CN107364573A - Flex-wing bionic flapping-wing flying vehicle - Google Patents
Flex-wing bionic flapping-wing flying vehicle Download PDFInfo
- Publication number
- CN107364573A CN107364573A CN201710580905.4A CN201710580905A CN107364573A CN 107364573 A CN107364573 A CN 107364573A CN 201710580905 A CN201710580905 A CN 201710580905A CN 107364573 A CN107364573 A CN 107364573A
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- steering wheel
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- aircraft
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
- B64C33/025—Wings; Actuating mechanisms therefor the entire wing moving either up or down
Abstract
The invention belongs to aircraft field, in particular flex-wing bionic flapping-wing flying vehicle；Including cradle portion, drive division, skeleton portion and all-wing aircraft portion；The drive division is arranged on inside the cradle portion, and driver is provided with the drive division；Two skeleton portions are hinged with the drive division and reciprocal flapping wing are done under the driving of the drive division and act, and two skeleton portions are symmetrical arranged；Two all-wing aircraft portions are separately fixed on the outside of two skeleton portions；The all-wing aircraft portion includes the first all-wing aircraft, the second all-wing aircraft and the 3rd all-wing aircraft being connected with each other, and the skeleton portion includes first paragraph wing upper boom and first paragraph wing lower beam, the second segment wing bar being arranged in second all-wing aircraft and the 3rd section of wing bar being arranged in the 3rd all-wing aircraft being arranged in the first all-wing aircraft；First paragraph wing upper boom and the first paragraph wing lower beam be arranged in parallel and is connected respectively with the drive division.
Description
Technical field
The invention belongs to aircraft field, especially a kind of flex-wing bionic flapping-wing flying vehicle.
Background technology
With the reach of science, the living standard more and more higher of people, various aircraft, unmanned plane development also increasingly
Generally.
Flapping wing aircraft is by Computation of Flexible Flapping-Wing while produces lift and the aircraft of thrust, has extremely strong bio-imitability,
Therefore all have broad application prospects in terms of military and civilian.The domestic and international development for flapping wing aircraft at present is relatively
It is more, but its structure is mostly the single hop wing and two sections of wing flapping wing structures.Single hop wing flapping wing aircraft mainly relies on rigid leading edge band
Dynamic fexible film is fluttered and tangential twisting action up and down, and size is typically and medium birds less than normal are similar, mode of fluttering
It is to realize the forms of motion fluttered up and down and realize to flutter up and down simultaneously to change angle of attack action movement with tangential twisting action mostly
Form, the single hop wing are difficult to gathering action upwards in exhibition, and relative to the single hop wing, the structure of two sections of wing flapping wing aircrafts can be real
Existing "-bending-torsion of the fluttering " cooperative motion of the large birds in flight course, in wing during upper carry, however it remains
Lifting surface area is larger, the larger phenomenon of negative lift, it is difficult to simulate the flight attitude of true birds.
For this reason, it is necessary to design a kind of new flapping wing aircraft, the posture of Bird Flight can be preferably simulated.
The content of the invention
The main object of the present invention is to provide a kind of flex-wing bionic flapping-wing flying vehicle, for overcoming existing flapping wing unmanned plane
The problem of being difficult to simulate true Bird Flight.
The present invention is achieved in that a kind of flex-wing bionic flapping-wing flying vehicle, including cradle portion, drive division, skeleton portion
With all-wing aircraft portion；The drive division is arranged on inside the cradle portion, and driver is provided with the drive division；Two skeleton portions
It is hinged with the drive division and reciprocal flapping wing action is done under the driving of the drive division, two skeleton portions is symmetrically set
Put；Two all-wing aircraft portions are separately fixed on the outside of two skeleton portions；The all-wing aircraft portion first including interconnection is winged
The wing, the second all-wing aircraft and the 3rd all-wing aircraft, the skeleton portion include the first paragraph wing upper boom and the first paragraph wing being arranged in the first all-wing aircraft
Lower beam, the second segment wing bar being arranged in second all-wing aircraft and the 3rd section of wing bar being arranged in the 3rd all-wing aircraft；It is described
First paragraph wing upper boom and first paragraph wing lower beam be arranged in parallel and are connected respectively with the drive division；The second segment wing bar simultaneously with
First paragraph wing upper boom and the first paragraph wing lower beam is hinged；The 3rd section of wing bar and the second segment wing bar are hinged.It is logical
The flapping wing mechanism for designing a kind of three sections of wings is crossed, is hinged between the first paragraph wing and the second segment wing, between the second segment wing and the 3rd section of wing
Be hinged, the first paragraph wing is linked with the 3rd section of wing by ball slave connecting rod so that the second segment wing and the 3rd section of wing can produce the angle of attack
Change, the mechanism, which realizes, collapses expansion action while three sections of wings are in motion process, it is negative during upper carry to reduce wing
Lift.By the structure of three sections of wings, simulation effect is preferably realized.
The present invention further technical scheme be：The cradle portion is provided with the first fix bar, first fix bar with
The first paragraph wing upper boom is mutually perpendicular to, and first fix bar runs through the first paragraph wing upper boom, the first paragraph wing upper boom
Rotated by axle of first fix bar.
The present invention further technical scheme be：The drive division is provided with gear train, crank and connecting rod；The gear train is consolidated
It is scheduled in the cradle portion and is connected with driver；The crank is connected with the gear of the gear train and in the gear train
Drive under rotate；One end of the connecting rod is connected with the crank, the other end simultaneously with the first paragraph wing lower beam and described
First paragraph wing upper boom is connected.Realize that drive division is controlled the flapping wing of the first all-wing aircraft by the structure.
The present invention further technical scheme be：The first paragraph wing lower beam, first paragraph wing upper boom and the second segment wing
One or two sections of wing connecting plates are sequentially provided between bar, the angle of attack reverses steering wheel, steering wheel terminal pad；One end of one or two sections of wing connecting plates
It is hinged respectively with the first paragraph wing lower beam and first paragraph wing upper boom, the other end reverses steering wheel with the angle of attack and is connected；It is described
The angle of attack reverses steering wheel and is connected with the steering wheel terminal pad；The steering wheel terminal pad is connected with the second segment wing bar；The angle of attack
Steering wheel terminal pad described in servos control is reversed to carry out and the perpendicular rotation in the first all-wing aircraft flapping wing direction.By increasing steering wheel
The control in the angle of attack direction of the second segment wing is realized, so as to more be accurately controlled flight.Steering wheel is arranged on the second segment wing, works as wing
For wing when fluttering up and down, steering wheel produces angle change therewith, due to ball pair during two sections of connecting rod between one or three sections, it is allowed to which it is certain
Within the scope of rotate, then, the angle of attack of two or three sections of wings can constantly change with fluttering in the presence of steering wheel.
The present invention further technical scheme be：The angle of attack reverses and fixed upper lower plate is provided with the outside of steering wheel, described solid
Surely steering wheel connector is provided between upper lower plate.Steering wheel structure is further fixed by fixed upper lower plate and steering wheel connector
Strengthen.Increase the stability of steering wheel.
The present invention further technical scheme be：The cradle portion includes the fore-stock and after-poppet be arrangeding in parallel, described
Gear train is arranged on the fore-stock.The design of front and back support makes a distinction gear train and miscellaneous part, so as not to it is mutually dry
Disturb.
The present invention further technical scheme be：Gear and angular transducer, the gear are additionally provided with the after-poppet
It is coaxial with the gear in the gear train；The angular transducer reverses steering wheel with the angle of attack and is mutually electrically connected；The angle sensor
Device, which detects the rotational angle of the gear and testing result is transferred into the angle of attack, reverses steering wheel.By on crank gear axle
The gear of installation, under the transmission of gear, angular transducer can detect the position of crank in real time, avoid grating sensor from detecting
The imperfection of signal, the running status of wing is judged according to angle change, is rotated according to its position so as to automatically control steering wheel,
Drive change of two or three sections of wing chords to the angle of attack.
The present invention further technical scheme be：Pass through two or three sections between the second segment wing bar and the 3rd section of wing bar
Wing clamping plate is connected.
The present invention further technical scheme be：Two or three sections of wing clamping plates are provided with chute, and the flex-wing is bionical to be flutterred
Rotor aircraft is additionally provided with connecting rod, the be hinged inside for being arranged on the chute in one end of the connecting rod and along the slide, another
One end is hinged with the first paragraph wing lower beam.The effect that the 3rd all-wing aircraft is driven using the first all-wing aircraft is realized by bar linkage structure.
The present invention further technical scheme be：The all-wing aircraft portion is prepared using flexible material.
This programme designs a kind of flapping wing mechanism of three sections of flex-wings, and the receipts of wing are realized using three double leval jib cascades
Hold together expansion, first double leval jib is crank rocker, is the drive part of total, passes through parallelogram between one or two sections of wings
To realize that the gathering expansion of the second segment wing acts, the 3rd section between the wing and the first paragraph wing by being connected with ball slave connecting rod, with the
Two sections of wing structures, the 3rd section of wing are realized the gathering expansion action of the 3rd section of wing, collapsed when being carried on wing into the 3rd quadric chain
The closer true birds of change.
Steering wheel is installed on the second segment wing, one or three sections of two sections of wing connecting rods are made up of ball pair so that the first paragraph wing, second segment
The spatial movement double leval jib that the wing, the 3rd section of wing are formed, exhibition collapses change upwards while, the rotation of steering wheel shows wing
The change of two or three sections of wing angles of attack, thus two or three sections of wings can realize a range of angle of attack variation；
Gear is installed on crank gear axle, is rotated together by gear drive angular transducer and detects the operation angle of crank
Degree, the running status of wing is judged according to angle change, rotated according to its position so as to automatically control steering wheel, drive two or three sections of wings
The change of the tangential angle of attack.
The beneficial effects of the invention are as follows：The flex-wing bionic flapping-wing flying vehicle that this programme provides is simple in construction, is easy to manufacture,
Cost is low；It can realize that collapsing expansion acts, and mitigates wing own wt, subtracts by connecting rod cascade while fluttering up and down
Negative lift when small wing above carries；Realize the wing angle of attack actively with fluttering by ball auxiliary space quadric chain and servos control
Change；It can realize that the angle of attack is fluttered position real-time change according to wing, and be joined directly together with crank axle, ensure detection signal
Complete and accurate；"-bending-torsion of fluttering " motion of wing, is favorably improved lift when more really simulating Bird Flight
And flying quality.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of flex-wing bionic flapping-wing flying vehicle provided in an embodiment of the present invention.
Fig. 2 is the schematic diagram of flex-wing bionic flapping-wing flying vehicle drive division provided in an embodiment of the present invention.
Fig. 3 is the steering wheel partial schematic diagram of flex-wing bionic flapping-wing flying vehicle provided in an embodiment of the present invention.
Fig. 4 is the schematic diagram in flex-wing bionic flapping-wing flying vehicle skeleton portion provided in an embodiment of the present invention.
Fig. 5 is the drive division strabismus schematic diagram of flex-wing bionic flapping-wing flying vehicle provided in an embodiment of the present invention.
Reference：1st, after-poppet；2nd, fore-stock；3rd, gear train；4th, crank；5th, connecting rod；6th, first paragraph wing upper boom；7th,
One section of wing lower beam；8th, the angle of attack reverses steering wheel；9th, steering wheel connector；10th, lower plate in fixation；11st, one or two sections of wing connecting plates；12、
Second segment wing bar；13rd, steering wheel terminal pad；14th, the 3rd section of wing bar；15th, two or three sections of wing clamping plates；16th, connecting rod；17th, angular transducer；
18th, gear；19th, chute；20th, the first fix bar.
Embodiment
The present invention provides a kind of flex-wing bionic flapping-wing flying vehicle.The present invention is carried out below in conjunction with drawings and Examples detailed
Describe in detail bright.
Fig. 1 is the schematic diagram of flex-wing bionic flapping-wing flying vehicle provided in an embodiment of the present invention.Such as Fig. 1, a kind of flex-wing
Bionic flapping-wing flying vehicle, including cradle portion, drive division, skeleton portion and all-wing aircraft portion；The drive division is arranged in the cradle portion
Portion, the drive division is interior to be provided with driver；Two skeleton portions are hinged and in the drive of the drive division with the drive division
Reciprocal flapping wing action is done under dynamic, two skeleton portions are symmetrical arranged；Two all-wing aircraft portions are separately fixed at two bones
On the outside of frame portion；The all-wing aircraft portion includes the first all-wing aircraft, the second all-wing aircraft and the 3rd all-wing aircraft being connected with each other.
Fig. 4 is the schematic diagram in flex-wing bionic flapping-wing flying vehicle skeleton portion provided in an embodiment of the present invention.The skeleton portion
Including the first paragraph wing upper boom 6 being arranged in the first all-wing aircraft and first paragraph wing lower beam 7, be arranged in second all-wing aircraft second
Section wing bar 12 and the 3rd section of wing bar 14 being arranged in the 3rd all-wing aircraft；First paragraph wing upper boom and the first paragraph wing lower beam is put down
Row sets and is connected respectively with the drive division；The second segment wing bar simultaneously with the first paragraph wing upper boom and the first paragraph wing
Bar is hinged；The 3rd section of wing bar and the second segment wing bar are hinged.By designing a kind of flapping wing mechanism of three sections of wings, the
It is hinged, is hinged between the second segment wing and the 3rd section of wing, the first paragraph wing and the 3rd section of wing pass through ball between one section of wing and the second segment wing
Slave connecting rod links so that the second segment wing and the 3rd section of wing can produce the change of the angle of attack, and the mechanism realizes that three sections of wings are being moved through
Expansion action is collapsed while in journey, reduces negative lift of the wing during upper put forward.It is preferably real by the structure of three sections of wings
Now simulate effect.
Fig. 2 is the schematic diagram of flex-wing bionic flapping-wing flying vehicle drive division provided in an embodiment of the present invention.It is described such as Fig. 2
Cradle portion is provided with the first fix bar 20, and first fix bar is mutually perpendicular to the first paragraph wing upper boom, and described first is solid
Fixed pole runs through the first paragraph wing upper boom, and the first paragraph wing upper boom rotates by axle of first fix bar.
It can be seen in fig. 2 that the drive division is provided with gear train 3, crank 4 and connecting rod 5；The gear train is fixed on the branch
It is connected in frame portion and with driver；The crank is connected with the gear of the gear train and in the drive backspin of the gear train
Turn；One end of the connecting rod is connected with the crank, the other end simultaneously with the first paragraph wing lower beam and the first paragraph wing
Bar is connected.Realize that drive division is controlled the flapping wing of the first all-wing aircraft by the structure.
Fig. 3 is the steering wheel partial schematic diagram of flex-wing bionic flapping-wing flying vehicle provided in an embodiment of the present invention.With reference to Fig. 3,4
It can be seen that it is sequentially provided with one or two sections of wing connecting plates between the first paragraph wing lower beam, first paragraph wing upper boom and the second segment wing bar
11st, the angle of attack reverses steering wheel 8, steering wheel terminal pad 13；One end of one or two sections of wing connecting plates respectively with the first paragraph wing lower beam
It is hinged with first paragraph wing upper boom, the other end reverses steering wheel with the angle of attack and is connected；The angle of attack reverses steering wheel and the steering wheel
Terminal pad is connected；The steering wheel terminal pad is connected with the second segment wing bar；The angle of attack reverses steering wheel described in servos control and connected
Disk is connect to carry out and the perpendicular rotation in the first all-wing aircraft flapping wing direction.The angle of attack direction of the second segment wing is realized by increasing steering wheel
Control, so as to being more accurately controlled flight.Steering wheel be arranged on the second segment wing on, when wing up and down fluttering when, steering wheel with
Generation angle change, due to ball pair during two sections of connecting rod between one or three sections, it is allowed to it is rotated within limits, then, two
The angle of attack of three sections of wings can constantly change with fluttering in the presence of steering wheel.
Remote-controlled steering engine（Or abbreviation steering wheel）It is a scientific and technological crystalline solid for having mixed multinomial technology, it is by direct current generator, deceleration
Gear train, sensor and control circuit composition, are a set of automatons.So-called automatically control is exactly with a closed loop feedback
Control loop constantly corrects the deviation of output, the output of system is kept constant.
It can be seen from figure 3 that the angle of attack, which reverses, is provided with fixed upper lower plate 10 on the outside of steering wheel, in the fixation between lower plate
Provided with steering wheel connector 9.Strengthen by the way that fixed upper lower plate and steering wheel connector are further fixed to steering wheel structure.Increase steering wheel
Stability.
See Fig. 2, the cradle portion includes the fore-stock 1 and after-poppet 2 be arrangeding in parallel, the gear train be arranged on it is described before
On support.The design of front and back support makes a distinction gear train and miscellaneous part, in order to avoid interfere.
Fig. 5 is the drive division strabismus schematic diagram of flex-wing bionic flapping-wing flying vehicle provided in an embodiment of the present invention.See Fig. 5,
Gear 18 and angular transducer 17 are additionally provided with the after-poppet, the gear and the gear in the gear train are coaxial；It is described
Angular transducer reverses steering wheel with the angle of attack and is mutually electrically connected；The angular transducer detects the rotational angle of the gear and will inspection
Survey result and be transferred to the angle of attack torsion steering wheel.Pass through the gear installed on crank gear axle, under the transmission of gear, angle
Sensor can detect the position of crank in real time, avoid the imperfection of grating sensor detection signal, sentenced according to angle change
The running status of disconnected wing, rotated according to its position so as to automatically control steering wheel, drive change of two or three sections of wing chords to the angle of attack.
See Fig. 4, be connected between the second segment wing bar and the 3rd section of wing bar by two or three sections of wing clamping plates 15.
See Fig. 4, two or three sections of wing clamping plates are provided with chute 19, and the flex-wing bionic flapping-wing flying vehicle is additionally provided with connecting rod
16, the be hinged inside for being arranged on the chute in one end of the connecting rod and along the slide, the other end and the first paragraph
Wing lower beam is hinged.The effect that the two or three all-wing aircraft is driven using the first all-wing aircraft is realized by bar linkage structure.
Further, the all-wing aircraft portion is prepared using flexible material.
This programme designs a kind of flapping wing mechanism of three sections of flex-wings, and the receipts of wing are realized using three double leval jib cascades
Hold together expansion, first double leval jib is crank rocker, is the drive part of total, passes through parallelogram between one or two sections of wings
To realize that the gathering expansion of the second segment wing acts, the 3rd section between the wing and the first paragraph wing by being connected with ball slave connecting rod, with the
Two sections of wing structures, the 3rd section of wing are realized the gathering expansion action of the 3rd section of wing, collapsed when being carried on wing into the 3rd quadric chain
The closer true birds of change.
Steering wheel is installed on second segment wing, one or three sections of wing connecting rod two ends are made up of ball pair so that the first paragraph wing, second segment
The spatial movement double leval jib that the wing, the 3rd section of wing are formed, exhibition collapses change upwards while, the rotation of steering wheel shows wing
The change of two or three sections of wing angles of attack, thus two or three sections of wings can realize a range of angle of attack variation；
Gear is installed on crank gear axle, is rotated together by gear drive angular transducer and detects the operation angle of crank
Degree, the running status of wing is judged according to angle change, rotated according to its position so as to automatically control steering wheel, drive two or three sections of wings
The change of the tangential angle of attack.
In this specific embodiment, five gears are included in driving structure middle gear group 3, form a train of reduction gears,
In the continuous rotary course of motor, crank 4 is driven to rotate, connecting rod 5 and first paragraph wing upper boom 6 and first paragraph wing lower beam 7 are be hinged,
Under the drive of crank the first paragraph wing is back and forth fluttered up and down.The angle of attack reverses steering wheel 8 and fixed in steering wheel connector 9, further through solid
Steering wheel connector 9 is fixed on one or two sections of wing connecting plates 11 by surely upper lower plate 10, with one or two sections of wing connecting plates 11 by one or two sections
The wing is hinged, and two sections of wing bar parts 12 are connected to the angle of attack by steering wheel terminal pad 13 and reversed on steering wheel 8, and steering wheel is reversed in the angle of attack
8 when reversing so that and the angle of attack of wing changes therewith, and the 3rd section of wing 14 and the second segment wing are connected 15 by two or three sections of wing clamping plates, the
It is hinged between three sections of wings 14 and two or three sections of wing clamping plates 15, and is connected with connecting rod 16, while connecting rod 16 is hinged with the first paragraph wing, connecting rod
There is ball pair to meet the change of the angle of attack within the specific limits in 16 both ends, with realizing the exhibition of the 3rd section of wing to collapsing stretching.
Angular transducer 17 is fixed on afer bay 1, is driven by gear 18 and is rotated with crank axle 5, detects the position angle of crank 5,
The angle of attack is controlled to reverse the angle change of steering wheel 8.
The flex-wing bionic flapping-wing flying vehicle that this programme provides is simple in construction, is easy to manufacture, cost is low；It can flutter up and down
While pass through connecting rod cascade and realize that collapsing expansion acts, and mitigates wing own wt, reduce negative liter of wing when above carrying
Power；Realize the wing angle of attack actively with the change fluttered by ball auxiliary space quadric chain and servos control；The angle of attack can be realized
Fluttered position real-time change according to wing, and be joined directly together with crank axle, ensure the complete and accurate of detection signal；It is truer
When simulating Bird Flight wing "-bending-torsion of fluttering " motion, be favorably improved lift and flying quality.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. flex-wing bionic flapping-wing flying vehicle, it is characterised in that：Including cradle portion, drive division, skeleton portion and all-wing aircraft portion；Institute State drive division to be arranged on inside the cradle portion, driver is provided with the drive division；Two skeleton portions and the driving Portion is hinged and reciprocal flapping wing action is done under the driving of the drive division, and two skeleton portions are symmetrical arranged；Described in two All-wing aircraft portion is separately fixed on the outside of two skeleton portions；The all-wing aircraft portion includes the first all-wing aircraft, the second all-wing aircraft being connected with each other With the 3rd all-wing aircraft, the skeleton portion includes the first paragraph wing upper boom being arranged in the first all-wing aircraft and first paragraph wing lower beam, is arranged on Second segment wing bar in second all-wing aircraft and the 3rd section of wing bar being arranged in the 3rd all-wing aircraft；The first paragraph wing upper boom It is arranged in parallel with first paragraph wing lower beam and is connected respectively with the drive division；The second segment wing bar simultaneously with the first paragraph wing Upper boom and first paragraph wing lower beam are hinged；The 3rd section of wing bar and the second segment wing bar are hinged.
- 2. flex-wing bionic flapping-wing flying vehicle according to claim 1, it is characterised in that：The cradle portion is provided with first Fix bar, first fix bar are mutually perpendicular to the first paragraph wing upper boom, and first fix bar runs through the first paragraph Wing upper boom, the first paragraph wing upper boom rotate by axle of first fix bar.
- 3. flex-wing bionic flapping-wing flying vehicle according to claim 2, it is characterised in that：The drive division is provided with gear Group, crank and connecting rod；The gear train is fixed in the cradle portion and is connected with driver；The crank and the gear train Gear be connected and rotated under the drive of the gear train；One end of the connecting rod is connected with the crank, the other end is same When be connected with the first paragraph wing lower beam and the first paragraph wing upper boom.
- 4. flex-wing bionic flapping-wing flying vehicle according to claim 3, it is characterised in that：The first paragraph wing lower beam, One or two sections of wing connecting plates are sequentially provided between one section of wing upper boom and the second segment wing bar, the angle of attack reverses steering wheel, steering wheel terminal pad； One end of one or two sections of wing connecting plates is hinged with the first paragraph wing lower beam and first paragraph wing upper boom respectively, the other end and institute Angle of attack torsion steering wheel is stated to be connected；The angle of attack reverses steering wheel and is connected with the steering wheel terminal pad；The steering wheel terminal pad with it is described Second segment wing bar is connected；The angle of attack reverses steering wheel terminal pad described in servos control and carried out and the first all-wing aircraft flapping wing direction phase Vertical rotation.
- 5. flex-wing bionic flapping-wing flying vehicle according to claim 4, it is characterised in that：The angle of attack is reversed on the outside of steering wheel Provided with fixed upper lower plate, steering wheel connector is provided between lower plate in the fixation.
- 6. flex-wing bionic flapping-wing flying vehicle according to claim 4, it is characterised in that：The cradle portion includes parallel The fore-stock and after-poppet of setting, the gear train are arranged on the fore-stock.
- 7. flex-wing bionic flapping-wing flying vehicle according to claim 6, it is characterised in that：Tooth is additionally provided with the after-poppet Wheel and angular transducer, the gear and the gear in the gear train are coaxial；The angular transducer reverses with the angle of attack Steering wheel is mutually electrically connected；The angular transducer detects the rotational angle of the gear and testing result is transferred into the angle of attack and reverses Steering wheel.
- 8. according to any described flex-wing bionic flapping-wing flying vehicle in claim 1-7, it is characterised in that：The second segment wing It is connected between bar and the 3rd section of wing bar by two or three sections of wing clamping plates.
- 9. flex-wing bionic flapping-wing flying vehicle according to claim 8, it is characterised in that：Set on two or three sections of wing clamping plates There is chute, the flex-wing bionic flapping-wing flying vehicle is additionally provided with connecting rod, and one end of the connecting rod is be hinged to be arranged on the chute Inside is simultaneously hinged along the slide, the other end and the first paragraph wing lower beam.
- 10. according to any described flex-wing bionic flapping-wing flying vehicle in claim 1-7, it is characterised in that：The all-wing aircraft portion Prepared using flexible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710580905.4A CN107364573A (en) | 2017-07-17 | 2017-07-17 | Flex-wing bionic flapping-wing flying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710580905.4A CN107364573A (en) | 2017-07-17 | 2017-07-17 | Flex-wing bionic flapping-wing flying vehicle |
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| CN107364573A true CN107364573A (en) | 2017-11-21 |
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| CN201710580905.4A Pending CN107364573A (en) | 2017-07-17 | 2017-07-17 | Flex-wing bionic flapping-wing flying vehicle |
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| CN108033008A (en) * | 2017-12-15 | 2018-05-15 | 佛山市神风航空科技有限公司 | One kind is herded with bionic mechanical bird and its flight control method |
| CN108438218A (en) * | 2018-02-11 | 2018-08-24 | 北京航空航天大学 | A kind of bionical hummingbird aircraft |
| CN109484625A (en) * | 2019-01-02 | 2019-03-19 | 南昌航空大学 | A kind of aircraft of wing variable rigidity |
| CN112078790A (en) * | 2020-09-03 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
| CN112124581A (en) * | 2020-09-03 | 2020-12-25 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
| CN112693605A (en) * | 2021-01-27 | 2021-04-23 | 北京航空航天大学 | Flapping wing aircraft |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
| CN113148144B (en) * | 2021-04-07 | 2022-07-19 | 吉林大学 | Foldable bionic flapping wing and aircraft |
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| CN108438218B (en) * | 2018-02-11 | 2020-09-04 | 北京航空航天大学 | Bionic hummingbird aircraft |
| CN109484625A (en) * | 2019-01-02 | 2019-03-19 | 南昌航空大学 | A kind of aircraft of wing variable rigidity |
| CN112078790A (en) * | 2020-09-03 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
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| CN112078790B (en) * | 2020-09-03 | 2022-04-19 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
| CN112124581B (en) * | 2020-09-03 | 2022-05-13 | 哈尔滨工业大学（深圳） | Flight control device and aircraft |
| CN112693605A (en) * | 2021-01-27 | 2021-04-23 | 北京航空航天大学 | Flapping wing aircraft |
| CN113148144B (en) * | 2021-04-07 | 2022-07-19 | 吉林大学 | Foldable bionic flapping wing and aircraft |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
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