CN110329489A - Parallel unmanned vehicle based on flexible connection technology - Google Patents
Parallel unmanned vehicle based on flexible connection technology Download PDFInfo
- Publication number
- CN110329489A CN110329489A CN201910766460.8A CN201910766460A CN110329489A CN 110329489 A CN110329489 A CN 110329489A CN 201910766460 A CN201910766460 A CN 201910766460A CN 110329489 A CN110329489 A CN 110329489A
- Authority
- CN
- China
- Prior art keywords
- wing
- parallel
- flexible connection
- connection technology
- unmanned vehicle
- 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.)
- Pending
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 32
- 239000000178 monomer Substances 0.000 claims abstract description 25
- 229910000639 Spring steel Inorganic materials 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241001155433 Centrarchus macropterus Species 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The disclosure provides a kind of parallel unmanned vehicle based on flexible connection technology, including multi rack monomer unmanned plane, and sequentially flexible parallel connection connects the wing attachment structure between wing of the multi rack monomer unmanned plane by being set to adjacent monomer unmanned plane；The wing attachment structure, comprising: connecting rod rzeppa joint, both ends are separately connected on the wing of adjacent monomer unmanned plane；And spring steel plate component, both ends are separately connected on the wing of adjacent monomer unmanned plane, including two circlip arculaes；Above-mentioned flexible connection technology can be effectively relieved in parallel unmanned vehicle in the prior art that connection structure is complicated, and mechanism weight is big, reliability is low, once bindiny mechanism is stuck will to will lead to the technical problems such as unmanned plane is out of control.
Description
Technical field
This disclosure relates to vehicle technology field more particularly to a kind of parallel unmanned flight based on flexible connection technology
Device.
Background technique
High altitude long time flying instrument has that wing aspect ratio is big, the gossamery feature of fuselage, because of its overlength cruising ability day
Benefit is taken seriously.It is issued however, the big flexible structure of high altitude long time aircraft may cause aircraft in orthodox flight condition
Raw big deformation, structure low frequency, which trembles, couple with rigid motion and the problems such as aerodynamic stalling, with significant with rigid-body spacecraft
Different aeroelasticities and flight dynamics characteristic, this also means that dummy vehicle dimension is high, complexity is high, non-linear spy
Point brings difficulty to control design case, therefore before control design case, it is necessary to study the reducing technique of big flexible flier model.
Different from Altitude Long Endurance Unmanned Air Vehicle, small-sized unmanned aircraft is with expense is low, mobility is good, flexible structure, good concealment, collection
The features such as groupization, however small drone is generally only applicable to the metastable region of low-to-medium altitude task weather environment, it is difficult to it holds
Row High-Altitude Mission.
In conjunction with above-mentioned two classes unmanned plane characteristic analysis, a kind of thinking of innovation is that multi rack small-sized unmanned aircraft is passed through machine
The wing is connected in parallel, but there are some problems for existing interconnection technique, due to the connection type between current unmanned vehicle
It is rigid connection, such as hinged connection structure, belongs to the deformable connection structure of rigidity, lack flexibility；Connection structure is multiple
Miscellaneous, mechanism weight is big, reliability is low, once bindiny mechanism is stuck, will to will lead to aircraft out of control.Therefore it needs for parallel nothing
It is man-machine to develop a kind of flexible connection technology, have the characteristics of connection type simple and flexible, can cause to fly to avoid mechanism-trouble
Problem.
Disclosure
(1) technical problems to be solved
Based on the above issues, present disclose provides a kind of parallel unmanned vehicles based on flexible connection technology, with slow
Connection structure is complicated in parallel unmanned vehicle in the prior art for solution, and mechanism weight is big, reliability is low, once bindiny mechanism blocks
The technical problems such as unmanned plane is out of control will extremely be will lead to.
(2) technical solution
In the disclosure, a kind of parallel unmanned vehicle based on flexible connection technology is provided, including multi rack monomer without
Man-machine, the wing attachment structure between wing of the multi rack monomer unmanned plane by being set to adjacent monomer unmanned plane is sequentially soft
Property is connected in parallel.
In the embodiments of the present disclosure, the wing attachment structure, comprising:
Connecting rod rzeppa joint, both ends are separately connected on the wing of adjacent monomer unmanned plane；And
Spring steel plate component, both ends are separately connected on the wing of adjacent monomer unmanned plane, the spring steel plate component packet
Include two circlip arculaes.
In the embodiments of the present disclosure, the connecting rod rzeppa joint, comprising: driving shaft, and it is located at both ends of main drive shaft
Two socket arrangements；Each described socket arrangement one end is provided with a connecting shaft and connects adjacent wing, to make the connecting rod ball
Cage type universal joint is connected to adjacent wing by connecting shaft.
In the embodiments of the present disclosure, the spring steel plate component, comprising:
First circlip arculae, both ends are individually fixed in the front of adjacent wing；And
Second circlip arculae is close to be installed on the back side of adjacent wing with the first circlip arculae reverse symmetry.
In the embodiments of the present disclosure, the connecting rod rzeppa joint, quantity are 2.
In the embodiments of the present disclosure, the angle adjusting range of the driving shaft and wing is 0 ° to 90 °.
In the embodiments of the present disclosure, the connecting shaft angle of the driving shaft and socket arrangement is ± 45 °~± 50 °.
In the embodiments of the present disclosure, the wing tip of adjacent monomer unmanned plane is concave-convex fit structure.
In the embodiments of the present disclosure, entirety can be in a certain angle in pitch plane mode of motion, and the corner dimension is by ball
2 γ of freedom degree rotating angle and socket arrangement connecting shaft and the true angle of incidence of nest structure are determined.
In the embodiments of the present disclosure, since spring steel plate component has the lateral twisting characteristic of very little, in pitch plane energy
It realizes certain torsion angle, and there is auto restore facility.
(3) beneficial effect
It can be seen from the above technical proposal that the disclosure is at least had based on the parallel unmanned vehicle of flexible connection technology
There are one of following beneficial effect or in which a part:
(1) tip vortex can be effectively eliminated, the wingtip vortex and induced drag of single unmanned plane are reduced, increases unmanned plane oneself
My stabilizing power；
(2) structure is simple, easy for installation, and adjustment mode is flexible；
(3) highly-safe, it is less prone to mechanism-trouble.
Detailed description of the invention
Fig. 1 is parallel unmanned vehicle and its wing attachment structure office of the embodiment of the present disclosure based on flexible connection technology
Portion's enlarged diagram.
Fig. 2 is the wing attachment structure signal of parallel unmanned vehicle of the embodiment of the present disclosure based on flexible connection technology
Figure.
Fig. 3 is the bullet of the wing attachment structure of parallel unmanned vehicle of the embodiment of the present disclosure based on flexible connection technology
Spring steel disc component structure diagram.
Fig. 4 is the ball of the wing attachment structure of parallel unmanned vehicle of the embodiment of the present disclosure based on flexible connection technology
Cage type universal joint axial freedom angle schematic diagram.
Fig. 5 is the wing rolling of parallel unmanned vehicle of the embodiment of the present disclosure based on flexible connection technology being connected
Plane motion mode schematic diagram.
Fig. 6 is the wing pitching of parallel unmanned vehicle of the embodiment of the present disclosure based on flexible connection technology being connected
Plane torsion mode schematic diagram.
[embodiment of the present disclosure main element symbol description in attached drawing]
1- connecting rod rzeppa joint；
11- socket arrangement；
12- driving shaft；
2- spring steel plate component；
21- the first circlip arculae；
22- the second circlip arculae；
3- convex wing point；
The recessed wing tip of 4-；
5- screw.
Specific embodiment
Present disclose provides a kind of parallel unmanned vehicle based on flexible connection technology, adjacent unmanned plane wing tip is used
Flexible structure connection, can effectively eliminate tip vortex, reduce the wingtip vortex and induced drag of single unmanned plane, increase aircraft
Selfstabilizing ability.
A kind of thinking of innovation is that multi rack small-sized unmanned aircraft is connected in parallel by wing tip, and connection is using soft
Property structure connection, form the combined type aircraft with flexible high aspect ratio.Combined type flexible aircraft is biased into be created in structure
The limiting form that new cluster is formed into columns has many-sided advantage: from the aspect of pneumatic efficiency, the flight of short distance disjunctor can be effective
The wingtip vortex and induced drag of single aircraft are eliminated, fuel oil is saved, obtains the aeroperformance for being equivalent to high-aspect-ratio aircraft；From
Configuration aspects consider that the design of wing tip docking structure is similar to the passive gust alleviation device of wing tip, and this kind of device is by pneumatic
Load acts on lower generate and bends and stretches displacement or torsion of bowing, and then influence wing loads are distributed to reach and slow down effect；In load and hold
In terms of row task, it is easy to accomplish distributed load flexible allocation can be in different monomers unmanned plane for various tasks demand
The different loading device of upper arrangement, such as executes search and rescue task, the unmanned plane scanning area equipped with radar equipment, can with equipped with force
The unmanned plane of device connects, to resist any hostile entity, while can also be with the unmanned plane phase of a large amount of fuel/electric powers supplies of carrying
Even.When execution task can wing tip connection obtain clustering performance gain, reach mission area after disperse execution task, at double promoted appoint
Business execution efficiency.
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
In the embodiments of the present disclosure, a kind of parallel unmanned vehicle based on flexible connection technology is provided, extremely in conjunction with Fig. 1
Shown in Fig. 6, the parallel unmanned vehicle based on flexible connection technology, comprising:
Multi rack monomer unmanned plane, the multi rack monomer unmanned plane is by being set between the wing of adjacent monomer unmanned plane
Sequentially flexible parallel connection connects wing attachment structure；
In the embodiment of the present disclosure, the wing attachment structure, comprising: connecting rod rzeppa joint 1 and spring steel plate group
Part 2；
The connecting rod rzeppa joint includes: driving shaft 12, and positioned at two socket arrangements 11 of both ends of main drive shaft；
Each described socket arrangement one end is provided with a connecting shaft and connects adjacent wing, so that the connecting rod rzeppa joint be made to pass through company
Axis connection is in adjacent wing.
The spring steel plate component includes: the first circlip arculae 21, and both ends are individually fixed in the front of adjacent wing；The
Two circlip arculaes 22 are close to be installed on the back side of adjacent wing with 21 reverse symmetry of the first circlip arculae；As shown in Figure 3.
In the embodiments of the present disclosure, the connecting rod rzeppa joint, quantity are 2；
The connection of the socket arrangement and wing belongs to rigid connection.
Described: the connecting pin of the first circlip arculae 21 and the second circlip arculae 22 and wing is rigid connection, can be used but
It is fixed to be not limited to through-hole screw 3.
0 ° to 90 ° of angle adjustable range of the driving shaft and wing.
The wing is equipped with connecting shaft and spring steel plate component mounting hole；
The connecting shaft angle of the driving shaft and socket arrangement is ± 45 °~± 50 °, so that successful two airplane of docking can
To realize the Finite Twist movement of limited free movement and pitch plane on rolling direction.
In the embodiments of the present disclosure, the wing tip being connected by wing attachment structure is provided with corresponding bumps and matches
Close structure.As shown in Fig. 2, the convex wing point 3 and recessed wing tip 4 of adjacent unmanned plane are respectively designed to convex isosceles triangle and recessed isosceles three
Angular corresponding configuration.
In the embodiments of the present disclosure, as shown in Fig. 2, connecting rod rzeppa joint is by two two socket arrangements of active axis connection
Composition, single socket arrangement are traditional rzeppa joint.Its connecting shaft and two wings in rigid connection, connecting shaft and wing
Angle can adjust installation, range [0 °, 90 °] according to actual needs.
In the embodiments of the present disclosure, as shown in Fig. 2, being connected between convex/recessed two vertex of wing tip by spring steel plate component, bullet
Spring steel disc component and wing are in rigid connection.Spring steel plate component uses circlip arculae, and elasticity and size can be selected as needed
Take suitable types.
In the embodiments of the present disclosure, as shown in figure 3, the first circlip arculae 21 and the second circlip arculae 22, respectively in wing
Wing tip vertex of surface concave/convex (or central point) reverse symmetry is close to the first circlip arculae 21 of installation and the second circlip arculae 22 and two sides
Wing can be used in rigid connection but be not limited to through-hole screw 4 and fix.
In the embodiments of the present disclosure, as shown in figure 4, the unilateral side of the connecting rod rzeppa joint is traditional type ball cage type ten thousand
Xiang Jie (socket arrangement), having certain support, power transmission and rotary action, the driving shaft 12 and the connecting shaft of socket arrangement 11 can be in
The freedom degree rotating angle of existing 2 γ.Body coordinate system is subject to, when adjacent monomer unmanned plane only passes through link-type cage universal joint
After rigid connection, two framves can have OxReverse movement and O on directionxz、OyzTurn-back on direction, total three degree of freedom.
In the embodiments of the present disclosure, as shown in figure 5, the wing of adjacent two monomers unmanned plane passes through connecting rod rzeppa joint
1 and after spring steel plate component 2 connects, unmanned plane is whole in pitch plane mode of motion OyzIt can be in α angle, size is by ball-and-socket
2 γ of angle and socket arrangement connecting shaft and the true angle of incidence of structure are limited.After two wing turn-backs, by spring steel plate component
Elastic reaction generates and restores elastic force, promotes wing integrally to restore deformation, this is Selfstabilizing function caused by mechanical structure.
This structure can effectively eliminate tip vortex, reduce the wingtip vortex and induced drag of single unmanned plane.
In the embodiments of the present disclosure, as shown in fig. 6, two frame unmanned planes pass through connecting rod rzeppa joint 1 and spring steel plate
After component 2 connects, since circlip arculae can have the lateral twisting characteristic of very little, unmanned plane is whole in pitch plane OxzIt can be real
The torsion angle β of existing very little, and there is auto restore facility, increase the Selfstabilizing ability of unmanned plane.
The parallel unmanned vehicle based on flexible connection technology is made of the connection of multi rack monomer unmanned plane, adjacent nothing
Man-machine wing tip is connected using flexible structure, and combined parallel unmanned vehicle is in OyzIt is transported in plane in finite degrees of freedom mode
Dynamic, adjacent monomer unmanned plane is in OxzPlane can be in limited torsion.
So far, attached drawing is had been combined the embodiment of the present disclosure is described in detail.It should be noted that in attached drawing or saying
In bright book text, the implementation for not being painted or describing is form known to a person of ordinary skill in the art in technical field, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or be replaced to it.
According to above description, those skilled in the art should to the disclosure based on flexible connection technology it is parallel nobody fly
Row device has clear understanding.
In conclusion present disclose provides it is a kind of based on flexible connection technology parallel unmanned vehicle, it is adjacent nobody
Wing point is connected using flexible structure, can be effectively eliminated tip vortex, be reduced the wingtip vortex and induced drag of single unmanned plane, is increased
Add the Selfstabilizing ability of aircraft.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction with reference to attached drawing, not is used to limit the protection scope of the disclosure.Through attached drawing, identical element by
Same or similar appended drawing reference indicates.When may cause understanding of this disclosure and cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between parentheses should not be configured to the limit to claim
System.
It unless there are known entitled phase otherwise anticipates, the numerical parameter in this specification and appended claims is approximation, energy
Enough bases pass through the resulting required characteristic changing of content of this disclosure.Specifically, all be used in specification and claim
The middle content for indicating composition, the number of reaction condition etc., it is thus understood that repaired by the term of " about " in all situations
Decorations.Under normal circumstances, the meaning expressed refers to include by specific quantity ± 10% variation in some embodiments, some
± 5% variation in embodiment, ± 1% variation in some embodiments, in some embodiments ± 0.5% variation.
Furthermore word "comprising" does not exclude the presence of element or step not listed in the claims.It is located in front of the element
Word "a" or "an" does not exclude the presence of multiple such elements.
The word of ordinal number such as " first ", " second ", " third " etc. used in specification and claim, with modification
Corresponding element, itself is not meant to that the element has any ordinal number, does not also represent the suitable of a certain element and another element
Sequence in sequence or manufacturing method, the use of those ordinal numbers are only used to enable an element and another tool with certain name
Clear differentiation can be made by having the element of identical name.
In addition, unless specifically described or the step of must sequentially occur, there is no restriction in the above institute for the sequence of above-mentioned steps
Column, and can change or rearrange according to required design.And above-described embodiment can be based on the considerations of design and reliability, that
This mix and match is used using or with other embodiments mix and match, i.e., the technical characteristic in different embodiments can be freely combined
Form more embodiments.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.Also, in the unit claims listing several devices, several in these devices can be by same hard
Part item embodies.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description of the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
The disclosure of shield requires features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as the separate embodiments of the disclosure.
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of parallel unmanned vehicle based on flexible connection technology, including multi rack monomer unmanned plane, the multi rack monomer
Sequentially flexible parallel connection connects wing attachment structure between wing of the unmanned plane by being set to adjacent monomer unmanned plane.
2. the parallel unmanned vehicle according to claim 1 based on flexible connection technology, the wing attachment structure,
Include:
Connecting rod rzeppa joint, both ends are separately connected on the wing of adjacent monomer unmanned plane；And
Spring steel plate component, both ends are separately connected on the wing of adjacent monomer unmanned plane, and the spring steel plate component includes two
A circlip arculae.
3. the parallel unmanned vehicle according to claim 2 based on flexible connection technology, the connecting rod ball cage type ten thousand
Xiang Jie, comprising: driving shaft, and two socket arrangements positioned at both ends of main drive shaft；Each described socket arrangement one end is provided with
One connecting shaft connects adjacent wing, so that the connecting rod rzeppa joint be made to be connected to adjacent wing by connecting shaft.
4. the parallel unmanned vehicle according to claim 2 based on flexible connection technology, the spring steel plate component,
Include:
First circlip arculae, both ends are individually fixed in the front of adjacent wing；And
Second circlip arculae is close to be installed on the back side of adjacent wing with the first circlip arculae reverse symmetry.
5. the parallel unmanned vehicle according to claim 2 based on flexible connection technology, the connecting rod ball cage type ten thousand
Xiang Jie, quantity are 2.
6. the parallel unmanned vehicle according to claim 3 based on flexible connection technology, the driving shaft and wing
Angle adjusting range be 0 ° to 90 °.
7. the parallel unmanned vehicle according to claim 3 based on flexible connection technology, the driving shaft and ball-and-socket
The connecting shaft angle of structure is ± 45 °~± 50 °.
8. the parallel unmanned vehicle according to claim 1 based on flexible connection technology, adjacent monomer unmanned plane
Wing tip be concave-convex fit structure.
9. the parallel unmanned vehicle according to claim 1 based on flexible connection technology, entirety is in pitch plane
Mode of motion can be in a certain angle, the corner dimension by socket arrangement 2 γ of freedom degree rotating angle and socket arrangement connecting shaft with
The true angle of incidence determines.
10. the parallel unmanned vehicle according to claim 1 based on flexible connection technology, due to spring steel plate component
There is the lateral twisting characteristic of very little, certain torsion angle is able to achieve in pitch plane, and there is auto restore facility.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910766460.8A CN110329489A (en) | 2019-08-19 | 2019-08-19 | Parallel unmanned vehicle based on flexible connection technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910766460.8A CN110329489A (en) | 2019-08-19 | 2019-08-19 | Parallel unmanned vehicle based on flexible connection technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110329489A true CN110329489A (en) | 2019-10-15 |
Family
ID=68149920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910766460.8A Pending CN110329489A (en) | 2019-08-19 | 2019-08-19 | Parallel unmanned vehicle based on flexible connection technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110329489A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111204444A (en) * | 2020-03-17 | 2020-05-29 | 中国科学院工程热物理研究所 | Wing tip connecting structure of combined unmanned aerial vehicle |
| CN111232208A (en) * | 2020-03-27 | 2020-06-05 | 中国科学院工程热物理研究所 | Wingtip flexible connection fixed wing combined unmanned aerial vehicle and attitude control method thereof |
| CN112977879A (en) * | 2021-04-01 | 2021-06-18 | 中国航天空气动力技术研究院 | Aeroelastic test platform |
| CN113031637A (en) * | 2021-03-05 | 2021-06-25 | 北京理工大学 | Multi-flying-robot integrated operation platform |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB670364A (en) * | 1949-08-23 | 1952-04-16 | Fairey Aviat Co Ltd | Improvements in or relating to metal-covered flexible rotor blades for rotary wing aircraft |
| DE10313290A1 (en) * | 2003-03-25 | 2004-10-21 | Eads Deutschland Gmbh | Wing structure for aircraft, has outer wing that swivels relative to inner wing when it hits certain counter force to reduce high fluid mechanical loads affecting aircraft wing |
| CN102658866A (en) * | 2012-05-25 | 2012-09-12 | 辽宁通用航空研究院 | Conjoined aircraft with straight layout |
| CN103963972A (en) * | 2013-01-29 | 2014-08-06 | 中国航空工业集团公司西安飞机设计研究所 | System composed of all-wing unmanned planes capable of making wings oblique and connected in parallel through coupling of wingtips |
| CN205010505U (en) * | 2015-10-10 | 2016-02-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Control rigidity analogue means and have its rudder face transonic flutter model |
| CN107554781A (en) * | 2017-08-07 | 2018-01-09 | 北京理工大学 | It is a kind of to cut with scissors the wing and preparation method for the miniature elasticity for flutterring rotor craft |
| CN107651164A (en) * | 2017-08-28 | 2018-02-02 | 北京航空航天大学 | A kind of wing wide-angle inclining rotary mechanism for small-sized tilting wing formula aircraft |
| CN208699039U (en) * | 2018-07-07 | 2019-04-05 | 周松鹤 | Unmanned plane is used in a kind of teaching |
| CN211223835U (en) * | 2019-08-19 | 2020-08-11 | 中国科学院工程热物理研究所 | Parallel type unmanned aerial vehicle based on flexible connection technology |
-
2019
- 2019-08-19 CN CN201910766460.8A patent/CN110329489A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB670364A (en) * | 1949-08-23 | 1952-04-16 | Fairey Aviat Co Ltd | Improvements in or relating to metal-covered flexible rotor blades for rotary wing aircraft |
| DE10313290A1 (en) * | 2003-03-25 | 2004-10-21 | Eads Deutschland Gmbh | Wing structure for aircraft, has outer wing that swivels relative to inner wing when it hits certain counter force to reduce high fluid mechanical loads affecting aircraft wing |
| CN102658866A (en) * | 2012-05-25 | 2012-09-12 | 辽宁通用航空研究院 | Conjoined aircraft with straight layout |
| CN103963972A (en) * | 2013-01-29 | 2014-08-06 | 中国航空工业集团公司西安飞机设计研究所 | System composed of all-wing unmanned planes capable of making wings oblique and connected in parallel through coupling of wingtips |
| CN205010505U (en) * | 2015-10-10 | 2016-02-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Control rigidity analogue means and have its rudder face transonic flutter model |
| CN107554781A (en) * | 2017-08-07 | 2018-01-09 | 北京理工大学 | It is a kind of to cut with scissors the wing and preparation method for the miniature elasticity for flutterring rotor craft |
| CN107651164A (en) * | 2017-08-28 | 2018-02-02 | 北京航空航天大学 | A kind of wing wide-angle inclining rotary mechanism for small-sized tilting wing formula aircraft |
| CN208699039U (en) * | 2018-07-07 | 2019-04-05 | 周松鹤 | Unmanned plane is used in a kind of teaching |
| CN211223835U (en) * | 2019-08-19 | 2020-08-11 | 中国科学院工程热物理研究所 | Parallel type unmanned aerial vehicle based on flexible connection technology |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111204444A (en) * | 2020-03-17 | 2020-05-29 | 中国科学院工程热物理研究所 | Wing tip connecting structure of combined unmanned aerial vehicle |
| CN111232208A (en) * | 2020-03-27 | 2020-06-05 | 中国科学院工程热物理研究所 | Wingtip flexible connection fixed wing combined unmanned aerial vehicle and attitude control method thereof |
| CN113031637A (en) * | 2021-03-05 | 2021-06-25 | 北京理工大学 | Multi-flying-robot integrated operation platform |
| CN113031637B (en) * | 2021-03-05 | 2023-03-10 | 北京理工大学 | Multi-flying-robot integrated operation platform |
| CN112977879A (en) * | 2021-04-01 | 2021-06-18 | 中国航天空气动力技术研究院 | Aeroelastic test platform |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110329489A (en) | Parallel unmanned vehicle based on flexible connection technology | |
| CN102358420B (en) | Attitude transforming aircraft | |
| Weisshaar | Static aeroelastic behavior of an adaptive laminated piezoelectric composite wing | |
| Prock et al. | Morphing airfoil shape change optimization with minimum actuator energy as an objective | |
| Pecora et al. | KRISTINA: Kinematic rib-based structural system for innovative adaptive trailing edge | |
| US20190248486A1 (en) | Flight device | |
| CN211223835U (en) | Parallel type unmanned aerial vehicle based on flexible connection technology | |
| CN111474852A (en) | Discrete sliding mode control method for piezoelectric drive deformable wing | |
| CN102765475B (en) | Air vehicle and electric steering engine capable of resisting large bending torque thereof | |
| CN102849210A (en) | Spherical small unmanned aircraft | |
| CN112650263B (en) | Control method of combined unmanned aerial vehicle | |
| CN113386946A (en) | Folding wing driven by rotating structure and shape memory alloy | |
| Acree | Rotor design options for improving V-22 whirl-mode stability | |
| CN115163736B (en) | Stewart mechanism with variable rigidity | |
| US10669013B2 (en) | Split gimbal | |
| DeAngelis | In-flight deflection measurement of the HiMAT aeroelastically tailored wing | |
| CN221145151U (en) | No angular displacement three-dimensional vibration isolation device suitable for airborne equipment | |
| Manzo et al. | Adaptive structural systems and compliant skin technology of morphing aircraft structures | |
| Striz et al. | Influence of structural and aerodynamic modeling on flutter analysis | |
| CN110294123B (en) | Synchronous swing type double-flapping-wing aircraft based on rotatable wing piece | |
| CN111008433B (en) | Method for determining rigidity of flexible airfoil surface suitable for distributed parabolic crankshaft drive | |
| CN216546668U (en) | Wing structure of light unmanned aerial vehicle | |
| CN110641739B (en) | Multi-dimensional rotating shaft connecting device | |
| AU2016204270A1 (en) | Unmanned aerial vehicle (uav) for reducing force per unit area applied on an arm in event of collision | |
| CN208611788U (en) | A kind of aeromodelling airplane with flight landing pooling feature |
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 |