CN107757916B - Flapping wing aircraft open-close type wing structure based on hybrid drive - Google Patents
Flapping wing aircraft open-close type wing structure based on hybrid drive Download PDFInfo
- Publication number
- CN107757916B CN107757916B CN201710935093.0A CN201710935093A CN107757916B CN 107757916 B CN107757916 B CN 107757916B CN 201710935093 A CN201710935093 A CN 201710935093A CN 107757916 B CN107757916 B CN 107757916B
- Authority
- CN
- China
- Prior art keywords
- wing
- connecting rod
- flying
- blade group
- blades
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
Abstract
The invention discloses a hybrid drive-based flapping wing aircraft open-close type wing structure, which comprises a wing body, and a primary flying wing blade group and a secondary flying wing blade group which are arranged on the same side of the wing body, wherein the primary flying wing blade group and the secondary flying wing blade group respectively comprise a fixed blade and a movable blade; the driving structure comprises a power device, a transmission connecting rod I and a transmission connecting rod II, wherein the transmission connecting rod I and the transmission connecting rod II are hinged with the movable blade; the piston power device drives a transmission connecting rod I, the transmission connecting rod I and the transmission connecting rod II are respectively connected with a local inner meshing gear and a local outer meshing gear, the local inner meshing gear and the local outer meshing gear are meshed with an outer meshing pinion located between a primary flying feather blade group and a secondary flying feather blade group, a driving shaft is arranged in the center of the outer meshing pinion, and the driving shaft end located above the wing body is connected with a wind driven type fan blade group.
Description
Technical Field
The invention belongs to the field of mechanical structure design of flapping wing bionic aircrafts, and relates to a hybrid drive-based open-close wing structure of a flapping wing aircraft.
Background
The small unmanned aerial vehicle has the advantages of small size, light weight, flexibility, small take-off and landing space and the like, and is widely applied to military and civil fields, such as monitoring, inspection, search and rescue, photography, enemy investigation, electronic interference, even active attack and defense and the like. According to the lift generation and propulsion mechanism, the small unmanned aerial vehicle can be divided into: fixed wing, rotor and flapping wing aircraft, wherein flapping wing bionic aircraft is the novel aircraft of imitative birds or insect flight, both belongs to the bionic robot category, belongs to the aircraft category again, relates to the cross knowledge of a plurality of disciplines. The invention aims to provide an ornithopter imitating a flying bird.
Flapping wing flight is the result of natural selection, and flying organisms in the nature all fly in a flapping wing mode, so that the flapping wing aircraft is extremely reasonable. The bosch paper of zhangwei of harbin industrial university in 2001, numerical study of aerodynamic characteristics of flapping wings of bionic micro aircraft, indicates that: in the low Reynolds coefficient environment of small-size unmanned vehicles operation, compared with fixed wing and rotor, flapping wing flight has the advantages of mobility, flexibility, low energy consumption, good stealth and the like, and is more suitable for long-distance flight under the condition of no energy supply for a long time. Due to the advantages of the flapping wing aircraft, the research of the flapping wing aircraft draws the key attention of scholars at home and abroad.
Liulan, northwest industry university in 2007 pointed out in doctor's academic paper "bionic wing design technology research of miniature flapping wing aircraft": the movement of the wings of the flying bird is divided into a lower flapping stage and an upper flapping stage, wherein the lower flapping stage is a main stage for generating lift force; the upper flapping phase is to restore the wings to the peak to begin the next period of flapping, so the bird will always try to shorten the process. In the flapping process, the flying bird disperses wing feathers to promote the air circulation of the upper wing surface and the lower wing surface of the wing, so as to reduce the air resistance encountered when the wing of the flying bird flaps. The opening and closing of the feather in the flapping process of the wings of the flying bird are realized by the movement of primary flying feather and secondary flying feather. However, the wing structure adopted in the current research of the flapping wing aircraft does not imitate the opening and closing action of the flying bird feather so as to effectively reduce the air resistance encountered in the flapping process of the wing, thereby causing energy waste and seriously restricting the flight efficiency of the flapping wing aircraft.
Disclosure of Invention
In order to solve the problem, the invention designs an open-close type wing structure of an ornithopter based on hybrid drive according to the flight mechanism of a bird. The wing structure provided by the invention can effectively reduce the air resistance encountered in the wing flapping process, improve the flight efficiency of the flapping wing aircraft and solve the problem of low flight efficiency caused by larger air resistance in the wing flapping process of the flapping wing aircraft in the current research under the condition of not influencing the generation of lift force in the wing flapping process by simulating the opening and closing actions of the wings of the flying bird. The 'hybrid drive' in the invention refers to the opening and closing actions of the wings of the flapping wing aircraft and is simultaneously driven by pistons acted by wing pressure and a fan blade group driven by wind power.
The technical scheme adopted by the invention is as follows:
a flapping wing aircraft open-close type wing structure based on hybrid drive comprises a wing body, and a primary flying wing blade group and a secondary flying wing blade group which are arranged on the same side of the wing body, wherein the primary flying wing blade group and the secondary flying wing blade group respectively comprise a plurality of fixed blades and moving blades which are distributed at intervals;
the driving structure comprises a power device, a transmission connecting rod I and a transmission connecting rod II, and the transmission connecting rod I and the transmission connecting rod II are both hinged with the movable blade;
the power device is a piston and a wind driven fan blade group, the piston is arranged on a wing base of the wing body, a piston driven connecting rod connected with the piston is connected with a base, and a transmission connecting rod I is connected with the base; the wind driven type fan blade group is positioned above the wing body and is connected with a driving shaft arranged in the center of the external meshing pinion;
the piston power device drives a transmission connecting rod I, the transmission connecting rod I and the transmission connecting rod II are respectively connected with a local internal gear and a local external gear, and the local internal gear and the local external gear are meshed with an external gear pinion positioned between the primary flying feather blade group and the secondary flying feather blade group.
The working principle is as follows:
when the wing is in an initial state, the power device drives the transmission connecting rod I and the transmission connecting rod II to be in the longest stretching position, and the whole feather flying blade group forms a closed wing plane.
Flapping on the wing:
on one hand: the wind driven type fan blade group positioned on the upper flapping surface of the wing rotates along the anticlockwise direction (the overlooking direction of the upper flapping surface of the wing) under the action of air resistance encountered by the upper flapping surface of the wing, and drives the external meshing pinion to rotate along the clockwise direction (the overlooking direction of the lower flapping surface of the wing); according to the gear meshing transmission rule, the external meshing pinion drives the local internal meshing gear and the local external meshing gear to transmit, and then the local external meshing gear and the local internal meshing gear respectively drive the transmission connecting rod I and the transmission connecting rod II to transmit.
On the other hand: the piston driving type connecting rod is gradually compressed under the action of wing pressure, when the piston driving type connecting rod is located at the shortest compression position, the piston driving type connecting rod starts to drive the base, and the movable blades of the secondary winged vane group fixed below the base slide towards the direction of the external meshing pinion along the sliding groove; in the sliding process, a transmission connecting rod I fixed below the movable blades of the secondary flying blade group drives the local inner meshing gear to transmit, then the local inner meshing gear, the external meshing pinion and the local external meshing gear do meshing motion, and a transmission connecting rod II fixedly connected with the local external meshing gear also transmits along the direction of the external meshing pinion.
Under the action of the two aspects, the movable blades of the primary flying feather blade group are driven by the transmission connecting rod II to do blade opening motion, and the movable blades of the secondary flying feather blade group are driven by the transmission connecting rod I and the driving base to do blade opening motion; the moving direction of the movable flying wing blades is along the direction of the external meshing pinion.
Wing lower flapping process:
the piston driving type connecting rod is gradually stretched under the driving of the wing, when the piston driving type connecting rod is located at the longest stretching position, the piston driving type connecting rod starts to drive the driving base to move towards the direction of the wing base, meanwhile, the driving base drives the moving blades of the secondary blade flying feather group to move along the direction of the machine body, and the transmission connecting rod I connected with the moving type secondary flying feather group drives the local internal meshing gear to move towards the direction of the machine body; the local internal gear drives the local external gear to move towards the machine body through the external pinion, and the local external gear drives the movable primary flying feather blade group to move towards the machine body through the transmission connecting rod II; the moving blade set and the fixed blade set form a closed airfoil plane when the airfoil surface is oriented at about 90 DEG to the side section of the body. The wings continue to flap downwards to the original state of the wings.
Further, the wing body comprises a wing base, a wing vein and a wing membrane; the wing base is used for being connected with the airplane body, the multiple wing veins are connected with the wing base, and the wing membrane is laid among the multiple wing veins to form the wing body.
Further, the wing veins comprise a main wing vein forming the outline of the wing and a plurality of branch wing veins dividing the interior of the wing, wherein one branch wing vein I is basically parallel to one edge of the main wing vein to form a space for installing the primary flying-feather blade group and the secondary flying-feather blade group; the primary flying vane group and the secondary flying vane group are separated by a branch wing vein II, and the driving shaft is arranged on the branch wing vein II.
Furthermore, sliding grooves are arranged on the corresponding positions of the primary feather blade group and the secondary feather blade group on the branch vein I and the main vein.
Furthermore, the effective width of the sliding groove is equal to the sum of the thicknesses of the fixed flying wing blades and the movable flying wing blades.
Furthermore, the respective fixed blades and the moving blades of the primary fly-feather blade group and the secondary fly-feather blade group are the same in size and shape, and the width of the moving blade is slightly larger than the blank distance between the two fixed blades.
Furthermore, the secondary feather flying blade group comprises two fixed blades and two movable blades, the movable blades are adjacent to the wing base, and then the fixed blades, the movable blades and the fixed blades are arranged along the extending direction of the wing in sequence; the two movable blades are respectively connected with a transmission connecting rod I.
Furthermore, the primary flying feather blade group comprises two fixed blades and two movable blades, the fixed blades are adjacent to the secondary flying feather blade group, and then the movable blades, the fixed blades and the movable blades are sequentially arranged along the extending direction of the wing; the two movable blades are respectively connected with a transmission connecting rod II.
Further, the single movement of the piston to the farthest position in the piston-driven connecting rod is synchronized with the single movement of the driving base to the farthest position of the left end of the fixed secondary blade.
Furthermore, the included angle formed by the whole wing surface and the wing body connecting base body ranges from 45 degrees to 150 degrees.
The invention has the beneficial effects that:
the invention designs the mechanical structure based on the wing flapping characteristics of the flapping wing aircraft, realizes the synchronization of the automatic opening and closing action of the movable winged feather blades of the wings and the up-and-down flapping of the wings, and further effectively reduces the air resistance in the up-flapping process under the condition of not influencing the generation of lift force in the down-flapping process; meanwhile, in the flapping process, part of power for unfolding the movable wing blades of the wings is derived from the rotation of the fan blade group driven by the air resistance of the flapping surfaces on the wings, so that the energy utilization rate is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is an isometric view of an initial "closed" condition of the wing of the present invention (hidden structures shown in phantom).
FIG. 2 is a schematic view of the upper flapping surface structure of the wing in the closed state.
FIG. 3 is a schematic view of the lower flapping surface of the wing in the closed state.
Figure 4 is an isometric view of the wing of the present invention in the "on" position (hidden structure shown in phantom).
FIG. 5 is a schematic view of the upper flapping surface of the wing of the present invention in the "on" state.
FIG. 6 is a schematic view of the lower flapping surface of the wing of the present invention in the "on" state.
FIG. 7 is an isometric view of a wind driven bucket assembly of the present invention.
Fig. 8 is a schematic view of the opening and closing transmission module of the present invention.
Fig. 9 is a schematic view of a gear transmission module of the present invention.
Fig. 10 is a schematic view of a piston driven connecting rod module and a piston driven connecting rod isometric view (hidden structures shown in phantom lines) of the present invention.
Fig. 11 is a schematic view of the chute structure of the present invention.
In the figure: 1-a wing base; 2A, 2B, 2C, 2D, 2E-wing pulse;
3A, 3B, 3C, 3D-wing membrane; 4A, 4B-fixed primary flying vane group;
5A, 5B-fixed secondary flying vane group; 6A, 6B-a movable primary flying vane group;
7A, 7B-movable secondary flying vane group; 8A, 8B-a primary flying feather chute group;
9A, 9B-a secondary flying feather sliding chute group; 10-a wind driven fan blade set;
11-a piston driven connecting rod; 12A, 12B-a drive base;
13A, 13B, 13C, 13D-stationary handle; 14-a drive link II;
15-local external gear; 16-partial ring gear;
17-a drive link I; 18-external meshing pinion;
19-rotating shaft.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Term interpretation section: the 'wing base, wing vein and wing membrane' in the invention has no specific meaning and is equivalent to the main beam, the base plate and the like of the existing wing.
As introduced in the background art, the wing structure adopted in the current flapping wing aircraft research in the prior art does not simulate the opening and closing action of bird feathers to effectively reduce the air resistance encountered in the flapping process on the wing, thereby causing energy waste and severely restricting the flight efficiency of the flapping wing aircraft. In order to solve the technical problem, the invention provides an open-close type wing structure of an ornithopter based on hybrid drive. The wing structure provided by the invention can effectively reduce the air resistance encountered in the wing flapping process, improve the flight efficiency of the flapping wing aircraft and solve the problem of low flight efficiency caused by larger air resistance in the wing flapping process of the flapping wing aircraft in the current research under the condition of not influencing the generation of lift force in the wing flapping process of a flying bird.
In a typical embodiment of the present invention, as shown in fig. 1, an open-close type wing structure of an ornithopter based on hybrid drive is provided; the wing-shaped vane comprises a wing base 1, wing veins 2A, 2B, 2C, 2D, 2E, a wing membrane 3A, 3B, 3C, 3D, fixed primary feather blade groups 4A, 4B, fixed secondary feather blade groups 5A, 5B, movable primary feather blade groups 6A, 6B, movable secondary feather blade groups 7A, 7B, primary feather chute groups 8A, 8B, secondary feather chute groups 9A, 9B, a piston driving type connecting rod 11, driving bases 12A, 12B, a wind driving type fan blade group 10, a rotating shaft 19, an external meshing pinion 18, a local external meshing gear 15, a local internal meshing gear 16, a driving connecting rod II14, a driving connecting rod I17 and fixed handles 13A, 13B, 13C, 13D.
The whole wing is connected with the fuselage through the wing base and rotates around the fuselage with the wing vein 2A as an axis; the piston driving type connecting rod 11 is connected with the fin base 1 and the movable secondary wing vane groups 7A and 7B through driving bases 12A and 12B and can rotate around the driving bases 12A and 12B; the wind driven fan blade group 10 and the external meshing pinion 18 are connected through a rotating shaft 19; the fixed primary fly- feather blade groups 4A and 4B and the fixed secondary fly- feather blade groups 5A and 5B are respectively fixed on the positions of half sliding groove contact surfaces on the primary fly-feather sliding groove groups 8A and 8B and the secondary fly-feather sliding groove groups 9A and 9B.
The movable primary fly- feather blade groups 6A and 6B and the movable secondary fly- feather blade groups 7A and 7B are respectively arranged at the positions of the lower half chute contact surfaces of the primary fly- feather chute groups 8A and 8B and the secondary fly-feather chute groups 9A and 9B.
The transmission connecting rod II14 and the transmission connecting rod I17 are respectively fixed with the movable primary fly- feather blade groups 6A and 6B and the movable secondary fly- feather blade groups 7A and 7B through fixed handles 13A, 13B, 13C and 13D; the local external gear 15 and the local internal gear 16 are respectively fixed on the transmission connecting rod II and the transmission connecting rod I; the partial external gear 15 and the partial internal gear 16 are geared by an external pinion 18.
The transmission connecting rod I17 is connected with the driving base 12A, the driving base 12A is connected with the piston driving type connecting rod 11, the piston connected with the piston driving type connecting rod 11 is installed on the driving base 12B, and the driving base 12B is connected with the fin base 1.
The effective width of the chutes of the primary flying feather chute groups 8A and 8B is equal to the sum of the thicknesses of the fixed and movable primary flying feather blades, and the effective width of the chutes of the secondary flying feather chute groups 9A and 9B is equal to the sum of the thicknesses of the fixed and movable secondary flying feather blades.
The sizes and the shapes of the blades of the fixed primary fly- feather blade groups 4A and 4B are the same as those of the blades of the movable primary fly- feather blade groups 6A and 6B, and the width of the blades of the movable primary fly-feather blade groups is slightly larger than the blank distance between the blades of the fixed primary fly-feather blade groups; the sizes and the shapes of the blades of the movable secondary flying feather blade groups 7A and 7B are respectively the same as those of the blades of the fixed secondary flying feather blade groups 5A and 5B, and the width of the blades of the movable secondary flying feather blade groups is slightly larger than the blank distance between the blades of the fixed secondary flying feather blade groups.
The rotating shaft 19 is arranged on the wing vein 2D; the wind driven type fan blade group 10 positioned on the upper flapping surface of the wing is connected with the rotating shaft 19, the plane where the blades of the wind driven type fan blade group 10 are positioned is inclined relative to the upper flapping surface of the wing, the inclined direction is along the clockwise direction, and the clockwise direction refers to the direction of the upper flapping surface of the wing; the width of an effective meshing surface of the external meshing pinion 18 is equal to the sum of the widths of meshing surfaces of the local external meshing gear 15 and the local internal meshing gear 16, the widths of the meshing surfaces of the local external meshing gear and the local internal meshing gear are equal, and the distance between the position of the local external meshing gear 15 and the surface of the wing is shorter than the distance between the position of the local internal meshing gear 16 and the surface of the wing; the height of the effective rotating part (the rotating cylinder contacted with the inner groove of the driving base 12A) of the piston driving type connecting rod 11 is smaller than the distance between the two handles of the driving base 12A.
The included angle between the whole wing surface and the wing body connecting base body ranges from 45 degrees to 150 degrees (in the process from the opening of the movable blades to the closing of the movable blades).
The movement of the farthest position of a single movement of the piston in the piston-driven connecting rod 11 is synchronized with the movement of a single movement of the driving base 12A to the farthest position of the left end of the fixed secondary blade 5B.
The invention has the following detailed movement process:
1. in the initial state of the wing, as shown in fig. 1, the piston driving type connecting rod is in the longest stretching position (the connecting rod and the fuselage form a 120-150 degree angle), the whole flying wing blade group forms a closed wing plane, and the initial position of meshing among the partial external gear, the partial internal gear and the external pinion is shown in fig. 3.
2. Flapping on the wing:
on one hand: the wind driven type fan blade group positioned on the upper flapping surface of the wing rotates along the anticlockwise direction (overlooking from the upper flapping surface of the wing) under the action of air resistance encountered by the upper flapping surface of the wing, and drives the external meshing pinion to rotate along the clockwise direction (overlooking from the lower flapping surface of the wing). According to the gear meshing transmission rule, the external meshing pinion drives the local external meshing gear and the local internal meshing gear to transmit, and then the local external meshing gear and the local internal meshing gear respectively drive the transmission connecting rod II and the transmission connecting rod I to transmit.
On the other hand: the piston driving type connecting rod is gradually compressed under the action of wing pressure, and when the piston driving type connecting rod is located at the shortest compression position (the connecting rod and the machine body form a 45-60 degree angle at the moment), the piston driving type connecting rod starts to drive the base 12A, and the movable secondary vane group fixed below the base 12A slides along the direction of the secondary vane sliding groove outwards meshing with the pinion; in the sliding process, a transmission connecting rod I fixed below the movable secondary feather wing blade group drives a local inner meshing gear to transmit, then the local inner meshing gear, an external meshing pinion and the local external meshing gear do meshing motion, and a transmission connecting rod II fixedly connected with the local external meshing gear also transmits along the direction of the external meshing pinion.
Under the action of the two aspects, the movable primary flying feather blade group is driven by the transmission connecting rod II to do blade opening motion, and the movable secondary flying feather blade group is driven by the transmission connecting rod I and the driving base to do blade opening motion. The moving direction of the movable flying wing blades is along the direction of the external meshing pinion.
3. When the wing is flapping to the highest point, as shown in fig. 4, the drive base 12A has reached the left edge (not in contact) of the stationary secondary fly vane 5B, at which point the moving vane has fully opened, at an angle of 45-60 ° to the fuselage, and the meshing positions of the partial external gear, partial internal gear, external pinion are as shown in fig. 6.
4. Wing lower flapping process:
the piston driving type connecting rod is gradually stretched under the driving of the wing, when the piston driving type connecting rod is located at the longest stretching position, the piston driving type connecting rod starts to drive the driving base to move towards the direction of the wing base, meanwhile, the driving base drives the movable secondary blade flying group to move along the direction of the machine body, and the transmission connecting rod I connected with the movable secondary blade flying group drives the local inner meshing gear to move towards the direction of the machine body; the local internal gear drives the local external gear to move towards the machine body through the external pinion, and the local external gear drives the movable primary flying feather blade group to move towards the machine body through the transmission connecting rod II; the moving blade set and the fixed blade set form a closed airfoil plane when the airfoil surface is oriented at about 90 DEG to the side section of the body. The wings continue to flap downwards to the original state of the wings.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. A flapping wing aircraft open-close type wing structure based on hybrid drive is characterized by comprising a wing body, and a primary flying wing blade group and a secondary flying wing blade group which are arranged on the same side of the wing body, wherein the primary flying wing blade group and the secondary flying wing blade group respectively comprise a plurality of fixed blades and moving blades which are distributed at intervals, the fixed blades are fixed on the wing body and can move along a sliding groove on the wing body under the drive of a drive structure;
the driving structure comprises a power device, a transmission connecting rod I and a transmission connecting rod II, the transmission connecting rod I and the transmission connecting rod II are respectively hinged with the movable blades, the power device is a piston and a wind driven type fan blade group, the piston is arranged on a wing base of the wing body, the piston driven type connecting rod connected with the piston is connected with a base, and the transmission connecting rod I is connected with the base; the wind driven type fan blade group is positioned above the wing body and is connected with a driving shaft arranged in the center of the external meshing pinion;
the piston power device drives a transmission connecting rod I, the transmission connecting rod I and the transmission connecting rod II are respectively connected with a local internal gear and a local external gear, and the local internal gear and the local external gear are meshed with an external gear pinion positioned between the primary flying feather blade group and the secondary flying feather blade group.
2. The open-close type wing structure based on the hybrid drive ornithopter as claimed in claim 1, wherein the wing body comprises a wing base, a wing vein and a wing membrane; the wing base is used for being connected with the airplane body, the multiple wing veins are connected with the wing base, and the wing membrane is laid among the multiple wing veins to form the wing body.
3. The open-close type wing structure of the flapping wing aircraft based on the hybrid drive as claimed in claim 2, wherein the wing veins comprise a main wing vein forming the outline of the wing and branch wing veins dividing the interior of the wing, wherein one branch wing vein I is basically parallel to one edge of the main wing vein to form a space for installing the primary flying wing blade group and the secondary flying wing blade group; the primary flying vane group and the secondary flying vane group are separated by a branch wing vein II, and the driving shaft is arranged on the branch wing vein II.
4. The open-close type wing structure of a flapping wing aircraft based on hybrid drive of claim 3, wherein the branch wing vein I and the main wing vein are provided with sliding grooves at the corresponding positions of the primary flying wing blade group and the secondary flying wing blade group.
5. A hybrid drive-based ornithopter wing structure as claimed in claim 4, wherein the effective width of said slot is equal to the sum of the thicknesses of the stationary and moving vanes.
6. The open-close type wing structure of a hybrid-drive-based flapping wing aircraft of claim 1, wherein the fixed blades and the movable blades of the primary-stage fly-wing blade set and the secondary-stage fly-wing blade set are the same in size and shape, and the width of the movable blade is slightly larger than the gap distance between the two fixed blades.
7. The open-close type wing structure of the flapping wing aircraft based on the hybrid drive as claimed in claim 1, wherein the secondary wing-fin assembly comprises two fixed blades and two movable blades, the movable blades are arranged next to the wing base, and then the fixed blades, the movable blades and the fixed blades are arranged in sequence along the extending direction of the wing; the two movable blades are respectively connected with a transmission connecting rod I.
8. The open-close type wing structure of the flapping wing aircraft based on the hybrid drive as claimed in claim 1, wherein the primary flying wing blade set comprises two fixed blades and two moving blades, the fixed blades are adjacent to the secondary flying wing blade set, and then the moving blades, the fixed blades and the moving blades are arranged in sequence along the extending direction of the wing; the two movable blades are respectively connected with a transmission connecting rod II.
9. The open-close type wing structure of flapping wing aircraft based on hybrid drive of claim 1, wherein the piston drive type connecting rod is gradually compressed under the action of wing pressure, when the connecting rod is at the shortest compression position, the piston drive type connecting rod starts to drive the base, and the movable blade of the secondary flying wing blade group fixed below the base slides along the sliding groove towards the direction of the external meshing pinion; the included angle formed by the whole wing surface and the connecting base body of the wing fuselage ranges from 45 degrees to 150 degrees.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710935093.0A CN107757916B (en) | 2017-10-10 | 2017-10-10 | Flapping wing aircraft open-close type wing structure based on hybrid drive |
| PCT/CN2017/109550 WO2019071676A1 (en) | 2017-10-10 | 2017-11-06 | Opening-closing type wing structure of ornithopter based on hybrid drive |
| LU101146A LU101146B1 (en) | 2017-10-10 | 2017-11-06 | An open-close wing structure of a combination-drive flapping-wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710935093.0A CN107757916B (en) | 2017-10-10 | 2017-10-10 | Flapping wing aircraft open-close type wing structure based on hybrid drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107757916A CN107757916A (en) | 2018-03-06 |
| CN107757916B true CN107757916B (en) | 2020-09-08 |
Family
ID=61266525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710935093.0A Active CN107757916B (en) | 2017-10-10 | 2017-10-10 | Flapping wing aircraft open-close type wing structure based on hybrid drive |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107757916B (en) |
| LU (1) | LU101146B1 (en) |
| WO (1) | WO2019071676A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605704B (en) * | 2020-06-08 | 2021-06-22 | 吉林大学 | Low-noise stealth bionic foldable flapping wing micro aircraft |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
| CN112429224B (en) * | 2020-11-30 | 2024-04-12 | 河海大学常州校区 | Flapping wing flying device and ornithopter |
| CN112937853B (en) * | 2021-03-10 | 2024-01-23 | 常州龙源智能机器人科技有限公司 | Flapping wing mechanism based on line drive |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1608945A (en) * | 2004-11-11 | 2005-04-27 | 余志鹏 | Flapping wing for ornithopter |
| JP2006088769A (en) * | 2004-09-21 | 2006-04-06 | Ishikawajima Harima Heavy Ind Co Ltd | Micro air vehicle |
| CN103552689A (en) * | 2013-11-11 | 2014-02-05 | 北京航空航天大学 | Minitype ornithopter wing driving mechanism with changeable wing area |
| CN104260886A (en) * | 2014-09-26 | 2015-01-07 | 北京航空航天大学 | Feather cracking simulation lift enhancement mechanism of micro flapping aircraft |
| CN206255193U (en) * | 2016-10-21 | 2017-06-16 | 胡高 | Elastic wing |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1097393A (en) * | 1994-03-25 | 1995-01-18 | 黄泽荣 | A kind of wing of flapping-wing aircraft |
| JPH10129595A (en) * | 1996-10-24 | 1998-05-19 | Kazuo Saito | Floating recreational tool in air |
| CN104340365B (en) * | 2013-08-01 | 2017-04-26 | 江苏金刚文化科技集团股份有限公司 | Bionic robot with butterfly-shaped mechanism |
| US10017248B2 (en) * | 2014-04-28 | 2018-07-10 | University Of Maryland, College Park | Flapping wing aerial vehicles |
| CN104260885B (en) * | 2014-09-26 | 2016-06-29 | 北京航空航天大学 | A kind of fishtail type flapping mechanism suitable for micro flapping wing air vehicle |
| CN107054645B (en) * | 2017-04-01 | 2019-04-09 | 西安交通大学 | A kind of assistant deforms bionical unmanned vehicle and deformation control method |
-
2017
- 2017-10-10 CN CN201710935093.0A patent/CN107757916B/en active Active
- 2017-11-06 WO PCT/CN2017/109550 patent/WO2019071676A1/en active Application Filing
- 2017-11-06 LU LU101146A patent/LU101146B1/en active IP Right Grant
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006088769A (en) * | 2004-09-21 | 2006-04-06 | Ishikawajima Harima Heavy Ind Co Ltd | Micro air vehicle |
| CN1608945A (en) * | 2004-11-11 | 2005-04-27 | 余志鹏 | Flapping wing for ornithopter |
| CN103552689A (en) * | 2013-11-11 | 2014-02-05 | 北京航空航天大学 | Minitype ornithopter wing driving mechanism with changeable wing area |
| CN104260886A (en) * | 2014-09-26 | 2015-01-07 | 北京航空航天大学 | Feather cracking simulation lift enhancement mechanism of micro flapping aircraft |
| CN206255193U (en) * | 2016-10-21 | 2017-06-16 | 胡高 | Elastic wing |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019071676A1 (en) | 2019-04-18 |
| CN107757916A (en) | 2018-03-06 |
| LU101146B1 (en) | 2019-08-26 |
| LU101146A1 (en) | 2019-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107757916B (en) | Flapping wing aircraft open-close type wing structure based on hybrid drive | |
| US6938853B2 (en) | Biomimetic mechanism for micro aircraft | |
| CN107416202B (en) | Miniature flapping wing aircraft | |
| CN101249887B (en) | Aileron rotary retractable flapping wing device | |
| CN208360507U (en) | A kind of distributed electrical propulsion aircraft | |
| CN204323687U (en) | A kind of four wing flapping-wing modal | |
| CN108860595B (en) | Flapping wing pigeon-like aircraft with passive torsion | |
| CN103224025A (en) | Single driving-link flapping-wing flying robot space mechanism | |
| CN206704537U (en) | A kind of fixed-wing unmanned plane | |
| CN106114835A (en) | A kind of compound un-manned aerial helicopter | |
| Özel et al. | A review on applications and effects of morphing wing technology on uavs | |
| CN102407939B (en) | Variable flat plate type bionic leading edge flap device | |
| CN105740575A (en) | Flapping wing analysis and design based on fluctuation propelling theory | |
| CN103569360B (en) | Translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism | |
| CN103057703A (en) | Dual-rotor coaxial helicopter with wing-shaped rotors | |
| CN203845012U (en) | Rotary flapping wing type driving airplane | |
| CN109436290A (en) | A kind of aircraft aerofoil fold mechanism | |
| CN102862678B (en) | Moving guide frame type reciprocating airfoil lift force generating device | |
| CN110816827B (en) | Bionic butterfly flapping-wing aircraft | |
| CN209274896U (en) | One kind vert cycloid fan swing device, vert cycloid fan rotor aircraft | |
| CN110294118A (en) | The double flapping wing aircrafts of the synchronous Direct Action Type of lower resistance | |
| CN105857599A (en) | Flapping wing lift generator capable of changing wing area | |
| CN107161338B (en) | Single-wing or multi-wing rotary flapping wing device | |
| CN114435590B (en) | Variable-incidence-angle ornithopter with wing rotation function | |
| CN109592030B (en) | Fan-shaped wing ornithopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |