CN110254708A - Equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type - Google Patents
Equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type Download PDFInfo
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- CN110254708A CN110254708A CN201910651458.6A CN201910651458A CN110254708A CN 110254708 A CN110254708 A CN 110254708A CN 201910651458 A CN201910651458 A CN 201910651458A CN 110254708 A CN110254708 A CN 110254708A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/0009—Aerodynamic aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/18—Spars; Ribs; Stringers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/385—Variable incidence wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
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Abstract
The present invention relates to flapping wing type aircraft and flying robot field, it is especially a kind of equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type.Including flapping wing, swinging axle, connector, first retarder, stepper motor, transmission mechanism, second retarder, motor and fuselage ring, the monosymmetric swinging axle for being mounted with two horizontal directions of fuselage ring, two connectors are connected on two swinging axles and relatively rotate, two flapping wings are connected on two connectors and can relatively rotate, flapping wing includes flapping-wing framework, and it is mounted on the rotatable fin in flapping-wing framework, reset of the torsional spring for fin is additionally provided in flapping-wing framework, two sets of transmission mechanism are respectively hinged on two connectors, two motor drive the movement of two sets of transmission mechanism to swing up and down two connectors after slowing down by two the second retarders, two stepper motors being arranged on connector drive two flapping wing rotations respectively after slowing down by two the first retarders.
Description
Technical field
The present invention relates to flapping wing type aircraft and flying robot field, it is especially a kind of equipped with can rotor piece change inclination angle
The double flapping wing unmanned planes of swing type.
Background technique
Aircraft flight mode has three kinds of fixed-wing, rotor and flapping wing type of flight, and wherein flapping flight is that nature flies
The flying method that row biology uses, mainly flutters while generating lift and thrust using the upper and lower of dipteron, be mainly characterized by by
Lifting, hovering and propulsion functions are based on one, while having very strong mobility and flexibility, more suitable for executing cut-through
The flight of object etc..For the aircraft of small size and low-speed condition, belong under low reynolds number and fly, flapping wing generates non-fixed
Chang Shengli is more much bigger than the steady lift of fixed-wing；In terms of thrust, flapping wing propulsive efficiency is higher than propeller propulsive efficiency.
The flight attitude that flapping wing aircraft research at present is concentrated mainly on flying creature in simulation the Nature designs various flutter
Wing mechanism.Driving mechanism for flapping wing, which is drawn, can be divided into multiple degrees of freedom driving mechanism for flapping wing and single-degree-of-freedom driving mechanism for flapping wing, the former
It is able to achieve complicated forms of motion, but the relatively bulky complexity of mechanism, the latter's driving mechanism only needs to realize beating movement, by solid
The rear for determining wing forms the angle of attack that one changes with wing beating to realize twist motion.
But the common issue of these flapping wing mechanisms is that overall pneumatic efficiency is relatively low, even lower than miniature with the fixed-wing of scale
Aircraft.It is simply to copy birds or insect mostly that the main reason for flapping wing aircraft overall efficiency is low, which is in current research,
The shape of wing and movement of fluttering but are difficult to realize during flying creature flapping wing is fluttered up and down and utilize wing itself posture and knot
The change of structure reduces air drag and generates unsteady aerodynamic force, and the resulting lower problem of pneumatic efficiency, which seriously constrains, flutters
The popularization and application of wing formula aircraft.
Summary of the invention
The object of the present invention is to provide a kind of reduction flapping wing type flapping wing for ornithopter reseting procedure resistance of highly significant, promoted
Pneumatic efficiency, facilitate realize VTOL, hovering, forward-reverse, the functions such as turning equipped with can rotor piece change inclination angle
The double flapping wing unmanned planes of swing type, to solve the above-mentioned problems in the prior art.
Realizing the technical solution of the object of the invention is: provide a kind of equipped with can rotor piece change inclination angle swing type it is double
Flapping wing unmanned plane, including flapping wing, swinging axle, connector, the first retarder, stepper motor, transmission mechanism, the second retarder, electricity
Motivation and fuselage ring, the monosymmetric swinging axle for being mounted with two horizontal directions of the fuselage ring, two
The connector is connected on two swinging axles and relatively rotates, and two flapping wings are connected to described in two
It on connector and can relatively rotate, the flapping wing includes flapping-wing framework, and is mounted on rotatable in the flapping-wing framework
Fin, the torsional spring of the reset for the fin is additionally provided in the flapping-wing framework, and two sets of transmission mechanisms are respectively articulated with
On two connectors, two motor being arranged on the fuselage ring pass through respectively to be arranged in the fuselage
Two second retarders on frame drive two sets of transmission mechanism movements to make two connectors respectively respectively after slowing down
It swings up and down, two stepper motors being separately positioned on two connectors pass through respectively to be arranged in two companies
Two the first retarders on fitting drive two flapping wing rotations respectively after slowing down.
Further, being provided with fin mounting hole, fin limit beam and flapping wing shaft, the wing on the flapping-wing framework
Piece includes the fin windward side being oppositely arranged, fin leeward and the fin shaft being arranged on the fin, the connection
Part, which is provided with, swings axis hole and flapping wing shaft hole, and the axis for swinging axis hole is vertical with the axis of the flapping wing shaft hole, institute
It states swinging axle to be inserted into the swing axis hole and can be rotated, the flapping wing shaft is inserted into the flapping wing shaft hole and can turn
It is dynamic；The fin shaft is inserted into the fin mounting hole and can be rotated, and the torsion spring set is in the fin shaft, institute
Torsional spring both ends are stated to be arranged respectively close to the flapping-wing framework and the fin windward side；When the torsional spring is in compressive state, institute
It states fin leeward and limits beam close to the fin.
Further, the transmission mechanism includes connecting rod, crank, transmission shaft, the first pin is provided on the connector
Axis hole, the axis of first pin shaft hole are parallel with the swing axis of axis hole；First connecting rod hole is provided on the connecting rod
With second connecting rod hole, there are the first crank hole and the second crank hole on the crank；It further include the first pin shaft and the second pin shaft, it is described
Connecting rod and the connector connect first pin shaft hole and the first connecting rod hole by the first pin shaft, the connecting rod and described
Crank connects the second connecting rod hole and first crank hole by the second pin shaft；Second crank described in the transmission axis connection
Hole and second retarder.
Further, the axis in the first connecting rod hole is parallel with the axis in the second connecting rod hole, described first is bent
The axis of delthyrium is parallel with the axis of second crank hole；The axis of the axis in the first connecting rod hole and the second connecting rod hole
The distance between line is greater than the axis of first crank hole and the distance between the axis of second crank hole.
Further, the flapping wing shaft is mounted on the output shaft of first retarder, the stepper motor
Output shaft is mounted in the input hole of first retarder.
Further, the output shaft of the motor is mounted in the second retarder input hole.
Further, further include on the flapping-wing framework reinforcement vertical beam for reinforcing the intensity of the flapping-wing framework,
At least one of web beam and reinforcement cant beam.
Further, the fin limit beam, the reinforcement vertical beam, the web beam and the reinforcement cant beam are equal
For hollow structure；
And/or
Fin limit beam, the reinforcement vertical beam, the web beam and the reinforcement cant beam is engineering plastics material
Matter；
And/or
Fin limit beam, the reinforcement vertical beam, the web beam and the reinforcement cant beam is carbon fibre material
Matter.
Further, the quantity for the fin installed in each flapping-wing framework is greater than 1.
It is a kind of equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that including flapping-wing framework, the wing
Piece, torsional spring, swinging axle, connector, the first retarder, stepper motor, connecting rod, crank, transmission shaft, the second retarder, motor,
First pin shaft, the second pin shaft and fuselage ring have fin mounting hole, fin limit beam and flapping wing shaft, fin on flapping-wing framework
On have fin windward side, fin shaft and fin leeward, have on connector and swing axis hole, the first pin shaft hole and flapping wing shaft
Hole, the axis for swinging axis hole is parallel with the axis of the first pin shaft hole, and the axis for swinging axis hole is vertical with the axis of flapping wing shaft hole,
There are first connecting rod hole and second connecting rod hole on connecting rod, there is the first crank hole and the second crank hole, fuselage ring two sides pair on crank
The swinging axle for being mounted with two horizontal directions claimed, two connectors are set in two swinging axles by swinging axis hole
It above and can be rotated, two flapping-wing frameworks are inserted into the flapping wing shaft hole of two connectors respectively by flapping wing shaft and can be turned
Dynamic, fin shaft is inserted into fin mounting hole and can be rotated, and for torsion spring set in fin shaft, one end of torsional spring leans against flapping wing frame
On frame, the other end is leaned against on fin windward side, and torsional spring is in compressive state, and fin leeward leans against on fin limit beam, flapping wing
Shaft is mounted on the output shaft of the first retarder, and the output shaft of stepper motor is mounted in the input hole of the first retarder, and two
A first retarder and two stepper motors are fixed on respectively on two connectors, and the first pin shaft is inserted into the first pin simultaneously
It in axis hole and first connecting rod hole and can be rotated, the second pin shaft is inserted into second connecting rod hole and the first crank hole simultaneously and can turn
Dynamic, transmission shaft inserting is fixed in the second crank hole, and transmission shaft is mounted on the output shaft of the second retarder, the output of motor
Axis is mounted in the second retarder input hole, and two the second retarders and two motor are all fixed on fuselage ring
The axis of one tie rod holes is parallel with the axis in second connecting rod hole, and the axis of the axis of the first crank hole and the second crank hole is parallel,
The distance between the axis and the axis in second connecting rod hole in first connecting rod hole are greater than the axis and the second crank hole of the first crank hole
The distance between axis, have on flapping-wing framework and reinforce vertical beam, web beam and reinforce cant beam, fin limit beam, reinforce vertical beam,
Web beam and reinforcement cant beam all use hollow structure and use the light materials such as engineering plastics, carbon fibre.
The working principle of the invention is: after motor start-up, driving transmission shaft and song after the deceleration of the second retarder
Handle continuous rotation, therefore the connector being connected on connecting rod is driven to do reciprocally swinging around horizontal positioned swinging axle, the company of being inserted into
Flapping-wing framework on fitting is also made to make reciprocally swinging up and down simultaneously, is in working condition when flapping-wing framework is to lower swing, at this time the wing
Piece fin leeward under the action of torsional spring abuts against on fin limit beam, and fin windward side is vertical with air motion direction, gas
Stream, which acts directly on fin windward side, obtains maximum aerodynamic force, meanwhile, slowed down by stepper motor by the first retarder
Flapping-wing framework rotation is driven afterwards, changes the inclination angle of fin, normal pressure of the airflow function on fin windward side can be analyzed to lift
And thrust, the size of the change adjustable lift and thrust at inclination angle；It is reset state when flapping-wing framework is swung up, at this time
Air-flow acts directly on fin leeward, rotates after so that fin is overcome the elastic force of torsional spring around fin shaft, until fin is leeward
Face is substantially parallel with air motion direction, therefore the air drag minimum that flapping wing is suffered in reseting procedure, in reseting procedure,
Torsional spring further compresses；At the end of flapping wing return stroke, fin is rotated under the recovery elastic force effect of torsional spring around fin shaft
Original state, that is, working condition.When the aerofoil inclination angle that two stepper motors adjust two sides flapping wings is zero, while controlling flutterring for two sides
Hunting frequency is consistent up and down for the wing, and VTOL function can be realized, if aerodynamic force and main screw lift that two flapping wings generate
When equal with resistance, then hovering can be achieved；Flapping wing inclination angle and the pendulum of two sides flapping wing are adjusted by stepper motor and motor
Dynamic frequency is consistent, then the function that moves forward and backward can be achieved；If, can when the flapping wing inclination angle of two sides flapping wing or inconsistent hunting frequency
Realize turning function.
Compared with prior art, the present invention its remarkable advantage is:
1. it is of the present invention equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, set flapping wing to up and down
It swings, and designs the rotatable fin controlled by torsional spring, make to move acquisition maximum when fin working condition windward with maximum area
Aerodynamic force, and turn to that fin is parallel with airflow direction to be substantially reduced to resistance when reset state automatically under airflow function,
Achieve the purpose that improve flapping flight pneumatic efficiency.
2. it is of the present invention equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, in swing type flapping wing can
Switching of the rotor piece between working condition and reset state is automatically performed under the action of torsional spring and air-flow, is not needed multiple
Miscellaneous mechanical mechanism and electronic control system, the simple and reliable property of structure are preferable.
3. it is of the present invention equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, pass through motor and stepping
The roundtrip frequency of the independent control two sides flapping wing of motor and inclination angle, to realize VTOL, hovering, forward-reverse, turn
The functions such as curved, therefore the mobility of the type flapping wing unmanned plane is preferable.
4. it is of the present invention equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, structure is simple, processes work
Skill is good, and production cost is low, can be widely applied in all kinds of small aircrafts and unmanned plane of low reynolds number flight.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 be equipped with can rotor piece the overall structure diagram for becoming the double flapping wing unmanned planes of inclination angle swing type.
Fig. 2 be equipped with can the double flapping wing unmanned planes of change inclination angle swing type of rotor piece one flapping wing is only installed in the operating condition
Detailed construction schematic diagram.
Fig. 3 be can the double flapping wing unmanned planes of change inclination angle swing type of rotor piece only to install a flapping wing detailed in the reset state
Structural schematic diagram.
Fig. 4 be equipped with can rotor piece the double flapping wing unmanned plane cross-sectional operational views of change inclination angle swing type.
Fig. 5 be equipped with can rotor piece the double flapping wing unmanned plane reset state cross-sectional views of change inclination angle swing type.
Fig. 6 be equipped with can rotor piece the flapping-wing framework for becoming the double flapping wing unmanned planes of inclination angle swing type structural schematic diagram.
Fig. 7 be equipped with can rotor piece the fin for becoming the double flapping wing unmanned planes of inclination angle swing type structural schematic diagram.
Fig. 8 be equipped with can rotor piece the connector for becoming the double flapping wing unmanned planes of inclination angle swing type structural schematic diagram.
Fig. 9 be equipped with can rotor piece the connecting rod for becoming the double flapping wing unmanned planes of inclination angle swing type structural schematic diagram.
Figure 10 be equipped with can rotor piece the crank for becoming the double flapping wing unmanned planes of inclination angle swing type structural schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The invention will be further described below in conjunction with the accompanying drawings, but do not limit the invention in any way.
Embodiment 1:
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10, using equipped with can the change of rotor piece incline
The patrol unmanned machine of high-tension bus-bar of the double flapping wing unmanned planes of angle swing dynamic formula.As shown in Figure 1, equipped with can rotor piece change inclination angle swing type
Double flapping wing unmanned planes include flapping-wing framework 1, fin 2, torsional spring 3, swinging axle 4, connector 5, the first retarder 6, stepper motor 7,
Connecting rod 8, crank 9, transmission shaft 10, the second retarder 11, motor 12, the first pin shaft 13, the second pin shaft 14 and fuselage ring 15.
As shown in Figures 2 and 3, there are fin mounting hole 101, fin limit beam 102 and flapping wing shaft 103 on flapping-wing framework 1, on fin 2
There are fin windward side 201, fin shaft 202 and fin leeward 203, has on connector 5 and swing axis hole 501, the first pin shaft hole
502 and flapping wing shaft hole 503, the axis for swinging axis hole 501 is parallel with the axis of the first pin shaft hole 502, the axis of swing axis hole 501
Line is vertical with the axis of flapping wing shaft hole 503, there is first connecting rod hole 801 and second connecting rod hole 802 on connecting rod 8, there is on crank 9
One crank hole 901 and the second crank hole 902, the monosymmetric swinging axle for being mounted with two horizontal directions of fuselage ring 15
4, two connectors 5 are set on two swinging axles 4 and be can be rotated by swing axis hole 501, and two flapping-wing frameworks 1 pass through
Flapping wing shaft 103 is inserted into the flapping wing shaft hole 503 of two connectors 5 respectively and can be rotated, and fin shaft 202 is inserted into the wing
It in piece mounting hole 101 and can be rotated, torsional spring 3 is sleeved in fin shaft 202, and 3 one end of torsional spring leans against on flapping-wing framework 1, another
End leans against on fin windward side 201, and torsional spring 3 is in compressive state, and fin leeward 203 leans against on fin limit beam 102, each
The quantity for the fin 2 installed in flapping-wing framework 1 is four, and flapping wing shaft 103 is mounted on the output shaft of the first retarder 6, step
Output shaft into motor 7 is mounted in the input hole of the first retarder 6, and two the first retarders 6 and two stepper motors 7 are distinguished
Be fixed on two connectors 5, the first pin shaft 13 be inserted into the first pin shaft hole 502 and first connecting rod hole 801 simultaneously and
It can be rotated, the second pin shaft 14 is inserted into second connecting rod hole 802 and the first crank hole 901 simultaneously and can be rotated, and transmission shaft 10 is inserted
Dress is fixed in the second crank hole 902, and transmission shaft 10 is mounted on the output shaft of the second retarder 11, the output shaft of motor 12
It is mounted in 11 input hole of the second retarder, two the second retarders 11 and two motor 12 are all fixed on fuselage ring
On 15, the axis in first connecting rod hole 801 is parallel with the axis in second connecting rod hole 802, the axis of the first crank hole 901 and the second song
The axis of delthyrium 902 is parallel, and the distance between the axis and the axis in second connecting rod hole 802 in first connecting rod hole 801 are greater than first
The distance between the axis of the axis of crank hole 901 and the second crank hole 902 has on flapping-wing framework 1 and reinforces vertical beam 104, reinforces
Crossbeam 105 and reinforcement cant beam 106, fin limit beam 102, reinforcement vertical beam 104, web beam 105 and reinforcement cant beam 106 all use
Hollow structure and use carbon fiber material.The patrol unmanned machine of high-tension bus-bar using the present invention equipped with can rotor piece change inclination angle pendulum
After the double flapping wing unmanned planes of dynamic formula, since flapping wing resistance is small, pneumatic efficiency is high, and mobility is good, can complete every detection and clap
According to work, relative to rotor wing unmanned aerial vehicle, after carrying the identical service loads such as photographic equipment, the flight time increases
20%, realize longer endurance work.
Embodiment 2:
The present embodiment 2 provides a kind of high-rise For Use Only in Case of Fire unmanned plane, structure with embodiment 1, unlike: fin 2
Quantity is 6, and fin limits beam 102, reinforces vertical beam 104, web beam 105 and reinforces cant beam 106 all using engineering plastics.It adopts
With equipped with can rotor piece the double flapping wing unmanned planes of changes inclination angle swing type high level For Use Only in Case of Fire unmanned plane.Including flapping-wing framework 1, the wing
Piece 2, torsional spring 3, swinging axle 4, connector 5, the first retarder 6, stepper motor 7, connecting rod 8, crank 9, transmission shaft 10, second slow down
Device 11, motor 12, the first pin shaft 13, the second pin shaft 14 and fuselage ring 15 have fin mounting hole 101, the wing on flapping-wing framework 1
Piece limits beam 102 and flapping wing shaft 103, has fin windward side 201, fin shaft 202 and fin leeward 203 on fin 2, even
Have on fitting 5 and swing axis hole 501, the first pin shaft hole 502 and flapping wing shaft hole 503, swings the axis and the first pin shaft of axis hole 501
The axis in hole 502 is parallel, and the axis for swinging axis hole 501 is vertical with the axis of flapping wing shaft hole 503, has first connecting rod on connecting rod 8
There are the first crank hole 901 and the second crank hole 902 in hole 801 and second connecting rod hole 802 on crank 9, and 15 two sides of fuselage ring are symmetrical
The swinging axle 4 for being mounted with two horizontal directions, two connectors 5 are set in two pendulum by swinging axis hole 501
It on moving axis 4 and can be rotated, two flapping-wing frameworks 1 are inserted into the flapping wing shaft hole of two connectors 5 by flapping wing shaft 103 respectively
It in 503 and can be rotated, fin shaft 202 is inserted into fin mounting hole 101 and can be rotated, and torsional spring 3 is sleeved on fin shaft 202
On, 3 one end of torsional spring leans against on flapping-wing framework 1, and the other end leans against on fin windward side 201, and torsional spring 3 is in compressive state, fin
Leeward 203 leans against on fin limit beam 102, and the quantity for the fin 2 installed in each flapping-wing framework 1 is six, flapping wing shaft
103 are mounted on the output shaft of the first retarder 6, and the output shaft of stepper motor 7 is mounted in the input hole of the first retarder 6,
Two the first retarders 6 and two stepper motors 7 are fixed on respectively on two connectors 5, and the first pin shaft 13 inserts simultaneously
It in the first pin shaft hole 502 and first connecting rod hole 801 and can be rotated, the second pin shaft 14 is inserted into 802 He of second connecting rod hole simultaneously
It in first crank hole 901 and can be rotated, the inserting of transmission shaft 10 is fixed in the second crank hole 902, and transmission shaft 10 is mounted on second
On the output shaft of retarder 11, the output shaft of motor 12 is mounted in 11 input hole of the second retarder, two the second retarders
11 and two motor 12 be all fixed on fuselage ring 15, the axis in first connecting rod hole 801 and second connecting rod hole 802
Axis is parallel, and the axis of the axis of the first crank hole 901 and the second crank hole 902 is parallel, the axis in first connecting rod hole 801 and
The distance between axis of two tie rod holes 802 is greater than between the axis of the first crank hole 901 and the axis of the second crank hole 902
Distance has on flapping-wing framework 1 and reinforces vertical beam 104, web beam 105 and reinforce cant beam 106, and fin limits beam 102, reinforces vertical beam
104, web beam 105 and reinforcement cant beam 106 all using hollow structure and use engineering plastics.It is high-rise that For Use Only in Case of Fire that unmanned plane is adopted
With the present invention equipped with can be after the double flapping wing unmanned planes of change inclination angle swing type of rotor piece, since flapping wing impulse stroke thrust is big, flapping wing
Resistance is small, pneumatic efficiency is high, therefore has stronger mobility, the emergency of energy quick response high level, rapid flight to high level
It catches fire and a little puts out a fire.
Embodiment 3:
The present embodiment 3 provides a kind of agricultural plant protection unmanned plane, structure with embodiment 1, unlike: the quantity of fin 2
It is 8, fin limits beam 102, reinforces vertical beam 104, web beam 105 and reinforces cant beam 106 all using engineering plastics.Using dress
Have can rotor piece the agricultural plant protection unmanned plane for becoming the double flapping wing unmanned planes of inclination angle swing type.Including flapping-wing framework 1, fin 2, torsional spring
3, swinging axle 4, connector 5, the first retarder 6, stepper motor 7, connecting rod 8, crank 9, transmission shaft 10, the second retarder 11, electricity
Motivation 12, the first pin shaft 13, the second pin shaft 14 and fuselage ring 15 have fin mounting hole 101, fin limit on flapping-wing framework 1
Beam 102 and flapping wing shaft 103 have fin windward side 201, fin shaft 202 and fin leeward 203, connector 5 on fin 2
On have and swing axis hole 501, the first pin shaft hole 502 and flapping wing shaft hole 503, swing the axis and the first pin shaft hole 502 of axis hole 501
Axis it is parallel, swing axis hole 501 axis it is vertical with the axis of flapping wing shaft hole 503, have first connecting rod hole 801 on connecting rod 8
With second connecting rod hole 802, there are the first crank hole 901 and the second crank hole 902, the monosymmetric peace of fuselage ring 15 on crank 9
Dress is fixed there are two the swinging axle 4 of horizontal direction, and two connectors 5 are set in two swinging axles 4 by swinging axis hole 501
It above and can be rotated, two flapping-wing frameworks 1 are inserted into the flapping wing shaft hole 503 of two connectors 5 respectively by flapping wing shaft 103
And can be rotated, fin shaft 202 is inserted into fin mounting hole 101 and can be rotated, and torsional spring 3 is sleeved in fin shaft 202, turns round
3 one end of spring leans against on flapping-wing framework 1, and the other end leans against on fin windward side 201, and torsional spring 3 is in compressive state, fin leeward
203 lean against on fin limit beam 102, and the quantity for the fin 2 installed in each flapping-wing framework 1 is 8, and flapping wing shaft 103 is installed
On the output shaft of the first retarder 6, the output shaft of stepper motor 7 is mounted in the input hole of the first retarder 6, and two first
Retarder 6 and two stepper motors 7 are fixed on respectively on two connectors 5, and the first pin shaft 13 is inserted into the first pin simultaneously
It in axis hole 502 and first connecting rod hole 801 and can be rotated, the second pin shaft 14 is inserted into second connecting rod hole 802 and the first crank simultaneously
It in hole 901 and can be rotated, the inserting of transmission shaft 10 is fixed in the second crank hole 902, and transmission shaft 10 is mounted on the second retarder 11
Output shaft on, the output shaft of motor 12 is mounted in 11 input hole of the second retarder, two the second retarders 11 and two
Motor 12 is all fixed on fuselage ring 15, and the axis in first connecting rod hole 801 and the axis in second connecting rod hole 802 are flat
The axis of row, the axis of the first crank hole 901 and the second crank hole 902 is parallel, the axis and second connecting rod in first connecting rod hole 801
The distance between the axis in hole 802 is greater than the axis of the first crank hole 901 and the distance between the axis of the second crank hole 902,
Have on flapping-wing framework 1 reinforce vertical beam 104, web beam 105 and reinforce cant beam 106, fin limit beam 102, reinforce vertical beam 104,
Web beam 105 and reinforcement cant beam 106 all using hollow structure and use engineering plastics.Agricultural plant protection unmanned plane is using the present invention
Equipped with can be after the double flapping wing unmanned planes of change inclination angle swing type of rotor piece, since flapping wing impulse stroke thrust is big, flapping wing resistance is small, gas
Efficiency of movement is high, can efficiently and rapidly complete sowing fertilizers, sprays pulvis, and the multiplicity function such as supple-mentary pollination is answered, and cruise duration is long, phase
For rotor wing unmanned aerial vehicle, in identical service load, the flight time increases by 20%, realizes longer endurance work.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (9)
1. equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that including flapping wing, swinging axle (4), even
Fitting (5), the first retarder (6), stepper motor (7), transmission mechanism, the second retarder (11), motor (12) and fuselage frame
Frame (15), the monosymmetric swinging axle (4) for being mounted with two horizontal directions of the fuselage ring (15), two institutes
It states connector (5) to be connected on two swinging axles (4) and relatively rotate, two flapping wings are connected to two
It on the connector (5) and can relatively rotate, the flapping wing includes flapping-wing framework (1), and is mounted on the flapping-wing framework (1)
Interior rotatable fin (2), the interior torsional spring (3) being additionally provided with for the reset of the fin (2) of the flapping-wing framework (1),
Two sets of transmission mechanisms are respectively hinged on two connectors (5), two be arranged on the fuselage ring (15)
After the motor (12) is slowed down by two be arranged on the fuselage ring (15) second retarders (11) respectively
It drives two sets of transmission mechanism movements respectively to swing up and down two connectors (5) respectively, is separately positioned on two companies
Two stepper motors (7), two first decelerations by being arranged on two connectors (5) respectively on fitting (5)
Device (6) drives two flapping wing rotations respectively after slowing down.
2. it is according to claim 1 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: institute
It states and is provided with fin mounting hole (101), fin limit beam (102) and flapping wing shaft (103), the fin on flapping-wing framework (1)
It (2) include the fin windward side (201) being oppositely arranged, fin leeward (203) and the fin being arranged on the fin (2)
Shaft (202), the connector (5), which is provided with, swings axis hole (501) and flapping wing shaft hole (503), the swing axis hole (501)
Axis it is vertical with the axis of the flapping wing shaft hole (503), the swinging axle (4) is inserted into the swing axis hole (501)
And can be rotated, the flapping wing shaft (103) is inserted into the flapping wing shaft hole (503) and can be rotated；The fin shaft
(202) it is inserted into the fin mounting hole (101) and can be rotated, the torsional spring (3) is sleeved on the fin shaft (202)
On, torsional spring (3) both ends are arranged respectively close to the flapping-wing framework (1) and the fin windward side (201)；When the torsional spring
(3) it is in compressive state, the fin leeward (203) is close to fin limit beam (102).
3. it is according to claim 1 or 2 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, feature exists
In: the transmission mechanism includes connecting rod (8), crank (9), transmission shaft (10), is provided with the first pin shaft hole on the connector (5)
(502), the axis of first pin shaft hole (502) is parallel with the swing axis of axis hole (501)；It is set on the connecting rod (8)
It is equipped with first connecting rod hole (801) and second connecting rod hole (802), has the first crank hole (901) and the second crank on the crank (9)
Hole (902)；It further include the first pin shaft (13) and the second pin shaft (14), the connecting rod (8) and the connector (5) pass through the first pin
Axis (13) connects first pin shaft hole (502) and the first connecting rod hole (801), and the connecting rod (8) and the crank (9) are logical
It crosses the second pin shaft (14) and connects the second connecting rod hole (802) and first crank hole (901)；Transmission shaft (10) connection
Second crank hole (902) and second retarder (11).
4. it is according to claim 3 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: institute
The axis for stating first connecting rod hole (801) is parallel with the axis of the second connecting rod hole (802), first crank hole (901)
Axis is parallel with the axis of second crank hole (902)；The axis of the first connecting rod hole (801) and the second connecting rod hole
(802) the distance between axis is greater than the axis of first crank hole (901) and the axis of second crank hole (902)
The distance between.
5. it is according to claim 2 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: institute
It states flapping wing shaft (103) to be mounted on the output shaft of first retarder (6), the output shaft installation of the stepper motor (7)
In the input hole of first retarder (6).
6. it is according to claim 3 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: institute
The output shaft for stating motor (12) is mounted in the second retarder (11) input hole.
7. it is according to claim 2 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: institute
Stating on flapping-wing framework (1) further includes reinforcing vertical beam (104), web beam (105) and reinforcement at least one of cant beam (106),
For reinforcing the intensity of the flapping-wing framework (1).
8. it is according to claim 7 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: institute
Fin limit beam (102), the reinforcement vertical beam (104), the web beam (105) and the reinforcement cant beam (106) stated are equal
For hollow structure；
And/or
Fin limit beam (102), the reinforcement vertical beam (104), the web beam (105) and the reinforcement cant beam
It (106) is engineering plastics material；
And/or
Fin limit beam (102), the reinforcement vertical beam (104), the web beam (105) and the reinforcement cant beam
It (106) is carbon fiber material.
9. it is according to claim 1 equipped with can rotor piece the double flapping wing unmanned planes of change inclination angle swing type, it is characterised in that: it is every
The quantity for the fin (2) installed in a flapping-wing framework (1) is greater than 1.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651458.6A CN110254708B (en) | 2019-07-18 | 2019-07-18 | Variable-inclination-angle swing type double-flapping-wing unmanned aerial vehicle with rotatable wing pieces |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651458.6A CN110254708B (en) | 2019-07-18 | 2019-07-18 | Variable-inclination-angle swing type double-flapping-wing unmanned aerial vehicle with rotatable wing pieces |
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| CN110254708A true CN110254708A (en) | 2019-09-20 |
| CN110254708B CN110254708B (en) | 2020-12-08 |
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| CN201910651458.6A Active CN110254708B (en) | 2019-07-18 | 2019-07-18 | Variable-inclination-angle swing type double-flapping-wing unmanned aerial vehicle with rotatable wing pieces |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022000367A1 (en) * | 2020-07-01 | 2022-01-06 | 西湖大学 | Wing structure for vehicle, and vehicle |
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| CN110254708B (en) | 2020-12-08 |
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