CN105857598A - Wing-flapping micro aerial vehicle structure - Google Patents
Wing-flapping micro aerial vehicle structure Download PDFInfo
- Publication number
- CN105857598A CN105857598A CN201610260699.4A CN201610260699A CN105857598A CN 105857598 A CN105857598 A CN 105857598A CN 201610260699 A CN201610260699 A CN 201610260699A CN 105857598 A CN105857598 A CN 105857598A
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- Prior art keywords
- wing
- flapping
- rocking arm
- girder
- rocker arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
Abstract
The invention discloses a wing-flapping micro aerial vehicle structure. Each of the two sides of a frame is sleeved with a rocker arm; a wing-flapping mechanism is mounted on the rocker arm; a bending shaft is driven to rotate by a motor in a flapping driving mechanism, so that a conical surface is formed by a space track of a bending section of the bending shaft; the bending shaft is coated with a hollow chamber of the rocker arm all the time; for meeting the geometric spatial constraint, the rocker arm can reciprocate, so that a flapping mechanism is formed; in a flapping process, the rocker arm can be controlled to move along the axial direction of the mounting shaft by a flapping amplitude control mechanism, so that the flapping amplitude of one wing is increased while the flapping amplitude of the other wing is reduced; the rocker arm is rotated around the mounting shaft under the control of a flapping plane adjusting mechanism and the wing flapping plane is changed, so that the generated difference between component force and torque can be used for controlling the forward flying, retreating and rotation around self-axis. The wing-flapping micro aerial vehicle structure has the advantages that a new flapping driving mode is supplied, the transmission efficiency is high, the control on the flapping amplitude and the flapping plane is very convenient and the sufficient control torque can be supplied for flying.
Description
Technical field
The present invention relates to minute vehicle field, specifically, be miniature rotor aircraft structure of flapping.
Background technology
Since nineteen nineties, along with the most ripe of conventional aircraft designing technique and microelectric technique
Significantly improving, minute vehicle is suggested and fast-developing.Due to spies such as little, lightweight, the mobility strongs of minute vehicle volume
Levy, be with a wide range of applications in terms of national security and the development of the national economy, it is adaptable to investigation under complex environment, survey
Visit, assist the work such as rescue.
Meanwhile, along with people are to natural biology flight and the continuous exploration of mechanism of moving about, bionic design is got more and more
Be applied to minute vehicle field, start occur imitate insect flying wing minute vehicle of flapping.
Mechanism's design of existing wing layout of flapping, great majority use four-bar mechanism to realize motor convert rotational motion for clapping
Dynamic motion, inevitably there is crank angle between two limit positions in four-bar mechanism so that speed of flapping before and after the wing differs, and lift becomes in time
Change more violent.Need enlarger could meet bigger amplitude requirement of flapping when being simultaneously based on four-bar linkage design, increase
The complexity of structure, is also unfavorable for assembling.
Summary of the invention
The present invention, with rotor aircraft of flapping as design object, proposes a kind of novel flapping mechanism and controlling organization, with simpler
Unit structure realizes flapping efficiently mode, it is provided that enough control moments, proposes one and flaps wing minute vehicle design.
One is flapped wing minute vehicle, including frame, rocker arm assembly, flap wing mechanism and drive mechanism of flapping, bat
Dynamic amplitude controlling organization and planar adjustment mechanism of flapping.
Rocker arm assembly is that two sets are installed on frame both sides, including rocking arm installing rack and rocking arm；Rocking arm installing rack is enclosed within frame
On side in the cylindrical projections of design.Rocking arm is c-type structure, is connect by rotating shaft axle between two ends and rocking arm installing rack.Two sets shake
In arm component, rocking arm top margin installs the film wing by wing installing rack, and wing installing rack constitutes, with the film wing, wing mechanism of flapping.
Drive mechanism of flapping is for by motor-driven cambered axle；For connecting end in the middle part of cambered axle, through frame both sides are arranged.Cambered axle
Two ends are the driving section of same equal angles bending, are inserted into respectively in the interpolation slit offered along rocking arm axis.The rotation of cambered axle makes to drive
Dynamic section has space circle conical surface movement locus, and band motion rocker arm rotates around rocking arm two ends shaft axis, it is achieved the bat of wing mechanism of flapping
Dynamic motion.
Amplitude of flapping controlling organization is the translation push rod driven by driven in translation electromagnetic steering engine.Driven in translation electromagnetic steering engine
Output shaft is connected with the input of driven in translation rocking arm.Translation push rod two ends fluting is enclosed within rocker arm assembly and sets on rocking arm installing rack
On the connection end of meter.The outfan of driven in translation rocking arm is enclosed within translation push rod on the push rod designed；By driven in translation electromagnetism rudder
Machine drives translation push rod to move, and drives flat two rocking arm mounting assembly and wing mechanism cylinder together along frame two sides of flapping
The same phase shift of shape projection, it is achieved the amplitude adjusted of flapping of wing mechanism of flapping.
It is an advantage of the current invention that:
1, one of the present invention flaps wing minute vehicle structure, use cambered axle and rocker structure as driving structure, proposition
New type of drive of flapping, and use gear train transmission, transmission efficiency is high.
2, one of the present invention is flapped wing minute vehicle structure, use cambered axle and rocker structure as driving structure, to bat
The control of dynamic amplitude and plane of flapping is very convenient, it is possible to provide enough control moments for flight.
3, one of the present invention is flapped wing minute vehicle structure, decoration structure features simple design, and material is easy to get, it is easy to processing.
Accompanying drawing explanation
Fig. 1 is that the present invention flaps wing minute vehicle structure overall schematic；
Fig. 2 is that the present invention flaps rack construction schematic diagram in wing minute vehicle structure；
Fig. 3 is that one of the present invention is flapped rocker arm assembly structural representation in wing minute vehicle structure；
Fig. 4 is that one of the present invention is flapped wing mechanism structural representation of flapping in wing minute vehicle structure；
Fig. 5 is that one of the present invention is flapped driving mechanism structure schematic diagram of flapping in wing minute vehicle structure；
Fig. 6 is that one of the present invention is flapped amplitude controlling organization structural representation of flapping in wing minute vehicle structure；
Fig. 7 is that one of the present invention is flapped and translated pusher structure schematic diagram in wing minute vehicle structure.
Fig. 8 is that one of the present invention is flapped planar adjustment mechanism structural representation of flapping in wing minute vehicle structure.
In figure:
1-frame 2-rocker arm assembly 3-flaps wing mechanism
The 4-drive mechanism 5-amplitude controlling organization 6-that flaps that flaps flaps planar adjustment mechanism
101-cylindrical projections 102-gear installing port 103-lead
104-cavity 201-rocking arm installing rack 202-rocking arm
201a-amplitude of flapping controls end 201b-and flaps plane regulating end 202a-interpolation slit
301-wing installing rack 302-film wing 303-angle of attack stop
301a-base 301b-support column 302a-wing girder
302b-wing short beam 302c-wing buttress brace 302d-wing cant beam
302e-ala 303a-lever 303b-gag lever post
401-motor 402-cambered axle 402a-linkage section
402b-drives section 501-translation push rod 502-driven in translation electromagnetic steering engine
503-driven in translation steering wheel Rocker arm 5 01a-bar-shaped trough A 501b-bar-shaped trough B
501c-push rod 503a-bar-shaped trough C 601-flaps plane regulating electromagnetic steering engine
602-plane regulating steering wheel rocking arm 603-adjusting rod
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
One is flapped wing minute vehicle, including frame 1, rocker arm assembly 2, flap wing mechanism 3 and drive mechanism of flapping
4, amplitude of flapping controlling organization 5 and planar adjustment mechanism 6 of flapping, as shown in Figure 1.
Wherein, frame 1 is rectangular structure, uses resin material or polylactic acid (pla), prints entirety by 3D and becomes
Type.As in figure 2 it is shown, frame 1 bottom is designed with cylindrical cavity along frame 1 length direction, interior it is used for installing flapping in drive mechanism 4
Motor, cylindrical cavity diameter is identical with selected motor diameter, and frame 1 entire length is selected motor total length
The 180% of (including the outer segment length of motor shaft).Center, frame 1 left and right side is designed with cylindrical projections 101, is used for pacifying
Dress rocker arm assembly；Meanwhile, frame 1 is designed with the gear installing port 102 connected with cylindrical cavity, is used for drive mechanism 4 of flapping
The installation of middle train of reduction gears and loss of weight.It is also devised with lead 103 on above-mentioned frame 1 side, is used for and amplitude control of flapping
Mechanism 5 coordinates installs.
A set of rocker arm assembly 2, mounting means phase are respectively installed in the cylindrical projections 101 of left and right side in above-mentioned frame 1
With.Rocker arm assembly 2 includes rocking arm installing rack 201 and rocking arm 202, as shown in Figure 4.Wherein, rocking arm installing rack 201 is stauros
Structure, center drilling is enclosed within cylindrical projections 101；In rocking arm installing rack 201, upper and lower end, two ends is designed with axis and is perpendicular to water
The rocking arm installing hole of plane, is used for installing rocking arm 202；Two ends, left and right control end 201a and plane of flapping respectively as amplitude of flapping
Adjustable side 201b.Rocking arm 202 is c-type structure, uses polylactic acid or nylon material；Rocking arm 202 two ends have relative to Position Design
Rotating shaft, coordinates insertion by the rocking arm installing hole that miniature bearing designs with rocking arm installing rack about 201 two ends respectively.Above-mentioned c-type
The interpolation slit 202a, interpolation slit 202a of through rocking arm 202 outboard sidewalls is offered along rocking arm 202 axis designs on structure rocking arm 202, and
Along rocking arm 202 side, and extend to top margin and the base of rocking arm 202 through two bending places of rocking arm 202.
Being provided with, on the rocking arm top margin of frame 1 both sides, wing mechanism 3 of flapping, wing mechanism 3 of flapping is symmetrical.Flap wing mechanism
3 include wing installing rack 301, the film wing 302 and angle of attack stop 303, as shown in Figure 4.Wherein, wing installing rack 301 is fixedly installed in
On rocking arm 202 top margin；Wing installing rack 301 has two support column 301b of design on base 301a and bottom surface, constitutes the type of falling π
Structural fin installing rack 301.On above-mentioned two support column 301b, miniature bearing is installed.The film wing 302 is by wing girder 302a, wing short beam
302b, wing buttress brace 302c, wing cant beam 302d and ala 302e are constituted；Wing girder 302a, wing short beam 302b, wing buttress brace
Each one and coplanar of 302c, wing cant beam 302d, length ratio is 7:3:3.6:7.6.Wherein, wing short beam 302b and wing girder 302a
Being vertically arranged, top is connected with wing girder 302a, and the distance between the installation end of junction point and wing girder 302a is wing girder
The 10% of 302a length.Wing cant beam 302d between wing girder 302a and wing short beam 302b, top and wing girder 302a and the wing
The junction point of short beam 302b is connected, and axis is positioned on the rectangle diagonal that wing girder 302a and wing short beam 302b is constituted.The wing adds
Brutal 302c is vertically arranged with wing cant beam 302d, and end is connected with wing short beam 302b end, and top is connected with wing girder 302a, and
Wing buttress brace 302c is connected at wing cant beam 302d vertical point.Above-mentioned by wing girder 302a, wing short beam 302b, wing buttress brace 302c
It is equipped with ala 302e in the plane collectively formed with wing cant beam 302d.The material selection thickness of ala 302e is about 0.04mm's
Bidirectional stretching polypropylene film, mylar or other thin film.Wing girder 302a and wing short beam 302b all uses 0.8mm diameter carbon
Bar, wing buttress brace 302c, wing cant beam 302d use 0.5mm diameter carbon beam.The installation end of above-mentioned wing girder 302a and wing installing rack
In 301, the bearing fit on two support column 301b is installed, the change angle of attack free to rotate, and its conversion range of angle of attack can be by attacking
Angle retainer 303 limits, particularly as follows: angle of attack stop 303 is made up of with gag lever post 303b gag lever post 303a；Wherein lever 303a
Being fixedly mounted on the base 301a on wing installing rack 301, axis is parallel with wing girder 302a.Two gag lever post 303b end phases
Connect, form the V-structure with opening；Two gag lever post 303b are vertically arranged with wing girder 302a, and joint is fixedly mounted on
Wing girder 302a installation end end, and make lever 303a between two gag lever post 303b.Thus, when wing mechanism 3 turns of flapping
Time dynamic, two gag lever post 303b together rotate with wing mechanism 3 of flapping, by joining between two gag lever post 303b and lever 303a
Close, it is achieved it is spacing that wing mechanism 3 of flapping rotates, and then limits wing mechanism 3 conversion range of angle of attack of flapping.Move according to air
Experiments of Machanics, wing mechanism 3 angle of attack of flapping has bigger lift coefficient at about 50 degree, it is contemplated that the diameter of lever 303a, and two
Root gag lever post 303b opening angle is 120 degree.
The rocker arm assembly 2 of above-mentioned frame 1 left and right sides is by drive mechanism 4 of flapping, amplitude of flapping controlling organization 5 and flaps flat
Face controlling organization controls 6, realizes the rotation around rocking arm 202 end part rotating shaft axis, homophase translation respectively and justifies around frame 1 side
The rotation of stud bump 101, and then realize the flap driving of flapping of wing mechanism 3, amplitude adjusted of flapping and plane of flapping tune respectively
Joint.
Described drive mechanism 4 of flapping is by motor-driven cambered axle structure, including motor 401, train of reduction gears 402 with curved
Axle 402, as shown in Figure 5；Wherein, motor 401 uses hollow-cup motor, is fixedly mounted in the cavity in frame 1.Reduction gearing
Group 402 includes little gear and gear wheel, is respectively positioned in frame 1 at the gear installing port 102 offered；Little gear is fixedly mounted on electricity
On the output shaft of machine 401；Gear wheel engages with little gear, is fixedly installed in the middle part of cambered axle 402.For even in the middle part of described cambered axle 402
The section of connecing 402a, linkage section is co-axially located in frame 1 in hard-wired metal sleeve, metal sleeve and two, frame 1 side
Cylindrical projections 101 is coaxially disposed, and through two cylindrical projections 101 end faces.Cambered axle 402 two ends are for having angularly homophase
Driving section 402b of bending, in the interpolation slit 202a inserted respectively in two set rocker arm assemblies 2 on rocking arm 202 side.Above-mentioned cambered axle 402
Driving section 402b diameter less than the width of interpolation slit 202a；Thus, export power by motor 401, train of reduction gears 402 pass
Being handed to cambered axle 402, drive cambered axle 402 to rotate, driving section 402b of cambered axle 402 together rotates, and its space tracking rotated is formed
One taper seat, owing to driving section 402b to be always positioned in the interpolation slit 202a on rocking arm 202, now rocking arm 202 is several in order to meet
Space constraint on He, can move back and forth around rocking arm 202 two ends shaft axis, thus drives wing mechanism 3 of flapping to flap.Curved
Axle 402 per revolution, wing mechanism 3 of flapping completes the most back and forth to flap.Make cambered axle 402 middle connecting segment 402a and drive section 402b
Between angle β, the rotational angle of cambered axle 402 is θ, then wing mechanism 3 of flapping is flapped amplitudeFor:
Described amplitude controlling organization 5 of flapping includes translating push rod 501, driven in translation electromagnetic steering engine 502, driven in translation steering wheel
Rocker arm 5 03, as shown in Figure 6.Wherein, driven in translation electromagnetic steering engine 502 is fixedly installed in frame 1 side, makes driven in translation electromagnetism
The output shaft of steering wheel 502 is perpendicular to frame 1 side.As it is shown in fig. 7, translation push rod 501 is the platy structure of dumbbell shape, i.e. two
End width is more than middle part width；Translation push rod 501 be arranged in parallel with frame 1 side, and is parallel to the linkage section of cambered axle 402
402a.It is designed with the bar-shaped trough A501a being perpendicular to translate push rod 501 axis, by by bar-shaped trough at translation push rod 501 two ends
A501a is enclosed within the amplitude of flapping of rocking arm installing rack 201 in frame 1 both sides rocker arm assembly 2 and controls on end 201a, and in amplitude of flapping
Control end 201a end and location bar is installed, prevent the slippage translating push rod 501 with rocking arm installing rack 201.Translation push rod 501 is upper
Position Design in train of reduction gears 402 is domes, keeps for train of reduction gears 402 installing space and self translation required
The space wanted.Also have bar-shaped trough B501b, bar-shaped trough B501b along axis on translation push rod 501 and be enclosed within leading on frame 1 side
On post 103, realized the guiding of translation push rod 501 translational motion by lead 103, and pad is installed in lead 103 end
Sheet, limits the displacement at frame 1 thickness direction of the translation push rod 501.The input of driven in translation steering wheel Rocker arm 5 03 is fixedly mounted on
On the output shaft of driven in translation electromagnetic steering engine 502, outfan is designed with bar-shaped trough C503a, is enclosed within design on translation push rod 501
It is perpendicular on the push rod 501c of frame 1 side.Thus, drive rocking arm 202 to swing by driven in translation electromagnetic steering engine 502, drive
Translation push rod 501 moves horizontally, the amplitude of flapping of rocking arm installing rack 201 control end 201a and promote two set rocker arm assemblies 2 along machine
Cylindrical projections 101 simultaneous movements of frame 1 side；Thus during wing mechanism 3 of flapping is flapped, two set rocker arm assembly 2 homophases
During motion, in two wing mechanisms 3 of flapping, an amplitude of flapping increases, and another amplitude of flapping reduces, and consequent lift is poor
Form a rolling moment.
Described plane control mechanism 6 of flapping includes flap plane regulating electromagnetic steering engine 601, plane regulating steering wheel rocking arm 602
And adjusting rod 603, as shown in Figure 8；Wherein, plane regulating electromagnetic steering engine 601 is two, is separately mounted to frame 1 bottom surface left
Right two ends, and output shaft is oppositely arranged.Plane regulating steering wheel rocking arm 602 is two, and input is respectively and fixedly installed to two and puts down
On the output shaft of face regulation electromagnetic steering engine 601.Adjusting rod 603 is similarly two, uses S type structure, and one end is put down with two respectively
Face regulation steering wheel rocking arm 602 outfan on opening gaps coordinate, the other end respectively with rocking arm installing rack in two rocker arm assemblies 2
The opening gaps flapped on plane regulating end 201b of 201 coordinates；Thus flap during wing mechanism 3 flaps two, by two
Plane regulating electromagnetic steering engine 601 acts on, and makes rotating around frame 1 both sides cylindrical projections 101 of rocking arm installing rack 201, can cause
Wing mechanism 3 of flapping is flapped the change of plane.Due to two flap wing mechanism 3 flap produce lift be perpendicular to plane of flapping, flap
The change of plane can cause the direction of the film wing 302 power to change, consequent component and torque difference may be used for control before fly, after
Move back, around the rotation of its longitudinal axis.
The present invention flaps wing minute vehicle structure, in flight course, by drive mechanism 4 of flapping by the rotation of motor
Conversion of motion is motion of back and forth flapping, and thus drives wing mechanism 3 of flapping back and forth to flap；During flapping, the film wing 302 is empty with surrounding
Gas produces relative motion, and the film wing 302 receives the Aerodynamic force action flowed, and produces turning torque, forces wing mechanism 3 of flapping around the wing
Girder 302a overturns, and when being turned to certain angle, can not continue to turn over by the effect of angle of attack stop 303 wing mechanism 3 that makes to flap
Turn, the upset of wing mechanism 3 of flapping and elastic deformation effect make the film wing 302 with carry out flow path direction formed angle, this angle is flaps
The angle of attack of flapping of wing mechanism 3.The film wing 302 is flapped generation aerodynamic force under certain angle of attack, thus produces lift, and by amplitude of flapping
What controlling organization 5 and planar adjustment mechanism 6 flapping mechanism of flapping controlled to flap wing mechanism 3 flaps amplitude and the change of plane of flapping
Change, produce control moment.
The present invention process that each parts in wing minute vehicle structure carry out installing of flapping is:
1) in frame 1, metal sleeve is installed in perforate；
2) motor 401 is installed in the cylindrical cavity in frame 1；
3) at motor 401 output shaft, little gear is installed；
4) by frame 1 side, a piece d-axis is penetrated metal sleeve；
5) adjust drive shaft right position to beyond frame 1 left and right side isometric after, by d-axis both sides bending 60 degree in the same direction,
Form cambered axle 402, the linkage section 402a of gear wheel with cambered axle 402 is tightly fixed；
6) rocking arm installing rack 201 it is set with in the cylindrical projections 101 on the left and right sidewall of frame 1；
7) two plane regulating electromagnetic steering engines 601 of flapping are installed on the bottom surface of frame 1, and mounting plane regulation steering wheel shakes
Arm 602, installs adjusting rod 603, and so far two plane regulating electromagnetic steering engines 601 of flapping can control frame 1 both sides rocking arm 202 respectively
Rotation around frame 1 lateral cylindrical projection 101.
8) being enclosed within lead 103 by the bar-shaped trough B501b on translation push rod 501, the bar-shaped trough A501a of left and right end is enclosed within
The amplitude of flapping of two rocking arm installing racks 201 controls on end 201a；Pad is installed in lead 103 end subsequently, and is flapping
Amplitude controls end 201a end and installs location bar.
9) miniature bearing is installed in the installing hole on two rocking arm installing racks 201, subsequently by the interpolation slit of two rocking arms 202
202a is enclosed within driving section 402b of cambered axle 402, and by the rotating shaft on two rocking arm 202 two ends respectively with two rocking arm installing racks
In installing hole on 201, miniature bearing coordinates installation.
10) miniature bearing is installed on two support column 301b on wing installing rack 301, by the wing girder in the film wing 302
Miniature bearing on the installation end of 302a and two support column 301b coordinates to be installed.
11) lever is installed on wing installing rack 301, installs spacing simultaneously at the wing girder 302a installation end of the film wing 302
Bar 303b, the installation of the wing mechanism 3 that so far completes to flap
12) the base 301a of the wing installing rack 301 flapped in wing mechanism 3 of step 11 installation is fixedly mounted on shakes
On arm 202 top margin.
Claims (4)
1. flap a wing minute vehicle structure, including frame, rocker arm assembly, flap wing mechanism and drive mechanism of flapping,
Amplitude of flapping controlling organization and planar adjustment mechanism of flapping；It is characterized in that:
Rocker arm assembly is that two sets are installed on frame both sides, including rocking arm installing rack and rocking arm；Rocking arm installing rack is enclosed within frame side
In the cylindrical projections of upper design；Rocking arm is c-type structure, is connect by rotating shaft axle between two ends and rocking arm installing rack；Two set rocking arm set
In part, rocking arm top margin installs the film wing by wing installing rack, and wing installing rack constitutes, with the film wing, wing mechanism of flapping；
Drive mechanism of flapping is for by motor-driven cambered axle；For connecting end in the middle part of cambered axle, through frame both sides are arranged；Cambered axle two ends
For the driving section of same equal angles bending, it is inserted into respectively in the interpolation slit offered along rocking arm axis；The rotation of cambered axle makes driving section
Having space circle conical surface movement locus, band motion rocker arm rotates around rocking arm two ends shaft axis, it is achieved the fortune of flapping of wing mechanism of flapping
Dynamic；
Amplitude of flapping controlling organization is the translation push rod driven by driven in translation electromagnetic steering engine；The output of driven in translation electromagnetic steering engine
Axle is connected with the input of driven in translation rocking arm；Translation push rod two ends fluting is enclosed within design on rocking arm installing rack in rocker arm assembly
Connect on end；The outfan of driven in translation rocking arm is enclosed within translation push rod on the push rod designed；Driven by driven in translation electromagnetic steering engine
Dynamic translation push rod moves, and drives two rocking arm mounting assembly and wing mechanism cylindrical projections together along frame two sides of flapping
Same phase shift, it is achieved the amplitude adjusted of flapping of wing mechanism of flapping.
2. as claimed in claim 1 one is flapped wing minute vehicle structure, it is characterised in that: wing mechanism of flapping；Wherein, wing peace
Shelve and be fixedly installed on rocking arm top margin；Wing installing rack has two support columns of design on base and bottom surface；Above-mentioned two
Bearing is installed on support column；The film wing is made up of wing girder, wing short beam, wing buttress brace, wing cant beam and ala；Wing girder, the wing
Each one and coplanar of short beam, wing buttress brace, wing cant beam；Wing short beam is vertically arranged with wing girder, and top is connected with wing girder；The wing is oblique
Beam is between wing girder and wing short beam, and top is connected with the junction point of wing girder and wing short beam, and axis be positioned at wing girder and
On the rectangle diagonal that wing short beam is constituted；Wing buttress brace is vertically arranged with wing cant beam, and end is connected with wing short beam end, top with
Wing girder is connected, and wing buttress brace is connected at wing cant beam vertical point；Above-mentioned oblique by wing girder, wing short beam, wing buttress brace and the wing
It is equipped with ala in the plane that beam collectively forms；The installation end of above-mentioned wing girder and the bearing on two support columns in wing installing rack
Coordinate and install.
3. as claimed in claim 1 one is flapped wing minute vehicle structure, it is characterised in that: the angle of attack variation of wing mechanism of flapping
Scope is limited by angle of attack stop；Angle of attack stop is made up of with lever gag lever post；Wherein lever is fixedly mounted on wing installation
On frame；Gag lever post is that V-structure is installed on the film wing；Coordinated with between lever by gag lever post two ends, it is achieved wing mechanism of flapping is clapped
Dynamic conversion range of angle of attack limits.
4. as claimed in claim 1 one is flapped wing minute vehicle structure, it is characterised in that: the opening of described V-type gag lever post
Angle is 120 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260699.4A CN105857598B (en) | 2016-04-25 | 2016-04-25 | One kind is flapped wing minute vehicle structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260699.4A CN105857598B (en) | 2016-04-25 | 2016-04-25 | One kind is flapped wing minute vehicle structure |
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| CN105857598A true CN105857598A (en) | 2016-08-17 |
| CN105857598B CN105857598B (en) | 2018-03-23 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864749A (en) * | 2017-02-27 | 2017-06-20 | 北京航空航天大学 | A kind of variable deceleration than miniature rotor aircraft of flapping |
| CN106864750A (en) * | 2017-02-27 | 2017-06-20 | 北京航空航天大学 | A kind of linkage of the controllable upset mean place of microminiature |
| CN107200127A (en) * | 2017-05-27 | 2017-09-26 | 南京航空航天大学 | Many flapping wing aircrafts and its flight control method |
| CN109398697A (en) * | 2018-10-09 | 2019-03-01 | 南京航空航天大学 | A kind of independent type electric Magnetic driving reciprocating mechanism of adaptive micro- torsion |
| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
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Application publication date: 20160817 Assignee: Beijing Hangyuan ruizeng System Technology Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021110000003 Denomination of invention: Structure of flapping wing MAV Granted publication date: 20180323 License type: Common License Record date: 20210121 |