阅读说明：本技术 外桁架翼梁双梁变距翘板式扑翼飞行器 (Outer truss wing spar double-beam variable-pitch seesaw type flapping wing aircraft ) 是由 黄双玉 于 2019-09-30 设计创作，主要内容包括：本发明涉及一种外桁架翼梁双梁变距翘板式扑翼飞行器,属于飞行器技术领域；由前翘板扑翼1,后翘板扑翼2,前后翼驱动同步装置3,左右分动尾翼装置4,主体支架5,操控系统6组成；前、后扑翼采用的是《框形桁架翼梁双梁变距单膜汇流翼面扑动机翼》技术,由前后翼驱动同步装置实现前、后翼交互扑动；左右分动尾翼装置分别由各自的舵机驱动俯仰变化,控制飞行器的俯仰、左右滚转、左右转向等机动飞行；操控则用常规的多通道(用三个通道)遥控器加直流调速器(舵机调制)即可实现近距飞行操作；搭载智能操控系统及其它应用器件,即可实现多功能,远距,长航时飞行。本发明具备结构新颖,承载能力强,飞行效率高,操控简便的特征。(The invention relates to an outer truss wing spar double-beam variable-pitch seesaw type flapping wing aircraft, belonging to the technical field of aircraft; the flapping wing control system is composed of a front wane flapping wing 1, a rear wane flapping wing 2, a front wing driving synchronizer 3, a rear wing driving synchronizer 3, a left transfer tail wing device, a right transfer tail wing device 4, a main body bracket 5 and an operation control system 6; the front flapping wing and the rear flapping wing adopt the technology of frame-shaped truss wing beam double-beam variable-pitch single-film converging wing surface flapping wings, and the front wing and the rear wing realize the interactive flapping by a front wing driving synchronizer and a rear wing driving synchronizer; the left and right transfer tail wing devices are driven by respective steering engines to change in pitch, and control the maneuvering flight of the aircraft such as pitch, left and right rolling, left and right steering and the like; the control can realize the near-distance flight operation by using a conventional multi-channel (three channels) remote controller and a direct current speed regulator (steering engine modulation); the multifunctional long-distance long-endurance flying vehicle can fly in a long voyage by carrying an intelligent control system and other application devices. The invention has the characteristics of novel structure, strong bearing capacity, high flying efficiency and simple and convenient operation.)

1. Outer truss spar two roof beam displacement wane formula flapping wing aircraft, its characterized in that: the flapping wing device comprises a front warping plate flapping wing, a rear warping plate flapping wing, a front wing driving synchronizer, a rear wing driving synchronizer, a left transfer tail wing device, a right transfer tail wing device, a main body support and an operation system.

2. The outer truss spar, dual beam, variable pitch, see-saw ornithopter of claim 1 wherein: the front wane flapping wing refers to the technology of frame-shaped truss spar double-beam variable-pitch single-film converging wing surface flapping wing in the patent (2019105961811), and is expanded and applied, namely, the front wane flapping wing comprises a bearing truss spar component, a floating spar seat, a pin shaft, a floating truss spar component, a wing end rib frame, a wing root rib frame, a spacing wing rib frame and a single-film converging wing surface as a base, and an extension wing rib frame is additionally arranged and is used for supporting a wing end trapezoidal auxiliary winglet; the whole component is symmetrically arranged left and right to form the seesaw wing.

3. The outer truss spar, dual beam, variable pitch, see-saw ornithopter of claim 1 wherein: the combination elements and the working mechanism of the rear rocker flapping wing are basically the same as those of the front rocker flapping wing.

4. The outer truss spar, dual beam, variable pitch, see-saw ornithopter of claim 1 wherein: the front wing driving synchronizer and the rear wing driving synchronizer comprise double oscillating bar shafts, auxiliary supports, double oscillating bars, crank gears, sliding blocks, crank shafts, a horizontal oscillation sliding groove rod, a motor support, a speed reduction motor, a pinion and a synchronizing shaft; the front wing driving device and the rear wing driving device are arranged in a mirror image mode, and the front wing and the rear wing are limited to flap in a staggered mode by the synchronous long shaft.

5. The outer truss spar, dual beam, variable pitch, see-saw ornithopter of claim 1 wherein: the left and right transfer tail wing devices comprise left and right tail wings, T-shaped tail wing connecting rods, tail wing transverse shafts, tail wing lock catches, transverse shaft brackets, steering gears, steering gear brackets, steering gear oscillating rods, tail wing control connecting rods and tail wing support frames; the left empennage bearing pipe and the right empennage bearing pipe are in movable fit with the empennage transverse shaft, axial movement is limited by empennage lock catches, the 2 steering gears control the connecting rods through the empennages, and the T-shaped empennage connecting rods respectively control the left empennages and the right empennages to change the pitch angle so as to realize pitching, left rolling and right rolling of the whole steering engine.

6. The outer truss spar, dual beam, variable pitch, see-saw ornithopter of claim 1 wherein: the basic structure of the main body bracket is formed by combining a carbon fiber tube and a plastic support plate and is used for supporting and fixing all parts; the appearance of the whole machine can be played at will without detailed explanation.

7. The outer truss spar, dual beam, variable pitch, see-saw ornithopter of claim 1 wherein: the main components of the control system are (simple type): the command receiver and the bracket, the direct current speed regulator, the steering engine, the speed regulator bracket, the large and small wire wheels and the pull wire; a steering engine is used for modulating a speed regulator through a large wire wheel, a small wire wheel and a pull wire so as to control the flapping speed of the flapping wing; the four-channel remote control device (three channels) is provided with 2 modulation tail wing steering engines and one modulation speed regulation steering engine, and the simple matching can realize near-distance flight operation; it can also be used to carry intelligent control system and other application devices to realize multifunction, long-distance and long-time flight.

Technical Field

The invention belongs to the technical field of aviation aircrafts, and particularly relates to an outer truss wing spar double-beam variable-pitch seesaw type flapping wing aircraft.

Background

The flapping wing flight of birds is a multi-skeleton and multi-degree-of-freedom quite complex action process, and the pneumatic performance of the flapping wing flight is not simple; in summary, birds mainly use the gliding of their wings to generate lift and forward traction, and flapping of wings is actually a process of applying potential energy and recovering potential energy in cycles; when the wing flaps flap down, the wings lose potential energy to obtain larger lift force and large forward traction force, so that the overall kinetic energy is increased; when the wing is lifted, the wing continuously obtains certain lift force in an excellent confluence state, the resistance is increased, the integral kinetic energy is reduced, and the wing has high potential energy.

The flapping wing aircraft, the wing is the key point, therefore, the applicant filed an invention patent with application number (2019105961811) of frame-shaped truss spar double-beam variable-pitch single-film confluence wing surface flapping wing in 2019, 7, 3, and provides a flapping wing which has the following points: the flapping wing has the advantages of simplified structure and action, high efficiency of lift force and thrust and lower energy consumption.

Disclosure of Invention

The invention aims to provide a simplified, efficient and practical flapping wing aircraft as a main target, the scheme is undoubtedly a good platform for simulation and low-speed hydromechanics expansion research of an artificial flapping wing aircraft, and the platform is utilized to continuously optimize the flapping wing so as to expand a miniature, small-sized and manned large-sized flapping wing aircraft.

In order to achieve the above object, the technical scheme adopted by the invention is as follows:

the outer truss wing beam double-beam variable-pitch seesaw type flapping wing aircraft comprises a front seesaw flapping wing, a rear seesaw flapping wing, a front wing driving synchronizer, a rear wing driving synchronizer, a left transfer tail wing device, a right transfer tail wing device, a main body bracket and an operation and control system; the front and back arrangement of the double wings is in dynamic dispersion bearing and load-bearing force balance, so that stable flight is facilitated.

The front rocker flapping wing comprises a single-film wing surface, a pin shaft, a floating wing beam seat, a force transmission shaft, a driving swing shaft, a floating truss wing beam combination, an interval wing rib frame, a wing end wing rib frame, an extension wing rib frame shaft and a bearing truss wing beam combination; wherein, the floating wing beam seat, the pin shaft, the floating truss wing beam combination, the wing end wing rib frame and the bearing truss wing beam combination form the multi-degree-of-freedom space quadrilateral component mentioned in the patent (2019105961811); then carrying the interval wing rib frame and the single-film wing surface to form the flapping wing of the patent (2019105961811) technology; the extension wing rib frame is freely suspended on the extension wing rib frame shaft, and the trapezoidal airfoil outside the wing end rib frame is restrained to form an auxiliary winglet; the whole is symmetrically arranged left and right to form a warped plate wing; the specific structural elements and working mechanism of the flapping wing are disclosed in the patent (2019105961811) frame truss wing beam double-beam variable-pitch single-film confluence wing surface flapping wing.

The back rocker flapping wing has the same structural elements and working mechanism as the front rocker flapping wing, and the difference lies in that: the whole extension of the airfoil surface has a certain size, so that rib plates of the front wing and the rear wing are staggered; and the other is that the driving swing shaft of the floating wing beam seat extends reversely to be matched with the swing output hole of the horizontal swing sliding groove rod to swing along with the driving swing shaft.

The front wing driving synchronizer and the rear wing driving synchronizer comprise double swing rod shafts, auxiliary supports, double swing rods, crank gears, sliders, crank shafts, horizontal swing sliding groove rods, motor supports, speed reduction motors, pinions and synchronizing shafts; the double-arranged reduction motor and the pinion drive the crank gear, so as to disperse the driving force and adopt a gear with a smaller modulus; the crank shaft is fixedly connected with the crank gear to drive the slide block to do circular motion; the horizontal swing sliding groove rod is driven by the sliding block to do arc horizontal swing under the limitation of the double swing rods, and the sliding block slides in the long groove of the horizontal swing sliding groove rod relative to the horizontal swing sliding groove rod; a driving swing shaft of the floating wing beam seat is inserted into a swing output hole of the horizontal swing sliding groove rod to swing along with the horizontal swing sliding groove rod; the front wing driving device and the rear wing driving device are similar and are in mirror image layout, and the front wing driving device and the rear wing driving device are limited by the synchronous long shaft to flap alternately.

The left and right transfer tail wing devices comprise a left wing, a right wing, a T-shaped tail wing connecting rod, a tail wing cross shaft, a tail wing lock catch, a cross shaft bracket, a steering engine bracket, a steering engine swing rod, a tail wing control connecting rod and a tail wing support frame combination; the left empennage is composed of: the tail wing rib plates, the tail wing interval rib plates, the main bearing pipes, the front edge pipes, the tail wing end rib plates, the wing end vertical plates and the mask are combined, and the wing surface structure of the tail wing interval rib plates is similar to that of a conventional fixed wing aircraft; the left empennage is fixedly connected with the T-shaped empennage connecting rod and can rotate around the empennage transverse shaft; the T-shaped tail wing connecting rod is provided with an annular groove, and the left tail wing and the right tail wing are buckled by U-shaped end plates at two end heads of the tail wing lock catch so as to limit the degree of freedom of the tail wing along the transverse axis direction of the tail wing; 2 steering engines drag the T-shaped empennage connecting rod through a steering engine oscillating rod and an empennage control connecting rod to respectively control the left empennage and the right empennage to change the pitch angle so as to realize pitching, left-right rolling and steering maneuvering of the aircraft; the wing end vertical plate is used as a left and right yaw stabilizing rudder of the aircraft; the structural elements and the working conditions of the right empennage and the left empennage are mirror images; the empennage support frame assembly is formed by combining a plastic plate and a carbon fiber pipe.

The main body support comprises a plastic support plate, a flapping wing main shaft and a carbon fiber pipe which are combined and used for supporting and fixing all parts; the appearance of the whole machine can be played at will without detailed explanation.

The main components of the control system (simple type) are as follows: the command receiver and the bracket, the direct current speed regulator, the steering engine, the speed regulator bracket, the large and small wire wheels and the pull wire; a steering engine is used for modulating a speed regulator through a large wire wheel, a small wire wheel and a pull wire so as to control the flapping speed of the flapping wing; the four-channel remote control device (three channels) is provided with 2 modulation tail wing steering engines and one modulation speed regulation steering engine, and the simple matching can realize near-distance flight operation; it can also be used to carry intelligent control system and other application devices to realize multifunction, long-distance and long-time flight.

The invention has the beneficial effects that:

the technology of the patent (2019105961811) is skillfully applied and developed, the double rocker wings balance the left and right side loading forces of the aircraft, and the excellent wing surface structure of the double rocker wings enables the aircraft to have excellent sliding performance, high lifting force and high forward sliding speed; when the wing does not vibrate, the aircraft has good gliding capability; the aircraft is high in flying efficiency and simple and convenient to operate.

The simulation and low-speed hydromechanics development research of the artificial flapping wing aircraft by the scheme is undoubtedly a good platform, and the platform is utilized to continuously optimize the flapping wings, so that a miniature, small-sized and manned large-sized flapping wing aircraft can be developed.

The outer truss has good rigidity and high strength, and the double-spar structure and the double-wane wing layout greatly improve the bearing capacity of the aircraft.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of a front paddle wing configuration of the present invention;

FIG. 3 is a schematic view and a partially enlarged view of a front and rear wing drive synchronizing device according to the present invention;

FIG. 4 is a schematic view of the left and right transfer tail assemblies of the present invention;

FIG. 5 is a schematic view of the main body support structure and steering system of the present invention;

throughout the drawings, the same reference numeral refers to a component or a similar, adjacent element or member having the same shape.

Detailed Description

The following further describes (describes) embodiments of the present invention in conjunction with the accompanying drawings.

The outer truss wing beam double-beam variable-pitch seesaw type flapping wing aircraft comprises a front seesaw flapping wing 1, a rear seesaw flapping wing 2, a front wing driving synchronizer 3, a rear wing driving synchronizer 3, a left transfer tail wing device, a right transfer tail wing device 4, a main body bracket 5 and an operation system 6; the two wings are arranged in front and at the back and rotate, so that the bearing capacity is dispersed and the load capacity is balanced, the stable flight is facilitated, and the power consumption is reduced.

The front wane flapping wing comprises a single-film wing surface 1-1, a pin shaft 1-2, a floating wing beam seat 1-3, a force transmission shaft 1-3a, a driving swing shaft 1-3b, a floating truss wing beam combination 1-4, spaced wing rib frames 1-5, wing end wing rib frames 1-6, an extension wing rib frame 1-7, an extension wing rib frame shaft 1-8 and a bearing truss wing beam combination 1-9; 1-3 floating wing beam seats, 1-2 pin shafts, 1-4 floating truss wing beam combinations, 1-6 wing end wing rib frames and 1-9 bearing truss wing beam combinations form the multi-degree-of-freedom space quadrilateral component mentioned in the patent (2019105961811); then carrying the interval wing rib frames 1-5 and the single-film wing surfaces 1-1 to form the flapping wing adopting the technology of the patent (2019105961811); the extension wing rib frames 1-7 are freely suspended on extension wing rib frame shafts 1-8, and the trapezoidal airfoils outside the wing end rib frames 1-6 are restrained to form auxiliary winglets; the whole body is arranged in a left-right symmetrical way to form a tilted plate wing; the specific structural elements and working mechanism of the flapping wing are disclosed in the patent (2019105961811) frame truss wing beam double-beam variable-pitch single-film confluence wing surface flapping wing.

The rear rocker flapping wing 4-2 has the same structural elements and working mechanism as the front rocker flapping wing 4-1, and is different in that: the whole extension of the airfoil surface has a certain size, so that rib plates of the front wing and the rear wing are staggered; and secondly, the driving swing shaft 1-3b of the floating wing beam seat 1-3 extends out reversely to be matched with the swing output hole 3-7a of the horizontal swing sliding groove rod 3-7 to swing together.

The front wing driving and rear wing driving synchronization device comprises a double swing rod shaft 3-1, an auxiliary support 3-2, a double swing rod 3-3, a crank gear 3-4, a slide block 3-5, a crank shaft 3-6, a horizontal swing sliding groove rod 3-7, a motor support 3-8, a speed reduction motor and pinion 3-9 and a synchronization shaft 3-10; a double-arranged reduction motor and a pinion 3-9 drive a crank gear 3-4 for dispersing driving force and adopting a gear with a smaller modulus; the crank shaft 3-6 is fixedly connected with the crank gear 3-4 to drive the slide block 3-5 to do circular motion; the horizontal swing sliding groove rod 3-7 is driven by the sliding block 3-5 to do arc horizontal swing under the limit of the double swing rod 3-3, and the sliding block slides in the long groove of the horizontal swing sliding groove rod 3-7 relative to the horizontal swing sliding groove rod; the driving swing shaft 1-3b of the floating wing beam seat 1-3 is inserted into the swing output hole 3-7a of the horizontal swing sliding groove rod 3-7 to swing along with the horizontal swing sliding groove rod; the front wing driving device and the rear wing driving device are similar and are arranged in a mirror image mode, and the front wing driving device and the rear wing driving device are controlled to flap in a staggered mode through the synchronous long shaft 3-10.

The left and right transfer tail wing devices comprise a left tail wing 4-1, a right tail wing 4-2, a T-shaped tail wing connecting rod 4-3, a tail wing transverse shaft 4-4, a tail wing lock catch 4-5, a transverse shaft bracket 4-6, a steering engine 4-7, a steering engine bracket 4-8, a steering engine oscillating rod 4-9, a tail wing control connecting rod 4-10 and a tail wing support frame combination 4-11; the left empennage 4-1 consists of: 4-1a rib plates of a tail wing root wing, 4-1b rib plates of a tail wing interval, 4-1c bearing tubes of the tail wing, 4-1d leading edge tubes, 4-1e and 4-1f rib plates of a tail wing end wing, 4-1f wing end vertical plates and 4-1g covering surfaces are combined, and the wing surface structure of the aircraft is similar to that of a conventional fixed wing aircraft; the left empennage 4-1 is fixedly connected with a T-shaped empennage connecting rod 4-3, and an empennage bearing pipe 4-1c is movably matched with an empennage transverse shaft 4-4; the T-shaped tail wing connecting rod 4-3 is provided with an annular groove 4-3a, and the left tail wing 4-1 and the right tail wing 4-2 are buckled by U-shaped end plates 4-5a at two end heads of a tail wing lock catch 4-5 so as to limit the tail wing along the 4-4 axial freedom degree of a tail wing transverse shaft; 2 steering engines drag a T-shaped empennage connecting rod 4-3 through a steering engine oscillating rod 4-9 and an empennage control connecting rod 4-10, and respectively control a left empennage 4-1 and a right empennage 4-2 to change a pitch angle so as to realize pitching, left-right rolling and steering maneuvering of the aircraft; the wing end vertical plate 4-1f is used as a left and right yaw stabilizing rudder of the aircraft; the structural elements and the working conditions of the right empennage 4-2 and the left empennage 4-1 are mirror images; the empennage support frame combination 4-11 is formed by combining a plastic plate and a carbon fiber pipe.

The main body support comprises a plastic support plate 5-1, a flapping wing main shaft 5-2 and a carbon fiber pipe 5-3 which are combined together and used for supporting and fixing all parts; the appearance of the whole machine can be played at will without detailed explanation.

The main components of the control system (simple type) are as follows: the device comprises an instruction receiver, a bracket 6-1, a direct current speed regulator 6-2, a steering engine 6-3, a speed regulator bracket 6-4, a large wire wheel, a small wire wheel and a pull wire 6-5; a steering engine 6-3 is used for modulating a direct current speed regulator 6-2 through a large wire wheel, a small wire wheel and a pull wire 6-5 so as to control the flapping speed of the flapping wing; 2 modulating tail wing steering engines 4-7 and 6-3 of a set of four-channel remote control device (three channels are used), and the simple matching can realize near-distance flight operation; it can also be used to carry intelligent control system and other application devices to realize multifunction, long-distance and long-time flight.

The above-described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.