CN107458572A - A kind of floating type bionic flapping-wing flying vehicle - Google Patents
A kind of floating type bionic flapping-wing flying vehicle Download PDFInfo
- Publication number
- CN107458572A CN107458572A CN201710614886.2A CN201710614886A CN107458572A CN 107458572 A CN107458572 A CN 107458572A CN 201710614886 A CN201710614886 A CN 201710614886A CN 107458572 A CN107458572 A CN 107458572A
- Authority
- CN
- China
- Prior art keywords
- wing
- flapping
- posture
- flapping wing
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 239000001307 helium Substances 0.000 claims abstract description 6
- 229910052734 helium Inorganic materials 0.000 claims abstract description 6
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims abstract description 6
- 239000000203 mixture Substances 0.000 claims description 3
- 239000012528 membrane Substances 0.000 claims 2
- 239000002131 composite material Substances 0.000 abstract 1
- 238000010276 construction Methods 0.000 abstract 1
- 230000005484 gravity Effects 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 5
- 239000007789 gas Substances 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000000006 pectoral fin Anatomy 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/20—Rigid airships; Semi-rigid airships provided with wings or stabilising surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/38—Controlling position of centre of gravity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/58—Arrangements or construction of gas-bags; Filling arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
A kind of floating type bionic flapping-wing flying vehicle, including fuselage, flapping wing mechanism, tail structure and device for adjusting posture.The fuselage copies the configuration design of devil ray, and its material is composite film material, inside filling helium.The flapping wing mechanism is symmetrically distributed in fuselage both sides, is made up of flapping wing actuator, flapping wing rocking arm, flapping wing fixed mount and flapping wing, and wherein the output shaft of flapping wing actuator is connected by flapping wing rocking arm with support bar.The tail structure is located at afterbody, is made up of empennage actuator, afterbody rocking arm, afterbody fixed mount and empennage, and wherein the output shaft of empennage actuator is connected by afterbody rocking arm with empennage.The device for adjusting posture is arranged on fuselage, is made up of posture actuator, posture rocking arm, connecting rod, posture fixed mount and weight, and wherein posture actuator is moved by posture rocking arm and connecting rod band animal block.Compared to other flapping-wing type aircrafts, the present invention is safe, simple in construction, and flight efficiency is high, and mobility is good.
Description
Technical field
The invention belongs to bionic Aircraft field, more particularly to a kind of floating type bionic flapping-wing flying vehicle.
Background technology
In nature, birds or insect are flown in the air by way of flapping wing, and the marine fishes such as devil ray mainly pass through one
Roomy pectoral fin is fluttered to produce the thrust of advance up and down, moved about to freedom and flexibility in water, this motion mode and birds
Flapping wing it is similar.Flapping wing aircraft is because of reasons such as the flying quality of itself and application targets, in the development of aviation, military affairs etc.
It is more and more important.
At present, high frequency flapping wing is used with the flapping wing aircraft for copying birds, insect to make mostly, this flapping wing mode moves property
High and efficiency high, but fuselage less stable during flight, are not suitable for carrying measuring apparatus, and this flapping wing mode consumption compared with
Greatly, the flight time of aircraft is constrained.Meanwhile most of flapping-wing aircrafts realize the pitching of fuselage with turning by controlling rudder face
To this also constrains the mobility of aircraft significantly.
The content of the invention
In view of the above-mentioned problems, this invention provides a kind of floating type bionic flapping-wing flying vehicle, a kind of new flight is proposed
Device flying method, and can realize that long-time low power consuming is flown.
The present invention is achieved through the following technical solutions.
The profile of the present invention is designed according to the physical shapes of devil ray.The helium of fuselage interior is provided needed for aircraft
Buoyancy.In addition, aircraft can independent control both sides flapping wing swat frequency and whole story phase, provide what is advanced for aircraft
Motive force and realize aircraft divertical motion.Device for adjusting posture can adjust the position of aircraft center of gravity, so as to real
Existing aircraft pitching and rolling.Tail structure start can make empennage swing, and realize the yawing rotation of aircraft.It is overall
On, aircraft can realize the flare maneuvers such as advance, steering, lifting, pitching, hovering, spin, driftage, rolling, and flight attitude is flexible
It is various.
(1) total arrangement
The present invention is lighter than the fuselage of the gas filling of air, flapping wing mechanism, tail structure, with posture by such as helium isodensity
Adjusting apparatus is formed.
(2) fuselage scheme
Fuselage, as covering, can be filled the quality such as helium inside it and be lighter than air using the good thin-film material of air-tightness
Gas, provide buoyancy for aircraft.
(3) flapping wing mechanism scheme
Flapping wing mechanism is located at fuselage both sides, by flapping wing actuator, flapping wing fixed mount, flapping wing rocking arm, support bar and flapping wing group
Into flapping wing mechanism is connected with fuselage, respectively positioned at the both sides of fuselage.Flapping wing is made by thin-film material, and each flapping wing leading edge has branch
Strut, the support bar of the leading edge of a wing are connected by flapping wing rocking arm with flapping wing actuator, realize that flapping wing is fluttered.Wing can use trapezoidal
The wing, dalta wing or bionical wing structure.
(4) tail structure scheme
Tail structure is made up of empennage actuator, afterbody fixed mount, afterbody rocking arm and empennage；Empennage is long tail fin shape rudder
Face-type structural, positioned at fuselage rear, the position of elongated tail being changed by the driving of empennage actuator, elongated tail can swing,
Turned to for correcting aircraft course and low-angle, this principle is similar to the rudder on aircraft vertical stabilization.Afterbody machine simultaneously
Structure can keep aircraft to balance, and also have certain effect to aircraft center of gravity regulation.
(5) device for adjusting posture scheme
The device for adjusting posture is made up of pose adjustment actuator, posture fixed mount, posture rocking arm, connecting rod and thing block；
Pose adjustment actuator is fixed on fuselage by posture fixed mount, and posture one end is connected with pose adjustment actuator, separately
One end is connected with connecting rod, and thing block is fixed with the end of connecting rod.Position change of the pose adjustment actuator by changing thing block flies
The center of gravity of row device, realize the pitching motion of aircraft.Rolling by realizing aircraft with the cooperation that flapping wing is fluttered etc. acts, real
The high maneuvering flight of existing aircraft.
The beneficial effects of the invention are as follows：
According to the present invention, the fuselage appearance of aircraft can greatly reduce resistance during motion, pass through the offer of fluttering of wing
Propulsive force, make small, the efficiency high of aircraft power consumption.In addition, this aircraft does not have propeller, collision is not afraid of, there is higher security,
People will not be damaged.
According to the present invention, this aircraft is based on aerostatics platform, possesses very long airborne period.It can enter in mission area
Row is prolonged to stop.By the position of centre of gravity of device for adjusting posture change of flight device, aircraft is set to fly with many attitude
OK, flexibility and the mobility of aircraft can be improved.
According to the present invention, fuselage filled with density be less than the gas of air and provide buoyancy for aircraft, while make aircraft
It can realize that load-carrying is flown, this aircraft can perform corresponding task with carry different equipment, can better adapt to environment.
Such as by carry minisize pick-up head, the first visual angle of real-time flight picture can be passed back, location is taken photo by plane and monitored, by
In flight stability, aircraft need not install anti-shake apparatus additional, it is possible to obtain highly stable Aerial Images.
Brief description of the drawings
Fig. 1 is a kind of structural representation of bionical devil ray flapping wings type lighter-than-air flight device of the present invention.
Fig. 2 is the partial enlarged drawing of A portions flapping wing mechanism in Fig. 1.
Fig. 3 is the partial enlarged drawing of B portions tail structure in Fig. 1.
Fig. 4 is the structural representation of device for adjusting posture.
In figure：1. the flapping wing of 201. flapping wing of fuselage 2. flapping wing mechanism, 3. tail structure, 4. device for adjusting posture 202. is made
The afterbody rocking arm 303. of 301. empennage actuator of dynamic device 203. flapping wing rocking arm, 204. support bar, 205. flapping wing fixed mount 302.
The appearance of 404. thing block of empennage 304. afterbody fixed mount, 401. pose adjustment actuator, 402. posture Rocker arm 4,03. connecting rod 405.
State fixed mount.
Embodiment
Embodiment 1
A kind of floating type bionic flapping-wing flying vehicle as shown in Figure 1, it includes fuselage 1, flapping wing mechanism 2, the and of tail structure 3
Device for adjusting posture 4, wherein flapping wing mechanism are symmetrically distributed in fuselage both sides, and tail structure is located at tail cone, pose adjustment dress
Setting on fuselage.Helium isodensity such as is filled in fuselage 1 and is less than the gas of air, buoyancy is provided for aircraft.
As shown in Fig. 2 flapping wing mechanism 2 is by flapping wing 201, flapping wing actuator 202, flapping wing rocking arm 203, support bar 204, flapping wing
Fixed mount 205 forms, and flapping wing actuator 202 is fixed on fuselage both sides by flapping wing fixed mount 205；One end of flapping wing rocking arm 203
It is connected with the output shaft of flapping wing actuator 202, the other end is connected on the support bar 204 of flapping wing 201, forms power assembly.Flight
Device can make aircraft forward flight by controlling fluttering for flapping wing 201 aircraft is obtained propulsive force.This bionical devil ray flight
Device can independent control both sides flapping wing swat frequency and whole story phase.
As shown in figure 3, tail structure 3 is by empennage actuator 301, afterbody rocking arm 302 and empennage 303 and afterbody fixed mount
304 compositions, empennage actuator 301 are fixed on tail cone by fixed mount 304；One end of afterbody rocking arm 302 and empennage start
The output shaft of device 301 is connected, and the other end is connected on empennage 303.By controlling tail structure 3, aircraft is set to realize yaw maneuver,
Change of the tail structure 3 to aircraft center of gravity also has effect.
As shown in figure 4, device for adjusting posture 4 is by pose adjustment actuator 401, posture Rocker arm 4 02, connecting rod 403, thing block
404 and posture fixed mount 405 form；Pose adjustment actuator 401 is fixed on fuselage by posture fixed mount 405, and posture is shaken
The one end of arm 402 is connected with pose adjustment actuator 401, and the other end is connected with connecting rod 403, and thing is fixed with the end of connecting rod 403
Block 404.By controlling device for adjusting posture to control the position of aircraft center of gravity, the center of gravity of aircraft is changed, realize and fly
The pitching of row device and rolling.Differential by controlling two flapping wings to flutter, i.e., the angle that two flapping wings are fluttered is different from frequency, realizes flight
The go to action of device.
Control device for adjusting posture 4 is moved rearwards aircraft center of gravity while controlling flapping wing to flutter, aircraft head
Lift, realize the flight forward and up of aircraft.If aircraft is in 90 ° with horizontal plane angle, the vertical of aircraft can be achieved and climb
Rise.Control device for adjusting posture 4 moves forward aircraft center of gravity while controlling flapping wing to flutter, and aircraft head is low,
Realize the flight downwards forward of aircraft.Controlling the differential of flapping wing actuator 202, i.e., the angle that flapping wing is fluttered is different from frequency,
The steering of aircraft can be achieved.By controlling the angular transformation of tail structure 3 to realize, the driftage of aircraft operates.
By the control and mutual cooperation to aircraft various pieces, can be advanced, be turned to, being lifted, pitching, hovering,
Spin, driftage, rolling, vertically climb, 360 ° somersault etc. action, realize that the multi-pose of aircraft flexibly flies.
Claims (6)
- A kind of 1. floating type bionic flapping-wing flying vehicle, it is characterised in that：It includes fuselage (1), flapping wing mechanism (2), tail structure (3) and device for adjusting posture (4), wherein flapping wing mechanism are symmetrically distributed in fuselage both sides, and tail structure is located at tail cone, posture Adjusting apparatus is located on fuselage.
- A kind of 2. floating type bionic flapping-wing flying vehicle according to claim 1, it is characterised in that：The fuselage (1) is by thin Membrane material makes, and the full helium of inside filling, its overall shape copies devil ray to design.
- A kind of 3. floating type bionic flapping-wing flying vehicle according to claim 1, it is characterised in that：The flapping wing mechanism is by flutterring Wing actuator (202), flapping wing fixed mount (205), flapping wing rocking arm (203), support bar (204) and flapping wing (201) composition, flapping wing are made Dynamic device is fixed on fuselage both sides by flapping wing fixed mount；One end of flapping wing rocking arm (203) and flapping wing actuator (202) output shaft phase Even, the other end is connected on the support bar of flapping wing (204).
- A kind of 4. floating type bionic flapping-wing flying vehicle according to claim 1, it is characterised in that：The tail structure is by tail Wing actuator (301), afterbody fixed mount (304), afterbody rocking arm (302) and empennage (303) composition, empennage actuator pass through afterbody Fixed mount is fixed on tail cone；One end of afterbody rocking arm is connected with empennage actuator output shaft, and the other end is connected to empennage On support bar.
- A kind of 5. floating type bionic flapping-wing flying vehicle according to claim 1, it is characterised in that：The device for adjusting posture It is made up of pose adjustment actuator (401), posture fixed mount (405), posture rocking arm (402), connecting rod (403) and thing block (404)； Pose adjustment actuator is fixed on fuselage by posture fixed mount, and posture one end is connected with pose adjustment actuator, separately One end is connected with connecting rod, and thing block is fixed with the end of connecting rod.
- A kind of 6. floating type bionic flapping-wing flying vehicle according to claim 2, it is characterised in that：Its flapping wing (201) is by thin Membrane material makes, and is bonded with fuselage, its leading edge has a support bar, and wing can use tapered airfoil, dalta wing or bionical wing Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710614886.2A CN107458572A (en) | 2017-07-17 | 2017-07-17 | A kind of floating type bionic flapping-wing flying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710614886.2A CN107458572A (en) | 2017-07-17 | 2017-07-17 | A kind of floating type bionic flapping-wing flying vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107458572A true CN107458572A (en) | 2017-12-12 |
Family
ID=60547160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710614886.2A Pending CN107458572A (en) | 2017-07-17 | 2017-07-17 | A kind of floating type bionic flapping-wing flying vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107458572A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250063A (en) * | 2018-09-29 | 2019-01-22 | 中国人民解放军国防科技大学 | Aerostat based on jellyfish bionics |
| CN110995967A (en) * | 2019-11-22 | 2020-04-10 | 武汉理工大学 | Virtual compound eye construction system based on variable flying saucer airship |
| CN114044138A (en) * | 2021-11-01 | 2022-02-15 | 上海智能制造功能平台有限公司 | Bionic whale suspension aircraft and control method thereof |
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|---|---|---|---|---|
| CN202345914U (en) * | 2011-10-25 | 2012-07-25 | 北京智能佳科技有限公司 | Intelligent helium-filled flapping wing air vehicle capable of tracking sound source |
| CN202506119U (en) * | 2011-12-31 | 2012-10-31 | 广东飞轮科技实业有限公司 | Air buoyancy toy |
| CN103112513A (en) * | 2013-01-16 | 2013-05-22 | 北京航空航天大学 | Locust-simulating robot with posture adjustment function |
| CN203450369U (en) * | 2013-06-21 | 2014-02-26 | 电子科技大学 | Airship gondola with adjustable center of gravity |
| CN104002968A (en) * | 2014-05-30 | 2014-08-27 | 佛山市神风航空科技有限公司 | Small conical rotary flapping wing air vehicle |
| KR20150010924A (en) * | 2013-07-19 | 2015-01-29 | 이정용 | A ridable robotic bird |
| CN106005351A (en) * | 2016-07-06 | 2016-10-12 | 深圳市迪西姆科技开发股份有限公司 | Flapping wing type bionic intelligent balloon and operation method thereof |
-
2017
- 2017-07-17 CN CN201710614886.2A patent/CN107458572A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202345914U (en) * | 2011-10-25 | 2012-07-25 | 北京智能佳科技有限公司 | Intelligent helium-filled flapping wing air vehicle capable of tracking sound source |
| CN202506119U (en) * | 2011-12-31 | 2012-10-31 | 广东飞轮科技实业有限公司 | Air buoyancy toy |
| CN103112513A (en) * | 2013-01-16 | 2013-05-22 | 北京航空航天大学 | Locust-simulating robot with posture adjustment function |
| CN203450369U (en) * | 2013-06-21 | 2014-02-26 | 电子科技大学 | Airship gondola with adjustable center of gravity |
| KR20150010924A (en) * | 2013-07-19 | 2015-01-29 | 이정용 | A ridable robotic bird |
| CN104002968A (en) * | 2014-05-30 | 2014-08-27 | 佛山市神风航空科技有限公司 | Small conical rotary flapping wing air vehicle |
| CN106005351A (en) * | 2016-07-06 | 2016-10-12 | 深圳市迪西姆科技开发股份有限公司 | Flapping wing type bionic intelligent balloon and operation method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250063A (en) * | 2018-09-29 | 2019-01-22 | 中国人民解放军国防科技大学 | Aerostat based on jellyfish bionics |
| CN110995967A (en) * | 2019-11-22 | 2020-04-10 | 武汉理工大学 | Virtual compound eye construction system based on variable flying saucer airship |
| CN114044138A (en) * | 2021-11-01 | 2022-02-15 | 上海智能制造功能平台有限公司 | Bionic whale suspension aircraft and control method thereof |
| CN114044138B (en) * | 2021-11-01 | 2023-11-07 | 上海智能制造功能平台有限公司 | Suspension aircraft for bionic whales and control method thereof |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20171212 |