阅读说明：本技术 一种扑翼与旋翼复合式微小型飞行器 (Flapping wing and rotor wing combined type microminiature aircraft ) 是由 李港 周超 褚松涛 吴江浩 张艳来 于 2021-08-24 设计创作，主要内容包括：为了解决传统扑旋翼飞行器翼载过高、前飞时翼存在较大不平衡气动力矩以及摩擦力矩驱动机身转动的问题,本发明提出了一种扑翼与旋翼复合式微小型飞行器。该飞行器主要的气动面仍为一对扑旋翼,仅在扑旋翼平面的下方引入一对被动旋转的旋翼,该小旋翼旋转轴与扑旋翼旋转轴一致,在扑旋翼下洗气流与前飞来流共同作用下反向旋转实现对飞行器升力的补充、减小不平衡力矩及摩擦力矩,以此提升飞行器升力并降低控制系统设计难度。(The invention provides a flapping wing and rotor wing combined type microminiature aircraft, which aims to solve the problems that when the wing load of the traditional flapping rotor wing aircraft is too high and flies forwards, the wing has larger unbalanced aerodynamic moment and friction moment to drive the aircraft body to rotate. The main aerodynamic surface of the aircraft is still a pair of flapping rotors, only a pair of passively rotating rotors is introduced below the plane of the flapping rotors, the rotating shaft of the small rotor is consistent with the rotating shaft of the flapping rotors, and the reverse rotation is realized under the combined action of the downwash airflow and the forward incoming flow of the flapping rotors to supplement the lift force of the aircraft, reduce the unbalanced moment and the friction moment, so that the lift force of the aircraft is improved, and the design difficulty of a control system is reduced.)

1. A flapping wing and rotor wing combined type microminiature aircraft is characterized by comprising a base, a transmission device, a micro motor, a flapping rotor wing and a small rotor wing;

the flapping rotor wing is arranged at the top end of the transmission device and can flap and rotate along with the transmission device;

the small rotor wing is of a light film structure, is coaxial with the flapping rotor wing, has a horizontal rotating plane, is arranged below the flapping rotor wing and only does rotating motion; the horizontal installation direction of the small rotor wing is opposite to that of the flapping rotor wing so as to realize reverse rotation.

2. The invention of claim 1 wherein the small rotor span is 1/2-1/3 of the flapping wing span to ensure that the small rotor has a low moment of inertia for fast rotation to generate lift.

3. The flapping and rotor composite micro miniature aircraft of claim 1, wherein the small rotor has an aspect ratio of 5-7, ensuring high aerodynamic efficiency of the small rotor.

4. The invention of claim 1 wherein the distance between the plane of rotation of the small rotor and the plane of rotation of the flapping rotor is in the range of 0.5 to 0.75 times the span length of the flapping rotor.

5. The flapping wing and rotor wing compound micro miniature aircraft of claim 1, wherein said flapping rotor wing comprises a main beam, two auxiliary beams, and a wing membrane; when the flapping rotor wing is initially installed and the main beam of the flapping rotor wing flaps to the horizontal plane, the included angle between the plane where the flapping rotor wing is located and the horizontal plane is designed to be 10-15 degrees.

6. The flapping and rotor composite micro miniature aircraft of claim 1, wherein the transmission comprises a main shaft gear, a reducer, and an actuator;

the spindle gear is fixed on the output shaft of the micro motor and is in meshing transmission with the speed reducer to reduce the speed of the high-speed rotary motion output by the motor; the actuating mechanism comprises an oscillating component, a flapping component and a rotating component; the speed reducer is connected with the oscillating assembly of the actuating mechanism, and the circular motion after speed reduction is changed into vertical oscillation of the oscillating assembly; the oscillating assembly drives the flapping assembly to drive the flapping rotor wing to perform reciprocating flapping motion; the flapping rotor wing starts to rotate together with the rotating assembly after thrust moment is generated by flapping motion, and the small rotor wing rotates around the rotating assembly under the combined action of downwash airflow and forward-flying incoming flow of the flapping rotor wing, but the rotating direction is opposite to that of the flapping rotor wing.

7. The invention of claims 1 and 6 wherein the actuator rotor assembly is configured to passively rotate the flapping rotors and the small rotors in opposite directions about the same axis at different speeds.

Technical Field

The invention relates to the field of micro aircrafts, in particular but not exclusively to a flapping wing and rotor wing combined type micro aircraft.

Background

With the continuous progress of microelectronic technology in recent years, the miniaturization of aircraft is becoming the focus of research in the field of aviation. The micro aircraft has small volume, light weight, strong maneuverability and lower cost, can be used in large quantities after batch production, has wide application prospect in military and civil aspects, and can be used for investigation, exploration, assistance in rescue and other works in complex environments. Currently, the research of the micro air vehicle focuses on the field of the bionic micro air vehicle.

The flapping rotor wing layout is one of flapping wing and rotor wing combined type micro aircraft layouts designed by combining a biological flight principle and a traditional aircraft aerodynamic principle. The flapping rotor wing layout integrates two motions of a flapping wing and a rotor wing, the wings actively and vertically flap and passively rotate when moving, and therefore the layout has the advantages of high lift force of the flapping wing layout moving under the low Reynolds number and high aerodynamic efficiency of the rotor wing layout.

Various designs of flapping-rotor aircraft have been proposed in the past, such as "a flapping-rotor aircraft based on piezoelectric drive and a driving method" (patent No. ZL 201711019042.X) and "a micromachine slide rail type controllable flapping-rotor aircraft" (patent No. ZL 201511021309. X). The design of these flapping rotors has certain problems in aerodynamic performance, mainly in the following aspects: first, the flapping rotor wing primarily relies on the downbeat process to produce lift, while the upbeat process contributes less to lift. Therefore, the difference of the up-and-down flapping loads is more obvious when the wing load of the single flapping rotor is larger, and the requirement on the instantaneous power of the motor is also larger. And secondly, when the flapping rotor wings fly forwards, one side of the flapping rotor wing is in a forward stage, and the other side of the flapping rotor wing is in a backward stage, wherein the lift force of the forward stage is larger, the lift force of the backward stage is smaller, and the difference of the lift forces on the two sides can cause remarkable unbalanced moment, so that the design requirement on a control system is high. Thirdly, although the rotation of the flapping rotor is driven by aerodynamic moment and passive, the friction moment still exists between the mechanism components to drive the fuselage to rotate, so the friction moment needs to be overcome in design.

The design scheme of coaxial reverse rotating wing is an effective way to solve the above problems, for example, the patent "a coaxial reverse double flapping rotor wing mechanism" (patent number ZL201910332059.3) proposes a scheme of multiple pairs of wings, so as to reduce the wing load and aerodynamic force fluctuation by increasing the number of wings and eliminate the unbalanced moment between the front wing and the rear wing. However, in the scheme, the multiple wings rotate coaxially and reversely, the two groups of wings are the same in size, the lower wing is positioned in the wake of the upper wing during movement and is always interfered by the lower washing air flow of the upper wing, and the pneumatic efficiency is lower than that of the upper wing. In addition, two groups of wings are active driving wings, so that the aircraft needs to drive two sets of wings to move simultaneously, and the requirements on mechanism transmission and driving energy are high. Therefore, it is still necessary to explore a simpler multi-wing design scheme of the flapping wing and rotor wing combined type micro-miniature aircraft to solve the above three problems.

Disclosure of Invention

The invention provides a flapping wing and rotor wing combined type micro aircraft, which aims to solve the problems that the wings of the traditional flapping rotor wing combined type micro aircraft are too high in load and generate unbalanced aerodynamic moment and friction moment to drive an aircraft body to rotate when flying forwards. The main aerodynamic surface of this aircraft still is a pair of rotor of pounding on, and introduce a pair of passive horizontal rotation's little rotor in the below of the rotor rotation plane of pounding on, this little rotor rotation axis is unanimous with the rotor rotation axis of pounding on, in the aircraft motion process, little rotor is in the replenishment of rotor lift of realization of counter-rotation under the rotor combined action of washing air current and preceding inflow of pounding on, reduce unbalanced moment and friction torque, in order to alleviate the lift production requirement of pounding on the rotor, the flight control degree of difficulty of lightening the aircraft, thereby promote the aircraft performance.

The invention relates to a flapping wing and rotor wing combined type microminiature aircraft, which is characterized by comprising a base, a transmission device, a micro motor, a flapping rotor wing and a small rotor wing.

The base is used for fixing the micro motor and the transmission device, wherein a cylindrical cavity is formed in the upper surface of the base and used for fixing the micro motor, and a supporting structure is arranged behind the cylindrical cavity and used for positioning and supporting a speed reducer gear of the transmission device and an inner rod of an actuating mechanism.

The micro motor is fixed in the reserved cylindrical cavity of the base. The micro motor outputs power to drive the transmission device to drive the flapping rotor wing to flap vertically and reciprocally and rotate passively.

The flapping rotor wing is arranged at the top end of the transmission device, and the flapping component of the transmission device and the rotating component flap and rotate together. The flapping rotor wing comprises a main beam, two auxiliary beams and a wing membrane. One end of the main beam is fixedly connected to the tail end of the flapping component of the transmission device and is connected with the wing root ends of the two auxiliary beams, and the main beam and the auxiliary beams are adhered to the wing membrane. When the main beam of the flapping rotor wings flaps to the horizontal plane during initial installation, the included angle between the plane where the flapping rotor wings are located and the horizontal plane is designed to be 10-15 degrees, the main purpose of setting the included angle is to increase the rotation speed of the flapping rotor wings so as to increase the size of downwash airflow to drive the small rotor wings to rotate on one hand, and to set the attack angle of the flapping rotor wings near the attack angle generated by high lift force so as to ensure the generation of high lift force on the other hand.

The small rotor wing is of a light film structure, is coaxial with the flapping rotor wing, is arranged below the flapping rotor wing and only does rotary motion. The horizontal installation direction of the small rotor wing is opposite to that of the flapping rotor wing so as to realize reverse rotation. The small rotor span is 1/2-1/3 of the flapping rotor span to ensure that the small rotor has small moment of inertia to rotate quickly to generate lift. The aspect ratio of the small rotor wing is 5-7, and the high pneumatic efficiency of the small rotor wing is ensured. The rotating plane of the small rotor wing is horizontal, the distance from the rotating plane of the flapping rotor wing is within the range of 0.5-0.75 time of the span length of the flapping rotor wing, and the rotating shaft of the flapping rotor wing is the same as that of the flapping rotor wing. The wing root of the small rotor wing is bonded with the rotating assembly of the actuating mechanism, and the small rotor wing and the flapping rotor wing rotate in the opposite direction around the rotating shaft.

The transmission device comprises a main shaft gear, a speed reducer and an actuating mechanism. The main shaft gear is fixed on the output shaft of the micro motor and is in meshing transmission with the speed reducer to reduce the speed of the high-speed rotating motion output by the motor. The actuating mechanism comprises an oscillating component, a flapping component and a rotating component. The speed reducer is connected with the oscillating assembly of the executing mechanism, and the circular motion after speed reduction is changed into vertical oscillation of the oscillating assembly. The oscillating assembly drives the flapping assembly to drive the pair of flapping rotors to perform reciprocating flapping motion; the flapping rotor wing starts to rotate together with the rotating assembly after thrust moment is generated by flapping motion, the small rotor wing rotates around the rotating assembly under the combined action of downwash airflow and forward-flying incoming flow of the flapping rotor wing, but the rotating direction is opposite to that of the flapping rotor wing. The rotating assembly can realize that the flapping rotor wing and the small rotor wing rotate around the same rotating shaft in opposite directions at different speeds passively.

A flapping wing and rotor wing combined type microminiature aircraft comprises the following moving processes: after the power is supplied to the aircraft, the micro motor outputs high-speed rotation, the flapping rotor wings are driven by the oscillating assembly and the flapping assembly to flap back and forth after the speed is reduced by the speed reducer, and the micro motor starts to rotate after the flapping motion generates thrust moment. In hovering flight, the small rotor wing is driven by the wake flow of the flapping rotor wing in passive rotation, and in forward flight, the wake flow of the flapping rotor wing and the forward incoming flow are driven together, and the characteristic is similar to a windmill or a children windmill toy. Because the flapping rotor and the small rotor are installed in opposite horizontal directions, the flapping rotor and the small rotor rotate in opposite directions when moving.

A flapping wing and rotor wing combined type microminiature aircraft utilizes a small rotor wing to improve the pneumatic performance and reduce the working principle of the flight control difficulty and comprises the following working principles:

(1) compared with the traditional single-pair flapping rotor wing layout, the small rotor wing is additionally arranged below the flapping rotor wing, and the design scheme of light moment of inertia and large aspect ratio of the small rotor wing ensures that the rotor wing can rapidly rotate under the action of incoming flow above to generate extra lift force, so that the load of the flapping rotor wing is reduced;

(2) when the flapping rotor wings fly forwards, large unbalanced moment exists due to the fact that the incoming flow speeds of the forward and backward stages of the flapping rotor wings in the process of flying forwards are asymmetric. After introducing little rotor, the high-speed rotation that can bring little rotor is flown to the motion before fast, also can appear unbalanced moment because the power asymmetry of advancing stage and back stage also when little rotor flies before. However, the rotation directions of the flapping rotor and the small rotor are opposite, and the unbalanced moments of the flapping rotor and the small rotor are just opposite, so that the existence of the small rotor can weaken the existence of the unbalanced moment, and the design difficulty of a control system is reduced.

(3) Although the flapping rotor is passive in wing rotation, friction torque exists between the flapping rotor and a transmission mechanism when the flapping rotor rotates, and mechanism friction torque needs to be overcome when the flapping rotor is controlled to realize stable control of the fuselage. The existence of the reverse rotation movement of the small rotor can introduce reverse friction torque, and the friction torque of the flapping rotor can be counteracted to some extent, so that the design difficulty of a control system can be reduced.

The invention has the advantages that:

(1) the flapping wing and rotor wing combined type microminiature aircraft reduces the load and the power consumption of each wing, the small rotor wing can supplement the generation of lift force, extra power is not required, and the output power of a motor is reduced.

(2) The flapping wing and rotor wing combined type microminiature aircraft provided by the invention reduces unbalanced moment when the traditional flapping rotor wing flies forward, reduces friction moment between mechanisms, and reduces the design difficulty of a control system.

Drawings

FIG. 1 is a schematic view of a combined flapping wing and rotor wing type micro-miniature aircraft;

FIG. 2 is a schematic view of a flapping rotor of a combined flapping wing and rotor wing micro-miniature aircraft according to the present invention;

FIG. 3 is a schematic view of a base of a composite micro-aircraft with flapping wings and rotary wings according to the present invention;

FIG. 4 is a schematic view of a transmission base of a flapping wing and rotor wing combined type micro-aircraft according to the present invention;

FIG. 5 is a schematic view of a micro-motor of a flapping wing and rotor wing combined micro-aircraft according to the present invention;

in the figure:

1-flapping rotor 2-small rotor 3-base

4-transmission device 5-micro motor

101-main beam 102-short beam 103-oblique beam

104-wing membrane 401-main shaft gear 402-big gear

403-Transmission Link 404-inner Pole 405-rotor support

406-big support 407-big bearing 408-small support

409-small bearing 410-wing connecting rod 411-rocker arm

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below. The present invention will be described in further detail with reference to the accompanying drawings and examples.

Fig. 1 is an overall schematic diagram of a coaxial homodromous double-flapping-rotor micro aircraft, which comprises a flapping rotor 1, a small rotor 2, a base 3, a transmission device 4 and a micro motor 5.

Fig. 2 shows an exemplary embodiment of the flapping rotor 1, the main beam 101 and the two auxiliary beams 102, 103 being made of carbon fiber rods, and the wing membrane 104 being made of polyethylene film. During initial installation, when the main beams 101 of the flapping rotary wings 1 and the small rotary wings 2 are positioned in a horizontal plane, the included angle between the plane of the flapping rotary wings 1 and the horizontal plane is designed to be 10-15 degrees, and the cylinder at the root part of the main beam 101 is fixedly installed in the reserved hole of the rocker arm 410 of the transmission device 4. As shown in fig. 1, a pair of flapping rotors 1 are arranged antisymmetrically about the axis of rotation.

An exemplary embodiment of the small rotor 2 is structurally identical to the flapping rotor 1 and comprises a main beam, two auxiliary beams and a wing membrane, wherein only the span length of the wing is 1/3-1/2 of the span length of the flapping rotor 1, the aspect ratio of the wing is between 5-7, the installation direction in the horizontal plane of the small rotor is opposite to that of the flapping rotor 1, and the bottom end of the main beam of the small rotor is bonded with the extending end of the actuator rotating assembly rotor bracket 405.

Fig. 3 shows an exemplary embodiment of the base 3 integrally made of a resin material or a polylactic acid material by 3D printing. The base 3 is a symmetrical structure, a cylindrical cavity is reserved in the center of the upper surface, and a gear rack is arranged behind the cavity to play a role in supporting the large gear 402. The rear side of the gear rack is reserved with space for positioning the main shaft gear 401. And then sleeves are arranged in the vertical direction, and are respectively provided with a central hole and a side groove for limiting the inner rod 404.

Fig. 4 shows an exemplary embodiment of the transmission 4, comprising a mainshaft gear 401, a reducer (gearwheel 402), an oscillating assembly (transmission link 403, inner rod 404), a flapping assembly (wing links 410a and 410b, rocker arms 411a and 411b), a rotating assembly (rotor support 405, large mount 406, large bearing 407, small mount 408, small bearing 409). The inner rod 404 is made of a light carbon fiber rod, the large bearing 407 and the small bearing 409 are light metal bearings, and the rest parts are integrally made of resin materials or polylactic acid materials through 3D printing. The main shaft gear 401 and the large gear 402 are engaged in the same plane and perpendicular to the bottom surface of the base 3. One end of the transmission connecting rod 403 is connected with an eccentric hole of the large gear 402 by a rivet, and the other end of the transmission connecting rod passes through a sleeve side wall groove of the base 3 by the rivet to be connected with the inner rod 404. The inner rod 404 is disposed within the sleeve of the base 3 and is vertically slidable within the sleeve. Rotor support 405 installs in base 3's sleeve top, leaves certain space with the sleeve up end, and interior pole 404 is emboliaed to the centre trompil. Big support 406 is installed above rotor support 405, leaves certain clearance with rotor support up end, and is articulated with wing connecting rod 410, and big bearing 407 is installed in big support 406 preformed hole. A small support 408 is arranged at the top of the inner rod 404 and is hinged with a rocker 411, and a small bearing 409 is arranged in a reserved hole of the small support 408. The wing links 410 are hinged to the rocker 411. The transmission device 4 is used for converting high-speed circular motion output by the motor into up-and-down motion of the oscillating assembly through speed reduction of the speed reducer, driving the flapping assembly to drive the flapping rotor wing 1 to perform reciprocating flapping motion, and starting to rotate around the rotating assembly after the flapping rotor wing 1 generates thrust moment through flapping motion.

Fig. 5 shows an exemplary embodiment of the micromotor 5. The micro motor 5 is arranged in a reserved cylindrical cavity of the base 3, and an output shaft is fixedly connected with a main shaft gear 401 in the transmission device 4.

The working process of a composite type microminiature aircraft with flapping wings and rotary wings of the present invention is described with reference to fig. 1-5. After the power is supplied to the aircraft, the micro motor 5 outputs high-speed circular motion, the speed is reduced through the transmission device 4 and is converted into reciprocating flapping motion of the flapping rotor wing 1 to generate a couple moment for driving the flapping rotor wing 1 to rotate, and the flapping rotor wing 1 starts to rotate until the flapping rotor wing rotates stably to generate lift force. When hovering and flying, the small rotor 2 is driven by wake airflow of the flapping rotor 1 to rotate in the passive reverse direction; when flying forwards, the tail gas flow and the forward flying incoming flow of the flapping rotor wing 1 jointly drive the small rotor wing 2 to passively rotate reversely.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.