CN-121973965-A - Bionic butterfly main wing and aileron hinged bionic wing linkage mechanism

CN121973965ACN 121973965 ACN121973965 ACN 121973965ACN-121973965-A

Abstract

The invention belongs to the technical field of bionic aircrafts and discloses a bionic butterfly main wing and aileron hinged bionic wing linkage mechanism which comprises a main wing component, an aileron component, a main wing connecting piece, an aileron connecting piece and a universal hinge unit, wherein the main wing component is driven by a driving unit, the main wing connecting piece is fixed at one end of the main wing component, which is close to the driving device, the aileron connecting piece is fixed at one end of the aileron component, which is close to the driving device, the universal hinge unit comprises a cross shaft and two universal shafts, shaft-shaped structures of the two universal shafts are respectively connected to the main wing connecting piece and the aileron connecting piece in a rotating way, the two universal shafts are respectively connected to two pivoting parts of the cross shaft to form a first revolute pair and a second revolute pair, the axes of the first revolute pair and the second revolute pair are mutually perpendicular, a sliding support is arranged on a machine body, and the aileron component is connected to the sliding support through a rear connecting piece. The invention realizes the cooperative movement between the main wing and the aileron according with the aerodynamic rule on the premise of taking account of simple and durable structure.

Inventors

Cai Shengcheng
ZHOU JIE
HU JIANCHENG
CHEN MENGYUAN
CHEN BINKE

Assignees

南通理工学院

Dates

Publication Date: 20260505
Application Date: 20260317

Claims (9)

1. A bionic butterfly main wing and aileron hinged bionic wing linkage mechanism is characterized by comprising a main wing component, an aileron component, a main wing connecting piece, an aileron connecting piece and a universal hinging unit, wherein the main wing component is driven by a driving unit, the main wing connecting piece is fixed at one end of the main wing component, which is close to the driving device, of the aileron component, the aileron connecting piece is fixed at one end of the aileron component, which is close to the driving device, the universal hinging unit comprises a cross shaft and two universal shafts, one end of each universal shaft is of a U-shaped structure, the other end of each universal shaft is of a shaft-shaped structure perpendicular to the aileron connecting piece, the shaft-shaped structures of the two universal shafts are respectively connected to the main wing connecting piece and the aileron connecting piece in a rotating mode, the U-shaped structures of the universal shafts connected with the main wing connecting piece are pivoted with a first pair of coaxial pivoting parts of the cross shaft to form a first revolute pair, the U-shaped structures of the universal shafts connected with the aileron connecting piece are pivoted with a second pair of coaxial pivoting parts of the cross shaft to form a second revolute pair, the first revolute pair is mutually perpendicular to the axis of the second revolute pair, a sliding support is mounted on a machine body, one end of the aileron is provided with a rear connecting piece, and one end of the aileron is connected to a sliding support.
2. The bionic butterfly main wing-aileron hinged bionic wing linkage mechanism according to claim 1, wherein when the maximum amplitude of main wing flutter is alpha, the maximum deflection angle of aileron target is theta, the distance between the axis intersection point of the first rotating pair and the second rotating pair and the main wing flutter axis is d, the cross arm length l=d×tan θ++sin (alpha/2), the universal axis length l=l×cos (alpha/2), and the adjustment coefficient k is used for adapting to different wing surface rigidities.
3. A bionic butterfly main wing-aileron hinged bionic wing linkage according to claim 1 or 2, wherein the sliding support comprises a fixing part fixed on the body and a sliding part symmetrically extending from the fixing part to the left and right sides, the sliding part comprises a front sliding plate and a rear sliding plate, the front sliding plate and the rear sliding plate are respectively provided with the sliding grooves, one end of the rear connecting piece is positioned between the front sliding plate and the rear sliding plate and is provided with a cylindrical structure in sliding fit with the sliding grooves, and the other end of the rear connecting piece is rotatably connected with an aileron framework in the aileron assembly.
4. A bionic butterfly main wing-aileron hinged bionic wing linkage mechanism according to claim 3, wherein the chute is an arc chute and extends from a position of the sliding support close to the body to a position close to the aileron assembly, the arc chute protrudes downwards, the arc chute is formed by connecting two arc sections with the same radius and non-coincident circle centers, and the joint of the two arc sections is in smooth transition and protrudes downwards.
5. A bionic butterfly main wing-aileron hinged bionic wing linkage according to claim 4, wherein the extending end of the sliding part extends obliquely towards the front of the fuselage.
6. The bionic butterfly main wing-aileron hinged bionic wing linkage mechanism according to claim 5, wherein the main wing assembly comprises a main wing framework and a main wing membrane covered on the main wing framework, the aileron assembly comprises an aileron framework and an aileron membrane covered on the aileron framework, the main wing membrane and the aileron membrane can be mutually close to each other and attached when in downward beating, and the main wing membrane and the aileron membrane 8 are naturally separated when in upward beating, so that a gradually expanding pneumatic gap is formed.
7. The bionic butterfly main wing-aileron hinged bionic wing linkage mechanism of claim 6, wherein the main wing assembly is fixedly connected with the transmission member through a main wing mounting seat, the main wing connecting member is fixed between the main wing connecting member and the main wing mounting seat, the main wing connecting member is arranged at a wing root position of a main wing framework, the aileron connecting member is arranged at a wing root position of the aileron framework, the rear end of the main wing connecting member extends backwards to form a rear connecting end, the front end of the aileron connecting member extends forwards to form a front connecting end, and the rear connecting end is connected with the front connecting end through a universal hinge unit for transmission.
8. A bionic butterfly main wing-aileron hinged bionic wing linkage according to claim 1, wherein the aileron assembly has a maximum deflection angle of 45 degrees relative to the main wing assembly.
9. The bionic butterfly main wing-aileron hinged bionic wing linkage mechanism of claim 1, wherein the arm length of the cross shaft is 8-15mm, the length of the universal shaft is 10-20mm, and the distance between the intersection point of the axes of the first rotating pair and the second rotating pair and the flapping axis of the main wing is 5-10mm.

Description

Bionic butterfly main wing and aileron hinged bionic wing linkage mechanism Technical Field The invention belongs to the technical field of bionic aircrafts, and particularly relates to a bionic butterfly main wing aileron hinged type bionic wing linkage mechanism. Background The bionic ornithopter presents unique aerodynamic advantages in a low Reynolds number flow field by simulating the flying mode of insects or birds in nature, such as high maneuverability, low noise and excellent hovering capability, so that the bionic ornithopter has wide application prospects in the fields of military reconnaissance, environmental monitoring, post-disaster search and rescue, short-distance indoor detection and the like. The butterfly bionic aircraft has a unique mode of 'front wing (main wing) and rear wing (aileron) collaborative flapping', which is a key for generating high-efficiency lifting force and propelling force, so that the butterfly bionic aircraft becomes an important object for researching the bionic flapping-wing aircraft. However, in engineering practice, the precise reproduction of complex cooperative movements between the main and auxiliary wings of the butterfly and the realization of stable and controllable flight face serious technical challenges. The prior technical proposal often falls into the dilemma that the performance, the complexity and the reliability are difficult to be compatible when trying to solve the problem. In the prior flapping wing aircraft, the universal joint structure is used as a middle part for power transmission, the central function of the universal joint structure is angle compensation or motion conversion, the deflection control of the flapping wing can be realized only by matching with an additional steering engine and an additional motor, and the phase cooperative motion without additional driving cannot be realized in the aspect of linkage of a main wing and an aileron in the prior art. If the rigid transmission of the main wing and the auxiliary wing is adopted, the main wing and the auxiliary wing are easy to interfere, the folding angle of the auxiliary wing is insufficient when the auxiliary wing is beaten as follows, the gap is overlarge when the auxiliary wing is beaten upwards, if a complex adjusting structure is arranged on the basis of the rigid transmission, the weight of the wing surface can be increased due to structural redundancy, and on the basis of a passive follow-up scheme of flexible materials, such as a flexible hinge, the movement rule is uncertain and the durability is poor, and on the premise of not considering the simple and durable structure, the cooperative movement between the main wing and the auxiliary wing according with the aerodynamic rule can be realized. Disclosure of Invention The invention aims to provide a bionic butterfly main wing and aileron hinged bionic wing linkage mechanism, which solves the technical problem that the cooperative motion between a main wing and an aileron according with an aerodynamic rule can not be realized on the premise that the structure is simple and durable in the prior art. The bionic butterfly main wing and aileron hinged bionic wing linkage mechanism comprises a main wing component, an aileron component, a main wing connecting piece, an aileron connecting piece and a universal hinge unit, wherein the main wing component is driven by a driving unit, the main wing connecting piece is fixed at one end of the main wing component, which is close to the driving device, the aileron connecting piece is fixed at one end of the aileron component, which is close to the driving device, the universal hinge unit comprises a cross shaft and two universal shafts, one end of each universal shaft is of a U-shaped structure, the other end of each universal shaft is of a shaft-shaped structure perpendicular to the main wing connecting piece, the shaft-shaped structures of the two universal shafts are respectively connected to the main wing connecting piece and the aileron connecting piece in a rotating mode, the U-shaped structures of the universal shafts connected with the main wing connecting piece are pivoted with a first pair of coaxial pivoting parts of the cross shaft to form a first revolute pair, the U-shaped structures of the universal shafts connected with the aileron connecting piece are pivoted with a second pair of coaxial pivoting parts of the cross shaft to form a second revolute pair, the first revolute pair is mutually perpendicular to the axis of the second revolute pair, a sliding support is mounted on the aileron, one end of the aileron is provided with a rear connecting piece, and one end of the rear connecting piece is connected to the aileron, and the other end of the aileron is connected with a sliding support. Preferably, the maximum amplitude of main wing flutter is alpha, the maximum deflection angle of the aileron target is theta, the distance between the axis intersection point of the firs