CN104260882A - Active-twisting flapping wing and aircraft with active-twisting flapping wing - Google Patents
Active-twisting flapping wing and aircraft with active-twisting flapping wing Download PDFInfo
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- CN104260882A CN104260882A CN201410447654.9A CN201410447654A CN104260882A CN 104260882 A CN104260882 A CN 104260882A CN 201410447654 A CN201410447654 A CN 201410447654A CN 104260882 A CN104260882 A CN 104260882A
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
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Abstract
The invention relates to an active-twisting flapping wing and an aircraft with the active-twisting flapping wing. The active-twisting flapping wing comprises a flapping driving device, a flapping portion and a twisting portion, wherein the flapping portion and the twisting portion are sequentially connected; the flapping driving device is connected with the root of the flapping portion; the end of the flapping portion is connected with the root of the twisting portion; the twisting portion comprises a twisting beam, a twisting beam driving device and an active-twisting wing rib. The twisting beam driving device is arranged at the root of the twisting portion; the active-twisting wing rib is arranged at one end away from the root of the flapping portion and is perpendicularly and fixedly connected to the twisting beam. The twisting beam is used for driving the twisting portion to rotate within the preset angle range under driving of the twisting beam driving device. By the adoption of the active-twisting flapping wing and the aircraft with the active-twisting flapping wing, flapping in the flying process of birds can be well simulated, and the flying efficiency and maneuverability of the flapping wing are improved.
Description
Technical Field
The application relates to a torsional flapping wing, in particular to an active torsional flapping wing and an aircraft comprising the same.
Background
Flapping wing flight is the best mode for animal dynamic flight in nature. Compared with the flight of fixed wings and rotor wings, the flapping wing flight has high efficiency, low noise, strong maneuverability, safety and is particularly suitable for low-altitude low-speed aircrafts. The small-size flapping wing aircraft also has the inherent and thick hiding performance, can be competent for military tasks such as investigation, individual combat and the like, and has huge potential. However, the efficiency of the flapping-wing aircraft manufactured by human beings is mostly not high, and the flapping-wing aircraft only imitates the most basic flapping actions of birds for the reason. Birds have excellent flying ability and are more beneficial to small movements. When the wings of the birds are dissected, the small arms of the birds are similar to the small arms of the human beings, are composed of ulna and radius, and have torsional freedom. In the process of bird flying, the small arm is actively and periodically twisted according to the flying speed, the flying direction and the maneuvering action to be completed to optimally combine the thrust and the lift force, so that the pneumatic effect generated by flapping is served for flying as much as possible, the force and the moment for controlling the attitude are generated, and the flying efficiency and the maneuverability of flapping wings are greatly improved.
Patent publication No. CN103612754A describes a double-joint flapping wing, which can realize asymmetric flapping of up and down stroke, but there is no mechanism for controlling torsion on the flapping wing, and the flapping wing only depends on making the outer section of the flapping wing flexible, and changing the attack angle of the outer section by using the air resistance in flapping, so called passive torsion flapping wing. Meanwhile, the flapping wing cannot generate control force and moment, and only can control the flight attitude by depending on the tail part, so that the maneuvering performance is greatly limited. Foreign research results have demonstrated that active torsion improves flight efficiency much more than passive torsion.
Patent publication No. CN103241379A describes a mechanically-driven active torsion flapping wing, but this torsion mode uses a mechanism to determine the amplitude and phase of torsion, and cannot be dynamically adjusted according to the requirements of airspeed and maneuvering, and although through a good optimization design, the flight efficiency can be improved only within a relatively small flight envelope.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
The invention mainly aims to provide an active torsion flapping wing and an aircraft comprising the same, which can realize the active torsion action of bird small arms in the flapping wing flight, are highly bionic, and greatly improve the flapping wing flight efficiency and maneuverability.
According to one aspect of the invention, the active torsion flapping wing comprises a flapping driving device, a flapping part and a torsion part which are connected in sequence; the flapping driving device is connected with the root of the flapping part, and the end part of the flapping part is connected with the root of the torsion part;
the torsion part comprises a torsion beam, a torsion beam driving device and an active torsion rib;
wherein,
the torsion beam driving device is arranged at the root of the torsion part;
the active torsion wing rib is arranged at one end far away from the root of the flapping part and is vertically and fixedly connected to the torsion beam, and the torsion beam is used for driving the torsion part to rotate within a preset angle range under the driving of the torsion beam driving device.
According to a second aspect of the invention, an aircraft comprises a fuselage and two active torsion flapping wings symmetrically arranged on both sides of the fuselage.
By adopting the active torsion flapping wing and the aircraft comprising the same, the flapping wing of birds during flight can be better simulated, and the efficiency and the maneuverability of flapping wing flight are improved.
Drawings
The above and other objects, features and advantages of the present invention will be more readily understood by reference to the following description of the embodiments of the present invention taken in conjunction with the accompanying drawings. The components in the figures are meant to illustrate the principles of the present invention. In the drawings, the same or similar technical features or components will be denoted by the same or similar reference numerals.
FIG. 1 is a block diagram of one embodiment of an active torsion flapping wing of the present invention;
FIG. 2 is a block diagram of one embodiment of the flapping portion of FIG. 1;
FIG. 3 is a schematic diagram of one embodiment of the phase relationship between the main flapping angle and the twist angle of the active torsional flapping wing of the present invention;
FIG. 4 is a block diagram of one embodiment of a twist beam support of the present invention;
FIG. 5 is a block diagram of one embodiment of the ornithopter of the present invention.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings. Elements and features depicted in one drawing or one embodiment of the invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that the figures and description omit representation and description of components and processes that are not relevant to the present invention and that are known to those of ordinary skill in the art for the sake of clarity.
Referring to FIG. 1, a block diagram of one embodiment of the active twist ornithopter of the present invention is shown.
In the present embodiment, the active twist flapping wing 100 includes a flapping drive unit 102, and a flapping part 101 and a twisting part 201 connected in series. The flapping driver 102 is connected to the base of the flapping part 101, and the end of the flapping part 101 is connected to the base of the torsion part 201.
The flapping driving device 102 drives the flapping part 101 to flap up and down, and the torsion part 201 is connected with the flapping part 101 and can flap up and down along with the flapping part 101.
Referring to fig. 2, a configuration diagram of an embodiment of the torsion portion 201 is shown.
In the present embodiment, the torsion portion 201 may include a torsion beam 2, a torsion beam driving device, and an active torsion rib 1. Wherein the torsion beam driving device is arranged at the root of the torsion part 201; the active torsion rib 1 is arranged at one end far away from the root of the flapping part 201 and is vertically and fixedly connected to the torsion beam 2.
The torsion beam 2 can drive the whole torsion part 201 to rotate within a predetermined angle range under the driving of the torsion beam driving device. The torsion beam driving device is arranged at the root part of the torsion part 201, so that inertia in the flapping process can be reduced as much as possible, and the torsion requirement of the flapping driving device is reduced.
The torsion part 201 can actively twist under the driving of the torsion beam driving device, so that the whole actively twisting flapping wing 100 can better simulate the action of periodically rotating the small arm in the bird flying process, and the flying efficiency and the maneuvering performance of the actively twisting flapping wing are improved.
As an embodiment, the twist beam drive may include a torsional actuator 5, a torsional drive linkage 6, and a twist beam support frame 4. Wherein, the twist beam support frame 4 comprises a bearing for supporting the twist beam 2; the torsion actuator is used for generating torsion based on an external control command; the torsional drive linkage 6 is used to transmit torque to the torsion beam 2.
When the torsion beam driving device generates torsion under the control of an external control signal, the torsion transmission connecting rod group 6 transmits the torsion to the torsion beam 2, so that the torsion beam 2 rotates, and further the active torsion rib 1 fixed on the torsion beam 2 is driven to rotate.
Further, the active torsion flapping wing also comprises a skin 7 and a passive torsion rib 3.
The skin 7 covers the whole active torsion flapping wing 100, is fixedly connected with the active torsion wing rib 1, and is used for generating lift force when the active torsion flapping wing 100 flaps.
The passive torsion rib 3 is fixedly connected with the skin 7 and is used for rotating under the driving of the skin 7 when the active torsion rib 1 rotates.
Because the skin 7 is fixedly connected with the active torsion wing 1, the skin 7 can be driven to generate torsion when the active torsion wing rib 1 rotates, and then the lift force generated by the active torsion flapping wing 100 can be changed. The skin 7 is fixedly connected with the passive torsion rib 3, so that the skin 7 and the torsion beam 2 can be relatively fixed in relative position while the passive torsion rib 3 is driven to rotate, and the generated lift force is controlled within a controllable range.
The skin 7 may be, for example, a foamed polypropylene foam sheet with a thickness of 2mm, which has a certain flexibility and can maintain the cross-sectional shape of the wing well.
As a preferable mode, the predetermined angle range may be, for example, -10 ° to 15 °. That is, when the active torsion flapping wing 100 flaps, the included angle (i.e. the torsion angle) between the active torsion rib 1 and the horizontal plane is regularly changed along with the up-and-down flapping of the active torsion flapping wing 100 within-10 to 15 degrees.
In one embodiment, the torsional frequency of active twisted rib 1 is the same as the flapping frequency of active twisted ornithopter 100. That is, the active torsion flapping wing 100 flaps up and down once and the active torsion rib 1 changes once from the minimum value to the maximum value within a predetermined angular range.
Preferably, the torsion angle of the active twisted wing rib 1 may have a sine-cosine relationship with the phase of the main flapping angle (i.e., the angle between the flapping part 101 and the horizontal plane) of the flapping wing of the active twisted flapping wing 100. Specifically, referring to fig. 3, when the active torsion flapping wing flaps upwards from the lowest point to the highest point, the torsion angle of the flapping wing is increased from 0 ° to 15 °, and is decreased to 0 ° after passing through the flapping neutral position; when the flapping wings flap downwards from the highest point to the lowest point, the torsion angle of the flapping wings is reduced from 0 degrees to-10 degrees, and the torsion angle of the flapping wings is increased to 0 degrees after passing through the flapping middle position.
In one embodiment, the torsional actuator 5 may comprise, for example, a HITEC 65MG metal gear model airplane steering engine. The reaction speed of the steering engine is 0.14sec/60 degrees, the requirement of the active torsion angular speed can be completely met, and meanwhile, the reliability of the steering engine under the impact working condition is improved by the metal gear.
In one embodiment, the material of the active torsion rib 1 and the passive torsion rib 3 may be carbon fiber plates. The material is light in weight, and the rigidity can meet the use requirement.
As a preferable mode, as shown in fig. 4, the twist beam support frame 4 may further include first and second ribs 9 and 11 parallel to the active torsion rib 1, and first and second short beams 8 and 12 perpendicular to the first and second ribs 9 and 11.
Wherein, the first rib 9 and the second rib 11 are connected with the torsion beam 2 through a bearing 10. The first end of the first short beam 8 and the first end of the second short beam 12 are fixedly connected with the first rib 9, and the second end of the first short beam 8 and the second end of the second short beam 12 are fixedly connected with the second rib 11. The torsion beam support frame 4 adopting the structure is more stable, and can only transmit torsion to the torsion beam 2 without transmitting bending moment and shearing force.
Referring to fig. 5, a block diagram of one embodiment of the aircraft of the present invention is shown.
In this embodiment, the aircraft includes a fuselage 200, and two active twist ornithopters 100 symmetrically disposed on either side of the fuselage 200.
The aircraft may also include a controller and position sensors mounted on the active torsional flapping wing 100.
When the aircraft flies, the position sensor obtains the flapping angle of the active torsion flapping wing 100 and transmits the flapping angle to the controller, and the controller generates a torsion angle control signal according to a corresponding control strategy based on the current flapping angle. After the torsion actuator 5 receives the control signal, the corresponding angle is twisted, and the rotation is transmitted to the torsion beam 2 and the outermost active torsion rib 1 through the torsion transmission connecting rod group 6. The active torsion rib 1 twists the outer end of the skin 7 to a target angle, so that corresponding lift is obtained.
When the aircraft turns or rolls in a coordinated mode, the aileron command generated by the controller controls the torsion angles of the two active torsion flapping wings 100 to generate a differential motion, and the differential angle is in direct proportion to the size of the aileron command.
Specifically, in one case, when a left aileron command occurs (causing the aircraft to roll left), the neutral flapping left and right torsional angles become: left-5 deg., right +5 deg.. Thus, the active torsion angle range on the left side becomes ((-10-5) ° to (+15-5) °), i.e., -15 ° - +10 °), and similarly, the active torsion angle on the right side becomes (-5 ° - +20 °).
The difference causes the difference of the lift forces generated by the flapping wings at the left side and the right side, thereby generating the control force for rolling the aircraft.
It should be noted that the law of change of the torsion angle does not change with the occurrence of this differential angle. That is, the phase relationship between the flapping angle and the twist angle is the same when the differential angle is present, e.g., the phase relationship between the flapping angle and the twist angle remains a sine-cosine relationship, during normal flight.
By adopting the active torsion flapping wing and the aircraft comprising the same, the flapping wing of birds during flight can be better simulated, and the efficiency and the maneuverability of flapping wing flight are improved.
In the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled, combined, and/or reassembled after disassembly. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. It is also to be noted that the steps of executing the above-described series of processes may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other. Also, in the above description of specific embodiments of the invention, features described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features in the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, devices, means, methods, or steps.
Claims (10)
1. An active torsion flapping wing comprises a flapping driving device, a flapping part and a torsion part which are sequentially connected; the flapping driving device is connected with the root of the flapping part, and the end part of the flapping part is connected with the root of the torsion part;
the torsion part comprises a torsion beam, a torsion beam driving device and an active torsion wing rib;
wherein,
the torsion beam driving device is arranged at the root of the torsion part;
the active torsion wing rib is arranged at one end far away from the root of the flapping part and is vertically and fixedly connected to the torsion beam, and the torsion beam is used for driving the torsion part to rotate within a preset angle range under the driving of the torsion beam driving device.
2. The active torsional flapping wing of claim 1, wherein the torsion beam drive comprises a torsional actuator, a torsional drive linkage, and a torsion beam support frame;
wherein,
the torsion beam support frame comprises a bearing for supporting the torsion beam;
the torsion actuator is used for generating torsion based on an external control command;
the torsion transmission linkage is used for transmitting the torsion to the torsion beam.
3. The active torsional flapping wing of claim 2, wherein: the wing structure also comprises a skin and a passive torsion rib;
the skin covers the whole active torsion flapping wing, is fixedly connected with the active torsion wing rib and is used for generating lift force when the active torsion flapping wing flaps;
the passive torsion rib is fixedly connected with the skin and is used for rotating under the driving of the skin when the active torsion rib rotates.
4. The active torsional flapping wing of any of claims 1-3, wherein:
the predetermined angle range is-10 to 15 degrees.
5. The active torsional flapping wing of claim 4, wherein:
the torsion frequency of the active torsion wing rib is the same as the flapping frequency of the active torsion flapping wing, and the torsion angle of the active torsion wing rib and the phase of the main flapping angle of the flapping wing of the active torsion flapping wing form a sine-cosine relationship.
6. The active torsional flapping wing of claim 2, wherein:
the torsion actuator comprises a HITEC 65MG metal gear model airplane steering engine.
7. The active torsional flapping wing of any of claims 1-3, wherein:
the active torsion rib and the passive torsion rib are made of carbon fiber plates.
8. The active torsional flapping wing of claim 2, wherein:
the torsion beam support frame further comprises a first rib and a second rib which are parallel to the active torsion rib, and a first short beam and a second short beam which are perpendicular to the first rib and the second rib;
wherein,
the first wing rib and the second wing rib are connected with the torsion beam through the bearing;
the first end of the first short beam and the first end of the second short beam are fixedly connected with the first rib, and the second end of the first short beam and the second end of the second short beam are fixedly connected with the second rib.
9. The active torsional flapping wing of claim 3, wherein:
the skin is a foamed polypropylene foam board with the thickness of 2 mm.
10. An aircraft, characterized in that: comprising a fuselage and two active torsion flapping wings according to any one of claims 1 to 9, symmetrically arranged on both sides of the fuselage.
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| CN201410447654.9A CN104260882B (en) | 2014-09-04 | 2014-09-04 | Active twist flapping wing and the aircraft comprising which |
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| CN201410447654.9A CN104260882B (en) | 2014-09-04 | 2014-09-04 | Active twist flapping wing and the aircraft comprising which |
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| CN104260882A true CN104260882A (en) | 2015-01-07 |
| CN104260882B CN104260882B (en) | 2017-04-05 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105740575A (en) * | 2016-03-03 | 2016-07-06 | 北京航空航天大学 | Flapping wing analysis and design based on fluctuation propelling theory |
| WO2017124841A1 (en) * | 2016-01-21 | 2017-07-27 | 李维农 | Composite flapping wing for vehicle having flapping wings, and machine having flapping wings including same |
| CN107226208A (en) * | 2017-05-27 | 2017-10-03 | 上海交通大学 | All-wing is fluttered the five degree of freedom flapping wing aircraft being combined with wing tip active twist |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
| CN108656121A (en) * | 2017-03-29 | 2018-10-16 | 深圳光启合众科技有限公司 | Robot wing device and robot |
| 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 |
| CN109279012A (en) * | 2018-10-10 | 2019-01-29 | 北京电子工程总体研究所 | A kind of change attack angle mechanism suitable for flexible wing |
| CN109334975A (en) * | 2018-08-06 | 2019-02-15 | 浙江工业大学 | The bionical variant mechanism of three hinges and its design method of deformable wing |
| CN109421929A (en) * | 2017-08-23 | 2019-03-05 | 周袭明 | Flapping wing structure and flapping wing aircraft |
| CN109502019A (en) * | 2018-11-23 | 2019-03-22 | 武汉科技大学 | A kind of large simulated flapping wing aircraft |
| CN110550205A (en) * | 2019-09-10 | 2019-12-10 | 南宁蜂虎科技有限公司 | Ornithopter steering control method, device and system |
| CN112298553A (en) * | 2020-09-08 | 2021-02-02 | 南京航空航天大学 | Torsion self-adaptive wing structure suitable for large flapping wing |
| CN112407211A (en) * | 2020-09-18 | 2021-02-26 | 桂林电子科技大学 | Golden-edge-like dragon louse swimming foot underwater propulsion device |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
| CN116176836A (en) * | 2023-02-17 | 2023-05-30 | 北京科技大学 | Bionic ornithopter steering mechanism based on cambered surface wings |
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| WO2017124841A1 (en) * | 2016-01-21 | 2017-07-27 | 李维农 | Composite flapping wing for vehicle having flapping wings, and machine having flapping wings including same |
| CN105740575A (en) * | 2016-03-03 | 2016-07-06 | 北京航空航天大学 | Flapping wing analysis and design based on fluctuation propelling theory |
| CN108656121A (en) * | 2017-03-29 | 2018-10-16 | 深圳光启合众科技有限公司 | Robot wing device and robot |
| CN107226208A (en) * | 2017-05-27 | 2017-10-03 | 上海交通大学 | All-wing is fluttered the five degree of freedom flapping wing aircraft being combined with wing tip active twist |
| CN109421929A (en) * | 2017-08-23 | 2019-03-05 | 周袭明 | Flapping wing structure and flapping wing aircraft |
| CN107472529B (en) * | 2017-09-12 | 2020-06-12 | 南通大学 | Flapping wing aircraft with twisted inner wings |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
| 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 |
| CN109334975A (en) * | 2018-08-06 | 2019-02-15 | 浙江工业大学 | The bionical variant mechanism of three hinges and its design method of deformable wing |
| CN109334975B (en) * | 2018-08-06 | 2020-08-21 | 浙江工业大学 | Three-hinge bionic variant mechanism of deformable wing and design method thereof |
| CN109279012A (en) * | 2018-10-10 | 2019-01-29 | 北京电子工程总体研究所 | A kind of change attack angle mechanism suitable for flexible wing |
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