CN110294121A - Based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type - Google Patents
Based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type Download PDFInfo
- Publication number
- CN110294121A CN110294121A CN201910651890.5A CN201910651890A CN110294121A CN 110294121 A CN110294121 A CN 110294121A CN 201910651890 A CN201910651890 A CN 201910651890A CN 110294121 A CN110294121 A CN 110294121A
- Authority
- CN
- China
- Prior art keywords
- hole
- flapping
- blade
- wing
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/18—Spars; Ribs; Stringers
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Toys (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses it is a kind of based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, it includes flapping wing, slideway, connector, first retarder, stepper motor, transmission mechanism, second retarder, motor and fuselage ring, fuselage ring surrounding is symmetrically mounted with the slideway of four vertical directions, four connectors are slidably connected at respectively on four slideways, four flapping wings are connected on four connectors and can relatively rotate, flapping wing includes flapping-wing framework, and it is mounted on the rotatable blade in flapping-wing framework, reset of the torsional spring for blade is additionally provided in flapping-wing framework, four sets of transmission mechanism are hinged on four connectors, four motor being arranged on fuselage ring drive the movement of four sets of transmission mechanism to slide up and down four connectors after slowing down by four the second retarders, it is arranged on four connectors Four stepper motors slowed down by four the first retarders after drive four flapping wings rotations.
Description
Technical field
The present invention relates to flapping wing type aircraft and flying robot field, especially one kind can rotating vane based on adaptive air-flow
The four flapping wing unmanned plane of Direct Action Type of piece.
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.Meanwhile current flapping flight chess cannot achieve VTOL and hovering mostly, flexibly
Property and mobility are not good enough.
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, can be switched fast heading, flight flexibility and mobility it is extraordinary based on from
Adapt to air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, to solve the above-mentioned problems in the prior art.
Realize the object of the invention technical solution be: provide it is a kind of based on adaptive air-flow can rotating vane piece Direct Action Type
Four flapping wing unmanned planes, including flapping wing, slideway, connector, the first retarder, stepper motor, transmission mechanism, the second retarder, electricity
Motivation and fuselage ring, the fuselage ring surrounding are symmetrically mounted with the slideway of four vertical directions, four institutes
Connector is stated to be slidably connected at respectively on four slideways, four flapping wings be connected on four connectors and
It can relatively rotate, the flapping wing includes flapping-wing framework, and the rotatable blade being mounted in the flapping-wing framework, described to flutter
Reset of the torsional spring for the blade is additionally provided in wing frame, four sets of transmission mechanisms are respectively hinged at four connections
On part, four motor being arranged on the fuselage ring pass through four institutes being arranged on the fuselage ring respectively
It states and four sets of transmission mechanism movements is driven respectively to slide up and down four connectors after the second retarder slows down respectively, set respectively
It sets four stepper motors on four connectors and passes through four be arranged on four connectors respectively
One speed reducer drives four flapping wing rotations respectively after slowing down.
Further, being provided with blade mounting hole, blade limit beam and flapping wing shaft, the leaf on the flapping-wing framework
Piece includes the blade windward side being oppositely arranged, blade leeward and the blade rotor being arranged on the blade, the connection
Part is provided with skidway hole and flapping wing shaft hole, and the axis of the skidway hole is vertical with the axis of the flapping wing shaft hole, the cunning
Road is inserted into the skidway hole and slidably, and the flapping wing shaft is inserted into the flapping wing shaft hole and can be rotated；It is described
Blade rotor is inserted into the blade mounting hole and can be rotated, and the torsion spring set is on the blade rotor, the torsional spring
Both ends are arranged respectively close to the flapping-wing framework and the blade windward side；When the torsional spring is in compressive state, the blade
Leeward limits beam close to the blade.
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 vertical with the axis of the axis of the skidway hole, the flapping wing shaft hole respectively；It is described
It is provided with first connecting rod hole and second connecting rod hole on connecting rod, there is the first crank hole and the second crank hole on the crank；The company
Bar connects first pin shaft hole and the first connecting rod hole, the connecting rod and the song by the first pin shaft with the connector
Handle connects the second connecting rod hole and first crank hole by the second pin shaft；Second crank hole described in the transmission axis connection
With 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 including at least one reinforced in vertical beam, web beam and reinforcement cant beam on the flapping-wing framework
Kind, for reinforcing the intensity of the flapping-wing framework.
Further, the blade limit beam, the reinforcement vertical beam, the web beam and the reinforcement cant beam are equal
For hollow structure；Blade limit beam, the reinforcement vertical beam, the web beam and the reinforcement cant beam is engineering plastics
Material；Blade limit beam, the reinforcement vertical beam, the web beam and the reinforcement cant beam is carbon fiber material.
Further, the quantity for the blade installed in each flapping-wing framework is greater than 1.
It is a kind of based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, including flapping-wing framework, blade, torsion
Spring, slideway, connector, the first retarder, stepper motor, connecting rod, crank, transmission shaft, the second retarder, motor, the first pin
Axis, the second pin shaft and fuselage ring have blade mounting hole, blade limit beam and flapping wing shaft on flapping-wing framework, have leaf on blade
Piece windward side, blade rotor and blade leeward have skidway hole, the first pin shaft hole and flapping wing shaft hole, skidway hole on connector
Axis, vertical two-by-two between the axis of the first pin shaft hole and the axis of flapping wing shaft hole, have first connecting rod hole and the on connecting rod
Two tie rod holes, there is the first crank hole and the second crank hole on crank, fuselage ring is monosymmetric is mounted with four it is vertical
The slideway in direction, four connectors are set on four slideways and slidably by skidway hole, and four flapping-wing frameworks pass through
Flapping wing shaft is inserted into the flapping wing shaft hole of four connectors respectively and can be rotated, and blade rotor is inserted into blade mounting hole
And can be rotated, torsion spring set is on blade rotor, and one end of torsional spring leans against on flapping-wing framework, and the other end leans against on blade windward side,
Torsional spring is in compressive state, and blade leeward leans against on blade limit beam, and flapping wing shaft is mounted on the output shaft of the first retarder
On, the output shaft of stepper motor is mounted in the input hole of the first retarder, four the first retarders and four stepper motors point
It not being fixed on four connectors, the first pin shaft is inserted into the first pin shaft hole and first connecting rod hole simultaneously and can be rotated,
Second pin shaft is inserted into second connecting rod hole and the first crank hole simultaneously and can be rotated, and transmission shaft inserting is fixed on the second crank hole
Interior, transmission shaft is mounted on the output shaft of the second retarder, and the output shaft of motor is mounted in the second retarder input hole, and four
A second retarder and four motor are all fixed on fuselage ring, the axis in first connecting rod hole and second connecting rod hole
Axis is parallel, and the axis of the axis of the first crank hole and the second crank hole is parallel, the axis in first connecting rod hole and second connecting rod hole
The distance between axis be greater than the distance between axis and axis of the second crank hole of the first crank hole, have on flapping-wing framework
Reinforce vertical beam, web beam and reinforce cant beam, blade limit beam, reinforcement vertical beam, web beam and reinforcement cant beam all use hollow
Structure and the use 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, crank handle turns connecting rod make the flapping-wing framework being connected on connecting rod make reciprocating translatory, four be installed on fuselage
Motor independently controls the reciprocal direct acting of each flapping-wing framework, is flapping wing work when flapping-wing framework is made close to the translation of transmission shaft
Make state, blade blade leeward under the action of torsional spring abuts against on blade limit beam at this time, and blade windward side and air-flow are transported
Dynamic direction is vertical, and air-flow, which acts directly on blade windward side, obtains maximum aerodynamic force, meanwhile, by stepper motor by the
One speed reducer drives flapping-wing framework rotation after slowing down, change the inclination angle of blade, normal pressure of the airflow function on blade windward side
It can be analyzed to lift and thrust, the size of the change adjustable lift and thrust at inclination angle；When flapping-wing framework is made far from transmission shaft
Translation when be flapping wing reset state, air-flow acts directly on blade leeward at this time, after so that blade is overcome the elastic force of torsional spring
It is rotated around blade rotor, until blade leeward is substantially parallel with air motion direction, therefore flapping wing is suffered in reseting procedure
Air drag it is minimum, in reseting procedure, torsional spring further compresses；At the end of flapping wing return stroke, blade is in torsional spring
Restore to rotate original state, that is, working condition around blade rotor under elastic force effect.When four stepper motors adjust four flapping wings respectively
Aerofoil be horizontality, while when four motor control four flapping wings respectively motion frequency are consistent up and down, Ji Keshi
Hovering can be achieved if the aerodynamic force of four flapping wings generation is with main screw lift and equal resistance in existing VTOL function；
Flapping wing inclination angle and the back and forth movement frequency that four flapping wings are adjusted by stepper motor and motor then can adjust the production of each flapping wing
Raw lift and thrust size, four groups of lift and thrust can make the resultant force and couple of unmanned plane generation arbitrary direction in space, therefore
Unmanned plane can be made to be quickly switched into any direction flight.
Compared with prior art, the present invention its remarkable advantage is:
1. it is of the present invention based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, set flapping wing to
Linear translation, and the rotatable vane controlled by torsional spring is designed, make to move windward when blade flapping wing working condition with maximum area
Maximum aerodynamic force is obtained, and it is parallel with airflow direction to which resistance is big to turn to blade when reset state automatically under airflow function
It is big to reduce, achieve the purpose that improve flapping flight pneumatic efficiency.
2. it is of the present invention based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, can rotating vane piece in work
Making the switching between state and reset state is automatically performed under the action of torsional spring and air-flow, and complicated machinery formula machine is not needed
Structure and electronic control system, the simple and reliable property of structure are preferable.
3. it is of the present invention based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, pass through setting four
Motor and four stepper motors independently control the roundtrip frequency and inclination angle of four flapping wings, realize vertical rise so as to facilitate
Drop, hovering can especially be quickly switched into any direction flight, therefore the flexibility of the type flapping wing unmanned plane and motor-driven
Property is very good.
4. it is of the present invention based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, structure is simple, adds
Work good manufacturability, 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 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type overall structure diagram.
Fig. 2 be based on adaptive air-flow can the four flapping wing unmanned plane of Direct Action Type of rotating vane piece unilateral flapping wing is only installed in work shape
Detailed construction schematic diagram under state.
Fig. 3 be based on adaptive air-flow can the four flapping wing unmanned plane of Direct Action Type of rotating vane piece unilateral flapping wing be only installed resetting shape
Detailed construction schematic diagram under state.
Fig. 4 be based on adaptive air-flow can rotating vane piece the four detailed section view of flapping wing unmanned plane flapping wing working condition of Direct Action Type
Figure.
Fig. 5 be based on adaptive air-flow can rotating vane piece the four detailed section view of flapping wing unmanned plane flapping wing reset state of Direct Action Type
Figure.
Fig. 6 be based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type flapping-wing framework structural representation
Figure.
Fig. 7 be based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type blade structural schematic diagram.
Fig. 8 be based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type connector structural schematic diagram.
Fig. 9 be based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type connecting rod structural schematic diagram.
Figure 10 be based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type crank 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, can turn using based on adaptive air-flow
The patrol unmanned machine of high-tension bus-bar of the four flapping wing unmanned plane of Direct Action Type of blade.
As depicted in figs. 1 and 2, based on adaptive air-flow can the four flapping wing unmanned plane of Direct Action Type of rotating vane piece include flapping-wing framework
1, blade 2, torsional spring 3, slideway 4, connector 5, the first retarder 6, stepper motor 7, connecting rod 8, crank 9, transmission shaft 10, second subtract
Fast device 11, motor 12, the first pin shaft 13, the second pin shaft 14 and fuselage ring 15.As shown in figure 5, having blade on flapping-wing framework 1
Mounting hole 101, blade limit beam 102 and flapping wing shaft 103.As shown in fig. 7, thering is blade windward side 201, blade to turn on blade 2
Axis 202 and blade leeward 203.As shown in figure 8, having skidway hole 501, the first pin shaft hole 502 and flapping wing shaft hole on connector 5
503, it is vertical two-by-two between the axis of skidway hole 501, the axis of the first pin shaft hole 502 and the axis of flapping wing shaft hole 503.Such as figure
Shown in 9 and Figure 10, there are first connecting rod hole 801 and second connecting rod hole 802 on connecting rod 8, there is the first crank hole 901 and on crank 9
Two crank holes 902, the monosymmetric slideway 4 for being mounted with four vertical directions of fuselage ring 15, four connectors 5 pass through
Skidway hole 501 is set on four slideways 4 and slidably, and four flapping-wing frameworks 1 are inserted into respectively by flapping wing shaft 103
It in the flapping wing shaft hole 503 of four connectors 5 and can be rotated, blade rotor 202 is inserted into blade mounting hole 101 and can turn
Dynamic, the quantity for the blade 2 installed in each flapping-wing framework 1 is four, and torsional spring 3 is sleeved on blade rotor 202,3 one end of torsional spring
It leans against on flapping-wing framework 1, the other end leans against on blade windward side 201, and torsional spring 3 is in compressive state, and blade leeward 203 leans against
Blade limits on beam 102, and flapping wing shaft 103 is mounted on the output shaft of the first retarder 6, the output shaft installation of stepper motor 7
In the input hole of the first retarder 6, four the first retarders 6 and four stepper motors 7 are fixed on four connections respectively
On part 5, the first pin shaft 13 is inserted into the first pin shaft hole 502 and first connecting rod hole 801 simultaneously and can be rotated, and the second pin shaft 14 is same
When be inserted into second connecting rod hole 802 and the first crank hole 901 and can be rotated, the inserting of transmission shaft 10 is fixed on the second crank hole
In 902, transmission shaft 10 is mounted on the output shaft of the second retarder 11, and the output shaft of motor 12 is mounted on the second retarder 11
In input hole, four the second retarders 11 and four motor 12 are all fixed on fuselage ring 15, first connecting rod hole 801
Axis it is parallel with the axis in second connecting rod hole 802, the axis of the axis of the first crank hole 901 and the second crank hole 902 is parallel,
The distance between the axis in first connecting rod hole 801 and the axis in second connecting rod hole 802 are greater than the axis and the of the first crank hole 901
The distance between the axis of two crank holes 902 has on flapping-wing framework 1 and reinforces vertical beam 104, web beam 105 and reinforce cant beam
106, blade limits beam 102, reinforces vertical beam 104, web beam 105 and reinforces cant beam 106 all using hollow structure and using carbon
Cellulose fiber material.The patrol unmanned machine of high-tension bus-bar use the present invention is based on adaptive air-flow can rotating vane piece four flapping wing of Direct Action Type without
After man-machine, since flapping wing resistance is small, pneumatic efficiency is high, and flexibility mobility is good, thus quickly avoidance can complete every hardly possible
Biggish detection and work of taking pictures are spent, relative to rotor wing unmanned aerial vehicle, after carrying the identical service loads such as photographic equipment, once
Flight time increases by 20%, realizes 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: each flapping wing
The quantity of 1 intra vane 2 of frame is 6, and blade limits beam 102, reinforces vertical beam 104, web beam 105 and reinforce cant beam 106 all
Using engineering plastics.Using based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type it is high-rise For Use Only in Case of Fire nobody
Machine, including flapping-wing framework 1, blade 2, torsional spring 3, slideway 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, on flapping-wing framework 1
There are blade mounting hole 101, blade limit beam 102 and flapping wing shaft 103, has blade windward side 201, blade rotor 202 on blade 2
With blade leeward 203, there are skidway hole 501, the first pin shaft hole 502 and flapping wing shaft hole 503 on connector 5, skidway hole 501
It is vertical two-by-two between axis, the axis of the first pin shaft hole 502 and the axis of flapping wing shaft hole 503, there is first connecting rod hole on connecting rod 8
801 and second connecting rod hole 802, there are the first crank hole 901 and the second crank hole 902 on crank 9, fuselage ring 15 is monosymmetric
Be mounted with the slideway 4 of four vertical directions, four connectors 5 be set on four slideways 4 by skidway hole 501 and
Slidably, four flapping-wing frameworks 1 are inserted into the flapping wing shaft hole 503 of four connectors 5 respectively by flapping wing shaft 103 and can
Rotation, blade rotor 202 are inserted into blade mounting hole 101 and can be rotated, the number for the blade 2 installed in each flapping-wing framework 1
Amount is six, and torsional spring 3 is sleeved on blade rotor 202, and 3 one end of torsional spring leans against on flapping-wing framework 1, and the other end leans against blade windward
On face 201, torsional spring 3 is in compressive state, and blade leeward 203 leans against on blade limit beam 102, and flapping wing shaft 103 is mounted on
On the output shaft of first retarder 6, the output shaft of stepper motor 7 is mounted in the input hole of the first retarder 6, and four first subtract
Fast device 6 and four stepper motors 7 are fixed on respectively on four connectors 5, and the first pin shaft 13 is inserted into the first pin shaft simultaneously
It in 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 hole simultaneously
It in 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
On output shaft, the output shaft of motor 12 is mounted in 11 input hole of the second retarder, four the second retarders 11 and four electricity
Motivation 12 is all fixed on fuselage ring 15, and the axis in first connecting rod hole 801 is parallel with the axis in second connecting rod hole 802,
The axis of the axis of first crank hole 901 and the second crank hole 902 is parallel, the axis in first connecting rod hole 801 and second connecting rod hole
The distance between 802 axis is greater than the axis of the first crank hole 901 and the distance between the axis of the second crank hole 902, flutters
Have on wing frame 1 and reinforce vertical beam 104, web beam 105 and reinforce cant beam 106, blade limits beam 102, reinforces vertical beam 104, adds
Deck transverse 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 uses this hair
It is bright can be after the four flapping wing unmanned plane of Direct Action Type of rotating vane piece, since flapping wing impulse stroke thrust is big, flapping wing resistance based on adaptive air-flow
Power is small, pneumatic efficiency is high, and flexibility mobility is very good, the emergency of energy quick response high level, rapid flight to high level
It catches fire a little with small space, and has the function of hovering, point of origin can be hovered over and carry out accurately lasting fire extinguishing.
Embodiment 3:
The present embodiment 3 provides a kind of agricultural plant protection unmanned plane, structure with embodiment 1, unlike: each flapping-wing framework
The quantity of 1 intra vane 2 is 8, and blade limit beam 102, reinforcement vertical beam 104, web beam 105 and reinforcement cant beam 106 all use
Engineering plastics.Using based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type agricultural plant protection unmanned plane, including
Flapping-wing framework 1, blade 2, torsional spring 3, slideway 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 have blade on flapping-wing framework 1
Mounting hole 101, blade limit beam 102 and flapping wing shaft 103, have blade windward side 201, blade rotor 202 and blade on blade 2
Leeward 203, there is skidway hole 501, the first pin shaft hole 502 and flapping wing shaft hole 503 on connector 5, the axis of skidway hole 501,
It is vertical two-by-two between the axis of first pin shaft hole 502 and the axis of flapping wing shaft hole 503, there is 801 He of first connecting rod hole on connecting rod 8
There are the first crank hole 901 and the second crank hole 902, the monosymmetric installation of fuselage ring 15 in second connecting rod hole 802 on crank 9
The slideway 4 of vertical direction there are four fixed, four connectors 5 are set on four slideways 4 and can be slided by skidway hole 501
Dynamic, four flapping-wing frameworks 1 are inserted into the flapping wing shaft hole 503 of four connectors 5 respectively by flapping wing shaft 103 and can be turned
Dynamic, blade rotor 202 is inserted into blade mounting hole 101 and can be rotated, the quantity for the blade 2 installed in each flapping-wing framework 1
It is 8, torsional spring 3 is sleeved on blade rotor 202, and 3 one end of torsional spring leans against on flapping-wing framework 1, and the other end leans against blade windward side
On 201, torsional spring 3 is in compressive state, and blade leeward 203 leans against on blade limit beam 102, and flapping wing shaft 103 is mounted on the
On the output shaft of one speed reducer 6, the output shaft of stepper motor 7 is mounted in the input hole of the first retarder 6, four first decelerations
Device 6 and four stepper motors 7 are fixed on respectively on four connectors 5, and the first pin shaft 13 is inserted into the first pin shaft hole simultaneously
502 and first connecting rod hole 801 in and can be rotated, the second pin shaft 14 is inserted into second connecting rod hole 802 and the first crank hole 901 simultaneously
Interior and rotatable, the inserting of transmission shaft 10 is fixed in the second crank hole 902, and transmission shaft 10 is mounted on the output of the second retarder 11
On axis, the output shaft of motor 12 is mounted in 11 input hole of the second retarder, four the second retarders 11 and four motor
12 are all fixed on fuselage ring 15, and the axis in first connecting rod hole 801 is parallel with the axis in second connecting rod hole 802, and first
The axis of the axis of crank hole 901 and the second crank hole 902 is parallel, the axis in first connecting rod hole 801 and second connecting rod hole 802
The distance between axis is greater than the axis of the first crank hole 901 and the distance between the axis of the second crank hole 902, flapping-wing framework
Have on 1 and reinforce vertical beam 104, web beam 105 and reinforce cant beam 106, blade limits beam 102, reinforces vertical beam 104, web beam
105 and reinforce cant beam 106 all using hollow structure and use engineering plastics.Agricultural plant protection unmanned plane is using the present invention is based on adaptive
Answer air-flow can be after the four flapping wing unmanned plane of Direct Action Type of rotating vane piece, since flapping wing impulse stroke thrust is big, flapping wing resistance is small, pneumatic effect
Rate is high, and flexibility mobility is very good, can efficiently and rapidly complete sowing fertilizers, sprays pulvis, the multiplicity function such as supple-mentary pollination
It can answer, cruise duration is long, and relative to 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. based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, it is characterised in that including flapping wing, slideway (4),
Connector (5), the first retarder (6), stepper motor (7), transmission mechanism, the second retarder (11), motor (12) and fuselage
Frame (15), fuselage ring (15) surrounding are symmetrically mounted with the slideway (4) of four vertical directions, four institutes
It states connector (5) to be slidably connected at respectively on four slideways (4), four flapping wings are connected to four connections
It on part (5) and can relatively rotate, the flapping wing includes flapping-wing framework (1), and is mounted in the flapping-wing framework (1) and turns
Dynamic blade (2), the flapping-wing framework (1) is interior to be additionally provided with the reset of torsional spring (3) for the blade (2), four sets of biographies
Motivation structure is respectively hinged on four connectors (5), four motor being arranged on the fuselage ring (15)
(12) four are driven respectively after slowing down respectively by four be arranged on the fuselage ring (15) second retarders (11)
Covering the transmission mechanism movement respectively slides up and down four connectors (5), is separately positioned on four connectors (5)
Four stepper motors (7) are respectively through setting after four the first retarders (6) on four connectors (5) are slowed down
Four flapping wing rotations are driven respectively.
2. it is according to claim 1 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: blade mounting hole (101), blade limit beam (102) and flapping wing shaft (103) are provided on the flapping-wing framework (1), it is described
Blade (2) includes the blade windward side (201) being oppositely arranged, blade leeward (203) and is arranged on the blade (2)
Blade rotor (202), the connector (5) are provided with skidway hole (501) and flapping wing shaft hole (503), the skidway hole (501)
Axis it is vertical with the axis of the flapping wing shaft hole (503), the slideway (4) is inserted into the skidway hole (501) and can
Sliding, the flapping wing shaft (103) are inserted into the flapping wing shaft hole (503) and can be rotated；The blade rotor (202) is inserted
It in the blade mounting hole (101) and can be rotated, the torsional spring (3) is sleeved on the blade rotor (202), the torsion
Spring (3) both ends are arranged respectively close to the flapping-wing framework (1) and the blade windward side (201)；When the torsional spring (3) are in pressure
Contracting state, the blade leeward (203) is close to blade limit beam (102).
3. it is according to claim 1 or 2 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature
Be: the transmission mechanism includes connecting rod (8), crank (9), transmission shaft (10), is provided with the first pin shaft on the connector (5)
Hole (502), the axis of first pin shaft hole (502) respectively with the axis of the skidway hole (501), the flapping wing shaft hole
(503) axis is vertical；First connecting rod hole (801) and second connecting rod hole (802), the crank are provided on the connecting rod (8)
(9) there are the first crank hole (901) and the second crank hole (902) on；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 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: the axis of the 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 described
The distance between axis of two tie rod holes (802) is greater than the axis and second crank hole of first crank hole (901)
(902) the distance between axis.
5. it is according to claim 2 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: the flapping wing shaft (103) is mounted on the output shaft of first retarder (6), the output shaft of the stepper motor (7)
It is mounted in the input hole of first retarder (6).
6. it is according to claim 3 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: the output shaft of the motor (12) is mounted in the second retarder (11) input hole.
7. it is according to claim 2 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: it further include reinforcing vertical beam (104), web beam (105) and reinforcing in cant beam (106) at least on the flapping-wing framework (1)
One kind, for reinforcing the intensity of the flapping-wing framework (1).
8. it is according to claim 7 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: blade limit beam (102), the reinforcement vertical beam (104), the web beam (105) and the reinforcement cant beam
It (106) is hollow structure；Described blade limit beam (102), the reinforcement vertical beam (104), the web beam (105) and
The reinforcement cant beam (106) is engineering plastics material；It is described blade limit beam (102), the reinforcement vertical beam (104), described
Web beam (105) and the reinforcement cant beam (106) are carbon fiber material.
9. it is according to claim 1 based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type, feature exists
In: the quantity for the blade (2) installed in each flapping-wing framework (1) is greater than 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651890.5A CN110294121B (en) | 2019-07-18 | 2019-07-18 | Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651890.5A CN110294121B (en) | 2019-07-18 | 2019-07-18 | Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110294121A true CN110294121A (en) | 2019-10-01 |
| CN110294121B CN110294121B (en) | 2021-01-08 |
Family
ID=68031364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910651890.5A Active CN110294121B (en) | 2019-07-18 | 2019-07-18 | Direct-acting four-flapping-wing unmanned aerial vehicle based on self-adaptive airflow rotatable blades |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110294121B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911346A (en) * | 2021-11-17 | 2022-01-11 | 江苏第二师范学院（江苏省教育科学研究院） | Variable windward area variable inclination angle driving energy adjustable continuous winged device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1541893A (en) * | 2003-04-29 | 2004-11-03 | 魏顶启 | Airfoil having holes and flaps for ornithopter |
| CN101020502A (en) * | 2007-01-24 | 2007-08-22 | 田顺强 | Flapping wing unit of flapping wing aircraft |
| RU2349507C2 (en) * | 2007-04-23 | 2009-03-20 | Анатолий Степанович Васильев | Flapping wing flight vehicle universal drive |
| CN102211667A (en) * | 2011-04-14 | 2011-10-12 | 西北工业大学 | Flapping wing driving mechanism of two-level parallel gear reduction |
| CN102229359A (en) * | 2011-06-09 | 2011-11-02 | 西北工业大学 | Cylindrical cam flapping wing driving mechanism |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
| CN106494617A (en) * | 2016-09-28 | 2017-03-15 | 南京航空航天大学 | One kind can VTOL flapping wing aircraft and its flight control method |
| CN108190013A (en) * | 2018-02-11 | 2018-06-22 | 陆昌新 | Can in real time control direction, pitching and from become inclination angle translation flapping wing |
-
2019
- 2019-07-18 CN CN201910651890.5A patent/CN110294121B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1541893A (en) * | 2003-04-29 | 2004-11-03 | 魏顶启 | Airfoil having holes and flaps for ornithopter |
| CN101020502A (en) * | 2007-01-24 | 2007-08-22 | 田顺强 | Flapping wing unit of flapping wing aircraft |
| RU2349507C2 (en) * | 2007-04-23 | 2009-03-20 | Анатолий Степанович Васильев | Flapping wing flight vehicle universal drive |
| CN102211667A (en) * | 2011-04-14 | 2011-10-12 | 西北工业大学 | Flapping wing driving mechanism of two-level parallel gear reduction |
| CN102229359A (en) * | 2011-06-09 | 2011-11-02 | 西北工业大学 | Cylindrical cam flapping wing driving mechanism |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
| CN106494617A (en) * | 2016-09-28 | 2017-03-15 | 南京航空航天大学 | One kind can VTOL flapping wing aircraft and its flight control method |
| CN108190013A (en) * | 2018-02-11 | 2018-06-22 | 陆昌新 | Can in real time control direction, pitching and from become inclination angle translation flapping wing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911346A (en) * | 2021-11-17 | 2022-01-11 | 江苏第二师范学院（江苏省教育科学研究院） | Variable windward area variable inclination angle driving energy adjustable continuous winged device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110294121B (en) | 2021-01-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110254709B (en) | Self-adaptive air flow rotatable blade variable-inclination-angle direct-acting flapping wing device and flapping wing method | |
| CN110294119B (en) | Wing piece self-adaptive rotary swing type variable-inclination-angle flapping wing device and flapping wing method | |
| CN110422329B (en) | Wheel type movable wing device and method for controlling rotation of blades through cam | |
| CN209305829U (en) | A kind of imitative dandelion cluster aircraft of umbrella wing formula | |
| CN110254712A (en) | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane | |
| CN206704537U (en) | A kind of fixed-wing unmanned plane | |
| CN110371285B (en) | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle | |
| CN110254711A (en) | Two horizontal four vertical blades can turn six wheeled dynamic wing unmanned planes | |
| CN110356552A (en) | Equipped with can rotating vane piece the double flapping wing unmanned planes of Direct Action Type | |
| CN110294120A (en) | Synchronous oscillating can four flapping wing aircraft of rotor piece | |
| CN110294118B (en) | Low-resistance synchronous direct-acting type double-flapping-wing aircraft | |
| CN110294121A (en) | Based on adaptive air-flow can rotating vane piece four flapping wing unmanned plane of Direct Action Type | |
| CN110254705B (en) | Single-wheel type moving-wing aircraft with rotatable and horizontal blades and fixed wings | |
| CN110254708B (en) | Variable-inclination-angle swing type double-flapping-wing unmanned aerial vehicle with rotatable wing pieces | |
| CN114056557A (en) | Hybrid power tilt rotor unmanned aerial vehicle | |
| CN110316371B (en) | Synchronous direct-acting four-flapping-wing aircraft with rotatable blades | |
| CN110282124A (en) | It can turn horizontal four wheeled dynamic rotor aircraft in conjunction with the blade of fixed-wing | |
| CN113911345A (en) | Variable windward area drive energy-adjustable bicontinuous synchronous swinging type unmanned aerial vehicle with wings | |
| CN110294122A (en) | The four flapping wing unmanned plane of swing type of lower resistance variable pitch | |
| CN110294123B (en) | Synchronous swing type double-flapping-wing aircraft based on rotatable wing piece | |
| CN110282125A (en) | It can turn vertical dicycly based on blade and move the aircraft that the wing pushes | |
| CN107640316B (en) | A kind of long voyage vibration rotor aircraft | |
| CN113895615A (en) | Four-pull-curtain type synchronous swinging type flapping wing aircraft with adjustable driving energy | |
| CN113911338A (en) | Automatic curtain-drawing driving energy-adjustable high-efficiency flying flapping wing device | |
| CN113911339A (en) | Synchronous swing type variable-inclination angle driving energy-adjustable four-continuous winged aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |