CN100413757C - Rolling control mechanism for minitype ornithopter - Google Patents
Rolling control mechanism for minitype ornithopter Download PDFInfo
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- CN100413757C CN100413757C CNB2006100419449A CN200610041944A CN100413757C CN 100413757 C CN100413757 C CN 100413757C CN B2006100419449 A CNB2006100419449 A CN B2006100419449A CN 200610041944 A CN200610041944 A CN 200610041944A CN 100413757 C CN100413757 C CN 100413757C
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- poppet
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Abstract
The invention relates to a roll shifting mechanism for micro flapping wing aircraft. In the invention rockers (7, 8) of flapping mechanism (6) are connected with front main beams (4, 5) of wing actively. One end of rib (10) of wings (2, 3) is fixed with front main beams of wing and the other end is connected with back bracket (14) actively through spherical hinge (16). Rockers (7, 8) of control actuator (11) are connected with the back bracket together by pull rod (13) so that a space swinging rod mechanism is constituted by body (1), rockers (7, 8) of flapping mechanism, wings (2, 3) and back bracket (14). When actuator rocker (12) swings to a certain angle, the pull rod (13) drives the back bracket (14) and the rib (10) move correspondingly. Furthermore, wings (2, 3) are driven to carry pitch motion out so that the wing attack angle at one side increases and the wing attack angle at the other side decreases to form lifting difference and generate roll shifting torque. It is provided with simple mechanism, easy operation and strong reliability.
Description
(1) technical field under
The present invention relates to the mini-sized flap wings aircraft, is a kind of roll shifting mechanism for micro flapping wing aircraft.
(2) background technology
The mini-sized flap wings aircraft is a kind of of miniplane, miniplane is an emerging in recent years technical field, basic index that it is generally acknowledged miniplane is: aircraft is that the upperlimit of all directions is no more than a class aircraft of 15 centimetres, 20～60 minutes its cruise duration, voyage reaches more than 10 kms, flying speed 30～60 kms/hour, the capacity weight that can carry 20 grams also can be finished the task of regulation.
The flight theory of mini-sized flap wings aircraft imitation birds, the fluttering up and down of a pair of wing by the fuselage both sides produce the lift of the required body support weight of flight and overcome before fly the thrust of resistance, has the pneumatic efficiency height, maneuverability, applied range, therefore the strong characteristics of disguise when executing the task have very high military and civilian using value.At present, realized that the mini-sized flap wings aircraft of successful flight mainly contains " DELFLY " mini-sized flap wings aircraft of " Microbat " mini-sized flap wings aircraft of U.S. AeroVironment company, the development of Dutch Delft university etc., the domestic PY series mini flapping-wing aircraft of Northwestern Polytechnical University's development and the mini-sized flap wings aircraft of Nanjing Aero-Space University's development etc. of mainly containing.The mini-sized flap wings aircraft has the pneumatic efficiency height, maneuverability, and applied range, therefore the strong characteristics of disguise when executing the task have very high military and civilian using value.
Conventional airplane realize roll guidance mainly by the aileron on the left and right wing of reverse deflection so that left and right sides wing produces different lift, and then produce and refuse around the lift-over power of fuselage datum, thus the roll guidance of realization aircraft.Roll guidance be make aircraft turn motor-driven, roll is motor-driven and regulate left and right sides airfoil lift to realize the flat basis that flare maneuver such as flies, and is an important operating function of aircraft.Because what the wing of existing flapping-wing aircraft did not stop flutters up and down, and aileron can not be installed, therefore also produce roll guidance moment to realize the roll guidance of aircraft with regard to the left and right aileron of the reverse deflection of impassabitity in flight course.
The mini-sized flap wings aircraft of successfully realizing at present controllable flight has only been realized the control of left and right sides turning flight control, pitching flicon and flying speed.The mini-sized flap wings aircraft is usually at airplane tail group installation direction rudder, drift angle by steering wheel control yaw rudder, aircraft is produced to break away, sideslip causes left and right sides wing to produce asymmetric lift, and then fuselage is tilted around its longitudinal axis generation, for example yaw rudder left avertence (slave Caudad heading is seen) causes sideslip, the port wing lift divergence, starboard wing lift increases, fuselage is tilted to the left, produce lift component left, thereby this component provides the required centripetal force of turnon left to realize that aircraft turns left, right-hand corner in contrast; The pitching flicon of mini-sized flap wings aircraft is identical with conventional airplane, promptly realizes the luffing of aircraft by last deflect elevating rudder; The control of the flying speed of mini-sized flap wings aircraft is mainly by regulating the wing frequency of fluttering, and then regulates thrust that wing produces to realize the control to flying speed.
As seen, the lift-over of mini-sized flap wings aircraft control has only realized the bank control of fuselage, to satisfy the needs of turning flight, can't realize the roll guidance ability of similar conventional airplane fully, also just can not realize the more complicated maneuvering flight of similar conventional airplane.
(3) summary of the invention
For overcoming the deficiency that prior art can not realize flapping-wing aircraft lift-over operation, the present invention propose a kind of in flight course by controlling the left and right wing angle of attack respectively, realize the steering unit of roll guidance.
In general, for the left and right wing with identical aerodynamic characteristic, when speed of incoming flow was identical, the angle of attack was identical, and the lift that left and right wing produces equates; When the angle of attack not simultaneously, the lift that the big wing of the angle of attack produces is big, the lift of the wing Cheng Sheng that the angle of attack is little is little.Characteristic can obtain a kind of scheme thus, is exactly in the flapping-wing aircraft flight course, and by changing the angle of attack of left and right wing, it is poor to make left and right wing produce lift, thereby produces the required operating torque of aircraft lift-over operation.
According to above-mentioned principle, the steering unit that the present invention proposes comprises: fuselage, wing, the mechanism of fluttering, wing after poppet, control steering wheel, pull bar, wherein:
The mechanism of fluttering is installed in the front end of fuselage, the rocking arm that is positioned at the mechanism both sides of fluttering respectively with the wing on fuselage both sides before girder flexibly connect, make the both sides wing all can be around separately before the axis generation luffing of girder.At the middle part of fuselage the wing after poppet is installed, the two ends of after poppet pole lay respectively at the fuselage both sides, and at the two ends of this pole spherical linkage are arranged, as the trailing edge strong point.Root rib one end and the preceding girder of wing that lay respectively at the wing inboard are fixed together, and the other end is movably connected by spherical linkage and after poppet.The rocking arm of control steering wheel links together by connecting rod and after poppet.
Among the present invention, use elastomeric material to make the rib of wing, and covering rubber-like mylar constitutes on rib.
The fuselage that links together and flutter mechanism's rocking arm, wing, after poppet constitute a cover space swing-bar mechanism jointly.When the wing after poppet is swung certain angle left, it is low to have formed the after poppet left end, the right-hand member height, at this moment, the after poppet left end passes through spherical linkage, drive the rib of port wing root, the girder axis is to the certain angle of lower swing before port wing, the rib of starboard wing root, the girder axis is upwards swung certain angle before starboard wing, and then drive left respectively, starboard wing rotates by the wing mounting hole axis symmetry of preceding girder on the mechanism's rocking arm of fluttering separately, thereby realization left and right sides wing is done with respect to the luffing of preceding girder separately, realizes that finally the port wing angle of attack increases, the starboard wing angle of attack reduces.Otherwise, when the wing after poppet is swung, realize that the starboard wing angle of attack increases, the port wing angle of attack reduces to the right.
Because the technical solution used in the present invention can be controlled port wing and the deflection of starboard wing symmetrical reverse, cause the difference of the both sides wing angle of attack, and then cause left and right sides airfoil lift poor, produce roll guidance moment, finally realize roll guidance.The present invention has overcome flapping-wing aircraft can not install aileron, thereby can not realize the defective of roll guidance, have mechanism simple, handle easily, the advantage of good reliability.
(4) description of drawings
Accompanying drawing 1 is the structural representation of miniplane roll guidance mechanism;
Accompanying drawing 2 is the exploded drawings of miniplane roll guidance mechanism assembly relation;
Accompanying drawing 3 is the back view when port wing angle of attack moving situation of each parts during greater than the starboard wing angle of attack;
Accompanying drawing 4 is the left view when port wing angle of attack moving situation of each parts during greater than the starboard wing angle of attack;
Among the figure:
1. girder before girder 5. right flanks before fuselage 2. port wings 3. starboard wings 4. left wings
6. mechanism's 7. left rocking arm 8. right rocking arm 9. wing elastic hooks 10. roots of fluttering
11. control steering wheel 12. steering wheel rocking arms 13. pull bars 14. after poppets 15. after poppet axles
16. spherical hinge 17. mounting grooves 18. elasticity ball covers 19. bulbs 20. fuselage mounting holes
21. wing mounting hole
(5) specific embodiment
Present embodiment is the mini-sized flap wings aircraft of a normal arrangement, comprises fuselage 1, wing, wing flutter mechanism 6, after poppet 14 and control steering wheel 11 in order to support wing.In implementation process:
The mechanism 6 of fluttering is positioned at the front end of fuselage 1, its upper surface and longitudinal cross-section all are the T font: the front end of upper surface panel stretches out one section cantilever beam to both sides respectively, formed the left rocking arm 7 and the right rocking arm 8 of the mechanism of fluttering, and the end face of left rocking arm 7 and right rocking arm 8 all have with wing before the endoporus 21 of girder assembling; The panel lower surface is to be all the single-piece riser with panel, and this riser and panel are the T font; Fuselage mounting hole 20 is arranged on the panel inner surface line of centers.
The front end of fuselage 1 has mount pin, and the front end face of fuselage 1 and the mechanism 6 of fluttering are fixedly fit together; The back of fuselage 1 has the mounting groove 17 that after poppet 14 is installed.
Wing is positioned at fuselage 1 top, is divided into port wing 2 and starboard wing 3 in the fuselage both sides.The preceding girder of wing also is divided into girder 4 and the preceding girder 5 of right flank before the left wing, preceding girder is longer than the width of wing near an end of fuselage 1, form mount pin, the diameter of this mount pin is slightly less than the preceding girder mounting hole internal diameter of the wing that is positioned at left rocking arm 7 and right rocking arm 8 end faces, mount pin can be rotated in mounting hole, and can not radially move, and then make port wing 2 and starboard wing 3 can be respectively around separately preceding girder rotational.
When wing after poppet 14 during around after poppet axle 15 motion, it is close to fuselage to drive left and right sides wing, because the space swing-bar mechanism that fuselage, the mechanism's rocking arm of fluttering, wing, wing after poppet constitute lacks the rotational freedom between preceding girder of a wing and the driver train rocking arm, the rigidity of wing can stop the wing after poppet to swing, and causes the mechanism kinematic obstacle.Take place for fear of above rough sledding, left and right sides wing is made rib by rubber-like carbon fiber bar, and covers rubber-like mylar formation on rib, and a little distortion of its aeroperformance can take place not influence wing.Rely on a small amount of elastic deformation of wing structure just can overcome because of lacking the mechanism kinematic obstacle that a rotational freedom brings.
After poppet 14 is bar shaped, and the center has support shaft 15, is running-fit between after poppet 14 and the support shaft 15; There is the mounting hole of pull bar 13 side that is positioned at the rear rack pole of port wing 2 one sides; The two ends of rear rack pole be fixed with respectively one made of plastic, endoporus is arranged and the elasticity ball cover 18 of circular open is arranged, bulb 19 is embedded in the elasticity ball covers 18, the two constitutes spherical linkage 16 jointly.Because the internal diameter of elasticity ball cover is a bit larger tham the bulb external diameter, the diameter of ball cover opening is less than the bulb external diameter, bulb can be in the elasticity ball cover to upper and lower, left with the right side certain angle of swing flexibly, but the restriction that can not deviate from ball cover.
During assembling:
Utilize the mount pin of fuselage 1 front end, the front end face of fuselage and the mechanism 6 of fluttering are fixedly fit together;
With port wing 2 and starboard wing 3 respectively by the mount pin on the preceding girder be positioned at wing mounting hole on flutter mechanism's rocking arm 7 and 8 and connect 6 with the mechanism of fluttering and be connected together, and because the diameter of mount pin is slightly less than the internal diameter of the preceding girder mounting hole of wing, mount pin can be rotated in mounting hole, so drive port wing 2 and starboard wing 3 respectively the preceding girder by separately rotate.
Because wing is fluttered up and down in flight course, for preventing that the wing on the go breaks away from the rocking arm of the mechanism 6 of fluttering, girder 5 is fixed with the elastic hook 9 that a finer wire is made respectively near fuselage 1 place before girder 4 and the starboard wing before port wing, at mechanism's left side rocking arm 7 and right rocking arm 8 the upper surface of fluttering an aperture is arranged respectively near wing one end, when wing is installed, the mount pin of one end of girder before the wing is inserted the mounting hole that is positioned at the mechanism's rocking arm end face of fluttering respectively, simultaneously the bill of elastic hook 9 is buckled in the aperture on the rocking arm, when fluttering, deviate from from the mechanism's rocking arm of fluttering to avoid wing.
After poppet 14 and fuselage 1 coaxial line are bonded in the mounting groove 17 that is positioned at the rear body upper limb with the two ends of support shaft 15 with structural adhesion, and make axle 15 left-right rotation that after poppet 14 can be on fuselage 1.
When control steering wheel 11 receives control signal and when driving steering wheel rocking arm 12 to the lower swing certain angle, steering wheel rocking arm 12 drives the after poppets 14 corresponding angle that turns left by pull bar 13, thereby makes rear rack pole right-hand member height, left end low.Opposite when steering wheel rocking arm 12 is upwards swung certain angle, steering wheel rocking arm 12 is swung corresponding angle to the right by pull bar 13 drive after poppets 14, thereby makes rear rack pole left end height, right-hand member low.
After finishing above-mentioned implementation process, constituted a cover space swing-bar mechanism between the left rocking arm 7 of the mechanism 6 of fluttering and right rocking arm 8, wing, after poppet 14, the fuselage 1, the manipulation process when specifically using is as follows:
When the lift-over left of needs mini-sized flap wings aircraft, control steering wheel 11 is according to behind the control signal that receives, drive steering wheel rocking arm 12 to the certain angle of lower swing, and drive the after poppets 14 corresponding angle that turns left, make rear rack pole right-hand member height, left end low by pull bar 13.
The axis of root 10 girder 4 before left wing of the spherical linkage 16 drive port wings 7 on the left end that rear rack pole passes through to reduce is to the certain angle of lower swing, and then drive whole port wing 2 and rotate by girder before the left wing 4 wing mounting hole axis of 7 on left rocking arm, thereby realization port wing 2 is done the motion of facing upward with respect to girder before the left wing 4, port wing 2 angles of attack are increased, and lift increase.
Rear rack pole is upwards swung certain angle by the axis that the spherical linkage on the right-hand member of raising 16 drives root 10 girder 5 before right flank of starboard wing 3, and then drive whole starboard wing 3 by the upwards rotation of wing mounting hole axis of girder 5 before the right flank around right rocking arm 8, thereby realize that the nutation that starboard wing 3 is done with respect to girder before the right flank 5 moves, starboard wing 3 angles of attack are reduced, and lift divergence.
When the lift of port wing 2 during, produced and made the required operating torque of mini-sized flap wings aircraft lift-over to the right greater than the lift of starboard wing 3.
The method of handling the lift-over left of mini-sized flap wings aircraft is also with above-mentioned process, and just steering is opposite with said process.
Claims (7)
1. roll shifting mechanism for micro flapping wing aircraft, comprise fuselage (1), wing, the mechanism of fluttering (6), wing after poppet (14) and control steering wheel (11), the mechanism (6) that it is characterized in that fluttering is installed in the front end of fuselage (1), the rocking arm that is positioned at the mechanism both sides (6) of fluttering respectively with the wing on fuselage both sides before girder flexibly connect; Wing after poppet (14) is installed in the middle part of fuselage (1), and the two ends of after poppet pole are positioned at the both sides of fuselage (1), and at the two ends of pole spherical linkage (16) is arranged respectively; The end and the preceding girder of wing that lay respectively at the root (10) of wing inboard are fixed together, and the other end is movably connected by spherical linkage (16) and after poppet (14); Steering wheel rocking arm (12) links together by pull bar (13) and after poppet (14).
2. roll shifting mechanism for micro flapping wing aircraft according to claim 1, the left rocking arm (7) and the right rocking arm (8) of the mechanism (6) that it is characterized in that fluttering lay respectively at fuselage (1) both sides; On left rocking arm (7) and right rocking arm (8) outer face, be useful on the mounting hole (21) that girder before the wing is installed; Inside face at the mechanism of fluttering (6) panel is useful on and fuselage (1) bonded assembly mounting hole (20).
3. roll shifting mechanism for micro flapping wing aircraft according to claim 1, it is characterized in that wing preceding girder in both sides has the wing mount pin near an end of fuselage (1), the diameter of this mount pin is slightly less than the internal diameter of girder mounting hole (21) before the wing that is positioned at left rocking arm (7) and right rocking arm (8) end face, and by this mount pin port wing (2) and starboard wing (3) is linked together with the left rocking arm (7) and the right rocking arm (8) of the mechanism of fluttering respectively.
4. roll shifting mechanism for micro flapping wing aircraft according to claim 1, it is characterized in that laying respectively at the inboard of port wing (2) and starboard wing (3) with the rib (10) that elastomeric material is made, and an end respectively with left wing before before girder (4) and the right flank girder (5) is connected, the other end passes through spherical linkage (16) respectively and is connected with wing after poppet (14).
5. roll shifting mechanism for micro flapping wing aircraft according to claim 1 is characterized in that after poppet (14) is installed on the fuselage (1) by support shaft (15), and and fuselage (1) coaxial line, and support shaft (15) between be running-fit.
6. roll shifting mechanism for micro flapping wing aircraft according to claim 1 is characterized in that controlling the side that steering wheel (11) is fixedly mounted on fuselage under the after poppet (14), and steering wheel rocking arm (12) and after poppet (14) is on the same vertical plane surface.
7. roll shifting mechanism for micro flapping wing aircraft according to claim 1, when it is characterized in that connecting wing and fluttering mechanism's rocking arm, girder (5) locates to be fixed with respectively an elastic hook (9) near fuselage (1) before girder before left wing (4) and the right flank, near the upper surface of wing one end one aperture is arranged respectively at left rocking arm (7) and right rocking arm (8), and the bill of elastic hook (9) is buckled in the aperture on the rocking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100419449A CN100413757C (en) | 2006-03-20 | 2006-03-20 | Rolling control mechanism for minitype ornithopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100419449A CN100413757C (en) | 2006-03-20 | 2006-03-20 | Rolling control mechanism for minitype ornithopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101041382A CN101041382A (en) | 2007-09-26 |
| CN100413757C true CN100413757C (en) | 2008-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100419449A Expired - Fee Related CN100413757C (en) | 2006-03-20 | 2006-03-20 | Rolling control mechanism for minitype ornithopter |
Country Status (1)
| Country | Link |
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| CN (1) | CN100413757C (en) |
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| CN102501971B (en) * | 2011-11-20 | 2014-03-12 | 西北工业大学 | Micro flapping wing aerobat with horizontal front wing and vertical front wing |
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| CN104443382B (en) * | 2014-12-15 | 2016-06-01 | 佛山市神风航空科技有限公司 | A kind of motor drives the dull and stereotyped flapping wing lift device of upper and lower switch |
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| CN108190013B (en) * | 2018-02-11 | 2021-01-15 | 陆昌新 | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time |
| CN108995804B (en) * | 2018-08-01 | 2020-07-07 | 北京理工大学 | Bionic aircraft for realizing flight mode conversion between flapping rotor wing and flapping wing based on deformable wing |
| CN109436320B (en) * | 2018-11-07 | 2023-12-15 | 杭州翼能科技有限公司 | Aircraft |
| CN110550205B (en) * | 2019-09-10 | 2020-11-06 | 南宁蜂虎科技有限公司 | Ornithopter steering control method, device and system |
| CN112141330B (en) * | 2020-09-11 | 2022-09-13 | 哈尔滨工业大学（深圳） | Flight driving structure and flapping wing aircraft |
| CN113978720A (en) * | 2021-12-07 | 2022-01-28 | 杭州电子科技大学 | Flapping wing aircraft capable of actively controlling wing pitch angle and application method thereof |
| 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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|---|---|---|---|---|
| GB364986A (en) * | 1931-05-06 | 1932-01-14 | Heinrich Kern | Aeroplane with vertically oscillatable wings |
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|---|---|
| CN101041382A (en) | 2007-09-26 |
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Granted publication date: 20080827 Termination date: 20120320 |