CN110104173A - One kind plunderring torsional mode three-freedom miniature flapping wing aircraft - Google Patents
One kind plunderring torsional mode three-freedom miniature flapping wing aircraft Download PDFInfo
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- CN110104173A CN110104173A CN201910397102.4A CN201910397102A CN110104173A CN 110104173 A CN110104173 A CN 110104173A CN 201910397102 A CN201910397102 A CN 201910397102A CN 110104173 A CN110104173 A CN 110104173A
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- flapping
- coupling mechanism
- dextrorotation
- flapping wing
- slide bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
- B64C33/025—Wings; Actuating mechanisms therefor the entire wing moving either up or down
Abstract
The present invention relates to one kind to plunder torsional mode three-freedom miniature flapping wing aircraft, belongs to micro flapping wing air vehicle technical field.Empennage is connected in the tail portion of rack, is made of tailplane and vertical tail, and motor is engaged with train of reduction gears；Rack is medianly zygomorphic three layers of rack construction, right flapping mechanism and left flapping mechanism structure and parameter are all the same, are symmetrically arranged in the left and right sides of rack, and it is embedded in rack both side plate and forms sliding contact, right flapping wing and left flapping wing structure and parameter are all the same, are slidably connected respectively with right flapping mechanism, left flapping mechanism, and train of reduction gears engages connection with right flapping mechanism, left flapping mechanism respectively.Advantage is structure novel, have flutter, front and back is plunderred and back and forth reverses three degree of freedom, and there is the big angle of attack, the coupled mode fluttered, plunder and rotated, with preferable pneumatic efficiency；Bionical degree is higher, and better performances, concealment is strong, has a wide range of application.
Description
Technical field
The invention belongs to micro flapping wing air vehicle technical fields, more particularly to plunder torsional mode three-freedom miniature flapping wing and fly
Row device.
Background technique
Wing forms of motion is sufficiently complex when insect or Bird Flight, but can simplify to flutter, reversing up and down and front and back
Plunder three kinds of basic exercise forms, i.e. motor pattern of the insect or birds of nature with Three Degree Of Freedom；If flapping wing aircraft
It can only flutter up and down, as single-degree-of-freedom flapping wing aircraft, if torsion is added or front and back is plunderred on the basis of fluttering up and down merely
Dynamic forms of motion, as multiple degrees of freedom flapping wing aircraft；Multiple degrees of freedom flapping wing aircraft compares single-degree-of-freedom aircraft undoubtedly
Mobility, in terms of have greater advantage.
Known flapping wing aircraft is largely single-degree-of-freedom aircraft, only has the forms of motion fluttered, and is being carried out
It turns to or when lifting almost can not well manipulate, such as Chinese patent application " a kind of flapping wing driver and unmanned vehicle, work side
Method " 201710682620.1 and Chinese patent " a kind of rotary flapping wing aircraft with spring " 201410234063.3；Therefore imitative
Raw degree is higher, the better multiple degrees of freedom flapping wing aircraft of performance increasingly has been favored by people；A kind of Chinese patent " wing
Can active deformation multiple degrees of freedom micro flapping wing air vehicle " " a kind of insect emulates flapping wing for 201610168300.X and Chinese patent
Aircraft " 201210437699.9 it is equal be that there is the two-freedom for fluttering and reverse wing to move for the multiple degrees of freedom aircraft of representative
Form, but the torsion angle of its twist motion is smaller, it is relatively limited to the influence for raising power generation, and the limitation of freedom degree affects
The mobility of complete machine, it is more difficult to complete complex task.
Summary of the invention
The present invention provides one kind and plunders torsional mode three-freedom miniature flapping wing aircraft, with solve it is above-mentioned have flutter and turn round
Turning the two-freedom forms of motion of wing, the torsion angle of twist motion is smaller, and it is relatively limited to the influence for raising power generation, and
The limitation of freedom degree affects the mobility of complete machine, it is more difficult to the problem of completing complex task.
The technical solution adopted by the present invention is that: motor, battery, steering engine, control circuit board are connected in the middle layer rack of rack
Surface is connected by conducting wire, and wherein empennage is connected in the tail portion of rack, is made of tailplane and vertical tail, motor with subtract
Fast gear set 11 engages；Rack is medianly zygomorphic three layers of rack construction, right flapping mechanism and left flapping mechanism structure and
Parameter is all the same, is symmetrically arranged in the left and right sides of rack, and is embedded in rack both side plate and forms sliding contact, right flapping wing
With left flapping wing structure and parameter it is all the same, be respectively slidably connected with right flapping mechanism, left flapping mechanism, train of reduction gears respectively with
Right flapping mechanism, the engagement connection of left flapping mechanism.
Swivelling chute is provided among the both side plate of the rack；
The right flapping mechanism includes right crank gear one, right-hand rotation bar, right crank gear two, right coupling mechanism one, right cunning
Bar, right coupling mechanism two, dextrorotation pivoted frame；Wherein right crank gear one is meshed with train of reduction gears, right-hand rotation bar respectively with right song
Rocking bar on handle gear one is connected with dextrorotation pivoted frame, forms crank and rocker mechanism；Right crank gear two is meshed with reduction gearing,
And respectively with right coupling mechanism one, two sliding contact of right coupling mechanism；Right coupling mechanism one is nested in dextrorotation pivoted frame, is carried out past
Multiple sliding；Right slide bar and wing are connected, with right coupling mechanism one, two sliding contact of right coupling mechanism；Right coupling mechanism two and the right side
Swivel mount relatively rotates, and flutters, and with right two sliding contact of crank gear, relatively rotates, is scanned with right slide bar；Dextrorotation
Pivoted frame is nested in the swivelling chute of rack, is relatively rotated, and realizes torsion；
The right coupling mechanism one includes right slide bar one, right rail, right slide bar two, and right slide bar one connects with right sliding bar
Touching forms wing and scans movement；Right slide bar two and right two sliding contact of crank gear, form right coupling mechanism one in dextrorotation pivoted frame
On slide back and forth；
The right coupling mechanism two includes right slide bar two, dextrorotation turn trough one, dextrorotation turn trough two, dextrorotation turn trough three, wherein right
Slide bar two and right two sliding contact of crank gear, form right coupling mechanism two and rotate upwardly and downwardly；Dextrorotation turn trough one is connected with swivel mount,
It is formed and is relatively rotated；Dextrorotation turn trough two is the square slot being opened on right coupling mechanism two, and right slide bar is passed through from centre；Dextrorotation turn trough
Pin in three passes through right slide bar and relatively rotates with right slide bar, and movement is scanned in formation；
The dextrorotation pivoted frame include dextrorotation turn trough four, right crank connecting link, dextrorotation ship and resell on another market, right sliding groove, dextrorotation turn trough four is
Circular groove is connect with housing slide, forms twist motion；Right crank connecting link and right-hand rotation bar are hinged, and formation is swung up and down, dextrorotation
It ships and resell on another market and is relatively rotated with right coupling mechanism two, right sliding groove and the opposite sliding of right coupling mechanism one；
The left flapping wing, the vein of right flapping wing, parachute are all made of carbon fibre material and are made；
The vertical tail is made of the vein of carbon fiber and the parachute of polyethylene film；
The tailplane is made of the vein of carbon fiber and the parachute of polyethylene film.
It is an advantage of the invention that structure novel, have flutter, front and back is plunderred and back and forth reverses three degree of freedom, and have greatly
The angle of attack, the coupled mode fluttered, plunder and rotated are conducive to the generation of flapping wing aircraft high-lift and high thrust, improve winged
Row device aeroperformance, the advantage with pneumatic efficiency height and mobility strong；Both wings wing tip motion profile is space " ellipse ", and
Part birds are similar with flying insect motor pattern in nature, have preferable pneumatic efficiency；Bionical degree is higher, performance compared with
Good, concealment is strong, has a wide range of application, such as military investigation, disaster exploration.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 (a) is the structural schematic diagram of the right flapping mechanism of the present invention；
Fig. 2 (b) is Fig. 2 (a) left view；
Fig. 2 (c) is Fig. 2 (a) bottom view；
Fig. 3 is the structural schematic diagram of the frame of the invention side plate；
Fig. 4 is the structural schematic diagram of the right coupling mechanism one of the present invention；
Fig. 5 is the structural schematic diagram of the right coupling mechanism two of the present invention；
Fig. 6 is the structural schematic diagram of dextrorotation pivoted frame of the present invention；
Fig. 7 (a) is the state diagram of right flapping motion initial position in a period of motion of the invention；
Fig. 7 (b) is that right flapping wing is fluttered downwards the state diagram in middle position in a period of motion of the invention；
Fig. 7 (c) was flutterred under right flapping wing to the state diagram of lower limit position in a period of motion of the invention；
Fig. 7 (d) was fluttered on right flapping wing to the state diagram in middle position in a period of motion of the invention.
Specific embodiment
Motor 4, battery 5, steering engine 9, control circuit board 10 are connected in the middle layer frame surface of rack 1, are connected by conducting wire,
Wherein empennage 6 is connected in the tail portion of rack 1, is made of tailplane and vertical tail, is controlled by steering engine, and motor is small
Type brushless motor is engaged with train of reduction gears 11；Rack 1 is medianly zygomorphic three layers of rack construction, right 2 He of flapping mechanism
Left 8 structure and parameter of flapping mechanism is all the same, is symmetrically arranged in the left and right sides of rack 1, and is embedded in 1 both side plate of rack
Sliding contact is formed, right flapping wing 3 and 7 structure and parameter of left flapping wing are all the same, sliding with right flapping mechanism 2, left flapping mechanism 8 respectively
Dynamic connection, train of reduction gears 11 engage connection with right flapping mechanism 2, left flapping mechanism 8 respectively.
Swivelling chute 101 is provided among the both side plate of the rack 1；
The right flapping mechanism 2 includes right crank gear 1, right-hand rotation bar 202, right crank gear 2 203, right coupling machine
Structure 1, right slide bar 205, right coupling mechanism 2 206, dextrorotation pivoted frame 207；Wherein right crank gear 1 and train of reduction gears
11 are meshed, right-hand rotation bar 202 respectively on right crank gear 1 rocking bar and dextrorotation pivoted frame 207 be connected, formed crank rocker
Mechanism；Right crank gear 2 203 is meshed with reduction gearing, and respectively with right coupling mechanism 1, right coupling mechanism 2 206
Sliding contact；Right coupling mechanism 1 is nested in dextrorotation pivoted frame 207, is reciprocatingly slided；Right slide bar 205 is connected with wing,
With right coupling mechanism 1,2 206 sliding contact of right coupling mechanism；Right coupling mechanism 2 206 is opposite with dextrorotation pivoted frame 207 to be turned
It is dynamic, it flutters, with right 2 203 sliding contact of crank gear, relatively rotates, scanned with right slide bar 205；Dextrorotation pivoted frame
207 are nested in the swivelling chute 101 of rack 1, are relatively rotated, and realize torsion,
Right coupling mechanism 1 includes right slide bar 1, right rail 204002, right slide bar 2 204003, right slide bar
One 204001 scan movement with right 205 sliding contact of slide bar, formation wing；Right slide bar 2 204003 and right crank gear 2 203
Sliding contact forms right coupling mechanism 1 and slides back and forth on dextrorotation pivoted frame 207,
Right coupling mechanism 2 206 include right slide bar 2 206001, dextrorotation turn trough 1, dextrorotation turn trough 2 206003,
Dextrorotation turn trough 3 206004, wherein right slide bar 2 206001 and right 2 203 sliding contact of crank gear, form right coupling mechanism two
206 rotate upwardly and downwardly；Dextrorotation turn trough 1 is connected with swivel mount 207, is formed and is relatively rotated；Dextrorotation turn trough 2 206003 is to open
Square slot on right coupling mechanism 2 206, right slide bar 205 are passed through from centre；Pin in dextrorotation turn trough 3 206004 passes through
Right slide bar 205 and with right slide bar 205 relatively rotate, formation scan movement；
Dextrorotation pivoted frame 207 includes that dextrorotation turn trough 4 207001, right crank connecting link 207002, dextrorotation are shipped and resell on another market 207003, right cunning
Dynamic slot 207004, dextrorotation turn trough 4 207001 are circular groove, are connect with housing slide, and twist motion is formed；Right crank connecting link
207002 is hinged with right-hand rotation bar 202, and formation is swung up and down, and dextrorotation is shipped and resell on another market 207003 to be relatively rotated with right coupling mechanism 2 206；It is right
Sliding groove 207004 and the opposite sliding of right coupling mechanism 1.
Left flapping wing 7, right flapping wing 3 vein be all made of carbon fibre material production, the main vein rigidity of vein leading edge portion wants
Higher than remaining vein, left flapping wing 7, right flapping wing 3 parachute be all made of transparent polyethylene film, be adhered fixed in left flapping wing 7, right
On the vein upper surface of flapping wing 3；The film outer edge is overlapped with the vein outer edge of left flapping wing 7, right flapping wing 3.
Vertical tail is made of the vein of carbon fiber and the parachute of polyethylene film, to control aircraft left and right turn.
Tailplane is made of the vein of carbon fiber and the parachute of polyethylene film, to control aircraft lifting.
When invention work, control system receives the control signal of ground staff's sending, and control circuit board control motor is opened
Beginning work, motor power are transferred to right flapping mechanism 2, left flapping mechanism 8 by reduction gearing, because left flapping mechanism and the right side are fluttered
The structure of mechanism is identical with principle, and about rack bilateral symmetry, therefore is introduced by taking right flapping mechanism as an example below, from this
See that two crank gears rotate clockwise, and two crank rockers also rotate with it toward left side on the right side of aircraft；Dextrorotation pivoted frame is in right song
Handle gear one and crank connecting link drive lower reciprocating rotation, and the connecting rod and right wing on right coupling mechanism two and right crank gear two connect
Bar remains contact, rotates under the effect of crank gear two, while driving wing to do and fluttering up and down；Right coupling mechanism one is on the right side
Crank gear two and crank connecting link slide back and forth under driving around right sliding groove, and right coupling mechanism one is protected always with right wing connecting rod
Contact is held, while wing connecting rod being driven to scan movement, is finally formed right flapping wing and flutters, back and forth reversed around axle center and preceding up and down
The dynamic motion profile of sweepback, provides for aircraft and raises power.
Lower mask body combination attached drawing illustrates a period of motion of right flapping wing 3.
It is movement initial position with 3 position of flapping wing right in Fig. 7 (a), i.e., right 3 upper limit position of flapping wing, the subsequent right side is flutterred
Motivation structure 2 drives right flapping wing 3 to carry out down movement of fluttering.Right one 201 relative initial position of crank gear rotates clockwise 90 degree, the right side
Flapping wing 3 is fluttered middle position relatively downward, is scanned relatively forward to extreme position, and reverses 12 degree clockwise, i.e. Fig. 7
(b) state in.Right one 201 relative initial position of crank gear rotates clockwise 180 degree, is flutterred under right flapping wing 3 to limit inferior position
It sets, right flapping wing 3 scans backward relatively to middle position, and counterclockwise reverses 12 degree, and the process of flutterring terminates at present for this, and will
Start to flutter upwards, i.e. state in Fig. 7 (c).Right one 201 relative initial position of crank gear rotates clockwise 270 degree, and the right side is flutterred
The wing 3 is fluttered to middle position upwards, and right flapping wing 3 is scanned backward to rear extreme position relatively, and rotates in an anti-clockwise direction 12 degree, i.e.,
State in Fig. 7 (d).Right one 201 relative initial position of crank gear rotates clockwise 360 degree, flutters on right flapping wing 3 to limes superiors
Position, right flapping wing 3 are scanned to middle position relatively forward, and 12 degree rotationally clockwise, i.e. state in Fig. 7 (a), and one
End cycle starts next periodic motion.
The invention flight course is described further below.
Take off: ground control personnel emit signal to the receiver of control circuit board 10, and control circuit board 10 controls motor 4
It will move and power transmission is to left flapping mechanism 8 and right flapping mechanism 2, and then left flapping wing 7, right flapping wing 3 is driven to move.With small
The revolving speed of type brushless motor is continuously improved, and the lift and thrust that left flapping wing 7, right flapping wing 3 generate when fluttering also constantly increase, and works as liter
When power and body gravitational equilibrium, aircraft has the tendency that taking off.Subsequent lift is greater than body gravity, and aircraft starts to go up to the air, complete
At taking off.
It is preceding to fly: after aircraft completion is taken off, reduce small-sized brushless motor speed so that average lift in flutter cycle and
Body gravitational equilibrium.At this point, aircraft thrust is greater than suffered resistance, aircraft, which is realized to put down forward, to fly.
Turn to: when aircraft flies forward, control circuit board 10 controls steering engine 9 to control vertical tail, realizes aircraft
Left and right turn.
Lifting: when aircraft flies forward, average lift and gravity balance each other.Control circuit board 10 controls steering engine 9 to control
Tailplane processed realizes lifting.
Landing: slowly reducing the revolving speed of small-sized brushless motor speed, when revolving speed is lower than certain value, aircraft average lift
Slightly smaller than body gravity when, the aircraft realize slowly landing.
Described above made under the operating condition of not interference in air flow, then should basis if there is the presence of interference in air flow
The direction of air-flow and flow velocity repair partially.
Claims (6)
1. one kind plunders torsional mode three-freedom miniature flapping wing aircraft, motor, battery, steering engine, control circuit board are connected in machine
The middle layer frame surface of frame, is connected by conducting wire, and wherein empennage is connected in the tail portion of rack, by tailplane and vertical tail group
At motor is engaged with train of reduction gears 11；It is characterized by: rack is medianly zygomorphic three layers of rack construction, the right side is fluttered
Mechanism and left flapping mechanism structure and parameter are all the same, are symmetrically arranged in the left and right sides of rack, and are embedded in rack two sides
Sliding contact is formed in plate, right flapping wing and left flapping wing structure and parameter are all the same, sliding with right flapping mechanism, left flapping mechanism respectively
Dynamic connection, train of reduction gears engage connection with right flapping mechanism, left flapping mechanism respectively.
2. one kind according to claim 1 plunders torsional mode three-freedom miniature flapping wing aircraft, it is characterised in that: described
Swivelling chute is provided among the both side plate of rack.
3. one kind according to claim 1 plunders torsional mode three-freedom miniature flapping wing aircraft, it is characterised in that: described
Right flapping mechanism includes right crank gear one, right-hand rotation bar, right crank gear two, right coupling mechanism one, right slide bar, right coupling mechanism
Two, dextrorotation pivoted frame；Wherein right crank gear one is meshed with train of reduction gears, right-hand rotation bar respectively with shaking on right crank gear one
Bar is connected with dextrorotation pivoted frame, forms crank and rocker mechanism；Right crank gear two is meshed with reduction gearing, and couples respectively with right
Mechanism one, two sliding contact of right coupling mechanism；Right coupling mechanism one is nested in dextrorotation pivoted frame, is reciprocatingly slided；Right slide bar
It is connected with wing, with right coupling mechanism one, two sliding contact of right coupling mechanism；Right coupling mechanism two is opposite with dextrorotation pivoted frame to be turned
It is dynamic, it flutters, with right two sliding contact of crank gear, relatively rotates, scanned with right slide bar；Dextrorotation pivoted frame is nested in machine
It in the swivelling chute of frame, is relatively rotated, realizes torsion；
The right coupling mechanism one includes right slide bar one, right rail, right slide bar two, and right slide bar one is contacted with right sliding bar, shape
Movement is scanned at wing；Right slide bar two and right two sliding contact of crank gear, before forming right coupling mechanism one on dextrorotation pivoted frame
After slide；
The right coupling mechanism two includes right slide bar two, dextrorotation turn trough one, dextrorotation turn trough two, dextrorotation turn trough three, wherein right slide bar
Two with right two sliding contact of crank gear, form right coupling mechanism two and rotate upwardly and downwardly；Dextrorotation turn trough one is connected with swivel mount, is formed
It relatively rotates；Dextrorotation turn trough two is the square slot being opened on right coupling mechanism two, and right slide bar is passed through from centre；In dextrorotation turn trough three
Pin pass through right slide bar and with right slide bar relatively rotate, formation scan movement；
The dextrorotation pivoted frame include dextrorotation turn trough four, right crank connecting link, dextrorotation ship and resell on another market, right sliding groove, dextrorotation turn trough four is circle
Groove is connect with housing slide, forms twist motion；Right crank connecting link and right-hand rotation bar are hinged, and formation is swung up and down, and dextrorotation is shipped and resell on another market
It is relatively rotated with right coupling mechanism two, right sliding groove and the opposite sliding of right coupling mechanism one.
4. one kind according to claim 1 plunders torsional mode three-freedom miniature flapping wing aircraft, it is characterised in that: described
Left flapping wing, the vein of right flapping wing, parachute are all made of carbon fibre material and are made.
5. one kind according to claim 1 plunders torsional mode three-freedom miniature flapping wing aircraft, it is characterised in that: described
Vertical tail is made of the vein of carbon fiber and the parachute of polyethylene film.
6. one kind according to claim 1 plunders torsional mode three-freedom miniature flapping wing aircraft, it is characterised in that: described
Tailplane is made of the vein of carbon fiber and the parachute of polyethylene film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910397102.4A CN110104173B (en) | 2019-05-14 | 2019-05-14 | Sweep and twist three-degree-of-freedom micro flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910397102.4A CN110104173B (en) | 2019-05-14 | 2019-05-14 | Sweep and twist three-degree-of-freedom micro flapping wing aircraft |
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| Publication Number | Publication Date |
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| CN110104173A true CN110104173A (en) | 2019-08-09 |
| CN110104173B CN110104173B (en) | 2022-05-27 |
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| CN201910397102.4A Active CN110104173B (en) | 2019-05-14 | 2019-05-14 | Sweep and twist three-degree-of-freedom micro flapping wing aircraft |
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Cited By (4)
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| CN110171567A (en) * | 2019-05-14 | 2019-08-27 | 吉林大学 | A kind of passive torsion swipe three-freedom miniature flapping wing aircraft |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN111348184A (en) * | 2020-03-19 | 2020-06-30 | 山东大学 | Flapping wing structure and aircraft |
| CN111547237A (en) * | 2020-05-06 | 2020-08-18 | 南京航空航天大学 | Ornithopter with two-degree-of-freedom motion |
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| CN110171567A (en) * | 2019-05-14 | 2019-08-27 | 吉林大学 | A kind of passive torsion swipe three-freedom miniature flapping wing aircraft |
| CN110171567B (en) * | 2019-05-14 | 2022-05-27 | 吉林大学 | Passive torsion sweep type three-degree-of-freedom micro flapping wing aircraft |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN110562454B (en) * | 2019-08-29 | 2021-05-04 | 南京理工大学 | Bionic flapping wing aircraft |
| CN111348184A (en) * | 2020-03-19 | 2020-06-30 | 山东大学 | Flapping wing structure and aircraft |
| CN111348184B (en) * | 2020-03-19 | 2021-07-09 | 山东大学 | Flapping wing structure and aircraft |
| CN111547237A (en) * | 2020-05-06 | 2020-08-18 | 南京航空航天大学 | Ornithopter with two-degree-of-freedom motion |
| CN111547237B (en) * | 2020-05-06 | 2022-06-03 | 南京航空航天大学 | Ornithopter with two-degree-of-freedom motion |
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