阅读说明：本技术 实现仿生微型扑旋翼飞行器拍动及扭转运动的传动机构 (Transmission mechanism for realizing flapping and twisting motion of bionic micro flapping rotor wing aircraft ) 是由 贺媛媛 张航 赵辛敉 韩慧 王琦琛 于 2021-08-26 设计创作，主要内容包括：本发明公开的实现仿生微型扑旋翼飞行器拍动及扭转运动的传动机构,属于仿生微型飞行器领域。本发明包括机身主轴、旋转机构、拍动扭转机构和机翼。所述拍动扭转机构包括机翼拍动杆、扭转件、扭转件挡片和球轴推拉杆。机身主轴底端垂直固连于机身底座,旋转机构安装于机身主轴的顶端和中部并与拍动扭转机构连接,机翼安装于拍动扭转机构的机翼拍动杆上。本发明在拍动过程中通过主动改变机翼攻角,在保证机翼下拍过程中正升力最大的情况下,通过扭转调节机翼攻角实现上拍过程负升力的减小,增大飞行器飞行平均升力,提高飞行器气动效率。机翼扭转角度能够通过扭转卡槽更改,机翼扭转运动操作简单、高效。(The invention discloses a transmission mechanism for realizing flapping and twisting motion of a bionic micro flapping rotor wing aircraft, belonging to the field of bionic micro aircrafts. The invention comprises a main shaft of a fuselage, a rotating mechanism, a flapping torsion mechanism and wings. The flapping torsion mechanism comprises a flapping rod of the wing, a torsion piece baffle and a ball shaft push-pull rod. The bottom end of the main shaft of the fuselage is vertically and fixedly connected with the base of the fuselage, the rotating mechanism is arranged at the top end and the middle part of the main shaft of the fuselage and connected with the flapping torsion mechanism, and the wings are arranged on the wing flapping rod of the flapping torsion mechanism. According to the invention, the wing attack angle is actively changed in the flapping process, and under the condition of ensuring the maximum positive lift force in the wing downflapping process, the negative lift force in the upflapping process is reduced by adjusting the wing attack angle in a twisting manner, so that the flying average lift force of the aircraft is increased, and the aerodynamic efficiency of the aircraft is improved. The wing torsion angle can be changed through the torsion clamping groove, and the wing torsion movement is simple and efficient to operate.)

1. Realize bionical miniature flapping rotor craft beat and torsional motion's drive mechanism, its characterized in that: comprises a main shaft of a fuselage, a rotating mechanism, a flapping torsion mechanism and wings;

the bottom end of the main shaft of the machine body is vertically and fixedly connected with a machine body base of the bionic miniature flapping rotor aircraft, and the top end and the middle part of the main shaft of the machine body are connected with the upper rotating mechanism and the lower rotating mechanism;

the rotating mechanism comprises an upper rotating mechanism and a lower rotating mechanism; the upper rotating mechanism comprises a wing flapping rod mounting rack, an upper sleeve bearing and an upper sleeve; the top of the upper sleeve penetrates through the inner ring of the upper sleeve bearing and is fixedly connected with the inner ring of the upper sleeve bearing, and the mounting frame of the flapping rod of the wing is fixedly connected with the outer ring of the upper sleeve bearing into a whole; the top end of the fuselage main shaft penetrates through an upper sleeve fixedly connected with an inner ring of an upper sleeve bearing, and the bottom of the upper sleeve is fixedly connected with the top end of the fuselage main shaft, so that the wing flapping rod mounting rack with the upper sleeve bearing can freely rotate around the fuselage main shaft for 360 degrees, but cannot slide up and down along the fuselage main shaft;

the use of the upper sleeve bearing enables the rotation motion of the bionic miniature flapping rotor craft to be smooth and fluent, reduces the rotation friction between the upper sleeve and the wing flapping rod mounting rack, and reduces the power consumption of the bionic miniature flapping rotor craft in the motion process;

the lower rotating mechanism comprises a driving push rod, a lower sleeve bearing and a lower sleeve; the top of the lower sleeve penetrates through the inner ring of the lower sleeve bearing and is fixedly connected with the inner ring of the lower sleeve bearing, the driving push rod is fixedly connected with the outer ring of the lower sleeve bearing into a whole, and the middle part of the main shaft of the machine body penetrates through the lower sleeve fixedly connected with the inner ring of the lower sleeve bearing, so that the driving push rod with the lower sleeve bearing can freely rotate around the main shaft of the machine body by 360 degrees; the bottom of the lower sleeve is connected with a driver transmission rod, so that the driving push rod can slide up and down along the main shaft of the machine body;

the lower sleeve bearing is used, so that the rotary motion of the bionic miniature flapping rotor wing aircraft is smooth and smooth, the rotational friction between the lower sleeve and the driving push rod is reduced, and the power consumption of the bionic miniature flapping rotor wing aircraft in the motion process is reduced;

the flapping torsion mechanism comprises a flapping rod of the wing, a torsion piece baffle and a ball shaft push-pull rod; the front end of the wing flapping rod is connected with one side of the wing flapping rod mounting rack through a pin, so that the wing flapping rod can flap up and down within the range meeting the requirements; the ball shaft push-pull rod consists of a push-pull rod and a ball body, the ball body is arranged in an upper end ring of the push-pull rod to form a ball shaft capable of rotating randomly, the lower end of the push-pull rod is connected with the driving push rod, and the end of the upper end ball shaft is fixedly connected with the extension shaft of the torsion piece; the torsion piece is fixedly connected with the front end of the wing main beam and is arranged in a torsion groove of the wing flapping rod designed according to the wing torsion angle; the central circular hole of the baffle plate of the torsion piece is penetrated by the main wing beam, the extension shaft of the torsion piece penetrates through the central hole of the sphere and is fixedly connected with the central hole of the sphere, and the torsion piece can be twisted under the driving of the push-pull rod of the sphere shaft; the blocking piece is fixedly connected with the outer side of the clamping groove end of the flapping rod of the wing, and the torsion piece is limited to rotate in the torsion groove of the flapping rod of the wing but cannot move axially.

2. The transmission mechanism for realizing flapping and torsional motion of a bionic miniature flapping rotor craft, according to claim 1, wherein: because the surface of the metal ball is smooth, the friction between the metal ball and the push-pull rod is small during rotation, so that the requirements on strength and rigidity can be met, and the power consumption in the movement process can be reduced.

3. The transmission mechanism for realizing flapping and torsional motion of a bionic miniature flapping rotor craft, according to claim 1, wherein: the number of the wings is two, and the wings are arranged on two sides of the rotating shaft in an anti-symmetric manner; the single wing comprises a main beam, secondary beams perpendicular to the main beam and wing membranes, the main beam of the wing and the secondary beams perpendicular to the main beam jointly form a wing framework, and the wing membranes are bonded on the wing spars; the root of the wing girder penetrates through a circular hole of the torsion piece separation blade to be fixedly connected with the torsion piece, the torsion piece separation blade is fixedly connected with the wing flapping rod, and the aperture of the circular hole of the torsion piece separation blade is larger than the diameter of the wing girder, so that the influence of friction in the wing torsion process is prevented.

4. The transmission mechanism for realizing flapping and torsional motion of a bionic miniature flapping rotor craft, according to claim 1, wherein: in order to meet the requirements of strength and rigidity in the flapping process of the wings of the bionic miniature flapping rotor wing aircraft and reduce the wing mass, the wing beam adopts a high-modulus carbon fiber rod capable of meeting the requirements.

5. The transmission mechanism for realizing flapping and torsional motion of a bionic miniature flapping rotor craft, according to claim 1, wherein: in order to meet the requirements of elasticity and toughness of wing membranes of wings and reduce the quality of the wings, the wing membranes are polyimide films.

6. The transmission mechanism for realizing flapping and torsional motion of a bionic miniature flapping-rotor aircraft according to claim 1, 2, 3, 4 or 5, wherein: the working method comprises the following steps: the motion process of the wings is divided into three processes of torsion, flapping and rotation; in the stage of starting movement of the wings, a lower sleeve of the lower rotating mechanism is driven by a driver to move along a central shaft, a driving push rod on the lower sleeve also moves along with the driving push rod, and the movement of the driving push rod drives a ball shaft push rod to move, so that a torsion piece fixedly connected with the wings is driven to rotate around the central shaft in a torsion clamping groove, the wings are twisted until the torsion piece rotates to reach a torsion angle arranged in the torsion clamping groove, and the torsion movement of the wings is finished; when the flapping is performed, the torsion piece rotates to reach the maximum torsion angle arranged in the torsion clamping groove to stop torsion, the wing reaches the maximum torsion angle and is in a large attack angle state, and the negative lift force is small in the flapping process; when the flapping rotary wing aircraft beats downwards, the torsion piece rotates to reach the position of the minimum torsion angle arranged in the torsion clamping groove to stop torsion, the wing torsion angle is minimum, the wing horizontally beats downwards and is in a small attack angle state, the positive lift force of the wing is improved, the flying average lift force of the flapping rotary wing aircraft is further increased, and the pneumatic efficiency of the flapping rotary wing aircraft is improved;

after the twisting movement is rapidly finished, the ball shaft push-pull rod continues to move, and at the moment, the twisting piece does not twist, but pushes the wing flapping rod to move instead; when in upward flapping, the ball shaft push-pull rod pushes the wing flapping rod through the torsion piece to enable the wing in a large attack angle state to move upwards, and upward flapping movement of the wing is completed; when the wings are slapped, the ball shaft push-pull rod pulls the wing flapping rod through the torsion piece to enable the wings in a small attack angle state to move downwards, and the slapping movement of the wings is completed;

in the flapping process of the flapping rotor wing aircraft, a couple taking a symmetric point of the wing as a center is generated due to the anti-symmetric installation of the wing, so that the wing rotates around a central shaft under the action of the couple, and the rotary motion of the flapping rotor wing aircraft is completed.

Technical Field

The invention belongs to the field of bionic micro aircrafts, and relates to a transmission mechanism for realizing flapping and twisting combined motion of a micro flapping rotor aircraft.

Background

The micro aircraft has the advantages of small size, light weight, flexibility, good concealment and the like, can complete tasks such as monitoring, reconnaissance, electronic eavesdropping and interference in a narrow space, has high practical value, has wide application prospect in the future no matter in the military and civil fields, and therefore becomes an object of wide research of students in all countries in the world. According to the overall structure layout and the flight mode, the micro aircraft is divided into three types, namely a micro fixed-wing aircraft, a micro rotor aircraft and a micro flapping-wing aircraft, and the three types of aircrafts have different advantages and disadvantages and applicable environments. The micro fixed wing aircraft has the advantages of high speed, simple structure and the like, but has poor maneuverability and can not realize vertical take-off and landing; compared with a miniature fixed-wing aircraft, the miniature fixed-wing aircraft can realize vertical take-off and landing and has high take-off efficiency, but has a complex structure and low aerodynamic efficiency; the micro flapping wing aircraft is designed by adopting the bionics principle as a novel aircraft, has small noise, high pneumatic efficiency and good maneuverability in the flight process, but has low take-off efficiency, can not finish vertical take-off and landing and is difficult to control.

In order to overcome the defects of the micro aircraft, the bionic micro flapping rotor wing aircraft which is a micro aircraft combining a flapping wing and a rotor wing is applied. The bionic miniature flapping rotor wing aircraft converts the plane symmetric distribution of wings in flapping wings into central symmetric distribution, and the wings generate a couple taking the symmetric point of the wings as the center due to antisymmetric installation in the flapping process, so that the wings rotate around a central shaft under the action of the couple, and the functions of the flapping wings and the rotor wings are realized simultaneously. Therefore, the bionic micro flapping-wing aircraft has the advantages of both the micro flapping-wing aircraft and the micro rotor wing aircraft, has high take-off efficiency, can realize independent take-off and landing, and has simple structure, high pneumatic efficiency and wide future development prospect.

However, the average flying lift of the bionic micro flapping rotor wing aircraft designed and researched at present is small, although the wing can have a large positive lift in the downflapping process, the wing can also generate a small negative lift in the upflapping process, so that the aerodynamic efficiency is low, and how to further improve the aerodynamic efficiency of the bionic micro flapping rotor wing aircraft is still the key point of the current research.

Disclosure of Invention

The invention aims to solve the problems of small flying average lift and low aerodynamic efficiency caused by large negative lift in the flapping process of a bionic micro flapping rotor craft, and provides a transmission mechanism capable of realizing flapping and torsional motion of the bionic micro flapping rotor craft.

The purpose of the invention is realized by the following technical scheme.

The invention discloses a transmission mechanism for realizing flapping and twisting motion of a bionic miniature flapping rotor wing aircraft, which comprises a main shaft of a fuselage, a rotating mechanism, a flapping twisting mechanism and wings.

The bottom end of the main shaft of the aircraft body is vertically and fixedly connected with a base of the aircraft body of the bionic miniature flapping rotor aircraft, and the top end and the middle part of the main shaft of the aircraft body are connected with the upper rotating mechanism and the lower rotating mechanism.

The rotating mechanism comprises an upper rotating mechanism and a lower rotating mechanism. The upper rotating mechanism comprises a wing flapping rod mounting frame, an upper sleeve bearing and an upper sleeve. The top of the upper sleeve penetrates through the inner ring of the upper sleeve bearing and is fixedly connected with the inner ring of the upper sleeve bearing, and the mounting frame of the flapping rod of the wing is fixedly connected with the outer ring of the upper sleeve bearing into a whole. The top end of the fuselage main shaft penetrates through an upper sleeve fixedly connected with an inner ring of an upper sleeve bearing, and the bottom of the upper sleeve is fixedly connected with the top end of the fuselage main shaft, so that the wing flapping rod mounting frame with the upper sleeve bearing can freely rotate around the fuselage main shaft by 360 degrees, but cannot slide up and down along the fuselage main shaft.

The use of the upper sleeve bearing enables the rotary motion of the bionic micro flapping rotor wing aircraft to be smooth and easy, reduces the rotation friction between the upper sleeve and the wing flapping rod mounting frame, and reduces the power consumption of the bionic micro flapping rotor wing aircraft in the motion process.

The lower rotating mechanism comprises a driving push rod, a lower sleeve bearing and a lower sleeve. The top of the lower sleeve penetrates through the inner ring of the lower sleeve bearing and is fixedly connected with the inner ring of the lower sleeve bearing, the driving push rod is fixedly connected with the outer ring of the lower sleeve bearing into a whole, and the middle part of the main shaft of the machine body penetrates through the lower sleeve fixedly connected with the inner ring of the lower sleeve bearing, so that the driving push rod with the lower sleeve bearing can freely rotate around the main shaft of the machine body by 360 degrees. The bottom of the lower sleeve is connected with a driver transmission rod, so that the driving push rod can slide up and down along the main shaft of the machine body.

The use of lower sleeve bearing makes the rotary motion of bionical miniature rotor craft of pounding level and smooth and easy, reduces the rotational friction between lower sleeve and the drive push rod, reduces the bionical miniature consumption of pounding in the rotor craft motion process of pounding.

The flapping torsion mechanism comprises a flapping rod of the wing, a torsion piece baffle and a ball shaft push-pull rod. The front end of the wing flapping rod is connected with one side of the wing flapping rod mounting rack through a pin, so that the wing flapping rod can flap up and down within the range meeting the requirements. The ball shaft push-pull rod is composed of a push-pull rod and a sphere, the sphere is arranged in a ring at the upper end of the push-pull rod to form a ball shaft capable of rotating randomly, the lower end of the push-pull rod is connected with the driving push rod, and the end of the ball shaft at the upper end is fixedly connected with the extension shaft of the torsion piece. The torsion piece is fixedly connected with the front end of the wing main beam and is arranged in a torsion groove of the wing flapping rod designed according to the wing torsion angle. The central circular hole of the baffle plate of the torsion piece is penetrated by the main wing beam, the extension shaft of the torsion piece penetrates through the central hole of the sphere and is fixedly connected with the central hole of the sphere, and the torsion piece can be twisted under the driving of the push-pull rod of the sphere shaft. The blocking piece is fixedly connected with the outer side of the clamping groove end of the flapping rod of the wing, and the torsion piece is limited to rotate in the torsion groove of the flapping rod of the wing but cannot move axially.

Because the surface of the metal ball is smooth, the friction between the metal ball and the push-pull rod is small during rotation, so that the requirements on strength and rigidity can be met, and the power consumption in the movement process can be reduced.

The number of the wings is two, and the wings are arranged on two sides of the rotating shaft in an anti-symmetric mode. The single wing comprises a main beam, secondary beams perpendicular to the main beam and wing membranes, the main beam of the wing and the secondary beams perpendicular to the main beam jointly form a wing framework, and the wing membranes are bonded on the wing spars. The root part of the wing main beam penetrates through a circular hole of the torsion piece blocking piece to be fixedly connected with the torsion piece, the torsion piece blocking piece is fixedly connected with the wing flapping rod, the aperture of the circular hole of the torsion piece blocking piece is required to be larger than the diameter of the wing main beam, and the influence of friction in the wing torsion process is prevented.

In order to meet the requirements of strength and rigidity in the flapping process of the wings of the bionic miniature flapping rotor wing aircraft and reduce the mass of the wings, the wing spars are preferably high-modulus carbon fiber rods capable of meeting the requirements.

In order to meet the requirements of elasticity and toughness of wing membranes of wings and reduce the quality of the wings, polyimide films are preferably adopted as the wing membranes.

The working method of the transmission mechanism capable of realizing flapping and twisting motion of the bionic miniature flapping rotor wing aircraft comprises the following steps: the wing motion process is divided into three processes of torsion, flapping and rotation. In the stage of starting movement of the wing, the lower sleeve of the lower rotating mechanism is driven by the driver to move along the central shaft, the driving push rod on the lower sleeve also moves along with the driving push rod, and the movement of the driving push rod drives the ball shaft push rod to move, so that the torsion piece fixedly connected with the wing is driven to rotate around the axis in the torsion clamping groove, the wing is twisted until the torsion piece rotates to reach a torsion angle arranged in the torsion clamping groove, and the torsion movement of the wing is finished. When the flapping is performed, the torsion piece rotates to reach the maximum torsion angle arranged in the torsion clamping groove to stop torsion, the wing reaches the maximum torsion angle and is in a large attack angle state, and the negative lift force is small in the flapping process; when the flapping rotary wing aircraft beats downwards, the torsion piece rotates to reach the position of the minimum torsion angle arranged in the torsion clamping groove to stop torsion, the wing torsion angle is minimum, the wing horizontally beats downwards and is in a small attack angle state, the positive lift force of the wing is improved, the flying average lift force of the flapping rotary wing aircraft is further increased, and the pneumatic efficiency of the flapping rotary wing aircraft is improved.

After the twisting movement is rapidly finished, the ball shaft push-pull rod continues to move, and at the moment, the twisting piece does not twist, but pushes the wing flapping rod to move instead. When in upward flapping, the ball shaft push-pull rod pushes the wing flapping rod through the torsion piece to enable the wing in a large attack angle state to move upwards, and upward flapping movement of the wing is completed; when the wing is slapped down, the ball shaft push-pull rod pulls the wing flapping rod through the torsion piece to enable the wing in a small attack angle state to move downwards, and the slapping down movement of the wing is completed.

In the flapping process of the flapping rotor wing aircraft, a couple taking a symmetric point of the wing as a center is generated due to the anti-symmetric installation of the wing, so that the wing rotates around a central shaft under the action of the couple, and the rotary motion of the flapping rotor wing aircraft is completed.

Has the advantages that:

1. the invention discloses a transmission mechanism for realizing flapping and twisting motion of a bionic miniature flapping rotor wing aircraft. When the wings are upward flapping, the wings move upward under the torsion of the torsion piece in a large attack angle state, the windward area of the wings is small, and the generated negative lift force is small; when the wings flap downwards, the wings move downwards in a small attack angle state due to the torsion of the torsion piece, the windward area of the wings is large, the positive lift force of the wings is improved, the negative lift force is reduced, and the positive lift force is improved, so that the whole flapping rotor aircraft generates great average lift force in a flapping cycle, and the load capacity and the pneumatic efficiency of the flapping rotor aircraft are improved.

2. The transmission mechanism for realizing flapping and twisting motion of the bionic miniature flapping rotor wing aircraft is characterized in that a twisting clamping groove for adjusting a twisting angle is arranged on a flapping rod of the wing, the twisting angle of a twisting piece is adjusted by changing the position and the size of the twisting clamping groove, and even if the twisting piece is twisted in the twisting clamping groove according to a designed angle, a ball shaft connected with the twisting piece ensures that the twisting piece is smoothly and efficiently twisted, and the twisting motion of the wing can be quickly and stably finished.

3. The invention discloses a transmission mechanism for realizing flapping and twisting motion of a bionic micro flapping rotor wing aircraft, which is characterized in that sleeve bearings which rotate smoothly are arranged in an upper rotating mechanism and a lower rotating mechanism, so that a wing flapping rod mounting frame and a driving push rod can rotate freely for 360 degrees around a main shaft of an aircraft body respectively, the use of the sleeve bearings improves the smoothness and smoothness of the rotating motion of the flapping rotor wing aircraft, reduces the rotating friction between the upper sleeve and the wing flapping rod mounting frame and between the lower sleeve and the driving push rod, meets the requirement of the wings on the rotating speed during rotation, and reduces the power consumption of the bionic micro flapping rotor wing aircraft during the moving process.

4. The transmission mechanism for realizing flapping and twisting motion of the bionic miniature flapping rotor wing aircraft has the advantages of compact integral structure, simple processing technology and easy assembly and manufacture.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the transmission mechanism for realizing flapping and twisting motion of the bionic miniature flapping rotor craft.

FIG. 2 is a schematic view of a single wing structure of a transmission mechanism for realizing flapping and twisting motion of the bionic micro flapping rotor craft.

FIG. 3 is a schematic view of the upper rotating mechanism of the transmission mechanism for realizing flapping and twisting motion of the bionic miniature flapping rotor craft.

FIG. 4 is a schematic view of the lower rotary mechanism of the transmission mechanism for realizing flapping and twisting motion of the bionic miniature flapping rotor craft.

FIG. 5 is a schematic view of the torsion mechanism of the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor craft.

Fig. 6 is a schematic structural diagram of a ball shaft push-pull rod of the transmission mechanism for realizing flapping and twisting motion of the bionic miniature flapping-rotor aircraft.

In the figure:

1-rotating mechanism 2-flapping torsion mechanism 3-wing 4-fuselage main shaft

101-upper sleeve bearing 102-upper sleeve 103-wing flapping rod mounting rack

104-lower sleeve bearing 105-lower sleeve 106-drive ram

201-wing flapping rod 202-torsion piece 203 torsion piece baffle

204-push-pull rod 205-sphere

301-main beam 302-secondary beam perpendicular to main beam 303-wing membrane

Detailed Description

To facilitate a better understanding of the invention, its advantages are set forth in the following description taken in conjunction with the accompanying drawings and examples.

Example 1:

as shown in fig. 1, the transmission mechanism for realizing flapping and twisting motion of a bionic micro flapping-rotor aircraft disclosed in this embodiment includes a rotation mechanism 1, a flapping twisting mechanism 2, wings 3, and a main shaft 4 of an aircraft body. Wherein, fuselage main shaft 4 is vertically installed in bionical miniature flapping rotor craft base.

As shown in fig. 2, for the wing 3 of the transmission mechanism for realizing flapping and torsional motion of the bionic micro flapping-rotor aircraft according to the embodiment, the whole wing 3 includes a main beam 301, a secondary beam 302 perpendicular to the main beam 301, and a wing membrane 303, the main beam 301 and the secondary beam 302 perpendicular to the main beam together form a framework of 1/4 oval wing 3, and the wing membrane 303 is cut and bonded to the framework of the wing 3 according to the size of 1/4 oval plane formed by the main beam 301 and the secondary beam 302 perpendicular to the main beam. In order to meet the requirements of strength and rigidity of the wings 3 of the bionic miniature flapping rotor aircraft in the flapping process and reduce the mass of the wings 3, the main beam 301 and the secondary beam 302 perpendicular to the main beam 301 adopt high-modulus carbon fiber rods capable of meeting the requirements. In order to meet the requirements of elasticity and toughness of the wing membrane 303 and reduce the mass of the wing 3, the wing membrane 303 adopts a polyimide film with the thickness of 0.015 mm.

As shown in fig. 3, the upper rotating mechanism of the rotating mechanism 1 in the transmission mechanism for realizing flapping and torsional motion of the bionic micro flapping-rotor aircraft in the embodiment includes an upper sleeve bearing 101, an upper sleeve 102 and a wing flapping rod installation frame 103, wherein the top of the upper sleeve 102 penetrates through the inner ring of the upper sleeve bearing 101 and is fixedly connected with the inner ring of the upper sleeve bearing 101, the wing flapping rod installation frame 103 is fixedly connected with the outer ring of the upper sleeve bearing 101 into a whole, the top end of the fuselage main shaft 4 penetrates through the upper sleeve 102, and the bottom of the upper sleeve 102 is fixedly connected to the top end of the fuselage main shaft 1, so that the wing flapping rod installation frame 103 can freely rotate 360 degrees around the fuselage main shaft 4, but cannot slide up and down along the fuselage main shaft 4. The use of the upper sleeve bearing 101 enables the rotation motion of the bionic micro flapping rotor wing aircraft to be smooth and easy, reduces the rotation friction between the upper sleeve 102 and the wing flapping rod mounting rack 103, and reduces the power consumption of the bionic micro flapping rotor wing aircraft in the motion process.

As shown in fig. 4, the lower rotating mechanism of the rotating mechanism 1 in the transmission mechanism for realizing flapping and twisting motion of the bionic micro flapping-rotor aircraft of the present embodiment includes a lower sleeve bearing 104, a lower sleeve 105, and a driving push rod 106. The top of the lower sleeve 105 penetrates through the inner ring of the lower sleeve bearing 104 and is fixedly connected with the inner ring of the lower sleeve bearing 104, the driving push rod 106 is fixedly connected with the outer ring of the lower sleeve bearing 104 into a whole, the middle part of the machine body main shaft 4 penetrates through the lower sleeve 105 fixedly connected with the inner ring of the lower sleeve bearing 104, and the driving push rod 106 can freely rotate for 360 degrees around the machine body main shaft 4. The bottom of the lower sleeve 105 is connected with a driver transmission rod, so that the driving push rod 106 can slide up and down along the main shaft 4 of the machine body. The use of the lower sleeve bearing 104 enables the rotation motion of the bionic micro flapping rotor wing aircraft to be smooth and easy, reduces the rotation friction between the lower sleeve 105 and the driving push rod 106, and reduces the power consumption of the bionic micro flapping rotor wing aircraft in the motion process.

As shown in fig. 5 and 6, for the flapping torsion mechanism 2 in the transmission mechanism for realizing flapping and torsion motions of the bionic micro flapping-rotor aircraft according to the embodiment, the flapping torsion mechanism 2 includes a flap rod 201 of the wing, a torsion member 202, a torsion member baffle 203, a push-pull rod 204 and a sphere 205, since the surface of the metal sphere is smooth, friction between the metal sphere and the push-pull rod 204 is small during rotation, which can meet the requirements of strength and rigidity and reduce power consumption during motion, and the sphere 205 is a metal sphere. The push-pull rod 204 and the metal ball 205 jointly form a ball shaft push-pull rod, the metal ball 205 is installed in a ring at the front end of the push-pull rod 204, the metal ball 205 can rotate freely, the lower end of the push-pull rod 204 is connected with the driving push rod 106, and a central circular hole of the metal ball 205 is fixedly connected with an extension shaft of the torsion piece 202.

The front end of the flapping rod 201 is connected with one side of the flapping rod mounting rack 103, so that the flapping rod 201 can flap up and down within the range meeting the requirements. The torsion piece 202 is fixedly connected with the front end of the wing main beam 301 and is arranged in a torsion groove of the wing flapping rod 201 designed according to the torsion angle of the wing 3.

The central circular hole of the torsion piece baffle plate 203 is penetrated by the wing girder 301, and the aperture of the torsion piece baffle plate 203 is larger than the diameter of the wing girder 301, so that the influence of friction in the rotation process of the wing 3 is prevented. The extension shaft of the torsion element 202 passes through the central hole of the metal ball 205 and is fixedly connected with the metal ball 205, and the torsion element 202 can be twisted under the driving of the push-pull rod of the ball shaft because the metal ball 205 can rotate freely. The torsion piece blocking piece 203 is fixedly connected with the outer side of the clamping groove end of the wing flapping rod 201, so that the torsion piece 202 can only rotate in the torsion groove of the wing flapping rod 201 and cannot axially move.

The detailed working method of the transmission mechanism for realizing flapping and torsional motion of the bionic miniature flapping rotor craft disclosed by the embodiment is as follows:

after the driver is started, the lower sleeve 105 of the lower rotating mechanism of the rotating mechanism 1 moves along the main shaft 4 of the fuselage under the driving of the driver, the driving push rod 106 on the lower sleeve 105 also moves, the movement of the driving push rod 106 drives the push-pull rod 204 to move, so as to drive the torsion piece 202 fixedly connected with the wing 3 to rotate around the axis in the torsion clamping groove of the flapping rod 201 of the wing, the wing 3 twists until the torsion piece 202 rotates to reach the torsion angle arranged in the torsion clamping groove of the flapping rod 201 of the wing, and stops twisting, at this time, the torsion motion of the wing 3 is completed, and then flapping motion is performed.

In the flapping process, the wings 3 generate a couple taking the symmetric point of the wings as the center due to anti-symmetric installation, so that the wings 3 rotate around the central shaft under the action of the couple, and the rotary motion of the flapping rotor craft is completed. The upper sleeve bearing 101 capable of smoothly rotating in the upper rotating mechanism and the lower sleeve bearing 104 capable of smoothly rotating in the lower rotating mechanism enable the wing flapping rod mounting rack 103 and the driving push rod 106 to freely rotate around the main shaft of the aircraft body by 360 degrees respectively, the use of the sleeve bearings improves the smoothness and smoothness of the rotary motion of the bionic micro flapping rotary wing aircraft, reduces the rotational friction between the upper sleeve 102 and the wing flapping rod mounting rack 103 and between the lower sleeve 105 and the driving push rod 106, and reduces the power consumption of the bionic micro flapping rotary wing aircraft in the motion process.

The wing flapping rod 201 is provided with a torsion clamping groove for adjusting the torsion angle, the torsion angle of the torsion piece 202 is adjusted by changing the position and the size of the torsion clamping groove, and even if the torsion piece 202 is twisted in the torsion clamping groove according to a designed angle, the smooth metal ball 205 which is connected with the torsion piece 202 and can rotate freely enables the torsion of the torsion piece 202 to be smoother and more efficient, and the torsion motion of the wing 3 can be rapidly and stably completed.

When the flapping wing is in flapping, the torsion piece 202 rotates upwards to reach the maximum torsion angle arranged in the torsion clamping groove of the flapping rod 201 of the wing to stop torsion, the wing 3 reaches the maximum torsion angle and is in a large attack angle state, after the torsion motion is rapidly completed, the push-pull rod 204 continues to move, at the moment, the torsion piece 202 does not twist, but pushes the flapping rod 201 of the wing to move upwards instead, until the maximum flapping angle of the wing 3 is reached, and the flapping motion of the wing 3 is completed. When the wing 3 is flapped up, under the torsion of the torsion element 202, the wing 3 moves upwards in a large attack angle state, the windward area of the wing 3 is small, and the generated negative lift force is small.

When the flapping wing is in flapping, the torsion piece 202 rotates downwards to reach the minimum torsion angle arranged in the torsion clamping groove of the flapping rod 201 of the wing to stop torsion, the torsion angle of the wing 3 is minimum, the flapping is in a horizontal flapping state almost, the flapping is in a small attack angle state, after the torsion motion is completed quickly, the push-pull rod 204 continues to move, at the moment, the torsion piece 202 does not rotate downwards, the flapping rod 201 of the wing is pulled to move downwards instead, until the maximum flapping angle of the wing 3 is reached, and the flapping motion of the wing 3 is completed. When the wing 3 flaps downwards, the wing 3 moves downwards in a small attack angle state due to the torsion of the torsion element 202, the windward area of the wing 3 is large, and the positive lift force of the wing is improved.

The reduction of the negative lift force in the upward flapping process and the improvement of the positive lift force in the downward flapping process further enable the whole flapping rotor aircraft to generate great average lift force in one flapping cycle, and the load capacity and the aerodynamic efficiency of the flapping rotor aircraft are improved.

The design ideas, characteristics and detailed descriptions of the above embodiments are only for those skilled in the art to understand the contents of the present invention and to implement the present invention, and the protection scope of the present invention is not limited to the above embodiments, and any modification, equivalent replacement, improvement, etc. made to the principles and design ideas of the present invention within the spirit and principle of the present invention should be included in the protection scope of the present invention.