CN109911197A - A kind of four-degree-of-freedom flapping wing aircraft device - Google Patents
A kind of four-degree-of-freedom flapping wing aircraft device Download PDFInfo
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- CN109911197A CN109911197A CN201910259050.4A CN201910259050A CN109911197A CN 109911197 A CN109911197 A CN 109911197A CN 201910259050 A CN201910259050 A CN 201910259050A CN 109911197 A CN109911197 A CN 109911197A
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Abstract
The present invention relates to a kind of four-degree-of-freedom flapping wing aircraft devices, belong to aircraft field.Rack is medianly zygomorphic single chassis structure, right flapping mechanism is identical with left flapping mechanism structure, they are symmetrically arranged in the left and right sides of frame main body, and it is connect with rack 1, right flapping wing is identical with left flapping wing structure, connects respectively with right flapping mechanism with left flapping mechanism, and empennage is connected in the tail portion of rack and has certain tilt angle with horizontal fuselage, control system is connected in the inside of rack, and dynamical system is connected in frame main body.Advantage is structure novel, compact, it can be achieved that full symmetric flapping motion, has the advantages that mobility strong, flexibility ratio are high；The four kinds of forms of motion generated pass through the effect to intercouple and provide the required power that raises for flapping wing aircraft, and both wings wing tip motion profile is space " ellipse ", the advantage with pneumatic efficiency height and mobility strong.
Description
Technical field
The invention belongs to vehicle technology fields, more particularly to a kind of multiple degrees of freedom flapping wing aircraft.
Background technique
Flapping wing aircraft is a kind of course of new aircraft for imitating birds or insect flapping flight, with traditional aircraft phase
Than flapping wing generates lift and thrust simultaneously, and lifting, hovering and propulsion functions are integrated in a sized flap wings system, have stronger machine
Dynamic property and flexibility, and by adjusting the flapping parameters of sized flap wings system can flexible change of flight state, greatly simplify
Overall structure mitigates aircraft weight；
The forms of motion of the flying creature wing of nature is general are as follows: with the flapping motion of certain angle, twist motion,
Scan movement, bending fold movement, these four motion modes.The flapping wing aircraft designed and produced according to bionics principle is according to it
Forms of motion can be divided into single-degree-of-freedom flapping wing aircraft and multiple degrees of freedom flapping wing aircraft, and single-degree-of-freedom flapping wing aircraft only needs
It is fluttered by simple upper and lower of wing to obtain and raise power, however multiple degrees of freedom flapping wing aircraft is flutterred in simple upper and lower of wing
On the basis of dynamic, while being reversed, scanning the one or more combination movement moved with bending fold.
Most of existing flapping wing aircraft is the foundation motion mode of simple imitation flying creature, can only realize letter
The movement of swinging the bat of single-degree-of-freedom.A kind of 104477388 B of Chinese patent " four fins are flat to clap flapping wing aircraft " CN uses four fins
Flat to clap flapping wing, four flapping wings are controlled simultaneously by four independent servo motors, although four fins are during flapping motion
Horizontal component will not be laterally being generated, but since the weight that the increase of servo motor keeps body spontaneous is consequently increased, this will be led
Cause pneumatic efficiency low, cruise duration is short, and then has seriously affected the performance of aircraft, and multiple degrees of freedom flapping wing aircraft is then not
So, therefore the higher multiple degrees of freedom flapping wing aircraft of bionical degree has become research hotspot；" one kind two is certainly for utility model patent
By degree flapping wing aircraft " CN 205113712 U and Chinese patent " insect emulates flapping wing aircraft " ZL201210437699.9 etc.
There is the two-freedom forms of motion for fluttering and reversing wing for the multiple degrees of freedom aircraft of representative, and actually flying creature flies
Wing also has this motor pattern scanned when row, therefore it is relatively limited with torsional motion patterns bring thrust to flutter；In
108058825 A of state's patent the flapping wing aircraft device of front and back swipe " a kind of can " CN is provided with simultaneously to be scanned and flutters
Two kinds of motor patterns, but under this mode scan for scanned before and after wing the wing different from flying creature around fin root this
Any carries out scanning movement, thus in the case of this kind its aircraft generate to raise power equally relatively limited；Chinese patent is " a kind of
Wing can active deformation multiple degrees of freedom micro flapping wing air vehicle " 105691615 A of CN, same only realize flutter and turn round
The two kinds of forms of motion turned, twisting action is realized by using the compound motion of eccentric spherical structure and crank and rocker mechanism,
This composite construction realizes movement of fluttering up and down by eccentric sphere, and the active twist of wing is realized by crank and rocker mechanism, but
The realization fluttered and reversed is that the motor pattern of two kinds of actives needs additional gear transmission force and torque, this will be inevitable
Increase the consumption of the driving mechanism energy, reduces flight efficiency；Meanwhile the coupling of two kinds of active movement forms will generate interference and
Caton phenomenon.Aircraft described above is all haveed the defects that certain to a certain extent, is not enough to complete following various multiple
Miscellaneous task.Therefore, design that a kind of structure is relatively easy, the high and low energy consumption of transmission efficiency, and at the same time have flutter,
The height bionic flapping-wing flying vehicle for reversing and scanning three kinds of forms of motion will be the developing direction of the following micro flapping wing air vehicle.
Summary of the invention
The present invention provides a kind of four-degree-of-freedom flapping wing aircraft device, to solve to transmit effect existing for current flapping wing aircraft
Rate is low, energy consumption is high, is not enough to complete the task and problem of various complexity.
The technical solution adopted by the present invention is that: including rack, right flapping mechanism, right flapping wing, empennage, right turn mechanism, control
System processed, dynamical system, left-hand control, left flapping wing, left flapping mechanism；Rack is medianly zygomorphic single chassis structure,
Right flapping mechanism is identical with left flapping mechanism structure, they are symmetrically arranged in the left and right sides of frame main body, and with rack 1
Connection, right flapping wing is identical with left flapping wing structure, connects respectively with right flapping mechanism with left flapping mechanism, empennage is connected in rack
Tail portion and there is certain tilt angle with horizontal fuselage, control system is connected in the inside of rack, and dynamical system is connected in machine
In frame body.
Rack of the present invention includes frame main body, body transverse direction long connecting rod, wire support, body transverse direction short connecting rod, machine
Frame vertical link, electric machine support, body middle part transverse link, tail notch, receiver notch, miniature straight line steering engine notch；Its
Be parallel to each other between transverse link placement in the middle part of middle body transverse direction long connecting rod, body transverse direction short connecting rod and body, and these are connected
Bar middle-end and frame main body are connected；The both ends of rack vertical link are equipped with rectangular through-hole, and the square through hole and body are laterally short
The both ends of connecting rod carry out interference fit connection, and rack vertical link is mutually perpendicular to body transverse direction short connecting rod, and wire support is viscous
It connects in the middle part of the body on transverse link, electric machine support is fixed in frame main body front end, and tail notch is fixed in the tail of main stand
Portion simultaneously has certain inclination angle with horizontal plane of frame, and receiver notch, miniature straight line steering engine notch are fixed in central rack.
Dynamical system of the present invention includes hollow-cup motor, motor worm, first order deceleration worm gear, gear shaft, two
Side symmetrically drives crank, drive link, drive rocker, pitman shaft, wherein hollow-cup motor and the fixed company of motor fixed frame
Connect, the connection of the conductor wire of hollow-cup motor and control system, the output shaft of hollow-cup motor be located at the lower section of gear shaft simultaneously and its
Vertically, the internal diameter of gear shaft and through-hole in rack vertical link carries out transition fit, and motor worm is sleeved on hollow-cup motor
On output shaft, and formed interference fit；First order deceleration worm gear is fixed on the middle part of gear shaft；Motor worm and
Primary speed-down worm gear is meshed, and one end of each driving crank is fixed in the side of gear shaft, and the one of the other end and drive link
End is hinged, and two driving cranks carry out circular motion with gear shaft together；The circular through hole of pitman shaft and frame main body leading portion into
Row transition fit, one end of each drive rocker are fixed in the side of pitman shaft, and one end of the other end and drive link is hinged, and two
A drive rocker is by matching with two drive links and two driving cranks and doing circular motion.
Right flapping mechanism of the present invention includes that the right side flutter connecting rod one, the right side of slide bar, the right side of fluttering is fluttered connecting rod two, wherein right side
Flutter slide bar one end and right side drive link carry out ball pair coordination hinge；Right side flutter slide bar the body of rod and right turn it is longitudinal
Circular through hole internal diameter on connecting rod forms clearance fit, at the same with the axis on the connected sliding block of right flapping wing transverse direction leading edge vein two sides
It holds internal diameter and forms interference fit, one end progress ball pair cooperation of the end of longitudinal vein of starboard wing and right connecting rod one of fluttering is cut with scissors
It connects；The flutter other end of two one end of connecting rod and right connecting rod one of fluttering of the right side carries out hinged, and its other end and rack transverse link
It carries out hinged.
Right flapping wing of the present invention includes that right flapping wing transverse direction leading edge vein, right flapping wing longitudinal direction vein, right flapping wing sliding block, the right side are flutterred
Wing secondary vein, miniature bearing, right flapping wing parachute；Right flapping wing transverse direction leading edge vein, right flapping wing longitudinal direction vein and right flapping wing are secondary
Vein is fixedly connected at fin root end, and right flapping wing parachute is pasted onto right flapping wing transverse direction leading edge vein, right flapping wing longitudinal direction vein and right flapping wing
On secondary vein；Right flapping wing sliding block is connected in below right flapping wing transverse direction leading edge vein, and circular through hole and Minisize axial thereon
It holds outer diameter and forms interference fit；The body of rod of miniature bearing internal diameter and right slide bar of fluttering, which is formed, to be interference fitted.
Left-hand control of the present invention includes the steering spring, left steering transverse link, left steering longitudinal rod, soft of turning left
Property rubber strip, left steering nylon rope conducting wire, wire support；The both ends of left steering spring be respectively and fixedly connected to left steering transverse link with
The upper surface of rack transverse link, the both ends of left steering longitudinal rod are provided with rectangular through-hole, and square through hole and left steering are lateral
One end of connecting rod is interference fitted, realizes left steering longitudinal rod with this is fixedly connected with left steering transverse link；It is flexible
One end of rubber strip is fixed in the left distal end of rack transverse link, and the other end is fixed in the right side end of left steering transverse link
The hinged of steering mechanism and rack is realized with this in end；Wire support is bonded in left steering transverse link, rack transverse link and machine
On frame body；Left steering nylon rope conducting wire one end is fixed on left steering transverse link, and it is formed to pass through wire support
Clearance fit, the other end of left steering nylon rope conducting wire are connected on miniature straight line steering engine.
Control system of the present invention includes receiver, miniature straight line steering engine, conductor wire, battery, receiver and miniature
Straight line steering engine is fixed in the inside of frame main body；Conductor wire links together receiver and miniature straight line steering engine, to realize
The transmission of electric signal is controlled, battery is bonded in the tail portion of frame main body, and battery passes through conductor wire and receiver, miniature straight line steering engine
And hollow-cup motor connection.
Empennage of the present invention includes tail plate, empennage parachute；With certain inclination angle on tail plate and frame main body
Notch carries out connected, and empennage parachute is Nian Jie with tail plate, so allow to generate between empennage and rack certain angle make it is whole
The flow field of a flapping wing aircraft is more stable.
The tail plate is fanning strip.
It is an advantage of the invention that structure novel, compact, it can be achieved that full symmetric flapping motion, the flapping wing aircraft be by
Single hollow-cup motor driving, at the same may be implemented wing have flutter, reverse, front and back is scanned and is controlled and is scanned four kinds of movement shapes
Formula can greatly reduce aircraft compared to the aircraft that can be just completed at the same time the above forms of motion by multiple driving motors
Total quality, help to improve the cruising ability of aircraft；Aircraft wings can generate the apex of the wing motion profile of class bird i.e.
The motion profile of " ellipse " and " 8-shaped ", mentality of designing arise primarily in " four-bar mechanism " type " crank shakes
Different location has different motion profiles, i.e. " ellipse " and " 8-shaped " track on connecting rod in linkage ".The present invention passes through
One connecting rod fluttered in connecting rod and crank and rocker mechanism carries out ball pair and the output of the corresponding sports track hingedly can be realized, and passes through
Adjusting the secondary hinged position of corresponding ball may be implemented the different track of fluttering of wing, to adapt to unused flight environment of vehicle.And
Have structure simple compared to other flapping mechanisms but the outstanding advantages for track multiplicity of fluttering；The aircraft passes through two sides wing
Flutter phase difference and amplitude of fluttering change realization face upward, nutation and driftage function, compared to the change by tail shape
Realize that above-mentioned function has the advantages that mobility strong, flexibility ratio are high；Four kinds of forms of motion that this aircraft device generates pass through phase
The effect of mutual coupling provides the required power that raises for flapping wing aircraft, and both wings wing tip motion profile is space " ellipse ", and
Nature flying creature motor pattern of fluttering is similar, meets flapping wing, excellent with pneumatic efficiency height and mobility strong
Gesture, can complete row take photo by plane, geological survey, information gathering, disaster search and rescue, the complex tasks such as military surveillance.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram that the present invention removes parachute；
Fig. 3 is the structural schematic diagram of the frame of the invention；
Fig. 4 is the structural schematic diagram of dynamical system of the present invention；
Fig. 5 is the structural schematic diagram of the right flapping mechanism of the present invention；
Fig. 6 is the structural schematic diagram of the right flapping wing of this present invention；
Fig. 7 is the structural schematic diagram of left-hand control of the present invention；
Fig. 8 is the structural schematic diagram of control system of the present invention；
Fig. 9 is the structural schematic diagram of empennage of the present invention.
Specific embodiment
As shown in Figure 1 and Figure 2, including rack 1, right flapping mechanism 2, right flapping wing 3, empennage 4, right turn mechanism 5, control system
System 6, dynamical system 7, left-hand control 8, left flapping wing 9, left flapping mechanism 10；Rack 1 is medianly zygomorphic single chassis knot
Structure；8 structure of right flapping mechanism 2 and left flapping mechanism, parameter and working principle are all the same, they are symmetrically arranged in rack 1
The left and right sides of main body, and connect with rack 1；Right flapping wing 3 is identical with left 9 structure of flapping wing, parameter and material, by parachute, vein
Composition is connected with right flapping mechanism 2 and left flapping mechanism 10 respectively；Empennage 4 is connected in the tail portion of rack 1, and with horizontal fuselage
With certain tilt angle；Control system 6 is connected in the inside of rack 1, by two miniature straight line steering engines and miniature straight line rudder
Machine be connected nylon rope conducting wire, receiver, controller composition；Dynamical system 7 is connected in frame main body, including micro hollow cup electricity
Machine, lithium battery, primary speed-down gear set, gear set output shaft, connecting rod；
As shown in figure 3, the rack 1 includes frame main body 101, body transverse direction long connecting rod 102, wire support 103, body
Lateral short connecting rod 104, electric machine support 106, body middle part transverse link 107, tail notch 108, connects rack vertical link 105
Receive tank mouth 109, miniature straight line steering engine notch 110；In the middle part of body transverse direction long connecting rod 102, body transverse direction short connecting rod 104 and body
Be parallel to each other placement between transverse link 107, and these connecting rod middle-ends are connected with frame main body 101；Rack vertical link 105
Both ends be equipped with rectangular through-hole, the both ends of the square through hole and body transverse direction short connecting rod 104 carry out interference fit connection, and machine
Frame vertical link 105 is mutually perpendicular to body transverse direction short connecting rod 104；Wire support 103 is bonded in transverse link 107 in the middle part of body
On, for planning the walking path of conducting wire；Electric machine support 106 is fixed in 101 front end of frame main body；Tail notch 108 is fixed in
The tail portion of main stand 101 simultaneously has certain inclination angle with horizontal plane of frame；Receiver notch 109, miniature straight line steering engine notch
110 are fixed in central rack；
As shown in figure 4, the dynamical system 7 includes hollow-cup motor 701, motor worm 702, first order deceleration worm gear
703 (composition turbine and worm decelerators), gear shaft 704, monosymmetric driving crank 705, drive link 706, driving are shaken
Bar 707, pitman shaft 708, wherein hollow-cup motor 701 is fixedly connected with motor fixed frame 106, hollow-cup motor 701 and control
The conductor wire 603 of system 6 processed connects, and the output shaft of hollow-cup motor 701 is located at the lower section of gear shaft 704 and perpendicular；Tooth
The internal diameter of through-hole carries out transition fit on wheel shaft 704 and rack vertical link 105, and motor worm 702 is sleeved on hollow-cup motor
On 701 output shaft, and formed interference fit；First order deceleration worm gear 703 is fixed on the middle part of gear shaft 704；
Motor worm 702 is meshed with first order deceleration worm gear 703, is outputed power with this；One end of each driving crank 705 is affixed
In the side of gear shaft 704, the other end and one end of drive link 706 are hinged, and two driving cranks 705 are together with gear shaft
704 carry out circular motion；The circular through hole of pitman shaft 708 and 101 leading portion of frame main body carries out transition fit；Each drive rocker
707 one end is fixed in the side of pitman shaft 708, and the other end and one end of drive link 706 are hinged, two drive rockers 707
By matching with two drive links 706 and two driving cranks 705 and doing circular motion；The different positions of two drive links 706
The point set has different motion profiles such as: ellipse and " 8-shaped "；
As shown in figure 5, the right flapping mechanism 2 and left flapping mechanism 10 are symmetricly set on the left and right two of frame main body 101
Side, for realizing wing it is upper and lower flutter, the change for the angle of attack of fluttering and realize wing front and rear, left and right swipe movement；The right side is flutterred
Motivation structure 2 includes that the right side flutter connecting rod 1, the right side of slide bar 201, the right side of fluttering is fluttered connecting rod 2 203；Right side flutters the one of slide bar 201
The drive link 706 at end and right side carries out ball pair coordination hinge；Right side flutter slide bar 201 the body of rod and right turn longitudinal rod
Circular through hole internal diameter on 503 forms clearance fit, while the connected sliding block 303 with right 301 two sides of flapping wing transverse direction leading edge vein
On 305 internal diameter of bearing form interference fit, and then right flapping wing 3 can flutter on right side and realize rotary motion on slide bar 201；It is right
The end of longitudinal vein 302 of wing and one end of right connecting rod 1 of fluttering carry out ball pair coordination hinge；The right side is fluttered connecting rod two
The other end of 203 one end and right connecting rod 1 of fluttering carries out hingedly, and its other end is cut with scissors with rack transverse link 107
It connects；It is fluttered connecting rod 2 203 and 107 phase of rack transverse link by flutter connecting rod 1, the right side of longitudinal vein 302 of starboard wing, the right side
Right flapping wing 3 can be limited in centainly by mating reaction between mutually in the right side rotation angle of rotary motion on slide bar 201 of fluttering
Within the scope of, i.e., the windup-degree of right flapping wing 3 will change with the different change in location fluttered of right flapping wing 3；
As shown in fig. 6, the right flapping wing 3 is flutterred including right flapping wing transverse direction leading edge vein 301, right flapping wing longitudinal direction vein 302, the right side
Wing slip block 303, right flapping wing secondary vein 304, miniature bearing 305, right flapping wing parachute 306；Right flapping wing transverse direction leading edge vein 301,
Right flapping wing longitudinal direction vein 302 and right flapping wing secondary vein 304 are fixedly connected at fin root end, and right flapping wing parachute 306 is pasted onto right flapping wing
On lateral leading edge vein 301, right flapping wing longitudinal direction vein 302 and right flapping wing secondary vein 304；Right flapping wing sliding block 303 is connected in the right side
301 lower section of flapping wing transverse direction leading edge vein, and circular through hole thereon and 305 outer diameter of miniature bearing are formed and are interference fitted；It is miniature
The body of rod of 305 internal diameter of bearing and right slide bar 201 of fluttering, which is formed, to be interference fitted, and then right flapping wing may be implemented and flutter slide bar on the right side
Rotary motion on 201；
As shown in fig. 7, the left-hand control 8 includes turn left steering spring 801, left steering transverse link 802, left steering
Longitudinal rod 803, flexible rubber item 804, left steering nylon rope conducting wire 805, wire support 103；The both ends of left steering spring 801
It is respectively and fixedly connected to the upper surface of left steering transverse link 802 Yu rack transverse link 102, for realizing left steering transverse link
802 right side is overlapped with the left side of rack transverse link 102；The both ends of left steering longitudinal rod 803 are provided with rectangular
One end of through-hole, square through hole and left steering transverse link 802 is interference fitted, is realized left steering longitudinal rod 803 with this
With being fixedly connected for left steering transverse link 802；One end of flexible rubber item 804 is fixed in the left side of rack transverse link 102
End, the other end are fixed in the right end of left steering transverse link 802, realize the hinged of steering mechanism and rack with this；It leads
Line bracket 103 is bonded in left steering transverse link 802, rack transverse link 102 and frame main body 101；Left steering nylon rope
805 one end of conducting wire is fixed on left steering transverse link 802, and passes through the formed clearance fit of wire support 103, is turned left
It is connected on miniature straight line steering engine 602 to the other end of nylon rope conducting wire 805, the movement by controlling miniature straight line steering engine is realized
The movement of nylon rope conducting wire 805, and then will lead to left steering transverse link 802 around itself and rack transverse link 102 and flexibility
Certain rotary motion is done in the junction of rubber strip 804, i.e., left steering transverse link 802 and rack transverse link 102 will produce at this time
Raw certain inclination angle, the change at this inclination angle, which will be such that left and right flapping wing generates, has the amplitude of fluttering and flutter of certain phase difference big
The turning function of small change and then realization aircraft；
As shown in figure 8, the control system 6 includes receiver 601, miniature straight line steering engine 602, conductor wire 603, battery
604, (controller is an independent external control remote controler), receiver 601 and miniature straight line steering engine 602 are fixed in frame main body
101 inside；Conductor wire 603 links together receiver 601 and miniature straight line steering engine 602, to realize control electric signal
Transmission；Battery 604 is bonded in the tail portion of frame main body 101, changes the different bonding of battery 604 and 101 tail portion of frame main body
The control to aircraft entirety position of centre of gravity may be implemented in position；Battery 604 passes through conductor wire 603 and receiver 601, miniature straight
Line steering engine 602 and hollow-cup motor 701 connect, while mentioning for receiver 601, miniature straight line steering engine 602 and hollow-cup motor 701
Required power when for work；Receiver 601 is firstly received the signal of controller, then controls miniature straight line steering engine 602
Movement, and then flutter phase difference and the amplitude of fluttering of movement change for passing through nylon rope conducting wire 805 or so system of fluttering, thus it is real
Existing flapping wing aircraft turns to, faces upward and the function of nutation.
As shown in figure 8, the empennage 4 includes tail plate 401, empennage parachute 402；Tail plate 401 and frame main body 101
The upper notch 108 with certain inclination angle carries out connected, and empennage parachute 402 is Nian Jie with tail plate 401, so make empennage and rack it
Between generate certain angle the flow field of entire flapping wing aircraft can be made more stable.
The tail plate 401 is fanning strip.
Working principle is as follows:
Hollow-cup motor 701 is started by controller first, drives first order deceleration worm gear from there through motor worm 702
703；Since first order deceleration worm gear 703 is connected in the middle part of gear shaft 704, and the first drive link 705 is connected in gear shaft
Side, therefore, driving crank 705 with gear shaft 704 carry out circular motion.It is hingedly driven with first 706 one end of drive link
Dynamic connecting rod 704 is hinged, and the other end and drive rocker 707 are hinged, and the other end of drive rocker 707 is fixed in the one of pitman shaft 708
Side progress is affixed, and therefore, driving crank 705, drive link 706 and drive rocker 707 will form " four-bar mechanism ", works as driving
When crank 705 carries out circular motion with gear shaft 704, different location will generate " ellipse " on the body of rod of drive link 706
The motion profile of " 8-shaped ".
The position ball pair determined on one end of slide bar 201 of fluttering in right side flapping mechanism 2 and right side drive link cooperates
Connection, and right side flutter slide bar 201 the body of rod and right hand steering connecting rod 3 803 on bore inner diameter formed clearance fit, because
This, slide bar 201 of fluttering will generate the motion profile of " ellipse "；Right side flutter slide bar 201 the body of rod and right flapping wing transverse direction leading edge
305 internal diameter of bearing on the connected sliding block 303 of 301 two sides of vein forms interference fit, and then right flapping wing 3 can flutter on right side
Realize that rotary motion and right the flapping wing slide bar 201 that can integrally flutter with right side make " ellipse " movement on slide bar 201, i.e., this will production
Raw flutter up and down scans movement with front and back；The end of longitudinal vein 302 of starboard wing 3 and one end of right connecting rod 1 of fluttering into
Row ball pair is cooperatively connected, and the flutter other end of 2 203 one end of connecting rod and right connecting rod 1 of fluttering of the right side carries out hinged, the other end
Hingedly with rack transverse link 107, rack transverse link 107 is carried out with frame main body 101 by groove affixed, by above-mentioned
Connection type, entire right wing 3 will be limited within certain angular range around the flutter rotation angle of slide bar 201 of right side, i.e.,
It flutters in flight course in aircraft, the torsion angle of wing will flutter connecting rod 2 203 and the right side on rack transverse link 107, the right side
It flutters under the collective effect of connecting rod 1, with position of fluttering different locating for wing phase will occur for the size of wing torsion angle
The twist motion of wing is realized in the variation answered.Above-mentioned torsion angle variation is to realize torsion angle by passive control technology
Variation, compared to active control technology, it greatly reduces the generations of phase interference and Caton phenomenon；Since right side is fluttered slide bar
201 effect of horizontally slipping on the inside of the circular hole on right turn longitudinal rod 503, movement is scanned in the left and right for generating wing by this.
Right turn mechanism 5 and left-hand control 8 are symmetricly set on the left and right sides of frame main body 101, for realizing flight
The steering of device, face upward and nutation movement；One end of flexible rubber item 804 is fixed in the left distal end of rack transverse link 102, separately
One end is fixed in the right end of left steering transverse link 802；The both ends of left steering spring 801 are respectively and fixedly connected to left steering transverse direction
The upper surface of connecting rod 802 and rack transverse direction long connecting rod 102, it is horizontal for realizing the right side of left steering transverse link 802 and rack
Coincidence to the left side of long connecting rod 102；Wire support 103 is fixed in left steering transverse link 802, rack transverse direction long connecting rod
102 and frame main body 101 on；805 one end of left steering nylon rope conducting wire is fixed on left steering transverse link 802, and is passed through
The formed clearance fit of wire support 103, the other end of left steering nylon rope conducting wire 805 are connected on miniature straight line steering engine,
The movement of nylon rope conducting wire 805 is realized in movement by controlling miniature straight line steering engine, and then will lead to left steering transverse link 802
Doing certain rotary motion around the junction of he and rack transverse direction long connecting rod 102 and flexible rubber item 804 will lead to left steering
Transverse link 802 and rack transverse direction long connecting rod 102 generate certain inclination angle, and the generation at this inclination angle will make flutterring for two sides wing
The change of dynamic phase difference and amplitude of fluttering realizes turning function with this, is turned when simultaneously using two miniature straight line steering engine control two sides
When to mechanism, i.e., at this moment the steering transverse link of two sides is identical as the inclination angle size between rack transverse direction long connecting rod, this
It realizes the change of the amplitude of fluttering of two sides wing but phase difference of fluttering does not change and realizes the facing upward of flapping wing aircraft, nutation with this
Function.
Tail plate 401 carries out connected with the notch 108 in frame main body 101 with certain inclination angle in empennage mechanism, in turn
Certain angle will be generated between empennage and rack, keep the flow field of entire flapping wing aircraft more stable, further promotes flight
Device raises power.
Claims (9)
1. a kind of four-degree-of-freedom flapping wing aircraft device, it is characterised in that: including rack, right flapping mechanism, right flapping wing, empennage,
Right turn mechanism, control system, dynamical system, left-hand control, left flapping wing, left flapping mechanism；Rack is that the left and right sides is symmetrical
Single chassis structure, right flapping mechanism is identical with left flapping mechanism structure, they are symmetrically arranged in the left and right of frame main body
Two sides, and connect with rack 1, right flapping wing is identical with left flapping wing structure, connects respectively with right flapping mechanism with left flapping mechanism, tail
The wing is connected in the tail portion of rack and has certain tilt angle with horizontal fuselage, and control system is connected in the inside of rack, moves
Force system is connected in frame main body.
2. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the rack includes machine
Frame body, body transverse direction long connecting rod, wire support, body transverse direction short connecting rod, rack vertical link, electric machine support, body middle part
Transverse link, tail notch, receiver notch, miniature straight line steering engine notch；The wherein lateral short company of body transverse direction long connecting rod, body
Be parallel to each other between transverse link placement in the middle part of bar and body, and these connecting rod middle-ends are connected with frame main body；Rack is vertical
The both ends of connecting rod are equipped with rectangular through-hole, and the both ends of the square through hole and body transverse direction short connecting rod carry out interference fit connection, and
Rack vertical link is mutually perpendicular to body transverse direction short connecting rod, and wire support is bonded in the middle part of body on transverse link, motor branch
Frame is fixed in frame main body front end, and tail notch is fixed in the tail portion of main stand and inclines with horizontal plane of frame with certain
Angle, receiver notch, miniature straight line steering engine notch are fixed in central rack.
3. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the dynamical system
Including hollow-cup motor, motor worm, first order deceleration worm gear, gear shaft, monosymmetric driving crank, drive link, drive
Shake bar, pitman shaft, wherein hollow-cup motor is fixedly connected with motor fixed frame, the conduction of hollow-cup motor and control system
Line connection, the output shaft of hollow-cup motor are located at the lower section of gear shaft and perpendicular, logical on gear shaft and rack vertical link
The internal diameter in hole carries out transition fit, and motor worm is sleeved on the output shaft of hollow-cup motor, and formed interference fit；The
Primary speed-down worm gear is fixed on the middle part of gear shaft；Motor worm is meshed with first order deceleration worm gear, and each driving is bent
One end of handle is fixed in the side of gear shaft, and one end of the other end and drive link is hinged, and two driving cranks are together with gear
Axis carries out circular motion；The circular through hole of pitman shaft and frame main body leading portion carries out transition fit, one end of each drive rocker
Be fixed in the side of pitman shaft, one end of the other end and drive link is hinged, two drive rockers by with two drive links
It is matched with two driving cranks and does circular motion.
4. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the right flapping mechanism
It flutters connecting rod two including the right side flutter connecting rod one, the right side of slide bar, the right side of fluttering, wherein right side is fluttered, the driving of one end and right side of slide bar connects
Bar carries out ball pair coordination hinge；Right side flutter slide bar the body of rod and right turn longitudinal rod on circular through hole internal diameter formed gap
Cooperation, while being formed and being interference fitted with the bearing bore diameter on the connected sliding block of right flapping wing transverse direction leading edge vein two sides, starboard wing
The end of longitudinal vein and one end of right connecting rod one of fluttering carry out ball pair coordination hinge；Two one end of connecting rod is fluttered on the right side and the right side is fluttered company
The other end of bar one carries out hingedly, and its other end and rack transverse link carry out hingedly.
5. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the right flapping wing includes
Right flapping wing transverse direction leading edge vein, right flapping wing longitudinal direction vein, right flapping wing sliding block, right flapping wing secondary vein, miniature bearing, right flapping wing wing
Film；Right flapping wing transverse direction leading edge vein, right flapping wing longitudinal direction vein and right flapping wing secondary vein are fixedly connected at fin root end, right flapping wing parachute
It is pasted on right flapping wing transverse direction leading edge vein, right flapping wing longitudinal direction vein and right flapping wing secondary vein；Right flapping wing sliding block is connected in the right side
Below flapping wing transverse direction leading edge vein, and circular through hole thereon and miniature bearing outer diameter are formed and are interference fitted；In miniature bearing
The body of rod of diameter and right slide bar of fluttering, which is formed, to be interference fitted.
6. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the left-hand control
Including the steering spring that turns left, left steering transverse link, left steering longitudinal rod, flexible rubber item, left steering nylon rope conducting wire, lead
Line bracket；The both ends of left steering spring are respectively and fixedly connected to the upper surface of left steering transverse link Yu rack transverse link, left steering
The both ends of longitudinal rod are provided with rectangular through-hole, and one end of square through hole and left steering transverse link is interference fitted, with this
Realization left steering longitudinal rod is fixedly connected with left steering transverse link；One end of flexible rubber item is fixed in rack and laterally connects
The left distal end of bar, the other end are fixed in the right end of left steering transverse link, and the hinge of steering mechanism and rack is realized with this
It connects；Wire support is bonded in left steering transverse link, rack transverse link and frame main body；Left steering nylon rope conducting wire one end
Be fixed on left steering transverse link, and pass through the formed clearance fit of wire support, left steering nylon rope conducting wire it is another
One end is connected on miniature straight line steering engine.
7. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the control system
Including receiver, miniature straight line steering engine, conductor wire, battery, receiver and miniature straight line steering engine are fixed in the inside of frame main body；
Conductor wire links together receiver and miniature straight line steering engine, and to realize the transmission of control electric signal, battery is bonded in machine
The tail portion of frame body, battery are connect by conductor wire with receiver, miniature straight line steering engine and hollow-cup motor.
8. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 1, it is characterised in that: the empennage includes
Tail plate, empennage parachute；Tail plate carries out connected, empennage parachute and tail plate with the notch in frame main body with certain inclination angle
Bonding.
9. a kind of four-degree-of-freedom flapping wing aircraft device according to claim 8, it is characterised in that: the tail plate is
Fanning strip.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259050.4A CN109911197B (en) | 2019-04-01 | 2019-04-01 | Four-degree-of-freedom ornithopter device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259050.4A CN109911197B (en) | 2019-04-01 | 2019-04-01 | Four-degree-of-freedom ornithopter device |
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| CN109911197A true CN109911197A (en) | 2019-06-21 |
| CN109911197B CN109911197B (en) | 2024-02-20 |
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| CN201910259050.4A Active CN109911197B (en) | 2019-04-01 | 2019-04-01 | Four-degree-of-freedom ornithopter device |
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| CN112407277A (en) * | 2020-11-30 | 2021-02-26 | 北京机电工程研究所 | Bionic flapping wing aircraft |
| CN114313254A (en) * | 2021-12-03 | 2022-04-12 | 西北工业大学深圳研究院 | Flapping wing driving device for flapping wing aircraft |
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|---|---|
| CN109911197B (en) | 2024-02-20 |
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