CN104670495B - One can hover flapping wing aircraft and flight mode - Google Patents
One can hover flapping wing aircraft and flight mode Download PDFInfo
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- CN104670495B CN104670495B CN201510101877.4A CN201510101877A CN104670495B CN 104670495 B CN104670495 B CN 104670495B CN 201510101877 A CN201510101877 A CN 201510101877A CN 104670495 B CN104670495 B CN 104670495B
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Abstract
One can hover flapping wing aircraft and flight mode.The invention discloses one can to hover flapping wing aircraft, comprise fuselage and the single flapping wing mechanism of four covers, the single flapping wing mechanism of four covers is symmetrical and front and back are arranged on fuselage both sides symmetrically, single flapping wing mechanism comprises swinging mounting, flapping wing, actuator, eccentric knee and position-limited lever, swinging mounting is connected with fuselage by hinge, residing for its hinge axis and fuselage, the angle of the vertical direction of plane is little acute angle, flapping wing is fixedly connected with swinging mounting, actuator is fixedly mounted on fuselage, position-limited lever is fixedly mounted on swinging mounting between two, eccentric one end of knee is fixedly connected with the mouth of actuator, other end bending, bending section inserts between two position-limited levers, by eccentric rotary, the rotation of actuator output shaft is converted into the swing of swinging mounting.This aircraft volume is little, lightweight, and the energy steadily hovering when flying, flapping wing can produce larger lift and provide enough side forces, and be convenient to realize multiple maneuver, flapping wing swinging gear is simple and reliable, makes efficiency of movement high.
Description
Technical field
The present invention relates to aircraft field, particularly one can hover flapping wing aircraft and flight mode.
Background technology
Occurring in nature, the flapping wings type flying method of birds or insect can realize fast speed and take off, accelerates and hover, and has manoevreability and the alerting ability of height.Flapping wing aircraft, because its volume is little, quality light, has more advantage, has good disguise, in military, civilian, have very wide application prospect under little space.Various countries expert successively develops a series of bionic flapping-wing flying vehicle such as " iBird-bot ", " MicroroboticFly ", " Hummingbird ", " DelflyMicro " and " SmartBird ", front flying, retreat, there has been technical breakthrough the aspects such as hovering.
In prior art, there is the problem of following several respects in common flapping wing aircraft: (1) flapping motion is asymmetric.A lot of flapping wing aircraft adopts asymmetric slide block or connecting rod mechanism to realize flapping motion, and this project organization is simple, and its efficiency is low and cannot realize aircraft steadily hovering; (2) lift is not enough.Many flapping wing aircrafts realize flight with fluttering up and down of left and right two panels flapping wing, and lift is lower, increase flapping wing area or raising can only be relied on to flutter frequency to improve lift, considerably increase volume and weight; (3) course changing control is difficult.Most flapping wing aircraft utilizes steering wheel to drive additional aerofoil to realize turning to of fuselage, and this design adds weight on the one hand, adds control complexity on the other hand.
Summary of the invention
The object of the invention is to overcome the problems referred to above, provide one can hover flapping wing aircraft and flight mode.
For achieving the above object, the method that the present invention adopts is: one can be hovered flapping wing aircraft, comprise fuselage and the single flapping wing mechanism of four covers, the described single flapping wing mechanism of four covers is symmetrical and front and back are arranged on fuselage both sides symmetrically, single flapping wing mechanism comprises swinging mounting and flapping wing, swinging mounting is connected with fuselage by hinge, residing for its hinge axis and fuselage, the angle of the vertical direction of plane is little acute angle, this acute angle size span is 3 ° to 20 ° (comprising 3 ° and 20 °), and described flapping wing is fixedly connected with swinging mounting.
Preferred as one of the present invention, described single flapping wing mechanism also comprises actuator, eccentric knee and position-limited lever, actuator is fixedly mounted on fuselage, position-limited lever is fixedly mounted on swinging mounting between two, and described one end of eccentric knee is fixedly connected with the mouth of actuator, other end bending, bending section inserts between two position-limited levers, by eccentric rotary, the rotation of actuator output shaft is converted into the swing of swinging mounting.
Preferred as one of the present invention, the actuator in described single flapping wing mechanism is the one in motor, the motor being with speed reduction gearing or other forms of low-speed big rotary actuator.
One can hover flapping wing aircraft and flight mode, described mode comprises the steps:
When aircraft rises from static or floating state, accelerate the hunting frequency of four single flapping wing mechanisms simultaneously;
When aircraft declines from floating state, reduce the hunting frequency of four single flapping wing mechanisms simultaneously;
Aircraft carries out pitching or rolling from floating state during to side, the hunting frequency reducing these two single flapping wing mechanisms in side accelerates the hunting frequency of opposite side two single flapping wing mechanisms simultaneously;
When aircraft flies from floating state to side, first carry out pitching or rolling to this side to certain inclination angle, then by consistent for four single flapping wing mechanism hunting frequencies adjustment, this frequency should make resultant lift and the aircraft gravitational equilibrium of lower four flapping wings in this inclination angle;
When aircraft turns to from floating state to side, two on the same diagonal line of fuselage single flapping wing mechanism hunting frequencies are consistent, and the single flapping wing mechanism hunting frequency on different diagonal line increases respectively or reduces, and obtain the steering torque pointing to this side.
Beneficial effect:
Technical solution of the present invention compared to existing technology in scheme, adopt the symmetrical single flapping wing mechanism of four covers installed to realize flight, symmetrical configurations can make aircraft can steadily hovering when flying; Utilize the flapping wing installed with the little inclined at acute angles in fuselage plane orthogonal direction to carry out small inclination transverse direction to flutter can have enough side forces compared with lift producing simultaneously, can directly realize fuselage course changing control, this design reduces volume, expendable weight on the one hand, reduces on the other hand to control complexity; Adopt eccentric knee actuator to be converted into the design of flapping wing swing, structure is simple, improves and makes efficiency of movement.
Accompanying drawing explanation
Fig. 1 is flapping wing aircraft overall schematic of hovering of the present invention;
Fig. 2 is the overall birds-eye view of flapping wing aircraft that can hover;
Fig. 3 is the flapping wing aircraft flapping wing scheme of installation that can hover;
Fig. 4 is the flapping wing aircraft swinging gear schematic diagram that can hover;
In figure: 1, fuselage, 2, single flapping wing mechanism, 3, actuator, 4, eccentric knee, 5, swinging mounting, 6, position-limited lever, 7, flapping wing.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, the present embodiment is implemented under premised on technical solution of the present invention, should understand these embodiments and only be not used in for illustration of the present invention and limit the scope of the invention.
Embodiment 1:
One disclosed in the present invention program can be hovered flapping wing aircraft, as shown in Figures 1 and 2, comprises fuselage 1 and the single flapping wing mechanism 2 of four covers.The single flapping wing mechanism 2 of four covers is symmetrical and front and back are arranged on fuselage 1 both sides symmetrically.By this symmetrical configurations, flapping wing aircraft can be made to realize steadily hovering.
As shown in Figure 3, single flapping wing mechanism 2 comprises swinging mounting 5 and flapping wing 7.Wherein, swinging mounting 5 is connected with fuselage 1 by hinge, and residing for its hinge axis and fuselage 1, the angle theta of the vertical direction of plane is little acute angle, and this acute angle size span is 3 ° to 20 ° (comprising 3 ° and 20 °).Flapping wing 7 is fixedly connected with swinging mounting 5.In this way, flapping wing 7 can carry out small inclination and laterally flutter, and provides larger lift on the one hand fuselage 1, provides enough side forces on the other hand fuselage 1, is convenient to fuselage 1 and realizes quick steering and control.
As shown in accompanying drawing 3 and accompanying drawing 4, single flapping wing mechanism 2 also comprises actuator 3, eccentric knee 4, position-limited lever 6.Wherein, actuator 3 fixedly mounts on the fuselage 1.Position-limited lever 6 is fixedly mounted on swinging mounting 5 between two.One end of eccentric knee 4 is fixedly connected with the mouth of actuator 3, other end bending, and its bending section inserts between position-limited lever 61 and position-limited lever 62, by eccentric rotary, the rotation of actuator 3 output shaft is converted into the swing of swinging mounting 5.The simple swinging gear of this nested structure, can reduce system manufacture and control complexity, improving and make efficiency of movement.
Actuator 3 in single flapping wing mechanism described in the present invention program can be the one in motor, the motor being with speed reduction gearing or other forms of low-speed big rotary actuator.
A kind of flight mode of the flapping wing aircraft that hovers that the present invention announces is: aircraft from static or floating state rises time, accelerate the hunting frequency of four single flapping wing mechanisms 2 simultaneously; When aircraft declines from floating state, reduce the hunting frequency of four single flapping wing mechanisms 2 simultaneously.Aircraft carries out pitching or rolling from floating state during to side, reduce the hunting frequency of the single flapping wing mechanism 2 in two, this side, accelerate the hunting frequency of the single flapping wing mechanism 2 of opposite side two simultaneously.When aircraft flies from floating state to side, first carry out pitching or rolling to this side to certain inclination angle, then by consistent for four single flapping wing mechanism 2 hunting frequencies adjustment, this frequency should make resultant lift and the aircraft gravitational equilibrium of lower four flapping wings 7 in this inclination angle.When aircraft turns to from floating state to side, two on the same diagonal line of fuselage 1 single flapping wing mechanism 2 hunting frequencies are consistent, and single flapping wing mechanism 2 hunting frequency on different diagonal line increases respectively or reduces, and obtain the steering torque pointing to this side.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned technological means, also comprises the technical scheme be made up of above technical characteristic combination in any.The above is the specific embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (4)
1. the flapping wing aircraft that can hover, it is characterized in that, comprise fuselage and the single flapping wing mechanism of four covers, the described single flapping wing mechanism of four covers is symmetrical and front and back are arranged on fuselage both sides symmetrically, single flapping wing mechanism comprises swinging mounting and flapping wing, and swinging mounting is connected with fuselage by hinge, and residing for its hinge axis and fuselage, the angle of the vertical direction of plane is little acute angle, this acute angle size span is 3 ° to 20 °, and described flapping wing is fixedly connected with swinging mounting.
2. one according to claim 1 can be hovered flapping wing aircraft, it is characterized in that, described single flapping wing mechanism also comprises actuator, eccentric knee and position-limited lever, actuator is fixedly mounted on fuselage, and position-limited lever is fixedly mounted on swinging mounting between two, described one end of eccentric knee is fixedly connected with the mouth of actuator, other end bending, bending section inserts between two position-limited levers, by eccentric rotary, the rotation of actuator output shaft is converted into the swing of swinging mounting.
3. one according to claim 2 can be hovered flapping wing aircraft, and it is characterized in that, the actuator in described single flapping wing mechanism is low-speed big rotary actuator.
4. can hover the flight mode of flapping wing aircraft, it is characterized in that, described mode comprises the steps:
When aircraft rises from static or floating state, accelerate the hunting frequency of four single flapping wing mechanisms simultaneously;
When aircraft declines from floating state, reduce the hunting frequency of four single flapping wing mechanisms simultaneously;
Aircraft carries out pitching or rolling from floating state during to side, the hunting frequency reducing these two single flapping wing mechanisms in side accelerates the hunting frequency of opposite side two single flapping wing mechanisms simultaneously;
When aircraft flies from floating state to side, first carry out pitching or rolling to this side to certain inclination angle, then by consistent for four single flapping wing mechanism hunting frequencies adjustment, this frequency should make resultant lift and the aircraft gravitational equilibrium of lower four flapping wings in this inclination angle;
When aircraft turns to from floating state to side, two on the same diagonal line of fuselage single flapping wing mechanism hunting frequencies are consistent, and the single flapping wing mechanism hunting frequency on different diagonal line increases respectively or reduces, and obtain the steering torque pointing to this side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510101877.4A CN104670495B (en) | 2015-03-09 | 2015-03-09 | One can hover flapping wing aircraft and flight mode |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510101877.4A CN104670495B (en) | 2015-03-09 | 2015-03-09 | One can hover flapping wing aircraft and flight mode |
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| Publication Number | Publication Date |
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| CN104670495A CN104670495A (en) | 2015-06-03 |
| CN104670495B true CN104670495B (en) | 2016-04-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106477044A (en) * | 2016-12-01 | 2017-03-08 | 向仲宇 | The above flapping wing aircraft of four wings |
| CN110171568A (en) * | 2019-06-14 | 2019-08-27 | 山东大学 | One kind can hover flapping wing aircraft |
| CN113335522B (en) * | 2021-06-23 | 2022-12-23 | 中国矿业大学 | High-pressure gas driven gliding type flapping wing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4712749A (en) * | 1985-10-11 | 1987-12-15 | Duke Fox | Means for and methods of controlling ornithopters |
| CN101947389B (en) * | 2010-10-12 | 2012-07-25 | 上海交通大学 | Double-wing type insect-like air vehicle |
| CN104369864B (en) * | 2014-11-19 | 2016-11-09 | 上海工程技术大学 | A kind of miniature imitative insecticide dual rotary flapping wing aircraft |
| CN204568062U (en) * | 2015-03-09 | 2015-08-19 | 葛讯 | One can be hovered flapping wing aircraft |
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Effective date of registration: 20180227 Address after: Nanjing Baixia High-tech Industrial Park in Jiangsu province 210000 Building No. 4 Room 305 Patentee after: Nanjing Tao - Aviation Technology Co. Ltd. Address before: Nanjing Baixia High-tech Industrial Park in Jiangsu province 210000 Building No. 4 Room 305 Patentee before: Ge Xun |
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Effective date of registration: 20200114 Address after: 215500 room 407, building 1, Tongji Science and Technology Plaza, No. 333, Hushan Road, Changshu hi tech Industrial Development Zone, Suzhou City, Jiangsu Province Patentee after: Suzhou Tao - Aviation Technology Co. Ltd. Address before: Nanjing Baixia High-tech Industrial Park in Jiangsu province 210000 Building No. 4 Room 305 Patentee before: Nanjing Tao - Aviation Technology Co. Ltd. |