Modular whole ornithopter structure

Abstract

Disclosed in the present invention is a modular whole ornithopter structure, comprising a fuselage plate, a driving module, wings and a tail wing, wherein a mounting hole configured for the assembly of the driving module is provided at the front end of the fuselage plate; mounting brackets are arranged at intervals on the back of the fuselage plate; mounting slots are provided at the top of the mounting brackets; a horizontal flexible pressing plate is inserted into all the mounting slots; and wing membranes of the wings are tightly pressed between the mounting brackets and the flexible pressing plate; a shoulder connector and a rear-end connector are provided at the shoulder and the tail of each wing, respectively, and the shoulder connectors and the rear-end connectors are both rotationally arranged on the fuselage plate; the tail wing is provided with a tail-wing fixing member; a tail wing connector is detachably provided at the rear end of the fuselage plate, and the tail wing connector is provided with a servo; and the tail-wing fixing member is rotationally coupled to the servo by means of a universal joint and a linkage mechanism. In the present invention, large-area planar components and small-volume three-dimensional components are subjected to complete mounting decoupling, thereby minimizing the transportation cost of the whole ornithopter, and facilitating the assembly, disassembly and maintenance.

Description

A modular ornithopter overall structure Technical Field

[0001] This invention relates to the field of ornithopter technology, and more particularly to a modular ornithopter 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. Invention Overview

[0003] The purpose of this invention 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, the present invention 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. Beneficial effects

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

[0010] The entire machine of this invention features a modular design for all functions. The fuselage, wings, tail, and drive module can all be disassembled and reassembled, which not only facilitates assembly but also allows for easy partial replacement and maintenance of various components, reducing maintenance costs. It achieves complete decoupling of large-area planar components and small-volume three-dimensional components, minimizing transportation difficulties. Attached Figure Description

[0011] Figure 1 is a schematic diagram of the structure of the present invention;

[0012] Figure 2 is an enlarged view of part A in Figure 1;

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

[0014] Figure 4 is a structural diagram showing the connection between the rear wing component and the fuselage plate in this invention.

[0015] Figure 5 is an enlarged view of part B in Figure 4;

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

[0017] Figure 7 is an enlarged view of part C in Figure 6;

[0018] Figure 8 is a structural diagram showing the connection between the flexible pressure plate and the fuselage plate in this invention.

[0019] Figure 9 is a top view of Figure 8;

[0020] Figure 10 is a side view of Figure 8.

[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. Embodiments of the present invention

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

[0024] As shown in Figures 1 to 10, 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 4... The wing membrane 17 is pressed tightly between the mounting frame 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 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.

[0025] As shown in Figures 1 and 2, 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 inside of the front connector 9, while simultaneously providing axial constraint. This part of the shaft system can be assembled directly in sequence from the axial direction. As shown in Figure 3, the two front connectors 9 can be connected to the front end of the fuselage plate 1 through a tenon and mortise structure. The front connectors 9 are completely fixed to the fuselage plate 1 by screws and nuts, thereby constraining the axial movement of the front connectors 9. The above design and assembly sequence realize the modular assembly of the front end rotation mechanism of the wing 4 and the effect of rapid assembly.

[0026] As shown in Figures 4 and 5, 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] As shown in Figure 8, fixing holes are provided around the mounting hole 3. The edge of the mounting hole 3 has a recess that matches the outer surface of the drive module 2. The fixing holes and the recesses are alternately arranged. Because the recess matches the outer surface of the drive module 2, the drive module 2 can be directly inserted into the mounting hole 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 hole on the outer surface of the drive module 2 is aligned with the corresponding fixing hole on the body plate 1, and a reliable connection is achieved with screws and nuts. Similarly, to disassemble the drive module 2, only the screws on the outer surface need to be removed and the drive module 2 rotated in the opposite direction to quickly separate it from the body plate 1, achieving the effect of modular quick disassembly.

[0028] All functions of the entire machine in this invention are 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] As shown in Figures 6 and 7, 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 driving the tail fin fixing member 16 to deflect 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 driving the tail fin fixing member 16 to deflect left and right.

[0030] As shown in Figures 8 to 10, to achieve the 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 using low-rigidity TPU material, and its thickness is slightly greater than the height of the mounting slot of the mounting bracket 7 to achieve an interference fit. The mounting bracket 7 has inwardly curved outer edges on both sides to facilitate 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 invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the present invention.

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: 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).

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