CN104002971B - A kind of four rotary flapping wing flying platforms - Google Patents
A kind of four rotary flapping wing flying platforms Download PDFInfo
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- CN104002971B CN104002971B CN201410234049.3A CN201410234049A CN104002971B CN 104002971 B CN104002971 B CN 104002971B CN 201410234049 A CN201410234049 A CN 201410234049A CN 104002971 B CN104002971 B CN 104002971B
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Abstract
A kind of four rotary flapping wing flying platforms, belong to vehicle technology field.It is by fuselage, alighting gear, drive system, rotary flapping wing device that control system is identical with four groups.Fuselage adopts framed structure; Alighting gear adopts ski type; Drive system comprises four groups of identical driving engines and gear reducer thereof and speed regulation device, and they drive these four rotary flapping wing devices of left back rotary flapping wing, right back rotary flapping wing, left front rotary flapping wing and right front rotary flapping wing respectively; Control system comprises line electrical remote control device, receptor or automatic navigation control equipment and steering wheel; Left back rotary flapping wing, right back rotary flapping wing, left front rotary flapping wing and right front rotary flapping wing are individually driven by four of drive system identical driving engines.This flying platform can vertical lift and hovering, maneuverability.Band photographs equipment can be used for taking photo by plane, geographical measurements, traffic duty, militaryly to investigate and the multiple-task such as rescue and relief work.
Description
Technical field
A kind of four rotary flapping wing flying platforms, belong to vehicle technology field, particularly relate to a kind of rotary flapping wing flying platform.
Background technology
The lift unit that tradition flapping wing aircraft adopts is traditional flapping wing mechanism, is driven by crankshaft-link rod, and flapping wing is fluttered generation lift up and down, efficiency is lower, requires higher, the thrust that comparatively difficult labour is raw very large to the strength at repeated alternation of flapping wing, be difficult to vertical lift and hovering, and manoevreability is poor.
Summary of the invention
In order to overcome the deficiency of above-mentioned conventional aircraft, the invention provides a kind of four rotary flapping wing flying platforms, flapping wing rotates, and energy vertical lift and hovering, adopt four flapping wing individual drive and mode, mobility strong.
The present invention adopts following technical scheme: a kind of four rotary flapping wing flying platforms comprise fuselage, alighting gear, drive system, rotary flapping wing device that control system is identical with four groups, and four groups of identical rotary flapping wing devices are left back rotary flapping wing, right back rotary flapping wing, left front rotary flapping wing and right front rotary flapping wing respectively.Fuselage adopts framed structure, is made up of carbon fibre material; Alighting gear adopts ski type; Drive system comprises four groups of identical driving engines and gear reducer thereof and speed regulation device, and they drive these four rotary flapping wing devices of left back rotary flapping wing, right back rotary flapping wing, left front rotary flapping wing and right front rotary flapping wing respectively; Control system comprises line electrical remote control device, receptor or automatic navigation control equipment and steering wheel; Left back rotary flapping wing and right back rotary flapping wing are about the longitudinally vertical symmetrical left and right sides being arranged in fuselage respectively of the plane of symmetry of body; Left front rotary flapping wing and right front rotary flapping wing are also about the longitudinally vertical symmetrical left and right sides being arranged in fuselage respectively of the plane of symmetry of body; Left front rotary flapping wing and left back rotary flapping wing are about the symmetrical both sides, front and back being arranged in fuselage respectively before and after the laterally vertical plane of symmetry of body; Right front rotary flapping wing and right back rotary flapping wing are also about the symmetrical both sides, front and back being arranged in fuselage respectively before and after the laterally vertical plane of symmetry of body.Left back rotary flapping wing, right back rotary flapping wing, left front rotary flapping wing and right front rotary flapping wing are individually driven by four of drive system identical driving engines.This flying platform can vertical lift and hovering, maneuverability.
Left back rotary flapping wing is made up of left back main shaft, left back pivoted arm, left back fin, left back wing axle, left back pilot bar and left back guides; Right back rotary flapping wing is made up of right back main shaft, right back pivoted arm, right back fin, right back wing axle, right back pilot bar and right back guides; Left front rotary flapping wing is made up of left front main shaft, left front pivoted arm, left front fin, left front wing axle, left front pilot bar and left front guides; Right front rotary flapping wing is made up of right front main shaft, right front pivoted arm, right front fin, right front wing axle, right front pilot bar and right front guides; The gear reducer that left back main shaft, right back main shaft, left front main shaft and right front main shaft are connected with four driving engines of drive system is respectively connected.
The concrete structure of left back rotary flapping wing is: one end of left back main shaft is connected with fuselage by bearing, one end of left back pivoted arm is vertical with the other end of left back main shaft to be connected, the other end of left back pivoted arm is vertical with one end of left back wing axle to be connected, and left back wing axle, left back pivoted arm and left back main shaft are in same plane; Left back wing axle is connected in the leading edge place of left back fin by bearing and left back fin, and left back wing axle is parallel with the leading edge of left back fin, and left back fin can around left back wing axle flexible rotating; The end face of the close left back pivoted arm of left back fin and the leading vertical of left back fin, one end of left back pilot bar and left back fin are fixed on the intersection of the trailing edge of this end face string of a musical instrument and left back fin, left back pilot bar is vertical with left back wing axle on this end face string of a musical instrument extended line backward, and the other end of left back pilot bar is through left back guides; Left back guides is combined through left back universal bearing by left back linear bearing; Left back guides is connected with fuselage by left back universal bearing; Left back pilot bar can make linear slide and with left back guides switch in left back guides; Under the control of control system, left back guides can the steering wheel switch around control system in the vertical section of body crossing left back pilot bar move; The length of left back pilot bar enough guarantees that one end does not come off all the time in left back guides.
The principle of work of left back rotary flapping wing is: the power of driving engine passes to left back main shaft after slowing down, left back main axis drives left back pivoted arm to rotate, left back pivoted arm drives left back wing axle to rotate, after the traction bottom left of left back wing axle, fin rotates and flutters, due to the control of left back pilot bar and left back guides, when left back fin rotates, its angle of attack revolves to turn around at a cycle of operations and interior regular change can occur, and meets flapping wing, is conducive to producing thrust.In order to higher efficiency and the left back fin of fluttering can be fluttered flexibly, left back guides is installed close to the rotation round of left back wing axle, but the distance between left back guides to left back main shaft is greater than the maximum chord length sum of left back arm length and left back fin.Because left back guides is close to the rotation round of left back wing axle, in one-period, the effect of flutterring generation under left back fin much larger than on flutter, the efficiency producing lift is higher.The rotating speed changing left back fin can change the size of thrust; The direction of thrust is relative azimuth by changing left back guides and left back main shaft and highly realizes.Because left back fin makes circular-rotation, less demanding to the strength at repeated alternation of material.
Identical all with left back rotary flapping wing of the concrete structure of right back rotary flapping wing, left front rotary flapping wing and right front rotary flapping wing and principle of work.
Accompanying drawing explanation
Fig. 1 is the schematic front view of a kind of four rotary flapping wing flying platforms of the present invention; Fig. 2 is the left view of Fig. 1.
In figure: 1-fuselage; 2-alighting gear; 3-drive system; 4-control system; The left back rotary flapping wing of 5-; The right back rotary flapping wing of 6-; The left front rotary flapping wing of 7-; The right front rotary flapping wing of 8-; The left back main shaft of 51-; The left back pivoted arm of 52-; The left back fin of 53-; The left back wing axle of 54-; The left back pilot bar of 55-; The left back guides of 56-; The left back linear bearing of 561-; The left back universal bearing of 562-.
Detailed description of the invention
Now 1 to illustrate with accompanying drawing 2 and to be illustrated the present invention by reference to the accompanying drawings: a kind of four rotary flapping wing flying platforms comprise fuselage 1, alighting gear 2, drive system 3, rotary flapping wing device that control system 4 is identical with four groups, four groups of identical rotary flapping wing devices are left back rotary flapping wing 5, right back rotary flapping wing 6, left front rotary flapping wing 7 and right front rotary flapping wing 8 respectively.Fuselage 1 adopts framed structure, is made up of carbon fiber composite material; Alighting gear 2 adopts ski type; Drive system 3 comprises four groups of identical driving engines and gear reducer thereof and speed regulation device, and they drive these four rotary flapping wing devices of left back rotary flapping wing 5, right back rotary flapping wing 6, left front rotary flapping wing 7 and right front rotary flapping wing 8 respectively; Control system 4 comprises line electrical remote control device, receptor or automatic navigation control equipment and steering wheel; Left back rotary flapping wing 5 and right back rotary flapping wing 6 are about the longitudinally vertical symmetrical left and right sides being arranged in fuselage 1 respectively of the plane of symmetry of body; Left front rotary flapping wing 7 and right front rotary flapping wing 8 are also about the longitudinally vertical symmetrical left and right sides being arranged in fuselage 1 respectively of the plane of symmetry of body; Left front rotary flapping wing 7 and left back rotary flapping wing 5 are about the symmetrical both sides, front and back being arranged in fuselage 1 respectively before and after the laterally vertical plane of symmetry of body; Right front rotary flapping wing 8 and right back rotary flapping wing 6 are also about the symmetrical both sides, front and back being arranged in fuselage 1 respectively before and after the laterally vertical plane of symmetry of body.Left back rotary flapping wing 5, right back rotary flapping wing 6, left front rotary flapping wing 7 and right front rotary flapping wing 8 are individually driven by four of drive system identical driving engines.This flying platform can vertical lift and hovering, maneuverability.
Left back rotary flapping wing 5 is made up of left back main shaft 51, left back pivoted arm 52, left back fin 53, left back wing axle 54, left back pilot bar 55 and left back guides 56; Right back rotary flapping wing 6 is made up of right back main shaft, right back pivoted arm, right back fin, right back wing axle, right back pilot bar and right back guides; Left front rotary flapping wing 7 is made up of left front main shaft, left front pivoted arm, left front fin, left front wing axle, left front pilot bar and left front guides; Right front rotary flapping wing 8 is made up of right front main shaft, right front pivoted arm, right front fin, right front wing axle, right front pilot bar and right front guides; The gear reducer that left back main shaft 51, right back main shaft, left front main shaft and right front main shaft are connected with four driving engines of drive system is respectively connected.
The concrete structure of left back rotary flapping wing 5 is: one end of left back main shaft 51 is connected with fuselage 1 by bearing, one end of left back pivoted arm 52 is vertical with the other end of left back main shaft 51 to be connected, the other end of left back pivoted arm 52 is vertical with one end of left back wing axle 54 to be connected, and left back wing axle 54, left back pivoted arm 52 and left back main shaft 51 are in same plane; Left back wing axle 54 is connected in the leading edge place of left back fin 53 by bearing and left back fin 53, and left back wing axle 54 is parallel with the leading edge of left back fin 53, and left back fin 53 can around left back wing axle 54 flexible rotating; The end face of close left back pivoted arm 52 of left back fin 53 and the leading vertical of left back fin 53, one end of left back pilot bar 55 and left back fin 53 are fixed on the intersection of the trailing edge of this end face string of a musical instrument and left back fin 53, left back pilot bar 55 is vertical with left back wing axle 54 on this end face string of a musical instrument extended line backward, and the other end of left back pilot bar 55 is through left back guides 56; Left back guides 56 is combined through left back universal bearing 562 by left back linear bearing 561; Left back guides 56 is connected with fuselage 1 by left back universal bearing 562; Left back pilot bar 55 can make linear slide and with left back guides 56 switch in left back guides 56; Under the control of control system 4, left back guides 56 can the steering wheel switch around control system 4 in the vertical section of body crossing left back pilot bar 55 move; The length of left back pilot bar 55 enough guarantees that one end does not come off all the time in left back guides 56.
Left back fin 53, right back fin, left front fin and right front fin all adopt carbon fiber composite material to make, strong light-weight.Left back fin 53, right back fin, left front fin and right front fin are all at right angles trapezoidal, flat pattern or epirelief concave shape under aerofoil profile employing epirelief.During this structure flight, resistance is very little, is convenient to efficient flight.
The principle of work of left back rotary flapping wing 5 is: the power of driving engine passes to left back main shaft 51 after slowing down, left back main shaft 51 rotates and drives left back pivoted arm 52 to rotate, left back pivoted arm 52 drives left back wing axle 54 to rotate, after the traction bottom left of left back wing axle 54, fin 53 rotates and flutters, due to the control of left back pilot bar 55 and left back guides 56, when left back fin 53 rotates, its angle of attack revolves to turn around at a cycle of operations and interior regular change can occur, meet flapping wing, be conducive to producing thrust.In order to higher efficiency and the left back fin 53 of fluttering can be fluttered flexibly, left back guides 56 is installed close to the rotation round of left back wing axle 54, but the distance between left back guides 56 to left back main shaft 51 is greater than the maximum chord length sum of left back pivoted arm 52 length and left back fin 53.Because left back guides 56 is close to the rotation round of left back wing axle 54, in one-period, the left back fin effect of flutterring generation for 53 times much larger than on flutter, the efficiency producing lift is higher.The rotating speed changing left back fin 53 can change the size of thrust; The direction of thrust is relative azimuth by changing left back guides 56 and left back main shaft 51 and highly realizes.Because left back fin 53 makes circular-rotation, less demanding to the strength at repeated alternation of material.
Right back rotary flapping wing 6, left front rotary flapping wing 7 are all identical with the concrete structure of left back rotary flapping wing 5 with the concrete structure of right front rotary flapping wing 8; Right back rotary flapping wing 6, left front rotary flapping wing 7 are all identical with the principle of work of left back rotary flapping wing 5 with the principle of work of right front rotary flapping wing 8.
Four driving engines of the drive system of a kind of four rotary flapping wing flying platforms of the present invention all adopt identical electrical motor, by the lithium battery power supply conveniently charged.
The state of flight should inventing a kind of four rotary flapping wing flying platforms is below described further this invention.
Take off: four driving engines simultaneously starting drive system, drive left back rotary flapping wing 5, right back rotary flapping wing 6, left front rotary flapping wing 7 and right front rotary flapping wing 8 rotate flutters, control system 4 is utilized to adjust left back guides 56, right back guides, the azel of left front guides and right front guides, them are allowed to be in balance position, make left back rotary flapping wing 5, right back rotary flapping wing 6, what left front rotary flapping wing 7 and right front rotary flapping wing 8 produced makes a concerted effort straight up, when each engine output reaches certain value, lift is greater than body weight, this four rotary flapping wings flying platform vertically goes up to the air.
Before fly: after taking off, improve the speed of fluttering of left back rotary flapping wing 5 and right back rotary flapping wing 6, this four rotary flapping wings flying platform is by flight forward simultaneously.
After fly: when flying, improve the speed of fluttering of left front rotary flapping wing 7 and right front rotary flapping wing 8 aloft, realization is flown by this four rotary flapping wings flying platform backward simultaneously.
Turning flight: when front flying, can by improving the velocity interpolation right-hand corner flight of left back rotary flapping wing 5; Can by improving the velocity interpolation turnon left flight of fluttering of right back rotary flapping wing 6.
Hovering: when aloft flying, left back guides 56, right back guides, left front guides and right front guides are adjusted to suitable same height and position, adjust the rotating speed of each driving engine, what left back rotary flapping wing 5, right back rotary flapping wing 6, left front rotary flapping wing 7 and right front rotary flapping wing 8 were produced makes a concerted effort straight up and equals body weight, and after eliminating flight inertia, this flying platform will be in hovering position.
Landing: after this flying platform is adjusted to hovering position, slowly reduce the rotating speed of each driving engine, this flying platform is by slowly vertical landing simultaneously.
Owing to adopting four driving engines individually to drive left back rotary flapping wing 5, right back rotary flapping wing 6, left front rotary flapping wing 7 and right front rotary flapping wing 8, the more convenient realization of a kind of four rotary flapping wing flying platform of the present invention is sidewindered and hovering turns to, and manoevreability is good.
More than illustrate it is make under the operating mode not having interference in air flow, if there is the existence of interference in air flow, then should carry out repairing partially according to the direction of air-flow and flow velocity.
A kind of four rotary flapping wing flying platform band photographs equipment of the present invention can be used for taking photo by plane, geographical measurements, traffic duty, militaryly to investigate and the multiple-task such as rescue and relief work.
Claims (3)
1. a rotary flapping wing flying platform, comprise fuselage (1), alighting gear (2), drive system (3), rotary flapping wing device that control system (4) is identical with four groups, it is characterized in that: four groups of identical rotary flapping wing devices are left back rotary flapping wing (5), right back rotary flapping wing (6), left front rotary flapping wing (7) and right front rotary flapping wing (8) respectively; Fuselage (1) adopts framed structure, is made up of carbon fiber composite material; Alighting gear (2) adopts ski type; Drive system (3) comprises four groups of identical driving engines and gear reducer thereof and speed regulation device, and they drive these four rotary flapping wing devices of left back rotary flapping wing (5), right back rotary flapping wing (6), left front rotary flapping wing (7) and right front rotary flapping wing (8) respectively; Control system (4) comprises line electrical remote control device, receptor or automatic navigation control equipment and steering wheel; Right back rotary flapping wing (6), left front rotary flapping wing (7) are all identical with the concrete structure of left back rotary flapping wing (5) with the concrete structure of right front rotary flapping wing (8); Right back rotary flapping wing (6), left front rotary flapping wing (7) are all identical with the principle of work of left back rotary flapping wing (5) with the principle of work of right front rotary flapping wing (8); Left back rotary flapping wing (5) and right back rotary flapping wing (6) are about the longitudinally vertical symmetrical left and right sides being arranged in fuselage (1) respectively of the plane of symmetry of body; Left front rotary flapping wing (7) and right front rotary flapping wing (8) are also about the longitudinally vertical symmetrical left and right sides being arranged in fuselage (1) respectively of the plane of symmetry of body; Left front rotary flapping wing (7) and left back rotary flapping wing (5) are arranged in the both sides, front and back of fuselage (1) respectively about symmetry before and after the laterally vertical plane of symmetry of body; Right front rotary flapping wing (8) and right back rotary flapping wing (6) are also arranged in the both sides, front and back of fuselage (1) respectively about symmetry before and after the laterally vertical plane of symmetry of body; Left back rotary flapping wing (5) is made up of left back main shaft (51), left back pivoted arm (52), left back fin (53), left back wing axle (54), left back pilot bar (55) and left back guides (56); Right back rotary flapping wing (6) is made up of right back main shaft, right back pivoted arm, right back fin, right back wing axle, right back pilot bar and right back guides; Left front rotary flapping wing (7) is made up of left front main shaft, left front pivoted arm, left front fin, left front wing axle, left front pilot bar and left front guides; Right front rotary flapping wing (8) is made up of right front main shaft, right front pivoted arm, right front fin, right front wing axle, right front pilot bar and right front guides; The gear reducer that left back main shaft (51), right back main shaft, left front main shaft and right front main shaft are connected with four driving engines of drive system is respectively connected; One end of left back main shaft (51) is connected with fuselage (1) by bearing, one end of left back pivoted arm (52) is vertical with the other end of left back main shaft (51) to be connected, the other end of left back pivoted arm (52) is vertical with one end of left back wing axle (54) to be connected, and left back wing axle (54), left back pivoted arm (52) and left back main shaft (51) are in same plane; Left back wing axle (54) is connected in the leading edge place of left back fin (53) by bearing and left back fin (53), left back wing axle (54) is parallel with the leading edge of left back fin (53), and left back fin (53) can around left back wing axle (54) flexible rotating; The end face of the close left back pivoted arm (52) of left back fin (53) and the leading vertical of left back fin (53), one end of left back pilot bar (55) and left back fin (53) are fixed on the intersection of the trailing edge of this end face string of a musical instrument and left back fin (53), left back pilot bar (55) is with left back wing axle (54) vertical on this end face string of a musical instrument extended line backward, and the other end of left back pilot bar (55) is through left back guides (56); Left back guides (56) is combined through left back universal bearing (562) by left back linear bearing (561); Left back guides (56) is connected with fuselage (1) by left back universal bearing (562); Left back pilot bar (55) can make linear slide and with left back guides (56) switch in left back guides (56); Under the control of control system (4), left back guides (56) can the steering wheel switch around control system (4) in the vertical section of body crossing left back pilot bar (55) be moved; The length of left back pilot bar (55) enough guarantees that one end does not come off all the time in left back guides (56).
2. a kind of four rotary flapping wing flying platforms according to claim 1, is characterized in that: left back fin (53), right back fin, left front fin and right front fin all adopt carbon fiber composite material to make; Left back fin (53), right back fin, left front fin and right front fin are all at right angles trapezoidal, flat pattern or epirelief concave shape under aerofoil profile employing epirelief.
3. a kind of four rotary flapping wing flying platforms according to claim 1, it is characterized in that: left back guides (56) is installed close to the rotation round of left back wing axle (54), but the distance between left back guides (56) to left back main shaft (51) is greater than the maximum chord length sum of left back pivoted arm (52) length and left back fin (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410234049.3A CN104002971B (en) | 2014-05-30 | 2014-05-30 | A kind of four rotary flapping wing flying platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410234049.3A CN104002971B (en) | 2014-05-30 | 2014-05-30 | A kind of four rotary flapping wing flying platforms |
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| Publication Number | Publication Date |
|---|---|
| CN104002971A CN104002971A (en) | 2014-08-27 |
| CN104002971B true CN104002971B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410234049.3A Expired - Fee Related CN104002971B (en) | 2014-05-30 | 2014-05-30 | A kind of four rotary flapping wing flying platforms |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104477388B (en) * | 2014-12-15 | 2016-06-01 | 佛山市神风航空科技有限公司 | A kind of four fins are flat claps flapping wing aircraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2581325Y (en) * | 2002-09-04 | 2003-10-22 | 赖金群 | Ornithopter |
| CN101492093A (en) * | 2009-03-12 | 2009-07-29 | 北京理工大学 | Flapping rotor wing design method and microminiature flapping rotor wing designed according to the method |
| CN102267566A (en) * | 2011-06-09 | 2011-12-07 | 西北工业大学 | Stepless speed-changing flapping wing driving mechanism |
| CN203865000U (en) * | 2014-05-30 | 2014-10-08 | 佛山市神风航空科技有限公司 | Flying platform provided with four rotary flapping wings |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09173651A (en) * | 1996-12-10 | 1997-07-08 | Toshiyuki Yanagisawa | Fluttering device |
-
2014
- 2014-05-30 CN CN201410234049.3A patent/CN104002971B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2581325Y (en) * | 2002-09-04 | 2003-10-22 | 赖金群 | Ornithopter |
| CN101492093A (en) * | 2009-03-12 | 2009-07-29 | 北京理工大学 | Flapping rotor wing design method and microminiature flapping rotor wing designed according to the method |
| CN102267566A (en) * | 2011-06-09 | 2011-12-07 | 西北工业大学 | Stepless speed-changing flapping wing driving mechanism |
| CN203865000U (en) * | 2014-05-30 | 2014-10-08 | 佛山市神风航空科技有限公司 | Flying platform provided with four rotary flapping wings |
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| CN104002971A (en) | 2014-08-27 |
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| C14 | Grant of patent or utility model | ||
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Inventor after: Zhang Yazheng Inventor before: Wang Zhicheng |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170908 Address after: 065000, No. 2, unit 8, building 221, Xinxing District, Rongchang North Street, Dachang County, Dachang Hui Autonomous County, Hebei, Langfang Patentee after: Zhang Yazheng Address before: Foshan City, Guangdong province 528500 city streets Gaoming District No. 78 Jiangwan Road, room 402 Fu Wan Patentee before: Shenfeng science and technology of aviation Co., Ltd of Foshan City |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160120 Termination date: 20180530 |