CN108438218A - A kind of bionical hummingbird aircraft - Google Patents
A kind of bionical hummingbird aircraft Download PDFInfo
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- CN108438218A CN108438218A CN201810140193.9A CN201810140193A CN108438218A CN 108438218 A CN108438218 A CN 108438218A CN 201810140193 A CN201810140193 A CN 201810140193A CN 108438218 A CN108438218 A CN 108438218A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
Abstract
The present invention discloses a kind of bionical hummingbird aircraft, using height Bionic Design, probes into that imitative hummingbird mini-sized flap wings flight nonsteady aerodynamics is theoretical, establish can be achieved VTOL, the hovering flapping wing aircraft characteristics of motion with regard to simplified model.Devise the Superlight of the adjusting flapping wing angle of attack based on the ultralight flapping wing mechanism of five connecting rod crank rocking bars and similar helicopter feather principle.According to modularization and integrated design concept, it includes power drive system, the winged each subsystem for controlling the bionical hummingbird flapping wing aircrafts such as electronic system, the making for the hummingbird flapping wing prototype that the achievable VTOL of completion and the flat fly-cutting of hovering are changed to have developed.Design philosophy based on " early fly fly " more, using experimental method Optimized Iterative principle prototype, realize bionical hummingbird flapping wing aircraft hovering, it is preceding the flight maneuvers such as fly, reach the performance requirement flexibly investigated.Future, bionical hummingbird aircraft can realize more bird cluster investigations, the low latitude domain investigation tasks of the full theater of war completed by Collaborative Control and imitative flock of birds intelligent algorithm.
Description
Technical field
The present invention relates to bio-robot fields, are a kind of bionical hummingbird aircraft specifically.
Background technology
Currently advanced bionical investigation equipment development just in full swing has had related mini-sized flap wings to fly in western countries
The successful development of device and application example, and China starts late in this respect, correlative study be limited to servo techniques, energy etc. into
It postpones slow.
Minute vehicle (Micro Air Vehicle, MAV) is also known as nano-vehicle or micro-nano aircraft.It is miniature to fly
Row device is defined as a kind of size and is 15cm sizes and by the flight of its own ability and can complete the aircraft of various detection missions.It is micro-
Type aircraft was grown up the 1990s, and application technology has substantially exceeded traditional airplane design and air is dynamic
The research category of power technology, is a kind of challenge to traditional aeronautical technology, while nanotechnology and micro- has also been opened up in its appearance
Application of the Mechatronic Systems technology in aviation field.The development and application of minute vehicle, will push the hair of defense-related science, technology and industry
Exhibition, and there is wide civilian foreground.
Hummingbird is a kind of small birds that flying quality is extremely excellent in nature, has superb hovering skill,
Flight course pneumatic efficiency is high, and there is very high bionics to be worth.Do not occur and the relevant bionic Aircraft of hummingbird at present
It records.
Invention content
In view of the above-mentioned problems, the present invention investigates device requirement from the front close contact formula in following China, by imitating
It is raw to learn the inspiration of object hummingbird, propose that a kind of quality having hovering ability is only the bionical hummingbird aircraft of 50g or so, and
Movement is swatted using regular high frequency and generates the power needed for airflight campaign and the lift needed for hovering, is come with this excellent
Change hummingbird wing-type design, this aircraft using adams completes hummingbird, and to swat complete period movement, the kinematics of wing tip track imitative
Very, stress, the strain analysis that key structure part is completed using ANSYS, flapping flight is completed under conditions of ensureing structural strength
The optimization design of the ultimate attainment loss of weight of device.
The bionical hummingbird aircraft of the present invention, is equipped with wing component, wing component by setting vertically in main structure body both sides
The beating axis set is installed on wing adapter；Shaft is adjusted by the angle of attack of left and right settings between wing adapter and agent structure
Connection.Become angle of attack structure by two sets of flapping wings as a result, and respectively drives the wing component of main structure body both sides around angle of attack adjusting shaft
Rotation realizes that the wing angle of attack is adjusted.Driving mechanisms control wing, which is patted, by a set of flapping wing synchronizes, Jin Ershi dynamic around beating shaft rotation
Existing wing beating action.The bionical entire motion process of hummingbird aircraft of the present invention is controlled by flight control system.
It includes becoming angle of attack driving steering engine and becoming angle of attack drive link that above-mentioned flapping wing, which becomes angle of attack structure,.Wherein, become angle of attack driving
It is fixed on main structure body at the top of steering engine.It includes driving rocker and steering engine pull rod to become angle of attack drive link；Wherein, steering engine pull rod is
Two, top is connect with wing adapter front and back position respectively；Bottom end is connect with driving rocker both ends respectively；Driving rocker is fixed
It is installed on and becomes on angle of attack driving steering engine output shaft.Parallel four-bar is constituted between wing adapter and change angle of attack drive link as a result, to pass
Dynamic system drives steering engine that two sets can be driven to become the up and down motion of angle of attack drive link, drives the rotation of wing adapter by becoming the angle of attack,
Realize the adjusting of the wing angle of attack.
It includes patting driving motor, take-off (propeller) shaft, gear reduction system and beating to drive that above-mentioned flapping wing, which pats driving mechanism,
Shake bar assembly.Wherein, it pats driving motor to be fixedly installed on beating driving mounting platform, output shaft is vertically set
It sets；And the deceleration for patting driving motor is realized by gear reduction system；Take-off (propeller) shaft is vertically arranged, defeated by driving motor is patted
Go out power and is transferred to beating drive rocker component.It includes cam and two sets of drive links to pat drive rocker component；Wherein, cam
Input terminal is fixed on take-off (propeller) shaft top；Two sets of drive links are by the first drive link, the second drive link and make movable slider structure
At；In two sets of drive links, the first drive link input terminal is connect by vertical shaft with cam output end, forms revolute pair；
Output end connect to form revolute pair with the second drive link input terminal by vertical shaft respectively；And second on drive link, with it
Input terminal adjacent position is hinged by locating shaft with driving mounting platform is patted；It is placed on wing component as movable slider；Top has
There are trussed shore, trussed shore to pass through the output end end location hole of the second drive link；As a result, by patting driving motor band moving cam
It swings, and then the first drive link is made to be moved forward and backward, drive the second drive link total around positioning shaft rotation, finally exported by the second drive link
End pushes start slipper push wing connector to be moved around shaft rotation is patted, and realizes the beating action of wing.
The advantage of the invention is that：
1, wing rotation and torsion are combined by the present invention bionical hummingbird flapping wing aircraft on the basis of true hummingbird,
Sporting flying is realized using the rotation of wing.In this way, hummingbird can be flown with being realized similar to the flight attitude of gyroplane
Row movement, but it is not limited to simple rotary motion, therefore, hummingbird can realize the flight of higher efficiency in smaller body type, and
And as the hovering of gyroplane whole realization, advance, retrogressing.
2, the bionical hummingbird flapping wing aircraft of the present invention is connected using micro high-power DC brushless motor cooperation novel ultra-light five
The flapping wing structure of pole crank rocking bar, it is slimmer and more graceful, efficient, more resistance to than the common crank rocker flapping wing structure of most of flapping wing aircrafts
Long, it is easy maintenance, reduces research and development time and cost.Meanwhile we intend when wing is swatted and generates certain thrust using taking the photograph at a high speed
Camera and recorder work at the same time, synchronous recording, then synthesizes complete video, the video of this video and wing itself together,
Graphically show acoustic signals, constantly debugging swats movement to reduce flight noise during the test.
Description of the drawings
Fig. 1 is the bionical hummingbird aircraft overall structure diagram of the present invention；
Fig. 2 is main structure upper bracket structural schematic diagram in the bionical hummingbird aircraft of the present invention；
Fig. 3 is main structure lower support structure schematic diagram in the bionical hummingbird aircraft of the present invention；
Fig. 4 is wing component structure diagram in the bionical hummingbird aircraft of the present invention；
Fig. 5 is that flapping wing becomes angle of attack structure and flapping wing beating driving mechanism structure signal in the bionical hummingbird aircraft of the present invention
Figure.
In figure：
1- main structure body 2- wing component 3- flapping wings become angle of attack structure
4- flapping wings pat driving mechanism 5- flight control system 101- main structure upper brackets
101- main structure lower brackets 103- pats driving mounting platform 104- wing adapters
105- connection lug 201- wing skeleton 202- parachutes
The outer strut 201b- inner supporting rods of 203- wing connectors 201a-
201c- middle support rods 301- becomes angle of attack driving steering engine 302- and becomes angle of attack drive link
302a- driving rocker 302b- steering engine pull rods 401- pats driving motor
402- take-off (propeller) shaft 403- one-stage gear 404- secondary gears
405- cam 406- drive link 407- locating shafts
406a- the first drive link the second drive links of 406b- 406c- makees movable slider
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
The bionical hummingbird aircraft of the present invention includes main structure body 1, wing component 2, flapping wing becomes angle of attack structure 3, flapping wing is patted
Driving mechanism 4 and flight control system 5, as shown in Figure 1.
The main structure body 1 is the Superlight printed using photosensitive resin, is highly 15cm, has main structure upper bracket
101 with main structure lower bracket 102.Main structure upper bracket 101 is designed with the company with square through-hole with 102 both sides of main structure lower bracket
Lug 105 is connect, which is used for realizing that main structure upper bracket 101 becomes the angle of attack with main structure lower bracket 102 and flapping wing
The change angle of attack in structure 3 drives 301 triangular connection of steering engine, realizes triangular fixation., as shown in Figure 2 and Figure 3.Above-mentioned master
101 top design of structure upper bracket has the beating driving mounting platform 103 to extend back.101 both sides of main structure upper bracket are symmetrical
At position, shaft is adjusted by the angle of attack being arranged along the x-axis direction, wing adapter 104 is installed, wing adapter 104 is used for installing
Wing component, as shown in Figure 3.
The wing component 2 is located at 1 both sides of agent structure, and structure is identical, including wing skeleton 201, parachute 202 and wing
Connector 203, as shown in Figure 4.Wherein, wing skeleton 201 is made of three struts, and it is outer strut 201a to enable three struts, interior
Strut 201b and middle support rod 201c.On outer strut 201a, contact, outer strut 201a and centre are designed as at its connecting pin
The connecting pin of strut 201c is connected at outer strut 201a upper contacts with outer strut 201a；And outer strut 201a and inner supporting rod 201b
Between it is vertical, be 30 degree of angles between middle support rod 201c and outer strut 201a；Thus wing skeleton 201 is constituted.Parachute 202 is layed in
On wing skeleton 201, parachute 202 is the super light material that high resiliency TPU film is covered using carbon fiber bar.Above-mentioned wing skeleton 201
In, outer strut 201a is arranged in left-right direction, and the contact on outer strut 201a and one end between connecting pin are stretched as extension
Fixing sleeve is connected to cylindrical wing connector 203 in long section, and the connecting pin of the wing connector 203 is turned by patting axis with wing
It is connected between fitting 102, realizes the connection between wing component 2 and main structure body 1.In the present invention, three struts use carbon fiber bar,
Outer strut 201a diameter 1.5mm are wherein designed, inner supporting rod 201b and middle support rod are 1mm, and whole wing length is 21mm,
Unilateral wing aerofoil area is 75cm2, there is larger airload area, bigger can be generated in identical frequency of swatting
Lift, can generate preferable flapping motion effect, double-vane deformed by aerodynamic loading and the deformation of natural hummingbird very
It is similar, it is contemplated that preferable lift effect can have been obtained.
The flapping wing becomes angle of attack structure 3 as two sets, is installed on 1 left and right sides of main structure body, is respectively intended to realize main structure
1 both sides wing component 2 of body adjusts the rotation of shaft axial direction around the angle of attack, changes the angle of attack that wing component 2 is swatted, and then adjust lift
And generate the controllable flight that corresponding propulsive force realizes aircraft.Flapping wing pats driving mechanism 4 and is used for controlling wing around beating axis
It swings, and then realizes 2 horizontal amplitude of wing component (arriving 180 degree close to 0 degree) high frequency beating action, generate enough lift.
It includes becoming angle of attack driving steering engine 301 and becoming angle of attack drive link 302 that above-mentioned flapping wing, which becomes angle of attack structure 3, such as Fig. 4 institutes
Show.Wherein, 301 top of change angle of attack driving steering engine has connecting hole, and the connecting hole and main structure main structure upper bracket 101 and master
Coordinate between through-hole on 102 both sides lug of structure lower bracket, and drives steering engine 301 to push up also cross the angle of attack is become by carbon fiber bar
After through-hole on 102 both sides lug of portion's connecting hole and main structure upper bracket 101 and main structure lower bracket, realizes and become angle of attack driving
The 102 triangular connection of steering engine, main structure upper bracket and main structure lower bracket.And 301 top connecting hole of change angle of attack driving steering engine,
Through-hole and carbon fiber bar section on main structure upper bracket 101 and 102 both sides lug of main structure lower bracket are that shape is identical
Rectangular configuration, be achieved in become the angle of attack driving steering engine, the 102 triangular fixation of main structure upper bracket and main structure lower bracket.
Become angle of attack drive link 302 as two sets, be respectively arranged in 1 left and right sides of main structure body, mounting means is identical, includes that transmission is shaken
Arm 302a and steering engine pull rod 302b.Wherein, steering engine pull rod 302b is two, and top is installed with connector, and is worn by screw
It crosses after connector and two steering engine pull rod tops is installed on the joint face of 104 front and back position of wing adapter design respectively.Two
After the bottom ends root steering engine pull rod 302b are bent to L rows, driving rocker 302a front and back position through-holes are each passed through, it is curved again with rear end
Folding realizes the axially position between driving rocker 302a and two steering engine pull rod 302b.Two sets of biographies become in angle of attack drive link 302
Shake the centers arm 302a to be fixedly installed in respectively on change angle of attack driving 301 output shaft of steering engine of homonymy.Wing is transferred as a result,
Parallel four-bar transmission system is constituted between part 104 and change angle of attack drive link 302, drives steering engine 301 that can drive two by becoming the angle of attack
Set becomes angle of attack drive link 302 and moves synchronously；Specially：First, becoming angle of attack driving steering engine 301 drives driving rocker 302a to turn
It is dynamic, and then two steering engine pull rods 302 is made to move up and down, it is final that wing adapter 104 is driven to rotate, realize 2 angle of attack of wing component
Adjusting.Above-mentioned flapping wing pat driving mechanism 4 include pat driving motor 401, take-off (propeller) shaft 402, gear reduction system with
Drive rocker component is patted, as shown in Figure 4.Wherein, the DC brushless motor that driving motor 401 is high power density is patted, is made
For driving source.Brshless DC motor KV values of the present invention are 2000, are used according to the power limit of motor, rotating speed 14800RPM,
It is 22Hz to need the frequency of swatting of the hummingbird exported, and dipteron is swatted according to 180 ° of amplitudes.Pat the output shaft edge of driving motor 401
Vertical direction is arranged, and body is fixedly installed in beating driving 101 middle lower surface of mounting platform.Gear reduction system 403 includes
One-stage gear 403 and secondary gear 404；One-stage gear 403 is fixedly installed on the output shaft for patting driving motor 401；Two level
Gear 404 is engaged with one-stage gear 403, is fixedly installed on 402 bottom end of take-off (propeller) shaft being vertically arranged.Gear reduction system
The deceleration of DC brushless motor is completed, design high-strength micro reduction gearing realizes 10:1 slows down, and ensures bionical hummingbird
Maximum swats frequency.402 top of take-off (propeller) shaft is passed through by patting driving 101 rear end through-hole of mounting platform, and top is used for connecting
Pat drive rocker component 404.The beating drive rocker component includes cam 405 and two sets of drive links 406.Wherein, convex
The input terminal of wheel 405 is fixedly sheathed in 402 top of take-off (propeller) shaft；Two sets of drive links 406 are by the first drive link 406a,
Two drive link 406b are constituted with movable slider 406c is made.In two sets of drive links 406, it is vertical that the first drive link 406a input terminals pass through
Shaft connect with 405 output end of cam, formed revolute pair；It is vertical that output end passes through with the second drive link 406b input terminals respectively
Shaft connect to form revolute pair；And second on drive link 406b, is provided with location hole with its input terminal adjacent position, passes through positioning
Axis 407 passes through location hole to be fixed with driving mounting platform 101 is patted.It is loop configuration to make movable slider 406c, is respectively sleeved in main knot
On the wing connector 203 of 1 both sides of structure body.Making movable slider 406c tip designs has vertical trussed shore, trussed shore to be each passed through
In the location hole of the output end end design of second drive link 406b.Above-mentioned cam 405, the first drive link 406a, the second transmission
Bar 406b, wing outer strut 201a and 203 articulated shaft of wing connector and cam input terminal between line collectively form five
Connecting rod machine driven system makes it obtain compared with the better motion amplification ability of four pole crank rocker device of standard.Pass through bat as a result,
Driving motor 401 is beaten along alternate rotation counterclockwise, band moving cam 405 swings, and then makes the first drive link 406a is front and back to move
It is dynamic, it drives the second drive link 406b total around 407 turns of locating shaft, movable slider is finally made by the promotion of the second drive link 406b output ends
406c pushes wing connector 203 to be moved around shaft rotation is patted, and realizes the beating action of wing component 2.Make movable slider due to above-mentioned
It is the relationship that is nested between 406c and wing connector 203, therefore during wing component 2 is patted, wing component 2 can be carried out at the same time
The angle of attack is adjusted, non-interference between the two.
In the present invention, the output end location hole for also designing the second drive link 406b is along the second drive link 406b axial designs
Strip-shaped hole, therefore during wing component 2 is patted, trussed shore moves to offset and makees movable slider 406c along wing along strip-shaped hole
The axial movement of wing connector 203；It is straight more than wing connector 203 to make movable slider 406b loop configuration longitudinal direction diameter for design simultaneously
Diameter, during being patted for wing component 2, longitudinal slight trembling of wing component 2 provides space.
The flight control system 5 is for controlling and realizing that bionical hummingbird aircraft can be based on the stable motion of true birds.Fly
Control system 5 includes mainly following multiple highly integrated electronic units, is installed on the platform designed on main structure lower bracket 102.Fly
Control system 5 includes microprocessor, measurement of flying posture unit, flapping motion unit, communication module and vision module.Wherein, micro-
Processor is the core cell of flight control system, with bad processing flying quality, resolves posture, control executing agency and planning flight rail
Mark.Measurement of flying posture unit is used for measuring the flight attitude and height of bionical hummingbird aircraft, by gyroscope, acceleration sensing
The sensors such as device, magnetometer, altimeter form.Flapping motion unit is used for as executing agency, and control becomes the angle of attack and drives steering engine
301 and driving steering engine 401 is patted, realize the beating control of wing component 2 and becomes angle of attack control.The communication module is realized
Information exchange between the two, including flying quality and control are realized in wireless telecommunications between bionical hummingbird aircraft and PC or earth station
Make the exchange of order.The vision module uses microcam, camera angle to be determined by bionical hummingbird aircraft self-view.
When aircraft forward flight, the visual field on ground can be provided by microcam, video flowing returns to PC or earth station, by operating
Member thereby commands, navigates.
In the present invention, 102 bottom of main structure lower bracket is equipped with lithium battery, is used for powering to pat driving motor 401.Lithium
Battery is using 7.4V180mAh model airplane batteries less than 7g, discharge capability 20C, by 2S 5A micro electrics regulate and control direct current processed without
Brush motor full and down operates, and realizes the output of dipteron large torque, ensure that complete machine lift generation efficiency.
Also it is that bionical hummingbird flapping wing aircraft devises undercarriage in the present invention, undercarriage bottom is constituted using crossbar
Cross structure realizes that the support after the landing of aircraft, undercarriage bottom cross structure center are designed with vertical connecting rod, even
After bar runs through main structure lower bracket 102,103 bottom surface of beating driving mounting platform that top is designed with main structure upper bracket 101 is solid
It is fixed.
The bionical hummingbird flapping wing aircraft of the present invention is based on nature large size hummingbird, by imitating hummingbird sporting flying, no
The disconnected movement for improving bionical hummingbird flapping wing aircraft, to make it be more nearly true hummingbird.Bionical hummingbird flapping wing aircraft will
Each subsystem is highly integrateable in fuselage, and hummingbird shape shell is manufactured using industrial plastic, utilizes pigment by shell to be more life-like
It is coloured to the blue-green of hummingbird feather, and designs elongated and straight nozzle type.Meanwhile the bionical hummingbird aircraft of the present invention, have steady
Fixed fixed high orbit performance；Spiral stability is high, spirals and stops in the crosswind of 8 kilometers of speed per hour, drifts about and do not surpass with the wind
Cross 1m；And cruising ability is strong, can continuously spiral 8min under the premise of no additional source of energy supplies；Flight control ability is strong, can
5m/s level speed flight forwards are quickly switched into from spiraling, or vice versa.
Claims (8)
1. a kind of bionical hummingbird aircraft, it is characterised in that：Main structure body both sides are equipped with wing component, and wing component passes through perpendicular
The beating axis being directly arranged is installed on wing adapter；It is adjusted by the angle of attack of left and right settings between wing adapter and agent structure
Shaft connects；Become angle of attack structure by two sets of flapping wings as a result, and respectively drives the wing component of main structure body both sides around angle of attack adjusting
Shaft rotates, and realizes that the wing angle of attack is adjusted；The synchronization of driving mechanisms control wing is patted by a set of flapping wing to move around shaft rotation is patted, into
And it realizes wing beating and acts；Entire motion process is controlled by flight control system.
2. a kind of bionical hummingbird aircraft as described in claim 1, it is characterised in that：Main structure body is to be printed using photosensitive resin
Superlight there is main structure upper bracket and main structure lower bracket；Main structure upper bracket is propped up in main structure lower bracket main structure
It is fixed between at the top of frame bottom and main structure lower bracket；Main structure upper bracket top design has the beating driving installation to extend back flat
Platform.
3. a kind of bionical hummingbird aircraft as described in claim 1, it is characterised in that：Wing includes wing skeleton, parachute and wing
Wing connector；Wherein, wing skeleton is made of three struts, and it is outer strut, inner supporting rod and middle support rod to enable three struts；Outer branch
On bar, be designed as contact at its connecting pin, the connecting pin of outer strut and middle support rod at outer strut upper contact with outer branch
Bar is connected；And outer strut is vertical between inner supporting rod；Thus wing skeleton is constituted；Parachute is layed on wing skeleton；Wing skeleton
In, outer strut is arranged in left-right direction, and the contact on outer strut and one end between connecting pin are as extension, solid on extension
Surely it is socketed with wing connector, the connecting pin of wing connector is connected by patting between axis and wing adapter.
4. a kind of bionical hummingbird aircraft as described in claim 1, it is characterised in that：It includes becoming the angle of attack to drive that flapping wing, which becomes angle of attack structure,
Dynamic steering engine and change angle of attack drive link；Wherein, become at the top of angle of attack driving steering engine and be fixed on main structure body；Become angle of attack drive link
Including driving rocker and steering engine pull rod；Wherein, steering engine pull rod is two, and top is connect with wing adapter front and back position respectively；
Bottom end is connect with driving rocker both ends respectively；Driving rocker, which is fixedly installed in, to be become on angle of attack driving steering engine output shaft；Wing as a result,
Parallel four-bar transmission system is constituted between adapter and change angle of attack drive link, drives steering engine that can drive two sets of changes by becoming the angle of attack
Angle of attack drive link moves up and down, and drives the rotation of wing adapter, realizes the adjusting of the wing angle of attack.
5. a kind of bionical hummingbird aircraft as described in claim 1, it is characterised in that：It includes patting to drive that flapping wing, which pats driving mechanism,
Dynamic motor, take-off (propeller) shaft, gear reduction system and beating drive rocker component；Wherein, driving motor is patted to be fixedly installed in
It pats on driving mounting platform, output shaft is vertically arranged；And it is realized by gear reduction system and pats subtracting for driving motor
Speed；Take-off (propeller) shaft is vertically arranged, and will be patted driving motor output power and is transferred to beating drive rocker component；Driving is patted to shake
Bar assembly includes cam and two sets of drive links；Wherein, cam input terminal is fixed on take-off (propeller) shaft top；Two sets of drive links
It is made of with as movable slider the first drive link, the second drive link；In two sets of drive links, the first drive link input terminal passes through perpendicular
Straight shaft is connect with cam output end, forms revolute pair；Output end is turned with the second drive link input terminal by vertical respectively
Axis connection forms revolute pair；And second on drive link, with its input terminal adjacent position by locating shaft with to pat driving installation flat
Table-hinges connects；It is placed on wing component as movable slider；There is trussed shore, trussed shore to pass through the output end end of the second drive link on top
Location hole；Cam swings are driven by patting driving motor as a result, and then the first drive link is made to be moved forward and backward, drive second to pass
Lever is rotated around locating shaft, and finally making movable slider by the promotion of the second drive link output end drives wing connector around beating shaft rotation
It is dynamic, realize the beating action of wing.
6. a kind of bionical hummingbird aircraft as claimed in claim 5, it is characterised in that：The output end end of second drive link positions
Hole is the strip-shaped hole along the second drive link axial design, and trussed shore can offset the lateral shifting for making movable slider along moving for strip-shaped hole
It is dynamic.
7. a kind of bionical hummingbird aircraft as claimed in claim 5, it is characterised in that：It is big to make movable slider loop configuration longitudinal direction diameter
In the longitudinal length for making movable slider socket position, during being patted for wing component, longitudinal slight tremble of wing component provides
Space.
8. a kind of bionical hummingbird aircraft as described in claim 1, it is characterised in that：Flight control system is highly integrated electronic unit,
Including microprocessor, measurement of flying posture unit, flapping motion unit, communication module and vision module；Wherein, microprocessor is used
To handle flying quality, resolve posture, control executing agency and planning flight path；Measurement of flying posture unit is used for measuring imitative
The flight attitude of raw hummingbird aircraft and height；Flapping motion unit is used for as executing agency, and control becomes the angle of attack and drives steering engine
And driving steering engine is patted, realize the beating control of wing and becomes angle of attack control；Communication module realizes bionical hummingbird aircraft
Wireless telecommunications between PC or earth station, realize information exchange between the two, including flying quality and control command exchange；Institute
Stating vision module uses microcam, camera angle to be determined by bionical hummingbird aircraft self-view；When aircraft flies forward
When row, the visual field on ground can be provided by microcam, video flowing returns to PC or earth station, is commanded, is led whereby by operator
Boat.
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| CN201810140193.9A CN108438218B (en) | 2018-02-11 | 2018-02-11 | Bionic hummingbird aircraft |
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| CN201810140193.9A CN108438218B (en) | 2018-02-11 | 2018-02-11 | Bionic hummingbird aircraft |
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| CN109606675A (en) * | 2018-12-21 | 2019-04-12 | 北京航空航天大学 | A kind of bionic flying micro-robot based on single crank double rocker mechanism |
| CN110263398A (en) * | 2019-06-10 | 2019-09-20 | 北京航空航天大学 | A kind of driving device of the model insect wing based on PIV |
| CN110550204A (en) * | 2019-09-09 | 2019-12-10 | 北京航空航天大学 | Flapping wing mechanism capable of quickly replacing power and power replacing method |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110816827A (en) * | 2019-11-15 | 2020-02-21 | 河海大学常州校区 | Bionic butterfly flapping wing aircraft |
| CN112009682A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112693605A (en) * | 2021-01-27 | 2021-04-23 | 北京航空航天大学 | Flapping wing aircraft |
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| CN105947196A (en) * | 2016-04-25 | 2016-09-21 | 北京航空航天大学 | Novel bionic butterfly aircraft with independently driven double wings |
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| CN109606675A (en) * | 2018-12-21 | 2019-04-12 | 北京航空航天大学 | A kind of bionic flying micro-robot based on single crank double rocker mechanism |
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| CN110263398A (en) * | 2019-06-10 | 2019-09-20 | 北京航空航天大学 | A kind of driving device of the model insect wing based on PIV |
| CN110550204A (en) * | 2019-09-09 | 2019-12-10 | 北京航空航天大学 | Flapping wing mechanism capable of quickly replacing power and power replacing method |
| CN110550204B (en) * | 2019-09-09 | 2021-08-27 | 北京航空航天大学 | Flapping wing mechanism capable of quickly replacing power and power replacing method |
| CN110667840B (en) * | 2019-10-29 | 2021-09-21 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110816827A (en) * | 2019-11-15 | 2020-02-21 | 河海大学常州校区 | Bionic butterfly flapping wing aircraft |
| CN110816827B (en) * | 2019-11-15 | 2023-08-29 | 河海大学常州校区 | Bionic butterfly flapping-wing aircraft |
| CN112009682A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112009682B (en) * | 2020-08-06 | 2022-01-25 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112693605A (en) * | 2021-01-27 | 2021-04-23 | 北京航空航天大学 | Flapping wing aircraft |
| US11597490B1 (en) | 2021-12-22 | 2023-03-07 | Rapidflight Holdings, Llc | Additive manufactured airframe structure having a plurality of reinforcement elements |
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