Miniature flapping wing air vehicle with wings capable of performing active deformation and with multiple freedom degrees

Abstract

The invention relates to a miniature flapping wing air vehicle with wings capable of performing active deformation and with multiple freedom degrees, and belongs to miniature bionic air vehicles. A transmission device fixing frame, an electronic control module and an empennage are fixed on an airframe body, a direct-current motor is mounted on the transmission device fixing frame, a regulating steering fan is fixed on a vertical tail of the empennage, a flapping wing torsional pendulum mechanism is fixed on the transmission device fixing frame, the end part of the flapping wing torsional pendulum mechanism is fixedly connected with flapping wing flexible main wings, a group of pre-bent elastic wing feather frameworks are fixed to the rear edge ends of the flapping wing flexible main wings, and wing feather piezoelectric thin films of solar lamellas are stuck to the upper surfaces of the pre-bent elastic wing feather frameworks. The miniature flapping wing air vehicle disclosed by the invention has the advantages that torsion actions are realized through composite motions adopting an eccentric ball structure and a crank and rocker mechanism, the size of a torsion angle can be correspondingly changed along with different positions of the miniature flapping wing air vehicle in the flight process, the miniature flapping wing air vehicle has high smoothness, the flight is more stable, and the practicality is high.

Description

technical field [0001] The invention belongs to a miniature bionic aircraft, in particular to a multi-degree-of-freedom miniature flapping-wing aircraft based on actively deformable wings. Background technique [0002] 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. [0003] In...

AI Technical Summary

Problems solved by technology

[0004] 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

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