阅读说明：本技术 一种微型多扑翼飞行器 (Miniature multi-flapping-wing aircraft ) 是由 周超 谷满仓 吴江浩 于 2020-05-25 设计创作，主要内容包括：本发明公开了一种微型多扑翼飞行器。该微型多扑翼飞行器是一种六扑翼布局形式,由机体和三对扑翼组成,其三对扑翼左右对称、呈阶梯状布置在机体两侧,后方的各对扑翼在竖直方向上依次低于前方紧邻的一对扑翼。该飞行器三对扑翼均水平拍动,且同侧扑翼拍动方向相同,拍动时两侧扑翼同时靠近或同时远离机体中轴线,以产生升力和推力。本发明一种微型多扑翼飞行器,有效利用多翼间及翼身间的打开合拢效应以及前后翼之间的尾迹干扰机制,解决了传统扑翼飞行器升力不足和气动效率较低的问题。(The invention discloses a miniature multi-flapping-wing aircraft. The miniature multi-flapping wing aircraft is in a six-flapping wing layout form and comprises an aircraft body and three pairs of flapping wings, wherein the three pairs of flapping wings are bilaterally symmetrical and are arranged on two sides of the aircraft body in a step shape, and each pair of rear flapping wings are sequentially lower than one pair of adjacent front flapping wings in the vertical direction. The three pairs of flapping wings of the aircraft are all flapped horizontally, the flapping directions of the flapping wings on the same side are the same, and the flapping wings on the two sides are close to or far away from the central axis of the aircraft body simultaneously during flapping so as to generate lift force and thrust. The miniature multi-flapping-wing aircraft effectively utilizes the opening and closing effect among multiple wings and between wing bodies and a wake interference mechanism between the front wing and the rear wing, and solves the problems of insufficient lift force and low aerodynamic efficiency of the traditional flapping-wing aircraft.)

1. The utility model provides a miniature many flapping wings aircraft, is a six flapping wings layout form, including the organism, its characterized in that:

the first flapping wing, the second flapping wing and the third flapping wing are positioned on the right side of the machine body, and the fourth flapping wing, the fifth flapping wing and the sixth flapping wing are respectively in bilateral symmetry with the first flapping wing, the second flapping wing and the third flapping wing about the axis of the machine body and are arranged on the left side of the machine body; the first flapping wing and the fourth flapping wing are positioned at the foremost end of the machine body, the second flapping wing and the fifth flapping wing are positioned in the middle of the machine body, and the third flapping wing and the sixth flapping wing are positioned at the rearmost end of the machine body;

the six flapping wings flap horizontally, when the three flapping wings on the left side flap forwards at the same time, the three flapping wings on the right side flap forwards synchronously, and when the three flapping wings on the left side flap backwards at the same time, the three flapping wings on the right side flap backwards synchronously to generate lift force and thrust;

when the front swatter is turned to the end position and then turned to the rear swatter, the first flapping wing and the fourth flapping wing perform opening-closing movement, and the second flapping wing, the fifth flapping wing, the third flapping wing and the sixth flapping wing perform opening-closing movement with the side face of the machine body respectively; when the back beat is shifted to the end position and then the front beat is shifted, the third flapping wing and the sixth flapping wing perform opening-closing movement, and the second flapping wing, the fifth flapping wing, the first flapping wing and the fourth flapping wing perform opening-closing movement with the side surface of the machine body respectively, so that the unsteady opening-closing effect is fully utilized to increase the lift generation and the aerodynamic efficiency.

2. The micro multi-ornithopter of claim 1, wherein said three pairs of flapping wings are arranged on both sides of said body in a stepped, horizontally equally spaced arrangement, with the rear flapping wing being vertically lower than the immediately preceding pair, said first and fourth flapping wings having the highest vertical height, said second and fifth flapping wings being the next highest vertical height, and said third and sixth flapping wings having the lowest vertical height, such that the rear flapping wing can efficiently generate high aerodynamic and aerodynamic efficiencies using the wake interference effect of the front flapping wing when said micro multi-ornithopter is flying in front of said body.

3. The micro multi-flapping-wing aircraft according to claim 1, wherein the body is integrally formed by 3D printing technology, has a bilateral symmetry structure, and is internally provided with a cavity for arranging a flapping driving system and a control system;

the flapping driving system comprises a motor, a gear reduction mechanism and a connecting rod mechanism;

the control system comprises a control circuit and a remote receiving module.

4. A method for controlling the movement of a flight wing of a micro multi-ornithopter according to any one of claims 1 to 3, wherein: when the micro multi-flapping-wing aircraft flies forwards and the three pairs of flapping wings are patted to the final positions forwards, the first flapping wing and the fourth flapping wing are attached together forwards, and the second flapping wing, the fifth flapping wing, the third flapping wing and the sixth flapping wing are attached to the side face of the aircraft body forwards; when the back-flapping motion starts, the first flapping wing and the fourth flapping wing are quickly opened backwards, and the second flapping wing, the fifth flapping wing, the third flapping wing and the sixth flapping wing are quickly separated from the side face of the machine body; then the three pairs of flapping wings carry out back-flapping movement;

similarly, when the three pairs of flapping wings are slapped to the final positions, the third flapping wing and the sixth flapping wing are jointed backwards, the second flapping wing, the fifth flapping wing, the first flapping wing and the fourth flapping wing are jointed on the side surface of the machine body, when the front flapping motion starts, the third flapping wing and the sixth flapping wing are quickly opened forwards, and the second flapping wing, the fifth flapping wing, the first flapping wing and the fourth flapping wing are quickly separated from the side surface of the machine body; and then the three pairs of flapping wings perform forward flapping movement.

Technical Field

The invention relates to the field of miniature aircrafts, in particular to a design of a miniature multi-flapping-wing aircraft.

Background

With the continuous maturation of conventional aircraft design technology and the great progress of microelectronic technology, micro aircraft have been proposed and rapidly developed since the nineties of the twentieth century. The micro aircraft has the characteristics of small volume, light weight, strong maneuverability and the like, has wide application prospect in the aspects of national safety and national economic construction, and is suitable for investigation, exploration, assistance in rescue and other works in complex environments.

Meanwhile, with the continuous exploration of people on the natural biological flight, the bionic design is more and more applied to the field of micro aircrafts, and flapping wing micro aircrafts simulating the insect flight begin to appear. The existing flapping wing air vehicle layout mode imitates insects, but most of the flapping wing air vehicle layout mode cannot have the same aerodynamic efficiency as the insects, so that most of the flapping wing air vehicle layout mode cannot support flexible maneuvering flight and large loads. How to effectively improve the lift force of the flapping wing air vehicle has the key significance for the future practicability of the flapping wing air vehicle.

In the past, the bionic flapping wing micro air vehicle generally only has one pair of wings, only utilizes an unsteady delayed stall mechanism of flapping, and can obviously improve the aerodynamic performance of the micro multi-flapping wing air vehicle if the number of the flapping wings can be increased on the basis of the unsteady delayed stall mechanism, and therefore, the wake interference effect and the opening and closing effect between the multiple flapping wings are fused and utilized.

Disclosure of Invention

The invention provides a design of a miniature multi-flapping-wing aircraft aiming at the problem of insufficient aerodynamic efficiency of the existing miniature flapping wings, aiming at solving the problems of insufficient lift force and low aerodynamic efficiency of the miniature aircraft through the opening and closing effect between multiple wings and between wing bodies and the wake interference mechanism between the front wing and the rear wing.

The invention relates to a miniature multi-flapping wing aircraft, which is in a six-flapping wing layout form and consists of an aircraft body and three pairs of flapping wings.

The body is integrally formed by 3D printing of materials such as photosensitive resin and the like, is of a bilateral symmetry structure, and is internally provided with a cavity for arranging a flapping driving system and a control system. The flapping driving system comprises a motor, a gear reduction mechanism and a connecting rod mechanism. The motor is fixed in the machine body, and the connecting rod mechanism is driven to move through the gear reduction mechanism, so that the flapping wings are driven to flap. The control system comprises a control circuit and a remote receiving module. The control system receives the remote control signal, changes the motion state of the motor and the flapping wings, and further realizes the control of the motion of the aircraft.

The first flapping wing, the second flapping wing and the third flapping wing are positioned on the right side of the machine body, and the fourth flapping wing, the fifth flapping wing and the sixth flapping wing are respectively in bilateral symmetry with the first flapping wing, the second flapping wing and the third flapping wing about the axis of the machine body and are arranged on the left side of the machine body; the first flapping wing and the fourth flapping wing are located at the foremost end of the machine body, the second flapping wing and the fifth flapping wing are located in the middle of the machine body, and the third flapping wing and the sixth flapping wing are located at the rearmost end of the machine body.

The six flapping wings flap horizontally, when the three flapping wings on the left side flap forwards at the same time, the three flapping wings on the right side flap forwards synchronously, and when the three flapping wings on the left side flap backwards at the same time, the three flapping wings on the right side flap backwards synchronously to generate lift force and thrust.

The three pairs of flapping wings are arranged on two sides of the aircraft body in a stepped and horizontally equidistant mode, the rear flapping wing is sequentially lower than a pair of close-by flapping wings in the front in the vertical direction, the vertical height of the first flapping wing is the highest, the vertical height of the fourth flapping wing is the highest, the vertical height of the second flapping wing is the second highest, the vertical height of the third flapping wing is the lowest, and therefore the rear flapping wing can efficiently generate high aerodynamic force and aerodynamic efficiency by utilizing the wake interference effect of the front flapping wing when the micro multi-flapping-wing aircraft flies forwards.

When the miniature multi-flapping-wing aircraft flies forwards and is shot to the end position, the first flapping wing and the fourth flapping wing are attached together, and the second flapping wing, the fifth flapping wing, the third flapping wing and the sixth flapping wing are respectively attached to the side face of the aircraft body; with the progress of the back-beating process, the first flapping wing and the fourth flapping wing are quickly opened and move backwards, the second flapping wing, the fifth flapping wing, the third flapping wing and the sixth flapping wing quickly separate from the surface of the airframe, the closing-opening process is completed, and the quick opening and closing movement of the three pairs of wings utilizes an unsteady opening/closing effect, which can obviously enhance the generation of aerodynamic force. Similarly, when the back is clapped to final position, the rearmost third flapping wing sixth flapping wing laminating together, the middle and foremost second flapping wing fifth flapping wing first flapping wing with the laminating of fourth flapping wing is on the organism side, along with the process of clapping in the front of shifting into, the rearmost third flapping wing sixth flapping wing is opened fast, the middle and foremost second flapping wing fifth flapping wing first flapping wing with the fourth flapping wing is taken off the organism side rapidly, the fast opening of three pairs of wings folds the motion and has utilized unsteady "opening/folding" effect again, has strengthened aerodynamic force again and has produced.

The opening/closing motion is mostly seen in tiny insects in nature, two wings are closed at the back of the insect before the insect takes a beat each time, and then the insect is quickly opened, and theoretical analysis and experiments aiming at the process show that when the wings are quickly opened and closed, high instantaneous lift force can be generated. Experimental measurements for the opening and closing of the two wings of the micro flapping wing air vehicle also show that the lift force of the micro flapping wing air vehicle is increased by about 10 percent after one opening and closing motion is introduced. Insects in nature only have a pair of wings, and only open and close once before slapping down, but the front and rear wings of the invention open and close twice respectively, the middle wing can also utilize the relation between the side of the body to construct new opening and closing movements, these all maximize the application of this effect to promote the high lift and aerodynamic efficiency of the aircraft.

In addition, in the three pairs of flapping wings which are arranged in a stepped manner during the front flight of the miniature multi-flapping wing aircraft, the tail track formed by flapping of the front wing moves towards the oblique rear direction during the front flight, the tail track can enhance the head-on incoming flow speed during the movement of the rear flapping wing, the rear flapping wing can obtain more kinetic energy from the tail track of the front flapping wing, the generation of high aerodynamic force of the rear flapping wing can be brought, and the overall aerodynamic performance of the aircraft is improved.

The invention relates to a miniature multi-flapping-wing aircraft which skillfully applies an opening and closing effect and a wake interference mechanism and has the advantages that:

1) the invention relates to a multi-flapping wing microminiature aircraft, which comprehensively utilizes an opening and closing effect and a wake interference mechanism and is a novel layout design.

2) The invention relates to a multi-flapping wing microminiature aircraft which solves the problems of insufficient lift force and low aerodynamic efficiency of the traditional flapping wing aircraft by utilizing an opening and closing effect and a wake interference mechanism.

3) The multi-flapping-wing microminiature aircraft is simple in structural design and easy to implement.

Drawings

FIG. 1 is a layout of a miniature multi-flapping-wing aircraft according to the present invention.

FIG. 2 is a right side view of the miniature multi-flapping wing aircraft of the present invention.

FIG. 3 is a layout of the flapping wings of the miniature multi-flapping wing aircraft according to the present invention at the time of the end of flapping.

FIG. 4 is a layout of the flapping wings of the miniature multi-flapping wing aircraft of the present invention up to the end of the take-down.

Fig. 5 shows the flapping wing structure of the present invention.

In the figure:

1-first flapping wing 2-fourth flapping wing 3-second flapping wing 4-fifth flapping wing 5-third flapping wing

6-sixth flapping wing 7-body 101-auxiliary beam 102-main beam 103-wing membrane

Detailed Description

The following describes in detail a specific embodiment of the present invention with reference to the drawings.

As shown in figure 1, the miniature multi-flapping wing aircraft comprises an aircraft body 7, a flapping driving system, a control system, a first flapping wing 1, a second flapping wing 3, a third flapping wing 5, a fourth flapping wing 2, a fifth flapping wing 4 and a sixth flapping wing 6.

The body 7 is integrally formed, has a bilateral symmetry structure, contains a cavity and is used for arranging a flapping driving system and a control system.

The flapping driving system comprises a motor, a gear reduction mechanism and a connecting rod mechanism. The motor is fixed in the machine body, and the connecting rod mechanism is driven to move through the gear reduction mechanism, so that the flapping wings are driven to flap.

The control system comprises a control circuit and a remote receiving module. The control system receives the remote control signal, changes the motion state of the motor and the flapping wings, and further realizes the control of the motion of the aircraft.

As shown in fig. 5, each of the first flapping wing 1, the second flapping wing 3, the third flapping wing 5, the fourth flapping wing 2, the fifth flapping wing 4, and the sixth flapping wing 6 includes a main beam 102, an auxiliary beam 101, and a wing membrane 103, and the flapping wings are connected to the flapping driving mechanism via the main beam 102. The first flapping wing 1, the second flapping wing 3, the third flapping wing 5, the fourth flapping wing 2, the fifth flapping wing 4 and the sixth flapping wing 6 are driven by the driving mechanism to flap reciprocally to provide lift force required by the aircraft.

As shown in figure 1, a first flapping wing 1, a second flapping wing 3, a third flapping wing 5, a fourth flapping wing 2, a fifth flapping wing 4 and a sixth flapping wing 6 all flap in a horizontal plane, the first flapping wing 1, the second flapping wing 3 and the third flapping wing 5 are positioned on the right side of a machine body 7, the fourth flapping wing 2, the fifth flapping wing 4 and the sixth flapping wing 6 are positioned on the left side of the machine body 7, when three flapping wings on the left side flap forwards at the same time, the three flapping wings on the right side flap forwards, and when the three flapping wings on the left side flap backwards at the same time, the three flapping wings on the right side flap backwards. As shown in figure 2, a plurality of pairs of flapping wings are arranged in a step shape, the positions of each pair of the rear flapping wings in the vertical direction are sequentially lower than the front flapping wing, the vertical heights of the first flapping wing 1 and the fourth flapping wing 2 are the highest, the vertical heights of the second flapping wing 3 and the fifth flapping wing 4 are the next lowest, and the vertical heights of the third flapping wing 5 and the sixth flapping wing 6 are the lowest.

The invention relates to a miniature multi-flapping-wing aircraft, which specifically utilizes the opening and closing effect and the wake interference mechanism in a complete flapping process as follows:

the motor outputs high-speed rotation, the speed is reduced by the gear reduction mechanism, and the first flapping wing 1, the second flapping wing 3, the third flapping wing 5, the fourth flapping wing 2, the fifth flapping wing 4 and the sixth flapping wing 6 are driven to flap by the four-bar linkage. FIG. 1 is a schematic view of the miniature multi-flapping-wing aircraft of the present invention taken forward and taken backward, in reverse.

In the flapping process, the leading edge vortex, the trailing edge vortex and the wing tip vortex generated by flapping of the first flapping wing 1 and the fourth flapping wing 2 are separated into the wake. The wake of the horizontal flapping wing moves downwards in the hovering state, when the aircraft flies forwards, the wake moves obliquely backwards after being superposed with the incoming flow speed of the front fly, the incoming flow speed is increased equivalently to the wake, after the combined airflow meets the second flapping wing 3 and the fifth flapping wing 4 behind, the airflow with the increased speed passes through the second flapping wing 3 and the fifth flapping wing 4 behind, and the aerodynamic force generated by the second flapping wing 3 and the fifth flapping wing 4 in the state of not utilizing the wake can be increased. Similarly, the trails of the second and fifth flapping wings 3, 4 can also enhance the aerodynamic force generation of the third and sixth flapping wings 5, 6.

When the flapping wing is in a front-to-final position (as shown in fig. 3), the first flapping wing 1 and the fourth flapping wing 2 at the forefront are folded together, the rest of the second flapping wings 3, the fifth flapping wings 4, the third flapping wings 5 and the sixth flapping wings 6 are respectively attached to the side surfaces of the body, then the first flapping wing 1 and the fourth flapping wings 2 at the forefront are quickly opened along with the rotation of the front flapping and the back flapping, the rest of the second flapping wings 3, the fifth flapping wings 4, the third flapping wings 5 and the sixth flapping wings 6 are also quickly separated from the body, the double wings are quickly opened after being attached, and the wing is attached to the side surfaces of the body and then quickly opened, so that a local opening/closing effect is formed, and the aerodynamic force can be effectively enhanced in the process.

The back-beat process is similar to the front-beat process, but the back wing is still aerodynamic-enhanced with the wake of the front wing. When the flapping is carried out to the last position (figure 4), the third flapping wing 5 and the sixth flapping wing 6 at the back are attached and then quickly opened, and the rest of the second flapping wing 3, the fifth flapping wing 4, the first flapping wing 1 and the fourth flapping wing 2 are attached to the surface of the airplane and then quickly opened again by utilizing the opening and closing effect to enhance the generation of aerodynamic force.

Therefore, the flapping wings complete the whole flapping periodic motion to form a complete flapping cycle of front flapping, front flapping rotating and back discharging, back flapping rotating and front flapping, and the tail interference, opening/closing, tail interference, opening/closing and other mechanisms are respectively utilized in the processes, so that the aerodynamic force and the aerodynamic efficiency of the miniature multi-flapping-wing aircraft are obviously improved.