CN109625263A - A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically - Google Patents

Abstract

The present invention relates to flapping wing mechanisms and Manpower ornithopter that a kind of left and right wing can change pitch angle automatically.The flapping-wing aircraft includes the related setting such as fuselage vertical pole, preceding canard, tailplane, vertical tail, port wing, starboard wing, fuselage ring, the manual rudder of hand rod, treadle axis mechanism, manned mechanism.The flapping-wing aircraft also integrated application wing axis pitch angle self-regulated, the manipulation of fuselage roll foot-propelled, the front and back wing flutter adaptive, standard of fuselage electrical autocontrol, standard of fuselage manual manipulation, vertical tail manual manipulation, hydraulic drive totally 7 systems up and down.Stood up and squatted down by human body stampede power size variation periodic motion, promote left and right wing it is corresponding automatically generate to flutter under the angle of depression moved with elevation angle ramp-up cycle, to realize manpower flapping wing controllable flight.Compared with prior art, integrated use theory of the present invention is more comprehensive.The flapping-wing aircraft structure optimization, quality be light and handy, flexible operation, landing are convenient, can be used for outdoor Competitive Activities, has certain development prospect.

Description

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically

Technical field

The invention belongs to aviation aircraft and aircraft systems fields, and in particular to a kind of left and right wing can change flexion-extension automatically The flapping wing mechanism and Manpower ornithopter at angle.

Background technique

The present invention is based on understanding below and cognitions: on flapping wing aircraft, there is many successfully reports all over the world And patent.But in terms of Manpower beating wing aerial vehicle research, there is presently no relatively successfully report.It is multinomial once to obtain Oscar The French documentary film " migrating " of Grand Prix tells people, red abdomen dunlin and arctic wild goose, can once fly 10000 kilometers or so, and The mankind in this regard, have only reached 1 the percent of Bird Flight distance, manpower flapping flight theoretical research and practical application are also There are very big potentiality.

In terms of fixed-wing human-powered flight, understand according to scientific net (kexue.com), the man-power aircraft long-distance flight world Record is by masschusetts, U.S.A Polytechnics in 115.11 kilometers created in 1988, and " Daedalus number " to set a world record is net It weighs 70 pounds (being roughly equal to 31 kilograms), whole 54 points of 3 hours used times, speed per hour is 29.5 kilometers/hour, and there are no quilts for this record at present Break.To there is important breakthrough on human-powered flight, must learn to birds, using most labour-saving flapping flight mode, without It is propeller power mode.

Theoretically, the movement of birds flapping flight is more complicated, and the mankind also stop the understanding of Bird Flight principle In presentation.The presentation understanding, when referring to flapping wing, the wing and body of birds are exactly a pair of mutual on lift and load-carrying The contradiction main body of dependence.Flapping flight principle is explained with the spacing variation of lift mass center and load mass center in vertical range, The elemental motion of flapping flight is explained from surface, and still ignores the scientific method of mechanical analysis.In other words, newton Gravitation, only say apple landing be substance gravitation, without saying universal gravitational constant G and Formula of Universal Gravitation, that mankind according to It cannot so understand and apply gravitational scientific meaning.After all, basic principle and essential connotation of the mankind to flapping flight It also needs to re-recognize.

It is shown according to network data, 23 meters of the Stemme-S10-V power glider span in the U.S., unpowered glide ratio reaches Surprising 50:1, the unpowered soaring plane best result of someone's manipulation are the 417.49 of Japanese 25th " bird people " contest Rice.These practical activities all provide good theories integration and it was verified that man-powered aircraft for manpower flapping flight research The parameter setting of basic data provides valuable experience.

Summary of the invention

The purpose of the present invention, in that a kind of flapping-wing aircraft that flapping wing can be carried out by the physical strength of people and comprehensive correlation are provided Technological means, optimization solution is structurally reasonable, quality is light and handy, flexible operation, the convenient method of landing.

The purpose of the present invention is realized using following technical scheme.

In addition to the spare part out of the ordinary such as gear, rack gear, cable wire, piston component, bearing, whole frameworks of flapping-wing aircraft use carbon substantially Fibrous material production, to meet, quality is slim and graceful, the reliable flapping-wing aircraft design requirement of Strength Safety.

In the present invention, the left and right wing axis of flapping-wing aircraft uses catenary theory application, i.e. suspension bridge force structure principle, with Meet slim and graceful wing axis quality, straight bending resistance, left and right wing can do flexion-extension movement in the same direction, also can be reversed interlocking, and to do flexion-extension horizontal Drag-line when rolling work, the superimposed motion that can also do both movements, the variation of wing pitch angle perpendicular to wing axis does not influence again The general design requirement of wing cover.

In the present invention, it is arranged through trick rational division of labor, meets ergonomics and practical design requirement.I.e. both feet exist While offer power source is trampled, left and right wing can also be controlled and make roll movement；Right-hand man is holding rudder stabilization While balance, vertical fin left and right turn can also be controlled；Fuselage longitudinal rod is designed can facilitate pilot to carry out on top Race is takeoff drop, while being also convenient for observing surface state at any time.

In the present invention, canard adaptation host wing flexion-extensions of flutterring double up and down synchronous with tailplane are risen and fallen while being superimposed before meeting The design requirement that flapping-wing aircraft raises up with diving attitude control.

In the present invention, electrical autocontrol is set, satisfaction raises up to flapping-wing aircraft, diving attitude carries out electrical autocontrol liberation trick The comprehensive setting flapping wing power source of design requirement and wing axis pitch angle self-regulating system, fuselage roll control system, above and below the wing of front and back It is double flutter adaptation system, standard of fuselage electrical autocontrol system, standard of fuselage manual manipulation system, vertical tail manual manipulation system, Hydraulic Power Transmission System.

Technical solution also resides in following statement.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which includes that fuselage is vertical Bar 17, be arranged in 17 front end of fuselage vertical pole it is complete dynamic horizontal before canard 5, the stabilator of 17 rear end of fuselage vertical pole is set 14 and complete dynamic vertical tail 15, fuselage ring upper beam pipe 18 and fuselage ring side lever 21 that 17 middle part of fuselage vertical pole is set, The fuselage ring upper beam pipe 18 is provided with port wing axis 2 and starboard wing axis 12 constitutes dynamic port wing 1 entirely and complete dynamic in managing Starboard wing 13 is provided with 6 He of the manual rudder of handrail and sliding bush combination part of starting entirely on 21 side lever of fuselage ring side lever Dynamic foot pedal sub-assembly 7 entirely, which is characterized in that start the entirely manual rudder of handrail and sliding bush combination part 6 and the complete dynamic foot The manned mechanism that foot pedal 7 collectively forms；It is further characterized in that the manual rudder of handrail and the sliding bush combination of starting entirely Among part 6, it is additionally provided with vertical tail and controls the manual axis of rudder 74 and the coaxial manual rudder 68 of vertical tail control, hangs down Straight tail controls manual adjustment gear 66, is additionally provided in the manual rudder of handrail and 6 both ends of sliding bush combination part and the machine of starting entirely 37 damper rod of downlink damper and the downlink damping of hand rod left side on the right side of the mutually parallel hand rod in 21 or so inside of body frame side lever 38 damper rod of device；The Manpower ornithopter further includes that the port wing pitch angle being arranged on complete dynamic foot pedal sub-assembly 7 adjusts treadle Guide wheel 25, starboard wing pitch angle adjust treadle guide wheel 75, and are arranged between port wing axis 2 and fuselage ring side lever 21, are right Left wing's axis elevation angle tension spring 31, right flank axis elevation angle tension spring 28 between wing axis 12 and fuselage ring side lever 21, pass through Thus left wing's axis angle of depression pulling force cable wire 30, right flank axis angle of depression pulling force cable wire 29 constitute the complete set mechanism of Manpower ornithopter；Its It is further characterized in that, it is relatively comparable through physical strength amount (i.e. acting is exerted oneself) and human body weight (i.e. load) with the above complete mechanism, Within the scope of a certain size mechanical periodicity of acting firmly, the mechanical periodicity of left and right wing pitch angle is controlled, i.e., by doing function Power size realizes what wing and load were mutually converted in kinetic energy and potential energy to control left and right wing and load during flapping wing In the process, the process for obtaining certain flying speed and altitude has accurately annotated structure by mechanical analysis and digital use At flapping wing power source and the principles of science of wing axis pitch angle self-regulating system, there is extensive directive significance；Based on the above science Principle is totally used, it is further characterized in that, which further includes that left and right wing can be controlled separately fuselage roll movement Can be superimposed simultaneously again the fuselage roll control system for pitching flapping wing linkage, the front and back wing up and down it is double flutter adaptation system, standard of fuselage from Dynamic electric-control system, standard of fuselage manual manipulation system, vertical tail manual manipulation system, Hydraulic Power Transmission System, catenary theory The comprehensive designs scheme such as new breakthrough in terms of spar application technology.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that Canard 5 further includes canard axis 69 before the complete dynamic level with 17 Joint of fuselage vertical pole before the complete dynamic level, and to move water entirely Canard axis 69 is canard axis wheel 47 before the complete dynamic level of concentric circles before flat；The stabilator 14 further includes and fuselage vertical pole The stabilator axis 16 of 17 Joints, and with stabilator axis 16 be the stabilator axis wheel 41 of concentric circles； The complete dynamic vertical tail 15 further includes the complete dynamic vertical tail axis 72 of 17 Joint of fuselage vertical pole, and to move vertical tail axis entirely 72 adjust follower 55 for the complete dynamic vertical tail of concentric circles.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The fuselage ring upper beam pipe 18 and fuselage ring side lever 21 further include the left and right being arranged in 18 pipe of fuselage upper beam pipe Wing center thrust bearing 19 and port wing axis 2 and starboard wing axis 12 and upper beam pipe 18, which are managed, is arranged needle bearing between interior, also wraps Include the lifting wheel 9 that the fuselage ring lower link 8 of 21 bottom of fuselage ring side lever is connected with 8 both ends of lower link.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The complete dynamic port wing 1 and complete dynamic starboard wing 13, further includes being connected to each other with upper beam pipe 18 and port wing axis 2 and starboard wing axis 12, and the small wingtip 20 at wing both ends is set, is equidistantly arranged for multiple left 4 right sides of catenary wing axis drag-lines of fixed-link Catenary wing axis drag-line 11.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The complete dynamic foot pedal sub-assembly 7 including treadle central axis 80 and is fixed in the casing at 80 both ends of treadle central axis, for solid Determine the side wall panel of left foot hydraulic drive lower piston cylinder body part 40, right crus of diaphragm hydraulic drive lower piston cylinder body part 39；The treadle center The center of axis 80 be connected with treadle axis center gap bridge shaft of bevel gear 86 and its upper and lower ends setting treadle axis above pass a bridge Gap bridge bevel gear 85 below bevel gear 24 and treadle axis, left side of being passed a bridge successively are connected with left treadle pipe shaft gear 83, a left side Foot-operated rod tube axis 81, Vehicular left pedal 27, the port wing angle of depression control treadle rotating wheel 26, and the Vehicular left pedal 27 is bowed with port wing Port wing pitch angle, which is additionally provided with, between angle control treadle rotating wheel 26 adjusts treadle guide wheel 25；Gap bridge umbrella above the treadle axis Gap bridge bevel gear 85 below shape gear 24 and treadle axis, right side of being passed a bridge successively are connected with right treadle pipe shaft gear 84, right crus of diaphragm Treadle pipe axis 82, right steps 27, the starboard wing angle of depression control treadle rotating wheel 76, the right steps 27 and the starboard wing angle of depression Starboard wing pitch angle, which is additionally provided with, between control treadle rotating wheel 76 adjusts treadle guide wheel 75；It is controlled through the port wing angle of depression left and right sides Treadle rotating wheel 26 processed, starboard wing angle of depression control treadle rotating wheel 76 respectively with left foot hydraulic drive lower piston cylinder body part 40, right The connecting rod of foot hydraulic drive lower piston cylinder body part 39 is hinged.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The manned mechanism, by the manual rudder of handrail of starting entirely and sliding bush combination part 6, dynamic treadle axis mechanism sub-assembly 7 is common entirely It constitutes；Bipod on foot pedal 27, hold vertical tail and control manual rudder 68 and concordant with umbilical cord, while human lumbar by both hands The safety belt in portion lies in handrail both ends of starting entirely, and facilitating human body to rise, acting of squatting is flown and landing lands.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The flapping wing power source and wing axis pitch angle self-regulating system is to be risen, squatted by manpower, to complete dynamic treadle axis mechanism sub-assembly 7 trample periodic motion, and with wing axis pitch angle from transferring to realize lasting lift power source；In flight course In, when human body is stationary, the pedal force for being equal to weight (weight of people is set as G, slightly rear) (is provided as total on the footrests Pressure is F, rear to omit), promote left wing's axis angle of depression pulling force cable wire 30, right flank axis angle of depression pulling force cable wire 29 to act on wing, makes left and right It is about 6 ° of intermediate state that wing, which is maintained at horizon elevation angle, that is, form the relatively steady art skating of left and right wing (can be faced upward by left and right Angle tension spring is preset in advance, controls the horizon elevation angle of left and right at 6 °)；When human body stands up upwards, greater than weight (G) Pedal force (F) acts on left wing's axis angle of depression pulling force cable wire 30, right flank axis angle of depression pulling force cable wire 29 starts to pull down, and protects left and right wing The angle of depression change procedure for being 6 ° Dao -6 ° at the horizontal angle of depression is held, is formed under dynamic port wing 1, complete dynamic 13 angle of depression of starboard wing entirely and flutters torsion Gliding motility, and obtain downslide move ahead speedup (the horizontal maximum depression of the wing can be limited to -6 °)；When human body is to when squatting down, Pedal force (F) less than weight (G) springs back through left wing's axis elevation angle tension spring 31, right flank axis elevation angle tension spring 28, makes left and right It is the elevation angle change procedure from 6 ° to 12 ° that wing, which is maintained at horizon elevation angle, forms dynamic port wing 1, entirely dynamic 13 elevation angle of starboard wing entirely Raise up torsion gliding motility (wing elevation angle control between 6 ° to 12 °) and obtain wing potential energy increment；When left and right foot pedal 27 When being trampled while tilting forward and back twisting with left and right foot, roll takes place in left and right wing, and the flapping wing biasing of complex superposition turns Movement also generates therewith；It is above rise, two kinds of situations of squatting continue, promote left and right wing generate flutterred under the angle of depression and the elevation angle on elevator It is dynamic, realize manpower flapping flight；Pedal force (F) amplitude of variation rises greatly, and amplitude of variation is also bigger up and down for wing pitch angle；With number Formula is expressed are as follows: as F > G, the left and right wing angle of depression starts to deflect downlink；As F < G, the left and right wing elevation angle starts the elevation angle and opens Begin deflection uplink；As F=G, left and right wing pitch angle, which is in intermediate state and keeps flat, to fly to slide.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that Dynamic starboard wing 13 is additionally provided with the complete dynamic port wing 1 entirely, is connected in the outer end of port wing axis 2 through left catenary cable wire 3 Fuselage ring lower link 8 is connected to fuselage ring lower link 8 through right catenary cable wire 10 in the outer end of starboard wing axis 12；It is described The left catenary cable wire 3 of port wing axis 2 between be connected with the left catenary of more equidistant arrangements perpendicular to wing axis drag-line 4, right machine The right catenary of more equidistant arrangements is connected between the right catenary cable wire 10 of wing axis 12 perpendicular to wing axis drag-line 11, thus jointly Constitute complete catenary theory application bending resistance wing.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The bending resistance wing of the catenary theory application, theory application essence, with modern suspension structure to catenary principle Application principle is essentially identical, and only load pressure suffered by bridge floor is downward, and every section of vertical suspension cable pulling force is impartial, bridge bending stress base It originally is zero；And the bending resistance wing moves port wing 1 entirely, moves 13 stress of starboard wing (lift) upwards entirely, suffered by every section of vertical suspension cable Pulling force is impartial, and the bending stress of complete dynamic port wing axis 2 and complete dynamic starboard wing axis 12 is substantially zeroed；Left and right wing turned upside down is come It sees, structure stress situation and suspension bridge bridge force-bearing are just the same；Application of the catenary principle in terms of bending resistance spar Advantage, first is that meeting the basic demand for increasing wing intensity and mitigating design weight；Second is that when meeting flexion-extension flapping wing, left and right wing Axis has the design requirement centainly rotated；Third is that simplifying the design of wing roll mechanism, on the basis of guaranteeing host wing intensity, left and right machine The wing can pitch interaction, common to complete fuselage roll, be superimposed the design requirement for pitching compound movement of fluttering simultaneously；Technical characteristic Are as follows: Manpower ornithopter by upward lift or is floated in any time circled in the air, complete dynamic port wing 1, complete dynamic 13 bottom surface of starboard wing Power all horizontal homogeneous distributions, which act on, to be moved entirely on port wing axis 2, entirely dynamic starboard wing axis 12, and dynamic port wing axis 2 and the complete dynamic right side entirely What wing axis 12 mainly carried is axial compressive force, and the torque of radially bending is substantially zeroed, and the impetus of all lift or buoyancy is equal It focuses on fuselage ring side lever 21, entire force structure analysis is similar to suspension bridge force structure；Structure described above feature Meet wing axis bending resistance simultaneously, left and right wing axis rotating Vortex adapts to pitch angle mechanical periodicity demand, entirely dynamic port wing 1 with it is complete Dynamic starboard wing 13 pitches the differential design requirement for doing slight roll in terms of these three.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The fuselage roll control system includes: left part, since the complete dynamic treadle axis mechanism sub-assembly 7, works as left foot When right crus of diaphragm hypsokinesis of leaning forward twists, manipulation is firmly transmitted to the control of the port wing angle of depression treadle rotating wheel 26, left foot through Vehicular left pedal 27 Hydraulic drive lower piston cylinder body part 40, left side wing pitch control hydraulic pipeline 36, left side hydraulic drive upper piston cylinder body part 34 To the concentric gear and rack combination part 32 of center guide wheel, through concentric gear and rack combination part 32 with center guide wheel and concentric Connected left and right pitch angle Interaction Center guide wheel 22, left and right pitch angle Interaction Center guide wheel 23 and port wing pitch angle is adjusted Treadle guide wheel 25, pulling force are eventually transferred into left wing's axis angle of depression pulling force cable wire 30, and pull dynamic 2 angle of depression downlink of port wing axis entirely, right Side is completed at the same time reversed interaction, promotes to move the rising of 12 elevation angle of starboard wing axis entirely；Right part, from the complete dynamic entirely dynamic treadle axis Mechanism Combination part 7 starts, and when right crus of diaphragm leans forward left foot hypsokinesis twisting, manipulation is firmly transmitted to the starboard wing angle of depression through right steps 27 It controls treadle rotating wheel 76, right crus of diaphragm hydraulic drive lower piston cylinder body part 39, right side wing and pitches control hydraulic pipeline 35, right side liquid Pressure transmission upper piston cylinder body part 33 arrives the concentric gear and rack combination part 32 of center guide wheel, through the concentric gear with center guide wheel And rack combination part 32 and left and right pitch angle Interaction Center guide wheel 22 connected with one heart, left and right pitch angle Interaction Center guide wheel 23 starboard wing pitch angles adjust treadle guide wheel 75, and pulling force is eventually transferred into right flank axis angle of depression pulling force cable wire 29, and pull the complete dynamic right side 12 angle of depression downlink of wing axis, left side are completed at the same time reversed interaction, promote to move the rising of 2 elevation angle of port wing axis, 27 He of Vehicular left pedal entirely Right steps 27, through gap bridge bevel gear 85 forms reversed interlocking pass below 24 treadle axis of gap bridge bevel gear above treadle axis System；The entirely dynamic port wing axis 2 and complete dynamic starboard wing axis 12, during foot-operated roll manipulation, and reversed interlocking is corresponded to and is closed System.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The front and back wing up and down it is double flutter adaptation system include it is complete it is dynamic it is horizontal before canard axis 69, it is complete it is dynamic it is horizontal before canard axis wheel 47, complete dynamic Canard interlocks center guide wheel sub-assembly 43 before canard axis wheel drag-line 46, complete dynamic level before level, interlocks planetary gear through canard empennage 44, which interlock center guide wheel sub-assembly 48 with stabilator, is connected；Described further includes stabilator axis 16, complete dynamic level Caudal wing shaft wheel 41, stabilator axis wheel drag-line 42, stabilator interlock center guide wheel sub-assembly 48, through canard empennage Planetary gear 44 is interlocked to be connected with canard gearing center guide wheel sub-assembly 43 before complete dynamic level；Canard interlocks center and leads before complete dynamic level Wheel 43 stabilator of sub-assembly, which interlocks 48 avris of center guide wheel sub-assembly, has umbrella shape tooth and canard empennage to interlock planetary gear 44 interlocking engagements, periphery are that wheel is connect with canard axis wheel 47, stabilator axis wheel 41 before complete dynamic level by cable wire respectively； Before complete dynamic horizontal canard interlock center guide wheel sub-assembly 43 and it is complete it is dynamic it is horizontal before between canard axis wheel 47 with normal " 0 " font with complete Canard axis wheel drag-line 46 connects driving wheel before dynamic level, and stabilator interlocks center guide wheel sub-assembly 48 and moves horizontal tail entirely Driving wheel is connected with reversed figure of eight stabilator axis wheel drag-line 42 between wing axis wheel 41；The canard before complete dynamic level When axis 69, stabilator axis 16 and complete dynamic port wing axis 2, complete dynamic starboard wing axis 12, fuselage vertical pole 17 are fluttered up and down together, Canard 5, stabilator 14 are also fluttered up and down therewith before complete dynamic level.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The standard of fuselage electrical autocontrol system, standard of fuselage manual manipulation system include being set on fuselage ring upper beam pipe 18 Standard of fuselage electrical autocontrol direct current generator 50 and fuselage pitch angle control centre trunnion axis 71, it is straight through standard of fuselage electrical autocontrol Standard of fuselage electrical autocontrol motor wheel 70 on galvanic electricity machine 50 is linked with standard of fuselage electrical autocontrol transmission chain 51；The machine The horizontal electrical autocontrol driven wheel 49 of body is affixed with fuselage pitch angle manual lever 45, and shares and be set to cross on fuselage ring Fuselage pitch angle control centre trunnion axis 71 on beam pipe 18；Described with fuselage pitch angle manual lever 45 is the canard in axle center The right and left that empennage interlocks planetary gear 44 is respectively arranged with stabilator and interlocks center guide wheel sub-assembly 48 and entirely dynamic water Canard interlocks center guide wheel sub-assembly 43 before flat, and the umbrella shape tooth being equipped with by two insides interlocks 44 phase of planetary gear with canard empennage Engagement；The electrical autocontrol further includes 52 He of standard of fuselage electrical autocontrol mercury switch curved pipe being set on fuselage vertical pole 17 It automatically controls A relay 77, automatically control B relay 78, Miniature Power Unit 79, the horizontal positioned standard of fuselage electrical autocontrol 52 inside middle section of mercury switch curved pipe is equipped with flowable mercury 53, forms opening for standard of fuselage electrical autocontrol switching circuit 54 It closes；It is normal equipped with being connected with Miniature Power Unit 79 that the standard of fuselage electrical autocontrol mercury switch curved pipe 52 manages interior rear and front end Burst at the seams road anode, can be connected to the control coil for automatically controlling A relay 77 and automatically controlling B relay 78 through mercury 53 Anode is connected；The control with automatic control A relay 77, automatic control B relay 78 respectively of the cathode of the Miniature Power Unit 79 The connection of coil cathode；Automatically control A relay 77 and automatically control B relay 78 positive-negative power access point respectively with small electrical Source 79 is connected, positive and negative along connection setting through circuit, automatically controls A relay 77 and automatically controls the positive negative electricity of B relay 78 Source picks out a little and connects with standard of fuselage electrical autocontrol direct current generator 50.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that The vertical tail manual manipulation system includes that hanging down among the manual rudder of handrail of starting entirely and sliding bush combination part 6 is arranged in Straight tail controls the affixed vertical tail of manual 74 upper and lower ends of the axis of rudder and controls manual rudder 68, vertical tail control hand Adjustment gear 66 is controlled, and controls the vertical tail that manual adjustment gear 66 is meshed with vertical tail and controls manual adjusting gear rack 67, the both ends that the vertical tail controls manual adjusting gear rack 67 control left side active hydraulic piston cylinders with vertical tail respectively Sub-assembly 62 is connected with the piston rod that vertical tail controls right side active hydraulic piston cylinders sub-assembly 63；The vertical tail Control left side active hydraulic piston cylinders sub-assembly 62 and vertical tail control right side active hydraulic piston cylinders sub-assembly 63 divide Do not control hydraulic left side pipeline 64 through vertical tail, vertical tail control hydraulic right side pipeline 65 and vertical tail control left side from Hydrodynamic pressure piston/cylinder sub-assembly 60 is connected with the driven hydraulic piston cylinders sub-assembly 61 in vertical tail control right side, vertical tail The work of the driven hydraulic piston cylinders sub-assembly 60 in control left side, the driven hydraulic piston cylinders sub-assembly 61 in vertical tail control right side Stopper rod connects with the both ends of complete dynamic vertical tail adjusting gear rack 59 respectively；The entirely dynamic vertical tail adjusting gear rack 59 hangs down with complete move Straight tail adjustment gear 58 engages, and dynamic vertical tail adjustment gear 58 adjusts driving wheel 57 with dynamic vertical tail entirely and is fixed in altogether entirely It is adjusted on drive sprocket axle 73 with axis vertical tail, vertical tail adjusts the middle part that drive sprocket axle 73 is arranged on fuselage vertical pole 17； The entirely dynamic vertical tail adjusts the warp of driving wheel 57, and dynamic vertical tail adjusts drag-line 56 entirely and complete dynamic vertical tail adjusts follower 55 are linked, and are fixed in the complete dynamic vertical tail axis 72 that complete dynamic vertical tail is adjusted on follower 55 and are arranged on fuselage vertical pole 17 Tail portion；Active hydraulic piston cylinders sub-assembly 62, vertical tail control right side active liquid on the left of the vertical tail control Pressure piston/cylinder sub-assembly 63 is fixed in starts on the manual rudder of handrail and sliding bush combination part 6 entirely, and vertical tail control is left The driven hydraulic piston cylinders sub-assembly 60 in side, the driven hydraulic piston cylinders sub-assembly 61 in vertical tail control right side are fixed in machine On body frame upper beam pipe 18, manual rudder 68 is controlled through manual vertical tail and completes to move the manipulation of complete dynamic vertical tail 15 Make.

A kind of left and right wing stated can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which is characterized in that institute The Hydraulic Power Transmission System stated includes: first part, fuselage roll operational design scheme, in complete dynamic treadle axis mechanism sub-assembly 7 Left treadle direction is provided with left foot hydraulic drive lower piston cylinder body part 40, left side wing pitches control hydraulic pipeline 36, left side liquid Pressure transmission upper piston cylinder body part 34 and right treadle direction are provided with right crus of diaphragm hydraulic drive lower piston cylinder body part 39, right side wing pitches Control hydraulic pipeline 35, right side hydraulic drive upper piston cylinder body part 33；Second part: standard of fuselage operational design scheme, complete The start left side of the manual rudder of handrail and sliding bush combination part 6 is provided with vertical tail control left side active hydraulic piston cylinders group Component 62, vertical tail control hydraulic left side pipeline 64, vertical tail control driven 60 and of hydraulic piston cylinders sub-assembly in left side Right side is provided with vertical tail control right side active hydraulic piston cylinders sub-assembly 63, vertical tail controls hydraulic right side pipeline 65, the driven hydraulic piston cylinders sub-assembly 61 in vertical tail control right side.

Compared with prior art, complex art of the present invention is more comprehensive, and catenary theory is applied in spar bending resistance for the first time.The flapping wing Machine structure optimization, quality be light and handy, flexible operation, landing are convenient, can be used for outdoor Competitive Activities, is easy to popularize, has one Fixed development prospect.

Detailed description of the invention

Fig. 1 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the main view knot of Manpower ornithopter automatically Structure schematic diagram.

Fig. 2 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the left side knot of Manpower ornithopter automatically Structure schematic diagram.

Fig. 3 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the right side knot of Manpower ornithopter automatically Structure schematic diagram.

Fig. 4 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the vertical view knot of Manpower ornithopter automatically Structure schematic diagram.

Fig. 5 is that a kind of manpower for the flapping wing mechanism and Manpower ornithopter that left and right wing can change automatically pitch angle of the present invention is flutterred The wing and control mechanism schematic diagram.

Fig. 6 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the fuselage water of Manpower ornithopter automatically Flat control mechanism schematic diagram.

Fig. 7 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the fuselage water of Manpower ornithopter automatically Flat electrical autocontrol schematic diagram.

Fig. 8 is that a kind of left and right wing of the present invention can change the flapping wing mechanism of pitch angle and the vertical end of Manpower ornithopter automatically Wing control mechanism schematic diagram.

Description of symbols in figure: 1- moves port wing, 2- entirely and moves port wing axis, the left catenary cable wire of 3-, the left stretched wire of 4- entirely Line wing axis drag-line, 5- move entirely it is horizontal before canard, 6- start the manual rudder of handrail entirely and sliding bush combination part, 7- move treadle entirely The right catenary wing axis of axis mechanism sub-assembly, 8- fuselage ring lower link, 9- lifting wheel, the right catenary cable wire of 10-, 11- is drawn Rope, 12- move starboard wing axis, 13- entirely, and dynamic starboard wing, 14- stabilator, 15- move vertical tail entirely entirely, 16- is moved entirely Tailplane axis, 17- fuselage vertical pole, 18- fuselage ring upper beam pipe, 19- left and right center thrust bearing, 20- winglet The tip, 21- fuselage ring side lever, 22- left and right pitch angle Interaction Center guide wheel, 23- left and right pitch angle interaction drag-line are led Gap bridge bevel gear, 25- port wing pitch angle adjust treadle guide wheel, the control of the 26- port wing angle of depression above wheel, 24- treadle axis Treadle rotating wheel, 27- foot pedal, 28- right flank axis elevation angle tension spring, 29- right flank axis angle of depression pulling force cable wire, 30- left wing Axis angle of depression pulling force cable wire, 31- left wing axis elevation angle tension spring, 32- center guide wheel concentric gear and rack combination part, 33- Hydraulic drive upper piston cylinder body part, the right side 35- wing pitch control liquid on the left of right side hydraulic drive upper piston cylinder body part, 34- Wing pitches under control hydraulic pipeline, 37- hand rod right side downlink damper, 38- hand rod left side on the left of pressure pipeline, 36- Row damper, 39- right crus of diaphragm hydraulic drive lower piston cylinder body part, 40- left foot hydraulic drive lower piston cylinder body part, 41- move water entirely Canard interlocks center guide wheel sub-assembly, 44- before flat caudal wing shaft wheel, 42- stabilator axis wheel drag-line, 43- move level entirely Canard empennage interlock planetary gear, 45- fuselage pitch angle manual lever, 46- move entirely it is horizontal before canard axis wheel drag-line, 47- it is complete Canard axis wheel, 48- stabilator gearing center guide wheel sub-assembly, 49- standard of fuselage electrical autocontrol are driven before dynamic level Wheel, 50- standard of fuselage electrical autocontrol direct current generator, 51- standard of fuselage electrical autocontrol transmission chain, 52- standard of fuselage automatic electric It controls mercury switch curved pipe, 53- mercury, 54- standard of fuselage electrical autocontrol switching circuit, 55- and moves vertical tail adjusting quilt entirely Driving wheel, 56- move vertical tail adjusting drag-line entirely, 57- moves vertical tail adjusting driving wheel entirely, 58- moves vertical tail entirely and adjusts Gear, 59- move vertical tail adjusting gear rack, the driven hydraulic piston cylinders sub-assembly in 60- vertical tail control left side, 61- entirely The driven hydraulic piston cylinders sub-assembly in vertical tail control right side, 62- vertical tail control left side active hydraulic piston cylinders group Component, 63- vertical tail control right side active hydraulic piston cylinders sub-assembly, 64- vertical tail controls hydraulic left side pipeline, 65- vertical tail controls hydraulic right side pipeline, 66- vertical tail controls manual adjustment gear, 67- vertical tail controls hand Control adjusting gear rack, 68- vertical tail controls manual rudder, 69- and moves canard axis, 70- standard of fuselage automatic electric before level entirely It controls motor wheel, 71- fuselage pitch angle control centre trunnion axis, 72- and moves vertical tail axis, the adjusting of 73- vertical tail entirely actively Wheel shaft, 74- vertical tail control the manual axis of rudder, 75- starboard wing pitch angle adjusts treadle guide wheel, the 76- starboard wing angle of depression Control treadle rotating wheel, 77- automatically controls A relay, 78- automatically controls B relay, 79- Miniature Power Unit, 80- treadle Central axis, 81- left threading rod tube axis, 82- right threading rod tube axis, the left treadle pipe shaft gear of 83-, the right treadle pipe axis tooth of 84- Gap bridge bevel gear, 86- treadle axis center gap bridge shaft of bevel gear below wheel, 85- treadle axis.

Specific embodiment

The present invention will be described in detail with specific example with reference to the accompanying drawing, so that those skilled in the art understand this Invention.The orientation or position of the written instructions such as "center", "upper", "lower", "left", "right", "horizontal" in term are noted that before description Relationship is set, the orientation and positional relationship of flapping-wing aircraft itself in figure are based only on；In addition, term " installation ", " connection ", " affixed " Deng shall be understood in a broad sense, may be a fixed connection, may be a detachable connection or integrally connected；About hydraulic system Using non-absolute limit, this system application can be substituted by parking brake or service brake brake cable, and can also get the permission effect；For this skill For the those of ordinary skill in art field, if various change the attached claims limit and determine spirit of that invention and In range, these variations are it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.

A kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, be microlight-type structure, except a She Zhi not be outer, majority uses carbon fibre material.

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 5, a kind of left and right wing can change automatically the flapping wing mechanism of pitch angle and manpower is flutterred Wing machine, canard 5, setting are in fuselage before which includes fuselage vertical pole 17, the complete dynamic level of 17 front end of fuselage vertical pole is arranged in Cross on the fuselage ring at 17 middle part of fuselage vertical pole is arranged in the stabilator 14 of 17 rear end of vertical pole and complete dynamic vertical tail 15 Beam pipe 18 and fuselage ring side lever 21, the fuselage ring upper beam pipe 18 manage in be provided with port wing axis 2 and starboard wing axis 12 constitute dynamic port wing 1 entirely and entirely dynamic starboard wing 13, are provided with handrail hand of starting entirely on 21 side lever of fuselage ring side lever Dynamic rudder and sliding bush combination part 6 and entirely dynamic foot pedal sub-assembly 7, which is characterized in that the manual direction of handrail of starting entirely The manned mechanism that rudder and sliding bush combination part 6 and complete dynamic foot pedal sub-assembly 7 collectively form；It is further characterized in that described start to help entirely Among the manual rudder of bar and sliding bush combination part 6, it is additionally provided with vertical tail and controls the manual axis of rudder 74 and coaxial vertical Empennage controls manual rudder 68, vertical tail controls manual adjustment gear 66, is additionally provided in the manual direction of handrail of starting entirely Rudder and 6 both ends of sliding bush combination part are damped with downlink damper 37 on the right side of hand rod mutually parallel on the inside of fuselage ring side lever 21 or so 38 damper rod of downlink damper on the left of bar and hand rod；The Manpower ornithopter further includes moving to be arranged on foot pedal sub-assembly 7 entirely Port wing pitch angle adjust treadle guide wheel 25, starboard wing pitch angle adjust treadle guide wheel 75, and be arranged in 2 He of port wing axis Left wing's axis elevation angle tension spring 31 between fuselage ring side lever 21, between starboard wing axis 12 and fuselage ring side lever 21, right flank Thus axis elevation angle tension spring 28 is constituted manpower and is flutterred by left wing's axis angle of depression pulling force cable wire 30, right flank axis angle of depression pulling force cable wire 29 The complete set mechanism of wing machine；It is further characterized in that with the above complete mechanism, through physical strength amount (i.e. acting is exerted oneself) and human body weight Amount (i.e. load) is relatively comparable, within the scope of a certain size mechanical periodicity of acting firmly, controls left and right wing pitch angle Mechanical periodicity, to control left and right wing and load during flapping wing, realizes that wing and load exist that is, by size of exerting oneself of doing work During kinetic energy and potential energy mutually convert, the process of certain flying speed and altitude is obtained, mechanical analysis sum number is passed through Word uses, and has accurately annotated the principles of science for constituting flapping wing power source and wing axis pitch angle self-regulating system, has extensive Directive significance；It is totally used based on above the principles of science, it is further characterized in that, which further includes left and right wing Individually control fuselage roll movement can be superimposed that the fuselage roll control system for pitching flapping wing linkage, the front and back wing are double up and down to be flutterred simultaneously again It is adaptation system, standard of fuselage electrical autocontrol system, standard of fuselage manual manipulation system, vertical tail manual manipulation system, hydraulic Transmission system, catenary theory the comprehensive designs scheme such as new breakthrough in terms of spar application technology.

As shown in Fig. 1, Fig. 8, canard 5 further includes canard before the complete dynamic level with 17 Joint of fuselage vertical pole before complete dynamic level Axis 69, and with move entirely it is horizontal before canard axis 69 be concentric circles complete dynamic level before canard axis wheel 47；The stabilator 14 Further include the stabilator axis 16 with 17 Joint of fuselage vertical pole, and with stabilator axis 16 is the complete dynamic of concentric circles Tailplane axis wheel 41；The complete dynamic vertical tail 15 further includes the complete dynamic vertical tail axis 72 of 17 Joint of fuselage vertical pole, and Follower 55 is adjusted to move vertical tail axis 72 entirely as the complete dynamic vertical tail of concentric circles.Furthermore it is 10% that aerofoil profile, which is aspect ratio, The symmetric form wing is preferably.

As shown in Figure 1, fuselage ring upper beam pipe 18 and fuselage ring side lever 21, further include being arranged in fuselage upper beam pipe Left and right center thrust bearing 19 and port wing axis 2 in 18 pipes and starboard wing axis 12 and upper beam pipe 18, which are managed, is arranged rolling between interior Needle bearing further includes the lifting wheel 9 that the fuselage ring lower link 8 of 21 bottom of fuselage ring side lever is connected with 8 both ends of lower link.

Dynamic port wing 1 and entirely dynamic starboard wing 13 entirely as shown in Figure 1, further include being connected to each other with upper beam pipe 18 and port wing axis 2 and starboard wing axis 12, and the small wingtip 20 at wing both ends is set, is equidistantly arranged for the multiple left catenaries of fixed-link The right catenary wing axis drag-line 11 of wing axis drag-line 4.Left and right wing axis can realize that pitching, which is implemented separately, flutters torsion and left and right pitching Angular difference moves roll.Using aspect ratio for 20 to 1 FX63-137 herein, aerofoil profile is preferably at a slow speed.Wing area according to maximum load and Minimum stalling speed calculates, does not do concrete regulation here.

As shown in Fig. 4, Fig. 8, start the entirely manual rudder of handrail and sliding bush combination part 6 further include that setting is started to help entirely The vertical tail at 6 center of the manual rudder of bar and sliding bush combination part controls the manual axis of rudder 74 and coaxial vertical tail control Manual rudder 68, vertical tail control manual adjustment gear 66, and setting is in the manual rudder of handrail and the sliding bush combination of starting entirely 37 damper rod of downlink damper and hand rod left side downlink damp on the right side of the hand rod arranged side by side with 21 two sides of fuselage ring of 6 both ends of part 38 damper rod of device.Right flank axis elevation angle tension spring 28 and left wing's axis elevation angle tension spring 31 and right flank axis angle of depression pulling force cable wire herein 29 and left wing's axis angle of depression pulling force cable wire 30 it is different to the winding radius of wing axis, winding direction should be opposite, it is therefore an objective to Yao Shiying Wing axis pitches the requirement for limiting traverse.Downlink damper 37, hand rod left side downlink damper 38 are on the right side of hand rod herein It damps downwards and can adjust damping time, in order to preferably when the flexion-extension frequency, especially elevation angle uplink of control wing Between section control.

As shown in figure 5, dynamic foot pedal sub-assembly 7 entirely, including treadle central axis 80 and it is fixed in 80 both ends of treadle central axis Casing, the side wall panel for fixing left foot hydraulic drive lower piston cylinder body part 40, right crus of diaphragm hydraulic drive lower piston cylinder body part 39； The center of the treadle central axis 80 be connected with treadle axis center gap bridge shaft of bevel gear 86 and its upper and lower ends setting step on Gap bridge bevel gear 24 and treadle axis lower section gap bridge bevel gear 85 above bar axis, left side of being passed a bridge successively is connected with left treadle pipe Shaft gear 83, left threading rod tube axis 81, Vehicular left pedal 27, the port wing angle of depression control treadle rotating wheel 26, the Vehicular left pedal Port wing pitch angle, which is additionally provided with, between 27 and port wing angle of depression control treadle rotating wheel 26 adjusts treadle guide wheel 25；The treadle Gap bridge bevel gear 24 and treadle axis lower section gap bridge bevel gear 85 above axis, right side of being passed a bridge successively is connected with right treadle pipe axis Gear 84, right threading rod tube axis 82, right steps 27, the starboard wing angle of depression control treadle rotating wheel 76, the right steps 27 Starboard wing pitch angle, which is additionally provided with, between starboard wing angle of depression control treadle rotating wheel 76 adjusts treadle guide wheel 75；Left and right sides warp The port wing angle of depression control treadle rotating wheel 26, the starboard wing angle of depression control treadle rotating wheel 76 respectively with left foot hydraulic drive lower piston Cylinder body part 40, right crus of diaphragm hydraulic drive lower piston cylinder body part 39 connecting rod be hinged.Dynamic treadle axis mechanism combination entirely should be set herein The bottom downlink of part 7 limits adjustable mechanism, that is, controls the restriction of left and right wing angle of depression maximum value；It is also adjustable as flapping-wing aircraft simultaneously The underriding of ramp-up period forces location, i.e. wing downlink is that maximum dive angle is positive value.

As shown in figure 5, manned mechanism, by the manual rudder of handrail of starting entirely and sliding bush combination part 6, moves treadle axis mechanism entirely Sub-assembly 7 collectively forms.Bipod on foot pedal 27, hold vertical tail and control manual rudder 68 and put down with umbilical cord by both hands Together, while the safety belt of human body waist lies in handrail both ends of starting entirely, and facilitating human body to rise, acting of squatting is flown and landing lands.Safety For the sake of, magnetisable material can be set on foot pedal 27, to prevent sole from slipping, and guarantee that take-off landing is convenient.

As shown in figure 5, flapping wing power source and wing axis pitch angle self-regulating system, are to be risen, squatted by manpower, to complete dynamic treadle Axis mechanism sub-assembly 7 trample periodic motion, and transfers to realize lasting lift power source certainly with wing axis pitch angle； In flight course, when human body is stationary, the pedal force for being equal to weight (weight of people is set as G, rear to omit) (is provided as being used in foot Gross pressure on pedal is F, rear to omit), promote left wing's axis angle of depression pulling force cable wire 30, right flank axis angle of depression pulling force cable wire 29 to act on machine The wing, so that left and right wing is maintained at horizon elevation angle is about 6 ° of intermediate state, that is, forming the relatively steady art skating of left and right wing (can lead to It crosses left and right elevation angle tension spring to preset in advance, controls the horizon elevation angle of left and right at 6 °)；When human body stands up upwards, it is greater than The pedal force (F) of weight (G) acts on left wing's axis angle of depression pulling force cable wire 30, right flank axis angle of depression pulling force cable wire 29 starts to pull down, and makes Left and right wing is maintained at the angle of depression change procedure that the horizontal angle of depression is 6 ° Dao -6 °, forms dynamic port wing 1, complete dynamic starboard wing 13 entirely and bows It flutters the gliding motility of torsion under angle, and obtains downslide and move ahead speedup (the horizontal maximum depression of the wing can be limited to -6 °)；When human body to When squatting down, it is less than the pedal force (F) of weight (G), is returned through left wing's axis elevation angle tension spring 31, right flank axis elevation angle tension spring 28 Bullet makes left and right wing be maintained at elevation angle change procedure of the horizon elevation angle from 6 ° to 12 °, formed entirely dynamic port wing 1, move right machine entirely 13 elevation angle of the wing raise up torsion gliding motility (wing elevation angle control between 6 ° to 12 °) and obtain wing potential energy increment；When left and right When foot pedal 27 is trampled while tilting forward and back twisting with left and right foot, roll takes place in left and right wing, and complex superposition is flutterred The wing adds yaw motion also to generate therewith；It is above rise, two kinds of situations of squatting continue, promote left and right wing to generate and flutterred under the angle of depression and the elevation angle Manpower flapping flight is realized in ascending motion；Pedal force (F) amplitude of variation rises greatly, and wing pitch angle up and down also get over by amplitude of variation Greatly；It is with mathematical expression expression are as follows: as F > G, the left and right wing angle of depression starts to deflect downlink；As F < G, the left and right wing elevation angle starts The elevation angle starts to deflect uplink；As F=G, left and right wing pitch angle, which is in intermediate state and keeps flat, to fly to slide.Right flank axis herein Angle of depression pulling force cable wire 29, left wing's axis angle of depression pulling force cable wire 30 can also be set to cable wire, chain shares form, it is therefore an objective to guarantee to pass Dynamic accurate and effective.

As shown in Figure 1, catenary theory application bending resistance wing structure, moves port wing 1, in the port wing axis being wherein arranged entirely 2 outer end is secured to fuselage ring lower link 8 through left catenary cable wire 3, entirely dynamic starboard wing 13, in the starboard wing axis being wherein arranged 12 outer end is secured to fuselage ring lower link 8 through right catenary cable wire 10；The left catenary cable wire 3 of port wing axis 2 it Between be connected with the left catenary of more equidistant arrangements perpendicular to wing axis drag-line 4, it is solid between the right catenary cable wire 10 of starboard wing axis 12 The right catenary of more equidistant arrangements is connected to perpendicular to wing axis drag-line 11.Its theory application essence, it is former with modern suspension structure It manages identical.Load pressure suffered by bridge floor is downward, and every section of vertical suspension cable stress is impartial, and bridge bending stress is substantially zeroed；And The bending resistance wing moves port wing 1 entirely, upwards, every section of vertical suspension cable stress is impartial, spar for dynamic 13 stress of starboard wing (lift) entirely Complete dynamic port wing axis 2, the bending stress of complete dynamic starboard wing axis 12 are substantially zeroed.If from the point of view of wing turned upside down, structure Stress situation and suspension bridge bridge force-bearing are just the same.Application advantage of the catenary principle in terms of bending resistance spar, first is that Meet the basic demand for increasing wing intensity and mitigating design weight；Second is that meeting when pitching flapping wing, wing axis, which has, centainly to be rotated Design requirement solves paradox structure problem between drag-line and airfoil perpendicular to aerofoil；Third is that simplifying wing roll machine Structure design, on the basis of guaranteeing host wing strength, left and right wing can pitch the common completion fuselage roll design requirement of interaction.Technology Feature are as follows: flapping-wing aircraft by upward lift or is floated in any time circled in the air, complete dynamic port wing 1, complete dynamic 13 bottom surface of starboard wing Power all horizontal homogeneous distributions, which act on, to be moved entirely on port wing axis 2, entirely dynamic starboard wing axis 12, and dynamic port wing axis 2 and the complete dynamic right side entirely What wing axis 12 mainly carried is axial compressive force, and the torque of radially bending is substantially zeroed, and the impetus of all lift or buoyancy is equal It focuses on fuselage ring side lever 21, entire force structure analysis is completely consistent with suspension bridge application scenarios.The structure feature Meet wing bending resistance simultaneously and persistently change with pitch angle, entirely dynamic port wing 1, move full starboard wing 13 do slight roll this three The design requirement of a aspect.Left and right wing axis is all carbon fiber pipe herein, may be configured as boost charge-air formula in pipe, to increase wing Axis bending strength, at present also for reduction wing weight on the basis of ensuring intensity.It is vertical about left and right wing catenary Each connection point of cable wire can refer to related suspension bridge designing technique specification and be determined, do not explain here.

As shown in figure 5, fuselage roll control system includes: left part, from the complete dynamic treadle axis mechanism sub-assembly 7 Start, when left foot leans forward right crus of diaphragm hypsokinesis twisting, manipulation is firmly transmitted to port wing angle of depression control treadle through Vehicular left pedal 27 and turns Driving wheel 26, left foot hydraulic drive lower piston cylinder body part 40, left side wing pitch control hydraulic pipeline 36, living in the hydraulic drive of left side Plug cylinder body part 34 arrives the concentric gear and rack combination part 32 of center guide wheel, through the concentric gear and rack combination with center guide wheel Part 32 and connected with one heart left and right pitch angle Interaction Center guide wheel 22, left and right pitch angle Interaction Center guide wheel 23 and port wing Pitch angle adjusts treadle guide wheel 25, and pulling force is eventually transferred into left wing's axis angle of depression pulling force cable wire 30, and complete dynamic port wing axis 2 is pulled to bow Angle downlink, right side are completed at the same time reversed interaction, promote to move the rising of 12 elevation angle of starboard wing axis entirely；Right part, from described complete dynamic Dynamic treadle axis mechanism sub-assembly 7 starts entirely, and when right crus of diaphragm leans forward left foot hypsokinesis twisting, manipulation is firmly transmitted to through right steps 27 The starboard wing angle of depression controls treadle rotating wheel 76, right crus of diaphragm hydraulic drive lower piston cylinder body part 39, right side wing and pitches control hydraulic tube Road 35, right side hydraulic drive upper piston cylinder body part 33 arrive the concentric gear and rack combination part 32 of center guide wheel, through leading with center The concentric gear and rack combination part 32 of wheel and left and right pitch angle Interaction Center guide wheel 22 connected with one heart, left and right pitch angle 23 starboard wing pitch angle of Interaction Center's guide wheel adjusts treadle guide wheel 75, and pulling force is eventually transferred into right flank axis angle of depression pulling force cable wire 29, And pull and move 12 angle of depression downlink of starboard wing axis entirely, left side is completed at the same time reversed interaction, promotes to move the rising of 2 elevation angle of port wing axis entirely, Vehicular left pedal 27 and right steps 27, through gap bridge bevel gear 85 is formed below 24 treadle axis of gap bridge bevel gear above treadle axis Reversed interlocked relationship；The entirely dynamic port wing axis 2 and dynamic starboard wing axis 12 entirely, during foot-operated roll manipulation, and it is reversed Interlock corresponding relationship.

As shown in fig. 6, double adaptation systems of flutterring include canard axis 69 before moving level entirely, canard before complete dynamic level above and below the wing of front and back Axis wheel 47 moves canard axis wheel drag-line 46, full canard gearing center guide wheel sub-assembly 43 before moving level before level entirely, through canard empennage Planetary gear 44 is interlocked to be connected with stabilator gearing center guide wheel sub-assembly 48；Described further includes stabilator axis 16, stabilator axis wheel 41, stabilator axis wheel drag-line 42, stabilator interlock center guide wheel sub-assembly 48, planetary gear 44, which is interlocked, through canard empennage is connected with canard gearing center guide wheel sub-assembly 43 before complete dynamic level；Before complete dynamic level Canard, which interlocks 43 stabilator of center guide wheel sub-assembly gearing 48 avris of center guide wheel sub-assembly, umbrella shape tooth and canard Empennage interlocks 44 interlocking engagement of planetary gear, periphery be wheel respectively with it is complete dynamic horizontal before canard axis wheel 47, stabilator axis wheel 41 are connected by cable wire；Before complete dynamic horizontal canard interlock center guide wheel sub-assembly 43 and it is complete it is dynamic it is horizontal before use between canard axis wheel 47 Normally " 0 " font connects driving wheel, stabilator interlock center guide wheel sub-assembly 48 and stabilator axis wheel 41 it Between with the reversed figure of eight connect driving wheel.Canard axis 69, stabilator axis 16 and complete dynamic port wing axis before complete dynamic level 2, when dynamic starboard wing axis 12, fuselage vertical pole 17 are fluttered up and down together entirely, before complete dynamic level canard 5, stabilator 14 also with It is to flutter up and down.

As shown in Figure 6, Figure 7, standard of fuselage electrical autocontrol system, standard of fuselage manual manipulation system include being set to fuselage Standard of fuselage electrical autocontrol direct current generator 50 and fuselage pitch angle control centre trunnion axis 71 on frame upper beam pipe 18, through machine Standard of fuselage electrical autocontrol motor wheel 70 and standard of fuselage electrical autocontrol transmission chain on the horizontal electrical autocontrol direct current generator 50 of body 51 are linked；The standard of fuselage electrical autocontrol driven wheel 49 is affixed with fuselage pitch angle manual lever 45, and is shared The fuselage pitch angle control centre trunnion axis 71 being set on fuselage ring upper beam pipe 18；It is described to be grasped manually with fuselage pitch angle The right and left for making the canard empennage gearing planetary gear 44 that bar 45 is axle center is respectively arranged with stabilator gearing center and leads Canard interlocks center guide wheel sub-assembly 43, and the umbrella shape tooth and canard being equipped with by two insides before taking turns sub-assembly 48 and complete dynamic level Empennage interlocks planetary gear 44 and is meshed；The electrical autocontrol further includes the standard of fuselage electrical autocontrol being set on fuselage vertical pole 17 Mercury switch curved pipe 52 and automatic control A relay 77 automatically control B relay 78, Miniature Power Unit 79, described horizontal positioned 52 inside middle section of standard of fuselage electrical autocontrol mercury switch curved pipe be equipped with flowable mercury 53, formed standard of fuselage it is automatic The switch of electric-controlled switch route 54；The standard of fuselage electrical autocontrol mercury switch curved pipe 52 manage interior rear and front end be equipped with it is small The normally opened track circuit anode that type power supply 79 is connected, can be connected to through mercury 53 and automatically control A relay 77 and automatic control B The control coil anode of relay 78 is connected；The cathode of the Miniature Power Unit 79 is controlled with automatic control A relay 77, automatically respectively The control coil cathode of B relay 78 processed connects；It automatically controls A relay 77 and automatically controls the positive-negative power of B relay 78 Access point is connected with Miniature Power Unit 79 respectively, positive and negative along connection setting through circuit, automatically controls A relay 77 and automatically controls The positive-negative power of B relay 78 picks out a little and connects with standard of fuselage electrical autocontrol direct current generator 50.Miniature Power Unit 79 is answered herein The leading portion of fuselage 17 is set, and when flight can be used for trim fine adjustment.

As shown in figure 8, vertical tail manual manipulation system includes setting in the manual rudder of handrail and the sliding sleeve group of starting entirely Vertical tail among component 6 control the affixed vertical tail of manual 74 upper and lower ends of the axis of rudder control manual rudder 68, Vertical tail controls manual adjustment gear 66, and controls the vertical tail control that manual adjustment gear 66 is meshed with vertical tail Manual adjusting gear rack 67 is made, it is main that the both ends that the vertical tail controls manual adjusting gear rack 67 control left side with vertical tail respectively Hydrodynamic pressure piston/cylinder sub-assembly 62 is connected with the piston rod that vertical tail controls right side active hydraulic piston cylinders sub-assembly 63； The vertical tail control left side active hydraulic piston cylinders sub-assembly 62 and vertical tail control right side active hydraulic piston Cylinder body sub-assembly 63 controls hydraulic left side pipeline 64 through vertical tail respectively, vertical tail control hydraulic right side pipeline 65 with it is vertical The driven hydraulic piston cylinders sub-assembly of the driven hydraulic piston cylinders sub-assembly 60 in empennage control left side and vertical tail control right side 61 are connected, the driven hydraulic piston cylinders sub-assembly 60 in vertical tail control left side, the driven hydraulic piston in vertical tail control right side The piston rod of cylinder body sub-assembly 61 connects with the both ends of complete dynamic vertical tail adjusting gear rack 59 respectively；The entirely dynamic vertical tail tune Section rack gear 59 is engaged with complete dynamic vertical tail adjustment gear 58, and dynamic vertical tail adjustment gear 58 is adjusted with dynamic vertical tail entirely entirely Driving wheel 57 is fixed in common axis vertical tail and adjusts on drive sprocket axle 73, and vertical tail adjusts drive sprocket axle 73 and is arranged on machine The middle part of body vertical pole 17；The entirely dynamic vertical tail adjusts driving wheel 57, and through dynamic vertical tail entirely to adjust drag-line 56 vertical with moving entirely Empennage adjusts follower 55 and is linked, and is fixed in the complete dynamic vertical tail axis 72 that complete dynamic vertical tail is adjusted on follower 55 and is set It sets in the tail portion of fuselage vertical pole 17.Active hydraulic piston cylinders sub-assembly 62, vertical tail on the left of the vertical tail control Control right side active hydraulic piston cylinders sub-assembly 63 is fixed in starts on the manual rudder of handrail and sliding bush combination part 6 entirely, The driven hydraulic piston cylinders sub-assembly 60 in vertical tail control left side, the driven hydraulic piston cylinders combination in vertical tail control right side Part 61 is fixed on fuselage ring upper beam pipe 18.Manual rudder 68 is controlled through manual vertical tail to complete to complete dynamic vertical The control action of empennage 15.

As shown in Figure 5, Figure 8, Hydraulic Power Transmission System includes first part: fuselage roll operational design scheme, is stepped in complete move The left treadle direction of bar axis mechanism sub-assembly 7 is provided with left foot hydraulic drive lower piston cylinder body part 40, left side wing pitches control Hydraulic pipeline 36, left side hydraulic drive upper piston cylinder body part 34 and right treadle direction are provided with right crus of diaphragm hydraulic drive lower piston cylinder body Part 39, right side wing pitch control hydraulic pipeline 35, right side hydraulic drive upper piston cylinder body part 33；The Hydraulic Power Transmission System Further include second part: standard of fuselage operational design scheme, in the left side of the manual rudder of handrail of starting entirely and sliding bush combination part 6 It is provided with vertical tail control left side active hydraulic piston cylinders sub-assembly 62, vertical tail controls hydraulic left side pipeline 64, hangs down The driven hydraulic piston cylinders sub-assembly 60 in straight tail control left side and right side are provided with the actively hydraulic work of vertical tail control right side Plug cylinder body sub-assembly 63, vertical tail control hydraulic right side pipeline 65, the driven hydraulic piston cylinders group in vertical tail control right side Component 61.Right crus of diaphragm hydraulic drive lower piston cylinder body part 39, left foot hydraulic drive lower piston cylinder body part 40 herein is hinged fixed Preferably, it is set with the movement transmitting for adapting to port wing angle of depression control treadle rotating wheel 26, starboard wing angle of depression control treadle rotating wheel 76 Meter requires.

Claims (14)

1. a kind of left and right wing can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, which includes fuselage vertical pole (17), be arranged fuselage vertical pole (17) front end it is complete dynamic horizontal before canard (5), setting in the complete of fuselage vertical pole (17) rear end move water The horizontal tail wing (14) He Quandong vertical tail (15), the fuselage ring upper beam pipe (18) and machine being arranged in the middle part of fuselage vertical pole (17) Body frame side lever (21) is provided with port wing axis (2) and starboard wing axis (12) in described fuselage ring upper beam pipe (18) pipe Dynamic port wing (1) He Quandong starboard wing (13) entirely is constituted, is provided on described fuselage ring side lever (21) side lever and starts to help entirely The manual rudder of bar and sliding bush combination part (6) He Quandong foot pedal sub-assembly (7), which is characterized in that the handrail of starting entirely The manned mechanism that manual rudder and sliding bush combination part (6) and complete dynamic foot pedal sub-assembly (7) collectively form；It is further characterized in that Among start the entirely manual rudder of handrail and the sliding bush combination part (6), it is additionally provided with vertical tail and controls the manual axis of rudder (74) and coaxial vertical tail controls manual rudder (68), vertical tail controls manual adjustment gear (66), is additionally provided with The mutually parallel hand on the inside of start the entirely manual rudder of handrail and sliding bush combination part (6) both ends and fuselage ring side lever (21) or so Downlink damper (37) damper rod and hand rod left side downlink damper (38) damper rod on the right side of handrail；The Manpower ornithopter is also Including moving entirely, the port wing pitch angle being arranged on foot pedal sub-assembly (7) adjusts treadle guide wheel (25), starboard wing pitch angle is adjusted Treadle guide wheel (75), and be arranged between port wing axis (2) and fuselage ring side lever (21), starboard wing axis (12) and fuselage frame Left wing's axis elevation angle tension spring (31), right flank axis elevation angle tension spring (28) between frame side lever (21), pass through left wing's axis angle of depression Pulling force cable wire (30), right flank axis angle of depression pulling force cable wire (29) thus constitute the complete set mechanism of Manpower ornithopter；Its feature is also It is, it is relatively comparable through physical strength amount (i.e. acting is exerted oneself) and human body weight (i.e. load) with the above complete mechanism, certain big Within the scope of the mechanical periodicity of small acting firmly, the mechanical periodicity of left and right wing pitch angle is controlled, that is, passes through acting firmly size, Left and right wing and load are controlled during flapping wing, realize wing and load during kinetic energy and potential energy mutually convert, The process for obtaining certain flying speed and altitude has accurately annotated composition flapping wing by mechanical analysis and digital use The principles of science of power source and wing axis pitch angle self-regulating system has extensive directive significance；It is total based on above the principles of science Body use, it is further characterized in that, the Manpower ornithopter further include left and right wing can be controlled separately fuselage roll movement again can be same When superposition pitch that the fuselage roll control system of flapping wing linkage, the front and back wing are double up and down to flutter adaptation system, standard of fuselage electrical autocontrol System, standard of fuselage manual manipulation system, vertical tail manual manipulation system, Hydraulic Power Transmission System, catenary theory are in spar The comprehensive designs scheme such as new breakthrough in terms of application technology.

2. a kind of left and right wing according to claim 1 can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, It is characterized in that, canard (5) further includes canard before the complete dynamic level with fuselage vertical pole (17) Joint before the complete dynamic level Axis (69), and with move entirely it is horizontal before canard axis (69) be concentric circles complete dynamic level before canard axis wheel (47)；The complete dynamic level Empennage (14) further includes the stabilator axis (16) with fuselage vertical pole (17) Joint, and with stabilator axis (16) For the stabilator axis wheel (41) of concentric circles；Entirely dynamic vertical tail (15) further include fuselage vertical pole (17) Joint Dynamic vertical tail axis (72) entirely, and follower is adjusted to move the complete dynamic vertical tail that vertical tail axis (72) are concentric circles entirely (55)。

3. a kind of left and right wing according to claim 1 can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, It is characterized in that, the fuselage ring upper beam pipe (18) and fuselage ring side lever (21), further include that cross is arranged on fuselage Left and right center thrust bearing (19) and port wing axis (2) and starboard wing axis (12) and upper beam pipe (18) in beam pipe (18) pipe Needle bearing is set between in pipe, further includes the fuselage ring lower link (8) and lower link (8) of fuselage ring side lever (21) bottom The connected lifting wheel (9) in both ends.

4. a kind of left and right wing according to claim 1 can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, It further include being connected to each other with upper beam pipe (18) and left it is characterized in that, described complete dynamic port wing (1) He Quandong starboard wing (13) Wing axis (2) and starboard wing axis (12), and the small wingtip (20) at wing both ends is set, is equidistantly arranged for fixed-link Multiple right catenary wing axis drag-lines (11) of left catenary wing axis drag-line (4).

5. a kind of left and right wing according to claim 1 can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, It is characterized in that, described complete dynamic foot pedal sub-assembly (7), including treadle central axis (80) and it is fixed in treadle central axis (80) The casing at both ends, for fixing left foot hydraulic drive lower piston cylinder body part (40), right crus of diaphragm hydraulic drive lower piston cylinder body part (39) Side wall panel；The center of the treadle central axis (80) be connected with treadle axis center gap bridge shaft of bevel gear (86) and its up and down Gap bridge bevel gear (85) below gap bridge bevel gear (24) and treadle axis above the treadle axis of both ends setting, passed a bridge on the left of according to It is secondary to be connected with left treadle pipe shaft gear (83), left threading rod tube axis (81), Vehicular left pedal (27), port wing angle of depression control treadle turn Driving wheel (26) is additionally provided with port wing between the Vehicular left pedal (27) and port wing angle of depression control treadle rotating wheel (26) and faces upward The angle of depression adjusts treadle guide wheel (25)；Gap bridge bevel gear (24) and treadle axis lower section gap bridge bevel gear above the treadle axis (85), right treadle pipe shaft gear (84), right threading rod tube axis (82), right steps (27), the right side are successively connected on the right side of being passed a bridge The wing angle of depression control treadle rotating wheel (76), the right steps (27) and the starboard wing angle of depression control treadle rotating wheel (76) it Between be additionally provided with starboard wing pitch angle adjust treadle guide wheel (75)；The left and right sides controls treadle rotating wheel through the port wing angle of depression (26), starboard wing angle of depression control treadle rotating wheel (76) is hydraulic with left foot hydraulic drive lower piston cylinder body part (40), right crus of diaphragm respectively The connecting rod of transmission lower piston cylinder body part (39) is hinged.

6. a kind of left and right wing according to claim 1 can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, It is characterized in that, the manned mechanism, by the manual rudder of handrail of starting entirely and sliding bush combination part (6), moves treadle axis machine entirely Structure sub-assembly (7) collectively forms；Bipod on foot pedal (27), both hands hold vertical tail control manual rudder (68) and with Umbilical cord is concordant, while the safety belt of human body waist lies in handrail both ends of starting entirely, facilitates human body to act acting of squatting and flies and land Ground.

7. a kind of left and right wing according to claim 1 can change the flapping wing mechanism and Manpower ornithopter of pitch angle automatically, It is characterized in that, the flapping wing power source and wing axis pitch angle self-regulating system, are to be risen, squatted by manpower, to complete dynamic treadle Axis mechanism sub-assembly (7) trample periodic motion, and transfers to realize lasting lift power source certainly with wing axis pitch angle 's；In flight course, when human body is stationary, the pedal force for being equal to weight (weight of people is set as G, rear to omit) (is provided as using Gross pressure on the footrests is F, rear to omit), promote left wing's axis angle of depression pulling force cable wire (30), right flank axis angle of depression pulling force cable wire (29) Wing is acted on, so that left and right wing is maintained at horizon elevation angle is about 6 ° of intermediate state, that is, it is relatively steady free to form left and right wing It slides and (can be preset in advance by left and right elevation angle tension spring, control the horizon elevation angle of left and right at 6 °)；When human body rises upwards Immediately, the pedal force (F) greater than weight (G) acts on left wing's axis angle of depression pulling force cable wire (30), right flank axis angle of depression pulling force cable wire (29) start to pull down, left and right wing is made to be maintained at the angle of depression change procedure at 6 ° to -6 ° of the horizontal angle of depression, form dynamic port wing entirely (1), it is moved under starboard wing (13) angle of depression entirely and flutters the gliding motility of torsion, and obtain forward speedup (the horizontal maximum depression of the wing of downslide - 6 ° can be limited to)；When human body is to when squatting down, it is less than the pedal force (F) of weight (G), through left wing's axis elevation angle tension spring (31), right flank axis elevation angle tension spring (28) is sprung back, and so that left and right wing is maintained at the elevation angle of the horizon elevation angle from 6 ° to 12 ° and is changed Process forms complete dynamic port wing (1), moves starboard wing (13) elevation angle entirely and raise up that (control of the wing elevation angle is arrived at 6 ° for the gliding motility of torsion Between 12 °) and obtain wing potential energy increment；When left and right foot pedal (27) is trampled while tilting forward and back twisting with left and right foot When, roll takes place in left and right wing, and the flapping wing of complex superposition adds yaw motion also to generate therewith；Above, two kinds of situations of squatting Continue, promote left and right wing to generate and flutterred and elevation angle ascending motion under the angle of depression, realize manpower flapping flight；Pedal force (F) variation Amplitude rises greatly, and amplitude of variation is also bigger up and down for wing pitch angle；It is with mathematical expression expression are as follows: as F > G, the left and right wing angle of depression Start to deflect downlink；As F < G, the left and right wing elevation angle starts the elevation angle and starts to deflect uplink；As F=G, left and right wing is pitched Angle, which is in intermediate state and keeps flat, to fly to slide.

8. flapping wing mechanism and people that a kind of left and right wing according to any one of claims 1 to 7 can change pitch angle automatically Power flapping-wing aircraft, which is characterized in that complete dynamic port wing (1) is moved starboard wing (13) entirely and is additionally provided with, in port wing axis (2) Outer end is connected to fuselage ring lower link (8) through left catenary cable wire (3), in the outer end of starboard wing axis (12) through right catenary steel Rope (10) is connected to fuselage ring lower link (8)；More are connected between the left catenary cable wire (3) of the port wing axis (2) The left catenary of equidistant arrangement is connected with more perpendicular to wing axis drag-line (4) between the right catenary cable wire (10) of starboard wing axis (12) The right catenary of root equidistant arrangement is perpendicular to wing axis drag-line (11), to collectively form complete catenary theory application bending resistance machine The wing.

9. flapping wing mechanism and people that a kind of left and right wing according to any one of claims 1 to 8 can change pitch angle automatically Power flapping-wing aircraft, which is characterized in that the bending resistance wing of the catenary theory application, theory application essence, with modern suspension cable Bridge structure is essentially identical to the application principle of catenary principle, and only load pressure suffered by bridge floor is downward, and every section of vertical suspension cable is drawn Power is impartial, and bridge bending stress is substantially zeroed；And the bending resistance wing moves port wing (1) entirely, moves starboard wing (13) stress (liter entirely Power) upwards, pulling force suffered by every section of vertical suspension cable is impartial, the bending stress of complete dynamic port wing axis (2) and complete dynamic starboard wing axis (12) It is substantially zeroed；From the point of view of the wing turned upside down of left and right, structure stress situation and suspension bridge bridge force-bearing are just the same；It is described outstanding Application advantage of the chain line principle in terms of bending resistance spar increases wing intensity and mitigates wanting substantially for design weight first is that meeting It asks；Second is that left and right wing axis has the design requirement centainly rotated when meeting flexion-extension flapping wing；It is set third is that simplifying wing roll mechanism Meter, on the basis of guaranteeing host wing intensity, left and right wing can pitch interaction, common to complete fuselage roll, be superimposed flexion-extension simultaneously It flutters the design requirement of compound movement；Technical characteristic are as follows: Manpower ornithopter moves port wing (1), complete entirely in any time circled in the air Dynamic starboard wing (13) bottom surface is acted on entirely dynamic port wing axis (2), complete dynamic by all horizontal homogeneous distributions of upward lift or buoyancy On starboard wing axis (12), and what is mainly carried entirely dynamic port wing axis (2) and entirely dynamic starboard wing axis (12) is axial compressive force, and radial direction is curved Bent torque is substantially zeroed, and the impetus of all lift or buoyancy focuses on fuselage ring side lever (21), entire stress knot Structure analysis is similar to suspension bridge force structure；It is same that structure described above feature meets wing axis bending resistance, left and right wing axis simultaneously Pitch angle mechanical periodicity demand is adapted to rotation, moves port wing (1) entirely and dynamic starboard wing (13) pitch and differential do slight roll entirely Design requirement in terms of these three.

10. flapping wing mechanism and people that a kind of left and right wing according to any one of claims 1 to 9 can change pitch angle automatically Power flapping-wing aircraft, which is characterized in that the fuselage roll control system includes: left part, from the complete dynamic treadle axis machine Structure sub-assembly (7) starts, and when left foot leans forward right crus of diaphragm hypsokinesis twisting, manipulation is firmly transmitted to port wing through Vehicular left pedal (27) and bows Angle controls treadle rotating wheel (26), left foot hydraulic drive lower piston cylinder body part (40), left side wing flexion-extension control hydraulic pipeline (36), left side hydraulic drive upper piston cylinder body part (34) arrives the concentric gear and rack combination part (32) of center guide wheel, Jing Yuzhong The concentric gear and rack combination part (32) of heart guide wheel and left and right pitch angle Interaction Center guide wheel (22) connected with one heart, left and right Wing pitch angle Interaction Center guide wheel (23) and port wing pitch angle adjust treadle guide wheel (25), and pulling force is eventually transferred into left wing's axis and bows Angle pulling force cable wire (30), and pull and move port wing axis (2) angle of depression downlink entirely, right side is completed at the same time reversed interaction, promotes the dynamic right side entirely Wing axis (12) elevation angle rises；Right part, since the complete dynamic entirely dynamic treadle axis mechanism sub-assembly (7), before right crus of diaphragm When left foot hypsokinesis of inclining twists, manipulation is firmly transmitted to starboard wing angle of depression control treadle rotating wheel (76), the right side through right steps (27) Foot hydraulic drive lower piston cylinder body part (39), right side wing pitch control hydraulic pipeline (35), right side hydraulic drive upper piston cylinder Body part (33) arrives the concentric gear and rack combination part (32) of center guide wheel, through the concentric gear and rack combination with center guide wheel Part (32) and left and right pitch angle Interaction Center guide wheel (22) connected with one heart, left and right pitch angle Interaction Center guide wheel (23) are right Wing pitch angle adjusts treadle guide wheel (75), and pulling force is eventually transferred into right flank axis angle of depression pulling force cable wire (29), and pulls the complete dynamic right side Wing axis (12) angle of depression downlink, left side are completed at the same time reversed interaction, promote to move the rising of port wing axis (2) elevation angle, Vehicular left pedal entirely (27) and right steps (27) it, is formed through gap bridge bevel gear (85) below gap bridge bevel gear (24) treadle axis above treadle axis Reversed interlocked relationship；Entirely dynamic port wing axis (2) and entirely dynamic starboard wing axis (12), during foot-operated roll manipulation, and Reversed interlocking corresponding relationship.

11. according to any of claims 1 to 10 a kind of left and right wing can change automatically pitch angle flapping wing mechanism and Manpower ornithopter, which is characterized in that the front and back wing up and down it is double flutter adaptation system include it is complete it is dynamic it is horizontal before canard axis (69), complete Canard axis wheel (47) before dynamic horizontal, it is complete it is dynamic it is horizontal before canard axis wheel drag-line (46), it is complete it is dynamic it is horizontal before canard interlock center guide wheel group Component (43) interlocks planetary gear (44) through canard empennage and is connected with stabilator gearing center guide wheel sub-assembly (48)；Institute To state further include stabilator axis (16), stabilator axis wheel (41), stabilator axis wheel drag-line (42), complete dynamic Tailplane gearing center guide wheel sub-assembly (48), through in canard gearing before canard empennage gearing planetary gear (44) and complete dynamic level Heart guide pulley subassembly (43) is connected；Canard interlocks center guide wheel sub-assembly (43) stabilator and interlocks center before complete dynamic level Guide pulley subassembly (48) avris has umbrella shape tooth and canard empennage to interlock planetary gear (44) interlocking engagement, periphery be wheel respectively and entirely Canard axis wheel (47), stabilator axis wheel (41) pass through cable wire and connect before dynamic level；Canard interlocks center before complete dynamic level The normally full canard axis wheel drawing before moving level of " 0 " font is used before guide pulley subassembly (43) and complete dynamic level between canard axis wheel (47) Rope (46) connects driving wheel, and stabilator interlocks between center guide wheel sub-assembly (48) and stabilator axis wheel (41) Driving wheel is connected with reversed figure of eight stabilator axis wheel drag-line (42)；The canard axis (69), complete dynamic before complete dynamic horizontal When tailplane axis (16) and entirely dynamic port wing axis (2), complete dynamic starboard wing axis (12), fuselage vertical pole (17) are fluttered up and down together, Canard (5), stabilator (14) are also fluttered up and down therewith before complete dynamic level.

12. according to claim 1 to a kind of 11 described in any item left and right wings can change automatically pitch angle flapping wing mechanism and Manpower ornithopter, which is characterized in that the standard of fuselage electrical autocontrol system, standard of fuselage manual manipulation system include setting In standard of fuselage electrical autocontrol direct current generator (50) and fuselage pitch angle control centre water on fuselage ring upper beam pipe (18) Flat axis (71), through the standard of fuselage electrical autocontrol motor wheel (70) and fuselage water on standard of fuselage electrical autocontrol direct current generator (50) Flat electrical autocontrol transmission chain (51) is linked；The standard of fuselage electrical autocontrol driven wheel (49) is grasped manually with fuselage pitch angle It is affixed for making bar (45), and shares the fuselage pitch angle control centre trunnion axis being set on fuselage ring upper beam pipe (18) (71)；Described the right and left point that planetary gear (44) are interlocked with the canard empennage that fuselage pitch angle manual lever (45) is axle center It is not provided with canard before stabilator interlocks center guide wheel sub-assembly (48) and complete dynamic level and interlocks center guide wheel sub-assembly (43), the umbrella shape tooth and by two insides being equipped with interlocks planetary gear (44) with canard empennage and is meshed；The electrical autocontrol also wraps It includes the standard of fuselage electrical autocontrol mercury switch curved pipe (52) being set on fuselage vertical pole (17) and automatically controls A relay (77), B relay (78), Miniature Power Unit (79), the horizontal positioned standard of fuselage electrical autocontrol mercury switch are automatically controlled The internal middle section of curved pipe (52) is equipped with flowable mercury (53), forms opening for standard of fuselage electrical autocontrol switching circuit (54) It closes；The standard of fuselage electrical autocontrol mercury switch curved pipe (52) is managed interior rear and front end and is equipped with to be connected with Miniature Power Unit (79) Normally opened track circuit anode, through mercury (53) can be connected to automatically control A relay (77) and automatic control B relay (78) Control coil anode be connected；The cathode of the Miniature Power Unit (79) respectively with automatically control A relay (77), automatically control B The control coil cathode of relay (78) connects；It automatically controls A relay (77) and automatically controls the positive negative electricity of B relay (78) Source access point is connected with Miniature Power Unit (79) respectively, through circuit it is positive and negative fall along connection setting, automatically control A relay (77) with from The positive-negative power of dynamic control B relay (78) picks out a little and connects with standard of fuselage electrical autocontrol direct current generator (50).

13. according to claim 1 to a kind of 12 described in any item left and right wings can change automatically pitch angle flapping wing mechanism and Manpower ornithopter, which is characterized in that the vertical tail manual manipulation system includes setting in the manual direction of handrail of starting entirely Vertical tail among rudder and sliding bush combination part (6) controls the affixed vertical tail control of the manual axis of rudder (74) upper and lower ends Manual rudder (68), vertical tail control manual adjustment gear (66), and control manual adjustment gear with vertical tail (66) vertical tail being meshed controls manual adjusting gear rack (67), and the vertical tail controls the two of manual adjusting gear rack (67) End controls left side active hydraulic piston cylinders sub-assembly (62) with vertical tail respectively and vertical tail control right side is actively hydraulic The piston rod of piston/cylinder sub-assembly (63) is connected；The vertical tail control left side active hydraulic piston cylinders sub-assembly (62) hydraulic left side is controlled through vertical tail respectively and is managed with vertical tail control right side active hydraulic piston cylinders sub-assembly (63) Road (64), vertical tail control the driven hydraulic piston cylinders sub-assembly of hydraulic right side pipeline (65) and vertical tail control left side (60) it is connected with the driven hydraulic piston cylinders sub-assembly (61) in vertical tail control right side, from hydrodynamic pressure on the left of vertical tail control Piston/cylinder sub-assembly (60), the driven hydraulic piston cylinders sub-assembly (61) in vertical tail control right side piston rod respectively and entirely The both ends of dynamic vertical tail adjusting gear rack (59) connect；Entirely dynamic vertical tail adjusting gear rack (59) and entirely dynamic vertical tail tune Section gear (58) engagement, dynamic vertical tail adjustment gear (58) are fixed in shared with complete dynamic vertical tail adjusting driving wheel (57) entirely Axis vertical tail is adjusted on drive sprocket axle (73), and vertical tail adjusts drive sprocket axle (73) and is arranged in fuselage vertical pole (17) Portion；The entirely dynamic vertical tail adjusts driving wheel (57) Jing Quandong vertical tail adjusting drag-line (56) and dynamic vertical tail is adjusted entirely Follower (55) is linked, and is fixed in complete dynamic vertical tail axis (72) that complete dynamic vertical tail is adjusted on follower (55) and is set In the tail portion of fuselage vertical pole (17)；Active hydraulic piston cylinders sub-assembly (62), vertical end on the left of the vertical tail control Wing control right side active hydraulic piston cylinders sub-assembly (63) is fixed in start the entirely manual rudder of handrail and sliding bush combination part (6) on, the driven hydraulic piston cylinders sub-assembly (60) in vertical tail control left side, the driven hydraulic piston in vertical tail control right side Cylinder body sub-assembly (61) is fixed on fuselage ring upper beam pipe (18), controls manual rudder (68) through manual vertical tail Complete the control action to complete dynamic vertical tail (15).

14. according to claim 1 to a kind of 13 described in any item left and right wings can change automatically pitch angle flapping wing mechanism and Manpower ornithopter, which is characterized in that the Hydraulic Power Transmission System includes: first part, fuselage roll operational design scheme, The left treadle direction of complete dynamic treadle axis mechanism sub-assembly (7) is provided with left foot hydraulic drive lower piston cylinder body part (40), left side machine It is hydraulic that wing flexion-extension control hydraulic pipeline (36), left side hydraulic drive upper piston cylinder body part (34) and right treadle direction are provided with right crus of diaphragm It is driven lower piston cylinder body part (39), right side wing pitches control hydraulic pipeline (35), right side hydraulic drive upper piston cylinder body part (33)；Second part: standard of fuselage operational design scheme, on a left side for start the entirely manual rudder of handrail and sliding bush combination part (6) Side is provided with vertical tail control left side active hydraulic piston cylinders sub-assembly (62), vertical tail controls hydraulic left side pipeline (64), it is main to be provided with vertical tail control right side for the driven hydraulic piston cylinders sub-assembly (60) in vertical tail control left side and right side Hydrodynamic pressure piston/cylinder sub-assembly (63), vertical tail control hydraulic right side pipeline (65), vertical tail controls right side from hydrodynamic It presses piston/cylinder sub-assembly (61).