CN102249001B - Flapping wing flight adopting compound flapping mode - Google Patents
Flapping wing flight adopting compound flapping mode Download PDFInfo
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- CN102249001B CN102249001B CN 201110123249 CN201110123249A CN102249001B CN 102249001 B CN102249001 B CN 102249001B CN 201110123249 CN201110123249 CN 201110123249 CN 201110123249 A CN201110123249 A CN 201110123249A CN 102249001 B CN102249001 B CN 102249001B
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Abstract
The invention discloses a flapping wing flight adopting a compound flapping mode. The flapping wing flight comprises a flight body, flapping wings and a tail fin. The rotation of a rotary power device is converted into vertical reciprocating flapping motions of a rocker arm by a flapping wing drive mechanism; each flapping wing comprises a main beam on the front edge and an auxiliary beam behind the main beam; the root of the main beam is connected with a blind hole in the rocker arm of the flapping wing drive mechanism in an inserting manner; the root of the auxiliary beam is hinged with a locking device on the flight body; a limiting rod fixedly connected to the flight body is clamped into a locker fixedly connected to the flight body after penetrating a connecting hole in the root of the auxiliary beam of the flapping wing in a manner of being parallel to a symmetrical plane of the flight body; and the length of the limiting rod can ensure that the connecting hole of the auxiliary beam of the flapping wing is driven to move forwards and backwards on the limiting rod along the vertical flapping motions of the flapping wing without being interfered by the motion of the locking device in the flapping process of the flapping wings. The invention has the advantages of high aerodynamic efficiency, large effective load and interior space and good dynamics performance under all kinds of typical flight modes.
Description
Technical field
The present invention relates to a kind of flapping wing aircraft, particularly a kind of micro flapping wing air vehicle.
Background technology
Micro flapping wing air vehicle is a kind of new ideas aircraft that imitates Bird Flight, it has the advantages such as volume is little, lightweight, use is flexible, efficient is high, if carry sensor and relevant data transmission and flight control system, form the mini-sized flap wings unmanned aerial vehicle platform, will have broad application prospects.Around this problem, various countries have developed the flapping wing aircraft of controllable flight, more successful " Delfly " that " Microbat " that U.S. Aero Vironment company cooperates with the University of California and Dutch Delft university are arranged etc. wherein, but these flapping wing aircrafts have certain distance apart from the aircraft platform of practical Unmanned Aircraft Systems (UAS).
It is that existing micro flapping wing air vehicle pneumatic efficiency is not enough, capacity weight is little, the inner space is little that micro flapping wing air vehicle is difficult to practical major cause, the data transmission subsystem of Unmanned Aircraft Systems (UAS), flies to control the restriction that navigation subsystem and mission payload be subject to capacity weight and inner space and is difficult to arrange.This is because the flapping wing driving mechanism mostly is simple plane and flutters up and down, and natural birds and insect be in flight course, the fluttering except up-and-down movement of its wing, scan before and after also having added and aerofoil around exhibition to reverse.Correlative study for birds and insect flying shows, biological flapping wing produces lift and has " bat flies (Clap-Fling) ", " delayed stall (Delayed Stall) ", four kinds of mechanism that produce large lift of " rotation circulation (Rotational Circulation) " and " wake flow is caught (Wake Capture) ", wherein, " bat flies " and " delayed stall " is the intrinsic lift mechanism of wing of fluttering, " rotation circulation " and " wake flow is caught " then is flapping wing rotation produce an effect, therefore, the pneumatic efficiency of the compound pattern of fluttering is significantly higher than merely and flutters up and down.
Existing micro flapping wing air vehicle is realized the compound motion of flapping wing mostly by complicated driving mechanism for flapping wing, this technological approaches must be to increase the flapping wing aircraft empty weight and to reduce reliability as cost, and application is restricted.
Chinese patent " flapping mechanism of mechanical bird " (Granted publication CN201354146Y, December 2 2009 Granted publication day) discloses a kind of flapping apparatus with three degree of freedom that flying bird spreads the wings and flies of simulating.This device adopts three motors, and driving crank rocker mechanism, wheel tooth ring mechanism and gear cluster have been realized imitation flying bird the spread the wings beating of flight, the three-degree-of-freedom motion that reverses and swing respectively.Its weak point is that the composition more complicated of mechanism is difficult to lightweight, miniaturization, is not suitable for being applied to micro flapping wing air vehicle; Whole mechanism is independent respectively by the transmission device of three motors and correspondence thereof, needs complicated control system to control the coordination of fluttering that three motors make whole mechanism, and the design difficulty of flight control system increases, and reliability reduces.
Chinese patent " pseudo-bionic ornithopter " (Granted publication 101618765A, January 6 2010 Granted publication day) driving two flapping wings by a flapping wing rotating shaft near the installation in parallel of fuselage leading edge swings up and down, flapping wing is comprised of wing support and wing plumage, wing support is elongated pole, wing plumage is equidistantly installed along wing support axis, all wing plumage width are identical, and its length is ascending to be arranged in order from front to back, and the adjacent foil plumage is overlapping in twos.Wing plumage is made by rigid posts and elastic sheet, can open in pouncing on process, avoids producing negative lift.Its weak point is that special wing design increases the rotor inertia of whole wing and aerodynamic drag, needs the larger power stage of servomotor, has increased the deadweight of flapping-wing aircraft, has affected load character; Elastic sheet deformability coupling difficulty, be difficult to obtain desirable pneumatic efficiency: deformability is strong, and whole deformation process length consuming time then in flapping wing frequency response lag when larger of fluttering, can't realize being scheduled to swatting out, pounce on down the effect of closing up; Deformability is too poor, open in the process of then fluttering and the amplitude of closing up less, effect is very limited.
Chinese patent " the flapping wing track is the bionic micro aircraft of 8-shaped " (Granted publication CN101508343A, August 19 2009 Granted publication day) provides a kind of single degree of freedom four connecting rods and clapped wing driver train, clap the wing by the drive of double reduction gear driving crank connecting rod mechanism and flap up and down, and realize that by the aerodynamic characteristic of the elastic deformability who claps the wing and the frequency of specifically fluttering generation bat wing rail mark is flapping of 8-shaped.Its weak point is, owing to only defining the connection mode of clapping nose of wing and flapping mechanism, and bat wing trailing edge is the integral body of a flexibility, flapping frequency change or when running into prominent wind disturbance, its amplitude and phase place of clapping the wing structure coupling vibration is difficult to control and prediction, affect pneumatic efficiency and flight stability, be difficult to realize that the 8-shaped of envisioning claps the wing rail mark; Its fuselage adopts bar type structure, and framing member and flapping mechanism expose, and anti-ly injures ability, and is unfavorable for the layout data chain, flies to control the equipment such as navigationsystem, mission payload, is not suitable for use in the aircraft platform of mini-sized flap wings Unmanned Aircraft Systems (UAS).
Summary of the invention
In order to overcome the deficiency that prior art mechanism is complicated, the flapping wing aircraft empty weight is large and reliability is low, the invention provides a kind of can be as the flapping wing aircraft of mini-sized flap wings Unmanned Aircraft Systems (UAS) aircraft platform, make aircraft integral body possess higher pneumatic efficiency, satisfy Unmanned Aircraft Systems (UAS) to the demand in load and space, simultaneously control is simple, uses reliable.
The technical solution adopted for the present invention to solve the technical problems is: comprise fuselage, flapping wing and empennage.Described fuselage is thin shell structure, and left-right symmetric is divided into head and body.Described internal body has a support bulkhead that is used for installing driving mechanism for flapping wing at least, and described driving mechanism for flapping wing comprises symmetrical two rocking arms, the rotation of rotary power unit can be converted into up and down reciprocatingly fluttering of rocking arm.If described support bulkhead quantity is more than one, except the support bulkhead of fixing described driving mechanism for flapping wing, all the other support bulkhead and play a supportive role in body, are arranged in the position of the concentrated load effects such as following latching system, steering wheel installation site and empennage fixed position.It is the straight section that waits of round rectangle that front part of a body has cross-sectional plane, and from the middle part, the standard of fuselage direction is shunk to symmetrical plane gradually, and short transverse is shunk to upper surface gradually, and in the afterbody sealing, the contraction section curved surface is conicoid.The forward terminal of described head is positioned at symmetrical plane than midway location position on the lower, the position of straight section fuselage height 40% such as generally be taken as, described head shrinks forward from the rear portion and converges at forward terminal, the contraction section curved surface is conicoid, head and body connection location the first half have opening, the rocking arm of driving mechanism for flapping wing is stretched out and with rocking arm without movement interference.
Described flapping wing is symmetrical a pair of, have the girder that is positioned at leading edge and the floor stringer that is positioned at the girder rear, girder is parallel with floor stringer or be the plane acute angle, some ribs glued joint with girder and floor stringer respectively, common formation skeleton, material is resin-based carbon fiber composite, has the elastic deformability, pastes the polyethers film on the skeleton.Blind hole on the rocking arm of girder root and described driving mechanism for flapping wing is pegged graft.Latching system on floor stringer root and the fuselage is hinged, and concrete form is: the position-limited lever that is fixed on the fuselage is parallel with the fuselage symmetrical plane, passes the connecting bore of flapping wing floor stringer root, buckles into the snap close that is fixed on the fuselage.Position-limited lever and snap close are integral structure, are formed by the elastic metallic yarn bending.The length of position-limited lever is fluttered in the process flapping wing, the connecting bore of described flapping wing floor stringer can be passively along with flapping wing fluttering up and down on position-limited lever before and after motion and do not move interference with latching system.
The position-limited lever of latching system and the rotating shaft of rocking arm are in same level, but conllinear not, the distance between the position-limited lever of the left and right sides is greater than the distance between the rocker shaft.
Empennage comprises tailplane and vertical tail, and tailplane is installed on fuselage upper surface tailplane and is installed in fuselage upper surface tail end, and vertical tail vertically is installed on the tailplane top, is positioned at the fuselage symmetrical plane.The tailplane trailing edge has elevating rudder, and the vertical tail trailing edge has yaw rudder, and they are handled by connecting rod by the steering wheel that is installed in the fuselage upper surface.The tail capacity of tailplane is 0.4-0.5, and the tail capacity of vertical tail is 0.15-0.25.
The invention has the beneficial effects as follows:
According to the present invention, the blind hole on flapping wing girder root and the driving mechanism for flapping wing rocking arm is pegged graft, and make flapping wing have the degree of freedom that rotates around the girder axis, and the latching system of connection floor stringer allows floor stringer slightly to move forward and backward.Because rocker shaft and the position relationship of latching system position-limited lever and the elasticity of flapping wing material, flapping wing has added around the rotation of girder and the two kinds of mode of motion that seesaw by elastic deformation in the process of fluttering up and down, and the wing tip track of fluttering is crescent.This means that the process of fluttering of flapping wing of the present invention is accompanied by the periodically-varied at the flapping wing angle of attack and sweepback angle, the general effect of these changes makes flapping wing aircraft can utilize " rotation circulation " and " wake flow is caught " two kinds of flapping wings, obtain higher pneumatic efficiency, and do not need to pay the cost of the aspects such as weight.
According to the present invention, fuselage such as has at the straight section, is convenient to install the required mission payload of Unmanned Aircraft Systems (UAS), flies to control the subsystems and relevant accessory equipment such as navigation subsystem, data transmission subsystem.Head shape anterior and the body afterbody satisfies the aerodynamics requirement, make whole fuselage have less pressure drag, the lower partially corresponding flat angle of attack that flies state of flapping wing aircraft of head forward terminal has less drag due to lift when making fuselage as the effective lift body.The shape of cross section of fuselage, version and material make it have lightweight, high-strength, shock proof characteristics, all can meet the demands under cruising flight and ventral land the typical use states such as landing.The fuselage relative closure can protect subsystem and equipment to avoid the impact of the external impurities such as sand and dust, rainwater in the flight course, and fuselage can serve as endergonic structure and alleviates the impact that subsystem and equipment are subject in the situation that accident is crashed.
According to the present invention, blind hole on flapping wing girder root and the driving mechanism for flapping wing rocking arm is pegged graft, and this constraint can effectively avoid the flapping wing process middle girder of fluttering to deviate from from rocking arm.The latching system that be used for to connect floor stringer is integral structure, and 2 penetrate fuselage and are fixed in front and back.In the flight course, even because External Force Acting gets loose the latching system slave with it, can guarantee that still floor stringer normally connects with latching system.Therefore, the fixed form of flapping wing of the present invention and fuselage has improved the reliability of flapping wing aircraft.
According to the present invention, flapping wing aircraft satisfies road-holding property and stability requirement by tailplane and the vertical tail of conventionally form, and the manipulation form is simple and reliable, approaches with conventional Fixed Wing AirVehicle, easily integrates with existing autopilot and uses.In given range, regulate the tail capacity by changing fin area, can require to adjust flapping wing aircraft road-holding property and stability according to difference, obtain ideal flight quality.When tail capacity value hour, fin area is less, resistance is less, the cruising flight when being fit to carry out remote, long boat; When tail capacity value was larger, fin area was larger, and good stability can carry out maneuvering flight or uses under the larger condition of wind-force.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Accompanying drawing 1 is complete machine schematic layout pattern of the present invention;
Accompanying drawing 2 is flapping wing girder of the present invention and driving mechanism for flapping wing rocking arm connection diagram;
Accompanying drawing 3 is flapping wing floor stringer of the present invention and latching system connection diagram;
Among the figure:
1A: head 1B: body 2: flapping wing 2A: flapping wing girder
2B: flapping wing floor stringer 2C: flapping wing rib 3: vertical tail 3A: yaw rudder
4: tailplane 4A: elevating rudder 5: steering wheel (two)
6: driving mechanism for flapping wing rocking arm 7A: latching system position-limited lever
7B: latching system snap close
The specific embodiment
Compound flapping wing aircraft of fluttering of the present invention, comprise fuselage, flapping wing and empennage, described fuselage is the composite material thin shell structure of cab body form, is made by glass fiber resin based composites or carbon fiber resin matrix composite, left-right symmetric is divided into head 1A and body 1B.
Described body 1B inside has at least one to support bulkhead, is used for fixedly driving mechanism for flapping wing.If described support bulkhead quantity is more than one, except the support bulkhead of fixing described driving mechanism for flapping wing, all the other support bulkhead and play a supportive role in body, are arranged in the position of the concentrated load effects such as following latching system, steering wheel installation site and empennage fixed position.It is the straight section that waits of round rectangle that there is cross-sectional plane body 1B front portion, and what Unmanned Aircraft Systems (UAS) was installed flies to control the relevant accessory equipments such as the airborne portion of navigation subsystem and Data-Link subsystem and antenna.From the middle part, horizontal direction is shunk to symmetrical plane gradually, and short transverse is shunk to upper surface gradually, and in the afterbody sealing, the contraction section curved surface is conicoid.
The forward terminal of described head 1A is positioned at symmetrical plane than midway location on the lower, position Deng straight section fuselage height 40%, described head 1A head shrinks forward from the rear portion and converges at forward terminal, the contraction section curved surface is conicoid, head 1A and body 1B connection location the first half have opening, the rocking arm 6 of driving mechanism for flapping wing is stretched out and with rocking arm without movement interference.
Described flapping wing 2 is symmetrical a pair of, has the girder 2A that is positioned at leading edge and the floor stringer 2B that is positioned at the girder rear, and they and 5 rib 2C glued joint the common skeletons that consist of, and material is resin-based carbon fiber composite, pastes the polyethers film on the skeleton.
Blind hole on girder 2A root and the described flapping mechanism rocking arm 6 is pegged graft.Latching system on floor stringer 2B root and the fuselage is hinged, concrete form is: be fixed in the connecting bore that position-limited lever 7A on the fuselage passes flapping wing floor stringer 2B root, buckle into the snap close 7B that is fixed on the fuselage, position-limited lever 7A and snap close 7B are integral structure, form by having elastomeric steel wire bending process.The length of position-limited lever 7A limited location bar is that flapping wing 2 is fluttered in the process, the connecting bore of described flapping wing floor stringer 2B can be passively along with flapping wing 2 fluttering up and down on position-limited lever 7A before and after motion and do not move interference with latching system 7.
Described driving mechanism for flapping wing comprises symmetrical two rocking arms 6, the rotation of rotary power unit can be converted into up and down reciprocatingly fluttering of rocking arm 6, here adopt dc brushless motor as engine installation, slow down by gear reducer, carry out mode of motion with four-bar linkage and transform.The position-limited lever 7A of latching system and the rotating shaft of driving mechanism for flapping wing rocking arm 6 are in same level, but conllinear not, the distance between the position-limited lever of the left and right sides is greater than the distance between the rocker shaft.
Empennage is made by cork wood parcel heat shrinkage film covering, and tailplane 4 is installed on tailplane and is installed in fuselage upper surface tail end, and vertical tail 3 vertically is installed on tailplane 4 tops, is positioned at the fuselage symmetrical plane, and the fixed form of empennage is for glueing joint.Tailplane 4 trailing edges have elevating rudder 4A, and vertical tail 3 trailing edges have yaw rudder 3A, and they are handled respectively by connecting rod by two steering wheels 5 that are installed in the fuselage upper surface.
According to the difference that the flapping wing aircraft dynamic performance is required, the tail capacity of tailplane is chosen as 0.4-0.5, and the tail capacity of vertical tail is chosen as 0.15-0.25.When tail capacity value hour, fin area is less, resistance is less, the cruising flight when being fit to carry out remote, long boat; When tail capacity value was larger, fin area was larger, and good stability can carry out maneuvering flight or uses under the larger condition of wind-force.Generally, can adopt preferred tail capacity value: tailplane 3 tail capacity 0.46, vertical tail tail capacity 0.20.
The compound flapping wing aircraft of fluttering that obtains thus, adopting lithium polymer battery is the motor power supply of each subsystem and driving mechanism for flapping wing, hand-thrown takes off, by the operator remote control or fly to control the autopilot control motor speed of navigationsystem, the deflection angle of elevating rudder and yaw rudder flies, flapping wing has added around the rotation of girder and the two kinds of mode of motion that seesaw by elastic deformation in the process of fluttering up and down, the wing tip track of fluttering is crescent, its process of fluttering is accompanied by the periodically-varied at the flapping wing angle of attack and sweepback angle, the general effect of these changes makes flapping wing aircraft can utilize " rotation circulation " and " wake flow is caught " two kinds of flapping wings, obtains higher pneumatic efficiency.After aerial mission was finished, compound flapping wing aircraft of fluttering landed with ventral ground connection.
Claims (4)
1. a compound flapping wing aircraft of fluttering comprises fuselage, flapping wing and empennage, it is characterized in that: described fuselage is thin shell structure, and left-right symmetric is divided into head and body; Described internal body has a support bulkhead that is used for installing driving mechanism for flapping wing at least, and described driving mechanism for flapping wing comprises symmetrical two rocking arms, the rotation of rotary power unit can be converted into up and down reciprocatingly fluttering of rocking arm; It is the straight section that waits of round rectangle that front part of a body has cross-sectional plane, and from the middle part, the standard of fuselage direction is shunk to symmetrical plane gradually, and short transverse is shunk to upper surface gradually, and in the afterbody sealing, the contraction section curved surface is conicoid; The forward terminal of described head is positioned at symmetrical plane than midway location position on the lower, described head shrinks forward from the rear portion and converges at forward terminal, the contraction section curved surface is conicoid, head and body connection location the first half have opening, the rocking arm of driving mechanism for flapping wing is stretched out and with rocking arm without movement interference; Described flapping wing is symmetrical a pair of, have the girder that is positioned at leading edge and the floor stringer that is positioned at the girder rear, girder is parallel with floor stringer or be the plane acute angle, some ribs glued joint with girder and floor stringer respectively, common formation skeleton, material is resin-based carbon fiber composite, pastes the polyethers film on the skeleton; Blind hole on the rocking arm of girder root and described driving mechanism for flapping wing is pegged graft, latching system on floor stringer root and the fuselage is hinged, the position-limited lever that is fixed on the fuselage is parallel with the fuselage symmetrical plane, passes the connecting bore of flapping wing floor stringer root, buckles into the snap close that is fixed on the fuselage; The length of position-limited lever is fluttered in the process flapping wing, the connecting bore of described flapping wing floor stringer can be passively along with flapping wing fluttering up and down on position-limited lever before and after motion and not move interference with latching system; Empennage comprises tailplane and vertical tail, and tailplane is installed in fuselage upper surface tail end, and vertical tail vertically is installed on the tailplane top, is positioned at the fuselage symmetrical plane.
2. compound flapping wing aircraft of fluttering according to claim 1, it is characterized in that: described position-limited lever and snap close are integral structure, are formed by the elastic metallic yarn bending.
3. compound flapping wing aircraft of fluttering according to claim 1, it is characterized in that: described tailplane trailing edge has elevating rudder, and the vertical tail trailing edge has yaw rudder, and they are handled by connecting rod by the steering wheel that is installed in the fuselage upper surface.
4. compound flapping wing aircraft of fluttering according to claim 1, it is characterized in that: the tail capacity of described tailplane is 0.4-0.5, the tail capacity of vertical tail is 0.15-0.25.
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| CN 201110123249 CN102249001B (en) | 2011-05-12 | 2011-05-12 | Flapping wing flight adopting compound flapping mode |
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| CN 201110123249 CN102249001B (en) | 2011-05-12 | 2011-05-12 | Flapping wing flight adopting compound flapping mode |
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| CN102249001A CN102249001A (en) | 2011-11-23 |
| CN102249001B true CN102249001B (en) | 2013-04-24 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832588A (en) * | 2012-11-24 | 2014-06-04 | 刘祖学 | Large bird flying machine |
| CN103991548B (en) * | 2014-05-30 | 2015-12-30 | 佛山市神风航空科技有限公司 | A kind of rotary flapping wing aircraft |
| CN107751536B (en) * | 2017-09-13 | 2020-08-04 | 江苏建筑职业技术学院 | Executor for cutting steel wire into ice cream in two-way mode according to two-key-point track |
| CN109911195B (en) * | 2019-03-27 | 2023-09-22 | 吉林大学 | Connecting rod type foldable flapping wing micro flying robot |
| CN110104173B (en) * | 2019-05-14 | 2022-05-27 | 吉林大学 | Sweep and twist three-degree-of-freedom micro flapping wing aircraft |
| CN111994266B (en) * | 2020-09-02 | 2023-05-30 | 广西大学 | Folding wing ornithopter |
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|---|---|---|---|---|
| GB2201931B (en) * | 1987-01-07 | 1990-12-19 | William Thoby Fisher | Flapping-wing aircraft |
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN101508343A (en) * | 2008-02-14 | 2009-08-19 | 私立淡江大学 | Bionic micro aircraft with figure-of-eight flapping-wing trail |
| CN202098551U (en) * | 2011-05-12 | 2012-01-04 | 西北工业大学 | Compound flapping type flapping-wing air vehicle |
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2011
- 2011-05-12 CN CN 201110123249 patent/CN102249001B/en not_active Expired - Fee Related
Patent Citations (4)
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|---|---|---|---|---|
| GB2201931B (en) * | 1987-01-07 | 1990-12-19 | William Thoby Fisher | Flapping-wing aircraft |
| CN101508343A (en) * | 2008-02-14 | 2009-08-19 | 私立淡江大学 | Bionic micro aircraft with figure-of-eight flapping-wing trail |
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN202098551U (en) * | 2011-05-12 | 2012-01-04 | 西北工业大学 | Compound flapping type flapping-wing air vehicle |
Non-Patent Citations (2)
| Title |
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| 单曲柄双摇杆扑翼驱动机构的优化设计;周凯等;《航空动力学报》;20080131;第23卷(第1期);第184－188页 * |
| 周凯等.单曲柄双摇杆扑翼驱动机构的优化设计.《航空动力学报》.2008,第23卷(第1期),第184－188页. |
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