CN108190013B - Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time - Google Patents
Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time Download PDFInfo
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- CN108190013B CN108190013B CN201810143203.4A CN201810143203A CN108190013B CN 108190013 B CN108190013 B CN 108190013B CN 201810143203 A CN201810143203 A CN 201810143203A CN 108190013 B CN108190013 B CN 108190013B
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- wing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention provides a translational flapping wing capable of controlling direction, pitching and self-changing inclination angles in real time, which adopts a parallelogram driving mechanism to drive wing pieces so as to realize that the wing pieces can be always kept horizontal when flapping, and is matched with a steering control mechanism and a pitching control mechanism to respectively control the deflection angle and the pitching angle when the wing pieces work, so that the flapping wing has the capability of resisting lateral wind and is flexible to control. The wing pieces of the flapping wing are controlled by the rotating frame consisting of the variable-inclination-angle shaft and the variable-inclination-angle beam and the flapping wing beam together, the wing pieces are pressed by the flapping wing beams when flapping downwards, and the wing pieces rotate around the variable-inclination-angle shaft to leave the flapping wing beams without being stressed when returning upwards, so that the wing pieces can automatically change the inclination angle when flapping up and down, and the flying efficiency is higher. The translational flapping wing has the advantages of low energy consumption, high flying efficiency, simple and firm structure, low manufacturing and using cost and good maneuvering flexibility, and can be widely applied to the fields of traffic, military affairs, disaster relief, tourism, entertainment and the like.
Description
Technical Field
The invention relates to a flight part, in particular to a translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time, and belongs to the technical field of flight equipment.
Background
The wings of the aircraft imitating the flying mode are called swinging flapping wings, which have no capability of resisting lateral wind force and are easy to be blown over by wind. If the wing pieces can be kept horizontal all the time when flapping, the wing pieces are called translational flapping wings. The translational flapping wing has the capability of resisting lateral wind power, is used as a wing panel of an aircraft, and is particularly suitable for flying in narrow space.
In order to realize that the wing pieces of the translational flapping wing can be always kept horizontal during flapping, a main driving mechanism of the flapping wing is designed by utilizing the principle of a parallelogram mechanism, and a mechanism for controlling the direction and a mechanism for controlling the pitching are matched, so that the translational flapping wing capable of controlling the direction and the pitching in real time and having an automatic variable inclination angle is obtained.
Disclosure of Invention
The invention aims to provide a translational flapping wing which can control the direction, the pitching and the self-changing inclination angle in real time.
The invention adopts the following specific technical scheme:
a translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time is characterized in that wing pieces are horizontally arranged, the cross sections of the wing pieces are in an arched shape, a flapping wing beam arranged in parallel along the extending direction of the wing pieces is arranged above the top surface of the middle part of the wing pieces, a tension spring is arranged between the flapping wing beam and the top surface of the wing pieces for connection, a thrust spring extending downwards is fixedly connected below the flapping wing beam, and the lower end of the thrust spring is an open end; the flapping wing beam comprises a flapping wing beam body, wherein a plurality of sleeve supports are connected to the flapping wing beam body, a variable inclination angle shaft is arranged in front of the flapping wing beam body and arranged in parallel with the flapping wing beam body, a plurality of variable inclination angle beams are connected between the variable inclination angle shaft and the flapping wing beam body, the front end of each variable inclination angle beam body is fixedly connected with the variable inclination angle shaft, the rear end of each variable inclination angle beam body is movably connected to the corresponding sleeve support through an L-shaped connector, the front edge of each wing piece is rotatably connected to the variable inclination angle shaft through a sleeve, and the variable inclination angle shaft and the variable inclination angle beam body form a rotating frame capable of rotating along the sleeve supports to pull the front edge of each wing.
The flapping wing shaft tube which can rotate around the outer ring of the flapping wing shaft and is fixed in the axial position is embedded in the outer ring of the flapping wing shaft; a vertical control shaft tube fixedly connected to an aircraft frame is further arranged on one side of each wing piece, the control shaft tubes and the flapping wing shaft tubes are arranged in parallel, U-shaped forks are arranged at the upper ends of the control shaft tubes and the upper ends of the flapping wing shaft tubes, and brackets extending forwards and backwards are arranged at the lower ends of the control shaft tubes and the flapping wing shaft tubes; the upper flapping wing arm and the lower flapping wing arm are arranged between the control shaft tube and the flapping wing shaft tube in a transverse direction, are equal in length and are arranged in parallel up and down, horizontal U-shaped forks are arranged at two ends of the upper flapping wing arm and the lower flapping wing arm, the upper flapping wing arm is respectively hinged to the U-shaped forks at the upper ends of the control shaft tube and the flapping wing shaft tube through the U-shaped forks at the two ends, and the lower flapping wing arm is respectively hinged to the support at the lower ends of the control shaft tube and the flapping wing shaft tube through the U-shaped forks at the two ends, so that a parallelogram driving mechanism consisting of the flapping wing shaft tube, the control shaft tube, the upper flapping wing arm and the lower flapping wing arm is formed; the lower flapping wing arm is hinged with a driving connecting rod, and the driving connecting rod is driven by a driving mechanism to reciprocate up and down, so that the parallelogram driving mechanism is pulled to translate up and down, and the flapping wing shaft drives the wing pieces to translate up and down.
The flapping wing shaft is connected with a steering control mechanism, and the steering control mechanism controls the steering angle of the wing pieces by controlling the steering of the flapping wing shaft; the flapping wing shaft tube is connected with a pitching control mechanism, and the pitching control mechanism controls the pitching angle of the front edge of the wing piece by controlling the rotating angle of the rotating frame.
The steering control mechanism comprises the following specific schemes: the inner ring of the control shaft tube is embedded with a control shaft which can rotate around the inner ring and has a fixed axial position, the lower end of the control shaft is fixedly connected with a transverse direction control arm, the upper ends of the flapping wing shaft and the control shaft are respectively connected with a direction shaft which vertically extends upwards through a universal joint, the upper end of the direction shaft is fixedly connected with a direction arm which horizontally extends backwards, and the tail ends of the two direction arms are hinged through a direction connecting rod; the body of the direction shaft is movably sleeved in the direction shaft tube, and the outer wall of the direction shaft tube is fixedly connected to the upper flapping wing arm through a bent rod; the control shaft is controlled to rotate by controlling the direction control arm, so that the flapping wing shaft is driven to rotate, and the flapping wing shaft drives the rotation direction of the wing piece.
The specific scheme of the pitching operation mechanism is as follows: the brackets at the lower ends of the control shaft tube and the flapping wing shaft tube are respectively hinged with a commutator, and the two commutators are arranged symmetrically left and right; the commutator is provided with two vertical arms which are arranged in a front-back manner, and the lower ends of the two vertical arms are fixedly connected into a whole through a U-shaped horizontal arm, so that the commutator with an L-shaped structure is formed; the lower ends of the vertical arms of the two commutators are respectively hinged at the two ends of the bracket at the lower ends of the control shaft tube and the flapping wing shaft tube; a transverse commutator connecting rod is arranged between the upper flapping wing arm and the lower flapping wing arm, U-shaped forks are also arranged at two ends of the commutator connecting rod, and the commutator connecting rod is respectively hinged with the upper ends of the vertical arms of the two commutators through the U-shaped forks at the two ends; the flapping wing shaft tube comprises a flapping wing shaft tube, and is characterized in that an outer ring at the middle part of the flapping wing shaft tube is movably sleeved with an inner sleeve, an outer sleeve which can rotate around the outer ring of the inner sleeve and is fixed in the axial position is embedded in the outer ring at the middle part of the inner sleeve, the outer wall of the outer sleeve is fixedly connected with an outer sleeve fixing rod which horizontally extends out, the end part of the outer sleeve fixing rod is hinged with one end of an outer sleeve connecting rod, the other end of the outer sleeve connecting rod is hinged on a variable-inclination-angle beam at the middle part, the outer wall at the upper part of the inner sleeve is fixedly connected with an arc-shaped inner sleeve fixing rod which bends upwards, the end; the inner sleeve connecting rods comprise two arc-shaped connecting rods which are symmetrically arranged, the two arc-shaped connecting rods enclose the outer sleeve fixing rods and enable the outer sleeve fixing rods to have a steering swing space with a certain angle; the arc top of a U-shaped horizontal arm of the commutator on the control shaft tube is connected with a vertically downward pitching control connecting rod, and the lower end of the pitching control connecting rod is hinged with a pitching control warping rod; the pitching operation raising rod is operated to drive the two commutators to rotate, so that the inner sleeve and the outer sleeve are driven to lift together, the variable-inclination-angle beam is pulled, and the variable-inclination-angle shaft drives the front edge of the wing to realize pitching angle adjustment.
The translational flapping wing adopts the parallelogram driving mechanism to drive the wing pieces, so that the wing pieces can be always kept horizontal when flapping, and in addition, a steering control mechanism and a pitching control mechanism are matched to respectively control the deflection angle and the pitching angle when the wing pieces work, so the translational flapping wing has the capability of resisting lateral wind and is flexible to control. The wing pieces of the flapping wing are controlled by the rotating frame consisting of the variable-inclination-angle shaft and the variable-inclination-angle beam and the flapping wing beam together, the wing pieces are pressed by the flapping wing beams when flapping downwards, and the wing pieces rotate around the variable-inclination-angle shaft to leave the flapping wing beams without being stressed when returning upwards, so that the wing pieces can automatically change the inclination angle when flapping up and down, and the flying efficiency is higher.
The translational flapping wing has the advantages of low energy consumption, high flying efficiency, simple and firm structure, low manufacturing and using cost and good maneuvering flexibility, and can be widely applied to the fields of traffic, military affairs, disaster relief, tourism, entertainment and the like. The flapping wing can be used in modes of single-wing tandem, double-wing parallel and the like, is used for an aircraft, is particularly suitable for flying in narrow space, is used for a hydrofoil ship, can run on a shallow beach head, and can also be used for flying toys and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the translational flapping wing of the invention (when the wing turns 20 degrees).
Fig. 2 is a schematic top view of fig. 1.
Fig. 3 is a partially enlarged view of a in fig. 1.
Fig. 4 is a schematic structural diagram of the commutator.
FIG. 5 is a schematic view of the translational flapping wing of the present invention with the steering and pitching steering mechanisms removed.
FIG. 6 is a schematic view of the driving operation of the translational flapping wings of the present invention in tandem with back-to-back singlewings.
In the figure: 1-wing, 2-wing bar, 3-tension spring, 4-sleeve support, 5-tilt axis, 6-tilt beam, 7-L shape reverser, 8-pull rope, 9-compression spring, 10-thrust spring, 11-wing axis, 12-wing axis, 13-control axis, 14-upper wing arm, 15-lower wing arm, 16-driving link, 17-control axis, 18-direction control arm, 19-universal joint, 20-direction axis, 21-direction arm, 22-direction link, 23-direction axis, 24-reverser, 25-reverser link, 26-inner sleeve, 27-outer sleeve, 28-outer sleeve link, 29-outer sleeve link, 30-inner sleeve link, 31-inner sleeve connecting rod, 32-pitching operation connecting rod, 33-pitching operation tilting rod, 34-crank, 35-bevel gear pair, 36-horizontal shaft, 37-engine, 38-belt pulley transmission mechanism and 39-operation platform.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-4, a wing piece 1 of the translational flapping wing capable of controlling direction in real time, pitching and changing inclination angle automatically is placed horizontally, the section of the wing piece 1 is in an arched shape, a flapping wing beam 2 arranged in parallel along the extending direction of the wing piece 1 is arranged above the top surface of the middle part of the wing piece 1, a tension spring 3 is arranged between the flapping wing beam 2 and the top surface of the wing piece 1 for connection, a thrust spring 10 extending downwards is fixedly connected below the flapping wing beam 2, and the lower end of the thrust spring 10 is an open end; be connected with a plurality of sleeve pipe supports 4 on the flapping wing roof beam 2, the place ahead of flapping wing roof beam 2 is equipped with variable inclination axle 5, variable inclination axle 5 and flapping wing roof beam 2 parallel arrangement, be connected with many between variable inclination axle 5 and the flapping wing roof beam 2 and become inclination roof beam 6, every front end and the variable inclination axle 5 fixed connection of becoming inclination roof beam 6, the rear end connects the sleeve pipe support 4 that flapping wing roof beam 2 that the activity cup jointed through L shape on, the forward edge of fin 1 rotates through the sleeve pipe and connects on becoming inclination axle 5, become one by variable inclination axle 5 and variable inclination roof beam 6 and can follow sleeve pipe support 4 pivoted rotating frame and come to stimulate the forward edge of fin 1.
Furthermore, an L-shaped commutator 7 is movably sleeved on an L-shaped joint of the leftmost variable-inclination-angle beam 6, the L-shaped commutator 7 consists of a circular ring, a vertical rod and a cross rod, the circular ring is sleeved on the L-shaped joint of the variable-inclination-angle beam 6, and the vertical rod and the cross rod are fixedly connected to the outer ring of the circular ring; the vertical upwards just end-to-end connection of montant of L shape commutator 7 has stay cord 8, the other end of stay cord 8 is connected to on the roof beam body of becoming inclination roof beam 6 front end, the horizontal pole of L shape commutator 7 extends the below of flapping wing roof beam 2, be equipped with compression spring 9 between the end of horizontal pole and the 2 lower extremes of flapping wing roof beam and be connected, when fin 1 rose, compression spring 9 stretched and promoted L shape commutator 7, make stay cord 8 can drag revolving frame and drag, prevent that it from drooping because of gravity.
The middle part of the flapping wing beam 2 is fixedly connected with a flapping wing shaft 11 which is vertically upward, and an outer ring of the flapping wing shaft 11 is embedded with a flapping wing shaft tube 12 which can rotate around the outer ring and is fixed in the axial position; a vertical control shaft tube 13 fixedly connected to an aircraft frame is further arranged on one side of the wing panel 1, the control shaft tube 13 and the flapping wing shaft tube 12 are arranged in parallel, U-shaped forks are arranged at the upper ends of the control shaft tube 13 and the flapping wing shaft tube 12, and supports respectively extending forwards and backwards are arranged at the lower ends of the control shaft tube 13 and the flapping wing shaft tube 12; a transverse upper flapping wing arm 14 and a transverse lower flapping wing arm 15 are arranged between the control shaft tube 13 and the flapping wing shaft tube 12, the upper flapping wing arm 14 and the lower flapping wing arm 15 are equal in length and are arranged in parallel up and down, two ends of the upper flapping wing arm 14 and the lower flapping wing arm 15 are provided with horizontal U-shaped forks, the upper flapping wing arm 14 is respectively hinged on the U-shaped forks at the upper ends of the control shaft tube 13 and the flapping wing shaft tube 12 through the U-shaped forks at the two ends, and the lower flapping wing arm 15 is respectively hinged on the supports at the lower ends of the control shaft tube 13 and the flapping wing shaft tube 12 through the U-shaped forks at the two ends, so that a parallelogram driving mechanism consisting of the flapping wing shaft tube 12, the control shaft tube 13, the upper flapping wing arm 14 and the lower flapping wing arm 15 is formed; the lower flapping wing arm 15 is hinged with a driving connecting rod 16, and the driving connecting rod 16 is driven by a driving mechanism to reciprocate up and down, so that the parallelogram driving mechanism is pulled to translate up and down, and the flapping wing shaft 11 drives the wing piece 1 to translate up and down.
The flapping wing shaft 11 is connected with a steering control mechanism, and the steering control mechanism controls the steering angle of the wing pieces 1 by controlling the steering of the flapping wing shaft 11; the flapping wing shaft tube 12 is connected with a pitching operation mechanism, and the pitching operation mechanism controls the front edge pitching angle of the wing pieces 1 by controlling the rotation angle of the rotating frame.
The steering control mechanism comprises the following specific schemes: an operating shaft 17 which can rotate around the inner ring of the operating shaft tube 13 and is fixed in the axial position is embedded in the inner ring of the operating shaft tube, the lower end of the operating shaft 17 is fixedly connected with a transverse direction operating arm 18, the upper ends of the flapping wing shaft 11 and the operating shaft 17 are respectively connected with a direction shaft 20 which vertically extends upwards through a universal joint 19, the upper end of the direction shaft 20 is fixedly connected with a direction arm 21 which horizontally extends backwards, and the tail ends of the two direction arms 21 are hinged through a direction connecting rod 22; the body of the direction shaft 20 is movably sleeved in the direction shaft tube 23, and the outer wall of the direction shaft tube 23 is fixedly connected to the upper flapping wing arm 14 through a bent rod; the control shaft 17 is controlled to rotate by controlling the direction control arm 18, and then the flapping wing shaft 11 is driven to rotate, so that the flapping wing shaft 11 drives the wing pieces 1 to rotate.
Furthermore, the center of a universal joint 19 at the upper end of the flapping wing shaft 1 is positioned at the intersection of the axis of the flapping wing shaft 11 and the axis of the upper flapping wing arm 14, and the center of the universal joint 19 at the upper end of the control shaft 17 is positioned at the intersection of the axis of the control shaft 17 and the axis of the upper flapping wing arm 14.
The specific scheme of the pitching operation mechanism is as follows: the brackets at the lower ends of the operating shaft tube 13 and the flapping wing shaft tube 12 are respectively hinged with a commutator 24, and the two commutators 24 are arranged symmetrically left and right; the commutator 24 is provided with two vertical arms which are arranged in a front-back manner, and the lower ends of the two vertical arms are fixedly connected into a whole through a U-shaped horizontal arm, so that the commutator 24 with an L-shaped structure is formed; the lower ends of the vertical arms of the two commutators 24 are respectively hinged at the two ends of the bracket at the lower ends of the control shaft tube 13 and the flapping wing shaft tube 12; a transverse commutator connecting rod 25 is arranged between the upper flapping wing arm 14 and the lower flapping wing arm 15, U-shaped forks are also arranged at two ends of the commutator connecting rod 25, and the commutator connecting rod 25 is respectively hinged with the upper ends of the vertical arms of the two commutators 24 through the U-shaped forks at the two ends; a section of inner sleeve 26 is movably sleeved on an outer ring in the middle of the flapping wing shaft tube 12, an outer sleeve 27 which can rotate around the outer ring of the inner sleeve 26 and is fixed in the axial position is embedded on the outer ring in the middle of the inner sleeve 26, a horizontally extending outer sleeve fixing and connecting rod 28 is fixedly connected to the outer wall of the outer sleeve 27, the end part of the outer sleeve fixing and connecting rod 28 is hinged to one end of an outer sleeve connecting rod 29, the other end of the outer sleeve connecting rod 29 is hinged to a variable-inclination-angle beam 6 in the middle, an upward-bent arc-shaped inner sleeve fixing and connecting rod 30 is fixedly connected to the outer wall of the upper part of the inner sleeve 26, the end part of the inner sleeve fixing and connecting rod 30 is hinged to one end of an; the inner sleeve connecting rods 31 comprise two arc-shaped connecting rods which are symmetrically arranged, the two arc-shaped connecting rods enclose the outer sleeve fixing connecting rods 28 and enable the outer sleeve fixing connecting rods 28 to have a steering swing space with a certain angle; a vertically downward pitching operation connecting rod 32 is connected to the arc top of a U-shaped horizontal arm of the commutator 24 on the operation shaft tube 13, and the lower end of the pitching operation connecting rod 32 is hinged with a pitching operation warped rod 33; the pitching operation tilting rod 33 is operated to drive the two commutators 24 to rotate, so that the inner sleeve 26 and the outer sleeve 27 are driven to lift together, the variable-inclination-angle beam 6 is pulled, and the variable-inclination-angle shaft 5 drives the front edge of the wing 1 to realize pitching angle adjustment.
The flapping wing of the invention has the following working process:
when the control wing pieces 1 flap reciprocally, the driving mechanism drives the driving connecting rod 16 to reciprocate up and down, and the control shaft tube 13 is fixedly connected to the aircraft frame, so that the flapping wing shaft tube 12 and the control shaft tube 13 in the parallelogram driving mechanism are always kept in a vertical state, the flapping wing shaft tube 12 drives the flapping wing beam 2 to translate up and down, and the wing pieces 1 are controlled by the rotating frame consisting of the variable-inclination-angle shaft 5 and the variable-inclination-angle beam 6 and the flapping wing beam 2 together. When the flapping wing beam 2 is pressed down, the flapping wing beam 2 pushes the wing pieces 1 to flap downwards through the thrust springs 10, air is pressed, and therefore upward lifting force is obtained, and when the front edges of the wing pieces 1 tilt downwards, part of air is discharged from the rear edges of the wing pieces 1, and therefore forward driving force is obtained. When the flapping wing beam 2 is lifted up, the wing pieces 1 are impacted by the airflow from top to bottom, automatically rotate around the variable inclination angle shaft 5 to be separated from the flapping wing beam 2 and the thrust spring 10, and are in a free return state without being pulled upwards, so that the wing pieces 1 can always move horizontally when flapping up and down, and can automatically change the inclination angle along with the change of the windward force. In addition, when the wing piece 1 rises, the compression spring 9 stretches to push the L-shaped commutator 7, so that the pull rope 8 can pull the rotating frame to prevent the rotating frame from drooping due to gravity; the tension spring 3 is provided to prevent the wing 1 from sagging too much from its trailing edge due to gravity when it is free to rise, resulting in a tip-over too far from the spar 2.
When the direction of the control wing piece 1 rotates, the control shaft 17 is controlled to rotate by controlling the control direction control arm 18, and the flapping wing shaft 11 is linked with the flapping wing beam 2 to rotate by the transmission of the universal joint 19, the direction arm 21, the direction connecting rod 22 and other components, so that the wing piece 1 also rotates with the flapping wing beam. Because the universal joint 19 is used for connecting and the direction shaft tube 23 is arranged for guiding the angle of the direction shaft 20, the operation of steering is not influenced when the parallelogram driving mechanism reciprocates up and down.
When the pitching angle of the front edge of the wing 1 is to be adjusted, the pitching operation tilting rod 33 is operated to drive the two commutators 24 to rotate, the commutators 24 on the flapping wing shaft tube 12 drive the inner sleeve 26 and the outer sleeve 27 to lift together through the inner sleeve connecting rod 31 and the inner sleeve fixing rod 30, and then the variable-inclination-angle beam 6 is pulled, so that the variable-inclination-angle shaft 5 drives the front edge of the wing 1 to realize the pitching angle adjustment. Because the inner sleeve 26 and the outer sleeve 27 can rotate relatively and the inner sleeve connecting rod 31 is provided with a steering swing space for the outer sleeve fixing rod 28 to have a certain angle, the steering operation and the pitch angle operation are not influenced mutually.
The steering control mechanism of the translational flapping wing can remove components such as a direction control arm 18, a control shaft 17, a universal joint 19, a direction arm 21, a direction connecting rod 22 and the like, adopts a motor matched with a worm gear and worm and other mechanisms to directly control the steering of the flapping wing shaft 11, and also can adopt a mode of a pull rope matched with a pulley to directly control the steering of the flapping wing shaft 11. In addition, the translational flapping wing can also remove a steering control mechanism and a pitching control mechanism to form a simple translational flapping wing with a self-variable inclination angle for use, and as shown in fig. 5, a flapping wing shaft 11 and a flapping wing shaft tube 12 are fixedly connected into a whole.
When the flapping wings are used on an aircraft, the flapping wings can be arranged in a back-to-back tandem manner by adopting a back-to-back single wing manner, in a left-to-right parallel double-row manner, in a regular triangle manner or in an inverted triangle manner and the like.
As shown in fig. 6, when the two translational flapping wings are arranged in tandem with the single wings facing each other, the steering mechanism can be omitted from the rear translational flapping wing because of the control direction of the front translational flapping wing. The front and rear translational flapping wings are respectively provided with a crank 34 and a driving connecting rod 16 to form a crank rocker mechanism, the two cranks 34 are respectively driven by two bevel gear pairs 35, driving gears of the two bevel gear pairs 35 are connected together through a horizontal shaft 36, and an engine 37 drives a belt pulley transmission mechanism 38 to drive the horizontal shaft 36 to rotate after being decelerated by a speed reducer. The upper flapping wing arm 14, the lower flapping wing arm 15 and the commutator connecting rod of the rear translational flapping wing can be designed into a Z shape, so that the two sets of translational flapping wings can be accurately arranged.
Claims (5)
1. A translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time is characterized in that: the flapping wing is characterized in that wing pieces (1) of the translational flapping wing are horizontally arranged, the cross sections of the wing pieces (1) are in an arched shape, flapping wing beams (2) which are arranged in parallel along the extending direction of the wing pieces (1) are arranged above the top surfaces of the middle parts of the wing pieces (1), tension springs (3) are arranged between the flapping wing beams (2) and the top surfaces of the wing pieces (1) for connection, downward extending thrust springs (10) are fixedly connected below the flapping wing beams (2), and the lower ends of the thrust springs (10) are open ends; the flapping wing beam comprises flapping wing beams (2), a plurality of sleeve supports (4) are connected to the flapping wing beams (2), variable inclination angle shafts (5) are arranged in front of the flapping wing beams (2), the variable inclination angle shafts (5) are arranged in parallel with the flapping wing beams (2), a plurality of variable inclination angle beams (6) are connected between the variable inclination angle shafts (5) and the flapping wing beams (2), the front end of each variable inclination angle beam (6) is fixedly connected with the variable inclination angle shaft (5), the rear end of each variable inclination angle beam is movably sleeved on the sleeve support (4) corresponding to the flapping wing beam (2) through an L-shaped joint, the front edge of each wing (1) is rotatably connected to the variable inclination angle shaft (5) through a sleeve, and the variable inclination angle shafts (5) and the variable inclination angle beams (6) form a rotating frame capable of rotating along the sleeve supports (4) to pull the front edge of each wing (1);
the middle part of the flapping wing beam (2) is fixedly connected with a flapping wing shaft (11) which is vertically upward, and a flapping wing shaft tube (12) which can rotate around the outer ring of the flapping wing shaft (11) and is fixed in the axial position is embedded on the outer ring of the flapping wing shaft (11); a vertical control shaft tube (13) fixedly connected to an aircraft frame is further arranged on one side of the wing piece (1), the control shaft tube (13) and the flapping wing shaft tube (12) are arranged in parallel, U-shaped forks are arranged at the upper ends of the control shaft tube (13) and the flapping wing shaft tube (12), and supports extending forwards and backwards are arranged at the lower ends of the control shaft tube (13) and the flapping wing shaft tube (12); a transverse upper flapping wing arm (14) and a transverse lower flapping wing arm (15) are arranged between the control shaft tube (13) and the flapping wing shaft tube (12), the upper flapping wing arm (14) and the lower flapping wing arm (15) are equal in length and are arranged in parallel up and down, horizontal U-shaped forks are arranged at two ends of the upper flapping wing arm (14) and the lower flapping wing arm (15), the upper flapping wing arm (14) is respectively hinged to the U-shaped forks at the upper ends of the control shaft tube (13) and the flapping wing shaft tube (12) through the U-shaped forks at the two ends, and the lower flapping wing arm (15) is respectively hinged to a support at the lower ends of the control shaft tube (13) and the flapping wing shaft tube (12) through the U-shaped forks at the two ends, so that a parallelogram driving mechanism consisting of the flapping wing shaft tube (12), the control shaft tube (13), the upper flapping wing arm (14) and the lower flapping wing arm (15) is formed; a driving connecting rod (16) is hinged on the lower flapping wing arm (15), and the driving connecting rod (16) is driven by a driving mechanism to reciprocate up and down, so that the parallelogram driving mechanism is pulled to translate up and down, and the flapping wing shaft (11) drives the wing piece (1) to translate up and down;
the flapping wing shaft (11) is connected with a steering control mechanism, and the steering control mechanism controls the steering angle of the wing piece (1) by controlling the steering of the flapping wing shaft (11); the flapping wing shaft tube (12) is connected with a pitching operation mechanism, and the pitching operation mechanism controls the front edge pitching angle of the wing pieces (1) by controlling the rotating angle of the rotating frame.
2. The translational flapping wing of claim 1, wherein: an L-shaped commutator (7) is movably sleeved on an L-shaped joint of the leftmost variable-inclination-angle beam (6), the L-shaped commutator (7) consists of a circular ring, a vertical rod and a transverse rod, the circular ring is sleeved on the L-shaped joint of the variable-inclination-angle beam (6), and the vertical rod and the transverse rod are fixedly connected to the outer ring of the circular ring; the vertical upwards just end-to-end connection of montant of L shape commutator (7) has stay cord (8), and on the other end of stay cord (8) was connected to the roof beam body of becoming inclination roof beam (6) front end, the horizontal pole of L shape commutator (7) extended the below of flapping wing roof beam (2), was equipped with compression spring (9) between the end of horizontal pole and flapping wing roof beam (2) lower extreme and is connected.
3. The translational flapping wing of claim 1, wherein: the steering control mechanism comprises the following specific schemes: an operating shaft (17) which can rotate around the inner ring of the operating shaft tube (13) and is fixed in the axial position is embedded in the inner ring of the operating shaft tube, the lower end of the operating shaft (17) is fixedly connected with a transverse direction operating arm (18), the upper ends of the flapping wing shaft (11) and the operating shaft (17) are respectively connected with a direction shaft (20) which vertically and upwardly extends through a universal joint (19), the upper end of the direction shaft (20) is fixedly connected with a direction arm (21) which horizontally and rearwardly extends, and the tail ends of the two direction arms (21) are hinged through a direction connecting rod (22); the rod body of the direction shaft (20) is movably sleeved in the direction shaft tube (23), and the outer wall of the direction shaft tube (23) is fixedly connected to the upper flapping wing arm (14) through a bent rod; the control shaft (17) is controlled to rotate by controlling the direction control arm (18), and then the flapping wing shaft (11) is driven to rotate, so that the flapping wing shaft (11) drives the wing pieces (1) to rotate.
4. The translational flapping wing of claim 3, wherein: the center of a universal joint (19) at the upper end of the flapping wing shaft (1) is positioned at the intersection of the axial lead of the flapping wing shaft (11) and the axial lead of the upper flapping wing arm (14), and the center of the universal joint (19) at the upper end of the control shaft (17) is positioned at the intersection of the axial lead of the control shaft (17) and the axial lead of the upper flapping wing arm (14).
5. The translational flapping wing of claim 1, wherein: the specific scheme of the pitching operation mechanism is as follows: the support at the lower end of the operating shaft tube (13) and the flapping wing shaft tube (12) is also respectively hinged with a commutator (24), and the two commutators (24) are arranged in bilateral symmetry; the commutator (24) is provided with two vertical arms which are arranged in front and back, and the lower ends of the two vertical arms are fixedly connected into a whole through a U-shaped horizontal arm, so that the commutator (24) with an L-shaped structure is formed; the lower ends of the vertical arms of the two commutators (24) are respectively hinged at the two ends of the bracket at the lower ends of the control shaft tube (13) and the flapping wing shaft tube (12); a transverse commutator connecting rod (25) is arranged between the upper flapping wing arm (14) and the lower flapping wing arm (15), U-shaped forks are also arranged at two ends of the commutator connecting rod (25), and the commutator connecting rod (25) is respectively hinged with the upper ends of the vertical arms of the two commutators (24) through the U-shaped forks at the two ends; the flapping wing air compressor is characterized in that a section of inner sleeve (26) is movably sleeved on an outer ring in the middle of the flapping wing axle tube (12), an outer sleeve (27) which can rotate around the outer ring and is fixed in the axial position is embedded on the outer ring in the middle of the inner sleeve (26), an outer sleeve fixing connecting rod (28) which horizontally extends out is fixedly connected to the outer wall of the outer sleeve (27), the end part of the outer sleeve fixing connecting rod (28) is hinged to one end of an outer sleeve connecting rod (29), the other end of the outer sleeve connecting rod (29) is hinged to one variable-inclination-angle beam (6) in the middle, an arc-shaped inner sleeve fixing connecting rod (30) which is bent upwards is fixedly connected to the outer wall of the upper part of the inner sleeve (26), the end part of the inner sleeve fixing connecting rod (30) is hinged to one end of an inner sleeve connecting rod (31; the inner sleeve connecting rod (31) comprises two arc-shaped connecting rods which are symmetrically arranged, the two arc-shaped connecting rods enclose the outer sleeve fixing connecting rod (28) and enable the outer sleeve fixing connecting rod (28) to have a steering swing space with a certain angle; the arc top of a U-shaped horizontal arm of the commutator (24) on the control shaft tube (13) is connected with a vertically downward pitching control connecting rod (32), and the lower end of the pitching control connecting rod (32) is hinged with a pitching control tilting rod (33); the pitching operation raising rod (33) is operated to drive the two commutators (24) to rotate, so that the inner sleeve (26) and the outer sleeve (27) are driven to lift together, the variable-inclination-angle beam (6) is pulled, and the variable-inclination-angle shaft (5) drives the front edge of the wing (1) to realize pitching angle adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143203.4A CN108190013B (en) | 2018-02-11 | 2018-02-11 | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143203.4A CN108190013B (en) | 2018-02-11 | 2018-02-11 | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time |
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| CN108190013A CN108190013A (en) | 2018-06-22 |
| CN108190013B true CN108190013B (en) | 2021-01-15 |
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| CN201810143203.4A Expired - Fee Related CN108190013B (en) | 2018-02-11 | 2018-02-11 | Translational flapping wing capable of controlling direction, pitching and self-changing inclination angle in real time |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110294123B (en) * | 2019-07-18 | 2020-12-18 | 苏州高博软件技术职业学院 | Synchronous swing type double-flapping-wing aircraft based on rotatable wing piece |
| CN110254709B (en) * | 2019-07-18 | 2021-01-08 | 苏州高博软件技术职业学院 | Self-adaptive air flow rotatable blade variable-inclination-angle direct-acting flapping wing device and flapping wing method |
| CN110294120B (en) * | 2019-07-18 | 2020-12-29 | 苏州高博软件技术职业学院 | Synchronous swing type four-flapping wing aircraft with rotatable wing pieces |
| CN110294119B (en) * | 2019-07-18 | 2021-03-02 | 苏州高博软件技术职业学院 | Wing piece self-adaptive rotary swing type variable-inclination-angle flapping wing device and flapping wing method |
| CN110356552B (en) * | 2019-07-18 | 2020-12-08 | 苏州高博软件技术职业学院 | Direct-acting double-flapping-wing unmanned aerial vehicle with rotatable blades |
| CN110294121B (en) * | 2019-07-18 | 2021-01-08 | 苏州金圭谷智能科技有限公司 | Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades |
| CN110316371B (en) * | 2019-07-18 | 2021-03-02 | 苏州金圭谷智能科技有限公司 | Synchronous direct-acting four-flapping-wing aircraft with rotatable blades |
| CN110254708B (en) * | 2019-07-18 | 2020-12-08 | 苏州高博软件技术职业学院 | Variable-inclination-angle swing type double-flapping-wing unmanned aerial vehicle with rotatable wing pieces |
| CN110294122B (en) * | 2019-07-18 | 2021-02-26 | 苏州高博软件技术职业学院 | Low-resistance swing type four-flapping-wing unmanned aerial vehicle with variable inclination angle |
| CN110294118B (en) * | 2019-07-18 | 2021-03-02 | 苏州高博软件技术职业学院 | Low-resistance synchronous direct-acting type double-flapping-wing aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2001015971A2 (en) * | 1999-08-30 | 2001-03-08 | Smith Michael J C | Wing-drive mechanism and vehicle employing same |
| US6783097B1 (en) * | 2004-01-12 | 2004-08-31 | Michael J. C. Smith | Wing-drive mechanism and vehicle employing same |
| CN100413757C (en) * | 2006-03-20 | 2008-08-27 | 西北工业大学 | Rolling control mechanism for minitype ornithopter |
| CN105966616B (en) * | 2009-06-05 | 2019-06-11 | 威罗门飞行公司 | Air vehicle flight mechanism and control method |
| KR101744721B1 (en) * | 2015-10-02 | 2017-06-09 | 건국대학교 산학협력단 | Insect-like tailless flapping-wing micro air vehicle |
| CN106945834B (en) * | 2017-03-29 | 2019-05-03 | 陆昌新 | Flapping wing adjustable and from varying pitch |
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