CN102219053A - Ornithopter - Google Patents
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- CN102219053A CN102219053A CN2010101656768A CN201010165676A CN102219053A CN 102219053 A CN102219053 A CN 102219053A CN 2010101656768 A CN2010101656768 A CN 2010101656768A CN 201010165676 A CN201010165676 A CN 201010165676A CN 102219053 A CN102219053 A CN 102219053A
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Abstract
The invention provides an ornithopter, which can fly by flapping wings. The ornithopter structure comprises: an engine, a left wing, a right wing, an engine room, a fuel system, and a flight controller. The engine is centered and horizontally disposed; the left wing is connected to an engine shaft; the right wing is connected to an engine housing. The left and right wings can flap up and down symmetrically, and each wing is composed of a plurality of elastic vanes which can be opened and closed. The engine structure comprises: a housing, a rotating device, a on-housing structure, and an air distribution chamber; the housing is a capsular pressure vessel which has a cylinder-shaped middle part and ellipsoidal heads as the two ends; the rotating device comprises an engine shaft, a shaft sleeve, and a rotary plate; the on-housing structure comprises an air opening, a fuel pipe, a spark plug, and an igniter; the air distribution chamber is an in-and-out space and a control mechanism for air and fuel gas with a fan-shaped cross section. The engine room is suspended below the engine through two elastic rods. Both a fuel tank of the fuel system and the flight controller are disposed in the engine room.
Description
Technical field
The present invention relates to aeronautical technology, relate in particular to a kind of flapping-wing aircraft.
Background technology
Flapping-wing aircraft is the aerocraft that overweights air that wing can be fluttered up and down as bird and insect wing, and the wing of fluttering not only produces lift, also produces propelling thrust forward, is a kind of machine of instigating wing flight.
Around us, often exist the little creature that some hover, slim and graceful little swallow, the time and the underriding the earth, the time thirty years of age price fixing revolve, how leisurely and carefreely the last blue sky of Shi Erzhi flies! Does why we can not also grow a pair of wing or do a pair of wing circle in the air? in remote ancient times, our ancestors have just expected making the machine that flies as bird, help people to realize the dream of spreading its wings to fly.Human aviation dream is from flapping-wing aircraft, and the inspiration of flapping-wing aircraft derives from natural flight animal: insect, bird, bat, they all adopt the flapping flight mode without exception.It is exactly several thousand that human this dream one is done.
Human is to imitate birds very intuitively at the initial stage of attempting flight always, with the various bird plumages or other people divine force that created the universe, makes wing, is installed on people's the body.After having experienced many failures, the mankind recognize that gradually the simple wing that utilizes can not fly.So begin to seek a kind of mechanical mode.
Flapping-wing aircraft the earliest, perhaps the monk Luo Jie Baconic who is exactly Britain records and narrates in " secret of technology and nature " literary composition of delivering in 1250: for the machine of flight usefulness, last seat one people makes artificial wing swat air up and down by driving instruments, the flight of the action of mockingbird as much as possible.
At the beginning of the 15th century, this writer of literature and art, scientist during European the Renaissance, gondola Leonardo da Vinci entertains enthusiasm to flight, and he also is the personality of research flapping-wing aircraft.He specifically is envisioned for, and the people is prostrate, and top board behind the pedal, hand are pulled the horizontal pestle that the bird plumage is equipped with in the front portion at the flapping-wing aircraft middle part, just as air is instigated in paddle,
After the Leonardo da Vinci, have individual Turk to wear the cape of a roomy tape frame, utilize the flight of flapping wing principle, unexpectedly framework is unable to bear air resistance and fractures, and this Turk is unfortunately wrecked.
1678, state-owned of method made the locksmith of Benny's dust also make a flapping-wing aircraft.He carries on a shoulder pole two poles piggyback, and rod end is respectively adorned the rectangular fin of a pair of pivotally attached.Rod end is swing upwards, and fin draws in, and to lower swing, fin launches.By repeatedly experiment, Benny's dust fails all the time.
1742,62 years old Ba Kaiweier was strapped on the own four limbs with four airfoil mechanisms, put forth energy body one to jump from roof, hotel, Paris, and attempt leaps Seine.But he has flown half and has just weighed down the river and hit aboard ship, has broken leg.
In China Western Han Dynastry period, once there was the feather of human curassow to manufacture two especially big wings, this people is instigating wing to fly down from high building then, and it is far away to have flown the hundreds of step.
Nineteen thirty, a gondola flapping-wing aircraft model was taken a flight test, it heavily about 22.7 kilograms, one 0.5 horsepower driving engine is housed.
But up to the present, practical flapping-wing aircraft does not really create, and flapping-wing aircraft also is a kind of imagination, also has very big distance from practicality.Though a lot of design drawings is arranged now, want really to come true, also want us constantly to make great efforts.The expert once always had five hang-ups: 1. an aerodynamics difficult problem; 2. a undulating flight difficult problem; 3. a flicon difficult problem; 4. a material difficult problem; 5. a structure difficult problem.
In fact, flapping-wing aircraft various imaginations or that produce is all failed to instigate wing to fly up and is come, rather than fly OK problem.I think that main obstacles should be: also do not have light high-performance driving engine so far.
The road of flapping-wing aircraft so difficulty is walked, and the somebody continues to walk at mystery.Its major cause is:
1. flapping flight is unique flying method that realm of nature evolve to be selected, and also is labour-saving flying method;
2. the flapping flight maneuverability need not runway;
3. the flapping flight cost is low, and safety is good.
The background technology of relevant flapping-wing aircraft has a detailed description in following monograph:
1, Chen Shaozu, panoramic aircraft, Beijing: National Defense Industry Press, 2003.
2, Li Chengzhi, the travel of dream circle-the conquest of air in thousand, Beijing: aerospace university press, 2003.
3, Wang Zhongqiang, the civilization of circling in the air, Beijing: aircraft industry press, 2003.
Summary of the invention
The objective of the invention is to provide a kind of flapping-wing aircraft, its wing of flapping can fly up.
For achieving the above object, the flapping-wing aircraft that the present invention provides, its structure comprises: driving engine, port wing, starboard wing, cabin, fuel system and flight controller.
Driving engine horizontal positioned placed in the middle, port wing is connected the driving engine left side, and starboard wing is connected driving engine the right, and two elastic rods about the cabin is passed through hang and connect left and right sides wing root, are positioned at driving engine bottom; About two wings can symmetry instigate up and down, the plane of each wing all is made up of a lot of elastic fins to be opened/closed; The tanks of fuel system and flight controller are all in the cabin.
Described driving engine, its structure comprises: structure and gas distributing chamber on housing, wheel word, the shell; Housing is the pressure container of capsule shape, and the centre is a tubular, and two ends are ellipsoidal head; Wheel word comprises engine shaft, shaft sleeve and rotating plate, and rotating plate is fixed on the shaft sleeve, and shaft sleeve is enclosed within on the engine shaft, uses the locating dowel pin transmission between shaft sleeve and engine shaft; Structure comprises air port, acetylene air inlet pipe, light-up plug, ignition lock and firing unit on the shell; The inboard in two air ports on engine shell is that cross-sectional plane is fan-shaped gas distributing chamber, and gas distributing chamber is divided into left and right sides two parts by midfeather, promptly left gas distributing chamber and right gas distributing chamber, the protruding motor body of midfeather, the end vertical fixing deflector shield of going out.
Port wing is fixedly connected on the engine shaft, and starboard wing is fixedly connected on the motor body.
The flapping-wing aircraft structure also comprises the angle machine, a Left Angle machine and a right corner degree machine, and the Left Angle machine is at the middle part of port wing, and right corner degree machine is at the middle part of starboard wing.
Described wheel word, it comprises engine shaft, shaft sleeve and rotating plate; In motor body, under the gaseous-pressure effect, rotating plate is around the engine shaft rotation, and the rotating plate area is near 1/2nd of housing elevation profile area, and rotating plate drives engine shaft by shaft sleeve and locating dowel pin; On shaft sleeve, a circumferential bar hole is arranged, account for 1/4th girths greatly, be the slideway of locating dowel pin, rotating plate can freely rotate within the specific limits, at this moment, rotating plate and shaft sleeve rotate, and engine shaft and locating dowel pin do not rotate, and locating dowel pin slides with respect to slideway.
Structure on the described shell, on the housing of driving engine, it comprises: symmetrical two air ports: left air port and right air port; Symmetrical two acetylene air inlet pipes: left air inlet pipe and right air inlet pipe; Symmetrical two light-up plugs: left light-up plug and right light-up plug; Symmetrical two ignition locks: left ignition lock and right ignition lock; Firing unit between right air inlet pipe and right light-up plug.
Described gas distributing chamber, it is that a cross-sectional plane is fan-shaped air fuel gas turnover space and control mechanism in the inboard in two air ports of motor body, the fan-shaped wedge angle of gas distributing chamber points to and close engine shaft; Gas distributing chamber is divided into left and right sides two parts by a midfeather, promptly left gas distributing chamber and right gas distributing chamber; On the sidewall of left side gas distributing chamber, left gas port and left valve are arranged, have folding to be connected between left valve one end and the sidewall, between left valve and the midfeather, a left stage clip is arranged; In the left gas distributing chamber angular space adjacent with engine shaft, a Left Angle spring is arranged, and the Left Angle spring has two elastic force bars, and an elastic force bar is fixed on the midfeather, another elastic force bar stretches out left gas distributing chamber by aperture on the sidewall, is stretched in the engine shell intracorporeal space; Right gas distributing chamber is identical with left gas distributing chamber symmetry; Midfeather is on average cut apart gas distributing chamber, one section of its also protruding motor body, deflector shield of the end vertical fixing of going out about not only.
Described port wing, starboard wing, two wing structure symmetries are identical, form by skeleton and many fins; The shape of skeleton is rectangular plane substantially, be covered with mesh on it, place a slice fin in each mesh, a limit of fin is fixed on the skeleton of wing, wind-force can make it be bent downwardly, and this moment, mesh was ventilative, and when wind-force makes progress, fin is close on the lower surface of wing skeleton open and flatly, and mesh is stuffy; The root of skeleton is used for fixing: for port wing, its root is fixed on the engine shaft, and for starboard wing, its root is fixed on the engine shell external surface; Skeleton is made with light-weight high-strength material, aluminum alloy for example, and fin is made with lightweight thin-walled elastomeric material, for example glass-felt plastic; One hole is arranged near the skeleton root, and its elastic rod one end that is connected through the hinge connects the cabin downwards by elastic rod; The end of wing skeleton has a downward air baffle; There is an angle machine at the middle part of each wing.
Described angle machine comprises Left Angle machine and right corner degree machine, and their structure is identical, all is the direct current gear reduction motor that utilizes 12 volts of direct supplys; By control unit, change power supply polarity, change the angle machine and turn to, be respectively applied for the outer wing of regulating left and right sides wing, with respect to the inner wing of level, angle of forward or reverse rotation.
Described cabin, its profile is a box-shaped, and Jun You looks at window on the sidewall all around, and it utilizes two elastic rods-left elastic rod and right elastic rod, is connected with left and right sides wing, is lifted on the below of driving engine; When the cabin is positioned at ground, left and right sides elastic rod the cabin and above driving engine and wing between, have supporting role; Driver's seat is arranged in the cabin, drive control handle and flight controller; The tanks of fuel system also is arranged in the cabin.
Described fuel system, it comprises: the freeing pipe of tanks, acetylene, electric check valve, electric control valve, acetylene pipeline, acetylene back fire suppressor and two acetylene non-return valves; Tanks is in the cabin, and it can be an acetylene gas generator, also can be the dissolved acetylene bottle; Tanks picks out the freeing pipe of an acetylene, connect an electric check valve again, connect an electric control valve again, by the acetylene pipeline, through the acetylene back fire suppressor, respectively through two acetylene non-return valves, by left air inlet pipe on the driving engine and right air inlet pipe, fuel acetylene is sent in the combustion chamber of driving engine respectively again.
Described flight controller, it comprises six parts: electric check valve control unit, motorized adjustment valve control unit, VCU, firing unit control unit, Left Angle machine control unit, right corner degree machine control unit and direct supply; The electric check valve control unit is a switch, opens and closes power supply, is used for standard-sized sheet or full cut-off electric check valve; The motorized adjustment valve control unit, VCU comprises a switch and a potential device, and switch is used to open and close power supply, and potential device is transferred power supply voltage, is used to adjust valve opening; The firing unit control unit is used to open and close the power supply of hot spot firearm resistor wire; Left Angle machine control unit and right corner degree machine control unit all comprise a switch and a power supply polarity switch respectively, change power supply polarity, turn to thereby change the angle machine; Direct supply is one 12 volts a direct supply, and it provides flight controller required whole electric power.
Fuel gas buring blast in the left valve closure when left gas distributing chamber, motor body promotes the big half-turn of driving engine rotating plate left-hand revolution to end position, and rotating plate is pushed down the right valve of right gas distributing chamber.Subsequently, gaseous-pressure descends in the motor body, is not enough to keep the compressive state of the left stage clip of left valve.So, left side stage clip diastole, push left valve open, combustion gas is leaked from left valve rapidly in the shell, and gaseous-pressure sharply descends in the shell, can not keep right valve and the right corner compression of spring of rotating plate to right gas distributing chamber, so the right corner spring promotes the rotating plate clickwise, simultaneously, right stage clip is also pushed right valve open, and fresh air enters into the combustion chamber of the sector space between rotating plate and the right valve at once.When the mouth of pipe of the inswept right air inlet pipe of outer rim of rotating plate, right air inlet pipe is supplied with acetylene to combustion chamber, when the inswept right ignition lock of the outer rim of rotating plate, light-up plug is got angry, the gas explosion burning, moment forms high-temperature high-pressure fuel gas, promotes right valve closure, face promotes rotating plate cw high speed revolution simultaneously, and externally does work by engine shaft.
Flapping-wing aircraft takes off and is divided into following process:
Start: the fan-shaped combustion-chamber space between rotating plate and right gas distributing chamber, be full of combustible gas, chaufeur initial igniter, combustible gas explosive combustion, high-pressure gas act on rotating plate and right gas distributing chamber, fan-shaped angle between the two is enlarged rapidly, combustion-chamber space sharply expands, and just rotating plate is with respect to right gas distributing chamber, or with respect to motor body, the high speed right-hand revolution raises up simultaneously with engine shaft and the rigidly connected left and right sides of motor body wing respectively.
Have an effect: the sector space that between rotating plate and left gas distributing chamber, forms, useless combustion gas is discharged, be full of combustible gas, form new combustion chamber, rotating plate starts light-up plug, the combustible gas explosive combustion, high-pressure gas acts on rotating plate and left gas distributing chamber, fan-shaped angle between the two is enlarged rapidly, combustion-chamber space sharply expands, just rotating plate is with respect to left gas distributing chamber or with respect to motor body, and the rotation of high speed anticlockwise direction is fluttered downwards with engine shaft and the rigidly connected left and right sides of motor body wing simultaneously.
Liftoff: combustible gas explosive combustion process moment on microcosmic has just finished, and high-pressure gas acts on rotating plate and left gas distributing chamber, rotating plate and left gas distributing chamber are again respectively by engine shaft and motor body, act on left and right sides wing, left and right sides wing is fluttered downwards simultaneously, then be a macroscopical process, although also be very fast, but can be observed.Flutter downwards approximately to level attitude when left and right sides wing, the bottom in cabin is liftoff.
Lift-off: high-pressure gas continues to act on rotating plate and left gas distributing chamber, rotating plate and left gas distributing chamber raise up from level attitude, respectively by engine shaft and motor body, act on left and right sides wing, left and right sides wing is fluttered downwards simultaneously, and when the left and right sides wing end position of fluttering downwards, the bottom in cabin is one segment distance apparently higher than ground, flapping-wing aircraft is conclusive to soar, the unprecedented lift-off process of finishing historicly.
Description of drawings
Fig. 1 is the overall pattern of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 2 is the engine structure figure of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 3 is the engine operation schematic diagram of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 4 is the turn of engine structure drawing of device of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 5 is the engine shell inner structure figure of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 6 is the motor body constructional drawing of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 7 is the fuel system figure of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 8 is the wing structure figure of a kind of flapping-wing aircraft embodiment of the present invention;
Fig. 9 is the controller architecture figure of a kind of flapping-wing aircraft embodiment of the present invention;
Figure 10 is the schematic diagram that takes off of a kind of flapping-wing aircraft embodiment of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Fig. 1 has provided the overall pattern of a kind of flapping-wing aircraft embodiment of the present invention.
The overall structure of a kind of flapping-wing aircraft embodiment of the present invention is mainly by forming with the lower part: driving engine 100, port wing 200, starboard wing 300, cabin 400, fuel system, flight controller 401.
Two elastic rods about cabin 400 is passed through are lifted on the root of left and right sides wing, wherein, link to each other with the root of port wing 200 by left elastic rod 250, link to each other with the root of starboard wing 300 by right elastic rod 350.Left side elastic rod 250 lower end roots and cabin 400 are fixing, and top links to each other with port wing 200 with hinge; Right elastic rod 350 lower end roots and cabin 400 are fixing, and top links to each other with starboard wing 300 with hinge.
Left and right sides elastic rod can center on its root, left and right sides elastic bending, and to adapt to elastic rod when fluttering with wing, the left and right displacement of elastic rod upper end hinge changes.Axle all can planar rotate with hinge, therefore, about two wings also can be planar, around turn of engine, promptly two wings interplanar angle up and down can change, promptly two wings can be instigated up and down.
The plane of each wing all is made up of a lot of elastic fins, and fin can be a rectangle, and its limit is fixed on the skeleton of wing, and wind-force can make fin 210 be bent downwardly; And when wind direction made progress, fin 310 was close on the lower surface of wing skeleton open and flatly.
There is a Left Angle machine 225 at the middle part of port wing 200, and its effect is: port wing 200 upper left angle degree machines 225 front and back two parts wings can utilize Left Angle machine 225 not on a plane, can regulate its angle; There is a right corner degree machine 325 at the middle part of starboard wing 300, and its effect is an angle of regulating right corner degree machine 325 front and back two parts wingpistons of starboard wing 300.The tanks 410 of fuel system and flight controller 401 are all in cabin 400.
Fig. 2 has provided the engine structure figure of a kind of flapping-wing aircraft embodiment of the present invention.
The engine structure of a kind of flapping-wing aircraft embodiment of the present invention, it mainly comprises: be positioned at the engine shaft on the driving engine longitudinal centerline; Shaft sleeve 155 at the cylindrical of engine shaft; Rotating plate 160 is arranged on the shaft sleeve 155; Structure on the housing 140 of driving engine and the shell; Left side gas distributing chamber 115; Right gas distributing chamber 105.
On the housing 140 of driving engine, symmetrical two air ports are arranged: left air port 117 and right air port 107; On the housing 140 of driving engine, symmetrical two acetylene air inlet pipes are arranged: left air inlet pipe 118 and right air inlet pipe 108; On the housing 140 of driving engine, symmetrical two light-up plugs are arranged: left light-up plug 119 and right light-up plug 109.On the housing 140 of driving engine, symmetrical two ignition locks are arranged: left ignition lock 124 and right ignition lock 114.On the housing 140 of driving engine, between right air inlet pipe 108 and right light-up plug 109, an initial igniter 102 is arranged.
Inboard in two air ports of motor body 140 is that a cross-sectional plane is fan-shaped air fuel gas turnover space and control mechanism, is called gas distributing chamber, and the wedge angle in fan-shaped gas distributing chamber space points to and near engine shaft.Two gas distributing chamber about the gas distributing chamber space is divided into by a midfeather 104, promptly left gas distributing chamber 115 and right gas distributing chamber 105.On the sidewall of left side gas distributing chamber 115, left gas port 121 and left valve 120 are arranged.There is folding to be connected between left side valve 120 1 ends and the sidewall, between left valve 120 and the midfeather 104, a left stage clip 122 arranged.In the angular space adjacent of left side gas distributing chamber 115 with engine shaft, a Left Angle spring 123 is arranged, Left Angle spring 123 has two elastic force bars, an elastic force bar is fixed on the midfeather 104, another elastic force bar stretches out left gas distributing chamber 115 by an aperture on the left gas distributing chamber sidewall, is stretched in the engine shell intracorporeal space.
Same, on the sidewall of right gas distributing chamber 105, right gas port 111 and right valve 110 are arranged.There is folding to be connected between right valve 110 1 ends and the sidewall, between right valve 110 and the midfeather 104, a right stage clip 112 arranged.In the angular space adjacent of right gas distributing chamber 105 with driving engine, a right corner degree spring 113 is arranged, right corner degree spring 113 has two elastic force bars, an elastic force bar is fixed on the midfeather 104, another elastic force bar stretches out right gas distributing chamber 105 by an aperture on the right gas distributing chamber sidewall, is stretched in the engine shell intracorporeal space.Midfeather 104 is on average cut apart air fuel gas turnover space, one section of its also protruding motor body, flat board that is called deflector shield 103 of the end vertical fixing of going out about not only.
Fig. 3 has provided the engine operation schematic diagram of a kind of flapping-wing aircraft embodiment of the present invention.
Four little figure of this figure have provided the explanation of the engine operation principle of flapping-wing aircraft embodiment in order:
3-1 figure: what this figure represented is the engine starting process of flapping-wing aircraft embodiment.The position of driving engine rotating plate 160 is equivalent between the clock 2 o'clock to 3 o'clock, and the wing of flapping-wing aircraft is in relaxation state.Left side valve 120 is pushed open by left stage clip 122, and right valve 110 is pushed open by right stage clip 112.From right air port 107, the fan-shaped combustion chamber between gas distributing chamber and the rotating plate 160 flows into fresh air to the right, flows into acetylene from right air inlet pipe 108 to combustion chamber, and is mixed into combustible gas very soon.
Flapping-wing aircraft chaufeur initial igniter 102, the combustible gas that ignition combustion is indoor.Only in start-up course, by flapping-wing aircraft chaufeur initial igniter; The driving engine rotating plate 160 next time, under the promotion of right corner degree spring 113, before cw forwards 3 o ' clock positions to, rotating plate 160 outer rims are stirred ignition lock 114, and close-up crystal unit sends high-voltage pulse, deliver to right light-up plug 109 by high tension cord, light-up plug 109 is got angry, the combustible gas combustion explosion promotes rotating plate 160 cw high speed revolutions, and engine shaft externally does work.
3-2 figure: what this figure represented is, initial igniter 102, or after stirring ignition lock, the gas explosion burning, moment forms high-temperature high-pressure fuel gas, simultaneously in both direction generation effect: on the one hand, promote right valve 110 and close, promote rotating plate 160 cw high speed revolutions on the other hand, and externally do work by engine shaft.When rotating plate 160 cw high speed revolutions, the space gaseous tension slightly raises in rotating plate 160 the place ahead housings, but also is not enough to close left valve, and the useless combustion gas in space is outwards discharged by left valve and left air port in rotating plate 160 the place ahead housings.
3-3 figure: what this figure represented is fuel gas buring blast in the motor body, the right stage clip 112 of right valve 110 continuation compressions, seal right air port 107, high-pressure gas promotes driving engine rotating plate 160 left-hand revolutions to end position, and promptly the conter clockwise end of run is equivalent to clock and watch 11 o ' clock positions.Because the cw of rotating plate 160 promotes, useless combustion gas is discharged by left valve and left air port, rotating plate 160 compression Left Angle springs, promote left valve 120 simultaneously, the left stage clip between left valve 120 and the midfeather is compressed, and is final, left side valve 120 is close on the left gas port, has closed left gas port.In the left side gas distributing chamber angular space, the Left Angle spring is compressed, and two elastic force bar cramp angles of Left Angle spring 113 diminish, and equal the wedge angle angle of left gas distributing chamber angular space.
3-4 figure: after driving engine rotating plate 160 clickwises arrived end of run, gaseous-pressure descended in the motor body, was not enough to keep the compressive state of the right stage clip of right valve.So right valve is pushed in right stage clip diastole open, combustion gas is leaked from right valve rapidly in the shell, and gaseous-pressure sharply descends in the shell.
At this moment, gaseous-pressure can not have been kept the compression of 160 pairs of left comer springs 123 of rotating plate in the motor body, so, left comer spring 123 promotes rotating plate 160 left-hand revolutions, simultaneously, left side stage clip 122 is also pushed left valve 120 open, and fresh air enters into the combustion chamber of the sector space between rotating plate 160 and the left valve 120 at once.
When the mouth of pipe of the inswept left air inlet pipe 118 of the outer rim of rotating plate 160, because rotating plate 160 rotates the effect of the negative pressure that causes combustion chamber, the non-return valve conducting of left air inlet pipe 118 is supplied with acetylene to combustion chamber, and forms combustible gas with air-blending very soon.Left comer spring 123 continues to promote rotating plate 160 left-hand revolutions, when the inswept left light-up plug 119 of the outer rim of rotating plate 160, during inswept again left ignition lock 124, the outer rim of rotating plate 160 is stirred left ignition lock 124, and close-up crystal unit sends high-voltage pulse, delivers to left light-up plug 119 by high tension cord, light-up plug 119 is got angry, the combustible gas combustion explosion promotes rotating plate 160 conter clockwise high speed revolutions, and engine shaft externally does work.
Fig. 4 has provided the turn of engine structure drawing of device of a kind of flapping-wing aircraft embodiment of the present invention.
Three little figure of this figure illustrate the structure of three wheel word-engine shafts, shaft sleeve and rotating plates of driving engine and interrelation thereof in order.
Among the 4-1 figure, under the gaseous-pressure effect, the sail of rotating plate 160 just as heaving, left-hand revolution in motor body, rotating plate 160 is by shaft sleeve 155 and locating dowel pin 151, drive engine shaft 150 left-hand revolutions, rotating plate 160 final left-hand revolutions are to end position, quite 1 o ' clock position of clock and watch, the i.e. position of representing among the figure.
In engine shaft 150 left-hand revolution processes, the combustion gas at rotating plate 160 rears is expanded, and promotes rotating plate 160; The useless combustion gas in rotating plate 160 the place aheads is promoted by rotating plate 160, by right gas port and the discharging of right air port.
Among the 4-2 figure, after driving engine rotating plate 160 left-hand revolutions arrived end of run, gaseous-pressure descended in the motor body, was not enough to keep the compressive state of the left stage clip of left valve.So left valve is pushed in left stage clip diastole open, combustion gas is leaked from left valve rapidly in the shell, and gaseous-pressure sharply descends in the shell.
At this moment, gaseous-pressure can not have been kept 160 pairs of right corner compression of springs of rotating plate in the motor body, so, the right corner spring promotes rotating plate 160 clickwises, simultaneously, right stage clip is also pushed right valve open, fresh air and fuel acetylene, enter into the combustion chamber of the sector space between rotating plate 160 and the right valve, mix forming combustible gas.The right corner spring continue to promote rotating plate 160 clickwises, and when the inswept right ignition lock of the outer rim of rotating plate 160, light-up plug is got angry.
Above-mentioned rotating plate 160 clickwises in the initial 60 degree scopes of rotation, are the promotions that is subjected to the right corner spring greatly, only are that rotating plate 160 and shaft sleeve 155 are rotating, and engine shaft 150 and not rotation of locating dowel pin 151.The propelling thrust of angle spring is very limited, and at this moment, rotating plate 160 front and back do not have difference of pressure substantially, and the angle spring can not promote engine shaft 150 rotations.
Among the 4-3 figure, spend when rotating plate 160 clickwises surpass 60, in the motor body, rotating plate 160 outer rims are stirred ignition lock, and light-up plug is got angry and lighted a fire, and the gas explosion burning produces high-pressure gas, promotion rotating plate 160 high speed clickwises.In motor body, rotating plate 160 is by shaft sleeve 155 and locating dowel pin 151, and cw drives engine shaft 150 rotations, and rotating plate 160 cws finally rotate to end position, quite 11 o ' clock positions of clock and watch.
Ensuing reverse procedure, similar with the fwd process, be the direction difference.
Fig. 5 has provided the engine shell inner structure figure of a kind of flapping-wing aircraft embodiment of the present invention.
This figure illustrates the structure and the interrelation of the interior rotating plate 160 of the engine shell of a kind of flapping-wing aircraft embodiment, left gas distributing chamber 115, right gas distributing chamber 105, shaft sleeve 155 and engine shaft 150.
Left side gas distributing chamber 115 and 105 common gas-air turnover space and control structure, the general name gas distributing chamber of forming of right gas distributing chamber.Left side gas distributing chamber 115 is identical with the symmetrical configuration of right gas distributing chamber 105, and midfeather 104 is arranged between the two.The close engine shaft 150 of wedge angle part of left side gas distributing chamber 115 and right gas distributing chamber 105, but do not contact, there is a little gap centre.
The inside face of a left side gas distributing chamber 115 and right gas distributing chamber 105 circular arc portions and motor body fixes, and the turnover gas passage of left and right sides gas distributing chamber circular arc portion aligns with the air port, the left and right sides of housing.
The right gas port 111 of right gas distributing chamber 105 is elongated, and right valve 110 fixes with the outer wall of folding and right gas distributing chamber.
Rotating plate 160 is fixed on the shaft sleeve 155, and shaft sleeve has two, is enclosed within on the engine shaft 150.Shaft sleeve 155 upper edge circumference are opened a strip hole, and the hole is about and is 1/4th of circumference.A locating dowel pin 151 is arranged on the engine shaft 150, stretch out its strip hole from shaft sleeve 155, its effect is to engine shaft 150 transfer function power from shaft sleeve 155.
Rotating plate 160 is fixed together with shaft sleeve 155, shaft sleeve 155 can be with engine shaft 150 rotations, but the anglec of rotation is subjected to the restriction of the locating dowel pin 151 on the engine shaft, that is to say that rotating plate 160 can rotate around engine shaft, but the rotation maximum angle is limited.Specifically, rotating plate 160 can be about 60 degree around the maximum angle that engine shaft rotates.When surpassing this angle, because the restriction of 151 pairs of shaft sleeves 155 of locating dowel pin, rotating plate 160 will drive engine shaft 150 and together rotate.
Fig. 6 has provided the motor body constructional drawing of a kind of flapping-wing aircraft embodiment of the present invention.
Motor body is a high temperature pressure vessel, needs to make with heat-resisting high-quality steel, and it is made up of cylindrical shell, left end socket and right end socket.The centre is the cylindrical shell of a circle, and about it is divided into two sections, the centre has flange 116 to connect.The left end socket at two ends and right end socket all are ellipsoidal heads, on the cylindrical near the cylindrical shell left and right end portions of end socket, a reinforcing pad 154 are arranged respectively.
Two air ports are arranged on the cylindrical shell, and what show among the figure is left air port 117.Engine shaft 150 passes along the cylindrical shell line of centers, on the end socket of the left and right sides, a bearing seat 152 is arranged respectively, matches with engine shaft 150.On the engine shaft 150, two shaft sleeves 155 are arranged, be used for fixing rotating plate, on the engine shaft 150 locating dowel pin is arranged, be used to drive shaft sleeve 155.
Fig. 7 has provided the fuel system figure of a kind of flapping-wing aircraft embodiment of the present invention.
The port wing 200 of a kind of flapping-wing aircraft embodiment of the present invention is fixed on the engine shaft 150, and starboard wing 300 is fixed on the housing of driving engine 100.Two elastic rods about cabin 400 is passed through are lifted on the bottom of driving engine 100.Elastic rod 250 lower ends, a left side and cabin 400 are fixing, and top links to each other with port wing 200 with hinge; Right elastic rod 350 lower ends and cabin 400 are fixing, and top links to each other with starboard wing 300 with hinge.
The parts of fuel system comprise: the freeing pipe 415 of tanks 410, acetylene, electric check valve 420, electric control valve 450, acetylene pipeline 425, acetylene back fire suppressor 428, acetylene non-return valve 430 and acetylene non-return valve 440.
The parts relationship of fuel system is: a tanks 410 is arranged in the cabin 400, and it can be an acetylene gas generator, also can be the dissolved acetylene bottle.Tanks 410 picks out the freeing pipe 415 of an acetylene, connects an electric check valve 420 again, connects an electric control valve 450 again.By acetylene pipeline 425, through acetylene back fire suppressor 428, pass through acetylene non-return valve 430 and acetylene non-return valve 440 more respectively, by left air inlet pipe 118 on the driving engine and right air inlet pipe 108, fuel acetylene is sent in the combustion chamber of driving engine respectively.
Before engine starting, open acetylene shutoff valve 420 earlier; When shutdown, close acetylene shutoff valve 420 earlier.
The service conditions of acetylene non-return valve 430 and acetylene non-return valve 440 is: the outlet of non-return valve is zero-pressure or negative pressure.That is to say that when advancing air from air port and gas port to engine chamber, the angle spring promotes the rotating plate rotation, the outlet of the rotating plate outer rim is inswept acetylene non-return valve, and light-up plug is not also lighted a fire this section moment, the conducting of acetylene non-return valve, to driving engine for acetylene gas.And fuel gas buring expand and the gas emission process of giving up in, the outlet pressure of non-return valve is higher than zero, non-return valve can not conducting, can not supply with acetylene to driving engine.Acetylene non-return valve 430 and acetylene non-return valve 440 are supplied with acetylene to driving engine separately respectively, the two conducting simultaneously.
Fig. 8 has provided the wing structure figure of a kind of flapping-wing aircraft embodiment of the present invention.
The wing of a kind of flapping-wing aircraft embodiment of the present invention comprises port wing and starboard wing, and two wing structure symmetries are identical.Provide port wing among the figure, it is made up of skeleton 220 and many fins 210.The shape of skeleton 220 is rectangular plane substantially, is covered with mesh 215 on it, places a slice fin 210 in each mesh 215.The plane of wing is made up of a lot of elastomeric fins 210, and fin 210 can be a rectangle, and its limit is fixed on the skeleton of wing, and when wind direction was downward, wind-force can make it be bent downwardly, and mesh is ventilative; And when wind direction made progress, wind-force can make it be close on the lower surface of wing skeleton open and flatly, and mesh is stuffy.
The root 230 of skeleton 220 is used for fixing: for port wing, its root is fixed on the engine shaft; For starboard wing, its root is fixed on the engine shell external surface.Skeleton 220 usefulness light-weight high-strength materials are made, for example aluminum alloy.Fin 210 usefulness lightweight thin-walled elastomeric materials are made, for example glass-felt plastic.One hole 240 is arranged near the skeleton root, and its left elastic rod one end that is connected through the hinge connects the cabin downwards by left elastic rod.The end of wing skeleton 220 has a downward air baffle 235, and its effect is when wing is fluttered downwards, increases the buoyancy of wing.
There is a Left Angle machine 225 at the middle part of port wing 200, and its effect is: on the port wing 200, and two parts wing that is separated by Left Angle machine 225, near the inner wing of driving engine with away from the outer wing of driving engine, can be not in one plane.Utilize Left Angle machine 225, can center on the wing longitudinal axis, drive the outer wing plane, rotate an angle with respect to the inner wing plane.
Fig. 9 has provided the controller architecture figure of a kind of flapping-wing aircraft embodiment of the present invention.
The structure of a kind of flapping-wing aircraft embodiment of the present invention controller, it comprises six parts: electric check valve control unit 421, motorized adjustment valve control unit, VCU 451, firing unit control unit 101, Left Angle machine control unit 226, right corner degree machine control unit 326 and direct supply 12.
Right corner degree machine 325, it is when being used for ornithopter flight, utilizes right corner degree machine 325, by control unit 326, around the wing longitudinal axis, the outer wing plane of regulating starboard wing rotates an angle with respect to the inner wing plane.
Figure 10 has provided the schematic diagram that takes off of a kind of flapping-wing aircraft embodiment of the present invention.
The principle of taking off of a kind of flapping-wing aircraft embodiment of the present invention can be with following four processes that little figure represents: start, have an effect, liftoff, lift-off, illustrated.
10-1 figure: this is that flapping-wing aircraft rests on ground state, and cabin 400 places ground, two elastic rods about it passes through, upwards carries left starboard wing and driving engine 100.Port wing 200 all becomes oblique hang with port wing 300, and wherein, port wing 200 and engine shaft and rotating plate 160 are for being rigidly connected; The housing of starboard wing 300 and driving engine 100 and left and right sides gas distributing chamber are for being rigidly connected.
The process that starts flapping-wing aircraft is: the fan-shaped combustion-chamber space between rotating plate 160 and right gas distributing chamber 105, be full of combustible gas earlier, by the chaufeur initial igniter, combustible gas explosive combustion, high-pressure gas act on rotating plate 160 and right gas distributing chamber, and the fan-shaped angle between the two is enlarged rapidly, combustion-chamber space sharply expands, just rotating plate 160 is with respect to right gas distributing chamber, or with respect to motor body, the high speed right-hand revolution.Raise up simultaneously with engine shaft and the rigidly connected left and right sides of motor body wing respectively, finish start-up course.
10-2 figure: this is last state before the flapping-wing aircraft lift-off, about towering of two wings.The sector space that between rotating plate 160 and left gas distributing chamber 115, forms, useless combustion gas is discharged, and has been full of combustible gas again, forms new combustion chamber, rotating plate 160 is stirred ignition lock, light-up plug is got angry, and combustible gas explosive combustion, high-pressure gas act on rotating plate 160 and left gas distributing chamber 115, fan-shaped angle between the two is enlarged rapidly, combustion-chamber space sharply expands, and just rotating plate 160 is with respect to left gas distributing chamber 115 or with respect to motor body, and the high speed anticlockwise direction rotates.Flutter downwards simultaneously with engine shaft and the rigidly connected left and right sides of motor body wing respectively, finish the process of having an effect.
10-3 figure: this is that flapping-wing aircraft lifts away from ground-surface momentary status.Combustible gas explosive combustion process moment on microcosmic has just finished, and high-pressure gas acts on rotating plate 160 and left gas distributing chamber 115, rotating plate 160 and left gas distributing chamber 115 are respectively by engine shaft and motor body, act on left and right sides wing again, left and right sides wing is fluttered downwards simultaneously, then be a macroscopical process, although also be very fast, but can be observed.When the left and right sides wing level attitude of fluttering approximately downwards, the bottom in cabin 400 is liftoff, the total weight of flapping-wing aircraft by wing be subjected to air lift force bear, thereby finish liftoff process.
10-4 figure: this is the glorious view that flapping-wing aircraft is finished lift-off.High-pressure gas continues to act on rotating plate 160 and left gas distributing chamber 115, rotating plate 160 and left gas distributing chamber 115 raise up from level attitude respectively, respectively by engine shaft and motor body, act on left and right sides wing, left and right sides wing is fluttered downwards simultaneously, and when the left and right sides wing end position of fluttering downwards, the bottom in cabin 400 is one segment distance apparently higher than ground, flapping-wing aircraft is conclusive to soar, the unprecedented lift-off process of having finished of flapping-wing aircraft historicly.
Claims (9)
1. flapping-wing aircraft, its structure comprises: driving engine, port wing, starboard wing, cabin, fuel system and flight controller; Driving engine horizontal positioned placed in the middle, port wing is connected the driving engine left side, and starboard wing is connected driving engine the right, and two elastic rods about the cabin is passed through hang and connect left and right sides wing root, are positioned at driving engine bottom; About two wings can symmetry instigate up and down, the plane of each wing all is made up of a lot of elastic fins to be opened/closed; The tanks of fuel system and flight controller all in the cabin, is characterized in that:
(1) described driving engine, its structure comprises: structure and gas distributing chamber on housing, wheel word, the shell; Housing is the pressure container of capsule shape, and the centre is a tubular, and two ends are ellipsoidal head; Wheel word comprises engine shaft, shaft sleeve and rotating plate, and rotating plate is fixed on the shaft sleeve, and shaft sleeve is enclosed within on the engine shaft, uses the locating dowel pin transmission between shaft sleeve and engine shaft; Structure comprises air port, acetylene air inlet pipe, light-up plug, ignition lock and firing unit on the shell; The inboard in two air ports on engine shell is that cross-sectional plane is fan-shaped gas distributing chamber, and gas distributing chamber is divided into left and right sides two parts by midfeather, promptly left gas distributing chamber and right gas distributing chamber, the protruding motor body of midfeather, the end vertical fixing deflector shield of going out;
(2) port wing is fixedly connected on the engine shaft, and starboard wing is fixedly connected on the motor body;
(3) the flapping-wing aircraft structure also comprises the angle machine, a Left Angle machine and a right corner degree machine, and the Left Angle machine is at the middle part of port wing, and right corner degree machine is at the middle part of starboard wing.
2. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Described wheel word, it comprises engine shaft, shaft sleeve and rotating plate; In motor body, under the gaseous-pressure effect, rotating plate is around the engine shaft rotation, and the rotating plate area is near 1/2nd of housing elevation profile area, and rotating plate drives engine shaft by shaft sleeve and locating dowel pin; On shaft sleeve, a circumferential bar hole is arranged, account for 1/4th girths greatly, be the slideway of locating dowel pin, rotating plate can freely rotate within the specific limits, at this moment, rotating plate and shaft sleeve rotate, and engine shaft and locating dowel pin do not rotate, and locating dowel pin slides with respect to slideway.
3. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Structure on the described shell, on the housing of driving engine, it comprises: symmetrical two air ports: left air port and right air port; Symmetrical two acetylene air inlet pipes: left air inlet pipe and right air inlet pipe; Symmetrical two light-up plugs: left light-up plug and right light-up plug; Symmetrical two ignition locks: left ignition lock and right ignition lock; Firing unit between right air inlet pipe and right light-up plug.
4. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Described gas distributing chamber, it is that a cross-sectional plane is fan-shaped air fuel gas turnover space and control mechanism in the inboard in two air ports of motor body, the fan-shaped wedge angle of gas distributing chamber points to and close engine shaft; Gas distributing chamber is divided into left and right sides two parts by a midfeather, promptly left gas distributing chamber and right gas distributing chamber; On the sidewall of left side gas distributing chamber, left gas port and left valve are arranged, have folding to be connected between left valve one end and the sidewall, between left valve and the midfeather, a left stage clip is arranged; In the left gas distributing chamber angular space adjacent with engine shaft, a Left Angle spring is arranged, and the Left Angle spring has two elastic force bars, and an elastic force bar is fixed on the midfeather, another elastic force bar stretches out left gas distributing chamber by aperture on the sidewall, is stretched in the engine shell intracorporeal space; Right gas distributing chamber is identical with left gas distributing chamber symmetry; Midfeather is on average cut apart gas distributing chamber, one section of its also protruding motor body, deflector shield of the end vertical fixing of going out about not only.
5. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Described port wing, starboard wing, two wing structure symmetries are identical, form by skeleton and many fins; The shape of skeleton is rectangular plane substantially, be covered with mesh on it, place a slice fin in each mesh, a limit of fin is fixed on the skeleton of wing, wind-force can make it be bent downwardly, and this moment, mesh was ventilative, and when wind-force makes progress, fin is close on the lower surface of wing skeleton open and flatly, and mesh is stuffy; The root of skeleton is used for fixing: for port wing, its root is fixed on the engine shaft, and for starboard wing, its root is fixed on the engine shell external surface; Skeleton is made with light-weight high-strength material, aluminum alloy for example, and fin is made with lightweight thin-walled elastomeric material, for example glass-felt plastic; One hole is arranged near the skeleton root, and its elastic rod one end that is connected through the hinge connects the cabin downwards by elastic rod; The end of wing skeleton has a downward air baffle; There is an angle machine at the middle part of each wing.
6. according to claim 1 or 5 described a kind of flapping-wing aircrafts, it is characterized in that:
Described angle machine comprises Left Angle machine and right corner degree machine, and their structure is identical, all is the direct current gear reduction motor that utilizes 12 volts of direct supplys; By control unit, change power supply polarity, change the angle machine and turn to, be respectively applied for the outer wing of regulating left and right sides wing, with respect to the inner wing of level, angle of forward or reverse rotation.
7. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Described cabin, its profile is a box-shaped, and Jun You looks at window on the sidewall all around, and it utilizes two elastic rods-left elastic rod and right elastic rod, is connected with left and right sides wing, is lifted on the below of driving engine; When the cabin is positioned at ground, left and right sides elastic rod the cabin and above driving engine and wing between, have supporting role; Driver's seat is arranged in the cabin, drive control handle and flight controller; The tanks of fuel system also is arranged in the cabin.
8. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Described fuel system, it comprises: the freeing pipe of tanks, acetylene, electric check valve, electric control valve, acetylene pipeline, acetylene back fire suppressor and two acetylene non-return valves; Tanks is in the cabin, and it can be an acetylene gas generator, also can be the dissolved acetylene bottle; Tanks picks out the freeing pipe of an acetylene, connect an electric check valve again, connect an electric control valve again, by the acetylene pipeline, through the acetylene back fire suppressor, respectively through two acetylene non-return valves, by left air inlet pipe on the driving engine and right air inlet pipe, fuel acetylene is sent in the combustion chamber of driving engine respectively again.
9. according to the described a kind of flapping-wing aircraft of claim 1, it is characterized in that:
Described flight controller, it comprises six parts: electric check valve control unit, motorized adjustment valve control unit, VCU, firing unit control unit, Left Angle machine control unit, right corner degree machine control unit and direct supply; The electric check valve control unit is a switch, opens and closes power supply, is used for standard-sized sheet or full cut-off electric check valve; The motorized adjustment valve control unit, VCU comprises a switch and a potential device, and switch is used to open and close power supply, and potential device is transferred power supply voltage, is used to adjust valve opening; The firing unit control unit is used to open and close the power supply of hot spot firearm resistor wire; Left Angle machine control unit and right corner degree machine control unit all comprise a switch and a power supply polarity switch respectively, change power supply polarity, turn to thereby change the angle machine; Direct supply is one 12 volts a direct supply, and it provides flight controller required whole electric power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101656768A CN102219053A (en) | 2010-04-15 | 2010-04-15 | Ornithopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101656768A CN102219053A (en) | 2010-04-15 | 2010-04-15 | Ornithopter |
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| Publication Number | Publication Date |
|---|---|
| CN102219053A true CN102219053A (en) | 2011-10-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101656768A Pending CN102219053A (en) | 2010-04-15 | 2010-04-15 | Ornithopter |
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| CN (1) | CN102219053A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501972A (en) * | 2011-11-20 | 2012-06-20 | 西北工业大学 | Wing of micro ornithopter |
| CN103231804A (en) * | 2013-05-13 | 2013-08-07 | 柴睿 | Wing framework of imitation pterosaur flapping-wing aircraft |
| CN103991542A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Rotary flapping wing driving airplane |
| CN106240816A (en) * | 2016-08-17 | 2016-12-21 | 北京航空航天大学 | A kind of mini-sized flap wings joint |
| WO2018028569A1 (en) * | 2016-08-11 | 2018-02-15 | 谭佑军 | Ornithopter |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
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- 2010-04-15 CN CN2010101656768A patent/CN102219053A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501972A (en) * | 2011-11-20 | 2012-06-20 | 西北工业大学 | Wing of micro ornithopter |
| CN102501972B (en) * | 2011-11-20 | 2014-06-18 | 西北工业大学 | Wing of micro ornithopter |
| CN103231804A (en) * | 2013-05-13 | 2013-08-07 | 柴睿 | Wing framework of imitation pterosaur flapping-wing aircraft |
| CN103991542A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Rotary flapping wing driving airplane |
| CN103991542B (en) * | 2014-05-30 | 2015-12-23 | 佛山市神风航空科技有限公司 | A kind of rotary flapping wing drives aircraft |
| WO2018028569A1 (en) * | 2016-08-11 | 2018-02-15 | 谭佑军 | Ornithopter |
| CN106240816A (en) * | 2016-08-17 | 2016-12-21 | 北京航空航天大学 | A kind of mini-sized flap wings joint |
| CN106240816B (en) * | 2016-08-17 | 2018-06-08 | 北京航空航天大学 | A kind of mini-sized flap wings joint |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN108275269B (en) * | 2018-01-24 | 2021-08-06 | 浙江工业职业技术学院 | Reel amplitude-adjusting film-rolling type bird-flapping-wing-imitating flying device |
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN113212749B (en) * | 2021-07-08 | 2021-10-01 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| US11613351B2 (en) | 2021-07-08 | 2023-03-28 | University Of Science And Technology Beijing | Butterfly-inspired flapping-wing aerial robot and pull cord type turning mechanism thereof |
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Application publication date: 20111019 |