阅读说明：本技术 一种微型扑翼飞行器的折叠翅膀及外壳 (A kind of the folding wing and shell of micro flapping wing air vehicle ) 是由 邓慧超 项欣怡 肖胜杰 *** 丁希仑 于 2019-07-26 设计创作，主要内容包括：本发明公开了一种微型扑翼飞行器的扑翼,其特征在于,包括外壳机构、折叠翼机构、驱动机构,其中,外壳机构包括一对壳体,设置于连接底座上的一对小绕绳轮、与一对小绕绳轮分别同心设置的一对轴杆、一对轴承和一对分别绕在轴杆上的异形扭簧,与一对壳体铰接的光轴；连接底座过盈配合于微型扑翼飞行器上；折叠翼机构由一对结构相同的折叠翼组成,折叠翼包括附在翼膜上的五根碳纤维杆、机体连接块、第一连接构件、第二连接构件；通过本发明的技术方案,使仿生扑翼飞行器在执行任务时保护机体不受损伤以及减小空间便于携带,在保证微型飞行器轻量化的同时,以最简便最轻量的驱动方式实现折叠翅膀协同外壳展收这两个复杂运动。(The invention discloses a kind of flapping wings of micro flapping wing air vehicle, it is characterized in that, including shell mechanism, fold wing mechanism, driving mechanism, wherein, shell mechanism includes a pair of shells, the small rope-winding wheel of a pair being set on connection pedestal, a pair of of the shaft, a pair of bearings and a pair of rotating around the special-shaped torsional spring on shaft, the hinged optical axis with a pair of shells that are arranged concentrically respectively with a pair of small rope-winding wheel；Pedestal is connected in interference fit on micro flapping wing air vehicle；It folds wing mechanism to be made of the identical folding wings of a pair of of structure, folding wings include five carbon fiber bars, body link block, the first connecting elements, the second connecting elements being attached on ala；According to the technical solution of the present invention; make bionic flapping-wing flying vehicle protect body injury-free in the task of execution and reduce space it is easy to carry; guaranteeing that minute vehicle is light-weighted simultaneously, is realizing that folding wing collaboration shell exhibition receives the two compound movements with the driving method of most easy most light weight.)

1. a kind of flapping wing of micro flapping wing air vehicle, which is characterized in that including shell mechanism, wing mechanism, driving mechanism are folded, In,

The shell mechanism includes a pair of shells, the small rope-winding wheel of a pair and the pair of small wiring being set on connection pedestal A pair of of the shaft being arranged concentrically respectively, a pair of bearings and a pair are taken turns rotating around the special-shaped torsional spring on shaft, with the pair of shell The hinged optical axis of body；The connection pedestal interference is connected on micro flapping wing air vehicle；

The folding wing mechanism is made of the identical folding wings of a pair of of structure, and the folding wings include five carbon being attached on ala Fiber rod, body link block, the first connecting elements, the second connecting elements；

First connecting elements is made of two hinging rotary blocks and the connection torsional spring being embedded in two hinging rotary blocks, institute It states connection torsional spring and is further connected and fixed by pin across the pin hole being arranged on two hinging rotary blocks, a hinging rotary Block and pin are interference fitted, another hinging rotary block and pin-hole clearance cooperate, and connection torsional spring and pin-hole clearance cooperate, and described the The structure of two connecting elements is identical as first connecting elements；

First carbon fiber bar one end is connected to the upper rack of micro flapping wing air vehicle, and the other end is connected to mini-sized flap wings The frame lower of aircraft, the folding wing mechanism can be rotated around first carbon fiber bar, the body link block One end is connected to micro flapping wing air vehicle, the other end connects second carbon fiber bar, the other end connection of second carbon fiber bar To one end of first connecting elements, the other end of first connecting elements connects the one of the third root carbon fiber bar End, the other end of the third root carbon fiber bar are connected to one end of the second connecting elements, second connecting elements it is another End connects the 4th carbon fiber bar, and the 5th carbon fiber bar is connect with the second connecting elements interference；

The driving mechanism includes motor, motor rope-winding wheel, motor output shaft, the motor output shaft and the motor rope-winding wheel Interference fit, the motor rope-winding wheel are respectively connected to the pair of small rope-winding wheel of the shell mechanism by rope, and rope is always In tension；The motor rope-winding wheel is connected by the end of rope and the 5th carbon fiber bar for folding wing mechanism It connects；

Motor output shaft described in the motor driven drives the rotation of motor rope-winding wheel, and the rope for being wound on the motor rope-winding wheel is loose It opens, and under the twisting force of the connection torsional spring, the folding wing mechanism is gradually spread out, until reaching the connection torsional spring Reset condition, the folding wings mechanism deploying finish, and motor rope-winding wheel is further driven to small rope-winding wheel rotation, so that the shell The pair of special-shaped torsional spring in mechanism rotates with, and the foot of the pair of abnormity torsional spring gradually opens the pair of shell, makes The shell mechanism completes expansion；

With the expansion for folding wing mechanism the shape in the motor driven motor rope-winding wheel occurs for the expansion of the shell mechanism Under state, the length of tricing line can make the shell mechanism prior to the folding wings mechanism deploying and be later than the folding wing mechanism It packs up；

When the folding wing mechanism is packed up, rope is in tension, and the connection torsional spring is in by torsion state.

2. a kind of flapping wing of micro flapping wing air vehicle according to claim 1, which is characterized in that the pair of small rope-winding wheel It is interference fitted with the corresponding shaft, the pair of shaft is interference fitted with the corresponding bearing, and the pair of abnormity is turned round Spring is interference fitted with the corresponding shaft.

Technical field

The invention belongs to minute vehicle field more particularly to the folding wings and shell of a kind of micro flapping wing air vehicle.

Background technique

Minute vehicle is that a kind of flapping motion by imitating insect or flying bird generates lift and thrust, to realize The new concept aircraft of various flight attitudes.Compared with conventional airplane, the aircraft have light weight, small in size, good operability, The features such as stealth is strong, at low cost, Portable belt, therefore no matter in military or civil field, all have and is quite widely applied Prospect, and the task that many other aircraft can not execute can be completed.In military aspect, minute vehicle can equip scholar Soldier carries out low latitude military surveillance, monitoring, battlefield damage assessment etc.；It can be used as antiradiation and miniature attack weapon, destroy enemy's thunder Up to equal electronic equipments；For target search and communication relay；Carry out biochemical detection, and demarcate danger zone etc..At civilian aspect, Minute vehicle can be used for traffic monitoring, border patrol, forest and wild animals and plants exploration, aeroplane photography, transmission line of electricity inspection Look into, environmental monitoring, weather monitoring, forest fire protection monitoring etc..In terms of space flight, minute vehicle can be used for mars exploration flight The fields such as device, spacecraft can assist Large Spacecraft to carry out the work such as environment detection, operational monitoring.Exactly minute vehicle exists Military, civilian and space industry broad prospect of application makes it obtain the very big concern of world many countries, is quickly become the world On research hotspot.Collapsible flapping wing will further improve the Bionic Design of aircraft, and the minitype bionic based on flexible wing is flutterred Rotor aircraft further increases its portability and concealment on the basis of improving miniaturization.

In order to improve the overall performance of flapping wings type minute vehicle, its wing is designed as the bionical foldable of insect wing Structure closes shell while can wing being folded and be packed up, protects body when encountering emergency case during execution task Damage is reduced in inside, and aircraft can also be made to have better concealment；When not executing task, wing folding is packed up, shell It closes, effectively protects body and wing, and improve its portability.

Few loadings fold swing device in current existing micro flapping wing air vehicle, most of only to bionical folding wing Verifying model is received in the exhibition of wing, the reason is that wing light-weight design is limited, and from real carrying flapping wing aircraft and provides liter for it There are also larger gaps for power and flight control.The guarantor when increase of canning can make aircraft execute task in certain hard and dangerous situation Shield body is injury-free, but due to will increase its whole weight, many flapping wing aircrafts all have ignored the application of this respect.

Summary of the invention

Present invention aims at solve to protect body not when bionic flapping-wing flying vehicle executes task in certain hard and dangerous situation It is damaged and reduces that space is easy to carry, the folding wing and shell of a kind of micro flapping wing air vehicle are provided.It is miniature in guarantee Aircraft is light-weighted simultaneously, realizes that folding wing collaboration shell exhibition receives the two compound movements.Meanwhile driving the letter of aspect Change, wing collaboration shell exhibition receipts are folded to drive with the driving method of most easy most light weight.The specific technical solution of the present invention is such as Under:

A kind of flapping wing of micro flapping wing air vehicle, which is characterized in that including shell mechanism, wing mechanism, driving mechanism are folded, Wherein,

The shell mechanism includes a pair of shells, be set to the small rope-winding wheel of a pair on connection pedestal, with it is the pair of small A pair of of shaft, a pair of bearings and a pair that rope-winding wheel is arranged concentrically respectively are rotating around the special-shaped torsional spring on shaft, with described one To the optical axis of housing hinge；The connection pedestal interference is connected on micro flapping wing air vehicle；

The folding wing mechanism is made of the identical folding wings of a pair of of structure, and the folding wings include five be attached on ala Root carbon fiber bar, body link block, the first connecting elements, the second connecting elements；

First connecting elements is by two hinging rotary blocks and the connection torsional spring group being embedded in two hinging rotary blocks At the connection torsional spring passes through the pin hole being arranged on two hinging rotary blocks by pin and is further connected and fixed, a hinge It connecing spill spin block and pin is interference fitted, another hinging rotary block and pin-hole clearance cooperate, and connection torsional spring and pin-hole clearance cooperate, The structure of second connecting elements is identical as first connecting elements；

First carbon fiber bar one end is connected to the upper rack of micro flapping wing air vehicle, and the other end is connected to miniature The frame lower of flapping wing aircraft, the folding wing mechanism can be rotated around first carbon fiber bar, the body connection One end of block is connected to micro flapping wing air vehicle, the other end connects second carbon fiber bar, the other end of second carbon fiber bar It is connected to one end of first connecting elements, the other end of first connecting elements connects the third root carbon fiber bar One end, the other end of the third root carbon fiber bar are connected to one end of the second connecting elements, second connecting elements it is another One end connects the 4th carbon fiber bar, and the 5th carbon fiber bar is connect with the second connecting elements interference；

The driving mechanism includes motor, motor rope-winding wheel, motor output shaft, the motor output shaft and the motor around Rope sheave interference fit, the motor rope-winding wheel are respectively connected to the pair of small rope-winding wheel of the shell mechanism, rope by rope Always it is in tension；The end that the motor rope-winding wheel passes through rope and the 5th carbon fiber bar for folding wing mechanism End connection；

Motor output shaft described in the motor driven drives the rotation of motor rope-winding wheel, is wound on the rope of the motor rope-winding wheel It is released, and under the twisting force of the connection torsional spring, the folding wing mechanism is gradually spread out, and is turned round until reaching the connection The reset condition of spring, the folding wings mechanism deploying finish, and motor rope-winding wheel is further driven to small rope-winding wheel rotation, so that described The pair of special-shaped torsional spring on shell mechanism rotates with, and the foot of the pair of abnormity torsional spring gradually opens the pair of shell Body makes the shell mechanism complete expansion；

The expansion of the shell mechanism occurs with the expansion for folding wing mechanism in the motor driven motor rope-winding wheel In the state of, the length of tricing line can make the shell mechanism prior to the folding wings mechanism deploying and be later than the folding wings Mechanism is packed up；

When the folding wing mechanism is packed up, rope is in tension, and the connection torsional spring is in by torsion state.

Further, the pair of small rope-winding wheel is interference fitted with the corresponding shaft, the pair of shaft with it is corresponding Bearing interference fit, the pair of abnormity torsional spring and corresponding shaft interference fit.

The beneficial effects of the present invention are:

1. increasing connection torsional spring on folding wing mechanism, the stability after enhancing folding wings mechanism deploying is loaded in and flutters On rotor aircraft, it is ensured that there is a phenomenon where fold wing mechanism to fold for process of fluttering；Special-shaped torsional spring is matched with rope driving, Improve the stability that shell mechanism exhibition is received；

2. with a motor be just able to achieve shell mechanism and fold wing mechanism exhibition receive；

3. all parts are all made of 3D printing technique and are made in addition to connection torsional spring, special-shaped torsional spring, bearing and carbon fiber bar, It is greatly reduced whole quality, and cost is not high, it is easy to process.

Detailed description of the invention

It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, the features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, attached Figure is schematically to but should not be understood as carrying out any restrictions to the present invention, for those of ordinary skill in the art, not Under the premise of making the creative labor, other drawings may be obtained according to these drawings without any creative labor.Wherein:

Fig. 1 is a kind of flapping wing installation diagram of micro flapping wing air vehicle of the invention；

Fig. 2 is shell mechanism structure chart of the invention；

Fig. 3 is shell mechanism detail view of the invention；

Fig. 4 is shell mechanism axis connection figure of the invention；

Fig. 5 is folding wings mechanism structure figure of the invention；

Fig. 6 is that hinging rotary of the invention is packaged with explosive view；

Fig. 7 is motor installation diagram of the invention；

Fig. 8 is motor and rope-winding wheel installation diagram of the invention；

Fig. 9 is connection pedestal figure of the invention；

Drawing reference numeral explanation:

1- shell mechanism；2- folds wing mechanism；3- driving mechanism；4- shell；5- abnormity torsional spring；6- shaft；7- connection bottom Seat；8- optical axis；The small rope-winding wheel of 9-；10- bearing；11- carbon fiber bar；12- body link block；The first connecting elements of 13-；14- Two connecting elements；15- ala；16- connection torsional spring；17- pin hole；18- motor；19- motor rope-winding wheel；20- motor output shaft.

Specific embodiment

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, implementation of the invention Feature in example and embodiment can be combined with each other.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below Specific embodiment limitation.

As shown in figs. 1-9, a kind of flapping wing of micro flapping wing air vehicle, which is characterized in that including shell mechanism 1, fold Wing mechanism 2, driving mechanism 3, wherein

Shell mechanism 1 includes a pair of shells 4, the small rope-winding wheel 9 of a pair and a pair of small wiring being set on connection pedestal 7 A pair of of shaft 6, a pair of bearings 10 and a pair that wheel 9 is arranged concentrically respectively are rotating around the special-shaped torsional spring 5 on shaft 6, with a pair The hinged optical axis 8 of shell 4；Connection 7 interference of pedestal is connected on micro flapping wing air vehicle；

It folds wing mechanism 2 to be made of the identical folding wings of a pair of of structure, folding wings include five carbon being attached on ala 15 Fiber rod 11, body link block 12, the first connecting elements 13, the second connecting elements 14；

First connecting elements 13 is by two hinging rotary blocks and be embedded in two hinging rotary blocks 16 groups of connection torsional spring At connection torsional spring 16 passes through the pin hole 17 being arranged on two hinging rotary blocks by pin and is further connected and fixed, a hinge It connects spill spin block and pin is interference fitted, another hinging rotary block and pin-hole clearance cooperate, and connection torsional spring 16 is matched with pin-hole clearance It closes, the structure of the second connecting elements 14 is identical as the first connecting elements 13；

First carbon fiber bar one end is connected to the upper rack of micro flapping wing air vehicle, and the other end is connected to mini-sized flap wings The frame lower of aircraft, folding wing mechanism 2 can rotate around first carbon fiber bar, and one end of body link block 12 is connected to Micro flapping wing air vehicle, the other end connect second carbon fiber bar, and the other end of second carbon fiber bar is connected to the first connection One end of component 13, one end of the other end connection third root carbon fiber bar of the first connecting elements 13, third root carbon fiber bar The other end is connected to one end of the second connecting elements 14, and the other end of the second connecting elements 14 connects the 4th carbon fiber bar, the Five carbon fiber bars are connect with the second connecting elements interference；

Driving mechanism 3 includes motor 18, motor rope-winding wheel 19, motor output shaft 20, motor output shaft 20 and motor wiring 19 interference fit of wheel, motor rope-winding wheel 19 are respectively connected to the small rope-winding wheel 9 of a pair of shell mechanism 1 by rope, and rope is in always Tension；Motor rope-winding wheel 19 is connect by rope with the end for the 5th carbon fiber bar for folding wing mechanism 2；

18 driving motor output shaft 20 of motor drives motor rope-winding wheel 19 to rotate, and the rope for being wound on motor rope-winding wheel 19 is loose It opens, and under the twisting force of connection torsional spring 16, folds wing mechanism 2 and gradually spread out, until reaching the original shape of connection torsional spring 16 State folds the expansion of wing mechanism 2 and finishes, and motor rope-winding wheel 19 is further driven to small rope-winding wheel 9 and rotates, so that on shell mechanism 1 A pair of of abnormity torsional spring 5 rotates with, and the foot of a pair of of abnormity torsional spring 5 gradually opens a pair of shells 4, and shell mechanism 1 is made to complete expansion；

State in 18 driving motor rope-winding wheel 19 of motor occurs with the expansion for folding wing mechanism 2 for the expansion of shell mechanism 1 Under, come while controlling the expansion and withdrawal of shell mechanism and folding wing mechanism due to merely adding a motor, in order to avoid two A mechanism generates interference, therefore controls the length of two ropes respectively.Due to the rope of connected with outer casing mechanism 1 be in always tension and Motor rope-winding wheel 19 is greater than motor rope-winding wheel 19 at a distance from the 5th carbon fiber bar at a distance from small rope-winding wheel 9, it is contemplated that even The torsion for connecing torsional spring 16 itself makes connection fold the rope of the rope slightly longer than connected with outer casing mechanism 1 of wing mechanism 2, makes shell mechanism 1 first It is packed up in folding the expansion of wing mechanism 2 and being later than folding wing mechanism 2.

When folding wing mechanism 2 is packed up, rope is in tension, and connection torsional spring 16 is in by torsion state.

A pair of small rope-winding wheel 9 is interference fitted with corresponding shaft 6, and a pair of of shaft 6 is interference fitted with corresponding bearing 10, and one Special-shaped torsional spring 5 is interference fitted with corresponding shaft 6.

While this function is received in the folding wing mechanism collaboration shell exhibition for realizing micro flapping wing air vehicle, not significantly Increase the weight of micro flapping wing air vehicle, only increases a motor 18 and be used to drive shell mechanism 1 and fold the exhibition of wing mechanism 2 It receives.

Existing folding wing mechanism driving method has marmem driving, rope driving and Piezoelectric Ceramic.Shape Shape memory polymer passes through after referring to that the product with original shape changes its primary condition under certain conditions and fixes The stimulation of external condition can restore the high molecular material of its original shape again.Piezoelectric ceramics is that one kind can be by mechanical energy and electric energy Informational function ceramic material-the piezoelectric effect converted mutually, piezoelectric ceramics also have dielectricity, elasticity in addition to piezoelectricity Deng.Actuation techniques of restricting are a kind of mechanical motion-transmission manners, with structure is simple, inertia is small, stability is high, can same time control The advantages that making multiple movements.Above-mentioned driving method respectively has advantage and disadvantage, in the design of folding wings, rope driving and shape memory Polymer can greatly simplify the structure for folding wing mechanism more suitable for the driving source as folding wings, be the light of folding wings Quantitative design provides possibility.In view of cost and the complexity of implementation, rope driving is selected to be more suitable for carrying folding The minute vehicle of wing mechanism.The expansion function of wherein folding wing mechanism is embedded in joint using that will connect torsional spring 16, by connection The angle unfolded wing mechanism 2 of torsional spring 16 itself folds the steady of wing mechanism 2 after can greatly increasing expansion using connection torsional spring 16 Qualitative, guaranteeing to fold after wing mechanism is fluttered will not fold.The exhibition receipts of shell mechanism are that special-shaped torsional spring 5 and rope driving match It closes, the stability of function realization can be improved using special-shaped torsional spring 5.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings Condition understands the concrete meaning of above-mentioned term in the present invention.

In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower" It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it Between other characterisation contact.Moreover, fisrt feature second feature " on ", top " and " above " include first special Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists Second feature " under ", lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of One characteristic level height is less than second feature.

In the present invention, term " first ", " second ", " third ", " the 4th " are used for description purposes only, and should not be understood as Indication or suggestion relative importance.Term " multiple " refers to two or more, unless otherwise restricted clearly.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.