for assembling the drive module. Mounting brackets (7) are provided at intervals on the back of the fuselage plate (1). The bottom of the mounting brackets (7) is embedded in the fuselage plate (1) through slots and is detachably connected by connectors. The top of each mounting bracket (7) is provided with a mounting groove. A horizontal flexible pressure plate (6) is inserted into the mounting groove, and the side of the mounting bracket (7) has an outer edge embedded in the upper surface of the flexible pressure plate (6). The wing membrane (17) of the wing (4) is pressed tightly between the mounting bracket (7) and the flexible pressure plate (6). The shoulder and tail are respectively provided with a shoulder connector (8) and a rear connector (11). Both the shoulder connector (8) and the rear connector (11) are rotatably connected to the fuselage plate (1). The shoulder connector (8) is rotatably connected to the drive module (2) through a linkage mechanism. The tail wing (5) is provided with a tail wing fixing member (16). The rear end of the fuselage plate (1) is detachably provided with a tail wing connector (12). The tail wing connector (12) is provided with a servo motor (13). The tail wing fixing member (16) is rotatably connected to the servo motor (13) through a universal joint (14) and a linkage mechanism.

2. The modular flapping-wing aircraft structure according to claim 1, characterized in that: One end of the shoulder connector (8) is connected to the shoulder rod of the wing (4), and the other end is rotatably connected to the front connector (9). The front connector (9) is detachably inserted into the fuselage plate (1). An internal threaded pin is provided between the shoulder connector (8) and the front connector (9). A bushing and a flange bearing are provided on the internal threaded pin from the inside to the outside.

3. The modular flapping-wing aircraft structure according to claim 1, characterized in that: One end of the rear connector (11) is connected to the tail rod of the wing (4), and the other end is rotatably connected to the tail connector (10). The tail connector (10) is detachably inserted into the fuselage plate (1). A pin is provided between the rear connector (11) and the tail connector (10).

4. The modular flapping-wing aircraft structure according to claim 1, characterized in that: The mounting hole (3) is surrounded by a fixing hole, and the edge of the mounting hole has a recess that matches the outer surface of the drive module (2). The fixing hole and the recess are alternately arranged.

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