CN109573020A - Differential variable load flapping wing - Google Patents

Abstract

The invention discloses a kind of differential variable load flapping wings, are related to flapping wing technical field, comprising: the first wing, the second wing, suspension, load-bearing differential attachment；The suspension load-bearing of two wings is movably connected on main load and their suspension length is enable to change reversed equivalent, the suspension mutual back transfer of pulling force by load-bearing differential attachment；The suspension length variation of two wings and the variation of active control wing pitch angle are driven, so that two wings periodically alternately glide and slide on being lightly loaded by heavy duty, to keep total life and gross thrust.The present invention enables to the dynamic load power of whole device to be held essentially constant, and power only provides variable load power without undertaking net gravitational force, is used for human-powered flight, flight of persistently leaving a blank, low noise flight and simple structure low cost flight.

Description

Differential variable load flapping wing

Technical field

The present invention relates to flapping wing technical field, in particular to a kind of differential variable load flapping wing.

Background technique

Flapping wing is a kind of imitation birds and insect flying, and the weight of course of new aircraft type is manufactured and designed based on bionics principle Want structure.Compared with fixed-wing and rotor, flapping wing is mainly characterized by not only having generated lift with the reciprocating motion of the wing but also generates thrust, Long-distance flight can be carried out with the energy of very little, and there is stronger mobility.

Different to each section of vertical movement amplitude in exhibition to the flapping wing of angular movement due to opening up, wing rail mark does not go up and down angle also just not Together, it is also different to make the chord line pitch angle (attitude angle) needed, therefore forms artificial flapping wing aircraft active control wing pitching The structural complexity and manipulation complexity at angle.In order to avoid angular motion flapping wing this exhibition to complexity, applicant application No. is A kind of whole dynamic flapping wing technology is proposed in 201621114654.8 patent, it makes use of small variable load wave soaring principle, due to The characteristics of lift is positive always, Back stroke relief force absolute value is always less than gravity absolute value, soft suspension can be used in whole dynamic flapping wing, from And mitigates weight, simplifies structure.

But due to above-mentioned whole dynamic flapping wing be it is non-differential, have the disadvantages that first, the drawing due to main load to the wing Power and the wing are to the pulling force of main load, so the main load of the wing inevitably results in about 0.1g to 0.3g accordingly in variable load The vertically reciprocating acceleration of left and right, this can not only have an impact the work of certain mission payloads, and can consume certain energy Amount, damages dynamic efficiency；Second, elastic mechanism in parallel must be increased to make power avoid undertaking load net gravitational force just, and The elastic force of elastic mechanism can still generate residual effect with the variation of length, and adjust bullet according to the variation of practical load-carrying Property mechanism is also more troublesome.

The abbreviation or key technology term that may relate in the application are explained as follows:

Wing rail mark --- movement rail of some point (such as aerodynamic center) on vertical vertical plane relative to still air on the wing Mark.Wing rail mark is movement and ontology rail relative to the resultant motion of the movement of air of the wing relative to ontology on vertical vertical plane Mark.The tangential direction of wing rail mark is that meeting for the wing flows direction.Wing rail mark goes up and down angle or wing rail mark pitch angle --- wing rail mark relative to The angle of horizontal plane, is positive upwards.The angle of wing pitch angle --- chord line with respect to the horizontal plane, is positive upwards.The angle of attack is met Angle --- chord line meets the angle in stream direction relative to the angle of wing rail mark or chord line and actually, is positive upwards.Dynamic load Power --- load is negative downwards to the practical dynamic tension of the wing, can behave as dynamical system to the pulling force and elastic element of the wing To the pulling force of the wing, load net weight power and the corresponding power of load acceleration are derived from.Variable load power --- dynamic load power and dead load The difference of power, is positive upwards and variable load power that load net gravitational force is in the same direction is loading force and the reversed variable load power of load net gravitational force is to subtract Carry power.The ratio between variable load ratio --- variable load power and load net gravitational force absolute value.Cruise --- with most common speed in long-range flight The flight of macroscopical constant speed level.The flapping wing that angular movement of angular motion flapping wing --- the wing on horizontal vertical plane is formed.Whole dynamic flapping wing --- The flapping wing that the whole vertical movement relative to main load of the wing is formed.Become suspension or hang elongated --- in whole dynamic flapping wing, the wing and master The variation of the vertical length of suspension connection between load.Differential pitch angle --- in differential variable load flapping wing, chord line relative to The angle of datum plane, the reversed equivalent of differential pitch angle of two wings.

Summary of the invention

In order to overcome the drawbacks described above of the prior art, technical problem to be solved by the invention is to provide a kind of differential changes Flapping wing is carried, when constant speed is flat winged the dynamic load power of whole device can be held essentially constant, and provide power only (undertaking) variable load power is without undertaking net gravitational force.

The specific technical solution of the present invention is:

A kind of differential variable load flapping wing, comprising: the first wing, the second wing are connected to first wing and described second The suspension of wing, load-bearing differential attachment；The load-bearing differential attachment is hung first wing and second wing It is movably connected on to suspension load-bearing main load and the suspension length of first wing is made to change the suspension with second wing The second suspension pulling force that length changes reversed equivalent, the first suspension pulling force of first wing and second wing can be mutually Back transfer；The driving changed with the suspension length of second wing is changed to the suspension length of first wing and to institute The active control for stating the wing pitch angle of the first wing and the wing pitch angle of second wing matches, so that the differential variable load Flapping wing can be converted repeatedly between at least two states: in the first state, the height of first wing increases and makes the wing It is positive value that track, which goes up and down angle, ordinatedly controls first wing and forms first angle of attack greater than zero and under the first suspension pulling force Underloading on it is sliding, the height of second wing reduces and wing rail mark is made to go up and down angle negative value, ordinatedly controls second machine Wing to glide at second angle of attack for being less than stall critical angle and the heavy duty under the second suspension pulling force, second angle of attack is greater than institute First angle of attack is stated, the second suspension pulling force is greater than the first suspension pulling force；In a second state, first wing Height reduces and wing rail mark is made to go up and down angle negative value, ordinatedly controls first wing and forms first less than stall critical angle The angle of attack and the heavy duty under the first suspension pulling force are glided, and the height of second wing increases and wing rail mark lifting angle is made to be positive Value ordinatedly controls second wing and forms second angle of attack greater than zero and sliding, the institute in the underloading under the second suspension pulling force First angle of attack is stated greater than second angle of attack, the first suspension pulling force is greater than the second suspension pulling force.

Preferably, the load-bearing differential attachment includes: the first round and second for being fixedly and coaxially connected and capableing of Double-directional rotary Wheel, the suspension includes the first rope, the second rope, and one end of first rope is connected on first wing, described The other end of first rope is fixed and is partially around on the first round, and one end of second rope is connected to described second On wing, the other end of second rope is fixed and is partially around on second wheel, the winding side of first rope To the winding direction with second rope on the contrary, in the first state, the first round and second be driven to take turns to one A direction rotates synchronously, and the twining amount of first rope can be made to reduce and increase by the suspension length, described of first wing The twining amount of second rope increases and reduces the suspension length of second wing；In a second state, described first is driven On the contrary, the suspension of first wing and second wing is long in the synchronous rotation direction and the first state of wheel and the second wheel It spends opposite in change direction and the first state.

Preferably, the load-bearing differential attachment includes: the pulley for being able to carry out Double-directional rotary, and the suspension includes rope, The rope bypasses the pulley, and one end of the rope is connected with first wing, the other end of the rope and institute It states the second wing to be connected, so that institute can be passed through when the suspension of first wing being made to be pulled down and be shortened by other transmission It states the driven rotation of pulley and loosens the suspension of second wing indirectly and keep its elongated or the suspension of second wing When being pulled down and shortened by other transmission, first wing can be loosened indirectly by the driven rotation of the pulley It hangs and keeps its elongated.

Preferably, the load-bearing differential attachment includes: the gear and guiding device for being able to carry out Double-directional rotary, the suspension It include: the first rack gear, the second rack gear, the two sides of the gear are arranged in first rack gear and second rack gear, and described Gear is meshed, and first rack gear, second rack gear and the gear are arranged in the guiding device, thus to institute State the first rack gear, second rack gear is limited and is oriented to, the upper end of first rack gear is mutually driven with first wing Connection, the upper end of second rack gear is mutually sequentially connected with second wing.

Preferably, the differential variable load flapping wing further include: first be connected between the suspension and first wing Angle controller, the second angle controller being connected between the suspension and second wing, the first angle control Device is used to control the wing pitch angle of first wing, and the wing that the second angle controller is used to control second wing is bowed The elevation angle.

Preferably, the load-bearing differential attachment includes the first load-bearing differential attachment, the second load-bearing differential attachment, and described One load-bearing differential attachment is at least one, and laterally a line, which is arranged and passes through suspension, connects first wing and second machine Each corresponding points of the leading edge of the wing, the second load-bearing differential attachment are at least one, and laterally a line is arranged and hangs described in connection Each corresponding points of rear of first wing and second wing, so that the integral hanging for driving first wing at the same time be made to become During the elongated cyclically-varying of long and second wing integral hanging, elongated driving is hung to leading edge and to rear The asynchronous amount for hanging elongated driving can control to form first wing and second wing relative to the anti-of datum plane To differential pitch angle.

Preferably, first wing and second wing of the vertical movement of energy antiphase are horizontally disposed, institute The second wing at least two is stated, at least one described second wing is located at the side of first wing, described at least one Second wing is located at the other side of first wing.

Preferably, first wing and second wing of energy antiphase vertical movement are arranged in vertical.

Technical solution of the present invention have it is following significant the utility model has the advantages that

First, the first wing and the second wing are compounded on the same aircraft and the antiphase ground period in the present invention Movement, the mechanical periodicity of the vertical lift of the first wing and the second wing can be made to remain complementary and make itself and substantially not Become, at the same can make the variation with vertical lift of the first wing and the second wing it is corresponding hang pulling force mechanical periodicity Can remain complementary and be basically unchanged the total pulling force to main load, thus solve non-differential flapping wing first half cycle and after Reciprocal reversed variable load power between half period cause main load accordingly vertically reciprocating acceleration and waste asking for portion of energy Topic.Essence is when half period of the non-differential flapping wing to the variation of suspension height, vertical lift, horizontal component, variable load power etc. is moved Compensation, all becomes the synchronic compensation of the anti-phase movement state between two width wings.

Second, since load-bearing differential attachment undertakes the sum of its side-by-side mounting pulling force between suspension and main load, and two Back transfer hangs pulling force between side mounting, and power drive only reversely turns the variable quantity of the suspension pulling force of one of wing The suspension pulling force of another wing is moved on to up, to make power only provide and (undertake) variable load power, without in addition increasing For assisting undertaking the elastic mechanism of main load net gravitational force.

Referring to following description and accompanying drawings, only certain exemplary embodiments of this invention is disclosed in detail, specifies original of the invention Reason can be in a manner of adopted.It should be understood that embodiments of the present invention are not so limited in range.In appended power In the range of the spirit and terms that benefit requires, embodiments of the present invention include many changes, modifications and are equal.For a kind of reality The feature that the mode of applying is described and/or shown can be made in one or more other embodiments in a manner of same or similar With, be combined with the feature in other embodiment, or substitution other embodiment in feature.

Detailed description of the invention

Attached drawing described here is only used for task of explanation, and is not intended to limit model disclosed by the invention in any way It encloses.In addition, shape and proportional sizes of each component in figure etc. are only schematical, it is used to help the understanding of the present invention, and It is not the specific shape and proportional sizes for limiting each component of the present invention.Those skilled in the art under the teachings of the present invention, can Implement the present invention to select various possible shapes and proportional sizes as the case may be.

Gliding status diagram when Fig. 1 is with the differential variable load flapping wing unpowered output of the invention for simplifying structure representation；

First in first half cycle when Fig. 2 is output dynamic with the differential variable load flapping wing of the present invention for simplifying structure representation Kind status diagram；

Second half when Fig. 3 is output dynamic with the differential variable load flapping wing of the present invention for simplifying structure representation it is interim second Kind status diagram；

Fig. 4 is the stress diagram with the differential variable load flapping wing of the present invention for simplifying structure representation；

Fig. 5 is the local embodiment party that the present invention forms differential pitch angle with the small asynchronous amount of front and rear edge suspension length variation The principle schematic diagram of formula；

Fig. 6 is the differential first combination embodiment schematic diagram of variable load flapping wing of the present invention；

Fig. 7 is the differential second combination embodiment schematic diagram of variable load flapping wing of the present invention；

Fig. 8 is that the differential variable load flapping wing third of the present invention combines embodiment schematic diagram.

The appended drawing reference of the figures above:

0, it hangs；1, the first wing；2, the second wing；3, load-bearing differential attachment；4, main load；5, the first round；6, second Wheel；7, the first rope；8, the second rope；9, axis；10, empennage；11, the first load-bearing differential attachment；12, the differential machine of the second load-bearing Structure；18, universal ball bearing；19, the first pedal；20, the second pedal；25, the first drag-line；26, the second drag-line；27, third drag-line； 28, the 4th drag-line；29, the first diversion speed changer；30, the second diversion speed changer；31, third diversion speed changer；32, the 4th deflecting Speed changer；33, pedestal；34, differential chain block；35, gear；36, the first rack gear；37, the second rack gear；38, guiding device；39, it props up Frame；40, first angle controller；41, second angle controller.

Specific embodiment

With reference to the drawings and the description of the specific embodiments of the present invention, details of the invention can clearly be understood.But It is the specific embodiment of invention described herein, purpose for explaining only the invention, and cannot understand in any way At being limitation of the present invention.Under the teachings of the present invention, technical staff is contemplated that based on any possible change of the invention Shape, these are regarded as belonging to the scope of the present invention.It should be noted that when element is referred to as " being set to " another yuan Part, it can directly on the other element or there may also be elements placed in the middle.When an element is considered as " connection " Another element, it can be directly to another element or may be simultaneously present centering elements.Term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, are also possible to inside two elements Connection, can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art, The concrete meaning of above-mentioned term can be understood as the case may be.Term as used herein " vertical ", " horizontal ", "upper", "lower", "left", "right" and similar statement for illustrative purposes only, are not meant to be the only embodiment.

Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein The purpose of the embodiment of body, it is not intended that in limitation the application.Term as used herein "and/or" includes one or more Any and all combinations of relevant listed item.

There is a kind of principle for being known as small variable load wave soaring and the flying method using above-mentioned principle in the prior art, Main points in the principle are as follows: 1, wavy.The wing relative to main load (ontology) vertical movement (Back stroke and under wave, or on flutter Flutterred under, and or upper cunning and downslide) and existing cruising flight speed under aircraft entirety forward travel, synthesize the wing The undulatory motion of track approximate triangular wave on the vertical plane of course line.2, it glides.The pitch angle of chord line with respect to the horizontal plane will be led Dynamic variation keeps the actual angle of attack between chord line and wing rail mark smaller always (being less than stall critical angle of attack), keeps the cunning of air-flow Stream mode to reduce resistance, and actual angle of attack be always it is positive, no matter wave down and Back stroke have positive lift force.Namely locate always In upper cunning or the gliding state of downslide.In other words, make between the synthesis aerodynamic force direction of the wing and wing path normal upward direction Declinate is smaller as far as possible.3, variable load.When the wing glides, wing path normal upward direction leans forward relative to mass motion direction, by In the wing still in Low Angle Of Attack gliding state, the synthesis aerodynamic force direction of the wing can also lean forward relative to mass motion direction, at this time Increase the angle of attack (but still less than stall critical angle of attack) to increase comprehensive aerodynamic force, just increases comprehensive aerodynamic force in a forward direction Component.But the vertical stress component for integrating aerodynamic force simultaneously also increases, and is formed loading force to main load.When sliding on the wing, Synthesis aerodynamic force direction hypsokinesis relative to mass motion direction of the wing reduces the angle of attack (but being still greater than angle of attack at zero-lift) at this time and comes Reduce comprehensive aerodynamic force, is reduced by component of the comprehensive aerodynamic force on advance opposite direction.But the vertical of aerodynamic force is integrated simultaneously Component also reduces, and forms relief force to main load.Variable load can also be understood from another angle: when the wing glides, the wing Pitch angle be less than zero, while downward dynamic load power is increased to the wing (wing angle of attack correspondingly slightly increases to keep substantially The balance in the method direction of wing rail mark), to increase gliding acceleration；When sliding on the wing, reduce the downward dynamic load power (wing to the wing The balance that the angle of attack is correspondingly slightly reduced to keep the method direction of wing rail mark substantially), with negative acceleration sliding in reduction.Variable load power exists Projection component on wing course bearing be always it is positive, resistance (or accelerate) is overcome as thrust.4, main loading movement.Main load Vertical range between lotus and the wing will actively change, and so that main load is not done undulatory motion and substantially holding level with the wing, keep high Potential energy is spent, main load is made to generate big normal acceleration and loss of energy when preventing from waving the conversion of wing direction.But it is to provide for The variable load power to the wing is stated, main load process of waving under has faint lower spill movement, upward acceleration generated, in Back stroke process There is faint convex-shaped movement, generates downward acceleration.In order to reduce height change caused by normal acceleration, spill movement It should be as respectively symmetrical as possible with convex movement, that is to say, that the minimum point of spill movement is waved under near process midpoint, convex fortune Dynamic highest point is near Back stroke process midpoint.

In the principle of small variable load wave soaring, when macroscopic scale flight, overcomes the outline of variable load power required for resistance fixed Amount estimation is as follows:

If gravity is W (< 0), the absolute value at wing rail mark gliding angle and upper sliding angle (be referred to as wing rail mark and go up and down angle) is all | λ |, Then gravity is W sin λ in the component of wing course bearing, equal with the stage absolute value that glides in the upper sliding stage, due to the symbol side of λ To on the contrary, offseting each other.

Loading force when setting sliding and it is upper sliding when the absolute value of relief force be all | Δ_W|, then variable load power (loading force and subtracts Carry power general designation) wing course bearing component be Δ_WSin λ, when gliding and being upper sliding due to Δ_WIt is all same symbol with λ, The component is represented by | Δ_W| sin | λ |, just form an extra-push model along wing traces.

If the average air resistance being equivalent on wing traces is R, then when | Δ_W| sin | λ | >=| R | when, so that it may overcome Resistance, constant speed or acceleration are flat winged.If the ratio between variable load power and gravity are variable load ratio γ=Δ W/ | W |, the average liter of downslide and upper cunning Resistance is than being K, then outline has | R |=| W |/K can overcome the conditional of resistance to become | γ | sin | λ | >=1/K.

Due to the lift resistance ratio K of gliding state very big (triangle hang gliding up to 12 to 18, and flying bird is up to 15 to 35), wing rail Mark lifting angle λ absolute value usually require one, 20 degree or so, so variable load than absolute value significantly less than 1 (usually 0.1 to 0.3 Left and right) it can keep constant speed is flat to fly, that is to say, that and variable load power absolute value can keep constant speed significantly less than gravity absolute value It is flat to fly, what this can be achieved on for Large Scale Space Vehicle.Compared with the unconsciously excessive variable load of present small-sized flapping wing Power emphasizes small variable load in the principle (mode) of small variable load wave soaring.

When horizontal flight variable load power be changed into the transfer efficiency of power for level flight outline quantitative estimation it is as follows:

η=TV/ | Δ WV_h|=Δ_W sinλcosλV/|Δ_WVtg λ |=cos²λ

Wherein, T indicates the horizontal thrust that variable load power is converted into, T=Δ_WSin λ cos λ > 0；V indicates aircraft entirety Horizontal flight speed；Δ_WIt indicates variable load power, is negative downwards；V_hIndicate the vertical movement component velocity of the wing, V_h=Vtg λ；λ indicates the wing Track goes up and down angle, and when downslide is negative.

It is obtained by calculation when wing rail mark goes up and down angle absolute value | λ | at 18.4 ° of <, efficiency eta > 0.9.It is patrolled according to bird Speed, flapping wing frequency and flapping wing amplitude when boat flight, it is estimated that the wing rail mark of long-distance Migrants goes up and down angle absolute value In or so ten several years, even less than 10 degree.

It should be noted that above-mentioned formula is the transfer efficiency that variable load power becomes propeller power.First, it is certain passive The flapping-wing aircraft of torsion, even if objective reality variable load power is converted to the effect of propulsive force, but no matter how high transfer efficiency is, as long as pneumatically Resistance increases, and the thrust increased accordingly just without positive effect, exactly wastes energy.So keeping Low Angle Of Attack gliding and mentioning High lift-drag ratio is still the foundation factors of high efficiency flight to reduce resistance.Second, if power is only responsible for providing variable load power, So above-mentioned formula is also the transfer efficiency that take-off output becomes propeller power.But if power also need to undertake it is quiet Load gravity, then the efficiency of power will be lower very much.So non-differential flapping wing need to be assisted undertaking with elastic device it is quiet Loading force.

The principle of above-mentioned small variable load wave soaring illustrates that the purpose waved under the wing flies movement before waving movement and entirety under only making The wing traces of synthesis tilt down, to provide the chance for making comprehensive aerodynamic force lean forward.The purpose of wing Back stroke is then only restored The height of the wing.And to obtain forward thrust when gliding, reduce loss when upper sliding, especially glide between upper cunning in increase While the difference of horizontal component absolute value, minimize the difference of the dynamic load power between downslide and upper cunning needs to reduce power It asks, will just lean on the control of chord line pitch angle.The vertical movement speed of the wing and whole forward flight speed have determined wing course bearing, The namely initial line (this and fixed-wing have very big difference) of the angle of attack, and active control wing pitch angle is exactly to control wing chord line angle Degree, the i.e. end edge of the angle of attack.The purpose of control chord line angle: first, change chord line with the variation of wing rail mark, keeps The lesser angle of attack makes comprehensive aerodynamic force direction as close as possible to wing path normal upward direction to keep the slip-stream state of air-flow；The Two, chord line should be made to have a down dip when gliding and comprehensive aerodynamic force direction is made to lean forward, made the angle of attack slightly larger again and increase and lean forward Comprehensive aerodynamic force is preceding to component to increase；Third, the angle of attack should be reduced when upper sliding with reduce the synthesis aerodynamic force of hypsokinesis to To component after reduction, the angle of attack is set still to be positive again to reduce main load and vertically jolt.Therefore, actively, it is sensitive, dynamic, accurately Wing pitch angle is controlled, is to reduce resistance, increase forward thrust, reduce dynamic load power amplitude of variation to reduce power demand, mention Efficient key factor.

The difference of the principle and some other flapping wing theory and mode of above-mentioned small variable load wave soaring is: first, reduction Resistance (especially comprehensive component of the aerodynamic force on wing rail mark opposite direction) is used as premise and basis.It is noticeably greater than in forward speed In the case where the vertical movement speed of the wing, wing rail mark fluctuating very little, increase what resistance was necessarily lost more than gain, needs to pay bigger Power, so the cyclically-varying of wing pitch angle is accurately controlled actively to keep the lesser slip-stream state of the angle of attack, to protect Hold biggish lift resistance ratio.Second, wing lift in Back stroke also will be positive value, avoid the vertical stress component of comprehensive aerodynamic force in the complete period In fluctuation.Because the Periodic Mean of the vertical stress component of comprehensive aerodynamic force will balance each other with gravity, if when Back stroke Generate negative lift, lift when waving under needing is double to be compensated, and main load is pitched with the acceleration greater than two g, seriously Waste energy.Third, the active variation of the pitch angle of the wing, is both the main reason for Back stroke waves mutual conversion under, and in the wing The necessary reason of the suitable angle of attack is precisely formed during track lifting angle mechanical periodicity.It cannot be with the passive elastic torsion of the wing or soft Property torsion based on, not only will increase based on passively reversing and wave power required for the wing acts, and will increase resistance, and improper The angle of attack can increase considerably variable load power absolute value.4th, on the basis of above-mentioned several features, dynamic variable load power is significant small In net gravitational force, to reduce power demand.

Above-mentioned small variable load wave soaring principle and mode are only applicable to be noticeably greater than the vertical movement speed of the wing in forward speed Degree, the lesser situation of wing rail mark fluctuating, i.e. cruising flight.Flutterring when standing start, big-elevation rising, hovering and high motor-driven low speed Wing principle is almost different, these state of flights need very big power and very complicated wing manner of execution, also without efficient Rate.The present invention wouldn't pursue excessively high mobility to pursue dynamic efficiency as highest goal, and gliding equipment can be copied by taking off A variety of householder methods.

Although above-mentioned small variable load wave soaring principle is utilized in the whole dynamic flapping wing that applicant proposes, as above-mentioned Sayed in analytic process, non-differential flapping wing will appear some unfavorable feature factors in variable load, therefore there is still a need for further into Row improves.Then, in order to be held essentially constant the dynamic load power of whole device when constant speed is flat winged, and power can Only to undertake variable load power, present applicant has proposed a kind of differential variable load flapping wings.

As shown in Figure 1 to Figure 3, which may include: the first wing 1, and the second wing 2 connects the first machine The suspension 0 of the wing 1 and the second wing 2, load-bearing differential attachment 3.Load-bearing differential attachment 3 is by the suspension 0 of the first wing 1 and the second wing It is movably connected on to 20 load-bearing of suspension main load 4, and makes the length variation of suspension 0 and hanging for the second wing 2 of the first wing 1 The length for hanging 0 changes reversed equivalent, the pulling force of suspension 0 of pulling force and the second wing 2 of suspension 0 of the first wing 1 can be mutually opposite To transmitting.The suspension length of first wing 1 and the suspension length of the second wing 2 can be changed by power drive, the first wing 1 Wing pitch angle and the wing pitch angle of the second wing 2 can distinguish active control.The suspension 0 of first wing 1 length variation and The driving of the length variation of the suspension 0 of second wing 2, and the active control of wing pitch angle is matched, so that differential variable load is flutterred The wing can glide in unpowered output and convert repeatedly between the two states in dynamic output.

Gliding status diagram when Fig. 1 is with the differential variable load flapping wing unpowered output of the invention for simplifying structure representation. The length for controlling the length of the suspension 0 of the first wing 1 and the suspension 0 of the second wing 2 all remains unchanged, the wing rail of the first wing 1 The wing rail mark of mark and the second wing 2 is all parallel to each other with the motion profile of differential variable load flapping wing, controls the wing pitching of the first wing 1 The wing pitch angle of angle and the second wing 2 keeps equal, so that gas suffered by aerodynamic force suffered by the first wing 1 and the second wing 2 Power is identical, and the pulling force of the pulling force of the first main load of 1 pair of wing and second 2 pairs of main load of wing is identical.At this time with the first wing 1 All parallel plane is datum plane with the second wing 2.The pitch angle for controlling datum plane, that is, can control differential variable load to flutter The gliding flight course line of the wing goes up and down angle.

First in first half cycle when Fig. 2 is output dynamic with the differential variable load flapping wing of the present invention for simplifying structure representation Kind status diagram.In the case where hanging elongated driving, the height of the first wing 1 is increased, height change velocity vector and differential change The conjunction velocity vector direction for carrying flapping wing mass motion velocity vector is wing course bearing, and wing rail mark is made to go up and down angle positive value, is matched The wing pitch angle for closing the first wing 1 of ground control forms first angle of attack for being greater than zero between chord line and wing rail mark, and by first The vertical component that the angle of attack integrates aerodynamic force accordingly forms the first suspension pulling force, is lightly loaded the first wing 1 sliding；Second wing 2 Height reduce, the conjunction velocity vector direction of height change velocity vector and differential variable load flapping motion velocity vector is wing rail Mark direction, and wing rail mark is made to go up and down angle negative value, the wing pitch angle of the second wing 2 is ordinatedly controlled, chord line and wing rail are formed Second angle of attack less than stall critical angle between mark, and the vertical component for integrating by second angle of attack aerodynamic force accordingly forms the Two suspension pulling force, make the second wing heavy duty glide.Second angle of attack is greater than first angle of attack, makes the mark of the synthesis aerodynamic force of the second wing Magnitude is greater than the scalar value of the synthesis aerodynamic force of the first wing；Second suspension pulling force is greater than the first suspension pulling force, elongated by hanging Driving force hangs the difference of pulling force to provide and (undertake) the second suspension pulling force and first.

Second half when Fig. 3 is output dynamic with the differential variable load flapping wing of the present invention for simplifying structure representation it is interim second Kind status diagram.In a second state, the state of the second wing 2 is identical under the state with the first state of the first wing 1, The state of second wing 2 is identical with the state of the first wing 1 under the first state.In a second state, the height of the first wing 1 Degree reduces and wing rail mark is made to go up and down angle negative value, ordinatedly controls the first wing 1 and forms first angle of attack for being less than stall critical angle It glides with the heavy duty under the first suspension pulling force；The height of second wing 2 increases and wing rail mark is made to go up and down angle positive value, ordinatedly The second wing 2 is controlled to form second angle of attack greater than zero and slide in the underloading under the second suspension pulling force.First angle of attack is greater than the Two angles of attack make the scalar value of the synthesis aerodynamic force of the first wing 1 be greater than the scalar value of the synthesis aerodynamic force of the second wing 2；First It hangs pulling force and is greater than the second suspension pulling force, provide and (undertake) the second suspension pulling force by hanging elongated driving force and the first suspension is drawn The difference of power.

Fig. 4 is the stress diagram for using the differential variable load flapping wing of the present invention for simplifying structure representation, in figure under all states The synthesis aerodynamic force of each wing all include resistance and relative to wing path normal upward direction hypsokinesis, since all angles of attack both less than lose Fast critical angle and make the declinate very little between the synthesis aerodynamic force direction of each wing under each state and wing path normal upward direction.? Under conditions of ignoring wing quality, all downward pulling force absolute values hung to the wing, all vertical point with the synthesis aerodynamic force of the wing It measures equal.All downward pulling force absolute values hung to the wing are all equal with upward pulling force of the suspension to main load.In preceding half cycle Under the first interim state, as shown in Figure 2 and Figure 4, the first wing 1 is since wing rail mark lifting angle is positive value, so wing rail mark The hypsokinesis therewith of the upward direction of normal, comprehensive aerodynamic force direction also hypsokinesis therewith；Second wing 2 is negative due to wing rail mark lifting angle Value, so the upward direction of wing path normal leans forward therewith, comprehensive aerodynamic force direction can also lean forward therewith.Due to the first wing 1 First angle of attack less than the second wing 2 second angle of attack, so the scalar value of the synthesis aerodynamic force of the first wing 1 is less than the second machine The scalar value of the synthesis aerodynamic force of the wing 2.This makes the hypsokinesis of the first wing 1 horizontal component of lesser comprehensive aerodynamic force and The summation of the horizontal component of biggish comprehensive aerodynamic force of leaning forward of two wings 2 can be equal to for 0 (or being greater than 0) and make differential variable load Flapping wing uniform flight (or accelerating flight), and correspond to the first of first angle of attack and hang pulling force and corresponding to the second of second angle of attack The summation of suspension pulling force can but be kept and main load net gravitational force balances each other (or bigger), and the first suspension pulling force and the second suspension are drawn The difference of power then provides (undertaking) by hanging elongated driving force.Under second interim of state of second half, as shown in Figure 3 and Figure 4, First wing 1 is since wing rail mark lifting angle is negative value, so the upward direction of wing path normal leans forward therewith, comprehensive aerodynamic force side Xiang Yike leans forward therewith；Second wing 2 due to wing rail mark lifting angle be positive value, the hypsokinesis therewith of the upward direction of wing path normal, Comprehensive aerodynamic force direction also hypsokinesis therewith.Since first angle of attack of the first wing 1 is greater than second angle of attack of the second wing 2, so The scalar value of the synthesis aerodynamic force of first wing 1 is greater than the scalar value of the synthesis aerodynamic force of the second wing.This makes the first wing 1 Lean forward the horizontal component of biggish comprehensive aerodynamic force and the second wing 2 hypsokinesis lesser comprehensive aerodynamic force level point The summation of power can be equal to for 0 (or being greater than 0) and make differential variable load flapping wing uniform flight (or accelerating flight), and corresponded to first and attack The summation of the first suspension pulling force at angle and the second suspension pulling force corresponding to second angle of attack can but be kept and main load net gravitational force It balances each other (or bigger), the difference of the first suspension pulling force and the second suspension pulling force then provides (undertaking) by hanging elongated driving force.It is logical The above process is crossed, the sum total horizontal thrust of first state can be made to be equal to the sum total horizontal thrust of the second state, first state Sum up the summation lift that lift is equal to the second state.

As shown in Figures 1 to 4, the principle kinetic characteristic of the application is summarized as follows: the first, the first wing 1 is poor to load-bearing The length of suspension 0 of the length of the suspension 0 of motivation structure 3 and the second wing 2 to load-bearing differential attachment 3 passes through load-bearing differential attachment 3 And change in the opposite direction, variable quantity is equal, forms the differential of vertical movement.The differential vertical fortune of first wing 1 and the second wing 2 The wing rail mark of the dynamic wing rail mark for forming the first wing 1 and the second wing 2 is reversed relative to the direction of motion of differential variable load flapping wing Symmetrically, the differential of wing rail mark inclined direction is formed.The pitch angle of the pitch angle of the second: the first wing 1 and the second wing 2 will fit It closes wing rail mark and changes, the wing differential pitch angle (wing pitch angle and datum plane pitch angle of first wing 1 relative to datum plane Difference) and the wing differential pitch angle reverse symmetry of second wing 2 relative to datum plane, form the differential of the differential pitch angle of the wing. Third, will reduce the angle of attack when upper sliding, and when downslide will increase the angle of attack, also be formed relative to the unpowered constant velocity linear angle of attack that glides The angle of attack it is differential.4th, the first wing 1 first half cycle state and the state in later half period on the contrary, the second wing 2 in first half The state in period and the state in later half period on the contrary, formed the half period between state it is differential.

As shown in Figures 1 to 4, the principle mechanical characteristic of the application is summarized as follows: first, mechanics when unpowered gliding Characteristic.The lift of the lift of first wing 1 and the second wing 2 is identical, shares the gravity of main load 4, and the suspension of the first wing 1 is drawn The suspension pulling force of power and the second wing 2 mutually balances the torque of the rotating part of load-bearing differential attachment 3, except fluctuation random disturbances There is no feedback force to power output end outside.Second, mechanical characteristic when dynamic output in vertical direction.Due to the difference of the angle of attack Dynamic, the vertical lift of the wing in the vertical lift and downslide of the wing in upper cunning forms difference relative to unpowered gliding state It is dynamic, but summation can balance each other (or bigger) with main load net gravitational force.Elongated driving force is hung correspondingly to subtract the wing of upper cunning Small suspension pulling force, while correspondingly to the wing increase suspension pulling force of downslide, to form the differential of variable load power.Driving force only mentions For the dynamic variable load power that (receiving) the first wing 1 and 2 period of the second wing are reciprocal, gravity can not be undertaken.Third, it is dynamic defeated Mechanical characteristic when out in horizontal direction.The hypsokinesis of wing in upglide motion but the lesser aerodynamic force of scalar (including resistance) In horizontal component and downglide motion wing lean forward but the horizontal component of the biggish aerodynamic force of scalar (comprising resistance), direction phase Instead, the differential of horizontal component is formed, but asymmetric, sum of the two can be zero and keep uniform flight, or even can also be greater than Zero and accelerate flight.4th, the summation power of the second state of the summation force vector and later half period of the first state of first half cycle Vector is essentially identical.

The essence of the principle of the present invention is by the way that the first wing 1 and the second wing 2 to be compounded on the same aircraft simultaneously Antiphase periodic motion mode, non-differential flapping wing is many to suspension height, vertical lift, horizontal component, variable load power etc. The half period of the variation of physical quantity compensates when moving, and all becomes the synchronic compensation of the anti-phase movement state between two width wings. Compensation is by the week of the elasticity energy of the vertical kinetic energy and potential energy and elastic element of main load when the half period of non-differential flapping wing moves Phase changes to cache and release energy, and the synchronic compensation of differential variable load flapping wing then no longer needs periodical energy buffer and releases It puts.

The following are a variety of different local embodiments in the application, four kinds of local embodiment party including load-bearing differential attachment Formula, two kinds of local embodiments of driving and differential drive connection, two kinds of local embodiments, benchmark of the control of wing pitch angle The local embodiment of two kinds of Plane Angle control, two kinds of local embodiments of wing configurations, two kinds of parts of power source are real Apply mode etc..

Load-bearing differential attachment needs to be provided simultaneously with three essential characteristics: first, the conjunction pulling force that two are hung can be transmitted to Main load, i.e. load-bearing；Second, the pulling force of two suspensions can be made oppositely to conduct mutually；Third can be such that the length of two suspensions changes Variable is reversely opposite.The specific mechanical devices form for having these three essential characteristics has very much, and load-bearing differential attachment is given below Four kinds of local embodiments.

The local embodiment of the first of load-bearing differential attachment is that load-bearing differential attachment 3 includes: to be fixedly and coaxially connected simultaneously energy The first round 5 of enough Double-directional rotaries and the second wheel 6, suspension 0 include the first rope 7, the second rope 8, and one end of the first rope 7 connects On the first wing 1, the other end of the first rope 7 is fixed and is partially around on the first round 5, one end connection of the second rope 8 On the second wing 2, the other end of the second rope 8 is fixed and is partially around on the second wheel 6, the winding direction of the first rope 7 Winding direction with the second rope 8 drives the first round 5 and the second wheel 6 same to a direction on the contrary, in the first state Step rotation can be such that the twining amount of the first rope 7 reduces and increase the suspension length of the first wing 1, the twining amount of the second rope 8 increases Add and reduce the suspension length of the second wing 2；In a second state, drive the first round and second wheel synchronous rotation direction and It is in the first state on the contrary, opposite in the suspension length change direction of the first wing 1 and the second wing 2 and the first state.

The local embodiment of second of load-bearing differential attachment is that load-bearing differential attachment 3 includes: to be able to carry out Double-directional rotary Pulley, suspension 0 includes rope, and rope bypasses pulley, and one end of rope is connected with the first wing 1, the other end of rope and Second wing 2 is connected, to can pass through pulley when the suspension of the first wing 1 being made to be pulled down and be shortened by other transmission Driven rotation and loosen the suspension of the second wing 2 indirectly and keep its elongated or the suspension of the second wing 2 is by other transmission institute When pulling down and shortening, the suspension of the first wing 1 can be loosened indirectly by the driven rotation of pulley and keep its elongated.

The third local embodiment of load-bearing differential attachment is that load-bearing differential attachment 3 includes: to be able to carry out Double-directional rotary Gear 35, suspension includes the first flexible rack or chain, and the first flexible rack or chain are meshed around gear and with gear, One end of first flexible rack or chain is connected with the first wing 1, the other end and the second machine of the first flexible rack or chain The wing 2 is connected.

The local embodiment of the 4th kind of load-bearing differential attachment is that load-bearing differential attachment 3 includes: to be able to carry out Double-directional rotary Gear 35 and guiding device 38, suspension 0 includes: the first rack gear 36, the second rack gear 37, and the first rack gear 36 and the second rack gear 37 are set It sets in the two sides of gear 35, is meshed with gear 35, the first rack gear 36, the second rack gear 37 and gear 35 are arranged at guiding device In 38, so that the first rack gear 36, the second rack gear 37 are limited and be oriented to, upper end and 1 phase of the first wing of the first rack gear 36 Transmission connection, upper end and 2 phase of the second wing of the second rack gear 37 are sequentially connected.

There is no using to hanging elongated driving effect as the fundamental characteristics of load-bearing differential attachment by the present invention.It is given below Two kinds of local embodiments of driving and differential drive connection.No matter which kind of embodiment is used, hangs elongated driving and all answer Having the effect of contraction to suspension length concurrently, the gliding state including unpowered output will also keep the constraint to suspension length, and Cannot the leave disturbance of aerodynamic force freely changes suspension length by load-bearing differential attachment.

The local embodiment of the first of driving and differential drive connection is to drive two simultaneously by load-bearing differential attachment The suspension of the wing is elongated, in this way when load-bearing differential attachment be active load-bearing differential attachment.Machine differential for load-bearing The first part embodiment of structure, power can directly drive the first round 5 and synchronous turn of the second wheel 6 of load-bearing differential attachment 3 It is dynamic, then drive the first rope 7 and the second rope 8 poor in a manner of differentially changing twining amount respectively by the first round 5 and the second wheel 6 Change suspension length dynamicly；For the third local embodiment of load-bearing differential attachment, it is poor that power can directly drive load-bearing The gear 35 of motivation structure 3, then drive the first flexible rack or chain differentially to change suspension length respectively by gear 35.For holding The local embodiment of the 4th kind of weight differential attachment, power can directly drive the gear 35 of load-bearing differential attachment, then by gear 35 drive the first rack gear 36 and the second rack gear 37 differentially to change suspension length respectively.Second of part of load-bearing differential attachment is real Mode is applied, due to being easy step-out due to skidding around the rope of pulley, and elongated driving is hung while to have suspension length concurrently about Shu Gongneng, therefore it is not suitable as active load-bearing differential attachment.

Second of local embodiment of driving and differential drive connection is that power directly drives (such as pulling) first The length of the suspension 0 of wing 1 changes, then drives the length of the suspension 0 of the second wing 2 reversed indirectly by load-bearing differential attachment 3 Variation；Or power directly drives the length variation of the suspension 0 of (such as pulling) second wing 2, then by between load-bearing differential attachment 3 Tape splicing moves the length inverse change of the suspension 0 of the first wing 1.Load-bearing differential attachment 3 when in this way is half active Load-bearing differential attachment.The local embodiment of second of load-bearing differential attachment 3 can only be used as half active load-bearing differential attachment.It needs It is noted that above-mentioned four kinds local embodiments of load-bearing differential attachment all can serve as half active load-bearing differential attachment, All within the scope of the technology of the present invention content.

The conjunction velocity vector direction of the suspension differential variable load flapping wing entirety flight velocity vector of length pace of change vector sum is Wing traces direction, the variation for hanging length only change wing traces lifting angle.According to definition, the angle of attack=wing pitch angle-wing Track goes up and down angle, and wing traces direction is the initial line of the angle of attack, and chord line is then the end edge of the angle of attack.Control the mesh of wing pitch angle Be that the string of the first wing and the string of the second wing is made to be respectively relative to respective different wing rail mark and form respective difference The angle of attack.

The wing pitch angle control of flapping wing is formed by angle of attack control while having the effect of two classes concurrently, and first kind effect and tradition are solid Determine that rotor aircraft is similar, for controlling and changing the lifting angle of the whole line of flight, this by aperiodicity change pitch angle at Divide and is realized；The effect of second class is that flapping wing aircraft is distinctive, for the angle of chord line should to be made to follow the angle of wing traces It spends and changes, form the difference of the sliding angle of attack and the downslide angle of attack again, this is that periodically variable wing pitch angle ingredient is realized. For differential variable load flapping wing, the different angles of attack of two wings on respective different wing traces are more controlled simultaneously.Differential variable load The wing pitch angle ingredient of the aperiodicity change of flapping wing is that both wings are common, and periodically variable wing pitch angle ingredient, that is, differential Pitch angle is then that both wings are opposite.

The practical control of the wing angle of attack must be Dynamic Closed Loop Control under the conditions of related physical quantity Real-time Feedback, there is two classes Mode, the first kind are to carry out real-time closed-loop control by electronic surveying and control system, and the second class is by manual operation according to feedback Power and training experience carry out real-time control.The present invention only provides the adjustable structure mechanism of wing pitch angle, and is not related to deeply controlling.

The first local embodiment of wing pitch angle control is differential variable load flapping wing further include: is connected to suspension 0 and the First angle controller 40 between one wing 1, the second angle controller 41 being connected between suspension 0 and the second wing 2, the One angle controller 40 is used to control the wing pitch angle of the first wing 1, and second angle controller 41 is for controlling the second wing 2 Wing pitch angle.It is primarily adapted for use in hard suspension single-point or that list is horizontally-arranged and Electric automatic control.

The local embodiment of second of wing pitch angle control is that load-bearing differential attachment includes the first load-bearing differential attachment 11, the second load-bearing differential attachment 12, the first load-bearing differential attachment 11 are at least one, and laterally a line is arranged and passes through suspension and connects Each corresponding points of leading edge of the first wing 1 and the second wing 2 are connect, the second load-bearing differential attachment 12 is at least one, laterally a line It is arranged and hangs each corresponding points of rear of connection the first wing 1 and the second wing 2, to make to drive the first wing 1 at the same time During the cyclically-varying that integral hanging is elongated and the integral hanging of the second wing 2 is elongated, elongated driving is hung to leading edge It can control to form the first wing 1 and the second wing 2 relative to datum plane with the asynchronous amount for hanging rear elongated driving Reversed differential pitch angle.

Fig. 5 hangs elongated small asynchronous amount with front and rear edge for the present invention to form the local embodiment of differential pitch angle Principle schematic diagram, i.e., second of local embodiment schematic diagram of above-mentioned wing pitch angle control.As shown in figure 5, load-bearing is differential Mechanism 3 includes: connection 1 leading edge of the first wing and the up-front first load-bearing differential attachment 11 of the second wing 2；Connect the first wing 1 Second load-bearing differential attachment 12 of 2 rear of rear and the second wing.It can be real using any one part of load-bearing differential attachment Mode is applied, it can also be using the local embodiment of any one of driving and differential drive connection.Fate before and after this differentiation Not She Zhi load-bearing differential attachment mode make leading edge suspension elongated and rear suspension it is elongated between can have asynchronous amount.In first half In the first state in period, the length of the leading edge suspension 0 of the first wing 1 and the length of rear suspension 0 are all in elongated, the second machine The length of the leading edge suspension 0 of the wing 2 and the length of rear suspension 0 are all shortening, when the variation phase of leading edge suspension length is ahead of When rear hangs the variation phase of length, the asynchronous difference of the suspension length amplitude of variation generated by phase difference has just been formed simultaneously the One wing 1 the front is high and the back is low and the second wing 2 it is low early and high after, the first wing 1 forms positive differential relative to datum plane Pitch angle, the second wing 2 form negative differential pitch angle relative to datum plane.In second of state in later half period, The length of the leading edge suspension 0 of first wing 1 and the length of rear suspension 0 are all shortening, the length of the leading edge suspension 0 of the second wing 2 Degree and the length of rear suspension 0 are all elongated, when the variation phase of leading edge suspension length is equally ahead of rear suspension length When variation phase, the asynchronous difference of the suspension length amplitude of variation generated by phase difference when being identical to the first state is with regard to shape simultaneously At low early and high after and the second wing 2 of the first wing 1, the front is high and the back is low, and the first wing 1 forms negative relative to datum plane Differential pitch angle, the second wing 2 forms positive differential pitch angle relative to datum plane.According to definition, wing pitch angle= Differential pitch angle+datum plane pitch angle just controls the so control differential pitch angle and datum plane pitch angle simultaneously The pitch angle of the pitch angle of one wing 1 and the second wing 2.Differential pitch angle therein is that periodically variable, both wings are opposite Pitch angle ingredient, and datum plane pitch angle is non-periodically variable, the identical pitch angle ingredient of both wings.Since front and rear edge drives The reversed differential pitch angle that asynchronous difference can be formed simultaneously both wings is moved, i.e., can manipulate simultaneously both wings with a manipulation freedom degree and bow The elevation angle is periodically reversed variation, forms the coupling control between both wings.This is especially suitable to manual operation.

The control of datum plane angle includes the control of datum plane pitch angle and the control of datum plane roll angle.

The local embodiment of the first of datum plane angle control, is at the mechanical position motionless relative to datum plane It is fixedly connected with empennage 10, all angles of datum plane are controlled by the pneumatic action of the mobile wing generation of empennage 10.

The local embodiment of second of datum plane angle control, is at the mechanical position motionless relative to datum plane Lower section hangs to variable-angle the main load 4 (such as connected or be flexibly connected with universal ball bearing 18) of connection, relies on main load 4 Gravity line traffic control and change datum plane pitch angle and roll angle.

The local embodiment of the first of wing configurations is the first wing 1 and the second wing 2 of energy antiphase vertical movement Horizontally disposed, the second wing 2 at least two, at least one second wing 2 is located at the side of the first wing 1, at least One the second wing 2 is located at the other side of the first wing 1.This landscape layout mode is only suitable for using load-bearing differential attachment A kind of part embodiment, the first embodiment of driving and differential relationship, second of embodiment of wing pitch angle control.

The local embodiment of second of wing configurations is the first wing 1 and the second wing 2 of energy antiphase vertical movement It is arranged in vertical.This vertical arrangement mode be suitable for using the various local embodiments of load-bearing differential attachment, driving and Various local embodiments, the various local embodiments of wing pitch angle control of differential relationship.

In two kinds of wing configurations local embodiments, the sum total aerodynamic characteristic of the first wing 1 and the second wing 2 it is total Should be identical as far as possible with aerodynamic characteristic, total aerodynamic center of total aerodynamic center of the first wing 1 and the second wing 2 should be as far as possible same On vertical axis.

The local embodiment of the first of power source is machine power.The local embodiment of second of power source is artificial Power.It is not excluded for the hybrid power mode of machine power and man power.

From above a variety of local embodiments, it can combine to form a variety of different differential variable load flapping wings.It only lifts below The example that three combinations are implemented is illustrated, but is not excluded for other combination embodiments.

Fig. 6 is the differential first combination embodiment schematic diagram of variable load flapping wing of the present invention.In this combination embodiment, use The first local embodiment, wing pitch angle of the local embodiment of the 4th kind of load-bearing differential attachment, driving and differential relationship The local embodiment of the first of control, second of local embodiment of wing configurations.As shown in fig. 6, being combined at first In embodiment, differential variable load flapping wing may include: the first wing 1；Second wing 2；Connect the first wing 1 and the second wing 2 Suspension；The first angle controller 40 being mounted between the first wing 1 and suspension 0 is mounted between the second wing 2 and suspension 0 Second angle controller 41；Load-bearing differential attachment 3.Wherein, the first wing 1 and the second wing 2 are arranged in vertical.First The aerodynamic center of wing 1 and the second wing 2 is on same vertical axis.The hanger bar of first wing 1 can be from 2 centre of the second wing Tapping passes through.

In the present embodiment, load-bearing differential attachment 3 includes: the gear 35 and guiding device 38 for being able to carry out Double-directional rotary, Suspension 0 includes: the first rack gear 36, the second rack gear 37.The two sides of gear 35 are arranged in first rack gear 36 and the second rack gear 37, with tooth Wheel 35 is meshed.First rack gear 36, the second rack gear 37 and gear 35 are arranged in guiding device 38, thus to the first rack gear 36, the second rack gear 37 is limited and is oriented to.The upper end of first rack gear 36 is sequentially connected with 1 phase of the first wing, the second rack gear 37 Upper end and 2 phase of the second wing be sequentially connected.When driving gear 35 to rotate in one direction, the first rack gear 36 is moved upwards, The height of first wing 1 increases, and flies the first of movement synthesis before the vertical movement of the first wing 1 and the entirety of differential variable load flapping wing The lifting angle of the wing traces of wing 1 is positive value；Second rack gear 37 moves downward, and the height of the second wing 2 reduces, the second wing The lifting angle for flying the wing traces of the second wing 2 of movement synthesis before 2 vertical movement and the entirety of differential variable load flapping wing is negative Value.When driving gear 35 to rotate along another direction, the first rack gear 36 is moved downward, and the height of the first wing 1 reduces, and first Fly the lifting angle of the wing traces of the first wing 1 of movement synthesis before the vertical movement of wing 1 and the entirety of differential variable load flapping wing For negative value；Second rack gear 37 moves upwards, and the height of the second wing 2 increases, and the vertical movement and differential variable load of the second wing 2 are flutterred The lifting angle for flying the wing traces of the second wing 2 of movement synthesis before the entirety of the wing is positive value.By the above-mentioned means, ought be reciprocally When gear 35 being driven to rotate, the change direction phase of the length of the suspension of the first wing 1 and the second wing 2 to load-bearing differential attachment 3 Instead, variable quantity is equal, forms the height of the first wing 1 and the second wing 2 in the differential of vertical movement, so that the first wing It is reversely right relative to differential variable load flapping wing entirety heading that 1 wing rail mark lifting angle and the wing rail mark of the second wing 2 go up and down angle Claim.On this basis, by first angle controller 40, periodically dynamic changes the wing pitch angle of the first wing 1, by the Two angle controllers 41 periodically dynamically change the wing pitch angle of the second wing 2, chord line required for being respectively formed respectively The angle of attack between wing traces.In this embodiment, the bearing of gear 35 and guiding device 38 are connected to the main load of lower part Lotus 4.

Fig. 7 is the differential second combination embodiment schematic diagram of variable load flapping wing of the present invention.In this combination embodiment, use The first local embodiment, the wing of the local embodiment of the first of load-bearing differential attachment, driving and differential drive connection The first local embodiment, wing configurations of the local embodiment of second of pitch angle control, the control of datum plane angle The first local embodiment.As shown in fig. 7, differential variable load flapping wing may include: the first wing 1；Second wing 2；Connection The suspension 0 of first wing 1 and the second wing 2；Load-bearing differential attachment 3.Wherein, the first wing 1 and the second wing 2 be in the horizontal direction Setting.In order to make the stress balance in aircraft wing, the second wing 2 at least two, at least one second wing 2 is located at the The side of one wing 1, at least one second wing 2 are located at the other side of the first wing 1.The first wing 1 is not excluded at this as surprise Several, the second wing 2 is even number, is symmetrically alternately configured interspersedly.Load-bearing differential attachment 3 divides to be held for front-seat first Second load-bearing differential attachment 12 of weight differential attachment 11 and heel row, is installed in approximately the same plane, the first wing 1, the second wing 2 On the tie point that is accordingly distributed be connected by suspension 0 with load-bearing differential attachment 3.

In this combination embodiment, due to the first local embodiment using load-bearing differential attachment, correspond respectively to The first round 5 and the second wheel 6 of first wing and the second wing can space out along its axis, it is possible to be suitble to two wings Landscape layout.First load-bearing differential attachment 11 includes the first round 5 being laterally fixedly connected on axis 9 and the second wheel 6, the first round 5 points to be multiple, by each corresponding points of leading edge of 0 the first wing 1 of connection of suspension, the second wheel 6 is also classified into multiple, passes through suspension 0 and connects Connect each corresponding points of 2 leading edge of the second wing.Suspension 0 includes: more first ropes 7 and the second rope of Duo Gen 8.Every first rope 7 One end be connected to the leading edge of the first wing 1, the other end of every first rope 7 is fixed and is partially around on the first round 5, often One end of the second rope of root 8 is connected to the leading edge of the second wing 2, and the other end of every second rope 8 is fixed and is partially around Second wheel 6 on, the first rope 7 on the first round 5 winding direction and the second rope 8 second take turns 6 on winding direction on the contrary, When drive shaft 9 rotates, the first round 5 for being fixedly connected on axis 9 takes turns 6 synchronous equidirectional rotations with second, and the first rope 7 is wound up into On the first round 5, the second rope 8 is released from the second wheel 6；Or second rope 8 be wound up on the second wheel 6, the first rope 7 is from It is released on one wheel 5.Then, by the reciprocating rotation of the first round 5 and the second wheel 6, the leading edge of the first wing 1 and the second wing 2 The length of suspension of leading edge to load-bearing differential attachment 3 changes in the opposite direction, and variable quantity is equal, forms the leading edge of first wing 1 Height is differential with the leading edge height of the second wing 2.The the second load-bearing differential attachment 12 and its suspension connection type of heel row, in addition to Its tie point is identical with front-seat the first load-bearing differential attachment 11 and its suspension connection type all except the rear of the wing.

In this combination embodiment, using second of local embodiment of wing pitch angle control, since the first load-bearing is poor Motivation structure 11 connects each corresponding points of leading edge of the first wing 1 and the second wing 2 by suspension 0, and the second load-bearing differential attachment 12 is logical Each corresponding points of rear of 0 connection the first wing 1 and the second wing 2 of suspension are crossed, it is differential that load-bearing is respectively set in this differentiation front and rear edge The mode of mechanism, which makes leading edge suspension elongated, and rear is hung between elongated can asynchronous amount, in the first shape of first half cycle Under state, increase the first wing 1 integrally in the rotation of the first load-bearing differential attachment 11 and the second load-bearing differential attachment 12, While second wing 2 integrally reduces, it is differential that the second load-bearing is ahead of by the driving phase of the first load-bearing differential attachment 11 The smaller phase difference of the driving phase of mechanism 12 and the elongated amplitude difference of suspension formed so that the first wing 1 formed relative to The front is high and the back is low for datum plane on the occasion of differential pitch angle, and it is poor that the second wing 2 forms the negative value low early and high after relative to datum plane Dynamic pitch angle.Under second of state in later half period, in the first load-bearing differential attachment 11 and the second load-bearing differential attachment 12 While rotation reduces the first wing 1 integrally, the second wing 2 integrally increases, pass through the first load-bearing differential attachment Identical phase difference in 11 driving phase is ahead of the driving phase of the second load-bearing differential attachment 12 and the first state and The elongated amplitude difference of the suspension of formation, so that the first wing 1 forms the negative value differential pitching low early and high after relative to datum plane Angle, the second wing 2 form that the front is high and the back is low on the occasion of differential pitch angle relative to datum plane.

In this combination embodiment, as shown in fig. 7, the bearing of the axis 9 of the first load-bearing differential attachment 11 and the second load-bearing are poor The bearing of the axis of motivation structure 12 is mounted in main load 4.Differential variable load flapping wing can also include: the empennage with energy mobile wing 10, empennage 10 can be used for controlling the pitch angle and roll angle of differential variable load flapping wing datum plane.

Fig. 8 is that the differential variable load flapping wing third of the present invention combines embodiment schematic diagram.In third combination embodiment, adopt With second of local embodiment party of second of local embodiment of load-bearing differential attachment, driving and differential drive connection Formula, second of local embodiment of wing pitch angle control, second local embodiment, wing of the control of datum plane angle The local embodiment of second of layout, and use man power source.As shown in figure 8, differential variable load flapping wing may include: first Wing 1；Second wing 2；Connect the suspension 0 of the first wing 1 and the second wing 2；Load-bearing differential attachment 3.Wherein, the first wing 1 It is arranged in vertical with the second wing 2.In this embodiment, it is using second of local embodiment of load-bearing differential attachment Pulley structure, load-bearing differential attachment are four, comprising: first corresponding to 2 the first side of leading edge of the first wing 1 and the second wing holds Weight differential attachment 11, corresponding to 2 leading edge second side of the first wing 1 and the second wing the first load-bearing differential attachment 11, correspond to Second load-bearing differential attachment 12 of 2 the first side of rear of the first wing 1 and the second wing corresponds to the first wing 1 and the second wing 2 The second load-bearing differential attachment 12 of rear second side, the first side and second side are opposite side.Suspension 0 may include: 4 first ropes Rope 7 is matched with four load-bearing differential attachments one by one respectively, and every rope bypasses the pulley of load-bearing differential attachment, one end connection First wing 1, the other end connect the second wing 2.

In this combination embodiment, the pulley bearings connection of the first load-bearing differential attachment 11, the second load-bearing differential attachment 12 On bracket 39, the lower end of bracket is provided with pedestal 33, can be connected with universal ball bearing 18 between bracket and pedestal.It is fixed to connect The operator for being connected to pedestal can change bracket 39 with arm (can extend relative to the pitch angle and roll angle of body from bracket 39 Meet the control stick of ergonomics out), i.e., changeable pitch angle and roll angle of the datum plane relative to main load gravity vertical, To manipulate the course line lifting angle and course of differential variable load flapping wing.That is second of embodiment of datum plane angle control.

It is following using second of local embodiment of driving and differential drive connection in this combination embodiment The running part of driving and above-mentioned load-bearing differential attachment are relative separations.Differential variable load flapping wing can also include: before capable of replacing The first pedal 19, the second pedal 20, the first drag-line 25, the second drag-line 26, the third drag-line the 27, the 4th for moving and being rotated afterwards Drag-line 28, the first diversion speed changer 29, the second diversion speed changer 30, third diversion speed changer 31, the 4th diversion speed changer 32.The The upper end branch of one drag-line 25 is connected to up-front first side of the first wing 1 and the up-front second side of the first wing 1, the first drag-line 25 lower end is sequentially connected with 29 phase of the first diversion speed changer, and one end of the first diversion speed changer 29 and the first pedal 19 is mutually driven Connection.The upper end branch of second drag-line 26 is connected to second side of 1 rear of the first side and the first wing of 1 rear of the first wing, The lower end of second drag-line 26 is sequentially connected with 30 phase of the second diversion speed changer, and the second diversion speed changer 30 is another with the first pedal 19 One end is mutually sequentially connected.The upper end branch of third drag-line 27 is connected to up-front first side of the second wing 2 and 2 leading edge of the second wing Second side, the lower end of third drag-line 27 and 31 phase of third diversion speed changer be sequentially connected, third diversion speed changer 31 and second One end of pedal 20 is mutually sequentially connected.The upper end branch of 4th drag-line 28 is connected to the first side and second of 2 rear of the second wing Second side of 2 rear of wing, lower end and 32 phase of the 4th diversion speed changer of the 4th drag-line 28 are sequentially connected, the 4th diversion speed changer 32 are mutually sequentially connected with the other end of the second pedal 20.First side and second side are opposite side.Above-mentioned transmission connection can pass through Rope carries out.To sum up, the first pedal 19 can drive and constrain the suspension length of the first wing 1, wherein one end of the first pedal 19 The up-front suspension length of the first wing 1 can be driven and constrain, the other end of the first pedal 19 can drive and constrain the first wing 1 Rear suspension length；Second pedal 20 can drive and constrain the suspension length of the second wing 2, wherein the one of the second pedal 20 End can drive and constrain the up-front suspension length of the second wing 2, and the other end of the second pedal 20 can drive and constrain the second machine The suspension length of the rear of the wing 2.

In this combination embodiment, the both feet of operator can be stepped on respectively on the first pedal 19 and the second pedal 20, when One it is foot-operated go out so that the first pedal 19 stretches out when, the first pedal 19 drives the height of the first wing 1 to reduce, and passes through the first rope 7 and half pulley of the first active load-bearing differential attachment 11, the second load-bearing differential attachment 12 pulley, loosen second indirectly The suspension length of wing 2 and increase the second wing 2 under aerodynamic lift effect, the raising of the second wing 2 is again counter to be transferred to the Two pedals 20 make 20 retraction of the second pedal.When another is foot-operated to be gone out so that the second pedal 20 stretches out, the second pedal 20 drives the The height of two wings 2 reduces, and passes through pulley, the second load-bearing of the first rope 7 and half the first active load-bearing differential attachment 11 The pulley of differential attachment 12 loosens the suspension length of the first wing 1 indirectly and rises the first wing 1 under aerodynamic lift effect Height, the raising of the first wing is again counter to be transferred to the first pedal 19, makes 19 retraction of the first pedal.The wing reduced due to height it is outstanding The suspension pulling force that pulling force is greater than the raised wing of height is hung, so operator need to only be exerted oneself with the foot stepped, and it is another The foot of retraction can loosen.

This combination embodiment uses second of local embodiment of wing pitch angle control, i.e., is hung with front and rear edge elongated Asynchronous difference is driven to form differential pitch angle.First load-bearing differential attachment 11 is as front-seat load-bearing differential attachment, the second load-bearing Load-bearing differential attachment of the differential attachment 12 as heel row, the mode that load-bearing differential attachment is respectively set in this differentiation front and rear edge make Leading edge suspension is elongated and rear is hung between elongated can asynchronous amount.One end of one end of the first pedal 19 and the second pedal 20 Can respectively drive the leading edge of the first wing 1 and the leading edge of the second wing 2, the other end of the first pedal 19 and the second pedal 20 it is another One end can respectively drive the rear of the first wing 1 and the rear of the second wing 2, so, the front-extending quantity at 19 both ends of the first pedal it The difference of the front-extending quantity at difference and 20 both ends of the second pedal, is exactly the asynchronous difference that front and rear edge hangs elongated driving, can be formed simultaneously both wings Opposite differential pitch angle.When one it is foot-operated go out so that the first pedal 19 stretches out when, forefoot is first exerted oneself, and tiptoe is to the front, heel The leading edge of ground to the rear pedal, the first wing 1 of the pedal-driven is lower than rear, and the differential pitch angle relative to datum plane is Negative value then makes the leading edge of the second wing 2 be higher than rear, the differential pitch angle relative to datum plane by load-bearing differential attachment For positive value.When another is foot-operated to be gone out so that the second pedal 20 stretches out, forefoot is first exerted oneself, and tiptoe is to the front, heel is stepped on to the rearly The leading edge of pedal, the second wing 2 of the pedal-driven is lower than rear, and the differential pitch angle relative to datum plane is negative value, after And so that the leading edge of the first wing 1 is higher than rear by load-bearing differential attachment, the differential pitch angle relative to datum plane is positive value.

In this combination embodiment, the transmission ratio of diversion speed changer be wing hang elongated stroke and kick one's legs stroke it Than hanging elongated stroke for increasing.For manually driven situation, the first pedal 19 and the second pedal 20 can be installed Elastic positioning device, so that the first wing 1 and the second wing 2 are parallel to datum plane when bipod all loosens.For example, in deflecting It installs bidirectional spring between speed changer additional, or bidirectional spring is installed at the first pedal 19 and the second pedal 20.

In this combination embodiment, the differential chain block 34 for load-bearing, differential chain block 34 are also equipped on pedestal 33 On be arranged with rope, the both ends of rope are connected with the first pedal 19 and the second pedal 20 respectively.Differential chain block 34 can be double When foot loosens, the first pedal 19 and the second pedal 20 are held.

On the basis of this combination embodiment, in order to change arrangement and the path of the drag-line for driving, differential variable load is flutterred The wing can also include: angle pulley, angle pulley can be it is multiple, guy cable rounds angle pulley is to form path break.Example Such as, in order to improve the two sides branch of the first drag-line 25, the two sides branch of the second drag-line 26, the two sides branch of third drag-line 27, The two sides branch of four drag-lines 28 reduces the pitching of bracket 39 to the roll angle binding effect of the first wing 1 and the second wing 2 It angle variation and roll angle variation and hangs the coupled interference between elongated, the two sides branch of the first drag-line 25, second can be drawn The two sides branch of rope 26, the two sides branch of third drag-line 27, the 4th drag-line 28 two sides branch all respectively pass through bracket 39 pair Answer the immediate vicinity of endpoint rear steering bracket 39 turn again to it is lower after, then collect respectively.

Differential variable load flapping wing in the application can also use other combinations to form corresponding embodiment, this any Shen Please person of ordinary skill in the field, do not depart from disclosed herein spirit and scope under the premise of, can implement Make any modification and variation, but the scope of patent protection of the application in the formal and details of example, must still be wanted with appended right Subject to the range for asking book to be defined.

Differential variable load flapping wing application field can be such that 1, low energy consumption is flown in the application.In addition to small variable load flapping wing principle Other than possessed high efficiency, relative to Fixed Wing AirVehicle, the application does not have special thrust device, produces without thrust line yet Raw structure problem.Simplify an important factor for structure is also loss of weight and reduces energy consumption.Therefore it can be used for the people of sport and amusement Power flapping wing, long endurance unmanned aircraft etc..2, low noise flies.Such as unmanned scouting, manned raid, animal are investigated.3, become airtight to fly Row.Due to the application be rise push away it is integrated, it is very big to the adaptation range of air density change, and structure is simple, is suitable for surpassing High-altitude stratosphere flight.4, low cost aircraft.The cost of aircraft is significantly reduced by simplifying structure, so as to open up Certain new opplication fields for being primarily limited to aircraft acquisition cost.

All articles and reference disclosed, including patent application and publication, for various purposes by quoting knot Together in this.Describing combined term " substantially by ... constitute " should include identified element, ingredient, component or step and reality Other elements, ingredient, component or the step of the basic novel feature of the combination are not influenced in matter.Using term "comprising" or " comprising " describes the combination of element here, ingredient, component or step it is also contemplated that substantially by these elements, ingredient, component Or the embodiment that step is constituted.Here by using term " can with ", it is intended to illustrate that " can with " includes described any Attribute is all optional.Multiple element, ingredient, component or step can be mentioned by single integrated component, ingredient, component or step For.Alternatively, single integrated component, ingredient, component or step can be divided into multiple element, ingredient, component or the step of separation Suddenly.For describe the open "a" or "an" of element, ingredient, component or step do not say in order to exclude other elements, at Point, component or step.

The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.

Claims (8)

1. a kind of differential variable load flapping wing characterized by comprising the first wing, the second wing, be connected to first wing and The suspension of second wing, load-bearing differential attachment；The load-bearing differential attachment is by the suspension of first wing and described It is movably connected on to the suspension load-bearing of two wings main load and changes the suspension length of first wing and second machine The second suspension that the suspension length of the wing changes reversed equivalent, the first suspension pulling force of first wing and second wing is drawn Power can mutual back transfer；The drive that the suspension length of the variation of suspension length and second wing to first wing changes It moves and the active control of the wing pitch angle of the wing pitch angle and second wing of first wing is matched, so that described Differential variable load flapping wing can be converted repeatedly between at least two states: in the first state, the height liter of first wing It is high and wing rail mark is made to go up and down angle positive value, it ordinatedly controls first wing and forms first angle of attack greater than zero and hanged first It hangs and is slided in the underloading under pulling force, the height of second wing reduces and wing rail mark is made to go up and down angle negative value, ordinatedly controls institute It states the second wing and forms second angle of attack for being less than stall critical angle and the heavy duty downslide under the second suspension pulling force, described second attacks Angle is greater than first angle of attack, and the second suspension pulling force is greater than the first suspension pulling force；In a second state, described The height of one wing reduces and wing rail mark is made to go up and down angle negative value, and it is critical less than stall ordinatedly to control the first wing formation First angle of attack at angle and the heavy duty under the first suspension pulling force are glided, and the height of second wing increases and goes up and down wing rail mark Angle is positive value, ordinatedly controls second wing and forms second angle of attack greater than zero and in the underloading under the second suspension pulling force Sliding, first angle of attack is greater than second angle of attack, and the first suspension pulling force is greater than the second suspension pulling force.

2. differential variable load flapping wing according to claim 1, which is characterized in that the load-bearing differential attachment includes: coaxial solid Fixed connection even and is capable of the first round and the second wheel of Double-directional rotary, and the suspension includes the first rope, the second rope, and described first One end of rope is connected on first wing, and the other end of first rope is fixed and is partially around the first round On, one end of second rope is connected on second wing, and the other end of second rope is fixed and part is wound On second wheel, the winding direction of the winding direction of first rope and second rope is on the contrary, to first Under kind state, drives the first round and second to take turns to a direction synchronous rotation, the twining amount of first rope can be made to subtract The twining amount of the suspension length, second rope that increase by first wing less increases and reduces the outstanding of second wing Hang length；In a second state, drive the first round and second take turns synchronous rotation direction and the first state on the contrary, It is opposite in the suspension length change direction of first wing and second wing and the first state.

3. differential variable load flapping wing according to claim 1, which is characterized in that the load-bearing differential attachment includes: can be into The pulley of row Double-directional rotary, the suspension include rope, and the rope bypasses the pulley, one end of the rope and described the One wing is connected, and the other end of the rope is connected with second wing, to make the suspension quilt of first wing In addition when transmission is pulled down and shortened, the outstanding of second wing can be loosened indirectly by the driven rotation of the pulley It hangs and keeps its elongated or when the suspension of second wing is pulled down and shortened by other transmission, the pulley can be passed through It is driven rotation and loosen the suspension of first wing indirectly and keep its elongated.

4. differential variable load flapping wing according to claim 1, which is characterized in that the load-bearing differential attachment includes: can be into The gear and guiding device of row Double-directional rotary, the suspension includes: the first rack gear, the second rack gear, first rack gear and described The two sides of the gear are arranged in second rack gear, are meshed with the gear, first rack gear, second rack gear and described Gear is arranged in the guiding device, so that first rack gear, second rack gear are limited and be oriented to, it is described The upper end of first rack gear is mutually sequentially connected with first wing, and the upper end of second rack gear is mutually driven with second wing Connection.

5. differential variable load flapping wing according to claim 1, which is characterized in that the differential variable load flapping wing further include: connection In the first angle controller hung between first wing, it is connected between the suspension and second wing Second angle controller, the first angle controller is used to control the wing pitch angle of first wing, described second jiao Degree controller is used to control the wing pitch angle of second wing.

6. differential variable load flapping wing according to claim 1, which is characterized in that the load-bearing differential attachment includes that first holds Weight differential attachment, the second load-bearing differential attachment, the first load-bearing differential attachment are at least one, and laterally a line is arranged and leads to Each corresponding points of leading edge of suspension connection first wing and second wing are crossed, the second load-bearing differential attachment is at least One, laterally a line is arranged and hangs each corresponding points of rear of connection first wing and second wing, to make The cyclically-varying for driving the integral hanging of elongated and described second wing of the integral hanging of first wing elongated at the same time In the process, the asynchronous amount that leading edge hangs elongated driving and hangs rear elongated driving can control to form first machine The reversed differential pitch angle of the wing and second wing relative to datum plane.

7. differential variable load flapping wing according to claim 1, which is characterized in that first machine of energy antiphase vertical movement The wing and second wing are horizontally disposed, second wing at least two, at least one second wing position In the side of first wing, at least one described second wing is located at the other side of first wing.

8. differential variable load flapping wing according to claim 1, which is characterized in that first machine of energy antiphase vertical movement The wing and second wing are arranged in vertical.