阅读说明：本技术 一种扑翼飞行器的变刚度折叠扑翼机构 (Variable-rigidity folding flapping wing mechanism of flapping wing aircraft ) 是由 李康康 于 2019-10-23 设计创作，主要内容包括：本发明公开了一种扑翼飞行器的变刚度折叠扑翼机构,包含杆件、弹性元件、牵引线、驱动机构,通过调节扑翼在扑动过程中的扑翼刚度并且增加扑翼扑动角度,以期模拟生物鸟翼的扑动过程,使得扑翼向下扑动时扑翼伸展以增加展翼面积提高升力,向上扑动时扑翼折叠以减少展翼面积降低空气阻力,从而提高扑翼飞行器的飞行性能。(The invention discloses a variable-rigidity folding flapping wing mechanism of a flapping wing aircraft, which comprises a rod piece, an elastic element, a traction wire and a driving mechanism, wherein the flapping wing rigidity of the flapping wing is adjusted in the flapping process and the flapping angle of the flapping wing is increased so as to simulate the flapping process of a biological bird wing, so that the flapping wing extends to increase the area of the unfolding wing and improve the lift force when the flapping wing flaps downwards, and the flapping wing folds to reduce the area of the unfolding wing and reduce the air resistance when the flapping wing flaps upwards, thereby improving the flight performance of the flapping wing aircraft.)

1. The utility model provides a variable rigidity folding flapping wing mechanism of flapping wing aircraft which characterized in that: the device comprises a rod piece I, a limiting device, a traction wire I, a rod piece II, an elastic element, a rod piece III, a traction wire II and a driving mechanism; two ends of the rod piece II are respectively connected with the rod piece I and the rod piece III through hinge points and can rotate around the hinge points at the connection positions of the hinge points; one end of the rod piece I at the two ends of the hinged point is a free end, the other end of the rod piece I is connected with a traction wire I, the other end of the traction wire I is connected with one end of an elastic element, and the other end of the elastic element is connected to a fixed point through a traction wire II; one end of the traction wire II, which is close to the elastic element, and one end of the traction wire I, which is close to the rod piece I, are respectively clamped between two limiting devices on the rod piece II; the other end of the rod piece III is also connected to the driving mechanism through a hinge point.

2. The variable-rigidity folding flapping wing mechanism of the flapping wing aircraft of claim 1, wherein the variable-rigidity folding flapping wing mechanism is provided with two sets which are bilaterally symmetrical, and the fixed point connected with the traction wire II and the driving mechanism are fixed on the aircraft.

Technical Field

The invention relates to the technical field of aircrafts, in particular to a variable-rigidity folding flapping wing mechanism of a flapping wing aircraft.

Background

The flapping wing aircraft can take off and land in a narrow space and is flexible. The flapping wing rigidity of the flapping wings in the flapping process is adjusted through the variable-rigidity folding flapping wing mechanism, the flapping process of the biological bird wings is simulated, so that the flapping wings extend to increase the area of the spread wings to improve the lift force when the flapping wings flap downwards, and the flapping wings fold to reduce the area of the spread wings to reduce the air resistance when the flapping wings flap upwards, thereby improving the flight performance of the flapping wing air vehicle.

Disclosure of Invention

In order to solve the technical problem, the invention provides a variable-rigidity folding flapping wing mechanism of a flapping wing aircraft.

The invention adopts the following technical scheme: a variable-rigidity folding flapping wing mechanism of a flapping wing aircraft comprises a rod piece I, a limiting device, a traction wire I, a rod piece II, an elastic element, a rod piece III, a traction wire II and a driving mechanism; two ends of the rod piece II are respectively connected with the rod piece I and the rod piece III through hinge points and can rotate around the hinge points at the connection positions of the hinge points; one end of the rod piece I at the two ends of the hinged point is a free end, the other end of the rod piece I is connected with a traction wire I, the other end of the traction wire I is connected with one end of an elastic element, and the other end of the elastic element is connected to a fixed point through a traction wire II; one end of the traction wire II, which is close to the elastic element, and one end of the traction wire I, which is close to the rod piece I, are respectively clamped between two limiting devices on the rod piece II; the other end of the rod piece III is also connected to the driving mechanism through a hinge point.

The variable-rigidity folding flapping wing mechanism is provided with two sets which are bilaterally symmetrical, and the fixed point connected with the traction wire II and the driving mechanism are fixed on the aircraft.

The rod piece I can rotate around a hinge point on the rod piece II, and when the rod piece I rotates from the balance position, the elastic element deforms, so that the rod piece I can return to the balance position. The rod piece I is connected with the elastic element through a traction wire, the two sides of the traction wire are respectively provided with a limiting device, the other end of the elastic element is connected with the traction wire, and the other end of the traction wire is fixed at a certain position. The rotation rigidity of the rod piece can be adjusted by changing the elastic force of the elastic element, so that the rigidity of the flapping wing can be adjusted. The flapping wing mechanisms on the two sides are driven by the driving mechanism to realize vertical flapping. The rigidity of the flapping wing mechanism can be adjusted by adjusting the elastic force of the elastic element.

In the flapping process of the flapping wings, the traction wire pulls the elastic element to change the telescopic length of the elastic element, so that the elastic force of the elastic element is changed. When the flapping wings flap from the highest position to the lowest position, the length of the traction wire stretching elastic element is the minimum, and the elastic force of the elastic element is the minimum, namely the rotational rigidity of the rod piece I is the minimum. And then in the process of flapping, the rod piece I of the flapping wing is folded under the action of aerodynamic force, so that the air resistance of the flapping wing during flapping is reduced. Meanwhile, in the flapping process, the length of the elastic element stretched by the traction wire is increased, the elastic force of the elastic element is increased, namely the rotational rigidity of the rod piece I is increased, and therefore the rod piece I of the flapping wing is unfolded. When the flapping wing is flapping to the highest position, the length of the traction line stretching elastic element is the largest, the elastic force of the elastic element is the largest, the rotational rigidity of the rod piece I is the largest, and the flapping wing is completely unfolded, so that the flapping wing lifting force in the lower flapping process of the next period is improved, and the process is repeated.

The flapping wing simulation system has the advantages that the variable-rigidity folding flapping wing mechanism is used for adjusting the stiffness of the flapping wing in the flapping process and simulating the flapping process of the biological bird wing, so that the flapping wing extends to increase the area of the spread wing and improve the lift force when the flapping wing flaps downwards, and the flapping wing folds to reduce the area of the spread wing and reduce the air resistance when the flapping wing flaps upwards, thereby improving the flight performance of the flapping wing aircraft.

Drawings

Fig. 1 is a schematic structural view of the present invention in a state of being swung down from the highest position.

Fig. 2 is a schematic view of the present invention in a state of flapping from the lowest position.

Figure 3 is the overall structure of an aircraft incorporating the invention.

Description of reference numerals: 1. the flapping wing device comprises a rod piece I, a rod piece 2, a limiting device 3, traction lines I, 4, a rod piece II, a rod piece 5, an elastic element 6, a rod piece III, a rod piece 7, traction lines II, 8, a driving mechanism 9, a variable-rigidity folding flapping wing mechanism 10 and flapping wings.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.

Referring to fig. 1, a variable-stiffness folding flapping wing mechanism of a flapping wing aircraft is characterized in that: the device comprises a rod piece I1, a limiting device 2, a traction wire I3, a rod piece II 4, an elastic element 5, a rod piece III 6, a traction wire II 7 and a driving mechanism 8; two ends of the rod piece II 4 are respectively connected with the rod piece I1 and the rod piece III 6 through hinge points and can rotate around the hinge points at the connection positions of the hinge points; one end of the rod piece I1 at two ends of the hinged point is a free end, the other end of the rod piece I1 is connected with a traction wire I3, the other end of the traction wire I3 is connected with one end of an elastic element 5, and the other end of the elastic element 5 is connected to a fixed point through a traction wire II 7; one end of the traction wire II 7, which is close to the elastic element 5, and one end of the traction wire I3, which is close to the rod piece I1, are respectively clamped between two limiting devices on the rod piece II 4; the other end of the rod piece III 6 is also connected to the driving mechanism through a hinge point.

The variable-rigidity folding flapping wing mechanism 9 is provided with two sets which are bilaterally symmetrical, and the fixed point connected with the traction wire II 7 and the driving mechanism 8 are fixed on the aircraft (as shown in figure 3). The rigidity of the flapping wing 10 in the flapping process is adjusted through the variable-rigidity folding flapping wing mechanism 9.

When the lever i 1 is rotated from the equilibrium position, the elastic element 5 is deformed, which brings the lever i 1 back to the equilibrium position. The rotational rigidity of the lever member I1 can be adjusted by changing the elastic force of the elastic member 5, thereby adjusting the rigidity of the flapping wing 10. The flapping wing mechanisms on the two sides are driven by the driving mechanism 8 to realize the up-and-down flapping. The stiffness of the flapping mechanism can be adjusted by adjusting the spring force of the spring element 5. In the process of flapping the flapping wings up and down, the traction wire 7 pulls the elastic element 5 to change the telescopic length of the elastic element 5, so that the elastic force of the elastic element 5 is changed. When the flapping wings flap from the highest position to the lowest position, the length of the traction wire 7 stretching the elastic element 5 is the smallest, the elastic force of the elastic element 5 is the smallest, and the rotating rigidity of the rod piece I1 is the smallest. Then, in the process of flapping, the rod piece I1 of the flapping wing is folded under the action of aerodynamic force, so that the air resistance of the flapping wing during flapping is reduced. Meanwhile, in the flapping process, the length of the elastic element 5 stretched by the traction wire 7 is increased, the elastic force of the elastic element 5 is increased, the rotational rigidity of the rod piece I1 is increased, and therefore the rod piece I1 of the flapping wing is unfolded.

Referring to fig. 2, when the flapping wing flaps to the highest position, the length of the traction wire 7 stretching the elastic element 5 is the largest, the elastic force of the elastic element 5 is the largest, the rotational stiffness of the rod member i is the largest, and the flapping wing is completely unfolded, so that the flapping wing lift in the lower flapping process of the next period is improved, and the process is repeated.

Referring to fig. 3, the rigidity of the flapping wing 10 is adjusted by the variable-rigidity folding flapping wing mechanism 9 in the flapping process to simulate the flapping process of a biological bird wing, so that the flapping wing extends to increase the area of the spread wing and improve the lift force when the flapping wing 10 flaps downwards, and the flapping wing 10 folds to reduce the area of the spread wing and reduce the air resistance when flapping upwards, thereby improving the flight performance of the flapping wing aircraft.

Without being limited thereto, any changes or substitutions that are not thought of through the inventive work should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.