CN-117818876-B - Flapping wing mechanism with independently controllable starting and ending positions

Abstract

The invention provides an flapping wing mechanism with independently controllable starting and ending positions, which comprises wing rods, a connecting rod A, a connecting rod linear steering engine, a motor gear, a connecting rod B, a driving wheel A, a driving wheel B, a swinging rod connecting piece, a miniature linear steering engine, a speed reducing motor, a machine body bracket and a swinging rod linear steering engine. The invention generates active yaw moment by means of the flapping difference of the wing surfaces of the two sides, fundamentally solves the problem that the vertical tail wing fails under the condition of low incoming flow speed, and simultaneously solves the problems of poor disturbance resistance and poor maneuverability of the flapping-wing aircraft under the condition of low speed. In addition, in the stage of gliding, can control the dihedral and the fin of both sides airfoil respectively, realize more bionical, nimble and efficient gliding flight. The sub-aircraft has the characteristics of bionic flight attitude, strong visual confusion, low flight noise and high efficiency, can be used for task scenes such as outdoor close range reconnaissance, high-altitude long-endurance monitoring reconnaissance, wild animal close range shooting and the like, and has important significance and value in the future.

Inventors

• LU KAIJIE
• ZHENG XIANGMING
• Wu Chengshen
• LI PENGFEI
• XIE YUJIE
• HU JINHAO
• ZHU XINNING
• XU HONGYU

Assignees

• 南京航空航天大学

Dates

Publication Date

20260505

Application Date

20231213

Claims (4)

1. 1. A flapping wing mechanism with the starting and the ending positions capable of being controlled independently is characterized by comprising a machine body support and a wing rod connected with the machine body support through a revolute pair, a speed reducing motor is fixed on the machine body support, the speed reducing motor drives a transmission gear set to rotate through a motor gear, a swing rod linear steering engine is fixed on the wing rod, a sliding groove is formed in the middle of the wing rod, a swing rod connecting piece is arranged in the sliding groove, one end of the swing rod connecting piece is connected with a connecting rod assembly, the other end of the swing rod connecting piece is connected with a steering engine arm of the swing rod linear steering engine, the connecting rod assembly comprises a connecting rod A and a connecting rod B which are connected in a matched mode, a sliding groove is formed in the connecting rod B, a connecting rod linear steering engine is fixed on the connecting rod A, one end of the connecting rod A is connected with the swing rod connecting piece, the other end of the connecting rod is connected with a steering engine arm of the miniature linear steering engine, the transmission gear set comprises a transmission wheel A and a motor transmission wheel B, one end of the connecting rod is meshed with the transmission wheel B, and the transmission wheel is meshed with the transmission wheel A.
2. 2. The flapping wing mechanism with the start and end positions capable of being controlled independently according to claim 1, wherein the linear steering engine is bonded with the connecting rod B through glue, and the miniature linear steering engine is bonded with the transmission wheel set through glue.
3. 3. The flapping wing mechanism with the independently controllable start and end positions of the flapping according to claim 1, wherein the motor gear is connected with a speed reducer motor shaft in an interference fit manner.
4. 4. The flapping wing mechanism with the independently controllable starting and ending positions of the flapping according to claim 1, wherein the sliding block hole of the connecting rod linear steering engine is connected with the screw hole at the bottom of the connecting rod A through a screw.

Description

Flapping wing mechanism with independently controllable starting and ending positions Technical Field The invention relates to the technical field of aviation, in particular to a flapping wing mechanism with independently controllable starting and ending positions. Background In recent years, with the continuous development of science and technology, the characteristics of high efficiency, simulated flight attitude and strong visual confusion of the ornithopter are more and more emphasized, and the ornithopter has an irreplaceable effect in the task with high requirements on low perceived ability. The driving mechanism of the flapping wing aircraft at the present stage can be roughly divided into two types, one is a connecting rod mechanism driven by a motor, and the other is a steering engine direct driving mechanism. The scheme of the link mechanism is characterized in that the multi-link mechanism is driven by a gear motor to realize the king's movement of the airfoil, and the scheme has the advantages of mature design theory, high power density, simple control, single control quantity and control of flapping frequency by only adjusting the rotating speed of the motor. The scheme needs to add a horizontal vertical tail fin to realize pitching and heading control, and rolling is realized by virtue of self stability. Such as "Dove" from western industry, large double-section flapping wings from the university of aviation aerospace in south Beijing. The motion state that the wing surfaces on two sides are flapped in the same frequency and the same amplitude means that yaw moment cannot be actively generated, and a vertical tail wing or an additional power device is needed to be added to realize yaw control. The scheme of adding the vertical tail wing has the following defects that firstly, the biggest characteristic of the flapping wing aircraft with the bionic flight appearance is lost from the appearance, in addition, the vertical tail wing is used as an airflow control surface, and under the condition that the aircraft flies at a large attack angle and a low speed, the airspeed speed of the vertical tail wing is insufficient, so that the vertical tail wing cannot provide enough control moment. In summary, the conventional flapping wing aircraft driven by the link mechanism mainly has the following disadvantages: 1. only can change the flapping motions of two sides at the same time, and can not independently control the flapping motions of one side 2. There is a problem of coupling the amplitude of the flutter with the dihedral, i.e. changing the amplitude of the flutter while changing the dihedral. 3. Through a large number of gear drive, the mechanical structure is complex, and the reliability is lower. The steering engine direct-drive scheme is characterized in that the reciprocating rotation of the steering engine is controlled to realize airfoil flapping, the flexibility of steering engine control determines that the scheme can independently control the starting and ending positions of the flapping of the unilateral airfoil, and differential control is realized on the wings at two sides, so that the pitching, heading and rolling of the aircraft are controlled. Such as Festo, "eMotionButterfly", beijing aviation university of aerospace, butterfly-like aircraft, etc. The scheme of the steering engine direct drive has the defects of low power density, low flapping frequency of an aircraft driven by the steering engine under the same weight, relatively low lift force, low maximum take-off weight, small load and limited functions and endurance. Disclosure of Invention The flapping wing mechanism with the independent control of the starting and ending positions of the flapping is more flexible, the differential control of the flapping at two sides can generate effective yaw moment, pitching moment and rolling moment, and the gesture of an aircraft can be effectively controlled under the condition of low speed and large attack angle, so that the flying is stable. The invention provides a flapping wing mechanism capable of controlling the starting and ending positions independently, which comprises a machine body support and a wing rod connected with the machine body support through a revolute pair, wherein a speed reducing motor is fixed on the machine body support and drives a transmission gear set to rotate through a motor gear, a swing rod linear steering engine is fixed on the wing rod, a sliding groove is formed in the middle of the wing rod, a swing rod connecting piece is arranged in the sliding groove, one end of the swing rod connecting piece is connected with a connecting rod assembly, the other end of the swing rod connecting piece is connected with a steering engine arm of the swing rod linear steering engine, the connecting rod assembly comprises a connecting rod A and a connecting rod B which are connected in a matched mode, the connecting rod B is connected with the transmission gear set, a s