CN106494618B - Plumage formula flapping-wing aircraft - Google Patents
Plumage formula flapping-wing aircraft Download PDFInfo
- Publication number
- CN106494618B CN106494618B CN201611115517.0A CN201611115517A CN106494618B CN 106494618 B CN106494618 B CN 106494618B CN 201611115517 A CN201611115517 A CN 201611115517A CN 106494618 B CN106494618 B CN 106494618B
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- CN
- China
- Prior art keywords
- flapping
- wing
- fuselage
- flapping wing
- main shaft
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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
Abstract
The present invention relates to a kind of plumage formula flapping-wing aircrafts, including fuselage and the flapping wing device that fuselage is connected to from the left and right sides, flapping wing device to include：A pair of of flapping wing main shaft, this pair of of flapping wing main shaft are pivotably connected to the left and right sides of fuselage and can carry out fluttering up and down relative to fuselage；Interlinked mechanism, which can drive flapping wing main shaft flutter 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, therefore the front end of the flapping wing is connected to flapping wing main shaft can carry out fluttering up and down with flapping wing main shaft, and the tail end of flapping wing is connected to fuselage, wherein flapping wing main shaft is made of the segment 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, processing technology, the especially progress of micro-electromechanical technology (MEMS), have been able to manufacture
Go out close to practical flapping wing aircraft.And flapping flight has small and exquisite, flexible and high flight efficiency, and can realize vertical
Directly rise and fall, hover, it is preceding fly, it is rear fly, underriding, stunts, the flapping-wing aircraft based on bionics principle such as racing are compared with conventional airplane, only
Just both propeller or jet engine can be replaced to provide thrust with a set of sized flap wings system.
But although present flapping-wing aircraft has been able to realize preferable flight and control, but still have away from practicality it is certain poor
Away from, thus still can not extensive use, and can be used only in the task that some have particular/special requirement, such as the narrow sky in the anti-terrorism of city
Between investigate.
Also, the structure design of the flapping wing of present flapping-wing aircraft is all an entirety, and therefore, it is necessary to the main problems of solution
It is that low pneumatic efficiency, power and institution requests are high, material requirements is high and payload is small.
Invention content
The object of the present invention is to provide a kind of plumage formula flapping-wing aircraft, can overcome the above-mentioned prior art certain or certain ask
Topic.
According to an aspect of the invention, there is provided a kind of plumage formula flapping-wing aircraft, including fuselage and connected from the left and right sides
To the flapping wing device of fuselage, flapping wing device includes：
A pair of of flapping wing main shaft, this pair of of flapping wing main shaft are pivotably connected to the left and right sides of fuselage and being capable of phases
Fuselage flutter up and down；
Interlinked mechanism, which can drive flapping wing main shaft flutter up and down, and one end of interlinked mechanism is lived
It is dynamic to be connected to flapping wing main shaft, and the other end of interlinked mechanism is connected to fuselage；And
Flapping wing, therefore the front end of the flapping wing is connected to flapping wing main shaft can carry out fluttering up and down with flapping wing main shaft, flapping wing
Tail end be connected to fuselage,
Wherein, flapping wing main shaft is made of the segment 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 for the left and right sides for being oppositely disposed fuselage,
The toggle includes crank connecting link and gear, and one end of crank connecting link is connect 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 implementation
Example can make structure and connection simplified and easy to operate, and can reduce the quantity of component.
In a specific embodiment, interlinked mechanism is equipped with locking device, and the main shaft that can will flutter carries out any attitude
Locking.According to this embodiment, the angle to main shaft of fluttering can be facilitated to control.
In one embodiment, flapping wing includes the braced frame of multiple flexible connections and is located at each braced frame
Interior multiple wings.By by flapping wing be arranged to it is multiple can independent movable multiple portions, flapping wing can be made to become and birds
Wing equally have flexibility, flexibility.
According to a specific embodiment, multiple wings of flapping wing can be relative to respective braced frame with predetermined angle
Degree is rotated upwardly and downwardly.According to this embodiment, the operating flexibility and operating efficiency of flapping wing can be further increased, it is mobilizable
Wing due to forced area is small and rotational angle is big, the lift so as to promote flapping wing makes flight efficiency higher.
In a specific embodiment, the tail end of flapping wing is connected to fuselage by sliding system, and sliding system can control
The height of flapping wing tail end is to control the angle that flapping wing is fluttered.Specifically, sliding system includes being symmetricly set on fuselage or so two
The sliding rail of side and it is able to the sliding block slided in sliding rail.It, can be by simple structure come complete by the embodiment
At the skyborne efficient reliable control of flapping-wing aircraft.
In another specific embodiment, sliding rail is fixedly attached to fuselage and along the vertical direction relative to fuselage with scheduled
Camber is arranged, and sliding block is movably connected in the tail portion of flapping wing.In addition, the movement by steering engine come control slide block in sliding rail.Pass through this
The setting of sample can make sliding rail carry out reliable sliding along track to complete the control of flare maneuver.
Preferably, sliding rail is arranged towards the left and right sides of fuselage, and certainly, those skilled in the art are it should be clear that sliding rail
It can also be arranged towards the front of fuselage.
Preferably, the predetermined camber institute angle degree of sliding rail is -30 degree to 60 degree.The camber of sliding rail is set by this,
It enables to flapping wing flexible swinging high, carries out highly difficult flight.
Unless apparent contradict, the feature involved by different embodiments of the invention can be combined with each other.
Description of the drawings
Fig. 1 is the structural schematic diagram 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 attached drawing：1 body plate, 2 gears, 3 crank and rocker mechanisms, 4 revolute pairs, 5 revolute pair mechanisms, 6 sliding rails, 7 flapping wing masters
Axis, 8 flapping wing piece frames, 9 flapping wing pieces, 10 revolute pairs, 11 empennages, 12 axis, 13 empennage rudders, 14 revolute pairs, 15 slide block mechanisms.
Specific implementation mode
Detailed description of the present invention plumage formula flapping-wing aircraft below in conjunction with the accompanying drawings.It will be appreciated by those skilled in the art that retouching below
The embodiment stated only is to make any restrictions not for it to the exemplary illustration of the present invention.
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 revolute pair 4 and revolute pair mechanism 5, therefore can carry out fluttering up and down around fuselage 1.
Specifically, flapping wing device includes a pair of of flapping wing main shaft 7, this pair of of flapping wing main shaft 7 passes through revolute pair 4 and rotation slave
Structure 5 is connected to the left and right sides of fuselage 1 in the front of fuselage 1, therefore can carry out fluttering up and down relative to fuselage 1.
Flapping wing device further includes interlinked mechanism, which can drive flapping wing main shaft 7 flutter up and down.
Specifically, as illustrated in fig. 1 and 2, the interlinked mechanism is toggle, which 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 further includes flapping wing, the front end of the flapping wing be connected to flapping wing main shaft 7 therefore can with flapping wing main shaft 7 into
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 braced frame 8 of multiple rows of flexible connection and is located in each braced frame 8
Multiple wings 9, therefore, braced frame 8 can be rotated respectively, and multiple wings 9 can be relative to respective support frame
Frame 8 is rotated upwardly and downwardly at a predetermined angle, which is similar to the structure of feather covered on birds wing, to reduce by
Power area simultaneously further decreases requirement to flapping wing material.
It further, as shown in Figure 1, can be simultaneously as flutterring positioned at the edge of the braced frame 8 of the flapping wing of most previous row
Wing main shaft 7.
Although being not shown in figure, being located at the braced frame 8 of the flapping wing of most previous row can be connected with flapping wing main shaft 7
It connects, therefore flapping wing main shaft 7 is also made of the segment of multiple flexible connections.
Although being not shown in figure, interlinked mechanism is also equipped with locking device, which can will flutter main shaft 7
The locking for carrying out any attitude, to enable flapping-wing aircraft to 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 to control the angle that flapping wing is fluttered.
Specifically as shown in Figure 1 and Figure 4, the sliding system includes the sliding rail 6 being symmetrically disposed at left and right sides of fuselage
With the sliding block 15 for being able to be slided in sliding rail 6.Sliding rail 6 is located on the tail portion of fuselage 1 and along the upper and lower of fuselage
Extended to relative to fuselage with predetermined camber.Sliding block 15 is connected to the tail end of flapping wing close to fuselage side, therefore can control and flutter
The angle of the wing, to carry out the flight of various actions.
Although being not shown in figure, movement of the sliding block 15 in sliding rail 6 is controlled by steering engine.
Illustrate the operating principle of flapping-wing aircraft according to the present invention now.
As previously mentioned, 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, is unfolded to wing when lower swing, wing is folded into V-arrangement when being swung up.Above and below wing
Forced area is different when swing, and stress when being swung up and down so as to cause wing is of different sizes, to air when lower swing to wing
Reaction force (F1, and straight up) be more than upwards pendulum when air to the reaction force of wing, work as F1>When G, generate upward
Lift.
For the present invention, wing when being put on the flapping wing that these can make flapping-wing aircraft with movable wing 9 by designing
Piece 9 rotates down, and the area of flapping wing is made to reduce, and to reduce resistance of the air to wing, wing restores to the original state again when the bottom,
Flapping wing air when to lower swing in this way becomes much larger the reaction force F1 of flapping wing, this design carries on the basis of flapping wing is original
High flight efficiency, can make the work(of bigger of smaller power.
Since entire flapping wing is connected by multi-disc wing 9, and flapping wing main shaft 7 is connected by crank connecting link 3 with gear 2,
Gear 2 is connected with fuselage 1, and rotates to transmit power by crank connecting link 3 by motor (not shown) band moving gear 2
So that it is fluttered up and down to main shaft 7 of fluttering, then drives entire the upper and lower of flapping wing to flutter to complete flapping wing by fluttering for main shaft 7 of fluttering
Flapping motion.
Since the tail end of flapping wing is connected to fuselage 1 and is equipped with sliding system, can be controlled using sliding system
The height of flapping wing tail end processed is to control the angle that flapping wing is fluttered.In sliding system, sliding block 15 in sliding rail 6 slide downward to
Change the angle that flapping wing is fluttered to agitate forward, the power that flapping wing generates is made to change direction, flapping-wing aircraft is made to reach aerial emergency stop, short distance hangs down
The completion of the super maneuverabilities energy such as straight landing；On the contrary, the upward sliding change flapping wing in sliding rail 6 of sliding block 15 is fluttered, angle is fanned backward
It is dynamic, so that flapping-wing aircraft is accelerated flight.(sliding system schematic diagram is as shown in Figure 4)
In addition, by control left and right sliding block 15 in sliding rail 6 reverse slide to make left and right flapping wing carry out asymmetric pendulum
It is 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 make flapping-wing aircraft in this way
It can carry out long range gliding.Toggle is provided with locking device (not shown), and the main wing that enables to flutter is arbitrary
Locking is to carry out the flight of different conditions under posture.
Moreover, the aileron and V-arrangement slab tail of tail portion can adjust the pitch attitude of aircraft.
Illustrate the course of work of plumage formula flapping-wing aircraft of the present invention below.
(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
So that flapping wing flutter up and down, so that flapping-wing aircraft lift-off is advanced to which flapping wing generates lift and thrust.
(2) it in flight course, is slided in sliding rail 6 come control slide block 15 by unshowned steering engine, causes left and right two
The asymmetry of piece flapping wing flutters that flapping-wing aircraft is made to realize steering in the air.
(3) in the air, it can simultaneously be slided in sliding rail 6 by servos control sliding block 15, flapping wing made to agitate angulation change,
To make flapping-wing aircraft complete vertical rise and fall, hovering, preceding fly, rear fly.
(4) axis 12 on fuselage is connected to by revolute pair 10 due to empennage 11, and empennage rudder 13 passes through rotation
Pair 14 is connected to empennage and controls swinging up and down for empennage 11, to make flapping-wing aircraft be risen, diving flight action.
The advantageous effect of novel plumage formula flapping-wing aircraft of the present invention：Overall structure is simple, easy to operate, small, leads to
Crossing control flapping wing angle makes flapping-wing aircraft complete various state of flights, and flapping wing is more efficient, and noise is small.
Since the flapping wing of full wafer is resolved into multiple small wings, flapping wing is made to become as the wing of birds with flexible
Property, flexibility.
The control system of flapping wing angle can help flapping-wing aircraft to complete multinomial super maneuverability energy
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions 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
Protect range.
Claims (8)
1. a kind of plumage formula flapping-wing aircraft, including fuselage and the flapping wing device that fuselage is connected to from the left and right sides, flapping wing device include：
A pair of of flapping wing main shaft, this pair of of flapping wing main shaft are pivotably connected to the left and right sides of fuselage and can be relative to
Fuselage flutter up and down；
Interlinked mechanism, the interlinked mechanism can drive flapping wing main shaft flutter up and down, and one end activity of interlinked mechanism connects
It is connected to flapping wing main shaft, and the other end of interlinked mechanism is connected to fuselage；And
Flapping wing, therefore the front end of the flapping wing is connected to flapping wing main shaft can carry out fluttering up and down with flapping wing main shaft, the tail of flapping wing
End is connected to fuselage,
Wherein, flapping wing main shaft is made of the segment of multiple flexible connections；
Wherein, flapping wing includes the braced frame of multiple flexible connections and multiple wings for being located in each braced frame.
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 crank connecting link and gear, and one end and the flapping wing spindle mobility of crank connecting link connect
It connects, the other end of crank connecting link is movably attached to gear, and 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 equipped with locking device, and can will flutter master
Axis carries out the locking of any attitude.
4. plumage formula flapping-wing aircraft according to claim 1, wherein multiple wings of flapping wing can be relative to respective branch
Support frame frame is rotated upwardly and downwardly at a predetermined angle.
5. 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 to control the angle that flapping wing is fluttered.
6. plumage formula flapping-wing aircraft according to claim 5, wherein sliding system includes being symmetricly set at left and right sides of fuselage
Sliding rail and it is able to the sliding block slided in sliding rail.
7. plumage formula flapping-wing aircraft according to claim 6, wherein sliding rail is fixedly attached to fuselage and opposite along the vertical direction
It is arranged with scheduled camber in fuselage, sliding block is movably connected in the tail portion of flapping wing.
8. plumage formula flapping-wing aircraft according to claim 6, wherein the movement by steering engine come control slide block in sliding rail.
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 CN106494618A (en) | 2017-03-15 |
| CN106494618B true CN106494618B (en) | 2018-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611115517.0A Active CN106494618B (en) | 2016-12-07 | 2016-12-07 | Plumage formula flapping-wing aircraft |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911196B (en) * | 2019-03-27 | 2023-09-15 | 吉林大学 | Drag-reduction foldable flapping-wing micro air vehicle |
| WO2020243573A1 (en) * | 2019-05-30 | 2020-12-03 | Pliant Energy Systems Llc | Aerial swimmer apparatuses, methods and systems |
| CN110723286A (en) * | 2019-11-26 | 2020-01-24 | 赵小清 | Array wing flight device and application thereof |
| CN111746783B (en) * | 2020-07-01 | 2022-07-01 | 西湖大学 | A flank structure and navigation ware for navigation ware |
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| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN102107733A (en) * | 2009-12-23 | 2011-06-29 | 姚金玉 | Bionic aircraft |
| CN204297096U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of small-sized four wing flutter aircraft |
| CN105000182A (en) * | 2015-08-10 | 2015-10-28 | 吴锜 | Flight method of flapping machine |
| CN105015777A (en) * | 2015-08-10 | 2015-11-04 | 吴锜 | Ornithopter device of mirror symmetry type double-four-bar-linkage structure |
| CN206243479U (en) * | 2016-12-07 | 2017-06-13 | 南昌工程学院 | Flapping wing aircraft |
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2016
- 2016-12-07 CN CN201611115517.0A patent/CN106494618B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4125974A1 (en) * | 1991-08-06 | 1993-02-11 | Volkrodt Wolfgang | Oscillating vane or wing drive with main motor for vertical motion - has servomotors for independent vane rotation synchronised to vertical motion |
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN102107733A (en) * | 2009-12-23 | 2011-06-29 | 姚金玉 | Bionic aircraft |
| CN204297096U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of small-sized four wing flutter aircraft |
| CN105000182A (en) * | 2015-08-10 | 2015-10-28 | 吴锜 | Flight method of flapping machine |
| CN105015777A (en) * | 2015-08-10 | 2015-11-04 | 吴锜 | Ornithopter device of mirror symmetry type double-four-bar-linkage structure |
| CN206243479U (en) * | 2016-12-07 | 2017-06-13 | 南昌工程学院 | Flapping wing aircraft |
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| Publication number | Publication date |
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| CN106494618A (en) | 2017-03-15 |
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