CN103381886A - Multidimensional dynamic active variant flapping wing aircraft - Google Patents
Multidimensional dynamic active variant flapping wing aircraft Download PDFInfo
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- CN103381886A CN103381886A CN2013102922517A CN201310292251A CN103381886A CN 103381886 A CN103381886 A CN 103381886A CN 2013102922517 A CN2013102922517 A CN 2013102922517A CN 201310292251 A CN201310292251 A CN 201310292251A CN 103381886 A CN103381886 A CN 103381886A
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Abstract
The invention relates to a multidimensional dynamic active variant flapping wing aircraft, which comprises a fuselage, flapping wings, an empennage, an actuation system and a control system. The multidimensional dynamic active variant flapping wing aircraft mainly imitates complex deformation of pinion bones in a flight flapping cycle. The flapping wing variant mechanism in the actuation system includes a wing skin, a humerus strut, a radius strut, an ulna strut, a metacarpus strut, a variant steering engine, a variant pull rod, and hinges between the struts. The variant mechanism and a flapping wing up-and-down flapping mechanism run synchronously under the control of control system program. When the flapping wings flap downward, the flapping wing front edge skeletons are in a flat unfolding state, the flapping wing area is increased, and the lift force is increased. When the flapping wings flap upward, the flapping wing front edge skeletons are in a multi-fold and spanwise contraction distortion state, the flapping wing area is decreased, and the damping force is reduced. In every flapping cycle, dynamic variant flapping of the flapping wings is realized, thereby realizing high efficiency flight imitating big birds.
Description
Technical field
The present invention relates to initiatively variant flapping wing aircraft of a kind of Dynamic and Multi dimensional, it belongs to the special device field.
Background technology
Present aircraft is mainly the fixed-wing form, the flutter flight theory of the wing of birds is different from fixed wing aircraft, it just can not only produce lift but also produce thrust without screw propeller or jet propulsion by flapping of flapping wing, and it has changed people's idea of Flight Vehicle Design traditionally.
Though merely mockingbird flutter flight micro flapping wing air vehicle succeed, single degree of freedom is fluttered but existing flapping wing aircraft is only the up and down, the wing basic configuration is constant, " the passive plastic deformation " that covering produces under force of inertia and Aerodynamic force action, the flapping mechanism power consumption is large, and pneumatic efficiency is low.Actual bird's wing wing is not only fluttered, and complicated shape " folding and unfolding " large deformation is arranged.Curassow particularly, the frequency of fluttering is low, and special wing structural distortion consumed energy is very little, and flying distance is far away.
Therefore, the necessary deficiency of prior art being improved to solve prior art.
Summary of the invention
The invention provides a kind of Dynamic and Multi dimensional active variant flapping wing aircraft of imitative curassow flapping wing textured bone, to improve flight efficiency and to reduce energy consumption.
The present invention adopts following technical scheme: a kind of Dynamic and Multi dimensional is the variant flapping wing aircraft initiatively, comprise fuselage, be arranged in described fuselage both sides flapping wing, be positioned at the empennage of fuselage rear side, the actuating system that is installed on the control system of described fuselage and is connected with described control system by circuit, described flapping wing comprises wing covering and flapping wing leading edge skeleton, and described flapping wing leading edge skeleton comprises fork, humerus pole, radius pole, ulna pole and metacarpal bone pole.
Described actuating system comprises flapping wing up and down flapping mechanism, is positioned at the flapping wing luffing mechanism of flapping mechanism both sides, described flapping wing up and down, empennage pitching deflection steering wheel and flapping wing variant mechanism, described flapping wing up and down flapping mechanism, flapping wing luffing mechanism and empennage pitching deflection steering wheel are arranged in described fuselage, described flapping wing up and down flapping mechanism is positioned at the front side of described control system and is connected with control system, described empennage pitching deflection steering wheel is positioned at the rear side of described control system and is connected with control system, and described flapping wing variant mechanism is positioned at the both sides of described fuselage.
Described flapping wing variant mechanism comprises that hinge that humerus pole root hinge, humerus pole be connected with ulna pole, hinge, humerus pole that ulna pole is connected with metacarpal bone pole are cranked arm, variant pull bar, spherical hinge, radius pole that humerus pole is cranked arm to be connected with variant pull bar and radius pole are cranked arm and the metacarpal bone pole spherical hinge that the spherical hinge, variant steering wheel, variant steering wheel rocking arm, the variant pull bar that are connected be connected with variant steering wheel rocking arm of cranking arm; Fork is connected with humerus pole by hinge, humerus pole is connected with ulna pole by hinge, ulna pole is connected with metacarpal bone pole by hinge, humerus pole is cranked arm and is connected with variant pull bar and radius pole by hinge, radius pole is cranked arm to crank arm with metacarpal bone pole by hinge and is connected, and the variant pull bar is connected with variant steering wheel rocking arm by hinge; Described variant steering wheel is connected with described control system, variant steering wheel and flapping wing flapping mechanism are up and down synchronizedly running under the control system programming control: when flapping wing is fluttered downwards, variant steering wheel rocking arm is to the deflection of fuselage direction, and flapping wing leading edge skeleton is straight deployed condition, and the flapping wing area increases; When flapping wing was upwards fluttered, variant steering wheel rocking arm was to the deflection of abduction direction, and flapping wing leading edge skeleton is many foldings and opens up to the shrinkage distortion state, and the flapping wing area reduces; In each flutter cycle, realize that the dynamic variant of flapping wing flutters.
The present invention has following beneficial effect:
Lift when (1) Dynamic and Multi dimensional of the present invention is flutterred under initiatively the variant flapping wing aircraft can improve, the dumping force when reducing to flutter on flapping wing aircraft, the flight of can low frequency fluttering, thus greatly reduce the consumption of energy;
(2) Dynamic and Multi dimensional active variant flapping wing aircraft of the present invention can initiatively change the flapping wing luffing angle, thereby regulates lift and resistance, and can control the empennage pitch angle, has flexible flight performance.
Description of drawings
Fig. 1 is the initiatively overall structure schematic diagram of variant flapping wing aircraft of Dynamic and Multi dimensional of the present invention.
Layout when Fig. 2 is Dynamic and Multi dimensional active variant flapping wing aircraft expansion of the present invention.
Fig. 3 is that the flapping wing state of facing upward of Dynamic and Multi dimensional active variant flapping wing aircraft of the present invention is controlled schematic diagram.
Fig. 4 is the initiatively flapping wing nutation state control schematic diagram of variant flapping wing aircraft of Dynamic and Multi dimensional of the present invention.
Fig. 5 is the initiatively flapping wing skeleton structure schematic diagram of variant flapping wing aircraft of Dynamic and Multi dimensional of the present invention.
Fig. 6 is the initiatively actuating system schematic diagram of variant flapping wing aircraft of Dynamic and Multi dimensional of the present invention.
Fig. 7 is the initiatively flapping wing up and down flapping mechanism schematic diagram of variant flapping wing aircraft of Dynamic and Multi dimensional of the present invention.
Fig. 8 be Dynamic and Multi dimensional of the present invention initiatively the variant flapping wing aircraft under flutter ptergoid bone constructional drawing when launching.
Fig. 9 be Dynamic and Multi dimensional of the present invention initiatively the variant flapping wing aircraft on flutter ptergoid bone constructional drawing when shrinking.
Wherein:
The 1-fuselage; The 2-flapping wing; The 3-empennage; The 4-control system; 5-wing covering; 6-flapping wing up and down flapping mechanism; 7-humerus pole; 8-radius pole; 9-ulna pole; 10-metacarpal bone pole; 11-flapping wing luffing mechanism; 12-empennage pitching deflection steering wheel; 13-flapping wing variant mechanism; The 14-brushless motor; The 15-small active gear; 16-humerus pole root hinge; The hinge that 17-humerus pole is connected with ulna pole; The hinge that 18-ulna pole is connected with metacarpal bone pole; 19-humerus pole is cranked arm; The spherical hinge that 20-humerus pole is cranked arm and is connected with variant pull bar and radius pole; The spherical hinge that 21-radius pole is cranked arm and cranked arm and be connected with metacarpal bone pole; 22-variant pull bar; The spherical hinge that 23-variant pull bar is connected with variant steering wheel rocking arm; 24-variant steering wheel rocking arm; 25-variant steering wheel; 26-metacarpal bone pole is cranked arm; 27-reducing gear (two of left and right); 28-pivoted arm (two of left and right); 29-pull bar (two of left and right); 30-flap hinge (two of left and right); The 31-fork.
The specific embodiment
Please refer to illustrated in figures 1 and 2ly, Dynamic and Multi dimensional of the present invention initiatively variant flapping wing aircraft overall structure is comprised of fuselage 1, flapping wing 2, empennage 3, control system 4 and actuating system (indicating); Wherein flapping wing is comprised of wing covering 5 and flapping wing leading edge skeleton, and its wing centre section covering 5 is made for having elastomeric organic film material; Control system 4 is arranged in fuselage, and is connected with each mechanism of actuating system by circuit.
Please refer to illustrated in figures 1 and 2ly, the Dynamic and Multi dimensional of the present invention initiatively flapping wing of variant flapping wing aircraft is flutterred when launching shape for 2 times as shown in Figure 2, flutters when shrinking shape on flapping wing 2 as shown in Figure 1.Area increases when launching owing to flutterring under flapping wing, and the flapping wing leading edge is straight, and from aerodynamic principle, not only the pneumatic lift that streams increases, under the antagonistic force flutterred also increase lift; When shrinking, area reduces and flutter on flapping wing, and flapping wing leading edge and incoming flow have the oblique angle, and from aerodynamic principle, not only the pneumatic power of streaming reduces, on the dumping force flutterred also significantly reduce, thereby reduce the energy consumption of each flutter cycle; The whole 1ift-drag ratio that flapping wing is fluttered the up and down ratio of resistance (lift with) increases, and pneumatic efficiency improves greatly.
Please refer to Fig. 3 and shown in Figure 4, the Dynamic and Multi dimensional of the present invention initiatively flapping wing of variant flapping wing aircraft not only has the up and down flapping mechanism, and has the flapping wing luffing mechanism 11 of regulating the flapping wing pitch angle.Flapping wing luffing mechanism 11 can accurately change the flapping wing pitch angle by being arranged on steering wheel and the locating turntable of fuselage both sides; When climbing, can increase the flapping wing elevation angle to improve lift; During decline, can reduce the flapping wing elevation angle to reduce lift; During land, can increase the elevation angle by flapping wing, increase resistance, land rapidly.
Please refer to shown in Figure 5, Dynamic and Multi dimensional of the present invention initiatively the flapping wing leading edge skeleton of variant flapping wing aircraft are connected by humerus pole 7, radius pole 8, ulna pole 9 and metacarpal bone pole and connect accordingly, acting device forms.Above-mentioned pole is made by the composite material rod member of intensity and good toughness, and humerus pole 7 intensity are maximum, and ulna pole 9 intensity are taken second place, and radius pole 8 can be thinner, and the thin bar of metacarpal bone pole 10 use good toughness is made.
Please refer to shown in Figure 6ly, the Dynamic and Multi dimensional of the present invention initiatively actuating system of variant flapping wing aircraft is comprised of flapping wing up and down flapping mechanism 6, flapping wing luffing mechanism 11, empennage pitching deflection steering wheel 12 and flapping wing variant mechanism 13; Empennage pitching deflection steering wheel 12 is arranged on fuselage 1 rear portion, controls the empennage pitch angle, thereby changes the angle of attack of whole aircraft, realizes dipping and heaving.The driving of all mechanisms of actuating system is controlled by the instruction that electric wire sends by control system 4.
Please refer to shown in Figure 7ly, the Dynamic and Multi dimensional of the present invention initiatively flapping wing up and down flapping mechanism of variant flapping wing aircraft is comprised of brushless motor 14, small active gear 15, two of left and right reducing gear 27, two of left and right pivoted arm 28, two flap hinge 30 of two of left and right pull bar 29 and left and right.At first drive small active gear 15 by brushless motor 14, small active gear 15 drives the left side reducing gear, the identical left side reducing gear of left side reducing gear driving structure, two of left and right reducing gear drives two of the left and right pivoted arm that is connected with it, two pivoted arms in left and right drive two pull bars in left and right, and pull bar drives two of left and right forks 31 by two of left and right flap hinge and drives flapping wings and flutter up and down.
please refer to Fig. 8 and shown in Figure 9, Dynamic and Multi dimensional of the present invention initiatively the flapping wing variant mechanism of variant flapping wing aircraft by the humerus pole 7 of flapping wing skeleton, radius pole 8, ulna pole 9, metacarpal bone pole 10, humerus pole root hinge 16, the hinge 17 that humerus pole is connected with ulna pole, the hinge 18 that ulna pole is connected with metacarpal bone pole, humerus pole cranks arm 19, variant pull bar 22, the spherical hinge 20 that humerus pole is cranked arm and is connected with variant pull bar and radius pole, the spherical hinge 21 that radius pole is cranked arm and cranked arm and be connected with metacarpal bone pole, variant steering wheel 25, variant steering wheel rocking arm 24 is connected the spherical hinge 23 that is connected with variant steering wheel rocking arm 24 and is formed with the variant pull bar.
State when Fig. 8 is flapping wing variant mechanism deploying, when flapping wing is flutterred for 2 times, the variant steering wheel is controlled variant steering wheel rocking arm 24 to the deflection of fuselage direction, and variant steering wheel rocking arm 24 is cranked arm 19 promotion humerus poles 7 to straight position by variant pull bar 22 and humerus pole; Simultaneously humerus pole is cranked arm and 19 is pulled radius pole 8, and radius pole 8 pulls metacarpal bone pole 10 to straight position.drive between pole is by humerus pole root hinge 16, the hinge 17 that humerus pole is connected with ulna pole, the hinge 18 that ulna pole is connected with metacarpal bone pole, the spherical hinge 20 that humerus pole is cranked arm and is connected with variant pull bar and radius pole, the spherical hinge 21 that radius pole is cranked arm and cranked arm and be connected with metacarpal bone pole, variant steering wheel rocking arm 24 transmits with the spherical hinge 23 that the variant pull bar is connected with variant steering wheel rocking arm, wherein humerus pole is cranked arm the spherical hinge that is connected with variant pull bar and radius pole by two point of connection in up and down, upper point of connection is realized that humerus pole is cranked arm and is hinged with the variant pull bar, lower point of connection is realized that humerus pole is cranked arm and is hinged with radius pole.Wherein, the crank arm spherical hinge 20, the radius pole that are connected with variant pull bar and radius pole of humerus pole cranked arm and is the ball-type hinge with the metacarpal bone pole spherical hinge 21 that is connected of cranking arm with the spherical hinge 23 that the variant pull bar is connected with variant steering wheel rocking arm, do not affect the pole that links and changes angle.
Please refer to shown in Figure 9, the state when shrinking for flapping wing variant mechanism.When flutterring on flapping wing, the variant steering wheel is controlled variant steering wheel rocking arm 24 to the deflection of abduction direction, variant steering wheel rocking arm 24 is cranked arm by variant pull bar 22 and humerus pole and 19 is pulled humerus pole 7 tilted rearward positions, outer end, also drives ulna pole 9 the inners for this reason and recedes; Simultaneously, humerus pole is cranked arm and 19 is promoted radius poles 8, and radius pole 8 promotes the outer end of metacarpal bone poles 10 to the tilted rearward position.For this reason, the flapping wing shape is the contraction state of the many bias of leading edge, and when flutterring on flapping wing, the flapping wing area significantly diminishes.
Control System Software programming flapping wing flutter up and down constantly with variant steering wheel rocking arm in extrinsic deflection constantly coordinate, in the time of just can realizing down flutterring flapping wing initiatively launch, under when flutterring flapping wing initiatively shrink the Novel bionic aircraft of dynamic deformation, realize more the high efficiency flight near curassow.
The above is only the preferred embodiment of the present invention; should be understood that; for those skilled in the art, can also make some improvement under the prerequisite that does not break away from the principle of the invention, these non-principles are improved and also should be considered as protection scope of the present invention.
Claims (3)
1. Dynamic and Multi dimensional variant flapping wing aircraft initiatively, comprise fuselage (1), be arranged in described fuselage (1) both sides flapping wing (2), be positioned at the empennage (3) of fuselage (1) rear side, the actuating system that is installed on the control system (4) of described fuselage (1) and is connected with described control system (4) by circuit, it is characterized in that: described flapping wing (2) comprises wing covering (5) and flapping wing leading edge skeleton, and described flapping wing leading edge skeleton comprises fork (31), humerus pole (7), radius pole (8), ulna pole (9) and metacarpal bone pole (10).
2. Dynamic and Multi dimensional as claimed in claim 1 variant flapping wing aircraft initiatively, it is characterized in that: described actuating system comprises flapping wing flapping mechanism (6) up and down, be positioned at the flapping wing luffing mechanism (11) of flapping mechanism both sides, described flapping wing up and down, empennage pitching deflection steering wheel (12) and flapping wing variant mechanism (13), described flapping wing up and down flapping mechanism (6), flapping wing luffing mechanism (11) and empennage pitching deflection steering wheel (12) are arranged in described fuselage (1), described flapping wing up and down flapping mechanism (6) is positioned at the front side of described control system (4) and is connected with control system, described empennage pitching deflection steering wheel (12) is positioned at the rear side of described control system (4) and is connected with control system, described flapping wing variant mechanism (13) is positioned at the both sides of described fuselage (1).
3. Dynamic and Multi dimensional as claimed in claim 2 variant flapping wing aircraft initiatively, it is characterized in that: described flapping wing variant mechanism (13) comprises humerus pole root hinge (16), the hinge (17) that humerus pole is connected with ulna pole, the hinge (18) that ulna pole is connected with metacarpal bone pole, humerus pole crank arm (19), variant pull bar (22), the spherical hinge (20) that humerus pole is cranked arm and is connected with variant pull bar and radius pole, radius pole is cranked arm and the metacarpal bone pole spherical hinge (21) that (26) be connected of cranking arm, variant steering wheel (25), variant steering wheel rocking arm (24), the spherical hinge (23) that the variant pull bar is connected with variant steering wheel rocking arm, fork (31) is connected with humerus pole (7) by hinge (16), humerus pole (7) is connected with ulna pole (9) by hinge (17), ulna pole (9) is connected with metacarpal bone pole (10) by hinge (18), humerus pole is cranked arm and is connected with variant pull bar and radius pole (8) by hinge (20), radius pole is cranked arm to crank arm with metacarpal bone pole by hinge (21) and is connected, and the variant pull bar is connected with variant steering wheel rocking arm by hinge (23), described variant steering wheel (25) is connected with described control system (4), variant steering wheel (25) synchronizedly runs under control system (4) programming control with flapping wing up and down flapping mechanism (6): when flapping wing is fluttered downwards, variant steering wheel rocking arm (24) is to the deflection of fuselage direction, flapping wing leading edge skeleton is straight deployed condition, and the flapping wing area increases, when flapping wing was upwards fluttered, variant steering wheel rocking arm (24) was to the deflection of abduction direction, and flapping wing leading edge skeleton is many foldings and opens up to the shrinkage distortion state, and the flapping wing area reduces, in each flutter cycle, realize that the dynamic variant of flapping wing flutters.
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| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN108995804A (en) * | 2018-08-01 | 2018-12-14 | 北京理工大学 | The bionic Aircraft for flutterring rotor and the conversion of flapping flight mode is realized based on the deformation wing |
| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
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| CN104867381A (en) * | 2014-12-23 | 2015-08-26 | 谌桂生 | Dynamic deformation geometry mechanism |
| CN104867381B (en) * | 2014-12-23 | 2018-08-28 | 北京功顺达仿生机械有限公司 | Dynamic deformation geometry mechanism |
| CN106477044A (en) * | 2016-12-01 | 2017-03-08 | 向仲宇 | The above flapping wing aircraft of four wings |
| CN106904272A (en) * | 2017-02-23 | 2017-06-30 | 哈尔滨工业大学深圳研究生院 | A kind of swingable flapping wing robot flight control assemblies of empennage and method |
| CN106904272B (en) * | 2017-02-23 | 2019-05-28 | 哈尔滨工业大学深圳研究生院 | A kind of flapping wing robot flight control assemblies that empennage is swingable and method |
| CN107472489A (en) * | 2017-08-29 | 2017-12-15 | 北京航空航天大学 | A kind of anti-interference flow control device |
| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN108860595B (en) * | 2018-04-12 | 2021-06-15 | 南京航空航天大学 | Flapping wing pigeon-like aircraft with passive torsion |
| CN108639338A (en) * | 2018-07-02 | 2018-10-12 | 北京电子工程总体研究所 | A kind of wing control device and aircraft |
| 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 |
| CN108995804A (en) * | 2018-08-01 | 2018-12-14 | 北京理工大学 | The bionic Aircraft for flutterring rotor and the conversion of flapping flight mode is realized based on the deformation wing |
| CN112888628A (en) * | 2018-09-07 | 2021-06-01 | 弗莱吉尔迪公司 | Machine bird |
| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
| CN109850026B (en) * | 2019-02-21 | 2020-11-06 | 北京航空航天大学 | Wall-climbing and gliding robot with foldable wing membrane |
| CN112476456A (en) * | 2020-11-25 | 2021-03-12 | 浙江工业大学 | Arm-wing cooperative variant control system and control method for simulating bird prey |
| CN112476456B (en) * | 2020-11-25 | 2022-03-25 | 浙江工业大学 | Arm-wing cooperative variant control system and control method for simulating bird prey |
| CN114148518A (en) * | 2021-12-10 | 2022-03-08 | 东南大学 | Rigid-flexible coupling active and passive deformation flapping wing mechanism and attack angle adjusting method |
| CN114148518B (en) * | 2021-12-10 | 2023-02-28 | 东南大学 | Rigid-flexible coupling active and passive deformation flapping wing mechanism and attack angle adjusting method |
| CN116654254A (en) * | 2023-06-15 | 2023-08-29 | 中国空气动力研究与发展中心高速空气动力研究所 | Ornithopter capable of self-adaptively taking wind |
| CN116654254B (en) * | 2023-06-15 | 2024-02-27 | 中国空气动力研究与发展中心高速空气动力研究所 | Ornithopter capable of self-adaptively taking wind |
| CN116767522A (en) * | 2023-07-11 | 2023-09-19 | 中国空气动力研究与发展中心高速空气动力研究所 | Bird-imitating flapping wing mechanism, control method and bird-imitating aircraft |
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