CN104443386B - A kind of miniature self-service class flapping wing aircraft - Google Patents
A kind of miniature self-service class flapping wing aircraft Download PDFInfo
- Publication number
- CN104443386B CN104443386B CN201410769863.5A CN201410769863A CN104443386B CN 104443386 B CN104443386 B CN 104443386B CN 201410769863 A CN201410769863 A CN 201410769863A CN 104443386 B CN104443386 B CN 104443386B
- Authority
- CN
- China
- Prior art keywords
- gear
- pivoted arm
- main shaft
- flapping wing
- fin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
A kind of miniature self-service class flapping wing aircraft, belongs to technical field of aerospace, is mainly made up of fuselage, power set, left flapping wing device, right flapping wing device, tail undercarriage and undercarriage.Left flapping wing device is all identical with right flapping wing device structure, parameter and operation principle and is symmetrically arranged in the left and right sides of fuselage.Power set are installed on fore-body, the main axis of the left flapping wing device of power at constant speed reverse drive and right flapping wing device.Tail undercarriage Plane of rotation can tilt to the left or to the right.Right flapping wing device includes guide housing, main shaft, pivoted arm frame, center half gear and two identical rotor devices.Each rotor device includes nearly heart gear, telecentricity gear and fin.The gear ratio of telecentricity gear and nearly heart gear is 1: 1.The gear ratio that nearly heart gear engages with center half gear is also 1: 1.Fin keeps flutterring under level, keeps raise up vertical with pivoted arm, and the efficiency producing lift is higher.This aircraft is used for taking photo by plane, Agriculture, forestry And Animal Husbandry operation and military requirement.
Description
Technical field
A kind of miniature self-service class flapping wing aircraft, belongs to technical field of aerospace, particularly relates to a kind of flapping wing aircraft.
Background technology
The lift unit of traditional flapping-wing aircraft is the connecting rod robot wing, instigates fin to produce lift under top, and when flapping wing raises up, resistance is relatively big, and inefficient, the lift that can produce is limited, is difficulty with heavy-duty flight；The patent No. be ZL200910073435.8 Chinese patent disclosed in the more complicated flapping wing lift generating device making flapping wing sheet reset by flapping wing hoisting mechanism of a kind of structure and existing half-rotating mechanism flapping wing device, although the more traditional flapping wing of efficiency is high, but flutter under fin in process, only centre position fin is horizontal, other time fin and horizontal plane all there is an angle, more leave centre position angle more big, the lift produced is the component of the vertical direction of fin active force, the component of horizontal direction has become loss, therefore the efficiency of the flapping wing device of these two kinds of existing flapping-wing aircrafts generation lift is also limited.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of existing flapping-wing aircraft, invent a kind of miniature self-service class flapping wing aircraft in hgher efficiency.
A kind of miniature self-service class flapping wing aircraft, is mainly made up of fuselage, power set, left flapping wing device, right flapping wing device, tail undercarriage and undercarriage.Being furnished with control system and self-navigation autonomous flight instrument in fuselage, this aircraft adopts self-navigation autonomous flight mode flight.Left flapping wing device is all identical with right flapping wing device structure, parameter and operation principle and is symmetrically arranged in the left and right sides of fuselage, is used for producing lift.On fuselage left and right symmetrical left breach and right breach, they in order to facilitate left flapping wing device and right flapping wing device operating and arrange.Left flapping wing device and right flapping wing device are separately mounted to the left breach of fuselage and right indentation, there.Power set are installed on fore-body, provide power for left flapping wing device and right flapping wing device.Power set are mainly made up of mair motor and reduction gearing mechanism, adopt gear train deceleration device, adopt toothed belt transmission or Chain conveyer mode to transmit power, the main axis of the left flapping wing device of power at constant speed reverse drive and right flapping wing device.Tail undercarriage is driven by small machine, and tail undercarriage Plane of rotation can tilt to the left or to the right, can produce pulling force upwards, to the left or to the right under the manipulation of control system, to realize pitching and the yawed flight attitude of this aircraft.Mair motor, small machine, the steering wheel of control system and self-navigation autonomous flight instrument adopt lithium battery power supply.Undercarriage adopts slide-type undercarriage.
The concrete structure of right flapping wing device is: it includes guide housing, main shaft, pivoted arm frame, center half gear and is arranged on and is mutually 180 ° of identical rotor devices of two structures being centrally located around half gear on pivoted arm frame.Center half gear is an only toothed gear of half cycle, it is fixedly installed on fuselage by the axle sleeve of main shaft, the Dai Chiban Zhou Dynasty of center half gear is right, anodontia half Zhou Dynasty is left, the edge radius of anodontia half cycle is less than the tooth paddy radius with tooth half cycle, in order to avoid the tooth of the nearly heart gear of rotor device is through the out-of-date anodontia half cycle touching center half gear.Main shaft vertical equity is arranged, the back segment of main shaft and pivoted arm frame are fixed on the center of pivoted arm frame, the rear end of main shaft is arranged on fuselage by bearing, the stage casing of main shaft is connected in the centre bore of center half gear by bearing and center half gear, the leading portion of main shaft is entangled by the axle sleeve of main shaft except front end, the rear end of the axle sleeve of main shaft and center half gear are connected, and the front end of the axle sleeve of main shaft is connected with fuselage, with flexible rotating in the axle sleeve of main shaft in the centre bore of main shaft Neng center half gear；The front end of main shaft is connected with the drive mechanism of power set, and power inputs from the front end of main shaft.The full symmetric word support that pivoted arm frame is made up of two identical pivoted arms, is used for supporting two rotor devices.Each rotor device includes nearly heart gear, telecentricity gear and fin.Fin is stiff rectangular flat board fin.It is provided with to reduce the antifriction cylinder of the energy smart scroll that guide housing inwall sliding friction is close at two ends, fin left and right in the middle part of bus limit, two, the left and right of fin.The rear end symmetry of fin is fixed in the middle part of the front end face of telecentricity gear, and fin is vertical with telecentricity gear；The rotating shaft of telecentricity gear is arranged on the tip of the pivoted arm of pivoted arm frame by bearing, and the rotating shaft of nearly heart gear is arranged on the middle part of the pivoted arm of pivoted arm frame by bearing, and the telecentricity gear on same rotor device engages with nearly heart gear, and its gear ratio is 1: 1.Two nearly heart gears engage at Shi Junyu center half, the right side gear of main shaft, and its engaged transmission ratio is 1: 1.Guide housing is semicircular arc, keep left and be fixedly mounted on fuselage, the cornerite scope of guide housing is a bit larger tham 180 °, the upper antifriction cylinder place being in right side to the corresponding fin when a pivoted arm of pivoted arm frame is in 12 o'clock position, down to the antifriction cylinder place being in left side of the corresponding fin when a pivoted arm of pivoted arm frame is in 6 o'clock position.Guide housing inwall is the smooth arc-shaped surface of line centered by the axis of main shaft, when this arc radius size just makes fin run in the left side of main shaft, the antifriction cylinder at two ends, fin left and right can be close to guide housing inwall simultaneously and rolls, it is ensured that fin runs to from lowest point on the left of main shaft the process of highest point and remains vertical with the corresponding pivoted arm of pivoted arm frame.Running the antifriction cylinder of fin when just running to lowest point for fin in the lower section of main shaft from the right side of main shaft toward left side and can smoothly transit to guide housing inwall, guide housing lower end is provided with a bit of of bending down and out of being connected with inner wall smooth.When assembling right flapping wing device, it is ensured that it is horizontally disposed that the pivoted arm of pivoted arm frame is in corresponding fin during vertical position directly over main shaft.Two pivoted arm structures of pivoted arm frame are identical, and the section of pivoted arm is aerofoil profile.
The operation principle of right flapping wing device: the operation principle of two rotor devices is identical, below for a rotor device, its operation principle is described: under to flutter original position be support the pivoted arm of pivoted arm frame of this rotor device to be vertically disposed to the surface of main shaft and be namely in 12 o'clock position, now the fin of this rotor device is horizontal and is positioned at highest point, and guide housing all covers fin.From the rear end of this aircraft toward front end, start mair motor, power inputs from the front end of main shaft, under the driving of power, main shaft rotates clockwise, pivoted arm frame is driven to rotate clockwise, center half gear maintains static, and the Dai Chiban Zhou Dynasty is right, the gear ratio engaged with nearly heart gear due to telecentricity gear is 1: 1, and closely heart gear is 1: 1 at the gear ratio of Shi Yu center half, the right side gear engagement of main shaft, when flutterring under fin, under the drive of telecentricity gear, rotation counterclockwise keeps flutterring under level, it is in fin when namely vertical position is in 6 o'clock position immediately below main shaft is in extreme lower position when the pivoted arm of pivoted arm frame goes to, now the left end antifriction cylinder of fin has been enter into guide housing inwall, complete down the process of flutterring.The process of raising up is: being in extreme lower position from fin, owing to anodontia half Zhou Dynasty of center half gear is left, and the edge radius of anodontia half cycle is less than the tooth paddy radius with tooth half cycle, left side at the longitudinal vertical guide crossing main shaft, the constraint of nearly heart gear off center half gear, main shaft continues to rotate clockwise under the driving of power, pivoted arm frame is driven to continue to rotate clockwise, constraint due to guide housing, the antifriction cylinder at two ends, fin left and right is close to guide housing inwall all simultaneously and is rolled, fin runs to from lowest point the process of highest point and remains vertical with the pivoted arm of pivoted arm frame.When the pivoted arm of pivoted arm frame go to be in directly over main shaft vertical position be namely in for 12 o'clock time, fin is in extreme higher position, completes the process of raising up, and this rotor device has returned to the initial state time flutterring process.Main shaft continues clockwise under the driving of power and rotates, and enters the next working cycle.The continuous clockwise of main shaft rotarily drive pivoted arm frame rotate with realize fin continuous under flutter and raise up motor process, produce lift upwards, the lift that rotating speed more produces soon is more big.Owing to the section of the pivoted arm of pivoted arm frame is aerofoil profile, adjust the angle of attack of pivoted arm, moreover it is possible to produce thrust forward or backward.Under flutter process fin and be in level all the time, therefore relatively lift can be produced, due to active force in the horizontal direction almost without component, therefore the efficiency producing lift is higher.The process fin of raising up remains vertical with the corresponding pivoted arm of pivoted arm frame, and resistance is less.
Left flapping wing device is identical and symmetrical with right flapping wing device structure.The guide housing of left flapping wing device is kept right installation.The Dai Chiban Zhou Dynasty of center half gear of left flapping wing device is left, and anodontia half Zhou Dynasty is right.The main shaft of left flapping wing device counterclockwise rotates the pivoted arm frame driving left flapping wing device under the driving of power and counterclockwise rotates.The fin of left flapping wing device is in when the left side of the main shaft of left flapping wing device under level and flutters, and keeps raise up vertical with corresponding pivoted arm when the right side of the main shaft of left flapping wing device.
Accompanying drawing explanation
Fig. 1 is the schematic rear view of a kind of miniature self-service class flapping wing aircraft of the present invention；Fig. 2 is the schematic top plan view of Fig. 1；Fig. 3 is the enlarged diagram of the right flapping wing device in Fig. 1；Fig. 4 is the enlarged diagram of the right flapping wing device in Fig. 2；Fig. 5 is the enlarged diagram of center half gear of the right flapping wing device in Fig. 3.
In figure, 1-fuselage, the left breach of 11-, the right breach of 12-；2-power set；The left flapping wing device of 3-；The right flapping wing device of 4-；5-tail undercarriage, 51-small machine；6-undercarriage.
Belong to the component of left flapping wing device 3: 31-guide housing, 32-main shaft, 33-pivoted arm frame, 331-pivoted arm, 34-center half gear, 35-rotor device.
Belong to the component of right flapping wing device 4: 41-guide housing, 42-main shaft, 43-pivoted arm frame, 431-pivoted arm, 44-center half gear, 45-rotor device, the nearly heart gear of 451-, 452-telecentricity gear, 453-fin, 454-flap edges antifriction cylinder.
Detailed description of the invention
In conjunction with accompanying drawing, 1 ~ 5 couple of present invention is illustrated: a kind of miniature self-service class flapping wing aircraft, is mainly made up of fuselage 1, power set 2, left flapping wing device 3, right flapping wing device 4, tail undercarriage 5 and undercarriage 6.Being furnished with control system and self-navigation autonomous flight instrument in fuselage 1, this aircraft adopts self-navigation autonomous flight mode flight.Left flapping wing device 3 and right flapping wing device 4 structure, parameter are all identical with operation principle and are symmetrically arranged in the left and right sides of fuselage 1, are used for producing lift.On fuselage 1 left and right symmetrical left breach 11 and right breach 12, they operate to facilitate left flapping wing device 3 and right flapping wing device 4 and arrange.Left flapping wing device 3 and right flapping wing device 4 are separately mounted to left breach 11 and right breach 12 place of fuselage 1.It is anterior that power set are installed on fuselage 1, provides power for left flapping wing device 3 and right flapping wing device 4.Power set 2 are mainly made up of mair motor and reduction gearing mechanism, adopt gear train deceleration device, adopt toothed belt transmission or Chain conveyer mode to transmit power, the main axis of the left flapping wing device of power at constant speed reverse drive 3 and right flapping wing device 4.Tail undercarriage 5 is driven by small machine 51, and tail undercarriage 5 Plane of rotation can tilt to the left or to the right, can produce pulling force upwards, to the left or to the right under the manipulation of control system, to realize pitching and the yawed flight attitude of this aircraft.Mair motor, small machine 51, the steering wheel of control system and self-navigation autonomous flight instrument adopt lithium battery power supply.Undercarriage 6 adopts slide-type undercarriage.
The concrete structure of right flapping wing device 4 is: it includes guide housing 41, main shaft 42, pivoted arm frame 43, center half gear 44 and is arranged on and is mutually 180 ° of identical rotor devices 45 of two structures being centrally located around half gear on pivoted arm frame.Center half gear 44 is an only toothed gear of half cycle, it is fixedly installed on fuselage 1 by the axle sleeve of main shaft 42, the band tooth half cycle 441 of center half gear 44 is towards the right side, anodontia half cycle 442 is towards a left side, the edge radius of anodontia half cycle 442 is less than the tooth paddy radius with tooth half cycle 441, in order to avoid the tooth of the nearly heart gear 451 of rotor device 45 is through the out-of-date anodontia half cycle touching center half gear 44.Main shaft 42 vertical equity is arranged, the back segment of main shaft 42 and pivoted arm frame 43 are fixed on the center of pivoted arm frame 43, the rear end of main shaft 42 is installed on the fuselage 1 by bearing, the stage casing of main shaft 42 is connected in the centre bore of center half gear 44 by bearing and center half gear 44, the leading portion of main shaft 42 is entangled by the axle sleeve 421 of main shaft except front end, the rear end of the axle sleeve 421 of main shaft is connected with center half gear 44, the front end of the axle sleeve 421 of main shaft is connected with fuselage 1, with flexible rotating in the axle sleeve 421 of main shaft in the centre bore 443 of main shaft 42 Neng center half gear 44；The front end of main shaft 42 is connected with the drive mechanism of power set 2, and power inputs from the front end of main shaft 42.The full symmetric word support that pivoted arm frame 43 is made up of two identical pivoted arms 431, is used for supporting two rotor devices 45.Each rotor device 45 includes nearly heart gear 451, telecentricity gear 452 and fin 453.Fin 453 is stiff rectangular flat board fin.It is provided with to reduce the antifriction cylinder 454 of the energy smart scroll that guide housing 41 inwall sliding friction is close at fin about 453 two ends in the middle part of bus limit, two, the left and right of fin 453.The rear end symmetry of fin 453 is fixed in the middle part of the front end face of telecentricity gear 452, and fin 453 is vertical with telecentricity gear 452；The rotating shaft of telecentricity gear 452 is arranged on the tip of the pivoted arm 431 of pivoted arm frame 43 by bearing, the rotating shaft of nearly heart gear 451 is arranged on the middle part of the pivoted arm 431 of pivoted arm frame 43 by bearing, telecentricity gear 452 on same rotor device 45 engages with nearly heart gear 451, and its gear ratio is 1: 1.Two nearly heart gears 451 engage at Shi Junyu center half, the right side gear 44 of main shaft 42, and its engaged transmission ratio is 1: 1.Guide housing 41 is in semicircular arc, keep left fixed installation on the fuselage 1, the cornerite scope of guide housing 41 is a bit larger tham 180 °, upper antifriction cylinder 454 place being in right side to the corresponding fin 453 when a pivoted arm of pivoted arm frame 43 is in 12 o'clock position, down to antifriction cylinder 454 place being in left side of fin 453 corresponding when a pivoted arm 431 of pivoted arm frame 43 is in 6 o'clock position.Guide housing 41 inwall is the smooth arc-shaped surface of line centered by the axis of main shaft 42, when this arc radius size just makes fin 453 run in the left side of main shaft 42, the antifriction cylinder 454 at fin about 453 two ends can be close to guide housing 41 inwall simultaneously and rolls, it is ensured that fin 453 runs to from lowest point on the left of main shaft 42 process of highest point and remains vertical with the corresponding pivoted arm 431 of pivoted arm frame 43.Running the antifriction cylinder 545 of fin 453 when just running to lowest point for fin 453 in the lower section of main shaft 42 from the right side of main shaft 42 toward left side and can smoothly transit to guide housing 41 inwall, guide housing 41 lower end is provided with a bit of of bending down and out of being connected with inner wall smooth.When assembling right flapping wing device 4, it is ensured that it is horizontally disposed that the pivoted arm 431 of pivoted arm frame 43 is in corresponding fin 453 during vertical position directly over main shaft 42.Two pivoted arm 431 structures of pivoted arm frame 43 are identical, and the section of pivoted arm 431 is aerofoil profile.
The operation principle of right flapping wing device 4: the operation principle of two rotor devices 45 is identical, below for a rotor device 45, its operation principle is described: under to flutter original position be support the pivoted arm 431 of pivoted arm frame 43 of this rotor device 45 to be vertically disposed to the surface of main shaft 42 and be namely in 12 o'clock position, now the fin 453 of this rotor device 45 is horizontal and is positioned at highest point, and guide housing 41 all covers fin 453.From the rear end of this aircraft toward front end, start mair motor, power inputs from the front end of main shaft 42, under the driving of power, main shaft 42 rotates clockwise, pivoted arm frame 43 is driven to rotate clockwise, center half gear 44 maintains static, and band tooth half cycle 441 is towards the right side, the gear ratio engaged with nearly heart gear 451 due to telecentricity gear 452 is 1: 1, and closely heart gear 451 is 1: 1 at the gear ratio of Shi Yu center half, right side gear 44 engagement of main shaft 42, when fin is flutterred for 453 times, under the drive of telecentricity gear 452, rotation counterclockwise keeps flutterring under level, it is in fin 453 when namely vertical position is in 6 o'clock position immediately below main shaft 42 is in extreme lower position when the pivoted arm 431 of pivoted arm frame 43 goes to, now the left end antifriction cylinder 454 of fin 453 has been enter into guide housing 41 inwall, complete down the process of flutterring.The process of raising up is: being in extreme lower position from fin 453, owing to the anodontia half cycle 442 of center half gear 44 is towards a left side, and the edge radius of anodontia half cycle 442 is less than the tooth paddy radius with tooth half cycle 441, left side at the longitudinal vertical guide crossing main shaft 42, the constraint of nearly heart gear 451 off center half gear 44, main shaft 42 continues to rotate clockwise under the driving of power, pivoted arm frame 43 is driven to continue to rotate clockwise, constraint due to guide housing 41, the antifriction cylinder 454 at fin about 453 two ends is close to guide housing 41 inwall all simultaneously and is rolled, fin 453 runs to from lowest point the process of highest point and remains vertical with the pivoted arm 431 of pivoted arm frame 43.When the pivoted arm 431 of pivoted arm frame 43 go to be in directly over main shaft 42 vertical position be namely in for 12 o'clock time, fin 453 is in extreme higher position, completes the process of raising up, and this rotor device 45 has returned to the initial state time flutterring process.Main shaft 42 continues clockwise under the driving of power and rotates, and enters the next working cycle.The continuous clockwise of main shaft 42 rotarily drive pivoted arm frame 43 rotate to realize fin 453 continuous under flutter and raise up motor process, produce lift upwards, the lift that rotating speed more produces soon is more big.Owing to the section of the pivoted arm 431 of pivoted arm frame 43 is aerofoil profile, adjust the angle of attack of pivoted arm 431, moreover it is possible to produce thrust forward or backward.Under flutter process fin 453 and be in level all the time, therefore relatively lift can be produced, due to active force in the horizontal direction almost without component, therefore the efficiency producing lift is higher.The process that raises up fin 453 remains vertical with the corresponding pivoted arm 431 of pivoted arm frame 43, and resistance is less.
Left flapping wing device 3 is identical and symmetrical with right flapping wing device 4 structure.The guide housing 31 of left flapping wing device 3 is kept right installation.The Dai Chiban Zhou Dynasty of center half gear 34 of left flapping wing device 3 is left, and anodontia half Zhou Dynasty is right.The main shaft 32 of left flapping wing device 3 counterclockwise rotates the pivoted arm frame 33 driving left flapping wing device 3 under the driving of power and counterclockwise rotates.The fin of left flapping wing device 3 is in when the left side of the main shaft 32 of left flapping wing device 3 under level and flutters, and keeps raise up vertical with corresponding pivoted arm when the right side of the main shaft 32 of left flapping wing device 3.
All of fin adopts carbon fibre material to make.
This aircraft can be used for taking photo by plane, the disaster relief, Agriculture, forestry And Animal Husbandry operation and some military requirements.
Claims (5)
1. a miniature self-service class flapping wing aircraft, it is characterised in that: mainly it is made up of fuselage (1), power set (2), left flapping wing device (3), right flapping wing device (4), tail undercarriage (5) and undercarriage (6)；Control system and self-navigation autonomous flight instrument it is furnished with in fuselage (1)；Left flapping wing device (3) is all identical with right flapping wing device (4) structure, parameter and operation principle and is symmetrically arranged in the left breach (11) of the left and right sides and right breach (12) place of fuselage (1)；It is anterior that power set are installed on fuselage (1), is mainly made up of mair motor and reduction gearing mechanism, adopts gear train deceleration device, adopts toothed belt transmission or Chain conveyer mode to transmit power；Tail undercarriage (5) is driven by small machine (51), and tail undercarriage (5) Plane of rotation can tilt to the left or to the right；
The concrete structure of right flapping wing device (4) is: it includes guide housing (41), main shaft (42), pivoted arm frame (43), center half gear (44) and is arranged on and is mutually 180 ° of identical rotor devices (45) of two structures being centrally located around half gear on pivoted arm frame；Center half gear (44) is an only toothed gear of half cycle, it is fixedly installed on fuselage (1) by the axle sleeve of main shaft (42), band tooth half cycle (441) at center half gear (44) is towards the right side, anodontia half cycle (442) is towards a left side, and the edge radius of anodontia half cycle (442) is less than the tooth paddy radius with tooth half cycle (441)；Main shaft (42) vertical equity is arranged, the back segment of main shaft (42) and pivoted arm frame (43) are fixed on the center of pivoted arm frame (43), the rear end of main shaft (42) is arranged on fuselage (1) by bearing, the stage casing of main shaft (42) is connected in the centre bore at center half gear (44) by bearing and center half gear (44), the leading portion of main shaft (42) is entangled by the axle sleeve (421) of main shaft except front end, the rear end of the axle sleeve (421) of main shaft is connected with center half gear (44), the front end of the axle sleeve (421) of main shaft is connected with fuselage (1), with axle sleeve (421) the interior flexible rotating of main shaft in the centre bore (443) at main shaft (42) Neng center half gear (44)；The front end of main shaft (42) is connected with the drive mechanism of power set (2), and power inputs from the front end of main shaft (42)；The full symmetric word support that pivoted arm frame (43) is made up of two identical pivoted arms (431), is used for supporting two rotor devices (45)；Each rotor device (45) includes nearly heart gear (451), telecentricity gear (452) and fin (453)；Fin (453) is stiff rectangular flat board fin；It is provided with to reduce the antifriction cylinder (454) of the energy smart scroll that guide housing (41) inwall sliding friction is close at fin (453) two ends, left and right in the middle part of limit, two, the left and right of fin (453)；The rear end symmetry of fin (453) is fixed in the middle part of the front end face of telecentricity gear (452), and fin (453) is vertical with telecentricity gear (452)；The rotating shaft of telecentricity gear (452) is arranged on the tip of the pivoted arm (431) of pivoted arm frame (43) by bearing, the rotating shaft of nearly heart gear (451) is arranged on the middle part of the pivoted arm (431) of pivoted arm frame (43) by bearing, telecentricity gear (452) on same rotor device (45) engages with nearly heart gear (451), and its gear ratio is 1: 1；Two nearly heart gears (451) are engaged at the Shi Junyu center half, right side gear (44) of main shaft (42), and its engaged transmission ratio is 1: 1；Guide housing (41) is in semicircular arc, keep left and be fixedly mounted on fuselage (1), the cornerite scope of guide housing (41) is a bit larger tham 180 °, upper antifriction cylinder (454) place being in right side to the corresponding fin (453) when a pivoted arm (431) of pivoted arm frame (43) is in 12 o'clock position, down to antifriction cylinder (454) place being in left side of the corresponding fin (453) when a pivoted arm (431) of pivoted arm frame (43) is in 6 o'clock position；Guide housing (41) inwall is the smooth arc-shaped surface of line centered by the axis of main shaft (42), when this arc radius size just makes fin (453) run in the left side of main shaft (42), the antifriction cylinder (454) at fin (453) two ends, left and right can be close to guide housing (41) inwall simultaneously and rolls, it is ensured that fin (453) runs to from lowest point the process of highest point in main shaft (42) left side and remains vertical with the corresponding pivoted arm (431) of pivoted arm frame (43)；Guide housing (41) lower end is provided with a bit of of bending down and out of being connected with inner wall smooth；It is horizontally disposed that the pivoted arm (431) of pivoted arm frame (43) is in corresponding fin (453) during vertical position directly over main shaft (42)；
The guide housing (31) of left flapping wing device (3) is kept right installation；The Dai Chiban Zhou Dynasty at the center half gear (34) of left flapping wing device (3) is left, and anodontia half Zhou Dynasty is right.
2. a kind of miniature self-service class flapping wing aircraft according to claim 1, it is characterised in that: mair motor, small machine (51), the steering wheel of control system and self-navigation autonomous flight instrument adopt lithium battery power supply.
3. a kind of miniature self-service class flapping wing aircraft according to claim 1, it is characterised in that: undercarriage (6) adopts slide-type undercarriage.
4. a kind of miniature self-service class flapping wing aircraft according to claim 1, it is characterised in that: all of fin adopts carbon fibre material to make.
5. a kind of miniature self-service class flapping wing aircraft according to claim 1, it is characterised in that: two pivoted arm (431) structures of pivoted arm frame (43) are identical, and the section of pivoted arm (431) is aerofoil profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410769863.5A CN104443386B (en) | 2014-12-15 | 2014-12-15 | A kind of miniature self-service class flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410769863.5A CN104443386B (en) | 2014-12-15 | 2014-12-15 | A kind of miniature self-service class flapping wing aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443386A CN104443386A (en) | 2015-03-25 |
| CN104443386B true CN104443386B (en) | 2016-06-29 |
Family
ID=52890305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410769863.5A Expired - Fee Related CN104443386B (en) | 2014-12-15 | 2014-12-15 | A kind of miniature self-service class flapping wing aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104443386B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874228A (en) * | 2020-07-14 | 2020-11-03 | 广西大学 | Flapping wing aircraft |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130134474A (en) * | 2012-05-31 | 2013-12-10 | 전북대학교산학협력단 | Variable velocity flapping apparatus for flying object |
| CN103991547A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small ornithopter |
| CN103991540A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Conical rotary flapping wing aircraft |
| CN103991549A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | High-intensity rotary ornithopter |
| CN204297092U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of miniature self-service class flapping wing aircraft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3889956B2 (en) * | 2001-02-27 | 2007-03-07 | シャープ株式会社 | Mobile device |
-
2014
- 2014-12-15 CN CN201410769863.5A patent/CN104443386B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130134474A (en) * | 2012-05-31 | 2013-12-10 | 전북대학교산학협력단 | Variable velocity flapping apparatus for flying object |
| CN103991547A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small ornithopter |
| CN103991540A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Conical rotary flapping wing aircraft |
| CN103991549A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | High-intensity rotary ornithopter |
| CN204297092U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of miniature self-service class flapping wing aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104443386A (en) | 2015-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3159262B1 (en) | Inter-rotor blade pitch control device of coaxial double-rotor helicopter | |
| CN105765215A (en) | Wind power generation device | |
| CN104443384B (en) | A kind of rotating vanes class flapping wing aircraft | |
| CN109795685B (en) | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer | |
| CN103991549B (en) | A kind of high strength rotary flapping wing aircraft | |
| CN103991540B (en) | A kind of taper rotary flapping wing aircraft | |
| CN104443386B (en) | A kind of miniature self-service class flapping wing aircraft | |
| CN104494828B (en) | A kind of flat-type flapping wing lift device of band electromagnetic brake | |
| CN204297093U (en) | A kind of asymmetric rotary flapping wing aircraft | |
| CN104494827B (en) | A kind of asymmetric rotary flapping wing lift generating device | |
| CN104002968B (en) | A kind of small taper rotary flapping wing aircraft | |
| CN204297092U (en) | A kind of miniature self-service class flapping wing aircraft | |
| CN104369865B (en) | A kind of asymmetric rotary flapping wing aircraft | |
| CN203864997U (en) | High-strength rotary flapping wing air vehicle | |
| CN203864996U (en) | Tapered rotating flapping wing air vehicle | |
| CN203864998U (en) | Small-sized rotating flapping wing unmanned aerial vehicle | |
| CN203402385U (en) | Single-axis aircraft | |
| CN205872426U (en) | A vector impels device that verts for dirigible | |
| CN103991547B (en) | A kind of small-sized class flapping wing aircraft | |
| CN204297082U (en) | A kind of asymmetric rotary flapping wing lift generating device | |
| CN203845010U (en) | Small ornithopter | |
| CN109823536B (en) | Sliding pair flapping wing driving mechanism based on external meshing planetary gear reducer | |
| CN201913307U (en) | Section steel flying shear | |
| CN104494825B (en) | A kind of flat-type flapping wing aircraft of band motor | |
| CN105799933A (en) | Micro flapping-wing air vehicle drive mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ji Yang Inventor before: Wang Zhicheng |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170901 Address after: Mu Zhen Fu Min Cun, Xifeng County, Liaoning Province, 112400 room two No. 0058 Patentee after: Ji Yang 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 |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20171215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |