CN106494618A - Plumage formula flapping-wing aircraft - Google Patents
Plumage formula flapping-wing aircraft Download PDFInfo
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- CN106494618A CN106494618A CN201611115517.0A CN201611115517A CN106494618A CN 106494618 A CN106494618 A CN 106494618A CN 201611115517 A CN201611115517 A CN 201611115517A CN 106494618 A CN106494618 A CN 106494618A
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- Prior art keywords
- flapping
- wing
- fuselage
- flapping wing
- main shaft
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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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Abstract
The present invention relates to a kind of plumage formula flapping-wing aircraft, is connected to the flapping wing device of fuselage including fuselage and from the left and right sides, flapping wing device includes：A pair of flapping wing main shafts, this pair of flapping wing main shafts are pivotably connected to the left and right sides of fuselage and can be fluttered relative to fuselage up and down；Interlinked mechanism, the interlinked mechanism can drive flapping wing main shaft to be fluttered up and down, and one end of interlinked mechanism is movably attached to flapping wing main shaft, and the other end of interlinked mechanism is connected to fuselage；And flapping wing, the front end of the flapping wing is connected to flapping wing main shaft therefore, it is possible to as flapping wing main shaft is fluttered up and down, the tail end of flapping wing is connected to fuselage, and wherein, flapping wing main shaft is made up of the sections of multiple flexible connections.In accordance with the invention it is possible to be effectively reduced requirement of the flapping-wing aircraft to material；Improve the efficiency of flapping flight；And the easy of operation.
Description
Technical field
The present invention relates to a kind of aircraft of bionical birds flapping flight, and more particularly to a kind of plumage formula flapping-wing aircraft.
Background technology
With modern material, power, process technology, the particularly progress of micro-electromechanical technology (MEMS), have been able to manufacture
Go out the flapping wing aircraft for being close to practicality.And flapping flight has compact, flexible and high flight efficiency, and can achieve to hang down
Directly rise and fall, hover, front fly, rear fly, underriding, the stunt such as racing, compared with conventional airplane based on the flapping-wing aircraft of bionics principle, only
Propeller or jet engine just can have both been replaced to provide thrust with a set of sized flap wings system.
But although present flapping-wing aircraft has been able to realize preferably flight and control, but still have away from practicality necessarily poor
Away from therefore still cannot extensively applying, and can be used only in the task that some have particular/special requirement, such as the narrow and small sky in city anti-terrorism
Between investigate.
Also, the structure design of the flapping wing of present flapping-wing aircraft is all an entirety, accordingly, it would be desirable to the subject matter for solving
It is that low pneumatic efficiency, power and institution requests are high, material requirements is high and payload is little.
Content of the invention
It is an object of the invention to provide a kind of plumage formula flapping-wing aircraft, its can overcome certain of above-mentioned prior art or some ask
Topic.
According to an aspect of the invention, there is provided a kind of plumage formula flapping-wing aircraft, connects including fuselage and from the left and right sides
The flapping wing device of fuselage is arrived, flapping wing device includes：
A pair of flapping wing main shafts, this pair of flapping wing main shafts are pivotably connected to the left and right sides of fuselage and being capable of phase
For fuselage is fluttered up and down；
Interlinked mechanism, the interlinked mechanism can drive flapping wing main shaft to be fluttered up and down, and one end of interlinked mechanism is lived
Move and be connected to flapping wing main shaft, and the other end of interlinked mechanism is connected to fuselage；And
Flapping wing, the front end of the flapping wing are connected to flapping wing main shaft therefore, it is possible to as flapping wing main shaft is fluttered up and down, flapping wing
Tail end be connected to fuselage,
Wherein, flapping wing main shaft is made up of the sections of multiple flexible connections.
In accordance with the invention it is possible to be effectively reduced requirement of the flapping-wing aircraft to material；Improve the efficiency of flapping flight；And behaviour
The easy of work.
According to a specific embodiment, interlinked mechanism is the toggle of the left and right sides for being oppositely disposed fuselage,
The toggle includes that crank connecting link and gear, one end of crank connecting link are connected with flapping wing spindle mobility, crank connecting link
The other end is movably attached to gear, and the gear is connected to fuselage and can be rotated relative to fuselage.According to the enforcement
Example, can make structure and connection simplify and easily operate, and can reduce the quantity of part.
In a specific embodiment, interlinked mechanism is provided with locking device, and main shaft of can fluttering carries out any attitude
Locking.According to the embodiment, can facilitate and the angle of main shaft of fluttering is controlled.
In one embodiment, flapping wing includes the support frame of multiple flexible connections and is located at each support frame respectively
Interior multiple wings.By flapping wing is arranged to the individually movable some of multiple energy, flapping wing can be made to become and birds
Wing equally have pliability, motility.
According to a specific embodiment, multiple wings of flapping wing can be relative to respective support frame with predetermined angle
Degree is rotated upwardly and downwardly.According to the embodiment, operating flexibility and the operating efficiency of flapping wing can be further improved, mobilizable
Rotational angle is big as lifting surface area is little for wing, makes flight efficiency higher such that it is able to lift the lift of flapping wing.
In a specific embodiment, the tail end of flapping wing is connected to fuselage by sliding system, and sliding system can be controlled
The height of flapping wing tail end is so as to controlling the angle that flapping wing is fluttered.Specifically, sliding system includes being symmetricly set on fuselage or so two
The slide rail of side and the slide block for being able to enter line slip in slide rail.By the embodiment, can be by simple structure come complete
Into the skyborne efficient reliable control of flapping-wing aircraft.
In another specific embodiment, slide rail is fixedly attached to fuselage and along the vertical direction relative to fuselage with predetermined
Camber is arranged, and slide block is movably connected in the afterbody of flapping wing.In addition, carrying out motion of the control slide block in slide rail by steering wheel.By this
The setting of sample, can make slide rail carry out reliable slip so as to completing the control of flare maneuver along track.
Preferably, slide rail is arranged towards the left and right sides of fuselage, and certainly, those skilled in the art are it should be clear that slide rail
Can also arrange towards the front of fuselage.
Preferably, the predetermined camber institute angle degree of slide rail is spent to 60 degree for -30.By this camber of slide rail is set,
Enable to flapping wing flexible swinging high, carry out highly difficult flight.
Unless substantially contradicted, the feature involved by different embodiments of the invention can be mutually combined.
Description of the drawings
Fig. 1 is the structural representation of the plumage formula flapping-wing aircraft of the present invention.
Fig. 2 is the principle schematic of fluttering of the plumage formula flapping-wing aircraft of the present invention.
Fig. 3 is the flapping wing connection diagram of the plumage formula flapping-wing aircraft of the present invention.
Fig. 4 is the sliding system schematic diagram of the plumage formula flapping-wing aircraft of the present invention.
In accompanying drawing：1 body plate, 2 gears, 3 crank and rocker mechanisms, 4 rotate pair, 5 revolute pair mechanisms, 6 slide rails, 7 flapping wing masters
Axle, 8 flapping wing piece frameworks, 9 flapping wing pieces, 10 rotate pair, 11 empennages, 12 axles, 13 empennage rudders, 14 rotation pairs, 15 slide block mechanisms.
Specific embodiment
The plumage formula flapping-wing aircraft of the present invention is described in detail below in conjunction with the accompanying drawings.It will be appreciated by those skilled in the art that retouching below
The embodiment that states only is the exemplary illustration to the present invention, makes any restriction not for which.
As shown in figure 1, plumage formula flapping-wing aircraft includes fuselage 1 and is connected to the flapping wing device of the left and right sides of fuselage 1, flapping wing
Device is connected to fuselage 1 by rotating pair 4 and revolute pair mechanism 5, is fluttered about 1 therefore, it is possible to surround fuselage.
Specifically, flapping wing device includes a pair of flapping wing main shafts 7, and this pair of flapping wing main shafts 7 are by rotating secondary 4 and rotating slave
Structure 5 is connected to the left and right sides of fuselage 1 in the front portion of fuselage 1, therefore, it is possible to be fluttered about 1 relative to fuselage.
Flapping wing device also includes interlinked mechanism, and the interlinked mechanism can drive flapping wing main shaft to be fluttered about 7.
Specifically, as illustrated in fig. 1 and 2, the interlinked mechanism is toggle, and the toggle includes crank
Connecting rod 3 and gear 2.One end of crank connecting link 3 is flexibly connected with flapping wing main shaft 7, and the other end of crank connecting link 3 is movably attached to tooth
Wheel 2.Gear 2 is connected to fuselage 1 and can be driven by motor (not shown) and be rotated relative to fuselage 1.
Flapping wing device also includes that flapping wing, the front end of the flapping wing are connected to flapping wing main shaft 7 therefore, it is possible to as flapping wing main shaft 7 enters
Row is fluttered up and down, and the tail end of flapping wing is connected to fuselage.
As shown in figure 3, flapping wing includes the support frame 8 of multiple rows of flexible connection and is located in each support frame 8 respectively
Multiple wings 9, therefore, support frame 8 can be rotated respectively, and multiple wings 9 can be relative to respective carriage
Frame 8 is rotated upwardly and downwardly at a predetermined angle, and this is similar to that the structure of the feather covered on birds wing, receives so as to reduce
Power area the requirement for further reducing to flapping wing material.
Further, as shown in figure 1, can be simultaneously as flutterring positioned at the edge of the support frame 8 of the flapping wing of most previous row
Wing main shaft 7.
Although not shown in figure, the support frame 8 positioned at the flapping wing of most previous row can be connected with flapping wing main shaft 7
Connect, therefore flapping wing main shaft 7 is also made up of the sections of multiple flexible connections.
Although not shown in figure, interlinked mechanism is also equipped with locking device, and the locking device will can be fluttered main shaft 7
The locking of any attitude is carried out, so that flapping-wing aircraft can carry out the flight of setting state.
As shown in figure 1, the tail end of flapping wing is connected to fuselage by sliding system, sliding system can control flapping wing tail end
Height is so as to controlling the angle that flapping wing is fluttered.
Specifically as shown in Figure 1 and Figure 4, the sliding system includes the slide rail 6 for being symmetrically disposed in the fuselage left and right sides
With the slide block 15 for being able to enter line slip in slide rail 6.Slide rail 6 is located on the afterbody of fuselage 1 and upper and lower along fuselage
To being extended with predetermined camber relative to fuselage.Slide block 15 is connected to the tail end of flapping wing near fuselage side, therefore, it is possible to control to flutter
The angle of the wing, to carry out the flight of various actions.
Although not shown in figure, motion of the slide block 15 in slide rail 6 is controlled by steering wheel.
The operating principle of the flapping-wing aircraft according to the present invention is described now.
As it was previously stated, the design that the flapping-wing aircraft of the present invention is carried out according to the wing of birds, the wing of birds can surround body
Body makees the swing of certain angle, launches to wing during lower swing, and when being swung up, wing is folded into V-arrangement.Due to wing upper and lower
During swing, lifting surface area is different, so as to cause stress when wing swings up and down of different sizes, to air during lower swing to wing
Counteracting force (F1, and straight up) more than counteracting force of the air to wing when putting upwards, work as F1>During G, produce upwards
Lift.
For the present invention, wing when be able to can be made to put on the flapping wing of flapping-wing aircraft with the wing 9 of activity by designing these
Piece 9 is rotated down, and reduces the area of flapping wing, and so as to reduce resistance of the air to wing, during the bottom, wing is restored to the original state again,
So flapping wing air when to lower swing is become much larger to the counteracting force F1 of flapping wing, and this design is carried on the basis of flapping wing is original
High flight efficiency, can do bigger work(with less power.
As whole flapping wing is connected by multi-disc wing 9, and flapping wing main shaft 7 is connected with gear 2 by crank connecting link 3,
Gear 2 is connected with fuselage 1, and is rotated so as to being transmitted power by crank connecting link 3 by motor (not shown) band moving gear 2
Make which flutter up and down to main shaft 7 of fluttering, then being fluttered so as to completing flapping wing up and down of whole flapping wing is driven by fluttering for main shaft 7 of fluttering
Flapping motion.
As the tail end of flapping wing is connected to fuselage 1 and is provided with sliding system, therefore, it is possible to be controlled using sliding system
The height of flapping wing tail end processed is controlling the angle that flapping wing is fluttered.In sliding system, slide block 15 in slide rail 6 slide downward so as to
The angle that change flapping wing is fluttered is agitated forward, and the power for producing flapping wing changes direction, makes flapping-wing aircraft reach aerial jerk, and short distance hangs down
The super maneuverabilities such as straight landing can complete；On the contrary, the upward sliding change flapping wing in slide rail 6 of slide block 15 is fluttered, angle is fanned backward
Dynamic, make flapping-wing aircraft accelerate flight.(sliding system schematic diagram is as shown in Figure 4)
In addition, by control left and right slide block 15 in slide rail 6 reverse slide so that left and right flapping wing carries out asymmetric pendulum
Dynamic, to complete the steering of flapping-wing aircraft.The cross section of flapping wing of the present invention is the wing shapes using aircraft, can so make flapping-wing aircraft
Long range gliding can be carried out.Toggle is provided with locking device (not shown), enables to flutter main wing any
Lock to carry out the flight of different conditions under attitude.
And, the pitch attitude of the aileron of afterbody and the adjustable aircraft of V-arrangement slab tail.
The course of work of plumage formula flapping-wing aircraft of the present invention is below described.
(1) by unshowned motor driven gear 2, gear 2 drives crank connecting link 3, crank connecting link 3 to pull flapping wing main shaft 7
Make flapping wing be fluttered up and down, make flapping-wing aircraft lift-off advance so as to flapping wing produces lift with thrust.
(2) in flight course, slided in slide rail 6 come control slide block 15 by unshowned steering wheel, cause left and right two
The asymmetric of piece flapping wing is fluttered so that flapping-wing aircraft is realized turning in the air.
(3) in the air, servos control slide block 15 can be passed through to be slided in slide rail 6 simultaneously, makes flapping wing agitate Angulation changes,
So that flapping-wing aircraft completes VTOL, hovering, front fly, rear flies.
(4) as empennage 11 is connected to the axle 12 on fuselage by rotating secondary 10, and empennage rudder 13 is by rotating
Secondary 14 are connected to empennage and control swinging up and down for empennage 11, so that flapping-wing aircraft is risen, diving flight action.
The beneficial effect of new plumage formula flapping-wing aircraft of the present invention：Overall structure is simple, easy to operate, small volume, leads to
Crossing control flapping wing angle makes flapping-wing aircraft complete various state of flights, and flapping wing is in hgher efficiency, and noise is little.
As the flapping wing of full wafer is resolved into multiple little wings, flapping wing is made to become as the wing of birds with flexible
Property, motility.
The control system of flapping wing angle can help flapping-wing aircraft to complete multinomial super maneuverability energy
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, and this technology is led
Change, remodeling, interpolation or replacement that the technical staff in domain is done in the essential scope of the present invention, should also belong to the guarantor of the present invention
Shield scope.
Claims (9)
1. a kind of plumage formula flapping-wing aircraft, is connected to the flapping wing device of fuselage including fuselage and from the left and right sides, and flapping wing device includes：
A pair of flapping wing main shafts, this pair of flapping wing main shafts are pivotably connected to the left and right sides of fuselage and can be relative to
Fuselage is fluttered up and down；
Interlinked mechanism, the interlinked mechanism can drive flapping wing main shaft to be fluttered up and down, and one end activity of interlinked mechanism is even
Flapping wing main shaft is connected to, and the other end of interlinked mechanism is connected to fuselage；And
Flapping wing, the front end of the flapping wing are connected to flapping wing main shaft therefore, it is possible to as flapping wing main shaft is fluttered up and down, the tail of flapping wing
End is connected to fuselage,
Wherein, flapping wing main shaft is made up of the sections of multiple flexible connections.
2. plumage formula flapping-wing aircraft according to claim 1, wherein, interlinked mechanism is the left and right sides for being oppositely disposed fuselage
Toggle, the toggle include that crank connecting link and gear, one end of crank connecting link are connected with flapping wing spindle mobility
Connect, the other end of crank connecting link is movably attached to gear, the gear is connected to fuselage and can be revolved relative to fuselage
Turn.
3. plumage formula flapping-wing aircraft according to claim 1, wherein, interlinked mechanism is provided with locking device, can be by master of fluttering
Axle carries out the locking of any attitude.
4. plumage formula flapping-wing aircraft according to claim 1, wherein, flapping wing includes the support frame and difference of multiple flexible connections
The multiple wings being located in each support frame.
5. plumage formula flapping-wing aircraft according to claim 4, wherein, multiple wings of flapping wing can be relative to respective
Support frame frame is rotated upwardly and downwardly at a predetermined angle.
6. plumage formula flapping-wing aircraft according to claim 1, wherein, the tail end of flapping wing is connected to fuselage by sliding system, sliding
Dynamic system can control the height of flapping wing tail end so as to controlling the angle that flapping wing is fluttered.
7. plumage formula flapping-wing aircraft according to claim 6, wherein, sliding system includes being symmetricly set on the fuselage left and right sides
Slide rail and the slide block for being able to enter line slip in slide rail.
8. plumage formula flapping-wing aircraft according to claim 7, wherein, slide rail is fixedly attached to fuselage and relative along the vertical direction
Arranged with predetermined camber in fuselage, slide block is movably connected in the afterbody of flapping wing.
9. plumage formula flapping-wing aircraft according to claim 7, wherein, carrys out motion of the control slide block in slide rail by steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115517.0A CN106494618B (en) | 2016-12-07 | 2016-12-07 | Plumage formula flapping-wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115517.0A CN106494618B (en) | 2016-12-07 | 2016-12-07 | Plumage formula flapping-wing aircraft |
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| Publication Number | Publication Date |
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| CN106494618A true CN106494618A (en) | 2017-03-15 |
| CN106494618B CN106494618B (en) | 2018-11-06 |
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| CN201611115517.0A Active CN106494618B (en) | 2016-12-07 | 2016-12-07 | Plumage formula flapping-wing aircraft |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911196A (en) * | 2019-03-27 | 2019-06-21 | 吉林大学 | A kind of foldable flapping-wing MAV of drag reduction |
| CN111746783A (en) * | 2020-07-01 | 2020-10-09 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| WO2021104397A1 (en) * | 2019-11-26 | 2021-06-03 | 赵小清 | Array-type wing flight device and application thereof |
| US11465728B2 (en) * | 2019-05-30 | 2022-10-11 | Pliant Energy System LLC | Aerial swimmer apparatuses, methods and systems |
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| CN111746783B (en) * | 2020-07-01 | 2022-07-01 | 西湖大学 | A flank structure and navigation ware for navigation ware |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106494618B (en) | 2018-11-06 |
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