CN106143903A - A kind of wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings - Google Patents
A kind of wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings Download PDFInfo
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- CN106143903A CN106143903A CN201610557565.9A CN201610557565A CN106143903A CN 106143903 A CN106143903 A CN 106143903A CN 201610557565 A CN201610557565 A CN 201610557565A CN 106143903 A CN106143903 A CN 106143903A
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- empennage
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- gear
- connecting rod
- wing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The present invention relates to a kind of wing and can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings, belong to micro flapping wing air vehicle field.Flutter twist mechanism, empennage, fuselage direct current generator, empennage support bar and electronic control module is arranged on Rack Body, wing is connected to reverse on panel, regulation turns to rotor to be connected on fan electromotor, empennage drive mechanism is connected on empennage support bar, and fixing empennage supporting bar structure is fixed together empennage support bar by screw with empennage.Advantage is novel structure, simplifies design structure, it is easy to accomplish miniaturization.Make flapping wing aircraft produce in the case of frequency of fluttering is identical compared with only producing the aircraft fluttered up and down and bigger raise power, improve micro flapping wing air vehicle flying quality greatly, aircraft flight is flexible, improve aerodynamic characteristic, flight efficiency is high, and volume is little, lightweight, practicality is higher, it is possible to realize more flight function.
Description
Technical field
The present invention relates to a kind of micro flapping wing air vehicle field, especially relate to a kind of wing and can reverse and be capable of many
The micro flapping wing air vehicle of flight function.
Background technology
Micro flapping wing air vehicle as the novel flying robot of a kind of imitative birds, it have lightweight, volume is little, flight
Flexibly, efficiency advantages of higher, and more complicated active flight can also be realized.Flapping wing aircraft is fanned by double-vane in flight course
Moving and fly, compared with fixed-wing and rotary-wing aircraft, flapping wing aircraft has the machine that the place taken of taking off is little, good
Move performance, be capable of hovering and capacity usage ratio high.At present military field can use minute vehicle to carry out mesh
Mark investigation, accurately transmits information, utilizes its disguised strong feature to reach to attack purpose suddenly, it is also possible to utilize its communication function
Realize the purpose of interference signal.At civil area, after can be used to disaster, search survivor；Can also realize without dead angle is dynamic
Urban transportation monitors；It also is able to realize aeroplane photography.
In existing flapping wing aircraft, the mode of fluttering of its wing is mainly to flutter up and down, although some flapping wing
Aircraft flight effect can reach intended purpose, but flexibility ratio is relatively low, and capacity usage ratio is low.And birds are flying really
During row, their wing is not only simple fluttering up and down, but adds again twist motion.Also document is had to prove, flight
Device is when flight, and wing is fluttered and in addition twist motion up and down, and flight effect is more preferable, in hgher efficiency, but all exist structure complicated,
The problem being difficult to realize miniaturization.
Summary of the invention
The present invention provides a kind of wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings, to solve mesh
The realization that front micro flapping wing air vehicle exists is reversed design structure complexity when fluttering, is difficult to realize miniaturization issues.
The present invention adopts the technical scheme that: twist mechanism of fluttering, empennage, fuselage direct current generator, empennage support bar and electricity
Sub-control module is arranged on Rack Body, and wing is connected to reverse on panel, and regulation turns to rotor to be connected on fan electromotor, tail
Wing drive mechanism is connected on empennage support bar, and fixing empennage supporting bar structure is fixed empennage support bar by screw with empennage
Link together.
Twist mechanism of fluttering of the present invention is made up of right side motion structure and left side motion structure, and both structures
Identical, the right gear of right side motion structure and the left gear engagement of left side motion structure connect, and little gear one engages with left gear
Connecting, wherein right side motion structure is: one end of right gear bending axis is fixed on the center of right gear, and bottom right guides rectangular block
It is fixed to the other end of right gear bending axis；Right torsional surface plate holder guides rectangular block, the centre of upper right guiding rectangular block in bottom right,
Screw guides the hole on rectangular block, right torsion panel through upper right and is fixed on bottom right and guides on rectangular block, right limit connecting rod one
One end hinged with right torsion panel, right limit connecting rod one is hinged with the center of right limit connecting rod two one end by screw, the right side
The other end of spacing connecting rod two is hinged with one end of right limit connecting rod three, and the nose bar of the other end of right limit connecting rod three can be on the right side
The long recess of spacing connecting rod four rotates and mobile, and right limit connecting rod four is fixed on Rack Body.
The structure of empennage drive mechanism of the present invention is: little gear two is connected on empennage direct current generator, connects regulation
The fan electromotor turning to rotor is arranged on teeth-missing gear center, and the parallel sensing aircraft of the axis direction of fan electromotor is just
Rear, one end of bar one equipped with limited block one, one end of bar two equipped with limited block two, prominent with on teeth-missing gear of limited block one
Bar one fits；Limited block two fits with the highlight bar two on teeth-missing gear, bar one and bar two are cased with respectively spring one with
Spring two, one end of spring one contacts with the limited block on bar one, the other end contacts with empennage support bar, and spring one has precompressed
Contracting amount；One end of spring two contacts with the limited block on bar two, the other end contacts with empennage support bar, and spring two has precommpression
Amount；Bar one is connected through the hole on empennage support bar with block one, and bar two is through the hole on empennage support bar and block two-phase
Connect；For teeth-missing gear, hypodontia part accounts for the 1/3 of whole circumferential section, and toothed portion is in the engagement place of little gear two
The middle of toothed portion.
It is an advantage of the invention that novel structure, simplify design structure, it is easy to accomplish miniaturization.Flapping wing mechanism can change
Reverse the mounting inclination angle degree of panel, it is possible to change flutter angle and windup-degree, the symmetrical structure of this mechanism, therefore flutter
Dynamic have good symmetry, has good stability in-flight at flapping wing aircraft, and the size of torsion angle is along with wing is up and down
Middle location of fluttering and be varied from, well imitated the flight of birds.Twist motion mainly by oriented module and
Spacing connecting rod two parts are compound and realize, and empennage mechanism part rotates by gear, make small fan move to towards a left side, backwards, court
On direction, then regulation small fan rotating, it is easy to accomplish accelerate flight, hovering or vertically rise, the flight that has a down dip, facing upward flies
Go, turn right, sporting flying of turning left, the flare maneuver that flapping wing aircraft realizes is relatively comprehensive, and Stability Analysis of Structures, and at flapping wing
The aircraft takeoff stage, it is possible to achieve non helping hand takes off, the fluttering up and down of wing add twist motion can make flapping wing aircraft with
Only produce the aircraft fluttered up and down to compare to produce in the case of frequency of fluttering is identical and bigger raise power, improve greatly
Micro flapping wing air vehicle flying quality, aircraft flight is flexible, improves aerodynamic characteristic, and flight efficiency is high, and volume is little, weight
Gently, practicality is higher, it is possible to realize more flight function.
Accompanying drawing explanation
Fig. 1 a is the structural representation of the present invention；
Fig. 1 b is the upward view of the present invention；
Fig. 2 is the upward view of torque drive mechanism of the present invention；
Fig. 3 is the top view of torque drive mechanism of the present invention；
Fig. 4 is the enlarged drawing in Fig. 3 at A；
Fig. 5 is the structure chart of right limit connecting rod 1 of the present invention；
Fig. 6 is the structure chart of right limit connecting rod 2 309 of the present invention；
Fig. 7 is the structure chart of right limit connecting rod 3 310 of the present invention；
Fig. 8 is the structure chart of empennage support bar 7 of the present invention；
Fig. 9 a is the front view of empennage drive mechanism of the present invention；
Fig. 9 b is the rearview of empennage drive mechanism of the present invention；
In figure: Rack Body 1, wing 2, twist mechanism 3 of fluttering, little gear 1, right gear 302, left gear 303, right gear are curved
Bent axle 304, bottom right guide rectangular block 305, right torsion panel 306, upper right guiding rectangular block 307, right limit connecting rod 1, the right side
Spacing connecting rod 2 309, right limit connecting rod 3 310, right limit connecting rod 4 311, empennage 4, regulation turn to rotor 5, empennage driver
Structure 6, little gear 2 601, teeth-missing gear 602, bar 1, bar 2 604, spring 1, spring 2 606, empennage direct current generator
607, fan electromotor 608, empennage support bar 7, fixing empennage supporting bar structure 8, fuselage direct current generator 9, electronic control module 10.
Detailed description of the invention
Flutter twist mechanism 3, empennage 4, fuselage direct current generator 9, empennage support bar 7 is arranged on machine with electronic control module 10
On support body 1, wing 2 is connected to reverse on panel 306, and regulation turns to rotor 5 to be connected on fan electromotor 608, empennage driver
Structure 6 is connected on empennage support bar 7, and fixing empennage supporting bar structure 8 is connected fixing with empennage 4 for empennage support bar 7 by screw
It is connected together, to play a supporting role.
Described twist mechanism 3 of fluttering is made up of right side motion structure and left side motion structure, and both structures are identical,
The right gear 302 of right side motion structure and left gear 303 engagement of left side motion structure connect, little gear 1 and left gear
303 engagements connect, and wherein right side motion structure is: one end of right gear bending axis 304 is fixed on the center of right gear 302,
Bottom right guides rectangular block 305 and is fixed to the other end of right gear bending axis 304；Right torsion panel 306 is clipped in bottom right and guides rectangle
Block 305, upper right guide the centre of rectangular block 307, and screw is through the hole on upper right guiding rectangular block 307, right torsion panel 306
Being fixed on bottom right to guide on rectangular block 305, one end of right limit connecting rod 1 is hinged with right torsion panel 306, right limit connecting rod
One 308 is hinged with the center of right limit connecting rod 2 309 one end by screw, the other end of right limit connecting rod 2 309 and right limit
One end of position connecting rod 3 310 is hinged, and the nose bar of the other end of right limit connecting rod 3 310 can be in the length of right limit connecting rod 4 311
Groove rotates and mobile, and right limit connecting rod 4 311 is fixed on Rack Body 1.
The structure of described empennage drive mechanism 6 is: little gear 2 601 is connected on empennage direct current generator 607, connects regulation
The fan electromotor 608 turning to rotor 5 is arranged on teeth-missing gear 602 center, and the finger that the axis direction of fan electromotor 608 is parallel
To aircraft dead astern, one end of bar 1 equipped with limited block 1, one end of bar 2 604 equipped with limited block 2 60401,
Limited block 1 fits with the highlight bar 1 on teeth-missing gear 602；Limited block 2 60401 and teeth-missing gear 602
On highlight bar 2 60202 fit, bar 1 and bar 2 604 are cased with spring 1 and spring 2 606, spring one respectively
One end of 605 contacts with the limited block 60301 on bar 1, the other end contacts with empennage support bar 7, and spring one has precompressed
Contracting amount；One end of spring 2 606 contacts with the limited block 60401 on bar 2 604, the other end contacts with empennage support bar 7, and bullet
Spring two has pre compressed magnitude；Bar 1 is connected through the hole on empennage support bar 7 with block 1, and bar 2 604 is through tail
Hole on wing support bar 7 is connected with block 2 60402；For teeth-missing gear 602, hypodontia part accounts for the 1/ of whole circumferential section
3, the engagement place of toothed portion and little gear 2 601 is in the middle of toothed portion, and spring 1 is pre-with spring 2 606
Decrement make the two ends of the limited block 1 at bar 1 two ends, block 2 60302 and bar 2 604 limited block 2 60401,
Block 2 60402 is the tightest with the highlight bar 1 on teeth-missing gear 602, highlight bar 2 60202 and empennage support bar 7
Closely connected conjunction.
Operation principle:
1. in coilable wing part: the signal that electronic control module 12 sends makes the work of fuselage direct current generator 9, thus carries
Dynamic little gear 1 rotates forward, and left gear 303 and right gear 302 are also followed little gear 1 and rotated.Owing to right gear is curved
Bent axle 304, bottom right guide rectangular block 305, upper right guides rectangular block 307 and connects together, and therefore right gear 302, right gear are curved
Bent axle 304, bottom right guide rectangular block 305, upper right guides the rectangular block 307 central axis rotation around right gear 302, meanwhile,
Right limit connecting rod 1 rotates around right torsion panel 306 with right limit connecting rod 1 junction, and right limit is even
Bar 1 rotates around right limit connecting rod 1 with right limit connecting rod 2 309 junction, and right limit connecting rod 2 309 encloses
Rotating with right limit connecting rod 3 310 junction around spacing connecting rod 2 309, the nose bar of right limit connecting rod 3 310 is in right limit
Rotate and mobile in the long recess of position connecting rod 4 311, due to right limit connecting rod 1, right limit connecting rod 2 309, right limit even
Bar 3 310, the position-limiting action of right limit connecting rod 4 311, right torsion panel 306 can only guide rectangular block 305, upper right with bottom right
The junction of guiding rectangular block 307 is done to flutter up and down and is added twist motion, and the wing 2 being connected on right torsion panel 306 follows the right side
Reverse panel 306 and do identical motion.The motion of left side mechanism is identical with the motion of right side mechanism.
2., at empennage portion: (1) does not turns when empennage direct current generator 607, when 1. fan electromotor 608 rotates forward, regulation turns to rotation
The wing 5 produces thrust backward, it is possible to realize the acceleration flight of aircraft；2., when fan electromotor 608 inverts, regulation turns to rotor 5
Produce pulling force backward, turned to the rotating speed of rotor 5 by electronic control module 12 regulation regulation, make regulation turn to rotor 5 to produce
Rearward pulling force equal to back pressure with what aircraft wing produced, and aircraft wing produces lift upwards and thinks highly of with flight
Measure equal, aircraft can be enable to hover；Regulation turn to rearward pulling force that rotor 5 produces and the generation of aircraft wing to pusher
Power is equal, and aircraft wing produces lift upwards and is more than aircraft weight, and aircraft can be enable vertically to increase.(2) when
Empennage direct current generator 607 rotates forward, and teeth-missing gear 602 turns clockwise, when little gear 2 601 has turned over gear and teeth-missing gear
The hypodontia part contact of 602, meanwhile, bar 2 604 is compressed to left movement, spring 605, and at this moment fan electromotor 608 is in vertical
The most downward position, then empennage direct current generator 607 stops the rotation, and when 1. fan electromotor 608 rotates forward, regulation turns to rotor 5 to produce
Raw downward thrust, it is possible to realize the flight that has a down dip of aircraft；2. when fan electromotor 608 inverts, regulation turn to rotor 5 produce to
On thrust, it is possible to realize the pullover flight of aircraft.Realization has a down dip after flight or pullover flight, stops electronic control module 12
Send out note signal, then bar 2 604 is moved right by spring 2 606 elastic force, thus promotes teeth-missing gear 602 to invert, and returns to static
Position.(3) inverting when empennage direct current generator 607, teeth-missing gear 602 rotates counterclockwise, when little gear 2 601 and teeth-missing gear
The hypodontia part contact of 602, meanwhile, bar 1 is compressed to left movement, spring 1, and at this moment fan electromotor 608 is in
Level position to the left, then empennage direct current generator 607 stops the rotation, and when 1. fan electromotor 608 rotates forward, regulation turns to rotor 5
Produce thrust to the left, it is possible to realize the right-hand bend of aircraft；2. when fan electromotor 608 inverts, regulation turn to rotor 5 produce to
Right thrust, it is possible to realize the left-hand bend of aircraft.After realizing turning right or turning left, stop electronic control module 12 note letter
Number, then bar 1 is moved right by spring 1 elastic force, thus promotes teeth-missing gear 602 to invert, and returns to resting position.
3. in terms of circuit control: power supply uses 3.7V lithium battery power supply, drives fuselage straight by electronic control module 10
Stream motor 9, empennage direct current generator 607, fan electromotor 608 work, and electronic control module includes that wireless receiving module, motor drive
Module.
Claims (3)
1. a wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings, it is characterised in that: torsion of fluttering
Mechanism, empennage, fuselage direct current generator, empennage support bar are arranged on Rack Body with electronic control module, and wing is connected to reverse
On panel, regulation turns to rotor to be connected on fan electromotor, and empennage drive mechanism is connected on empennage support bar, and fixing empennage props up
Pole structure is fixed together empennage support bar by screw with empennage.
A kind of wing the most according to claim 1 can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings,
It is characterized in that: described in twist mechanism of fluttering be made up of right side motion structure and left side motion structure, and both structure phases
With, the right gear of right side motion structure and the left gear engagement of left side motion structure connect, and little gear one engages with left gear even
Connecing, wherein right side motion structure is: one end of right gear bending axis is fixed on the center of right gear, and it is solid that bottom right guides rectangular block
Surely the other end of right gear bending axis is arrived；Right torsional surface plate holder guides rectangular block, the centre of upper right guiding rectangular block, spiral shell in bottom right
Follow closely and guide the hole on rectangular block, right torsion panel through upper right and be fixed on bottom right and guide on rectangular block, right limit connecting rod one
One end is hinged with right torsion panel, and right limit connecting rod one is hinged with the center of right limit connecting rod two one end by screw, right limit
The other end of position connecting rod two is hinged with one end of right limit connecting rod three, and the nose bar of the other end of right limit connecting rod three can be in right limit
The long recess of position connecting rod four rotates and mobile, and right limit connecting rod four is fixed on Rack Body.
A kind of wing the most according to claim 1 can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings,
It is characterized in that: the structure of described empennage drive mechanism is: little gear two is connected on empennage direct current generator, connect regulation and turn to
The fan electromotor of rotor is arranged on teeth-missing gear center, and the parallel sensing aircraft of the axis direction of fan electromotor just after
Side, one end of bar one is equipped with limited block one, and one end of bar two is equipped with limited block two, limited block one and the highlight bar on teeth-missing gear
One fits；Limited block two fits with the highlight bar two on teeth-missing gear, and bar one and bar two are cased with spring one and bullet respectively
Spring two, one end of spring one contacts with the limited block on bar one, the other end contacts with empennage support bar, and spring one has precommpression
Amount；One end of spring two contacts with the limited block on bar two, the other end contacts with empennage support bar, and spring two has precommpression
Amount；Bar one is connected through the hole on empennage support bar with block one, and bar two is through the hole on empennage support bar and block two-phase
Connect；For teeth-missing gear, hypodontia part accounts for the 1/3 of whole circumferential section, and toothed portion is in the engagement place of little gear two
The middle of toothed portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610557565.9A CN106143903B (en) | 2016-07-15 | 2016-07-15 | A kind of wing can reverse and can realize the micro flapping wing air vehicle of more sporting flyings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610557565.9A CN106143903B (en) | 2016-07-15 | 2016-07-15 | A kind of wing can reverse and can realize the micro flapping wing air vehicle of more sporting flyings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106143903A true CN106143903A (en) | 2016-11-23 |
| CN106143903B CN106143903B (en) | 2018-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610557565.9A Active CN106143903B (en) | 2016-07-15 | 2016-07-15 | A kind of wing can reverse and can realize the micro flapping wing air vehicle of more sporting flyings |
Country Status (1)
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| CN (1) | CN106143903B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828923A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly flapping wing and rotating mechanism |
| CN106927041A (en) * | 2017-04-21 | 2017-07-07 | 吉林大学 | A kind of multiple degrees of freedom flapping-wing modal with propulsive efficiency high |
| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN110588971A (en) * | 2019-09-30 | 2019-12-20 | 沈阳理工大学 | Bird-like flying flapping-wing robot capable of automatically twisting wings |
| CN111846220A (en) * | 2020-09-11 | 2020-10-30 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN113928555A (en) * | 2021-12-02 | 2022-01-14 | 西北工业大学深圳研究院 | Miniature direct-drive transmission system for flapping wing aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828923A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly flapping wing and rotating mechanism |
| CN106927041A (en) * | 2017-04-21 | 2017-07-07 | 吉林大学 | A kind of multiple degrees of freedom flapping-wing modal with propulsive efficiency high |
| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
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| CN110588971A (en) * | 2019-09-30 | 2019-12-20 | 沈阳理工大学 | Bird-like flying flapping-wing robot capable of automatically twisting wings |
| CN110588971B (en) * | 2019-09-30 | 2023-01-31 | 沈阳理工大学 | Bird-like flying flapping-wing robot capable of automatically twisting wings |
| CN111846220A (en) * | 2020-09-11 | 2020-10-30 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN111846220B (en) * | 2020-09-11 | 2021-01-08 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN113928555A (en) * | 2021-12-02 | 2022-01-14 | 西北工业大学深圳研究院 | Miniature direct-drive transmission system for flapping wing aircraft |
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| CN106143903B (en) | 2018-03-16 |
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