阅读说明：本技术 半自主仿生扑翼飞行器 (Semi-autonomous bionic flapping wing aircraft ) 是由 胡丹丹 董辰初 管若乔 孙睿哲 黄雨深 于 2021-03-19 设计创作，主要内容包括：一种半自主仿生扑翼飞行器。其包括机架、齿轮组、电机、曲柄、摇臂、内翼、外翼、尾翼、机翼、电池、通讯模块和飞行控制器；本发明效果：双关节的扑翼翼型及类鹰翼面的仿生程度更高,可提高机身的载重及续航能力,飞行姿态更符合鸟类飞行规律,优于常规单关节翼型结构；扑翼的飞行方式充分利用空气流体涡流,以及机翼前端的前缘涡增大飞行器的升力,有效提高推力的效率,利用高空的势能优势,可以实现远距离、长时间的无能源补充飞行任务,有效提高飞行效率；具有质量轻、成本低、能耗低、噪音小等优势。(A semi-autonomous bionic flapping wing air vehicle. The airplane comprises a rack, a gear set, a motor, a crank, a rocker arm, an inner wing, an outer wing, a tail wing, wings, a battery, a communication module and a flight controller; the invention has the following effects: the bionic degree of the flapping wing type wing surface and the eagle-like wing surface with double joints is higher, the load and the endurance capacity of the airplane body can be improved, the flying posture is more in line with the bird flying rule, and the bionic wing type wing structure is superior to the conventional single-joint wing type structure; the flapping wing flight mode fully utilizes the air fluid vortex and the front edge vortex at the front end of the wing to increase the lift force of the aircraft, effectively improves the thrust efficiency, utilizes the potential energy advantage of high altitude, can realize long-distance and long-time non-energy supplement flight task, and effectively improves the flight efficiency; has the advantages of light weight, low cost, low energy consumption, low noise and the like.)

1. The utility model provides a semi-autonomous bionical flapping wing aircraft which characterized in that: the semi-autonomous bionic flapping wing aircraft comprises a rack, a gear set, a motor, a crank (6), a rocker (7), an inner wing, an outer wing, a tail wing, wings (26), a battery, a communication module and a flight controller; the rack comprises a front rack (15), a middle rack (14) and a rear rack (13) which are arranged at intervals in the front-rear direction and are connected with each other; the gear set is arranged between the front rack (15) and the middle rack (14) and comprises a first gear (1), a first reduction gear (2), a second reduction gear (3), a first main gear (4) and a second main gear (5); the first main gear (4) and the second main gear (5) are vertically arranged on the front side and meshed with each other; the first gear (1), the first reduction gear (2) and the second reduction gear (3) are vertically arranged at the rear side and are meshed with each other in sequence, and the third reduction gear (3) is meshed with the first main gear (4) at the same time; the motor is arranged between the middle frame (14) and the rear frame (13), and an output shaft is fixed in a central hole of the first gear (1); one end of each crank (6) is respectively fixed at the front ends of the central shafts of the first main gear (4) and the second main gear (5), and the other end of each crank is respectively connected with the inner end of one rocker arm (7); two sides of the frame are respectively provided with an inner wing, and each inner wing comprises an upper inner wing connecting rod (8), a lower inner wing connecting rod (9), a rear inner wing connecting rod (23) and a torsion support (24); one end of an upper inner wing connecting rod (8) and one end of a lower inner wing connecting rod (9) are respectively hinged to the middle part and the outer end of one rocker arm (7), and the other end of the upper inner wing connecting rod and the other end of the lower inner wing connecting rod are hinged to the front part of the inner side part of the torsion support (24); one end of a rear inner wing connecting rod (23) is hinged to the outer side of the top of the rear frame (13), and the other end of the rear inner wing connecting rod is hinged to the rear part of the inner side part of the torsion support (24); the outer side of each inner wing is provided with an outer wing respectively, and each outer wing comprises an inner outer wing connecting rod (10), an outer wing connecting rod (11), a torsion connecting rod (12) and an outer wing steering engine (25); the outer wing steering engine (25) is installed at the outer side of the torsion support (23), the output end of the outer wing steering engine is connected with one end of a circular arc-shaped torsion connecting rod (12), the other end of the torsion connecting rod (12) is connected with one end of the inner outer wing connecting rod (10), and the other end of the inner outer wing connecting rod (10) is connected with the inner end of the outer wing connecting rod (11); the tail wing comprises a tail wing framework (16), a tail wing connecting rod (17), a main body rod (18), a tail wing rack (19), a tail rudder support (20), a tail rudder connecting rod (21), a tail rudder connecting piece (22) and a tail wing steering engine; the two tail wing steering engines are arranged between the middle rack (14) and the rear rack (13), and the output ends of the two tail wing steering engines are respectively connected with the front end of one tail wing connecting rod (17); the empennage rack (19) is arranged behind the rack; the tail vane support (20) is arranged behind the tail vane rack (19); the tail rudder connecting rod (21) is vertically arranged, and the upper end and the lower end of the tail rudder connecting rod are respectively fixed on the upper part and the lower part of the front end of the tail rudder support (20); the front end of the main body rod (18) is fixed in the middle of the rear rack (13), and the rear end of the main body rod penetrates through the middle of the empennage rack (19) and is hinged in the middle of the tail rudder connecting rod (21) through a tail rudder connecting piece (22); the rear ends of the two tail wing connecting rods (17) respectively penetrate through the upper part of the tail wing rack (19) and are hinged to the two side parts of the upper part of the tail rudder support (20); the two tail wing frameworks (16) are arranged in a splayed shape, and one end of each tail wing framework is connected to the lower part of the rear end of the tail rudder support (20) at the same time; the middle parts of the wings (26) are respectively arranged at the inner side and the outer side of the inner wing and the middle part of the inner outer wing connecting rod (10); the battery, the communication module and the flight controller are all arranged on the rack, and the flight controller is respectively and electrically connected with the motor, the outer wing steering engine (25), the empennage steering engine and the communication module; the communication module is wirelessly connected with a remote controller held by a ground operator; the battery is used for providing electric energy for each electric component on the aircraft.

2. The semi-autonomous bionic ornithopter of claim 1, wherein: the airfoil profile of the wing (26) adopts a large aspect ratio, the front edge is a smooth elliptic curve, the rear edge is of a linear structure, and the whole wing (26) adopts a hollowed-out plate-shaped structure.

3. The semi-autonomous bionic ornithopter of claim 1, wherein: the first reduction gear (2) and the second reduction gear (3) are both composed of a large gear and a small gear which are coaxially arranged; wherein the big gear of the first reduction gear (2) is meshed with the first gear (1), and the small gear is meshed with the big gear of the second reduction gear (3); the pinion of the second reduction gear (3) is meshed with the first main gear (4).

4. The semi-autonomous bionic ornithopter of claim 1, wherein: an included angle is formed between the axial directions of the inner side outer wing connecting rod (10) and the outer side outer wing connecting rod (11).

5. The semi-autonomous bionic ornithopter of claim 1, wherein: the empennage rack (19) adopts a hollow plate-shaped structure.

6. The semi-autonomous bionic ornithopter of claim 1, wherein: the semi-autonomous bionic flapping wing aircraft further comprises a visual detection module which is installed on the bottom surface of the rack and electrically connected with the flight controller, and the visual detection module comprises a camera.

Technical Field

The invention belongs to the technical field of aircrafts, and particularly relates to a semi-autonomous bionic flapping wing aircraft.

Background

The bionic flapping wing flying robot is a bionic robot capable of simulating the flying of insects or birds, and has the remarkable advantages of high efficiency, light weight, strong maneuverability, low energy consumption and the like, so that the bionic flapping wing flying robot has wide application prospect in the fields of national defense, military and civil use, and becomes an advanced flying robot integrating various leading-edge subjects such as bionics, aerodynamics, mechanics, control science and the like. The bionic flapping wing flying robot has higher integration level, can effectively utilize potential energy, and is suitable for completing the flying task under the conditions of long time, long distance and no energy source supplement.

A bionic bat flapping-wing flying robot Batbot (B2) is developed by a research team of the university of California and Champagne university of Illinois in a combined manner; there is also the Nano hummingbird robot of Aero vision corporation, usa; the Phoenix bionic flapping wing flying robot is researched and developed by the American Massachusetts institute of technology; the wooded professor team at harvard university developed a flying insect robot named robobe; smartbird, developed by Fasto corporation, Germany; a Julian team at Berkeley division of California university, USA, develops a miniature bionic flapping-wing flying robot H2 bird; a bionic flapping wing flying robot named 'homing pigeon' developed by a Song dynasty professor team of northwest industry university; a Golden Snitch flapping-wing robot is researched and designed by Yanglogjie team of Taiwan Yangjiang university; USTBird flapping wing robot model independently developed by Beijing university of science and technology. However, these aircraft have the disadvantages of low bionics level, endurance and flight efficiency.

Disclosure of Invention

In order to solve the problems, the invention aims to provide a semi-autonomous bionic flapping wing aircraft.

In order to achieve the aim, the semi-autonomous bionic flapping wing aircraft provided by the invention comprises a rack, a gear set, a motor, a crank, a rocker arm, an inner wing, an outer wing, a tail wing, wings, a battery, a communication module and a flight controller; the rack comprises a front rack, a middle rack and a rear rack which are arranged at intervals in the front-rear direction and connected with each other; the gear set is arranged between the front rack and the middle rack and comprises a first gear, a first reduction gear, a second reduction gear, a first main gear and a second main gear; the first main gear and the second main gear are vertically arranged on the front side and are meshed with each other; the first gear, the first reduction gear and the second reduction gear are vertically arranged at the rear side and are meshed with each other in sequence, and the third reduction gear is meshed with the first main gear simultaneously; the motor is arranged between the middle frame and the rear frame, and the output shaft is fixed in the central hole of the first gear; one end of each crank is respectively fixed at the front ends of the central shafts of the first main gear and the second main gear, and the other end of each crank is respectively connected with the inner end of one rocker arm; two sides of the frame are respectively provided with an inner wing, and each inner wing comprises an upper inner wing connecting rod, a lower inner wing connecting rod, a rear inner wing connecting rod and a torsion support; one end of the upper inner wing connecting rod and one end of the lower inner wing connecting rod are respectively hinged to the middle part and the outer end of one rocker arm, and the other end of the upper inner wing connecting rod and the other end of the lower inner wing connecting rod are hinged to the front part of the inner side part of the torsion support; one end of the rear inner wing connecting rod is hinged to the outer side of the top of the rear frame, and the other end of the rear inner wing connecting rod is hinged to the rear part of the inner side part of the torsion support; the outer side of each inner wing is provided with an outer wing respectively, and each outer wing comprises an inner outer wing connecting rod, an outer wing connecting rod, a torsion connecting rod and an outer wing steering engine; the outer wing steering engine is arranged at the outer side part of the torsion support, the output end of the outer wing steering engine is connected with one end of a circular arc-shaped torsion connecting rod, the other end of the torsion connecting rod is connected with one end of the inner outer wing connecting rod, and the other end of the inner outer wing connecting rod is connected with the inner end of the outer wing connecting rod; the tail wing comprises a tail wing framework, a tail wing connecting rod, a main body rod, a tail wing rack, a tail rudder support, a tail rudder connecting rod, a tail rudder connecting piece and a tail wing steering engine; the two tail wing steering engines are arranged between the middle rack and the rear rack, and the output ends of the two tail wing steering engines are respectively connected with the front end of one tail wing connecting rod; the empennage rack is arranged behind the rack; the tail vane support is arranged behind the tail wing frame; the tail rudder connecting rod is vertically arranged, and the upper end and the lower end of the tail rudder connecting rod are respectively fixed on the upper part and the lower part of the front end of the tail rudder support; the front end of the main rod of the machine body is fixed in the middle of the rear rack, and the rear end of the main rod of the machine body penetrates through the middle of the empennage rack and is hinged to the middle of the tail rudder connecting rod through the tail rudder connecting piece; the rear ends of the two tail wing connecting rods respectively penetrate through the upper part of the tail wing frame and are hinged to the two side parts of the upper part of the tail rudder support; the two tail wing frameworks are arranged in a splayed shape, and one end of each tail wing framework is connected to the lower part of the rear end of the tail rudder support; the middle parts of the wings are respectively arranged at the inner side and the outer side of the inner wing and the middle part of the inner side outer wing connecting rod; the battery, the communication module and the flight controller are all arranged on the rack, and the flight controller is respectively and electrically connected with the motor, the outer wing steering engine, the empennage steering engine and the communication module; the communication module is wirelessly connected with a remote controller held by a ground operator; the battery is used for providing electric energy for each electric component on the aircraft.

The wing profile of the wing adopts a large aspect ratio, the front edge is a smooth elliptic curve, the rear edge is of a linear structure, and the whole wing adopts a hollow plate-shaped structure.

The first reduction gear and the second reduction gear are both composed of a large gear and a small gear which are coaxially arranged; wherein the bull gear of the first reduction gear meshes with the first gear, and the pinion gear meshes with the bull gear of the second reduction gear; and the pinion of the second reduction gear is engaged with the first main gear.

And an included angle is formed between the axial directions of the inner side outer wing connecting rod and the outer side outer wing connecting rod.

The empennage rack is of a hollow plate-shaped structure.

The semi-autonomous bionic flapping wing aircraft further comprises a visual detection module which is installed on the bottom surface of the rack and electrically connected with the flight controller, and the visual detection module comprises a camera.

The semi-autonomous bionic flapping wing aircraft provided by the invention has the following beneficial effects:

(1) the bionic degree of the flapping wing type wing surface and the eagle-like wing surface with double joints is higher, the load and the endurance capacity of the airplane body can be improved, the flying posture is more in line with the bird flying rule, and the bionic wing type wing structure is superior to the conventional single-joint wing type structure;

(2) the flapping wing flight mode fully utilizes the air fluid vortex and the front edge vortex at the front end of the wing to increase the lift force of the aircraft, effectively improves the thrust efficiency, utilizes the potential energy advantage of high altitude, can realize long-distance and long-time non-energy supplement flight task, and effectively improves the flight efficiency;

(3) has the advantages of light weight, low cost, low energy consumption, low noise and the like. The flapping wing aircraft mainly depends on two flight modes of flapping wing flight and gliding flight, so that the flapping wing aircraft has the advantages of low energy consumption of a fixed wing aircraft and high flexibility of a rotor wing aircraft. The folding wings can improve the lift force and lift-drag ratio of the aircraft to a great extent, so that the aircraft can have more practical functions, and the flapping wing aircraft can have autonomous flight capability by additionally arranging a GPS and a related sensor.

Drawings

FIG. 1 is a perspective view of a semi-autonomous bionic flapping wing aircraft provided by the invention.

FIG. 2 is a perspective view of a structure of a middle frame part of the semi-autonomous bionic flapping wing aircraft provided by the invention.

FIG. 3 is a perspective view of the connection part structure of the inner wing and the outer wing of the semi-autonomous bionic flapping wing aircraft provided by the invention.

FIG. 4 is a schematic diagram of a structure of the back of a gear set in the semi-autonomous bionic flapping wing aircraft.

FIG. 5 is a schematic view of the front structure of a gear set in the semi-autonomous bionic flapping wing aircraft provided by the invention.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

As shown in fig. 1-5, the semi-autonomous bionic flapping wing aircraft provided by the invention comprises a frame, a gear set, a motor, a crank 6, a rocker arm 7, an inner wing, an outer wing, a tail wing, a wing 26, a battery, a communication module and a flight controller; the machine frame comprises a front machine frame 15, a middle machine frame 14 and a rear machine frame 13 which are arranged at intervals along the front-rear direction and are connected with each other; the gear set is arranged between the front frame 15 and the middle frame 14 and comprises a first gear 1, a first reduction gear 2, a second reduction gear 3, a first main gear 4 and a second main gear 5; the first main gear 4 and the second main gear 5 are vertically arranged on the front side and meshed with each other; the first gear 1, the first reduction gear 2 and the second reduction gear 3 are vertically arranged at the rear side and are meshed with each other in sequence, and the third reduction gear 3 is meshed with the first main gear 4 at the same time; the motor is arranged between the middle frame 14 and the rear frame 13, and the output shaft is fixed in the central hole of the first gear 1; one end of each crank 6 is respectively fixed at the front ends of the central shafts of the first main gear 4 and the second main gear 5, and the other end of each crank is respectively connected with the inner end of one rocker arm 7; two sides of the frame are respectively provided with an inner wing, and each inner wing comprises an upper inner wing connecting rod 8, a lower inner wing connecting rod 9, a rear inner wing connecting rod 23 and a torsion support 24; one end of the upper inner wing connecting rod 8 and one end of the lower inner wing connecting rod 9 are respectively hinged with the middle part and the outer end of one rocker arm 7, and the other end is hinged with the front part of the inner side part of the torsion support 24; one end of the rear inner wing connecting rod 23 is hinged on the outer side of the top of the rear frame 13, and the other end is hinged on the rear part of the inner side part of the torsion support 24; the outer side of each inner wing is provided with an outer wing respectively, and each outer wing comprises an inner outer wing connecting rod 10, an outer wing connecting rod 11, a torsion connecting rod 12 and an outer wing steering engine 25; the outer wing steering engine 25 is arranged at the outer side part of the torsion support 23, the output end of the outer wing steering engine is connected with one end of a circular arc-shaped torsion connecting rod 12, the other end of the torsion connecting rod 12 is connected with one end of the inner outer wing connecting rod 10, and the other end of the inner outer wing connecting rod 10 is connected with the inner end of the outer wing connecting rod 11; the tail wing comprises a tail wing framework 16, a tail wing connecting rod 17, a main body rod 18, a tail wing rack 19, a tail rudder support 20, a tail rudder connecting rod 21, a tail rudder connecting piece 22 and a tail wing steering engine; the two tail wing steering engines are arranged between the middle rack 14 and the rear rack 13, and the output ends of the two tail wing steering engines are respectively connected with the front end of a tail wing connecting rod 17; the empennage frame 19 is arranged behind the frame; the tail vane support 20 is arranged behind the tail wing frame 19; the tail rudder connecting rod 21 is vertically arranged, and the upper end and the lower end of the tail rudder connecting rod are respectively fixed on the upper part and the lower part of the front end of the tail rudder support 20; the front end of the main body rod 18 is fixed in the middle of the rear frame 13, and the rear end penetrates through the middle of the empennage frame 19 and is hinged in the middle of a tail rudder connecting rod 21 through a tail rudder connecting piece 22; the rear ends of the two tail connecting rods 17 respectively penetrate through the upper part of the tail frame 19 and are hinged at the two side parts of the upper part of the tail rudder support 20; the two tail wing frameworks 16 are arranged in a splayed shape, and one end of each tail wing framework is connected to the lower part of the rear end of the tail rudder support 20; the middle parts of the wings 26 are respectively arranged at the inner side and the outer side of the inner wing and the middle part of the inner outer wing connecting rod 10; the battery, the communication module and the flight controller are all arranged on the rack, and the flight controller is respectively and electrically connected with the motor, the outer wing steering engine 25, the empennage steering engine and the communication module; the communication module is wirelessly connected with a remote controller held by a ground operator; the battery is used for providing electric energy for each electric component on the aircraft.

The wing type of the wing 26 adopts a large aspect ratio, the front edge is a smooth elliptic curve, the rear edge is of a linear structure, the wing type can enable the wing 26 to bear pressure in two directions, namely upward and forward, in the lower flapping stage, the upper wing surface and the lower wing surface are ensured to be complete and smooth, and the whole wing 26 adopts a hollow plate-shaped structure, so that airflow can be ensured to flow smoothly, aerodynamic resistance is reduced, and self load is reduced. Through the arrangement, the lift force and the thrust generated by the wing 26 can be greatly improved, and the lift-drag ratio is improved.

The first reduction gear 2 and the second reduction gear 3 are both composed of a large gear and a small gear which are coaxially arranged; wherein, the big gear of the first reduction gear 2 is meshed with the first gear 1, and the small gear is meshed with the big gear of the second reduction gear 3; while the pinions of the second reduction gear 3 are in mesh with the first main gear 4.

An included angle is formed between the axial directions of the inner side outer wing connecting rod 10 and the outer side outer wing connecting rod 11.

The empennage rack 19 is of a hollow plate-shaped structure.

The semi-autonomous bionic flapping wing aircraft further comprises a visual detection module which is installed on the bottom surface of the rack and electrically connected with the flight controller, and the visual detection module comprises a camera.

The working principle of the semi-autonomous bionic flapping wing aircraft provided by the invention is explained as follows:

when the semi-autonomous bionic flapping wing aircraft provided by the invention needs to fly, a ground control personnel sends a corresponding instruction to a flight controller through a communication module by using a remote controller, and the motor is started under the control of the flight controller, so that the rotary motion of the motor is transmitted to a first reduction gear 2 through a first gear 1 without speed reduction, and the first reduction gear 2 performs primary speed reduction on the rotating speed of the motor; the first-stage decelerated rotary motion is transmitted to the second deceleration gear 3, the second deceleration gear 3 performs second-stage deceleration on the rotating speed of the first-stage decelerated motor, the second-stage decelerated rotary motion is transmitted to the first main gear 4, and finally the rotary motion of the first main gear 4 is transmitted to the second main gear 5 without difference.

The rotational movement of the first main gear 4 and the second main gear 5 will then be fully transmitted to the crank 6. Under the driving of the first main gear 4 and the second main gear 5, the two cranks 6 respectively drive the corresponding rocker arms 7 to perform a rotary motion, thereby driving the upper inner wing connecting rod 8 and the lower inner wing connecting rod 9 to perform an up-and-down swing around the inner outer wing connecting rod 10. Because the connection position of the lower inner wing connecting rod 9 and the rocker arm 7 is lower than the connection position of the upper inner wing connecting rod 8 and the rocker arm 7, the retraction degree of the upper inner wing connecting rod 8 in the wing span direction is smaller than that of the lower inner wing connecting rod 9 in the wing span direction under the driving of one rotation motion of the rocker arm 7, so that the outer wing swings up and down in the direction opposite to the inner wing under the driving of the upper inner wing connecting rod 8 and the lower inner wing connecting rod 9. When the included angle between the crank 6 and the rocker arm 7 is zero and coincident, the inner wing and the outer wing perform flapping action and are at the limit angle of the upward flapping, and the inner wing and the outer wing are folded and contracted at the moment; similarly, when the included angle between the crank 6 and the rocker arm 7 is 180 degrees and there is no coincidence, the inner wing and the outer wing do flapping movement and are at the limit of flapping, and at this time, the inner wing and the outer wing are spread. Thus, the end result of the up and down flapping is: when the flapping device is used for flapping, the inner wing and the outer wing are folded and contracted to reduce the ascending resistance during flying; when the flapping is carried out, the inner wing and the outer wing are extended to fan the airflow, thereby increasing the ascending power of the flight.

In the flight process, the torsion motion generated by the outer wing steering engine 25 can act on the inner side outer wing connecting rod 10 through the torsion connecting rod 12, the torsion motion is further acted on the outer side outer wing connecting rod 11 through the inner side outer wing connecting rod 10, the nonlinear change of the torsion angle of the outer wing along the unfolding direction can be realized by utilizing the torsion of the tail end of the outer wing, the pitching motion of the whole fuselage is further completed, when the inner wing, the wing and the outer wing move to the same straight line, the whole fuselage is in a straight posture, and the torsion angle is 0 degree; otherwise, a corresponding torsion angle is generated. When the twisting directions of the left outer wing and the right outer wing are opposite, the steering during the flight can be realized.

In the flight process, the tail steering engine drives the tail connecting rod 17 to move back and forth, under the driving of the tail connecting rod 17, the tail rudder component 20, the tail rudder connecting rod 21 and the tail rudder connecting piece 22 can realize the twisting motion around a fixed point, and as the tail rudder component 20 is fixedly connected with the tail wing framework 16, the tail wing framework 16 can twist in the same way along with the movement way of the tail rudder component 20, and the twisting angle at the tail end of the tail wing can be greatly enlarged, so that the auxiliary steering effect is achieved.