CN110371288A - One kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle - Google Patents
One kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle Download PDFInfo
- Publication number
- CN110371288A CN110371288A CN201910703331.4A CN201910703331A CN110371288A CN 110371288 A CN110371288 A CN 110371288A CN 201910703331 A CN201910703331 A CN 201910703331A CN 110371288 A CN110371288 A CN 110371288A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- gear
- motor
- frame
- connect
- 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
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
It flutters the adjustable bionic flapping-wing flying vehicle in amplitude angle the present invention relates to one kind, including fuselage, flapping mechanism, Liang Ge wing mechanism, empennage mechanism, microprocessor and wireless communication module, the flapping mechanism is installed on the fuselage head, Liang Ge wing mechanism is left and right symmetrically arranged in the flapping mechanism two sides, and the empennage mechanism is installed on the afterbody.When taking off, so that first motor, the second motor and the third motor of flapping mechanism is started work, to provide larger power, be conducive to take off；After completion is taken off, make third motor stalls, first motor and the second motor continue to rotate；Meanwhile surface personnel can change the rotational angle of first motor and the second motor by remote controller, complete amplitude angle adjusting of once fluttering, realize and reduce amplitude angle of fluttering, and to reduce power demand, be conducive to save the energy, reduce flight cost.
Description
Technical field
It flutters the adjustable bionic flapping-wing flying vehicle in amplitude angle the present invention relates to vehicle technology field more particularly to one kind.
Background technique
Flapping wing aircraft refers to the aircraft for passing through wing active movement generation lift and forward power as bird, flapping wing
Aircraft agitates to fly in flight course by double-vane.It is either led in military investigation field or the civilian disaster relief etc.
Domain, it has very wide application prospect.
When the wing of bionic flapping-wing flying vehicle is rocked to Upper-lower Limit position, it is referred to as and flutters with the angle of horizontal plane
Dynamic upper amplitude angle, lower amplitude angle of fluttering, upper amplitude angle of fluttering are known as amplitude angle of fluttering with the sum of lower amplitude angle of fluttering.
At present about bionic flapping-wing flying vehicle, there are many mechanism designs to be suggested, such as the research and development of festo company, Germany
Smartbird Fang Niao robot, ideally replicate the external form of birds, realize in the sky fly, turn to, flapping mechanism
For crank and rocker mechanism, structure is simply easily achieved, but then there are still deficiencies compared with birds.Because of crank and rocker mechanism
The Upper-lower Limit position that middle rocking bar is swung be it is fixed, on flapping wing under amplitude, flapping wing amplitude be it is fixed, therefore, flutter
Amplitude angle is fixed.
In general, needing larger amplitude angle of fluttering when flapping wing aircraft takes off, after taking off, required amplitude angle of fluttering is compared
It is small.It is fixed amplitude angle of fluttering after taking off and when taking off if amplitude of fluttering angle is fixed, required power is larger, at
This is higher, and is unfavorable for adapting to the various Environmental variations such as strong wind, air-flow.
Summary of the invention
Present invention aims at solve above-mentioned technical problem, thus provide one kind flutter the adjustable bionic flapping-wing in amplitude angle fly
Row device.
The invention is realized by the following technical scheme:
One kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle, including fuselage 1, flapping mechanism 2, Liang Ge wing mechanism 3,
Empennage mechanism 4, microprocessor and wireless communication module, the flapping mechanism 2 are installed on 1 head of fuselage, two wing machines
Structure 3 is left and right symmetrically arranged in 2 two sides of flapping mechanism, and the empennage mechanism 4 is installed on 1 tail portion of fuselage；
The fuselage 1 includes rack 5, and it is solid that rack 5 is internally provided with the first fixed frame 6, the second fixed frame 7, first
Fixed board 8, the second fixed plate 9, the 4th fixed plate 19, first bearing bar 10, second bearing bar 11,3rd bearing bar 12, the 4th axis
Hold bar 13,5th bearing bar 14 and 6th bearing bar 141, the first fixed frame 6, the second fixed frame 7 respectively with the rack 5
Connection；First fixed frame 6 is provided with the first connection frame 15, and the second fixed frame 7 is provided with the second connection frame 16, and third is fixed
Plate 18 is provided with third connection frame 21；First fixed plate 8 is connect with the second connection frame 16, the second fixed plate 9 and the second connection frame
16 connections, the second fixed plate 9 are located at 8 lower section of the first fixed plate；First bearing bar 10, second bearing bar 11,3rd bearing bar 12
It is connect respectively with the second connection frame 16, fourth bearing bar 13 is flexibly connected with the second connection frame 16；14 both ends of 5th bearing bar point
Do not connect with the first fixed frame 6, the second fixed frame 7,141 both ends of 6th bearing bar respectively with the first fixed frame 6, second
Fixed frame 7 connects；Multiple fixed links 17, each fixed link 17 are provided between first fixed frame 6 and the second fixed frame 7
Both ends are connect with the first fixed frame 6, the second fixed frame 7 respectively；
The flapping mechanism 2 includes first motor 30, the second motor 31, third motor 32, first gear 22, second gear
23, third gear 24, the 4th gear 25, the 5th gear 26, the 6th gear 27, the 7th gear 28, eighth gear 29, first connecting rod
33, second connecting rod 34, third connecting rod 35, fourth link 36, the 5th connecting rod 37, six-bar linkage 38, seven-link assembly 39, the 8th connecting rod
40, the 9th connecting rod 41, the tenth connecting rod 42, the first sliding block 49 and the second sliding block 50, the first motor 30 and the second motor 31 are
It is installed on first fixed plate 8, third motor 32 is installed on second fixed plate 9；First gear 22 and first motor 30
Axis connection is rotated, the 4th gear 25 is engaged with first gear 22, and the 4th gear 25 is connect with first bearing bar 10；Second gear 23
Axis connection is rotated with the second motor 31, the 5th gear 26 is engaged with second gear 23, and the 5th gear 26 connects with second bearing bar 11
It connects；Third gear 24 and third motor 32 rotate axis connection, and the 6th gear 27 is engaged with third gear 24, the 6th gear 27, the
Seven gears 28 are connect with the fourth bearing bar 13 respectively；Eighth gear 29 is engaged with the 7th gear 28；33 one end of first connecting rod
It is connect with the 4th gear 25,34 one end of second connecting rod is connect with eighth gear 29,33 other end of first connecting rod and second connecting rod 34
The other end is hinged；36 one end of fourth link is respectively articulated with 33 other end of first connecting rod, 34 other end of second connecting rod, fourth link
36 other ends and the 5th connecting rod 37 are hinged；Fourth link 36 is provided with the first sliding block 49, the first sliding block 49 and 6th bearing bar 141
Hingedly；35 one end of third connecting rod and second connecting rod 34 are hinged, and the other end and the 5th connecting rod 37 are hinged；38 one end of six-bar linkage and the
The connection of five gears 26,39 one end of seven-link assembly are connect with the 7th gear 28, and 38 other end of six-bar linkage and seven-link assembly 39 are another
End is hinged, and 40 one end of the 8th connecting rod is respectively articulated with 38 other end of six-bar linkage, 39 other end of seven-link assembly, and the 8th connecting rod 40 is another
One end and the tenth connecting rod 42 are hinged；8th connecting rod 40 is provided with the second sliding block 50, and the second sliding block 50 and 5th bearing bar 14 are hinged；
9th connecting rod, 41 one end and seven-link assembly 39 are hinged, and the other end and the tenth connecting rod 42 are hinged；
The wing mechanism 3 include multiple aerofoil support frames 43, aerofoil support frame 43 be respectively arranged at the tenth connecting rod 42,
8th connecting rod 40, aerofoil support frame 43 are separately connected with the tenth connecting rod 42, the 8th connecting rod 40.
The empennage mechanism 4 includes steering engine 44, steering engine turntable 45, the 11st connecting rod 46, empennage connection frame 47 and empennage
Plate 48,44 shaft of steering engine, steering engine turntable 45, the 11st connecting rod 46, empennage connection frame 47 and tail plate 48 are sequentially connected,
The steering engine 44 is installed on the 4th fixed plate 19, and the first mounting hole 471 is provided in the middle part of the empennage connection frame 47, described
First mounting hole 471 is connect with 21 end of third connection frame, and the steering engine 44 is electrically connected with the microprocessor.
The wireless communication module and microprocessor electric connection, the microprocessor and the first motor 30,
Second motor 31, third motor 32, steering engine 44 are electrically connected.
Further, fixed ring 20 is provided in 5 head of rack.
Further, 5 tail portion of rack is provided with third fixed plate 18.
Further, the rack 5 is A font.
Further, first connection frame 15 and the second connection frame 16 are X-shaped.
Further, first fixed frame 6 and the second fixed frame 7 are ellipse.
Further, the wing support frame is arc-shaped.
Further, the tail plate 48 is sector.
Compared with prior art, the present invention mainly has the beneficial effect that:
(1) it the present invention overcomes the technological deficiency that amplitude angle is fixed value of fluttering of the prior art, is provided with and flutters in structure
Motivation structure realizes that amplitude angle of fluttering is adjustable.When taking off, open first motor, the second motor and the third motor of flapping mechanism
It starts building to make, to provide larger power, is conducive to take off；After completion is taken off, make third motor stalls, first motor and second
Motor continues to rotate；Meanwhile surface personnel can be such that first motor and the second motor rotates by remote controller, drive
First gear and second gear rotation, and then the 4th gear and the rotation of the 5th gear are driven, and then drive first connecting rod and the 6th
Link rotatable.After first connecting rod and six-bar linkage rotate, the position of one end that first connecting rod is connect with the 4th gear changes
Become, the position of one end that six-bar linkage is connect with the 5th gear changes, namely upper amplitude of fluttering, lower amplitude of fluttering change
Become, completes the adjusting at primary amplitude angle of fluttering.By control first motor and the second motor rotational angle, and then controls first and connect
The position of one end that the position of one end that bar is connect with the 4th gear, six-bar linkage are connect with the 5th gear is fluttered to realize
Amplitude angle is adjustable, to reduce power demand, be conducive to save the energy, reduce flight cost, and can be conducive to adapt to strong wind,
The various Environmental variations such as air-flow.
(2) wing mechanism set by the present invention includes multiple aerofoil support frames, and aerofoil support frame is respectively arranged at the tenth company
Extension bar, the 8th connecting rod, aerofoil support frame are separately connected with the tenth connecting rod, the 8th connecting rod.Aerofoil support frame is for simulation
Plumage is prepared, and as covering builds skeleton.Multiple aerofoil support frames respectively with the tenth connecting rod, the 8th connecting rod,
Nine connecting rods composition is streamlined, is conducive to fly, and can more accurately simulate Bird Flight movement, reduce capacity loss.
(3) empennage mechanism set by the present invention includes steering engine, steering engine turntable, the 11st connecting rod, empennage connection frame and tail
Wing plate, the steering engine shaft, steering engine turntable, the 11st connecting rod, empennage connection frame and tail plate are sequentially connected.Ground handling people
Member can control the rotation direction of steering engine by remote controller, rotate clockwise or counterclockwise the shaft of steering engine, drive rudder
Machine turntable rotates clockwise or counterclockwise, and then the 11st connecting rod is driven to rotate clockwise or counterclockwise, and then drives empennage
Plate is swung up and down, and reaches the booster action adjusted to flight attitude.
(4) it is adjustable to can be realized amplitude angle of fluttering by the present invention, reduces power demand, reduces flight cost, and structure is simple, system
Make it is low in cost, have staple market value.
Detailed description of the invention
Fig. 1 is overall structure of the present invention
Fig. 2 is 1 structural scheme of mechanism of fuselage of the present invention
Fig. 3 is 2 structural schematic diagram of flapping mechanism of the present invention
Fig. 4 is 3 structural schematic diagram of wing mechanism of the present invention
Fig. 5 is 4 structural schematic diagram of empennage mechanism of the present invention
In figure:
1- fuselage；2- flapping mechanism；3- wing mechanism；4- empennage mechanism；5- rack；The first fixed frame of 6-；7- second
Fixed frame；The first fixed plate of 8-；The second fixed plate of 9-；10- first bearing bar；11- second bearing bar；12- 3rd bearing bar；
13- fourth bearing bar；14- 5th bearing bar；141- 6th bearing bar 141；The first connection frame of 15-；The second connection frame of 16-；17-
Fixed link；18- third fixed plate；The 4th fixed plate of 19-；20- fixed ring；21- third connection frame；22- first gear；23-
Two gears；24- third gear；The 4th gear of 25-；The 5th gear of 26-；The 6th gear of 27-；The 7th gear of 28-；29- octadentate
Wheel；30- first motor；The second motor of 31-；32- third motor；33- first connecting rod；34- second connecting rod；35- third connecting rod；
36- fourth link；The 5th connecting rod of 37-；38- six-bar linkage；39- seven-link assembly；The 8th connecting rod of 40-；The 9th connecting rod of 41-；42-
Ten connecting rods；43- aerofoil support frame；44- steering engine；45- steering engine turntable；The 11st connecting rod of 46-；47- empennage connection frame；471-
One mounting hole；48- tail plate；The first sliding block of 49-；The second sliding block of 50-.
Specific embodiment
Technical solution of the present invention is further described in detail with reference to the accompanying drawings of the specification.
Such as Fig. 1 to Fig. 5, one kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle, including fuselage 1, flapping mechanism 2, two
A wing mechanism 3, empennage mechanism 4, microprocessor and wireless communication module, the flapping mechanism 2 are installed on 1, the fuselage
Portion, Liang Ge wing mechanism 3 are left and right symmetrically arranged in 2 two sides of flapping mechanism, and the empennage mechanism 4 is installed on the fuselage 1
Tail portion；
The fuselage 1 includes rack 5, and it is solid that rack 5 is internally provided with the first fixed frame 6, the second fixed frame 7, first
Fixed board 8, the second fixed plate 9, the 4th fixed plate 19, first bearing bar 10, second bearing bar 11,3rd bearing bar 12, the 4th axis
Hold bar 13,5th bearing bar 14 and 6th bearing bar 141, the first fixed frame 6, the second fixed frame 7 respectively with the rack 5
Connection；First fixed frame 6 is provided with the first connection frame 15, and the second fixed frame 7 is provided with the second connection frame 16, and third is fixed
Plate 18 is provided with third connection frame 21；First fixed plate 8 is connect with the second connection frame 16, the second fixed plate 9 and the second connection frame
16 connections, the second fixed plate 9 are located at 8 lower section of the first fixed plate；First bearing bar 10, second bearing bar 11,3rd bearing bar 12
It is connect respectively with the second connection frame 16, fourth bearing bar 13 is flexibly connected with the second connection frame 16；14 both ends of 5th bearing bar point
Do not connect with the first fixed frame 6, the second fixed frame 7,141 both ends of 6th bearing bar respectively with the first fixed frame 6, second
Fixed frame 7 connects；Multiple fixed links 17, each fixed link 17 are provided between first fixed frame 6 and the second fixed frame 7
Both ends are connect with the first fixed frame 6, the second fixed frame 7 respectively；
The flapping mechanism 2 includes first motor 30, the second motor 31, third motor 32, first gear 22, second gear
23, third gear 24, the 4th gear 25, the 5th gear 26, the 6th gear 27, the 7th gear 28, eighth gear 29, first connecting rod
33, second connecting rod 34, third connecting rod 35, fourth link 36, the 5th connecting rod 37, six-bar linkage 38, seven-link assembly 39, the 8th connecting rod
40, the 9th connecting rod 41, the tenth connecting rod 42, the first sliding block 49 and the second sliding block 50, the first motor 30 and the second motor 31 are
It is installed on first fixed plate 8, third motor 32 is installed on second fixed plate 9；First gear 22 and first motor 30
Axis connection is rotated, the 4th gear 25 is engaged with first gear 22, and the 4th gear 25 is connect with first bearing bar 10；Second gear 23
Axis connection is rotated with the second motor 31, the 5th gear 26 is engaged with second gear 23, and the 5th gear 26 connects with second bearing bar 11
It connects；Third gear 24 and third motor 32 rotate axis connection, and the 6th gear 27 is engaged with third gear 24, the 6th gear 27, the
Seven gears 28 are connect with the fourth bearing bar 13 respectively；Eighth gear 29 is engaged with the 7th gear 28；33 one end of first connecting rod
It is connect with the 4th gear 25,34 one end of second connecting rod is connect with eighth gear 29,33 other end of first connecting rod and second connecting rod 34
The other end is hinged；36 one end of fourth link is respectively articulated with 33 other end of first connecting rod, 34 other end of second connecting rod, fourth link
36 other ends and the 5th connecting rod 37 are hinged；Fourth link 36 is provided with the first sliding block 49, the first sliding block 49 and 6th bearing bar 141
Hingedly；35 one end of third connecting rod and second connecting rod 34 are hinged, and the other end and the 5th connecting rod 37 are hinged；38 one end of six-bar linkage and the
The connection of five gears 26,39 one end of seven-link assembly are connect with the 7th gear 28, and 38 other end of six-bar linkage and seven-link assembly 39 are another
End is hinged, and 40 one end of the 8th connecting rod is respectively articulated with 38 other end of six-bar linkage, 39 other end of seven-link assembly, and the 8th connecting rod 40 is another
One end and the tenth connecting rod 42 are hinged；8th connecting rod 40 is provided with the second sliding block 50, and the second sliding block 50 and 5th bearing bar 14 are hinged；
9th connecting rod, 41 one end and seven-link assembly 39 are hinged, and the other end and the tenth connecting rod 42 are hinged；
The wing mechanism 3 include multiple aerofoil support frames 43, aerofoil support frame 43 be respectively arranged at the tenth connecting rod 42,
8th connecting rod 40, aerofoil support frame 43 are separately connected with the tenth connecting rod 42, the 8th connecting rod 40.
The empennage mechanism 4 includes steering engine 44, steering engine turntable 45, the 11st connecting rod 46, empennage connection frame 47 and empennage
Plate 48,44 shaft of steering engine, steering engine turntable 45, the 11st connecting rod 46, empennage connection frame 47 and tail plate 48 are sequentially connected,
The steering engine 44 is installed on the 4th fixed plate 19, and the first mounting hole 471 is provided in the middle part of the empennage connection frame 47, described
First mounting hole 471 is connect with 21 end of third connection frame, and the steering engine 44 is electrically connected with the microprocessor.
The wireless communication module and microprocessor electric connection, the microprocessor and the first motor 30,
Second motor 31, third motor 32, steering engine 44 are electrically connected.
Preferably, the wireless communication module and microprocessor are mounted on the first fixed plate 8.
Specifically, the first fixed frame 6, the second fixed frame 7, the first connection frame 15 and the second connection frame 16 are set vertically
It sets, the first fixed plate 8, the second fixed plate 9 and the 4th fixed plate 19 are horizontally disposed, and each fixed link 17 is horizontally disposed.
Specifically, the first fixed frame 6, the second fixed frame 7 are located inside rack 5, and the first fixed frame 6, second is solid
Determine frame 7 to connect with the rack 5 respectively, rack 5 and the first fixed frame 6,7 stable connection of the second fixed frame can be enhanced
Property, be conducive to improve 1 stability of fuselage.
Specifically, the first fixed frame 6 is provided with the first connection frame 15, and the second fixed frame 7 is provided with the second connection frame
16, the first fixed plate 8, the second fixed plate 9 are connect with the second connection frame 16 respectively, and the second fixed plate 9 is located under the first fixed plate 8
Side, can enhance 9 connective stability of the first fixed plate 8 and the second fixed plate, be conducive to improve 1 stability of fuselage.
Specifically, when taking off, first motor 30, the second motor 31 and third motor 32 start work, increase output work
Rate is conducive to take off.
Specifically, the wing mechanism 3 includes multiple aerofoil support frames 43, and aerofoil support frame 43 is respectively arranged at the tenth company
Extension bar 42, the 8th connecting rod 40, aerofoil support frame 43 are separately connected with the tenth connecting rod 42, the 8th connecting rod 40.
Specifically, aerofoil support frame 43 is prepared for simulation plumage, and as covering builds skeleton.Multiple aerofoil branch
Support 43 is streamlined with the tenth connecting rod, the 8th connecting rod, the 9th connecting rod composition respectively, is conducive to fly, can be more acurrate
The movement of simulation Bird Flight, reduces capacity loss.
Specifically, the empennage mechanism 4 includes steering engine 44, steering engine turntable 45, the 11st connecting rod 46, empennage connection frame 47
And tail plate 48,44 shaft of steering engine, steering engine turntable 45, the 11st connecting rod 46, empennage connection frame 47 and tail plate 48 according to
Secondary connection, the steering engine 44 are installed on the 4th fixed plate 19, and the steering engine 44 is electrically connected with the microprocessor.
Specifically, wireless communication module can receive the issued control signal of surface personnel's remote controler, wireless communication
Module sends control signals to microprocessor.Surface personnel can control the rotation side of steering engine 44 by remote controller
To, rotate clockwise or counterclockwise the shaft of steering engine 44, drive steering engine turntable 45 rotate clockwise or counterclockwise, and then drive
11st connecting rod 46 rotates clockwise or counterclockwise, and then tail plate 48 is driven to swing up and down, and reaches and adjusts to flight attitude
Booster action.
Further, fixed ring 20 is provided in 5 head of rack.
Specifically, the fixed ring 20 is connect with 5 head of rack, can enhance 5 head connective stability of rack.
Further, 5 tail portion of rack is provided with third fixed plate 18.
Specifically, the third fixed plate 18 is vertically arranged.
Further, the rack 5 is A font.
Further, first connection frame 15 and the second connection frame 16 are X-shaped, can enhance the first fixed frame 6,
Second fixed frame, 7 connective stability.
Further, first fixed frame 6 and the second fixed frame 7 are ellipse.
Further, the wing support frame is arc-shaped.
Further, the tail plate 48 is sector.
When work, the first motor 30 of the embodiment of the present invention rotates, and first gear 22 is driven to rotate.4th gear 25 and
The engagement of one gear 22 after first gear 22 rotates, drives the rotation of the 4th gear 25.33 one end of first connecting rod and the 4th gear 25 connect
It connects, after the rotation of the 4th gear 25, first connecting rod 33 is driven to rotate upwardly and downwardly.The rotation of second motor 31, drives second gear 23 to rotate.
5th gear 26 is engaged with second gear 23, after second gear 23 rotates, drives the rotation of the 5th gear 26.38 one end of six-bar linkage
It is connect with the 5th gear 26, after the rotation of the 5th gear 26,38 one end of six-bar linkage is driven to rotate upwardly and downwardly.Third motor 32 rotates,
Third gear 24 is driven to rotate.6th gear 27 is engaged with third gear 24, after third gear 24 rotates, drives the 6th gear 27
Rotation.6th gear 27, the 7th gear 28 are connect with the fourth bearing bar 13 respectively, after the rotation of the 6th gear 27, drive the
The rotation of seven gears 28.Eighth gear 29 is engaged with the 7th gear 28, after the rotation of the 7th gear 28, eighth gear 29 is driven to rotate.
39 one end of seven-link assembly is connect with the 7th gear 28, when the 7th gear 28 rotates, is able to drive seven-link assembly 39 and is rotated upwardly and downwardly.The
Two connecting rods, 34 one end is connect with eighth gear 29, when eighth gear 29 rotates, is able to drive second connecting rod 34 and is rotated upwardly and downwardly.
Specifically, 36 one end of fourth link is respectively articulated with 33 other end of first connecting rod, 34 other end of second connecting rod, and first
Connecting rod 33, which rotates upwardly and downwardly, second connecting rod 34 rotates upwardly and downwardly to drive fourth link 36 to rotate upwardly and downwardly respectively, and then drives the 5th
Connecting rod 37 rotates upwardly and downwardly, it realizes about 2 flapping mechanism and flutters movement, and then realize that about 3 wing mechanism flutters movement.
Specifically, 40 one end of the 8th connecting rod is respectively articulated with 38 other end of six-bar linkage, 39 other end of seven-link assembly, and the 6th
Connecting rod 38, which rotates upwardly and downwardly, seven-link assembly 39 rotates upwardly and downwardly to drive the 8th connecting rod 40 to rotate upwardly and downwardly respectively, and then drives the tenth
Connecting rod 42 rotates upwardly and downwardly, and realizes about 2 flapping mechanism and flutters movement, and then realizes that about 3 wing mechanism flutters movement.
Specifically, third connecting rod 35 is used as folding wings.35 one end of third connecting rod and second connecting rod 34 are hinged, the other end and the
Five connecting rods 37 are hinged.Second connecting rod 34 moves up and down, the up and down motion of the 5th connecting rod 37 can drive about 35 third connecting rod respectively
Movement.When third connecting rod 35 moves up and down, third connecting rod 35 and the angle of the 5th connecting rod 37 can become larger or become smaller, and can reduce
Or increase the forced area of wing mechanism 3, the stress size of bionic flapping-wing flying vehicle is adjusted flexibly.
Specifically, the 9th connecting rod 41 is used as folding wings.9th connecting rod, 41 one end and seven-link assembly 39 are hinged, the other end and the
Ten connecting rods 42 are hinged.Seven-link assembly 39 moves up and down, the up and down motion of the tenth connecting rod 42 can drive the 9th about 41 connecting rod respectively
Movement.When 9th connecting rod 41 moves up and down, the angle of the 9th connecting rod 41 and the tenth connecting rod 42 can become larger or become smaller, and can reduce
Or increase the forced area of wing mechanism 3, the stress size of bionic flapping-wing flying vehicle is adjusted flexibly.
Specifically, wireless communication module can receive the issued control signal of surface personnel's remote controler, wireless communication
Module sends control signals to microprocessor.Microprocessor is distinguished to first motor 30, the second motor 31 and third motor 32
Corresponding control signal is sent, controls turning an angle for first motor 30, the second motor 31 and third motor 32, and then control
First gear 22, second gear 23 and third gear 24 turn an angle, and then control first connecting rod 33, second connecting rod
34, third connecting rod 35, fourth link 36, the 5th connecting rod 37, six-bar linkage 38, seven-link assembly 39, the 8th connecting rod 40, the 9th connecting rod
41 and the tenth connecting rod 42 rotate upwardly and downwardly amplitude, namely amplitude under amplitude, flapping wing on the flapping wing of control wing mechanism 3 is final real
Now control amplitude angle of fluttering.
Specifically, when bionic flapping-wing flying vehicle takes off, staff can remote controller, to wireless communication module send out
Control signal is sent, first motor 30, the second motor 31 and third motor 32 is made to start work, increases output power.At this point, the
Four gears 25, first connecting rod 33, second connecting rod 34 and eighth gear 29 constitute first set five-rod, the first sliding block 49 and the 4th
Connecting rod 36 constitutes first set second level bar group；5th gear 26, six-bar linkage 38, seven-link assembly 39 and the 7th gear 28 constitute second
Five-rod is covered, the second sliding block 50 and the 8th connecting rod 40 constitute second set of second level bar group；First set five-rod, first set second level
Bar group, second set of five-rod and second set of second level bar group constitute the driving mechanism of flapping mechanism 2.Meanwhile make first motor 30,
Second motor 31 and third motor 32 rotate, and increase output power and are conducive to take off to provide larger power.
After bionic flapping-wing flying vehicle completion is taken off, surface personnel can remote controller again, to wireless communication
Module sends control signal, so that third motor 32 is stopped operating, first motor 30 and the second motor 31 continue to rotate；Meanwhile ground
Face staff can change the rotational angle of first motor 30 and the second motor 31 by remote controller, and then change first
The rotational angle of gear 22 and second gear 23.At this point, eighth gear 29, second connecting rod 34 and first connecting rod 33 constitute first set
Four-bar mechanism；7th gear 28, seven-link assembly 39 and six-bar linkage 38 constitute second set of four-bar mechanism；First set four-bar mechanism and
Second set of four-bar mechanism constitutes the driving mechanism of flapping mechanism 2.
First motor 30 and the rotation of the second motor 31, drive first gear 22 and second gear 23 to rotate, and then drive the
Four gears 25 and the rotation of the 5th gear 26, and then first connecting rod 33 and six-bar linkage 38 is driven to rotate.When first connecting rod 33 and
After six-bar linkage 38 rotates, the position of one end that first connecting rod 33 is connect with the 4th gear 25 changes, six-bar linkage 38 and the
The position of one end of five gears 26 connection changes, namely upper amplitude of fluttering, lower amplitude of fluttering change, and completion is once flutterred
The adjusting at dynamic amplitude angle, and then can be realized reduction amplitude angle of fluttering and be conducive to save the energy, reduce to reduce power demand
Flight cost.
Specifically, by control first motor 30 and the second motor 31 rotation angle, and then control first connecting rod 33 with
The position of one end that the position of one end of the 4th gear 25 connection, six-bar linkage 38 are connect with the 5th gear 26, is flutterred to realize
Dynamic amplitude angle is adjustable.
When needing to turn to, surface personnel can remote controller, firstly, control first motor 30 rotate, drive
First gear 22 rotates an angle, and then the 4th gear 25 is driven to rotate an angle, for example, making the rotation of the 4th gear 25 extremely
Extreme higher position.Then, the second motor 31 of control rotation drives second gear 23 to rotate an angle, and then drives the 5th gear
26 one angle of rotation, for example, making the rotation of the 5th gear 26 to extreme lower position.Finally, making first motor 30 and the second motor 31
It stops working, third motor 32 is made to start to rotate, the 7th gear 28 and eighth gear 29 is driven to rotate, to drive the 7th to connect
Bar 39 and second connecting rod 34 rotate upwardly and downwardly, and then drive third connecting rod 35, the 5th connecting rod 37, the 9th connecting rod 41 and the tenth connecting rod 42
It rotates upwardly and downwardly.Since the 4th gear 25 rotation to extreme higher position, the 5th gear 26 are rotated to extreme lower position, left side is fluttered
Amplitude angle is less than right side and flutters amplitude angle, so, left side speed of fluttering is fluttered speed less than right side, forms speed difference, Jin Ershi
Existing bionic flapping-wing flying vehicle turns left.
The above is merely preferred embodiments of the present invention, it is not intended to restrict the invention, all skills according to the present invention
Any modification and equivalent variations that art is substantially made, should all be included in the protection scope of the present invention.
Claims (8)
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 1. one kind is fluttered, including fuselage, flapping mechanism, Liang Ge wing mechanism, empennage Mechanism, microprocessor and wireless communication module, the flapping mechanism are installed on the fuselage head, Liang Ge wing mechanism or so pair Title is installed on the flapping mechanism two sides, and the empennage mechanism is installed on the afterbody；The fuselage includes rack, and machine frame inside is provided with the first fixed frame, the second fixed frame, the first fixed plate, second Fixed plate, the 4th fixed plate, first bearing bar, second bearing bar, 3rd bearing bar, fourth bearing bar, 5th bearing bar and Six bearing rods, the first fixed frame, the second fixed frame are connect with the rack respectively；First fixed frame is provided with the first company Frame is connect, the second fixed frame is provided with the second connection frame, and third fixed plate is provided with third connection frame；First fixed plate and second Connection frame connection, the second fixed plate are connect with the second connection frame, and the second fixed plate is located at below the first fixed plate；First bearing Bar, second bearing bar, 3rd bearing bar are connect with the second connection frame respectively, and fourth bearing bar is flexibly connected with the second connection frame； 5th bearing bar both ends are connect with the first fixed frame, the second fixed frame respectively, and 6th bearing bar both ends are solid with first respectively Determine frame, the connection of the second fixed frame；Multiple fixed links, Ge Gegu are provided between first fixed frame and the second fixed frame Fixed pole both ends are connect with the first fixed frame, the second fixed frame respectively；The flapping mechanism includes first motor, the second motor, third motor, first gear, second gear, third gear, Four gears, the 5th gear, the 6th gear, the 7th gear, eighth gear, first connecting rod, second connecting rod, third connecting rod, the 4th connect Bar, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the first sliding block and the second sliding block, The first motor and the second motor are mounted on first fixed plate, and third motor is installed on second fixed plate；The One gear and first motor rotate axis connection, and the 4th gear is engaged with first gear, and the 4th gear is connect with first bearing bar；The Two gears are connect with the second motor rotation axis, and the 5th gear is engaged with second gear, and the 5th gear is connect with second bearing bar；The Three gears are connect with third motor rotation axis, and the 6th gear is engaged with third gear, the 6th gear, the 7th gear respectively with it is described The connection of fourth bearing bar；Eighth gear is engaged with the 7th gear；First connecting rod one end is connect with the 4th gear, second connecting rod one end It is connect with eighth gear, the first connecting rod other end and the second connecting rod other end are hinged；Fourth link one end and first connecting rod are another End, the second connecting rod other end are respectively articulated with, and the fourth link other end and the 5th connecting rod are hinged；It is sliding that fourth link is provided with first Block, the first sliding block and 6th bearing bar are hinged；Third connecting rod one end and second connecting rod are hinged, and the other end and the 5th connecting rod are hinged； Six-bar linkage one end is connect with the 5th gear, and seven-link assembly one end is connect with the 7th gear, and the six-bar linkage other end and the 7th connects The bar other end is hinged, and the 8th connecting rod one end is respectively articulated with the six-bar linkage other end, the seven-link assembly other end, and the 8th connecting rod is another It holds hinged with the tenth connecting rod；8th connecting rod is provided with the second sliding block, and the second sliding block and 5th bearing bar are hinged；9th connecting rod one end Hinged with seven-link assembly, the other end and the tenth connecting rod are hinged；The wing mechanism includes multiple aerofoil support frames, and aerofoil support frame is respectively arranged at the tenth connecting rod, the 8th connecting rod, Aerofoil support frame is connect with the tenth connecting rod, the 8th connecting rod respectively；The empennage mechanism includes steering engine, steering engine turntable, the 11st connecting rod, empennage connection frame and tail plate, and the steering engine turns Axis, steering engine turntable, the 11st connecting rod, empennage connection frame and tail plate are sequentially connected, and it is solid that the steering engine is installed on the described 4th Fixed board, the empennage connection frame middle part are provided with the first mounting hole, and first mounting hole and third connection frame end connect It connects, the steering engine and the microprocessor are electrically connected；The wireless communication module and the microprocessor are electrically connected, the microprocessor and the first motor, the second electricity Machine, third motor, steering engine are electrically connected.
- 2. one kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle according to claim 1, it is characterised in that: the rack Fixed ring is provided in head.
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 3. one kind according to claim 1 or claim 2 is fluttered, it is characterised in that: described Frame aft is provided with third fixed plate.
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 4. one kind according to claim 1 or claim 2 is fluttered, it is characterised in that: described Rack is A font.
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 5. one kind according to claim 1 or claim 2 is fluttered, it is characterised in that: described First connection frame and the second connection frame are X-shaped.
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 6. one kind according to claim 1 or claim 2 is fluttered, it is characterised in that: described First fixed frame and the second fixed frame are ellipse.
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 7. one kind according to claim 1 or claim 2 is fluttered, it is characterised in that: described Wing support frame is arc-shaped.
- The adjustable bionic flapping-wing flying vehicle in amplitude angle 8. one kind according to claim 1 or claim 2 is fluttered, it is characterised in that: described Tail plate is sector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703331.4A CN110371288B (en) | 2019-07-31 | 2019-07-31 | Bionic flapping wing aircraft with adjustable flapping amplitude angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703331.4A CN110371288B (en) | 2019-07-31 | 2019-07-31 | Bionic flapping wing aircraft with adjustable flapping amplitude angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110371288A true CN110371288A (en) | 2019-10-25 |
| CN110371288B CN110371288B (en) | 2022-10-21 |
Family
ID=68257419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910703331.4A Active CN110371288B (en) | 2019-07-31 | 2019-07-31 | Bionic flapping wing aircraft with adjustable flapping amplitude angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110371288B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6550716B1 (en) * | 2001-11-30 | 2003-04-22 | Neuros Co., Ltd. | Power-driven ornithopter piloted by remote controller |
| CN107554782A (en) * | 2017-08-08 | 2018-01-09 | 武汉科技大学 | A kind of bionic flapping-wing flying vehicle based on folding twisted coupling motion of fluttering |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
| CN109573019A (en) * | 2018-12-25 | 2019-04-05 | 哈尔滨工业大学（深圳） | A kind of imitative insect minisize flapping wing aircraft |
-
2019
- 2019-07-31 CN CN201910703331.4A patent/CN110371288B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6550716B1 (en) * | 2001-11-30 | 2003-04-22 | Neuros Co., Ltd. | Power-driven ornithopter piloted by remote controller |
| CN107554782A (en) * | 2017-08-08 | 2018-01-09 | 武汉科技大学 | A kind of bionic flapping-wing flying vehicle based on folding twisted coupling motion of fluttering |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
| CN109573019A (en) * | 2018-12-25 | 2019-04-05 | 哈尔滨工业大学（深圳） | A kind of imitative insect minisize flapping wing aircraft |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN113212749B (en) * | 2021-07-08 | 2021-10-01 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| US11613351B2 (en) | 2021-07-08 | 2023-03-28 | University Of Science And Technology Beijing | Butterfly-inspired flapping-wing aerial robot and pull cord type turning mechanism thereof |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
| CN114735211B (en) * | 2022-03-24 | 2023-01-20 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110371288B (en) | 2022-10-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100430297C (en) | Driving mechanism for wings of minitype ornithopter | |
| CN201941975U (en) | Ornithopter simulating folding wing flapping of birds | |
| CN101633409B (en) | Bidirectional synchronous automatic turning flapping-wings | |
| CN200995782Y (en) | Airplane | |
| CN107554782B (en) | It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle | |
| CN103612755B (en) | A kind of binodal main wing Bionic ornithopter | |
| CN108438218B (en) | Bionic hummingbird aircraft | |
| CN107416202A (en) | Micro flapping wing air vehicle | |
| CN103950538B (en) | Imitative wild goose group flapping flight system | |
| CN110065630B (en) | Bionic flapping wing flying robot | |
| CN110091987B (en) | Miniature vertical take-off and landing flapping wing aircraft | |
| CN113306701B (en) | Bionic hummingbird flapping wing aircraft | |
| CN108860595A (en) | It is a kind of to imitate dove aircraft with the flapping wing passively reversed | |
| CN110371288A (en) | One kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle | |
| CN207089653U (en) | A kind of Three Degree Of Freedom flapping wing | |
| CN101177167A (en) | Power-driven system of aircraft | |
| CN111086634B (en) | Dragonfly-like double-flapping-wing micro aircraft | |
| CN104943862A (en) | Under-actuated flexible flat wing-type flapping wing flight robot | |
| CN207157530U (en) | Flex-wing bionic flapping-wing flying vehicle | |
| CN111268122A (en) | Posture conversion control structure of large flapping wing and conversion control method thereof | |
| CN112141332A (en) | Five pole flapping wing aircraft in space based on just gentle coupling | |
| CN212401546U (en) | Bionic aircraft | |
| CN109502019B (en) | Large bionic flapping wing aircraft | |
| CN103231804A (en) | Wing framework of imitation pterosaur flapping-wing aircraft | |
| CN109911197A (en) | A kind of four-degree-of-freedom flapping wing aircraft device |
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 |