CN205418103U - Miniature flapping wing aircraft of multi freedom that wing can initiatively warp - Google Patents

Abstract

The utility model relates to a multi-degree-of-freedom miniature flapping-wing aircraft whose wings can be actively deformed, which belongs to the miniature bionic aircraft. The transmission fixed frame, the electronic control module and the empennage are fixed on the frame body, the DC motor is installed on the transmission fixed frame, the steering fan is fixed on the vertical wing of the empennage, and the flapping wing torsion mechanism is fixed on the transmission fixed frame , the end of the flapping wing torsion mechanism is fixedly connected to the flexible main wing of the flapping wing, and a group of pre-bent elastic wing feather frames are connected to the trailing edge of the flapping wing flexible main wing. Piezoelectric films with solar flakes attached to the surface. The advantage is that the twisting action is realized by using the compound motion of the eccentric ball structure and the crank-rocker mechanism. During the flight, the size of the twisting angle will also change with different positions, and it has high fluency. , making the flight more stable and more practical.

Description

A multi-degree-of-freedom miniature flapping-wing aircraft with actively deformable wings

technical field

The utility model belongs to a miniature bionic aircraft, in particular to a multi-degree-of-freedom miniature flapping-wing aircraft based on wings that can be actively deformed.

Background technique

Since ancient times, humans have never stopped exploring the flight of birds. From the mechanical pigeon made by Architas in ancient Greece, the boomerang in Australia, to the Kongming lanterns and kites in China, they are all closely related to flight. The flapping wing aircraft is a new type of aircraft that imitates the flight of birds and insects and is designed and manufactured based on the principle of bionics. Compared with fixed-wing and rotary-wing aircraft, it has great advantages: for example, it can hover or advance at a low Reynolds number, has strong maneuverability, and has the advantages of good rotor and fixed-wing aircraft. Together, and under the same characteristic size, the flapping-wing aircraft has higher flight efficiency.

In the existing flapping-wing aircraft, the design of its flight driving mechanism is mostly to simply flap up and down in two-dimensional space. The aircraft that moves in this way, although part of the flying effect is ideal, its flexibility is still relatively low. Low, and has greater instability, the flight efficiency is low, and the energy consumption is relatively large. During real bird flight, the flapping of wings performs complex up-and-down and twisting motions in three-dimensional space. Studies have shown that during the movement of the aircraft, the wings flutter up and down while supplemented with torsional motion, which is much more efficient than simple flapping up and down. Therefore, based on the multi-degree-of-freedom micro The flapping wing aircraft urgently needs people to research and explore.

At present, there are some flapping-wing driving mechanisms of aircraft at home and abroad through consulting information. The motor is used to control the up and down flapping and torsional swing of the flapping wing. The advantages of this mechanism are flexible and diverse operations, simple control, and easier flight stabilization. However, the multi-power source drive method not only increases its own weight, but also The power consumption will also be seriously increased, resulting in a greatly reduced flight efficiency; the second is the multi-link compound motion drive, that is, the mechanism realizes the twisting action of the flapping wing through the combination of multi-links in space. The advantage of this mechanism is that it is light in weight , easy to achieve miniaturization, but the algorithm of the three-dimensional composite connecting rod structure is complex, and it is easy to interfere when adjusting and changing multiple degrees of freedom. This limitation limits its own flexibility and greatly reduces operability; the third is with The combination of the chute and the cam, the flapping action of this structure realizes the twisting action through the directional movement of the cam in the chute, the advantage of this mechanism is that it can precisely control the movement route of the flapping wing, but in the movement Generate greater friction, resulting in reduced flight efficiency. The torsional action of this design is realized by using the compound motion of the eccentric ball structure and the crank rocker mechanism. The flapping action of this mechanism is relatively simple to adjust. The length of the rocker to adjust the twisting movement. During the movement of this mechanism, due to the relative sliding between the ball pairs, there will also be a certain amount of friction, but compared with the third mechanism, the friction is much smaller, and the size of the torsion angle during flight will also vary with different positions. The change has a high fluency. In summary, the flight efficiency of this mechanism is high, the flight is more stable, and the practicability is stronger.

Contents of the invention

The utility model provides a multi-degree-of-freedom miniature flapping-wing aircraft whose wings can be actively deformed. The purpose is to increase the maneuverability of the aircraft and improve its flight efficiency.

The technical solution adopted by the utility model is to include: the flapping wing flexible main wing, the flexible main wing fixed frame, the frame body, the transmission device fixed frame, the flapping wing torsion mechanism, the flapping wing flexible wing stretching mechanism, a set of Pre-bent elastic wing-feather frame, adjustable steering fan, empennage, electronic control module, DC motor and a set of piezoelectric film of wing-feather pasted with solar sheet, among which, transmission fixing frame, electronic control module and empennage are fixed on the frame On the body, the DC motor is installed on the transmission device fixing frame, and the adjusting steering fan is fixed on the vertical wing of the empennage. The wings are fixedly connected, and a group of pre-bent elastic wing-feather frames are connected to the rear edge of the flexible main wing of the flapping wing. The upper surface of the pre-bent elastic wing-feather frames is pasted with a piezoelectric film of a solar sheet.

The structure of the flapping wing torsion mechanism described in the utility model is: including the wing torsion frame, the spherical eccentric shaft, the wing executive fixing frame, the bevel gear at the output end, the bevel gear at the input end, the cylindrical gear, the transition shaft gear, the gear at the execution end, Execute the crank and output rocker; the DC motor drives the bevel gear at the input end, which is transmitted to the spherical eccentric shaft through the transmission of the bevel gear at the output end. The other end of the frame is connected to the wing executive fixed frame, and the wing executive fixed frame is connected to the side fixed frame of the transmission device; the cylindrical gear and the bevel gear at the output end rotate coaxially, and the cylindrical gear is transmitted to the executive end gear through the transition shaft gear. The gear transmits the rotating speed to the coaxial actuator crank, and one side of the actuator crank is connected with an output rocker, and the other end of the output rocker is connected with the actuator bracket.

The structure of the fluttering flexible wing stretching mechanism described in the utility model is: including a traction line, a wiring support column, and a lead tube, the wiring support column is fixed on the spherical end of the spherical eccentric shaft, and the wiring support column is connected with a traction line , the lead tube is bonded to the flexible main wing of the flapping wing.

The lead tube of the utility model is a polyether ether ketone material with self-lubricating property.

The structure of the pre-bent elastic wing-feather frame of the utility model is that the main wing vein and the auxiliary wing vein with the guide line are fixed, and the top of the pre-bent elastic piece is connected with the traction line, wherein the elastic piece is embedded in the main wing vein the other side of the

The utility model has the advantages that: the torsion action is realized by the composite movement of the eccentric ball structure and the crank-rocker mechanism, the flapping action of the mechanism is relatively easy to adjust, and the up and down flapping angle can be adjusted by changing the eccentric distance of the eccentric ball Size, torsional movement is adjusted by changing the length of the crank rocker. The size of the torsion angle during flight will also change correspondingly with different positions, which has high fluency, making the flight more stable and more practical.

The utility model takes the action characteristics of the wings of a flapping-wing aircraft as the main research object, and aims at the working efficiency of a flapping-wing bird when it is flying, and designs a twistable flapping wing according to the shape and flight characteristics of the bird's wings. The fluttering wings and the flapping wing feathers that can be deformed independently can make the flying efficiency higher and the practicability stronger through such a utility model. Studies have shown that the compound movement of twisting back and forth and flapping up and down during flight has higher flight efficiency. The utility model uses this point for design, and then proposes a new type of transmission mechanism that adopts an eccentric ball structure and a crank rocker mechanism. Based on this premise, from the perspective of bionics , continued to design the wings of the flapping bird, and designed a flapping wing feather that can be deformed independently. Through the cooperation of the two, the efficient flight of the flapping wing aircraft can be realized.

The realization idea of the utility model is mainly derived from the reciprocating mechanism of the equal-width cam. On this basis, the equal-width cam is replaced by an eccentric ball, and one end of the outer frame of the reciprocating mechanism is hinged to realize the up and down flapping of the flapping wings. The advantage of this structure is firstly that the degree of freedom is not restricted at the fixed part of the hinge, which provides good conditions for realizing the torsion of the flapping wing, and then the structure is connected with a terminal post at one end of the eccentric ball, and when the mechanism moves It also realizes the active stretching of its wings and feathers. Through the combination of this kind of mechanism, it simulates the action of bird flight more realistically.

The utility model is mainly a new flapping mechanism designed according to the flapping action of the wings of real birds when they are in motion. On the basis of this mechanism, the torsion action in the center realizes the autonomous stretching action of the flapping wings, which simulates the actions of birds in flight to the greatest extent, and improves the working efficiency of the aircraft.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Figure 2a is an axonometric view of the torsion mechanism of the present invention;

Fig. 2b is a top view of the torsion mechanism of the present invention;

Fig. 2c is an enlarged partial cross-sectional view of the torsion mechanism of the present invention;

Figure 2d is a side view of the torsion mechanism of the present invention;

Fig. 3 is the stretching mechanism diagram of the flapping flexible wing of the utility model;

Figure 4a is a flexible main wing diagram of the flapping wing of the present invention;

Fig. 4b is the A direction view of Fig. 4a;

Fig. 5a is the profile shape diagram of the wing feather of the present utility model;

Figure 5b is a B-B sectional view of Figure 5a;

In the figure: 1, the flexible main wing of the flapping wing, 2, the fixed frame of the flexible main wing of the flapping wing, 3, the frame body, 4, the fixed frame of the transmission device, 5, the swinging mechanism of the flapping wing, 501, the swinging frame of the wing , 502, spherical eccentric shaft, 503, wing executive fixed frame, 504, output end bevel gear, 505, input end bevel gear, 506, cylindrical gear, 507, transition shaft gear, 508, executive end gear, 509, executive crank , 510, output rocker, 6, flapping flexible wing stretching mechanism, 601, traction line, 602, wiring support post, 603, lead tube, 7, a group of pre-bent elastic wing feather frame, 701, with The main wing veins of the guide wire, 702, pre-bent elastic strips 703, auxiliary wing veins, 8, adjust the steering fan, 9, empennage, 10, electronic control module, 11, DC motor, 12, a group of stickers Feather Piezoelectric Films for Solar Flakes.

detailed description

Including: flapping wing flexible main wing 1, flexible main wing fixed frame 2, frame body 3, transmission device fixed frame 4, flapping wing torsion mechanism 5, flapping wing flexible wing stretching mechanism 6, a set of pre-bent Elastic wing-feather frame 7, adjustable steering fan 8, empennage 9, electronic control module 10, DC motor 11 and a group of wing-feather piezoelectric films 12 pasted with solar sheets, wherein, transmission device fixing frame 4, electronic control module 10 and The empennage 9 is fixed on the frame body 3, the DC motor 11 is installed on the transmission device fixed frame 4, and the adjustment turning fan 8 is fixed on the vertical wing of the empennage 9, and it is characterized in that: the transmission device fixed frame 4 is fixed with flapping wings The torsion mechanism 5, the end of the flapping wing torsion mechanism 5 is fixedly connected with the flapping wing flexible main wing 1, and a group of pre-bent elastic wing feather frames 7 are connected to the trailing edge end of the flapping wing flexible main wing 1. The upper surface of the curved elastic wing-feather frame 7 is pasted with the wing-feather piezoelectric film 12 of the solar sheet.

The structure of flapping wing torsion mechanism 5 described in the utility model is: including wing torsion frame 501, spherical eccentric shaft 502, wing executive fixing frame 503, output end bevel gear 504, input end bevel gear 505, cylindrical gear 506, transition Shaft gear 507, execution end gear 508, execution crank 509, output rocker 510; DC motor 11 drives the bevel gear 505 at the input end, which is transmitted to the spherical eccentric shaft 502 through the transmission of the output end bevel gear 504, and the spherical surface of the spherical eccentric shaft 502 Tangent to the upper and lower surfaces of the inner side wall of the wing twist frame 501, the other end of the wing swing frame 501 is connected to the wing execution fixed frame 503, and the wing execution fixed frame 503 is connected to the transmission device side fixed frame 401; the cylindrical gear 506 and The bevel gear 504 at the output end rotates coaxially, the cylindrical gear 506 is transmitted to the execution end gear 508 through the transition shaft gear 507, and the execution end gear 508 transmits the rotational speed to the coaxial execution crank 509, and the output crank 509 is connected to Rod 510 , the other end of the output rocker 510 is connected to the execution fixture 503 .

The structure of the fluttering flexible wing stretching mechanism 6 described in the utility model is: comprising a traction line 601, a wiring support column 602, and a lead tube 603, the wiring support column 602 is fixed on the spherical end of the spherical eccentric shaft 502, and the wiring support The column 602 is connected with a traction line 601, and the lead tube 603 is bonded to the flexible main wing 1 of the flapping wing.

The lead tube 603 of the present invention is made of polyether ether ketone material with self-lubricating property.

The structure of the pre-bent elastic wing feather frame 7 of the present utility model is that the main wing vein 701 with the guide line is fixed with the auxiliary wing vein 703, and the top of the pre-bent elastic sheet 702 is connected with the traction line 601, wherein the elastic sheet 702 is inlaid on the other side of main wing vein 701.

Below in conjunction with accompanying drawing, the utility model will be further described.

As shown in Figure 1, a multi-degree-of-freedom miniature flapping-wing aircraft whose wings can be actively deformed includes: a flapping-wing flexible main wing 1, a flapping-wing flexible main-wing fixing frame 2, a frame body 3, and a transmission device fixing Frame 4, flapping wing torsion mechanism 5, flapping wing flexible wing stretching mechanism 6, a set of pre-bent elastic wing feather frame 7, adjusting steering fan 8, empennage 9, electronic control module 10, DC motor 11 and a set of stickers A wing feather piezoelectric film 12 with solar flakes. Wherein, the frame body 3 is connected to the transmission device fixing frame 4, the electronic control module 10 and the empennage 9, the DC motor 11 is fixed on the transmission device fixing frame 4, and the steering fan 8 is fixed on the vertical wing of the empennage 9. The upper surface of the curved elastic wing-feather frame 7 is pasted with the wing-feather piezoelectric film 12 of the solar sheet. The flapping wing torsion mechanism 5 is fixed on the transmission device fixing frame 4, and the lead-out flexible wing stretching mechanism 6 of the flapping wing torsion mechanism 5 is connected and fixed with the flapping wing flexible main wing 1, while the flapping wing flexible wing stretching mechanism 6 is fixed on the flexible main wing 1 of the flapping wing, and a group of pre-bent elastic wing feather frames 7 are connected to the trailing edge end of the flexible main wing 1 of the flapping wing. In terms of circuit control, the power supply is powered by a 3.7V lithium battery, and the DC motor is driven by an electronic control module. The electronic control module includes a wireless receiving module, a motor driving module, and a rectifying and charging module. In terms of steering control, it is realized by adjusting the forward and reverse directions of the steering fan 8 .

As shown in Figure 2, the structure of the flapping wing torsion mechanism 5 includes: a wing torsion frame 501, a spherical eccentric shaft 502, a wing execution fixed frame 503, an output end bevel gear 504, an input end bevel gear 505, a cylindrical gear 506, Transition shaft gear 507, execution end gear 508, execution crank 509, output rocker 510. This part has the compound movement of the following two aspects of the mechanism, which can realize the torsional movement of the mechanism. To realize its up and down movement, the DC motor 11 drives the bevel gear 505 at the input end, which is transmitted to the spherical eccentric shaft 502 through the transmission of the bevel gear. Cut, the other end of the wing torsion frame 501 is connected to the wing executive fixed frame 503, and the wing executive fixed frame 503 is connected to the side fixed frame 401 of the transmission device to realize the up and down flapping action; the realization of the forward and backward twisting action requires the cylindrical gear 506 It rotates coaxially with the bevel gear 504 at the output end, and the cylindrical gear 506 is transmitted to the execution end gear 508 through the transition shaft gear 507, and then the execution end gear 508 transmits the rotational speed to the coaxial execution crank 509, and one side of the execution crank 509 is connected with an output The rocker 510, the other end of the output rocker 510 is connected to the execution mount 503, and the wing execution mount 503 is connected to the side mount 401 of the transmission device to realize the forward and backward twisting action.

Described flapping wing torsion mechanism 5, this mechanism has flapping motion up and down and torsion motion compound and forms. For the realization of the up and down flapping action, according to the geometric characteristics of the mechanism, it is concluded that the flapping wing angle mainly depends on the position of the eccentric ball from the main axis and the distance from the hinge of the flexible main wing fixed frame of the flapping wing to the eccentric ball. When the main shaft rotates, since each revolution is a cycle of the flapping wing, when realizing the torsional action, in order to ensure the synchronization of the motion cycle, a transition gear is installed in the middle. The length determines the size of the torsion angle, and the length of the connecting rod determines the initial position of the wing, which is selected by the parameters required in practice. Among them, since the eccentric ball and the fixed frame of the flexible main wing of the flapping wing are in point-surface contact, the eccentric ball shaft is made of polyetheretherketone when selecting the material. This material has low density, light weight, good mechanical properties, and it is also durable. With lubricating effect, the driving mechanism has a simple design structure, flexible movement, and the algorithm is easy to adjust, easy to plan the action path, which is conducive to flying in different environments, and because the wings can be twisted, it can generate greater lift at low frequencies , it has a strong flying ability at low Reynolds number, and it is easy to realize the unassisted take-off mode;

As shown in FIG. 3 and FIG. 4 , the structure of the flapping flexible wing stretching mechanism 6 includes: a spherical eccentric shaft 502 , a pulling wire 601 , a wiring support column 602 , and a lead tube 603 . The spherical end of the spherical eccentric shaft 502 is fixed with a wiring support column 602, and the wiring support column 602 is connected with a traction line 601. The traction line 601 is stretched back and forth in the lead tube 603 to realize the output of the flapping wing flexible wing extension power source. The polyetheretherketone lead tube 603 with lubricating properties is bonded to the lower surface of the flexible main wing 1 of the flapping wing to minimize friction during transmission.

The flexible wing stretching mechanism 6 of the flapping wing, this mechanism is through the reciprocating motion of the spherical eccentric shaft on the inner wall of the wing torsion frame, and is connected by the traction line. At this time, the traction line pulls five kinds of For the pre-bent elastic wing feather frames of different sizes, in the process of assembling each component, firstly, keep the traction line in a pre-tightened state, and secondly, keep the pulling force to the minimum when the flapping wing is at the bottom, so as to Ensure that the flapping wings are in a gradually curved state during the upward lifting stage, and in a stretched and curved state during the downward flapping stage. The bending state reaches the maximum when it is raised to the highest position, and the wings and feathers are reached when they are lowered to the bottom. in the fully flattened state. According to the principle of bionics, the pre-bent five kinds of elastic wing-feather frames of different sizes are superimposed, and the layer-stacked structure is adopted. For the purpose of resistance, the whole mechanism is that the flapping wings can be stretched and contracted independently. By cooperating with the torsion mechanism in front, the flight efficiency of the aircraft is improved, and the ability to perform multi-task operations is enhanced.

As shown in FIG. 5 , the structure of the pre-bent elastic wing-feather frame 7 includes: main wing veins 701 with guiding wires, pre-bent elastic strips 702 , auxiliary wing veins 703 , and pulling wires 601 . The pulling wire 601 is connected to the top of the pre-bent elastic sheet 702, and the pre-bent elastic sheet 702 is fixed on one side of the main wing vein 701 with the guiding wire, and the flapping wing is realized by stretching the pulling wire 601. Stretching action of flexible wings.

Described pre-curved elastic wing-feather frame 7, the main wing-feather vein with guiding line in this frame is made up of several different parts, when the leading line pulls the tip of the main-feather vein, the wing-feather bends, for the pre-curved The curved elastic piece has a straight state under normal conditions, and it always bends in one direction due to the effect of pre-bending under tension, and is mechanically sensitive from the tip of the main wing vein to the root of the main wing vein when the elastic piece is designed. The coefficients are from large to small.

The flapping flexible main wing 1 has a lead tube bonded to the lower surface of the wing, and the wing as a whole has a certain flexibility, wherein the outline shape of the lead tube is designed according to the main wing vein of a bird, and the lead tube The tube is made of polyether ether ketone material with lubricating properties, which minimizes friction during transmission.

Claims (5)

1. A multi-degree-of-freedom miniature flapping-wing aircraft whose wings can be actively deformed, including: flapping-wing flexible main wings, flexible main-wing fixing frame, frame body, transmission device fixing frame, flapping-wing torsion mechanism, flapping-wing Flexible wing stretching mechanism, a set of pre-bent elastic wing feather frames, adjustable steering fan, empennage, electronic control module, DC motor and a set of wing feather piezoelectric films with solar sheets attached, among them, the transmission device fixing frame, The electronic control module and the empennage are fixed on the frame body, the DC motor is installed on the transmission fixed frame, and the steering fan is fixed on the vertical wing of the empennage. It is characterized in that: the flapping wing torsion mechanism is fixed on the transmission fixed frame The end of the flapping wing torsion mechanism is fixedly connected to the flexible main wing of the flapping wing, and a group of pre-bent elastic wing feather frames are connected to the rear edge of the flapping wing flexible main wing. The upper surface of the pre-bent elastic wing feather frame Wing-feather piezoelectric film with solar flakes attached. 2. The multi-degree-of-freedom miniature flapping-wing aircraft whose wings can be actively deformed according to claim 1 is characterized in that: the structure of the flapping-wing torsion mechanism is: comprising a wing torsion frame, a spherical eccentric shaft, and a wing actuator Fixed frame, output end bevel gear, input end bevel gear, cylindrical gear, transition shaft gear, execution end gear, execution crank, output rocker; DC motor drives the input end bevel gear, which is transmitted to the spherical eccentric through the transmission of the output end bevel gear Shaft, the spherical surface of the spherical eccentric shaft is tangent to the upper and lower surfaces of the inner wall of the wing torsion frame, and the other end of the wing torsion frame is connected to the wing execution fixing frame, and the wing execution fixing frame is connected to the side fixing frame of the transmission device; the cylinder The gear rotates coaxially with the bevel gear at the output end, the cylindrical gear is transmitted to the gear at the execution end through the transition shaft gear, and the gear at the execution end transmits the rotational speed to the coaxial actuator crank. One side of the actuator crank is connected with an output rocker, which The other end is connected to the execution fixture. 3. The multi-degree-of-freedom miniature flapping-wing aircraft whose wings can be actively deformed according to claim 1 is characterized in that: the structure of the flexible wing stretching mechanism of the flapping wing is: comprising a traction line, a wiring support column, a lead wire The wiring support column is fixed on the spherical end of the spherical eccentric shaft, the wiring support column is connected with a traction line, and the lead tube is bonded to the flexible main wing of the flapping wing. 4 . The multi-freedom micro-flapping-wing aircraft with actively deformable wings according to claim 3, characterized in that: the lead pipe is made of polyether ether ketone material with self-lubricating properties. 5. The multi-degree-of-freedom miniature flapping-wing aircraft with actively deformable wings according to claim 1 is characterized in that: the structure of the elastic wing-feather frame of pre-bending is that the main wing veins and auxiliary wing with guide lines The veins are fixed, and the top of the pre-bent elastic piece is connected with the traction line, wherein the elastic piece is inlaid on the other side of the main wing vein.