CN114906323A - Multi-attitude flapping wing aircraft based on additional mass effect mechanism - Google Patents
Multi-attitude flapping wing aircraft based on additional mass effect mechanism Download PDFInfo
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- CN114906323A CN114906323A CN202210631945.8A CN202210631945A CN114906323A CN 114906323 A CN114906323 A CN 114906323A CN 202210631945 A CN202210631945 A CN 202210631945A CN 114906323 A CN114906323 A CN 114906323A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention relates to the technical field of aircrafts, and provides a multi-attitude flapping wing aircraft based on an additional mass effect mechanism, which comprises: the flapping wing air vehicle comprises a rack, a motor, a tail wing mechanism and flapping wing mechanisms symmetrically arranged on two sides of the rack; the motor is arranged on the rack, an output shaft gear of the motor is meshed with a first reduction gear, the first reduction gear and a second reduction gear are coaxially arranged, and the second reduction gear is meshed with the flapping wing mechanism; each group of flapping wing mechanisms comprises: a crank gear, a rocker connecting rod, a wing connecting rod, a flapping wing and a torsion positioning rod; the tail wing mechanism is arranged at the tail end of the rack; the empennage mechanism comprises: the device comprises a deflection steering engine, a deflection plate, an empennage coupling plate, an electromagnetic steering engine and an empennage; the empennage is connected with the electromagnetic steering engine pitching plate. The invention can complete the lift force instantaneous increasing mechanism and realize the multi-attitude motion control of the empennage.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a multi-attitude flapping wing aircraft based on an additional mass effect mechanism.
Background
The flapping wing aircraft is an aircraft based on a bionic principle, the flight mode of the flapping wing aircraft is an aircraft which completes the aerial flight task by simulating the flapping mode of birds or insects, compared with the traditional fixed wing and rotor wing flight, the flapping wing flight has the biggest characteristic of integrating the functions of lifting force, hovering and propelling, only needs to periodically flap the wings to generate pneumatic thrust and lifting force, and the flight attitude of the aircraft body is adjusted through the deflection motion of the tail wing. Through the movement mode, the bionic flapping-wing robot can finish high-difficulty flight actions such as quick lifting, high-altitude hovering and hovering, has the characteristics of good concealment, low noise, good maneuverability, high efficiency and the like, and has wide application prospects in search, rescue and military reconnaissance.
The driving mechanism of the flapping wing air vehicle mainly takes a driving mechanism based on a direct current motor as a main part. The driving mechanism based on the DC motor has the working principle that various mechanical transmission mechanisms are utilized to convert the rotary motion output by the motor into the periodic flapping of the flapping wing, so that the flapping wing flight of the aircraft is realized. Under the condition of a fixed wing area, the aerodynamic performance of the flapping wing aircraft is mainly related to the flapping amplitude and the flapping frequency, the lifting force of the flapping wing is mainly generated in the lower flapping stage, and in order to ensure that the flapping wing aircraft has good aerodynamic performance, domestic and foreign research teams mainly adopt a single-crank double-rocker mechanism, a double-crank double-rocker mechanism and a crank-slider mechanism as driving mechanisms of the flapping wing aircraft.
The existing flapping wing air vehicle has a small flapping angle due to the limitation of a mechanical mechanism, and the moving speeds of the upper and lower flapping strokes are symmetrically equal, so that part of aerodynamic lift generated in the lower flapping stage and the resistance generated in the upper flapping stage are offset, and the aerodynamic performance of the flapping wing air vehicle is low.
The existing double-crank double-rocker mechanism has the disadvantages that the two crank mechanisms are separately and fixedly connected, the large flapping angle is seriously limited, the occupied space of a machine body is large, the size of the machine body is limited, and the flapping wing aircraft is difficult to miniaturize.
The existing flapping wing air vehicle has single flight attitude, and most researches adopt a mode of combining two deflection steering engines or one deflection steering engine and one linear steering engine to realize two-degree-of-freedom attitude flight control on pitching rolling motion of an empennage, but the linear steering engine and the deflection steering engines have large friction loss and weight, so the cruising ability and the pneumatic performance of the flapping wing air vehicle are greatly reduced.
Disclosure of Invention
The invention mainly solves the technical problems of low aerodynamic performance, difficult microminiaturization, single flight attitude and the like of the flapping wing aircraft in the prior art, provides the multi-attitude flapping wing aircraft based on an additional mass effect mechanism, can complete a lift force instantaneous increase mechanism, realizes multi-attitude motion control of an empennage, and ensures that the flapping wing aircraft has compact integral structure, light weight and high flight efficiency.
The invention provides a multi-attitude flapping wing aircraft based on an additional mass effect mechanism, which comprises: the flapping wing aircraft comprises a rack, a motor, a tail wing mechanism and flapping wing mechanisms symmetrically arranged on two sides of the rack;
the motor is arranged on the rack, an output shaft gear of the motor is meshed with a first reduction gear, the first reduction gear and a second reduction gear are coaxially arranged, and the second reduction gear is meshed with the flapping wing mechanism;
each group of flapping wing mechanisms comprises: the device comprises a crank gear, a rocker connecting rod, a wing connecting rod, flapping wings and a torsion positioning rod;
the crank gear is meshed with the second reduction gear; the crank gear is hinged with one end of a rocker connecting rod, and the other end of the rocker connecting rod is hinged with a wing connecting rod; the flapping wing is arranged on the wing connecting rod; the torsional positioning rod is arranged in the middle of the rack and connected with the tail edges of the flapping wings;
the tail wing mechanism is arranged at the tail end of the rack; the empennage mechanism comprises: the device comprises a deflection steering engine, a deflection plate, an empennage coupling plate, an electromagnetic steering engine and an empennage;
the deflection steering engine is arranged at the tail end of the rack, an output shaft of the deflection steering engine is connected with the deflection plate, and the front end of the tail wing coupling plate is connected with the deflection plate;
the electromagnetic steering engine comprises: the electromagnetic steering engine fixing plate, the magnetic coil and the electromagnetic steering engine pitching plate are arranged on the base;
the front end of the electromagnetic steering engine fixing plate is connected with the tail wing coupling plate, the electromagnetic steering engine fixing plate is hinged with the electromagnetic steering engine pitching plate, and the magnetic coil is arranged between the electromagnetic steering engine fixing plate and the electromagnetic steering engine pitching plate;
the empennage is connected with the electromagnetic steering engine pitching plate.
Preferably, the torsional positioning rod is arranged in the middle of the rack through a bearing.
Preferably, the crank gear is provided with a rocker mounting hole, and the rocker connecting rod is mounted in the rocker mounting hole.
Preferably, the frame is a lightweight structure made of carbon fiber material.
Preferably, the height of the rack is 35mm, and the length of the rack is 65 mm.
Preferably, the lower end of the head portion of the housing has a circular groove in which the motor is mounted.
Preferably, the flapping wing wings and the tail wing are formed by combining a polyester film and a carbon fiber rod piece.
Preferably, the leading edge, the wing root and the wing pulse of the flapping wing are all adhered to the carbon fiber rod;
the head end of the carbon fiber rod at the front edge of the flapping wing is connected with the end part of the wing connecting rod.
Compared with the prior art, the multi-attitude flapping wing aircraft based on the additional mass effect mechanism provided by the invention has the following advantages:
1. the multi-attitude flapping wing aircraft based on the additional mass effect mechanism can increase the speed of the flapping stroke under the flapping wing under the condition of not influencing the transmission efficiency, enlarges the influence of the additional mass effect mechanism on the aerodynamic performance of the flapping wing, and improves the aerodynamic lift force and the flight efficiency of the flapping wing aircraft.
2. The multi-posture flapping wing aircraft based on the additional mass effect mechanism is compact in structure and high in transmission efficiency, adopts the improved double-crank double-rocker driving mechanism, and can realize the microminiaturization design of a high-flapping amplitude prototype compared with the traditional driving mechanism. The flapping wing mechanism is innovated on a flapping wing mechanism and a tail wing mechanism, wherein the flapping wing mechanism adopts a double-crank double-rocker mechanism with quick return characteristic, and two rockers are hinged together to break the limitation of a large flapping angle on the size and the quality of a machine body of the flapping wing, increase the flapping speed of the flapping stroke of the flapping wing under the condition of not influencing the transmission efficiency, improve the aerodynamic lift generated by the flapping wing under the flapping stroke, and have higher flight aerodynamic efficiency; the empennage mechanism adopts a combined form of coupling control of a deflection steering engine and an electromagnetic steering engine, so that the flapping wing aircraft can finish multi-attitude flight with pitch and deflection coupled together.
3. The multi-attitude flapping wing aircraft based on the additional mass effect mechanism has the advantages of simple structure, light weight, easiness in miniaturization and light weight, convenience in control, large achievable flapping amplitude, capability of realizing multi-attitude flight tasks including pitching, yawing, rolling and other various flight attitudes, and good flight efficiency and stability.
4. According to the multi-attitude flapping wing aircraft based on the additional mass effect mechanism, the tail wing mechanism adopts a combined form of coupling control of the deflection steering engine and the electromagnetic steering engine, the structure is simple, the occupied space is small, and the electromagnetic steering engine coil can be enlarged according to different flight environments so as to realize flexible torque output of the tail wing.
5. According to the multi-pose flapping wing aircraft based on the additional mass effect mechanism, all parts are made of carbon fiber materials or nylon materials through printing, so that the mechanical strength and stability of the whole flapping wing aircraft are guaranteed, the quality of the whole flapping wing aircraft is reduced, and the flight efficiency is improved.
6. The invention combines the quick-return characteristic of the four-bar linkage mechanism with the additional mass effect mechanism of the flapping wing, so that the instantaneous lift force increasing mechanism can be completed, and the acceleration of the flapping wing can be increased under the condition that the transmission efficiency is not influenced in the lower flapping stroke of the flapping wing, thereby increasing the fluid pressure on the surface of the wing, obtaining larger aerodynamic lift force and improving the flight efficiency.
Drawings
FIG. 1 is a backward schematic view of the overall structure of a multi-attitude ornithopter based on an additional mass effect mechanism;
FIG. 2 is a forward schematic view of the overall structure of the multi-attitude ornithopter based on the additional mass effect mechanism;
FIG. 3 is a diagram of a double-crank double-rocker driving mechanism of a multi-attitude ornithopter based on an additional mass effect mechanism according to the present invention;
FIG. 4 is an enlarged schematic view of the tail mechanism of the multi-attitude ornithopter based on the additional mass effect mechanism of the present invention;
FIG. 5 is an exploded view of the tail mechanism of the multi-attitude ornithopter based on the additional mass effect mechanism.
Reference numerals: 1-a frame; 2, a motor; 3-a first reduction gear; 4-a second reduction gear; 5-crank gear; 6-rocker link; 7-left wing link; 8-right wing link; 9-flapping wing; 10-twisting the positioning rod; 11-a deflection steering engine; 12-a deflector plate; 13-tail coupling plate; 14-an electromagnetic steering engine; 14 a-an electromagnetic steering engine fixing plate; 14 b-a magnetic coil; 14 c-a pitch plate; 15-empennage.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
As shown in fig. 1 to 3, the multi-attitude ornithopter based on the additional mass effect mechanism provided by the embodiment of the invention comprises: the flapping wing aircraft comprises a rack 1, a motor 2, a tail wing mechanism and flapping wing mechanisms symmetrically arranged on two sides of the rack 1.
The frame 1 is a lightweight structure made of carbon fiber materials. The height of frame 1 is 35mm, frame 1 length is 65 mm. The upper end of the machine frame 1 is a fixing position of flapping wings, the tail part is an installation position of a tail wing mechanism, and the installation position of a driving mechanism and the position of the tail wing mechanism of the whole machine are kept on the same central axis, so that the flying stability of the whole machine is ensured.
The motor 2 is arranged on the frame 1. The lower end of the head of the frame 1 has a circular groove in which the motor 2 is mounted.
An output shaft gear of the motor 2 is meshed with a first reduction gear 3, the first reduction gear 3 and a second reduction gear 4 are coaxially arranged, and the second reduction gear 4 is meshed with the flapping wing mechanism. The power of the motor 2 is transmitted to a crank gear 5 of the flapping wing mechanism by a motor gear, a first reduction gear 3 and a second reduction gear 4.
Each group of flapping wing mechanisms comprises: a crank gear 5, a rocker connecting rod 6, a wing connecting rod, flapping wings 9 and a torsion positioning rod 10; the crank gear 5 is meshed with the second reduction gear 4; the flapping-motion mechanism is characterized in that the crank gear 5 is hinged to one end of a rocker connecting rod 6, the other end of the rocker connecting rod 6 is hinged to a wing connecting rod, specifically, a rocker mounting hole is formed in the crank gear 5, the rocker connecting rod 6 is mounted in the rocker mounting hole, the crank gear 5 is hinged to the rocker 6 through a shaft through hole, the other end of the rocker 6 is mounted on the wing connecting rod through a shaft, and the first reduction gear 3, the second reduction gear 4, the crank gear 5, the rocker connecting rod 6 and the wing connecting rod move into a whole to guarantee that flapping motion can be achieved. The flapping wing 9 is arranged on the wing connecting rod; the torsion positioning rod 10 is mounted in the middle of the rack 1 through a bearing, and the torsion positioning rod 10 is connected with the tail edge of the flapping wing 9.
The flapping of the flapping wings is hinged with a rocker connecting rod 6 through a rocker mounting hole on a crank gear 5, the rocker connecting rod 6 is hinged with a wing connecting rod to realize a four-bar mechanism with a quick return characteristic, the stroke coefficient is 1.25, the wing connecting rod is driven to do flapping motion, and the flapping speed of the lower flapping stroke is improved by 1.25 times. The wing connecting rod includes: a left wing link 7 and a right wing link 8. The left wing connecting rod 7 is connected with the left flapping wing 9 through glue, and the right wing connecting rod 8 is connected with the right flapping wing 9 through glue; driving the corresponding flapping wing 9 to complete flapping movement, wherein the flapping amplitude is 120 degrees; the mounting holes at the two ends of the twisting positioning rod 10 are connected with the mounting holes at the tail edges of the corresponding flapping wings 9 through rivets, the flapping wings 9 flap upwards to drive the front edges of the flapping wings to twist upwards, the flapping wings 9 flap upwards to drive the front edges of the flapping wings to twist downwards, and the twisting amplitude is 30 degrees.
The power of the motor 2 is transmitted to the crank gear 5 through the gear reduction mechanism, the rocker connecting rod 6 moves up and down periodically, the other end of the rocker connecting rod 6 is hinged with the wing connecting rod, the wing is connected with the wing connecting rod, and the rocker connecting rod 6 drives the wing connecting rod and the flapping wing 9 to move up and down with a quick-return characteristic. The hinged parts of the rocker connecting rod 6 and the wing connecting rod are designed in a staggered mode, the flapping wing aircraft is fixed on the same positioning shaft under the condition that the flapping aerodynamic force is symmetrical, and compared with the traditional flapping wing driving mechanism, the flapping wing aircraft has the advantages that the size of a flapping wing model machine is reduced, the mechanical interference of the model machine with large flapping amplitude is avoided, and the flight stability of the flapping wing aircraft is guaranteed.
As shown in fig. 4 and 5, the tail wing mechanism is mounted at the tail end of the stander 1; the empennage mechanism comprises: a deflection steering engine 11, a deflection plate 12, a tail wing coupling plate 13, an electromagnetic steering engine 14 and a tail wing 15;
the deflection steering engine 11 is arranged at the tail end of the rack 1, and is specifically arranged on a positioning hole at the tail end of the rack 1; an output shaft of the deflection steering engine 11 is connected with a deflection plate 12, and the front end of the tail wing coupling plate 13 is connected with the deflection plate 12; specifically, two circular shafts at the front end of the tail coupling plate 13 are connected with circular holes at the two ends of the deflector plate 12 in a matching manner.
The electromagnetic steering engine 14 includes: an electromagnetic steering engine fixing plate 14a, a magnetic coil 14b and an electromagnetic steering engine pitching plate 14 c; the front end of the electromagnetic steering engine fixing plate 14a is connected with the tail wing coupling plate 13, the electromagnetic steering engine fixing plate 14a is hinged with the electromagnetic steering engine pitching plate 14c, and the magnetic coil 14b is installed between the electromagnetic steering engine fixing plate 14a and the electromagnetic steering engine pitching plate 14 c; specifically, two fixing holes at the front end of the electromagnetic steering engine fixing plate 14a are fixedly connected with two holes of the tail wing coupling plate 13 through bearings.
The tail wing 15 is connected with an electromagnetic steering engine pitching plate 14 c; specifically, the tail wing 15 is fixedly connected with two circular holes on the pitch plate 14c of the electromagnetic steering engine through a bearing.
On the basis of the scheme, the flapping wing wings 9 and the tail wing 15 are formed by combining a polyester film and a carbon fiber rod piece, so that the bionic bird flapping wing is ensured to have the flexible wing characteristic of a bionic bird. The front edge, the wing root and the wing pulse of the flapping wing 9 are all adhered to the carbon fiber rod; the head end of the carbon fiber rod at the front edge of the flapping wing 9 is connected with the end part of the wing connecting rod. Specifically, the head end of the carbon fiber rod at the front edge of the flapping wing 9 is fixedly connected with the square holes at the centers of the end parts of the left wing connecting rod 7 and the right wing connecting rod 8 in a matched manner, so that the stability of the flapping wing 9 in the flying process is ensured.
The invention provides a working principle of a multi-attitude flapping wing aircraft based on an additional mass effect mechanism, which comprises the following steps: the flapping-wing aircraft is driven by the motor 2, an output shaft gear of the motor 2 is in coaxial fit rotation with the first reduction gear 3, the first reduction gear 3 is in coaxial fit rotation with the second reduction gear 4, the second reduction gear 4 is meshed with the crank gear 5, and therefore two-stage speed reduction is achieved, the motor 2 is a hollow cup motor, the no-load rotating speed is 50000RPM, the reduction ratio is 21.42, the flapping-wing aircraft can fly in a large flapping frequency range, and the flexibility of the flapping-wing aircraft is improved. The crank gear 5 converts the rotary motion into up-and-down reciprocating motion and transmits the up-and-down reciprocating motion to the rocker connecting rod 6, the rocker connecting rod 6 drives the left wing connecting rod 7 and the right wing connecting rod 8 which are hinged with the rocker connecting rod to do flapping motion of 120 degrees, so that the flapping wing 9 is promoted to realize flapping of the flapping wing aircraft, the flapping wing 9 drives the wing front edge to twist upwards while flapping upwards, the flapping wing 9 drives the wing front edge to twist downwards when flapping downwards, the twisting amplitude is 30, and the flapping and twisting coupling motion of the flapping wing aircraft is finished.
The tail mechanism realizes pitching and deflecting motions respectively. Wherein the yaw motion is driven by a yaw steering engine 16 and the pitch motion is driven by an electromagnetic steering engine 14. And a deflection plate 12 arranged on an output shaft of the deflection steering engine 11 is fixedly connected with a tail wing coupling plate 13 to drive an electromagnetic steering engine 14 and a tail wing 15 to complete deflection motion. The electromagnetic steering engine pitching plate 14c drives the empennage 15 to complete pitching motion, the empennage coupling plate 13 realizes coupling connection of empennage pitching and deflecting motion, so that multi-attitude flight of the flapping wing aircraft is realized, the combination of the electromagnetic steering engine and the deflecting steering engine reduces the mass of a prototype, reduces the size of the prototype, and increases the pneumatic efficiency, flexibility and bionic characteristics of the flapping wing aircraft.
The multi-attitude flapping wing aircraft is based on an Added mass effect, the Added mass effect is an important mechanism for the instantaneous increase of lift force generated by the flapping wing aircraft, when the flapping wings perform periodic flapping motion, fluid around the wings can accelerate or decelerate along with the position change of the motion of the flapping wings of the wings, and the accelerated fluid can exert a reaction force effect on the flapping wings to cause the increase of pressure borne by the wings and generate certain instantaneous gain of lift force. The quick-return characteristic of the four-bar linkage mechanism is applied to an additional mass effect mechanism of the flapping wing aircraft, so that the acceleration of the flapping wing can be increased under the condition that the transmission efficiency is not influenced during the lower flapping stroke of the flapping wing, the fluid pressure on the surface of the wing is increased, the larger aerodynamic lift force is obtained, and the flight efficiency is improved.
The multi-attitude flapping wing aircraft based on the double-crank double-rocker mechanism has the advantages that the structure is simple, the miniaturization and the light weight are easy, the achievable flapping amplitude is large, the flying attitude is multiple, the flying efficiency and the flying stability are good, innovation is realized on the flapping driving and tail wing mechanisms, the flapping wing driving mechanism adopts the double-crank double-rocker mechanism with the quick return characteristic, the two rockers are hinged together, the limitation of a large flapping angle on the size and the quality of a flapping wing body is broken, the flapping speed of the flapping stroke under the flapping wing is increased under the condition that the transmission efficiency is not influenced, the aerodynamic lift generated by the flapping stroke under the flapping wing is improved, and the flying aerodynamic efficiency is higher; the empennage mechanism adopts a combined form of coupling control of a deflection steering engine and an electromagnetic steering engine, so that the flapping wing aircraft can finish multi-attitude flight with pitch and deflection coupled together.
The flapping wing driving mechanism is designed by combining the quick return characteristic of the four-bar linkage mechanism with the additional mass effect mechanism of the flapping wing, so that the lifting force instantaneous increasing mechanism can be completed, the influence of the additional mass effect mechanism on the flying process of the flapping wing is enlarged, and the acceleration of the flapping wing is further increased under the condition of not influencing the transmission efficiency, so that the fluid pressure on the surface of the wing is increased, the wing obtains larger aerodynamic lifting force, and the flying efficiency is improved; and the electromagnetic steering engine and the deflection steering engine are coupled to complete multi-attitude motion control of the empennage, so that the flapping wing aircraft has compact integral structure, light weight and high flying efficiency.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some or all technical features may be made without departing from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A multi-attitude ornithopter based on an additive mass effect mechanism, comprising: the flapping wing aircraft comprises a rack (1), a motor (2), a tail wing mechanism and flapping wing mechanisms symmetrically arranged on two sides of the rack (1);
the motor (2) is arranged on the rack (1), an output shaft gear of the motor (2) is meshed with the first reduction gear (3), the first reduction gear (3) and the second reduction gear (4) are coaxially arranged, and the second reduction gear (4) is meshed with the flapping wing mechanism;
each group of flapping wing mechanisms comprises: a crank gear (5), a rocker connecting rod (6), a wing connecting rod, flapping wings (9) and a torsion positioning rod (10);
the crank gear (5) is meshed with the second reduction gear (4); the crank gear (5) is hinged with one end of a rocker connecting rod (6), and the other end of the rocker connecting rod (6) is hinged with a wing connecting rod; the flapping wing (9) is arranged on the wing connecting rod; the torsion positioning rod (10) is arranged in the middle of the rack (1), and the torsion positioning rod (10) is connected with the tail edge of the flapping wing (9);
the tail wing mechanism is arranged at the tail end of the rack (1); the empennage mechanism comprises: the device comprises a deflection steering engine (11), a deflection plate (12), a tail wing coupling plate (13), an electromagnetic steering engine (14) and a tail wing (15);
the deflection steering engine (11) is mounted at the tail end of the rack (1), an output shaft of the deflection steering engine (11) is connected with the deflection plate (12), and the front end of the tail wing coupling plate (13) is connected with the deflection plate (12);
the electromagnetic steering engine (14) comprises: the electromagnetic steering engine comprises an electromagnetic steering engine fixing plate (14a), a magnetic coil (14b) and an electromagnetic steering engine pitching plate (14 c);
the front end of the electromagnetic steering engine fixing plate (14a) is connected with the tail wing coupling plate (13), the electromagnetic steering engine fixing plate (14a) is hinged with the electromagnetic steering engine pitching plate (14c), and the magnetic coil (14b) is installed between the electromagnetic steering engine fixing plate (14a) and the electromagnetic steering engine pitching plate (14 c);
the tail wing (15) is connected with the electromagnetic steering engine pitching plate (14 c).
2. The multi-attitude ornithopter based on additional mass effect mechanism according to claim 1, characterized in that the torsional positioning rod (10) is mounted in the middle of the frame (1) through a bearing.
3. The multi-attitude ornithopter based on the additional mass effect mechanism as claimed in claim 2, wherein the crank gear (5) is provided with a rocker mounting hole, and the rocker link (6) is mounted in the rocker mounting hole.
4. The multi-attitude ornithopter based on the additional mass effect mechanism as claimed in claim 3, characterized in that the frame (1) is a lightweight structure made of carbon fiber material.
5. The multi-attitude ornithopter based on the additional mass effect mechanism according to claim 4, characterized in that the height of the airframe (1) is 35mm and the length of the airframe (1) is 65 mm.
6. The multi-attitude ornithopter based on additional mass effect mechanism according to claim 1, characterized in that the lower end of the nose portion of the frame (1) has a circular groove in which the motor (2) is mounted.
7. The multi-attitude ornithopter based on additional mass effect mechanism of claim 1, wherein the flapping wings (9) and the tail wing (15) are made of a combination of polyester film and carbon fiber rods.
8. The multi-attitude ornithopter based on additional mass effect mechanism according to claim 7, characterized in that the leading edge, wing root and wing pulse of the ornithopter wing (9) are all adhered to a carbon fiber rod;
the head end of the carbon fiber rod at the front edge of the flapping wing (9) is connected with the end part of the wing connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210631945.8A CN114906323A (en) | 2022-06-07 | 2022-06-07 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210631945.8A CN114906323A (en) | 2022-06-07 | 2022-06-07 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115196013A (en) * | 2022-08-23 | 2022-10-18 | 沈阳航空航天大学 | Multi-degree-of-freedom flapping wing aircraft with high lift device |
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