CN115817812A - A flapping-wing aircraft imitating pterosaurs - Google Patents

Abstract

The invention discloses a pterosaur-like flapping wing aircraft, which comprises a skeleton, flapping wings arranged on both sides of the skeleton, a driving device arranged in the middle of the skeleton, and an empennage arranged at the tail of the skeleton. The drive motor transmits the power to the output gear through the reduction of the gear set, and the rotation of the output gear transmits the power to the flapping wing. The flapping mechanism includes: an output gear, a rotating shaft, and a crank that rotates fixedly with the output gear; the flapping wing includes: a wing bar that runs through the entire flapping wing and is connected with the skeleton, a group of wing pulse bars that are connected with the wing bar and stretched, covering the The fin membrane on the flapping bar; the empennage is fixedly connected by an empennage hinge arranged at the tail of the skeleton and a plurality of connecting rods. The invention has the advantages of simple structure, good bionic effect, high operation efficiency, excellent flight performance and the like.

Description

A flapping-wing aircraft imitating pterosaurs

technical field

The invention belongs to the technical field of flapping-wing aircraft, and in particular relates to a pterosaur-like flapping-wing aircraft.

Background technique

The flapping wing aircraft is a small aircraft designed based on the principle of bionics, which has the characteristics of small size, light weight, low energy consumption, good maneuverability, good concealment and easy to carry. Compared with fixed-wing and rotary-wing aircraft, flapping-wing aircraft has both its advantages, higher aerodynamic efficiency, and a much higher degree of miniaturization than fixed-wing and rotary-wing aircraft, so it has a wider application field. Generally speaking, the flapping wing aircraft is widely regarded as the most promising class of aircraft.

The current flapping wing aircraft is mainly imitated by birds, with different shapes and operation methods, but the main flapping surface and the tail surface are separated, the main flapping surface flaps up and down to provide lift and thrust, and the tail surface Controlling heading and pitching, while the leading edge of the flapping wing is straight, this conventional design cannot achieve a good bionic effect, resulting in poor performance of the designed aircraft.

Contents of the invention

An embodiment of the present invention provides a pterosaur-like flapping-wing aircraft, which can realize a highly bionic appearance and flapping-wing action. Technical scheme of the present invention is as follows:

A skeleton, the skeleton is provided with a driving motor, and the driving motor is decelerated by a reduction gear set and then transmits power to two driving gears arranged side by side on both sides of the top of the skeleton;

Driving device, the driving device includes a driving motor, a reduction gear set, an output gear, a pair of cranks, and a pair of push rods; the driving motor is fixed on the frame, and the output shaft of the driving motor is concentric with a gear fixed connection, the gear meshes with the reduction gear set, and transmits the power to the output gear, the crank is installed on the output gear, and the crank is fixed connected with the output gear and rotates synchronously; The crank and the push rod are hinged through a spherical pair, and the push rod pushes the flapping wing to swing around the flapping wing fixing seat; one end of the push rod is connected to the crank, and the other end is connected to the flapping wing. Rocker connection;

Flapping wings, the flapping wings are arranged on both sides of the skeleton, including rocker arms, straight wing rods, curved wing rods, a group of vein rods, and a flapping wing film covering the flapping wings. One end of the straight wing bar is hinged to the flapping wing fixing seat through the rocker arm, and the flapping wing fixing seat is installed on the frame so that the flapping wing wings swing around the flapping wing fixing seat as a center.

The empennage is arranged at the tail of the skeleton, including a first steering gear, a second steering gear, a first connecting rod, a second connecting rod, a first driving rod, a second driving rod, a tail hinge, a first tail splint, a second Two tail splints, the first tail rod group, the second tail rod group, and the tail film; the first steering gear is installed at the tail of the skeleton, and the output shaft of the first steering gear is parallel to the direction of the skeleton plane , one end of the first driving rod is connected with the output shaft of the first steering gear, and the other end is connected with the first tail splint, and the first tail splint is connected through the tail hinge and the first connecting rod One end of the first connecting rod is connected, and the other end of the first connecting rod is fixed on the tail of the skeleton through the empennage fixing seat; the empennage film is glued on the first empennage rod group; the second steering gear , the second connecting rod, the second driving rod, the second empennage splint, and the second empennage rod group are related to the first steering gear, the first connecting rod, the first driving rod, the first empennage splint, and the first empennage rod group The skeleton is symmetrically arranged, and its working principle is the same as above.

Further, the reduction gear set includes a transmission main gear, a primary reduction gear, a secondary reduction gear and a driving gear, the transmission main gear is installed on the output shaft of the drive motor, and the primary reduction gear is connected to the The transmission main gear meshes, the second-stage reduction gear is installed on the shaft of the first-stage reduction gear, and the third-stage reduction gear meshes with the second-stage reduction gear.

Further, the straight wing rod in the flapping wing is a hollow carbon fiber tube, and the curved wing rod is a carbon fiber rod that runs through the straight wing rod and extends to the end of the flapping wing, relying on its own elastic deformation and relying on The bonding constraint of the flapping wing film and the vein rod makes the bending rod bend, thereby achieving the bionic effect of bending the leading edge of the flapping wing.

Further, the tail rod is a set of carbon fiber rods fixed on the tail splint and arranged divergently; one end of the tail coating is glued to the tail rod, and at the same time, the other end of the tail coating One end is connected with the flapping wing film to form a bionic appearance of a pterosaur, and at the same time realize the turning motion and pitching motion of the aircraft.

Further, the skeleton is wrapped by a high-strength foam shell, and its shape is similar to that of a pterosaur, which not only increases the bionic effect of the flapping wing aircraft, but also protects the internal structure of the flapping wing.

The present invention has the following advantages and beneficial effects:

1. A kind of imitation pterosaur flapping wing aircraft of the present invention, its structure is simple and stable, connects compactly, transmission is stable, and flight action is smooth.

2. A kind of imitation pterosaur flapping wing aircraft of the present invention, adopts the film material of nylon fiber, is light in weight, and the flying attitude of flapping wing flapping, empennage swing during operation has improved the aerodynamic efficiency of aircraft, has promoted the aircraft's Handling performance.

3. A pterosaur-like flapping wing aircraft according to the present invention uses carbon fiber tubes to fit carbon fiber rods to produce flapping wings with curved leading edges. better.

4. A kind of imitation pterosaur flapping-wing aircraft of the present invention, adopts high-strength foam shell as the shape body of aircraft, plays the effect of bionic and protection simultaneously, has improved the overall structural strength of flapping-wing aircraft.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is the first side view of the present invention

Fig. 3 is the schematic diagram of the driving device of the present invention

Fig. 4 is a structural schematic diagram of the flapping wing of the present invention.

Fig. 5 is a structural schematic diagram of the empennage of the present invention.

Explanation of reference numbers:

1. Driving device, 2. Flapping wing, 3. Empennage, 4. Skeleton, 5. Flapping wing fixing seat, 6. Tail wing fixing seat;

101. drive motor, 102. reduction gear set, 103. output gear, 104. crank, 105. push rod;

201. rocker arm, 202. straight wing rod, 203. curved wing rod, 204. a group of wing pulse rods, 205. flapping wing film;

301. The first steering gear, 302. The second steering gear, 303. The first connecting rod, 304. The second connecting rod, 305. The first driving rod, 306. The second driving rod, 307. The empennage hinge, 308. The first One empennage splint, 309. the second empennage splint, 310. the first empennage rod group, 311. the second empennage rod group, 312. empennage film.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of such feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the drawings of Figures 1-5, like reference numerals are used to refer to like elements. The drawings in the description are of some, but not all, embodiments of the invention. Those skilled in the art can obtain other drawings based on these drawings without creative efforts.

As shown in Figures 1 and 2, a pterosaur flapping wing aircraft mainly includes a skeleton 4, a driving device 1 arranged on the skeleton 4, flapping wings 2 arranged on both sides of the skeleton 4, and a flapping wing arranged at the tail of the skeleton 4. The empennage 3; the flapping wing 2 realizes the flapping motion up and down through the flapping mechanism, and the empennage 3 realizes the turning motion and the pitching motion by the first steering gear 301 and the second steering gear 302.

As shown in FIG. 3 , the skeleton 4 is provided with a drive device 1 , including a drive motor 101 , a reduction gear set 102 , an output gear 103 , and a push rod 104 . The driving motor 101 is powered by a battery and rotates, and after being decelerated by the reduction gear set 102, the power is transmitted to two output gears 103 arranged side by side on both sides of the frame 4 . The reduction gear set includes a transmission main gear, a primary reduction gear, a secondary reduction gear and an output gear 103. The transmission main gear is installed on the output shaft of the drive motor, the primary reduction gear meshes with the transmission main gear, and the rotating shaft of the primary reduction gear The secondary reduction gear is installed above, and the output gear 103 meshes with the secondary reduction gear. A gear fixing disk is also arranged between the output gear 103 and the skeleton to fix the relative spatial position of the output gear 103 and the skeleton 4, and the gear fixing disk is fixed on the skeleton 4 by screws and nuts.

As shown in Figure 4, the pterosaur flapping wing aircraft also includes flapping wings 2, and the flapping wings 2 are arranged on both sides of the skeleton 4, including a rocker arm 201, a straight wing bar 202, a curved wing bar 203, and a group of wing vein bars. 204, and the flapping wing film 205 covered on the flapping wing. One end of the straight wing bar 202 is hinged with the flapping wing fixing seat 5 through the rocker arm 201, and the flapping wing fixing seat 5 is installed on the skeleton 4, so that the flapping wing wing 2 swings around the flapping wing fixing seat 5 as the center.

One end of the rocking arm 201 is hollow tubular, and the other end is a transverse through hole. One end of the flapping wing holder is a transverse through hole, and the other end is fixed on the frame 4 with bolts. The transverse through hole of the rocker arm 201 is concentric with the transverse through hole of the flapping wing holder, and the hollow tube end of the rocker arm 201 is inserted into the straight wing rod 202; The rod 203 is extended to the carbon fiber tube at the end of the flapping wing, relying on its own elastic deformation, and relying on the bonding constraints of the flapping wing film 205 and the vein rod 204, forcing the bending wing rod 203 to bend, so as to reach the flapping wing 2 The bionic effect of the leading edge bending also makes the flapping wings produce a certain elastic deformation in the process of flapping up and down, thus generating greater thrust.

During the flight, the driving motor 101 rotates, and the power is transmitted to the output gear 103 through the reduction gear set 102, and the output gear 103 is fixedly connected with the crank 104 and the rotating shaft to rotate synchronously. Both ends of the push rod 105 are spherical pairs, one end is hinged to the crank 104 , and the other end is hinged to the rocker arm 201 . The crank 104 rotates, and then drives the push rod 105 to reciprocate up and down, and then drives the flapping wing 2 to flutter up and down to generate lift.

As shown in Figure 5, the pterosaur flapping wing aircraft also includes an empennage 3, which is arranged at the tail of the skeleton (4). Empennage 3 comprises first steering gear 301, second steering gear 302, first connecting rod 303, second connecting rod 304, first driving rod 305, second driving rod 306, empennage hinge 307, first empennage splint 308, the first Two empennage splints 309, the first empennage rod group 310, the second empennage rod group 311, empennage film 312; the first steering gear 301 is installed on the skeleton 4 afterbody, and the output shaft of the first steering gear 301 is parallel to the described In the plane direction of the skeleton 4, the first driving rod 305 is connected with the output shaft of the first steering gear 301, and the other end is connected with the first tail splint 308, and the first tail splint 308 is passed through the tail hinge 307 and one end of the first connecting rod 303 Connected, the other end of the first connecting rod 303 is fixed on the afterbody of the skeleton 4 through the empennage holder 5; The second drive rod 306, the second tail splint 309, the second tail rod group 311 and the first steering gear 301, the first connecting rod 303, the first drive rod 305, the first tail splint 308, and the first tail rod group 310 are about the skeleton 4 symmetrical arrangement, its working principle is the same as above. In the embodiment of the present invention, the empennage rod group 310 is arranged in a fan shape and is made of several carbon fiber rods and nylon fiber cloth, which is light in weight and strong in toughness, and can better adapt to the complex flying posture of the flapping wing aircraft.

During the flight, the first steering gear 301 and the second steering gear 302 jointly control the pitching motion and steering motion of the aircraft, the first steering gear 301 controls the first tail bar group 310 to rotate around the tail hinge, and the second steering gear 302 controls The second empennage rod set 311 rotates about the empennage hinge. When the first tail bar group 310 and the second tail bar group 311 rotated upwards to a certain angle simultaneously, the aircraft climbed upward; when the first tail bar group 310 and the second tail bar group 311 rotated downward to a certain angle simultaneously, the aircraft Dive down; when the first tail rod group 310 and the second tail rod group 311 deflect in different directions, the pressure difference can be formed on the tail film 312 on the left and right tail rod groups, thereby making the aircraft deflect to the left or right . This design can effectively control the flight attitude of the aircraft, and the tail movement is more flexible, more like the feet of pterosaurs.

During specific operation, the above-mentioned straight wing rod 202 is a hollow carbon fiber tube with an outer diameter of 5 mm and an inner diameter of 3 mm, the curved wing rod 203 is a carbon fiber rod with a diameter of 2.8 mm, and the wing vein rod 204 and the empennage rod group 310 are carbon fiber rods with a diameter of 1.5 mm. The skeleton 4 is a carbon fiber plate with a thickness of 2mm, and the rest of the parts are made of nylon material and aluminum alloy 3D printing.

The present invention uses a space crank-rocker mechanism as a driving mechanism, and compared with a planar crank-rocker mechanism, the invention has a compact structure and good symmetry. At the same time, the empennage controls the deflection angle of the two empennage rod groups through the left and right steering gears, which can control the flight attitude of the aircraft. Thirdly, the wing span reaches 1.4 meters, and the wing area is enlarged, which can effectively improve the aerodynamic performance of the flapping wing aircraft, and the whole mechanism has a simple structure, stable operation, and high bionicity.

The invention is a pterosaur-like flapping wing aircraft, which is suitable for military and civilian fields such as road monitoring, disaster rescue, field search and rescue, enemy situation investigation, environmental monitoring, agricultural survey, and the like. The invention has the characteristics of few driving sources, high flexibility, high flight efficiency, large lift generation, high bionic degree, high structural strength and the like.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still It is possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.

Claims (5)

1. A winged dragon-imitated flapping wing aircraft is characterized by comprising a driving device (1), a pair of flapping wing wings (2), a pair of tail wings (3), a framework (4), a pair of flapping wing fixing seats (5) and a pair of tail wing fixing seats (6);

the driving device (1) comprises a driving motor (101), a reduction gear set (102), an output gear (103), a pair of cranks (104) and a pair of push rods (105); the driving motor (101) is fixed on the framework (4), an output shaft of the driving motor (101) is concentrically and fixedly connected with a gear, the gear is meshed with the reduction gear set (102) and transmits power to the output gear (103), the output gear (103) is provided with the crank (104), and the crank (104) is fixedly connected with the output gear (103) and synchronously rotates; the crank (104) is connected with the push rod (105) through a spherical pair, and the push rod (105) pushes the flapping wing (2) to swing by taking the flapping wing fixing seat (5) as a center; one end of the push rod (105) is connected with the crank (104), and the other end of the push rod is connected with the rocker arm (201);

the flapping wing (2) is arranged on two sides of a framework (4) and comprises a rocker arm (201), a straight wing rod (202), a bent wing rod (203), a group of wing vein rods (204) and a flapping wing film (205) covering the flapping wing, one end of the straight wing rod (202) is hinged to the flapping wing fixing seat (5) through the rocker arm (201), the flapping wing fixing seat (5) is arranged on the framework (4) to enable the flapping wing (2) to swing around the flapping wing fixing seat (5) as the center,

the tail wing (3) is arranged at the tail part of the framework (4) and comprises a first steering engine (301), a second steering engine (302), a first connecting rod (303), a second connecting rod (304), a first driving rod (305), a second driving rod (306), a tail wing hinge (307), a first tail wing clamping plate (308), a second tail wing clamping plate (309), a first tail wing rod group (310), a second tail wing rod group (311) and a tail wing film (312); the first steering engine (301) is installed at the tail of the framework (4), an output shaft of the first steering engine (301) is parallel to the plane direction of the framework (4), one end of a first driving rod (305) is connected with the output shaft of the first steering engine (301), the other end of the first driving rod is connected with a first tail wing clamping plate (308), the first tail wing clamping plate (308) is connected with one end of a first connecting rod (303) through a tail wing hinge (307), and the other end of the first connecting rod (303) is fixed at the tail of the framework (4) through a tail wing fixing seat (6); the tail wing coating (312) is glued on the first tail wing rod group (310); second steering wheel (302), second connecting rod (304), second actuating lever (306), second fin splint (309), second fin pole group (311) with first steering wheel (301), first connecting rod (303), first actuating lever (305), first fin splint (308), first fin pole group (310) about skeleton (4) symmetrical arrangement.

2. The simulated winged dragon ornithopter aircraft of claim 1, wherein: the speed reduction gear set (102) comprises a transmission main gear, a primary speed reduction gear, a secondary speed reduction gear and a driving gear, wherein the transmission main gear is installed on an output shaft of the driving motor, the primary speed reduction gear is meshed with the transmission main gear, the secondary speed reduction gear is installed on a rotating shaft of the primary speed reduction gear, and the tertiary speed reduction gear is meshed with the secondary speed reduction gear.

3. The ornithopter-like ornithopter of claim 1, wherein: straight wing pole (202) in flapping wing (2) are hollow carbon fiber tube, curved wing pole (203) are for running through straight wing pole (202) and prolong to the terminal carbon fiber pole of flapping wing, rely on its self elastic deformation to and rely on the bonding constraint of flapping wing tectorial membrane (205) and wing pulse pole (204), make curved wing pole (203) crooked, thereby reach the bionical effect that flapping wing (2) leading edge is crooked.

4. The simulated winged dragon ornithopter aircraft of claim 1, wherein: the tail wing rods (310) are a group of carbon fiber rods, are fixed on the tail wing clamping plate (308) and are arranged in a divergent mode; one end of the tail wing film (312) is glued on the tail wing rod (310), and the other end of the tail wing film (312) is connected with the flapping wing film (205) to form a pterosaur bionic appearance, and meanwhile, the turning motion and the pitching motion of the aircraft are realized.

5. The simulated winged dragon ornithopter aircraft of claim 1, wherein: skeleton (4) are wrapped up by high strength foam shell, and its appearance is similar with pterosaurs, has both increased flapping wing aircraft's bionic effect, also plays the guard action to flapping wing inner structure.

Images