CN108058825B - Flapping wing aircraft device capable of being swept back and forth - Google Patents
Flapping wing aircraft device capable of being swept back and forth Download PDFInfo
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- CN108058825B CN108058825B CN201810061535.8A CN201810061535A CN108058825B CN 108058825 B CN108058825 B CN 108058825B CN 201810061535 A CN201810061535 A CN 201810061535A CN 108058825 B CN108058825 B CN 108058825B
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- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000010408 sweeping Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 17
- 230000005484 gravity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
Abstract
The invention provides a flapping wing air vehicle device capable of sweeping back and forth, and belongs to the technical field of air vehicles. The frame is of a double-frame structure with symmetrical left and right sides, the power system and the control system are respectively and fixedly connected inside the frame, the tail wing is fixedly connected at the tail part of the frame, and the right flapping wing and the left flapping wing have the same structure; the right flapping mechanism and the left flapping mechanism are respectively and symmetrically and fixedly connected with the left side and the right side outside the frame, the right flapping mechanism and the left flapping mechanism have the same structure, and the right flapping wing and the left flapping wing are respectively and fixedly connected with the right flapping mechanism and the left flapping mechanism. The flapping-wing aircraft has the advantages that the structure is novel, the flapping-wing aircraft has two degrees of freedom of flapping and forward and backward glancing, the coupling mode of the flapping and forward and backward glancing provides high lift force and high thrust for the flapping-wing aircraft, the aerodynamic performance of the aircraft is greatly improved, the endurance is improved, the advantages of high aerodynamic efficiency and strong maneuverability are achieved, and complex tasks such as aerial photography, geological survey, military reconnaissance and the like can be completed.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a flapping wing flying device, namely a flapping wing flying device capable of sweeping back and forth.
Background
When the insects or birds fly, the lifting force and the thrust are obtained by flapping, rotating and sweeping the wings back and forth at a large angle, namely, the insect wings have three degrees of freedom movement forms; the flapping wing aircraft designed and manufactured according to the bionics principle can be divided into a single-degree-of-freedom aircraft and a multi-degree-of-freedom aircraft according to the motion form, the single-degree-of-freedom flapping wing aircraft can only perform flapping wings to obtain the thrust force, and the multi-degree-of-freedom flapping wing aircraft can perform the motion in the combined form of flapping and other two motions.
Most of the existing flapping-wing aircrafts are single-degree-of-freedom flapping-wing aircrafts which only can flap wings along a certain linear direction, such as a Chinese patent (a unmanned flapping-wing aircraft), 201410234010.1, a Chinese patent (a rotary flapping-wing aircraft with a spring), a patent number 201410234063.3, a flapping-wing driver, an unmanned aircraft, a working method, a patent application number 201710682620.1 and the like, which have poor flying flexibility, low aerodynamic efficiency, short endurance time, further seriously influence the performance of the aircrafts, and a multi-degree-of-freedom flapping-wing aircraft which is not, so that the multi-degree-of-freedom flapping-wing aircraft with higher bionic degree has become a research hot spot; chinese patent No. 2016101684300. X, chinese patent No. 201210437699.9, which is a multi-freedom-degree aircraft with flapping and twisting wings, has a two-freedom-degree motion form, and the thrust caused by the twisting wings is limited, so that the maneuvering performance is influenced, and various complex tasks in the future are difficult to finish.
Disclosure of Invention
The invention provides a flapping wing aircraft device capable of sweeping back and forth, which aims to solve the problems that the existing flapping and torsion movement forms bring limited thrust, influence the maneuvering performance and hardly finish complex tasks.
The technical scheme adopted by the invention is as follows: comprises a frame, a right flapping wing, a power system, a control system, a tail wing and a left flapping wing, wherein: the frame is of a double-frame structure with symmetrical left and right sides, the power system and the control system are respectively and fixedly connected inside the frame, the tail wing is fixedly connected at the tail part of the frame, and the right flapping wing and the left flapping wing have the same structure; the right flapping mechanism and the left flapping mechanism are respectively and symmetrically and fixedly connected with the left side and the right side outside the frame, the right flapping mechanism and the left flapping mechanism have the same structure, and the right flapping wing and the left flapping wing are respectively and fixedly connected with the right flapping mechanism and the left flapping mechanism;
the right flapping mechanism comprises a right sliding cylinder bracket I, a right sliding cylinder, a right wing fixing piece, a right sliding cylinder sliding block, a right sliding cylinder bracket II, a right crank bearing, a right sliding rod, a right sliding block, a right connecting rod and a right sliding cylinder sliding block bearing; wherein: the right sliding support I and the right sliding cylinder support II are the same in shape and size, one ends of the right sliding support I and the right sliding cylinder support II are vertically embedded into the frame 1, the other ends of the right sliding support I and the right sliding cylinder support II are provided with round through holes, the right sliding cylinder is sleeved by the through holes and fixedly connected with the right sliding cylinder, one end of the round head of the right wing fixing piece is provided with three threaded holes, the right wing fixing piece is fixedly connected with the right flapping wing through screwing screws in the threaded holes, the right wing fixing piece is vertically embedded into the right sliding cylinder sliding block and fixedly connected with the right sliding cylinder sliding block, the middle part of the right sliding cylinder sliding block is provided with the through holes, the diameter of the through holes is slightly larger than that of the right sliding cylinder, the right sliding cylinder sliding block penetrates through the right sliding cylinder through the through holes, the right sliding cylinder sliding block simultaneously axially moves and circumferentially rotates along the right sliding cylinder through the through hole structure, the right crank is provided with a large through hole and a small through hole, the right crank bearing is fixedly arranged in the large through hole of the right crank, the right crank is fixedly connected with the gear set output shaft of the power system through the small through hole, the inner ring of the right crank bearing is fixedly connected with the right slide rod, the right slide rod can rotate freely relative to the right crank, the L-shaped right slide block consists of mutually vertical sheet-shaped structures, one end of the right slide block is provided with a through hole, the diameter of the right slide block is slightly larger than the outer diameter of the right slide rod, the right slide block is sleeved on the right slide rod through the through hole, and the right slide block axially moves and circumferentially rotates relative to the right slide rod through the through hole; the other end of the right sliding block is also provided with a through hole, one end of the right connecting rod is arranged in the through hole of the right sliding block and fixedly connected with the right sliding block, the other end of the right connecting rod is fixedly connected to the inner ring of the sliding block bearing of the right sliding cylinder, and the sliding block bearing of the right sliding cylinder is fixedly connected in the through hole of the sliding block of the right sliding cylinder.
The flapping-wing aircraft has the advantages that the flapping-wing aircraft is novel in structure, has two degrees of freedom of flapping and forward and backward glancing, has the advantages of high aerodynamic efficiency and strong maneuverability, is similar to a natural flapping flight biological movement mode, accords with a high lift mechanism, provides high lift and high thrust for the flapping-wing aircraft through the coupling mode of the flapping and forward and backward glancing, greatly improves the aerodynamic performance of the aircraft, improves the endurance capacity, and can finish complex tasks such as aerial photography, geological survey and military reconnaissance.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of the right flapping mechanism of the present invention;
FIG. 4 (a) is a state diagram of the right ornithopter of the present invention in the starting position of the downward flapping motion, also in the upper limit position;
FIG. 4 (b) is a view of the right flapping wing of the present invention down to a level position with the horizontal;
FIG. 4 (c) is a state diagram of the right ornithopter of the present invention immediately beginning an upward flapping motion;
FIG. 4 (d) is a state diagram of the right flapping wing of the present invention ending with the beginning of the flapping motion of the next wheel.
Detailed Description
Comprises a frame 1, a right flapping wing 3, a power system 4, a control system 5, a tail wing 6 and a left flapping wing 7, wherein: the frame 1 is a double-frame structure with symmetrical left and right sides; the power system 4 is fixedly connected inside the frame 1 and comprises a small brushless motor, a lithium battery, a secondary reduction gear set and a gear set output shaft; the control system 5 is fixedly connected inside the frame 1 and comprises two miniature linear steering engines, a steel wire connected with the miniature linear steering engines, a receiver and a controller; the tail fin 6 is fixedly connected to the tail of the frame 1 and consists of a horizontal tail fin and a vertical tail fin, and the right flapping wing 3 and the left flapping wing 7 have the same structure and respectively consist of a fin vein and a fin membrane; the method is characterized in that:
the right flapping mechanism 2 and the left flapping mechanism 8 are respectively and symmetrically and fixedly connected with the left side and the right side outside the frame 1, the structure, the parameters and the working principle of the right flapping mechanism 2 and the left flapping mechanism 8 are the same, and the right flapping wing 3 and the left flapping wing 7 are respectively and fixedly connected with the right flapping mechanism 2 and the left flapping mechanism 8;
the right flapping mechanism 2 comprises a first right slide bracket 201, a right slide 202, a right wing fixing piece 203, a right slide block 204, a second right slide bracket 205, a right crank 206, a right crank bearing 207, a right slide bar 208, a right slide block 209, a right connecting rod 210 and a right slide block bearing 211; wherein: the right sliding support I201 and the right sliding tube support II 205 have the same shape and size, one ends of the two brackets are vertically embedded into the frame 1, the other ends of the two brackets are provided with round through holes, and the right sliding tube 202 is sleeved by the through hole mechanism and fixedly connected with the right sliding tube 202; one end of the round head of the right wing fixing piece 203 is provided with three threaded holes, and the round head can be fixedly connected with the right flapping wing 3 by screwing screws into the threaded holes; the side surface of the right wing fixing piece 203 is mutually perpendicular to the side surface of the right slide cylinder sliding block 204, and the right wing fixing piece 203 is embedded into the right slide cylinder sliding block 204 and fixedly connected with the right slide cylinder sliding block 204; the middle part of the right sliding cylinder block 204 is provided with a through hole, and the diameter of the through hole is slightly larger than that of the outer wall of the right sliding cylinder 202; the right slide block 204 passes through the right slide 202 through the through hole; the right slide block 204 can simultaneously axially move and circumferentially rotate along the right slide 202 through the hole structure; the right crank 206 is provided with a large through hole and a small through hole, and the right crank bearing 207 is fixedly arranged in the large through hole of the right crank 206; the right crank 206 is fixedly connected with the gear set output shaft of the power system 4 through a small through hole; the inner ring of the right crank bearing 207 is fixedly connected with the right slide bar 208 to form interference fit; the right slide bar 208 is free to rotate relative to the right crank 206; the right slide block 209 is L-shaped and consists of mutually perpendicular sheet structures; the smaller end of the right sliding block 209 is provided with a through hole, and the diameter of the through hole is slightly larger than the outer diameter of the right sliding rod 208; the right sliding block 209 is sleeved on the right sliding rod 208 through the through hole; the right slide block 209 can simultaneously axially move and circumferentially rotate relative to the right slide bar 208 through the through hole structure; the other end of the right sliding block 209 is also provided with a through hole; one end of the right connecting rod 210 is arranged in a through hole matched with the right sliding block 209 and is fixedly connected with the right sliding block 209; the other end of the right connecting rod 210 is fixedly connected to the inner ring of the right sliding cylinder sliding block bearing 211 to form interference fit; the right slide cylinder sliding block bearing 211 is fixedly connected in the through hole of the right slide cylinder sliding block 204.
The control system receives a control signal sent by ground personnel, the power system starts to work, and power is transmitted to the left crank and the right crank to drive the left crank and the right crank to synchronously rotate. The left flapping mechanism and the right flapping mechanism have the same structure and principle and are symmetrical left and right with respect to the frame, so the right flapping mechanism is taken as an example for description below. The right crank 206 rotates clockwise as viewed from the right side of the aircraft to the left, as does the right slide bar 208. The right slider 209 slides back and forth along the right slide bar axis direction with respect to the right slide bar 208 under the combined action of the right connecting rod 210 and the right slide bar 208, and rotates with respect to the right slide bar axis. The right slide tube slider 204 is driven by the right slider 209 and the right connecting rod 210 to slide back and forth along the axis direction of the right slide tube 202 and rotate relative to the axis of the right slide tube, so as to drive the right wing fixing piece 203 and the right flapping wing to form a flapping and back and forth sweeping motion track, and provide thrust and lifting force for the aircraft.
In addition, the power system, the control system and the tail fin are all in the prior art, wherein the vertical tail fin and the horizontal tail fin are composed of veins of carbon fibers and wing films of polyethylene films, the vertical tail fin can control the left and right steering of the aircraft, the horizontal tail fin can control the lifting of the aircraft, and the control system changes the magnitude and direction of acting force of air flow on the tail fin by controlling the vertical tail fin and the horizontal tail fin, so that the lifting or steering of the whole aircraft is realized.
The working of the invention is further described below with reference to the accompanying drawings.
In fig. 4 (a), the right flapping wing 3 is at the starting position of the lower flapping motion, which is also the upper limit position of the right flapping wing 3, and then the right flapping mechanism 2 drives the right flapping wing 3 to perform the flapping motion. The right crank 206 is rotated 90 degrees clockwise from the initial position and the right flapping wing 3 is flapped down to a level with the horizontal plane, i.e., the state in fig. 4 (b). The right crank 206 is rotated 180 degrees clockwise from the initial position and the right flapping wing 3 is flapped down to the lower limit position, at which point the flapping process ends and the flapping-up motion, i.e., the condition in fig. 4 (c), is about to begin. The right crank 206 is rotated clockwise 270 degrees from the initial position and the right flapping wing 3 is flapped up to a level with the horizontal plane, i.e., the condition in fig. 4 (c). The right crank 206 is rotated clockwise 360 degrees relative to the initial position and the right flapping wing 3 is flapped up to the upper limit position, at which point the flapping process ends and the flapping motion of the next wheel, i.e., the condition in fig. 4 (a), is about to begin. The above process is one movement cycle of the right flapping wing 3.
Taking off: the ground control personnel transmits signals to a receiver of the control system 5, and the control system 5 controls the power system 4 to transmit motion and power to the left flapping mechanism and the right flapping mechanism 2 so as to drive the left flapping wing 7 and the right flapping wing 3 to move. Along with the continuous increase of the rotating speed of the small brushless motor, the lift force and the thrust generated when the left flapping wing 7 and the right flapping wing 3 flutter are also continuously increased, and when the lift force and the gravity of the machine body are balanced, the aircraft has a tendency of taking off. Then the lifting force is larger than the gravity of the machine body, the aircraft height is continuously increased, and take-off is completed.
Forward flight: after the aircraft finishes taking off, the rotating speed of the small brushless motor is reduced, so that the average lifting force and the gravity of the machine body are balanced. At this time, the thrust of the aircraft is larger than the resistance, and the aircraft achieves forward flat flight.
Turning: when the aircraft flies forwards, the control system 5 controls the vertical tail wing to realize left and right steering of the aircraft.
Lifting: the average lift and gravity balance as the aircraft flies forward. The control system 5 controls the horizontal tail wing to realize lifting.
Landing: the rotating speed of the small brushless motor is slowly reduced, and when the rotating speed is lower than a certain value, the average lifting force of the aircraft is slightly smaller than the gravity of the machine body, and the aircraft realizes slow landing.
The above description is given under the working condition without airflow interference, if airflow interference exists, the deviation correction is carried out according to the direction and the flow rate of the airflow.
Claims (1)
1. An flapping wing aircraft device capable of sweeping back and forth comprises a frame, a right flapping wing, a power system, a control system, a tail wing and a left flapping wing, wherein: the frame is of a double-frame structure with symmetrical left and right sides, the power system and the control system are respectively and fixedly connected inside the frame, the tail wing is fixedly connected at the tail part of the frame, and the right flapping wing and the left flapping wing have the same structure; the method is characterized in that: the right flapping mechanism and the left flapping mechanism are respectively and symmetrically and fixedly connected with the left side and the right side outside the frame, the right flapping mechanism and the left flapping mechanism have the same structure, and the right flapping wing and the left flapping wing are respectively and fixedly connected with the right flapping mechanism and the left flapping mechanism;
the right flapping mechanism comprises a right sliding cylinder bracket I, a right sliding cylinder, a right wing fixing piece, a right sliding cylinder sliding block, a right sliding cylinder bracket II, a right crank bearing, a right sliding rod, a right sliding block, a right connecting rod and a right sliding cylinder sliding block bearing; wherein: the right slide cylinder bracket I and the right slide cylinder bracket II are the same in shape and size, one ends of the right slide cylinder bracket I and the right slide cylinder bracket II are vertically embedded into the frame, the other ends of the right slide cylinder bracket I and the right slide cylinder bracket II are provided with a circular through hole I, the right slide cylinder is sleeved with a large through hole I and a small through hole II, a right crank bearing is fixedly connected with a gear set of a power system through the small through hole I, an inner ring of the right crank bearing is fixedly connected with a right slide rod through the right crank, the right wing fixing piece is vertically embedded into a right slide cylinder sliding block and fixedly connected with the right slide rod, the middle part of the right slide cylinder sliding block is provided with a through hole II, the diameter of the through hole II is slightly larger than that of the right slide cylinder, the right slide cylinder sliding block penetrates through the right slide cylinder II, the right slide cylinder sliding block axially moves and circumferentially along the right slide cylinder through the through hole II, the right crank bearing is fixedly connected with an output shaft of the right crank through hole I, the right crank bearing is fixedly connected with an output shaft of the power system through the small through hole I, the right crank bearing inner ring of the right crank bearing is freely rotatable relative to the right crank, the L-shaped right sliding block is composed of mutually vertical sheet-shaped sliding structures, one end of the right sliding block is provided with a through hole III, the right sliding bar is axially moves axially and axially through the right sliding bar through the through hole III and the through hole; the other end of the right sliding block is also provided with a through hole IV, one end of a right connecting rod is arranged in the right sliding block through hole IV and fixedly connected with the right sliding block, the other end of the right connecting rod is fixedly connected with the inner ring of the right sliding cylinder sliding block bearing, and the right sliding cylinder sliding block bearing is fixedly connected in the through hole V of the right sliding cylinder sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810061535.8A CN108058825B (en) | 2018-01-22 | 2018-01-22 | Flapping wing aircraft device capable of being swept back and forth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810061535.8A CN108058825B (en) | 2018-01-22 | 2018-01-22 | Flapping wing aircraft device capable of being swept back and forth |
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| Publication Number | Publication Date |
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| CN108058825A CN108058825A (en) | 2018-05-22 |
| CN108058825B true CN108058825B (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810061535.8A Active CN108058825B (en) | 2018-01-22 | 2018-01-22 | Flapping wing aircraft device capable of being swept back and forth |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050911B (en) * | 2018-07-24 | 2020-03-31 | 东南大学 | Multi-degree-of-freedom piezoelectric driving type micro flapping wing aircraft and machining method of transmission mechanism thereof |
| CN109592029B (en) * | 2018-12-24 | 2022-04-01 | 武汉科技大学 | Bird-imitating micro flapping wing aircraft |
| CN109693247B (en) * | 2019-01-28 | 2020-08-25 | 杨国良 | Be applied to intelligent sensitization robot in public space |
| CN109911197B (en) * | 2019-04-01 | 2024-02-20 | 吉林大学 | Four-degree-of-freedom ornithopter device |
| CN110104172B (en) * | 2019-05-14 | 2022-05-27 | 吉林大学 | Curved surface slide block type three-degree-of-freedom miniature flapping wing aircraft |
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| JP2000317148A (en) * | 1999-05-10 | 2000-11-21 | Yohei Takatani | Double-wing flapping airplane |
| CN1396088A (en) * | 2002-03-19 | 2003-02-12 | 熊介良 | 'Movable pendulum arm' and flapping-wing aircraft |
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| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN207737497U (en) * | 2018-01-22 | 2018-08-17 | 吉林大学 | It is a kind of can front and back swipe flapping wing aircraft device |
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2018
- 2018-01-22 CN CN201810061535.8A patent/CN108058825B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000317148A (en) * | 1999-05-10 | 2000-11-21 | Yohei Takatani | Double-wing flapping airplane |
| CN1396088A (en) * | 2002-03-19 | 2003-02-12 | 熊介良 | 'Movable pendulum arm' and flapping-wing aircraft |
| CN101734375A (en) * | 2008-11-10 | 2010-06-16 | 上海工程技术大学 | Flapping apparatus of subminiature bionic flapping wing aircraft |
| CN105691615A (en) * | 2016-03-22 | 2016-06-22 | 吉林大学 | Miniature flapping wing air vehicle with wings capable of performing active deformation and with multiple freedom degrees |
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| CN108058825A (en) | 2018-05-22 |
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