CN103569360A - Translational flapping wing mechanism, ornithopter with translational flapping wing mechanism, and glider - Google Patents
Translational flapping wing mechanism, ornithopter with translational flapping wing mechanism, and glider Download PDFInfo
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Abstract
The invention discloses a translational flapping wing mechanism, an ornithopter with the translational flapping wing mechanism, and a glider. The translational flapping wing mechanism comprises a first linear simple harmonic motion mechanism for driving the front edge of a wing to do up-and-down simple harmonic motion and a second linear simple harmonic motion mechanism for driving the rear edge of the wing to do up-and-down simple harmonic motion, wherein phase difference exists between the up-and-down simple harmonic motion of the front edge of the wing and the up-and-down simple harmonic motion of the rear edge of the wing, so that the attack angle of the wing is changed during up-and-down translational motion of the wing. According to the translational flapping wing mechanism provided by the invention, the front edge of the wing and the rear edge of the wing do up-and-down simple harmonic motion respectively, the change of the displacement of the wing relative to an airframe along with time is closer to sine curve, the motion is soft, and phase difference exists between the motion, so the attack angle of the wing can be changed during up-and-down translational motion of the wing, and the translational flapping wing mechanism is suitable for being applied to a large-sized ornithopter.
Description
Technical field
The present invention relates to translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism.
Background technology
In international airline field, flapping-wing aircraft research is in recent years very active, and flapping-wing aircraft has worked out a lot of achievements, and the overwhelming majority is all the flapping-wing aircraft that swings wing, and industry generally believes, flapping-wing aircraft just has greatly using value to the development of large-scale flapping-wing aircraft.Due to developing rapidly of the high-tech areas such as automatic computer, advanced composite material, control technology, development flapping-wing aircraft has also had new basis, have from now on much technological breakthrough, make the mankind be multiplied by controollable " Bird robot " and circle in the air safer, quicker, more energy-conservationly, needn't rely on screw propeller and jet power that energy consumption is high.
Domestic general employing four connecting rod flapping wing mechanisms, empennage is controlled, and has had the ornithopter flight of size as some pigeons.The flapping-wing aircraft of " large duck's foot " single driving of aeronautical research institute of University of Toronto has completed short range flight." wise bird " of Germany adopts four connecting rod flapping wing mechanisms, and the miniature anury flapping-wing aircraft of U.S. Aero Vironment " hummingbird " finally adopts line traffic control flapping wing mechanism.During Ancient Chinese, carpenter's stay cord brill (another name " pulling brill ") is a kind of original line traffic control mechanism.
Four connecting rod flapping wing mechanisms of prior art and line traffic control flapping wing mechanism are all to swing flapping wing, only suitablely make micro-, small-sized flapping-wing aircraft, are not suitable for using on large-scale flapping-wing aircraft, and the glide attitude that swings in addition flapping wing is difficult to obtain.
Summary of the invention
The object of the present invention is to provide a kind of flapping-wing aircraft that is applicable to the translation flapping wing mechanism of large-scale flapping-wing aircraft and there is translation flapping wing mechanism, the present invention also aims to provide a kind of sailplane that uses translation flapping wing mechanism.
For this reason, the invention provides a kind of translation flapping wing mechanism, comprise for driving leading edge to do the first straight line shm mechanism of upper and lower shm and for driving after wing along the second straight line shm mechanism that makes upper and lower shm, after the shm up and down of leading edge and wing, the shm up and down on edge has phase difference between the two, to change the angle of attack of wing in the upper and lower translation of wing.
Further, above-mentioned the first straight line shm mechanism and the second straight line shm mechanism include: crank, be connected with extraneous driving engine, and eccentric wheel, can rotate freely and be set on crank; Sun and planet gear, comprise internally toothed annulus and with the planetary wheel of internally toothed annulus engagement, wherein, internally toothed annulus is fixedly connected with extraneous fuselage, planetary wheel is synchronizeed connection rotationally with eccentric wheel; And one group of connecting rod, one end of each connecting rod and eccentric wheel pivot joint, the other end and wing are hinged.
Further, above-mentioned eccentric quantity is two, is symmetricly set on the both sides of internally toothed annulus, and wherein, sun and planet gear comprises two planetary wheels that are set up in parallel in internally toothed annulus, and each eccentric wheel is synchronizeed with a planetary wheel rotationally and to be connected.
Further, between above-mentioned two planetary wheels, be provided with auxiliary accentric support part, with the inwall with internally toothed annulus, roll and coordinate.
Further, above-mentioned internally toothed annulus and planetary ratio of number of teeth are 2:1.
Further, after the shm up and down of above-mentioned leading edge and wing, the phase difference of the shm up and down on edge between the two adjusted within the scope of 0～90 °.
Further, after above-mentioned wing, the shm up and down on edge lags behind 45 °～90 ° than the phase place of the shm up and down of leading edge.
Further, after above-mentioned wing, the shm up and down on edge lags behind 90 ° than the phase place of the shm up and down of leading edge.
Further, above-mentioned leading edge is identical with the movement travel on edge after wing.
According to a further aspect in the invention, a kind of flapping-wing aircraft is provided, comprise whole wing, fuselage and driving engine, wherein, between whole wing and fuselage, by connecting according to translation flapping wing mechanism described above, and the first straight line shm mechanism of translation flapping wing mechanism is connected with engine drive with the second straight line shm mechanism.
The present invention also provides a kind of aerodone, comprise whole wing, fuselage and driving engine, wherein, between whole wing and fuselage, by connecting according to translation flapping wing mechanism described above, and the first straight line shm mechanism of translation flapping wing mechanism is connected with engine drive with the second straight line shm mechanism.
According to translation flapping wing mechanism of the present invention, after leading edge and wing, upper and lower shm is made respectively on edge, the relative fuselage displacement of wing is over time closer to sine curve, move softer, and between the two, there is phase difference, therefore wing can change the angle of attack of wing in upper and lower translation, is adapted on large-scale flapping-wing aircraft.
Except object described above, feature and advantage, other object, feature and advantage that the present invention has, be described in further detail in connection with accompanying drawing.
Accompanying drawing explanation
Form this specification sheets a part, for further understanding accompanying drawing of the present invention, show the preferred embodiments of the present invention, and be used for illustrating principle of the present invention together with specification sheets.In figure:
Fig. 1 is according to the structural representation of translation flapping wing mechanism of the present invention;
Fig. 2 is according to the structural representation of the crank assemblies of the straight line shm mechanism of translation flapping wing structure of the present invention; And
Fig. 3 is according to the structural representation of the crank assemblies of the straight line shm mechanism of translation flapping wing structure of the present invention, wherein, eccentric block and planetary wheel is installed on crank.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
The left and right wing of translation flapping-wing aircraft of the present invention connects together, as a whole high aspect ratio wing, its main movement mode is translation up and down, in addition, also there is angle of attack variation, make to rise and under the unequal and acting in an attitude circulation of the lift flutterred.
Particularly, after leading edge and wing, edge drives by straight line shm mechanism, to make upper and lower shm, after the shm up and down of leading edge and wing, the shm up and down on edge has phase difference between the two, to change the angle of attack of wing in the upper and lower translation of wing.
Two cover straight line shm mechanisms are contained in fuselage, connect respectively forward position and the rear edge of rigid wing.Such translation flapping-wing aircraft layout is equivalent to the aerodone of a high aspect ratio, and wing has good gliding ability and steady airworthiness fixedly time, can in the up current of 4～5 metre per second (m/s)s, hover.Because the amplitude of wing translation is subject to structural limitations, acting ability is more weak, and good gliding ability is essential, and for example glide ratio is more than 40.
Because the rigidity of wing is limited, spanwise has flutter.The single order flutter forcing of translation flapping wing contributes to flapping wing acting, single order flutter has the effect that swings flapping wing, but require wing reverse stress in material usable range, increase the angle of attack and lift flutter process under flutter in, in flutter, flutter and in process, reduce the angle of attack and lift.Be understood that, common aerodone supports and unsettled flight with wing, and translation flapping-wing aircraft also will be on this supports " playing on a swing " and fly higher and higher.
Translation flapping wing mechanism of the present invention comprises for driving leading edge to do the first straight line shm mechanism of upper and lower shm and for driving after wing along the second straight line shm mechanism that makes upper and lower shm, after leading edge and wing, after the shm up and down of the identical and leading edge of the movement travel on edge and wing, the shm up and down on edge has phase difference between the two, to change the angle of attack of wing in the upper and lower translation of wing.The relative fuselage displacement of wing of translation flapping wing mechanism, over time closer to sine curve, this means that motion is softer.
Below in conjunction with Fig. 1 to Fig. 3, the straight line shm mechanism of translation flapping wing mechanism according to the present invention is elaborated.
In the present invention, utilized the uniform speed rotation of crank has been transformed out to the straight-line characteristic of eccentric simple harmonic quantity on planetary wheel.
Fig. 1 to Fig. 3 is according to the structural representation of translation flapping wing mechanism of the present invention, as shown in Figure 1 to Figure 3, the first straight line shm mechanism and the second straight line shm mechanism include: crank 10, is connected with extraneous driving engine, eccentric wheel 20, can rotate freely and be set on crank; Sun and planet gear 30, comprise internally toothed annulus 31 and with the planetary wheel 32 of internally toothed annulus 31 engagement, wherein, internally toothed annulus 31 is fixedly connected with extraneous fuselage, planetary wheel 32 is synchronizeed connection rotationally with eccentric wheel 20; And one group of connecting rod 40, one end of each connecting rod has the trepanning with eccentric wheel 20 pivot joints, and the other end and wing 60 are hinged.
Wherein, internally toothed annulus and planetary ratio of number of teeth are 2:1.After the shm up and down of leading edge and wing, the phase difference of the shm up and down on edge between the two adjusted within the scope of 0～90 °.Preferably, after wing, the shm up and down on edge lags behind 45～90 ° than the phase place of the shm up and down of leading edge.Further preferably, in normal flight process, after wing, the shm up and down on edge lags behind 90 ° than the phase place of the shm up and down of leading edge.
In the present embodiment, utilize the Planetary Gear Transmission that ratio of number of teeth is 1:2 that crank is rotatablely moved and is converted into straight line simple harmonic oscillation, then with connecting rod, straight line simple harmonic oscillation is passed on wing, make whole parallel the fluttering (abbreviation is flopped) of left and right wing.With the straight line shm mechanism of 90 ° of front and back two cover phase differences, can make the wing action of flopping make angle of attack variation simultaneously.
In the present embodiment, the inventor is called planet crank driving mechanism by the straight line shm mechanism of above-mentioned ad hoc structure.
Preferably, the quantity of eccentric wheel 20 is two, is symmetricly set on the both sides of internally toothed annulus 31, and wherein, sun and planet gear comprises two planetary wheels 32 that are set up in parallel in internally toothed annulus, and each eccentric wheel is synchronizeed with a planetary wheel rotationally and to be connected.So form symmetrical configuration, made the backup bearing 50 at crank two ends stressed evenly.Further, between two planetary wheels 32, be provided with auxiliary accentric support part 33, with the inwall with internally toothed annulus 31, entirely roll and coordinate contiguously, can suppress the shake of internally toothed annulus.
According to translation flapping wing mechanism of the present invention, easily angle of attack amplitude and the phase place of flapping wing are controlled, for example phase difference can be used toothed belt or the chain transmission with upper and lower two tension wheels, changes the position of tension wheel, and phase difference just changes.In addition, translation flapping wing mechanism of the present invention is easily controlled flapping wing angle of attack amplitude, is adapted at using on large-scale flapping-wing aircraft.
In aerodone according to the present invention, the whole wing of aerodone is connected with translation flapping wing mechanism with fuselage, when aerodone glides, drive whole wing to do parallelly flutter up and down and coordinate the change angle of attack, power is by wing work done, makes the aerodone also can follow-on mission in the situation that there is no up current or fly height.Require the motion of translation flapping wing mechanism soft, efficiency is high.
The translation flapping wing mechanism of the present invention inspiration that for example, happens suddenly when analyzing the function of various flapping wing modes (four connecting rod flapping wing mechanisms and line traffic control flapping wing mechanism) and efficiency is created.Translation flapping wing mechanism drives the upper and lower parallel motion of whole wing with planetary linear reciprocating motion.Compare with swinging flapping wing, the displacement of parallel motion up and down of translation flapping wing is little, frequency is high, and efficiency is also high.
Below to using the working process of the translation flapping-wing aircraft of translation flapping wing mechanism to describe.
First use the lag behind straight line shm mechanism of 45～90 ° of phase place to drive edge after wing, because the up-and-down movement on leading edge and rear edge has phase difference, wing will luffing up-and-down movement.When the angle of attack is large, lift is large, and complete machine has overweight sense, and wing large area is down flutterred, and body center of gravity potential energy increases, and driving engine work done forwards eccentric wheel topmost to; When the angle of attack hour, lift is little, and complete machine has weightless sense, and wing large area is up lifted, body center of gravity decrease of potential energy, and airfoil lift work done is moved eccentric wheel bottom to, and engine flywheel accelerates, and reclaims energy reserve for the next flapping wing cycle.The power of up walking due to eccentric wheel on body axis system is large, and the power of walking downward is little, so driving engine (or electrical motor) is made net work a flapping wing cycle, the potential energy of flapping-wing aircraft and kinetic energy is increased.But flapping-wing aircraft is as an aerodone on the other hand, its potential energy (highly) is run off continuously (pressing glide ratio).Driving engine (or electrical motor) is made net work a flapping wing cycle, makes up the losses of potential energy of flapping-wing aircraft, or flies get Geng Gao.
It should be noted that relative wind that the speed of fluttering of wing causes is to just in time 90 ° of the leading displacements of the angle of attack variation phase place of wing.Now a lot of simple flapping-wing aircrafts mechanically do not drive edge after wing, but after wing along tying up on fuselage, be enough to the large lift of flutterring under producing and the little lift raising up.But improve flapping wing performance, will mechanically drive edge after wing, front and back will be adjusted between 0～90 ° along vibration phase difference, as small bird, can significantly turn wing, flexible.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a translation flapping wing mechanism, comprise for driving leading edge to do the first straight line shm mechanism of upper and lower shm and for driving after wing along the second straight line shm mechanism that makes upper and lower shm, after described leading edge and described wing, after the shm up and down of the identical and described leading edge of the movement travel on edge and described wing, the shm up and down on edge has phase difference between the two, to change the angle of attack of wing in the upper and lower translation of wing.
2. translation flapping wing mechanism according to claim 1, is characterized in that, described the first straight line shm mechanism and described the second straight line shm mechanism include:
Crank, is connected with extraneous driving engine,
Eccentric wheel, can rotate freely and be set on described crank;
Sun and planet gear, comprise internally toothed annulus and with the planetary wheel of internally toothed annulus engagement, wherein, described internally toothed annulus is fixedly connected with extraneous fuselage, described planetary wheel is synchronizeed connection rotationally with described eccentric wheel; And
One group of connecting rod, one end of connecting rod and described eccentric wheel pivot joint described in each, the other end and described wing are hinged.
3. translation flapping wing mechanism according to claim 2, it is characterized in that, described eccentric quantity is two, be symmetricly set on the both sides of described internally toothed annulus, wherein, described sun and planet gear comprises two planetary wheels that are set up in parallel in described internally toothed annulus, and described in each, eccentric wheel is synchronizeed with a described planetary wheel rotationally and to be connected.
4. translation flapping wing mechanism according to claim 3, is characterized in that, is provided with auxiliary accentric support part between described two planetary wheels, with the inwall with described internally toothed annulus, rolls and coordinates.
5. translation flapping wing mechanism according to claim 2, is characterized in that, described internally toothed annulus and planetary ratio of number of teeth are 2:1.
6. translation flapping wing mechanism according to claim 1, is characterized in that, after the shm up and down of described leading edge and described wing, the phase difference of the shm up and down on edge between the two adjusted within the scope of 0～90 °.
7. translation flapping wing mechanism according to claim 6, is characterized in that, after described wing, the shm up and down on edge lags behind 45 °～90 ° than the phase place of the shm up and down of described leading edge.
8. translation flapping wing mechanism according to claim 1, is characterized in that, after described wing, the shm up and down on edge lags behind 90 ° than the phase place of the shm up and down of described leading edge.
9. a flapping-wing aircraft, comprise whole wing, fuselage and driving engine, it is characterized in that, between described whole wing and fuselage, by connecting according to the translation flapping wing mechanism described in any one in claim 1-8, and the first straight line shm mechanism of described translation flapping wing mechanism is connected with engine drive with the second straight line shm mechanism.
10. an aerodone, comprise whole wing, fuselage and driving engine, it is characterized in that, between described whole wing and fuselage, by connecting according to the translation flapping wing mechanism described in any one in claim 1-8, and the first straight line shm mechanism of described translation flapping wing mechanism is connected with engine drive with the second straight line shm mechanism.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260877A (en) * | 2014-09-22 | 2015-01-07 | 任孝忠 | Valve-type paddle mechanism |
| CN104477386A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Single-engine, double-rocking-lever and flat-flapping flapping-wing aircraft |
| CN104648670A (en) * | 2015-01-29 | 2015-05-27 | 王金海 | Flapping-wing aircraft with eccentric wheels for pushing and pulling sliding boxes to do reciprocating linear motion to enable wing membranes to float |
| CN109178303A (en) * | 2018-09-05 | 2019-01-11 | 重庆大学 | A kind of eccentric wheel reciprocating structure and the united flapping wing mechanism of gear set |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
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| SU1121182A1 (en) * | 1978-12-27 | 1984-10-30 | Bogomolov Nikolaj | Ornithopter wing drive |
| US4793573A (en) * | 1987-06-12 | 1988-12-27 | Kelfer James W | Figure eight wing drive |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260877A (en) * | 2014-09-22 | 2015-01-07 | 任孝忠 | Valve-type paddle mechanism |
| CN104477386A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Single-engine, double-rocking-lever and flat-flapping flapping-wing aircraft |
| CN104477386B (en) * | 2014-12-15 | 2016-08-03 | 佛山市神风航空科技有限公司 | A kind of single-shot double rocking lever is flat claps class flapping wing aircraft |
| CN104648670A (en) * | 2015-01-29 | 2015-05-27 | 王金海 | Flapping-wing aircraft with eccentric wheels for pushing and pulling sliding boxes to do reciprocating linear motion to enable wing membranes to float |
| CN109178303A (en) * | 2018-09-05 | 2019-01-11 | 重庆大学 | A kind of eccentric wheel reciprocating structure and the united flapping wing mechanism of gear set |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
| CN113386958B (en) * | 2021-06-15 | 2024-01-09 | 东北大学 | Phase-changing double-flapping-wing mechanism and micro air vehicle |
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| CN103569360B (en) | 2016-05-04 |
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Address after: 412002 Dong Jiaduan, Zhuzhou, Hunan Patentee after: China Hangfa South Industrial Co. Ltd. Address before: 412002 Dong Jiaduan, Zhuzhou, Hunan Patentee before: China Southern Airlines Industry (Group) Co., Ltd. |