CN110466755A - It is applicable in the chord length self-adapting stretching formula flapping wing and flapping-wing aircraft of active twist flapping mechanism - Google Patents
It is applicable in the chord length self-adapting stretching formula flapping wing and flapping-wing aircraft of active twist flapping mechanism Download PDFInfo
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- CN110466755A CN110466755A CN201910892436.9A CN201910892436A CN110466755A CN 110466755 A CN110466755 A CN 110466755A CN 201910892436 A CN201910892436 A CN 201910892436A CN 110466755 A CN110466755 A CN 110466755A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/0009—Aerodynamic aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/18—Spars; Ribs; Stringers
- B64C3/182—Stringers, longerons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/18—Spars; Ribs; Stringers
- B64C3/187—Ribs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/26—Construction, shape, or attachment of separate skins, e.g. panels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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Abstract
The present invention provides a kind of chord length self-adapting stretching formula flapping wing and flapping-wing aircraft for being applicable in active twist flapping mechanism, and chord length self-adapting stretching formula flapping wing includes front-axle beam, the back rest, telescopic rib and bridging type covering；Above the flapping wing skeleton, press from wing root to wingtip direction, the distributing installation more telescopic ribs；The every telescopic rib includes leading edge segments rib, rear rim segment rib and extension sleeve；The bridging type covering includes leading edge segments covering and rear rim segment covering.Advantage are as follows: (1) chord length self-adapting stretching formula flapping wing, flapping wing has the ability of adaptively changing wing area, so as to adapt to the tangential to a certain degree flexible of active twist flapping wing mechanism generation, guarantee active twist flapping wing during entirely fluttering aerodynamic configuration it is complete, to guarantee aeroperformance, the pneumatic efficiency of flapping flight is improved.(2) by being designed to covering, guarantee that aerofoil is the entirety with complete aerodynamic configuration during fluttering, and then guarantee flapping wing entirety aerodynamic characteristic.
Description
Technical field
The invention belongs to flapping wing design fields, and in particular to a kind of chord length for being applicable in active twist flapping mechanism is adaptive
Answer telescopic flapping wing and flapping-wing aircraft.
Background technique
Micro flapping wing air vehicle is a kind of new concept aircraft for imitating Bird Flight, is had small in size, light-weight, motor-driven
Flexibly, the advantages such as high-efficient, if carry sensor and relevant data transmission and flight control system, formed mini-sized flap wings nobody
Machine platform will have broad application prospects.
Around this project, various countries have been developed that various flapping wing aircrafts, it has been investigated that, flapping wing aircraft is being flutterred
During dynamic, twist motion can significantly increase the aerodynamic characteristic of flapping wing.And if using the conventional immutable flapping wing of shape
When, for aerofoil in twisting, aerofoil cannot keep complete aerodynamic configuration, to reduce flapping wing entirety aerodynamic characteristic during fluttering.
Summary of the invention
In view of the defects existing in the prior art, it is adaptive to provide a kind of chord length for being applicable in active twist flapping mechanism by the present invention
Telescopic flapping wing and flapping-wing aircraft can effectively solve the above problems.
The technical solution adopted by the invention is as follows:
The present invention provides a kind of chord length self-adapting stretching formula flapping wing for being applicable in active twist flapping mechanism, including front-axle beam
(A6), the back rest (A7), telescopic rib (400) and bridging type covering (500)；
Setting before and after the front-axle beam (A6) and the back rest (A7), constitutes flapping wing skeleton；Above the flapping wing skeleton, by from
Wing root is to wingtip direction, the distributing installation more telescopic ribs (400)；Before the every telescopic rib (400) includes
Rim segment rib (401), rear rim segment rib (402) and extension sleeve (403)；Wherein, the leading edge segments rib (401) and it is described before
Beam (A6) is fixedly connected, and the rear rim segment rib (402) is fixedly connected with the back rest (A7), the leading edge segments rib (401)
The extension sleeve (403) are installed between the rear rim segment rib (402)；
The bridging type covering (500) includes leading edge segments covering (501) and rear rim segment covering (502)；The leading edge segments cover
Skin (501) is fixedly installed in the upper surface of each leading edge segments rib (401)；Rim segment covering (502) is fixedly mounted after described
In the upper surface of each rear rim segment rib (402)；Also, the rear end of the leading edge segments rib (401) extends, described in covering
Extension sleeve (403)；The front end of rim segment rib (402) extends after described, covers the extension sleeve (403), and then makes described
The front end for being overlying on the rear rim segment rib (402) is taken in the rear end of leading edge segments rib (401), makes the leading edge segments rib (401)
Rear end and the front end of the rear rim segment rib (402) have overlapping.
Preferably, the leading edge segments rib (401) is fixedly connected by connector (600) with the front-axle beam (A6)；It is described
Rim segment rib (402) is fixedly connected by connector (600) with the back rest (A7) afterwards.
Preferably, the connector (600) is three-port structure, comprising: master collet portion (601) and branch sleeve part (602)；Institute
State the corresponding position that master collet portion (601) is placed on the front-axle beam (A6) or the back rest (A7)；In the master collet portion (601)
Portion is the branch sleeve part (602), and the branch sleeve part (602) is vertical with master collet portion (601)；
Leading edge segments inserting column (4011) are fixedly installed in the leading edge segments rib (401)；Rim segment rib (402) fixation is set after described
Postpone rim segment inserting column (4021)；The leading edge segments inserting column (4011) or the rear rim segment rib (402) are inserted into corresponding described
The branch sleeve part (602) of connector (600) is internal.
Preferably, during entirely fluttering, the leading edge segments covering (501) and the rear rim segment covering (502) have
There is a degree of overlapping, and then guarantees flapping wing entirety aerodynamic characteristic.
Preferably, the leading edge segments covering (501) and the rear rim segment covering (502) are all made of elastic covering.
The present invention also provides a kind of flapping-wing aircrafts, and the chord length self-adapting stretching formula including being applicable in active twist flapping mechanism is flutterred
The bionic flapping-wing driving mechanism of the wing and active twist and folding；Wherein, the active twist and the bionic flapping-wing of folding drive
Mechanism drives the chord length self-adapting stretching formula flapping wing to carry out movement of fluttering, also, during flapping wing is fluttered, generates simultaneously
The movement of flapping wing active twist and the movement of flapping wing active folding；When flapping wing carries out active twist movement, on the one hand, telescopic rib
(400) carry out the expanding-contracting action of chord length adaptive change, on the other hand, leading edge segments covering (501) and rear rim segment covering (502) into
The change of the adaptive overlapping area of row finally guarantees pneumatic property to guarantee the complete of aerodynamic configuration during entirely fluttering
Energy.
The chord length self-adapting stretching formula flapping wing for being applicable in active twist flapping mechanism and flapping-wing aircraft provided by the invention have with
Lower advantage:
(1) chord length self-adapting stretching formula flapping wing, flapping wing has the ability of adaptively changing wing area, so as to adapt to lead
Dynamic torsion flapping wing mechanism generates tangential to a certain degree flexible, guarantees active twist flapping wing aerodynamic configuration during entirely fluttering
It is complete, to guarantee aeroperformance, improve the pneumatic efficiency of flapping flight.
(2) by being designed to covering, aerofoil is the entirety with complete aerodynamic configuration during guarantee is fluttered,
And then guarantee flapping wing entirety aerodynamic characteristic.
Detailed description of the invention
Fig. 1 is the schematic perspective view of flapping-wing aircraft；
Fig. 2 is the schematic view of the front view of flapping-wing aircraft；
Fig. 3 is the overlooking structure diagram of flapping-wing aircraft；
Fig. 4 is installation diagram of the telescopic rib in front and rear beam；
Fig. 5 is the structure chart of telescopic rib；
Fig. 6 is the structure chart of connector；
Fig. 7 is the top view of bridging type covering；
Fig. 8 is the schematic perspective view of rack；
Fig. 9 is the assembling relationship figure of left driving mechanism for flapping wing and right driving mechanism for flapping wing；
Figure 10 is the arrangement relation figure of left driving mechanism for flapping wing and right driving mechanism for flapping wing in rack；
Figure 11 is the whole arrangement relation figure in rack of right driving mechanism for flapping wing；
Figure 12 is arrangement relation figure of the core members in rack of right driving mechanism for flapping wing；
Figure 13 is the structure chart of right driving mechanism for flapping wing；
Figure 14 is the structure chart in front-axle beam outer segment left end L shape portion；
Figure 15 is schematic diagram when right driving mechanism for flapping wing drives right flapping wing to flutter to uppermost position；
Figure 16 is that right driving mechanism for flapping wing drives right flapping wing to flutter down schematic diagram when flutterring to middle position；
Figure 17 is schematic diagram when right driving mechanism for flapping wing drives right flapping wing to flutter to bottom position；
Figure 18 be right driving mechanism for flapping wing drive right flapping wing flutter on schematic diagram when flutterring to middle position.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
The present inventor it has been investigated that, the twist motion of flapping wing can significantly increase the aerodynamic characteristic of flapping wing.Pass through front and back
The active twist flapping wing mechanism that the phase difference that beam is actively fluttered generates, during fluttering, every rib section exists certain
Size changes, and therefore, inventor designs a kind of flapping wing, and can flutter process with active twist, and flapping wing can produce on certain length
It is born from adaptive deformation, to cooperate active twist flapping wing mechanism, generates efficient aerodynamic efficiency.Specifically, provided by the invention flutter
The wing is a kind of chord length self-adapting stretching formula flapping wing suitable for active twist flapping mechanism, can cooperate active twist flapping-wing aircraft
During fluttering, the length tangential to a certain extent of generation changes structure, adaptive to should ensure that the complete aerodynamic configuration of flapping wing.
The chord length self-adapting stretching formula flapping wing provided by the invention for being applicable in active twist flapping mechanism, including one group of chord length is certainly
Adapt to telescopic rib, bridging type covering front-axle beam and the back rest of variation.The chord length self-adapting stretching formula flapping wing can be turned round in active
Turn under driving mechanism for flapping wing effect, the length of a certain range of flexible, adaptive change rib realized by rib sleeve,
To cooperate active twist flapping wing to realize efficiently bionical flutter.The bridging type covering covered thereon, in the sleeve of flexible rib
Corresponding position, covering have certain overlapping range, it is ensured that aerofoil closing guarantees aerodynamic characteristic during fluttering.This is adaptively stretched
Contracting formula flapping wing cooperates active twist driving mechanism, can effectively improve flapping flight efficiency.
Specifically, the chord length self-adapting stretching formula flapping wing for being applicable in active twist flapping mechanism includes front-axle beam A6, back rest A7, stretches
Contracting formula rib 400 and bridging type covering 500.
The present invention has innovative design to telescopic rib 400 and bridging type covering 500, is described in detail below and stretches
Contracting formula rib 400 and bridging type covering 500.
(1) telescopic rib 400
Setting before and after front-axle beam A6 and back rest A7, constitutes flapping wing skeleton；Above flapping wing skeleton, press from wing root to wingtip direction,
Distributing installation more telescopic ribs 400；Every telescopic rib 400 is the telescopic rib of chord length adaptive change, ginseng
Examine Fig. 4-Fig. 6, including leading edge segments rib 401, rear rim segment rib 402 and extension sleeve 403；Wherein, leading edge segments rib 401 is with before
Beam A6 is fixedly connected, and rear rim segment rib 402 is fixedly connected with back rest A7, makes the phase position holding of rib during flapping motion
It is constant, for keeping flapping wing aerofoil profile.Extension sleeve 403 is installed between leading edge segments rib 401 and rear rim segment rib 402；Telescopic
Cylinder is used for the change of adaptive wing area, and extension sleeve 403 can stretch in a certain range.The length sleeve and torsion width of rib
Degree is related, and length sleeve allows flapping wing to generate scheduled torsion.Leading edge segments rib 401, rear rim segment rib 402 and extension sleeve
403 combine to form complete bionical aerofoil profile.
In practical application, leading edge segments rib 401 is fixedly connected by connector 600 with front-axle beam A6；Rim segment rib 402 is logical afterwards
Connector 600 is crossed to be fixedly connected with back rest A7.
Wherein, with reference to Fig. 6, connector 600 is three-port structure, comprising: master collet portion 601 and branch sleeve part 602；Master collet
Portion 601 is placed on the corresponding position of front-axle beam A6 or back rest A7；The middle part in master collet portion 601 is branch sleeve part 602, branch sleeve part 602
It is vertical with master collet portion 601；
Leading edge segments inserting column 4011 is fixedly installed in leading edge segments rib 401；Rim segment inserting column after rim segment rib 402 is fixedly installed afterwards
4021；Leading edge segments inserting column 4011 or rear rim segment rib 402 are inserted into inside the branch sleeve part 602 of corresponding connector 600.
Therefore, telescopic rib 400 provided by the invention, as active twist driving mechanism for flapping wing generates adaptive string
It is long to change, guarantee the continuous controllable realization of whole process of fluttering.
(2) bridging type covering 500
Bridging type covering 500 includes leading edge segments covering 501 and rear rim segment covering 502；With reference to Fig. 7, leading edge segments covering 501 is solid
Fixed covering is installed on the upper surface of each leading edge segments rib 401；Rim segment covering 502 is fixedly installed in each rear rim segment rib afterwards
402 upper surface；Also, the rear end of leading edge segments rib 401 extends, and covers extension sleeve 403；The front end of rim segment rib 402 afterwards
Extend, extension sleeve 403 is covered, and then the rear end of leading edge segments rib 401 is made to take the front end for being overlying on rear rim segment rib 402, before making
The rear end of rim segment rib 401 and the front end of rear rim segment rib 402 have overlapping.It is following to be emphasized that overlapping widths pass through
It is required that design: the size of overlapping area is more slightly longer than the length of flexible rib, it is ensured that after rib is elongated to maximum length, flapping wing is covered
Leatherware has complete aerodynamic configuration.Therefore, during entirely fluttering, leading edge segments covering 501 and rear rim segment covering 502 are all had
A degree of overlapping guarantees that aerofoil is the entirety with complete aerodynamic configuration during fluttering, and then guarantees that flapping wing is whole
Body aerodynamic characteristic.
Above-mentioned bridging type covering is a kind of implementation for being suitble to active twist flapping wing, in practical application, can also be led to
Cross elastic covering realization.Specifically, leading edge segments covering 501 and rear rim segment covering 502 can be all made of elastic covering, covering has
A degree of telescopic resilience.Alternatively, the lengthening section of leading edge segments covering 501 has certain elasticity and rigidity, guarantee to be covered in
Indeformable, not warpage on rim segment covering 502 afterwards.Therefore, using elastic covering, it is ensured that the length of rib extension sleeve changed
Gauffer does not occur and loosens for Cheng Zhong, flapping wing covering, is unlikely to tighten very much to tear yet.Covering elasticity is suitble to the set of flexible rib
Tube length degree can maintain flapping wing aerodynamic configuration.
The present invention also provides a kind of flapping-wing aircrafts, and the chord length self-adapting stretching formula including being applicable in active twist flapping mechanism is flutterred
The bionic flapping-wing driving mechanism of the wing and active twist and folding；Wherein, the bionic flapping-wing driving machine of active twist and folding
Structure, driving chord length self-adapting stretching formula flapping wing carry out movement of fluttering, also, during flapping wing is fluttered, while generating flapping wing master
Dynamic twist motion and the movement of flapping wing active folding；Flapping wing carry out active twist movement when, on the one hand, telescopic rib 400 into
The expanding-contracting action of row chord length adaptive change, another aspect, leading edge segments covering 501 and rear rim segment covering 502 carry out adaptive
The change of overlapping area, thus guarantee entirely flutter during aerodynamic configuration it is complete, finally guarantee aeroperformance.
Understand for the usage scenario sufficiently to aforementioned telescopic rib 400, is described below and aforementioned telescopic rib
The bionic flapping-wing driving mechanism of the bionic flapping-wing driving mechanism of 400 active twists to match and folding, active twist and folding
Have the characteristics that following two: (1) for the flight of bionic flapping-wing formula, the twist motion of the wing is to generate the major reason of thrust.
And driving mechanism for flapping wing provided by the invention, it is the driving mechanism for flapping wing of a kind of active twist and active twist amplitude-controllable,
During flapping wing is fluttered, while active twist movement is generated, by the way that control is adjusted to active twist amplitude, can make to turn round
Turn effectively enhancing lift and thrust, and then is optimal flapping wing aerodynamic characteristic.(2) it during flapping wing is fluttered, generates simultaneously
The movement of flapping wing active folding, and the amplitude-controllable of active folding, and then effectively improve flight performance.Therefore, the present invention passes through master
Dynamic torsion and the driving mechanism for flapping wing folded, improve bionical performance, improve pneumatic efficiency, can reach more preferably aerodynamic characteristic.
The bionic flapping-wing driving mechanism of active twist provided by the invention and folding has the advantage that (1) can be with more
Simple and compact mode realizes that active twist and active folding move, and realizes the bionical flight characteristic of height.(2) active twist and
Active folding, the two is mutually indepedent, can separately design, and is applied on different flapping wing aircrafts alone or in combination.(3) structure
It is compact, transmission link is few, transmission efficiency is high, high reliablity, be suitble to bionic flapping-wing flying vehicle.
Active twist structure and active folding structure are discussed in detail separately below:
(1) active twist structure
With reference to Fig. 1-Fig. 3, the bionic flapping-wing driving mechanism of active twist and folding includes: rack 100, left flapping wing driving machine
Structure 200 and right driving mechanism for flapping wing 300；Left driving mechanism for flapping wing 200 and right driving mechanism for flapping wing 300 are symmetrically arranged on rack
100 left and right sides drives left flapping wing to carry out movement of fluttering by left driving mechanism for flapping wing 200；Pass through right driving mechanism for flapping wing
300, drive right flapping wing to carry out movement of fluttering.Also, it can be seen that the gear of left driving mechanism for flapping wing 200 with reference to Fig. 9 and the right side flutterred
The gear of wing driving mechanism 300 is intermeshed, and is generated the rotary motion of relative direction, be thereby may be ensured that left flapping motion and the right side
The full symmetric property of flapping motion.
With reference to Fig. 8, rack is that carbon fiber composite board is cut, and has motor installing hole and reduction gearing axis hole thereon.
It is affixed with bolt between carbon fiber part, and reinforced with resin glue.
Left driving mechanism for flapping wing 200 is identical with the structure of right driving mechanism for flapping wing 300, includes motor, gear A 2, gear
Axis A3, preceding crank-rocker mechanism A4, rear crank rocker arm body A5, front-axle beam A6 and back rest A7；The tooth of left driving mechanism for flapping wing 200
Wheel is intermeshed with the gear of right driving mechanism for flapping wing 300.
With reference to Figure 11 and Figure 12, gear A 2 is mounted on the rack face, and gear A 2 rotates under the drive of the motor；Gear A 2
Gear shaft A3 is fixedly mounted in center, and crank-rocker mechanism A4 before the front end of gear shaft A3 is installed, preceding crank-rocker mechanism A4 is with before
One end of beam A6 is hinged, when gear shaft A3 rotates, drives front-axle beam A6 to be fluttered and folded fortune by preceding crank-rocker mechanism A4
It is dynamic；Rear crank rocker arm body A5 is installed in the rear end of gear shaft A3, and rear crank rocker arm body A5 and one end of back rest A7 are hinged, work as tooth
When wheel shaft A3 rotates, synchronization is fluttered by rear crank rocker arm body A5 driving back rest A7 and folding movement；
There is phase difference in rear crank rocker arm body A5 and preceding crank-rocker mechanism A4, cause at the beginning during fluttering,
Front-axle beam A6 and the back rest A7 projection along the longitudinal direction are simultaneously not parallel, and then generate torsion effect in the front-back direction, by adjusting phase
The size of potential difference, and then active control front-axle beam A6 and back rest A7 generates the amplitude of twist motion.
Therefore, gear is fixed on the rack, the two sets of crank rocker arm bodies in gear connection front and back, also, two sets of front and back crank
Rocker arm body is coaxial.Therefore, gear drives coaxial preceding crank connected to it with rear crank with mutually synchronized under motor driven
Degree is rotated；And when current crank and rear crank movement, drive front arm and rear arm to generate reciprocating motion respectively；Before
Rocker arm and rear arm drive front-axle beam A6 and back rest A7 to carry out movement of actively back and forth fluttering respectively again.By adjusting front and back crank rotation
Phase difference, can control front and back rocker arm, to generate motion phase poor, final to control front and rear beam to generate motion phase poor, to control
Active twist amplitude generates efficient aerodynamic efficiency.
Active twist mechanism has the characteristics that and advantage:
(1) the active twist characteristics of motion passes through the phase-difference control of preceding crank-rocker and rear crank rocker arm body, and front and back is bent
The coaxial synchronized rotation of handle, it has been investigated that, the phase of rear crank rocker arm lags behind preceding crank-rocker, can produce advantageous flutter
Rule, the windup-degree of generation meet the feature that flapping wing can be made to have more excellent aerodynamic characteristic in mechanism study.
(2) Fig. 3 is referred to, the back rest that the front-axle beam of preceding crank-rocker mechanism driving is driven with rear crank rocker arm body is overlooked
Angle be arranged in parallel, structure is consistent, respectively control flapping wing different location movement.Front-axle beam connects flapping wing leading portion, and control is flutterred
The movement of wing leading portion；The back rest connects flapping wing posterior segment, controls the movement of flapping wing back segment.The Relative motion control flapping wing of front and rear beam is transported
Windup-degree during dynamic.
In this kind of active twist, wingtip windup-degree is greater than wing root windup-degree, the torsion with birds practical flight
The corner regularity of distribution is consistent.For example, after increasing along spanwise far from wing root distance, windup-degree is gradually put with reference to Fig. 2
Greatly, it can be seen that thus this effect causes the torsion angle generated at wingtip to be greater than the torsion angle at wing root, the rule and birds
Actual torsion angle distribution is consistent.
(3) active twist rule, front and rear beam are driven by coaxial crank-rocker mechanism, and revolving speed is consistent, the phase of movement
Difference is kept constant, characteristics of motion strict conformance, and there is no a variety of nonsynchronous problems of driving.
(2) active folding structure
In the present invention, preceding crank-rocker mechanism A4 is identical with the structure of rear crank rocker arm body A5, front-axle beam A6 and back rest A7
Structure it is identical.Therefore, only it is introduced for the structure of former crank-rocker mechanism A4 and front-axle beam A6.
With reference to Figure 13 and Figure 14, preceding crank-rocker mechanism A4 includes: preceding crank A41 and front arm A42；Front-axle beam A6 includes the
One front-axle beam inner segment A61, the second front-axle beam inner segment A62 and front-axle beam outer segment A63；
One end of preceding crank A41 is fixedly connected with the front end of gear shaft A3, the other end and front arm A42 of preceding crank A41
One end it is hinged；The first hinge joint B1 and the second hinge joint B2 are axially set separately along front arm for the other end of front arm A42；
The left end of front-axle beam outer segment A63 has L shape portion, and L shape portion includes the horizontal part coaxial with the axial direction of front-axle beam outer segment A63
A631, the vertical component effect A632 vertical with horizontal part A631；Third hinge joint B3 and the 4th hinge joint are set on vertical component effect A632
B4；The distance of third hinge joint B3 to the 4th hinge joint B4, with the first hinge joint B1 being equidistant to the second hinge joint B2；
The left end of first front-axle beam inner segment A61 and the first hinge joint B1 are hinged, and the right end and third of the first front-axle beam inner segment A61 is cut with scissors
Contact B3 is hinged；The left end of second front-axle beam inner segment A62 and the second hinge joint B2 are hinged, the right end of the second front-axle beam inner segment A62 and
Four hinge joint B4 are hinged；
The position of third hinge joint B3 to the 4th hinge joint B4 of vertical component effect A632 form right bar；The second of front arm A42
The position of hinge joint B2 to the first hinge joint B1 form left bar；
First front-axle beam inner segment A61, right bar, the second front-axle beam inner segment A62, left bar form parallelogram mechanism；
Meanwhile first front-axle beam inner segment A61 be also rotatably connected with rack 100 by rotating shaft C 1；Rotating shaft C 1 and the first front-axle beam
The assembly point of inner segment A61, by rotating shaft C 1, limits in the first front-axle beam between the first hinge joint B1 and third hinge joint B3
Section A61 C1 can only be rotated around the shaft；
When moving back and forth under drive of the front arm A42 in preceding crank A41, due to the shape of parallelogram mechanism
At and rotating shaft C 1 effect, making the first front-axle beam inner segment A61, C1 carries out movement of fluttering, the second front-axle beam inner segment A62 and around the shaft
One front-axle beam inner segment A61 is parallel always, and the second front-axle beam inner segment A62, which is synchronized, carries out movement of fluttering；Meanwhile in one cycle, due to
The variation of angle between front arm A42 and the first front-axle beam inner segment A61, causes the second front-axle beam inner segment A62 relative to the first front-axle beam
Inner segment A61 will do it the movement of beam axial direction, when the second front-axle beam inner segment A62 right end is located at the right side of the first front-axle beam inner segment A61 right end
When, it pushes front-axle beam outer segment A63 to be lifted up, forms the state being folded up；Before the second front-axle beam inner segment A62 right end is located at first
When the left side of beam inner segment A61 right end, pulls front-axle beam outer segment A63 to tilt down, form fold-down state, therefore, front-axle beam A6
During fluttering, in different positions of fluttering, front-axle beam outer segment A63 is driven to carry out the folding of different directions.
Specifically, moving for active folding, the amplitude and phase of folding can pass through parallel four side of front and rear beam inner segment
The parameter of shape mechanism adjusts.That is: by adjusting the distance of the first hinge joint B1 to the second hinge joint B2, front-axle beam outer segment A63 is controlled
Folding angles.
The principle of active folding mechanism can be summarized as: preceding crank-rocker mechanism driving front-axle beam moves reciprocatingly, and front-axle beam is divided into
First front-axle beam inner segment, the second front-axle beam inner segment and front-axle beam outer segment, the first front-axle beam inner segment, the second front-axle beam inner segment, preceding crank-rocker and preceding
The vertical component effect of beam outer segment end surrounds parallelogram mechanism jointly, also, since four vertex of parallelogram mechanism are equal
Length for hinged relationship, four sides of parallelogram mechanism immobilizes, and therefore, during entire flapping wing is fluttered, puts down
Row quadrangular mechanism always can keeping parallelism quadrangular mechanism, it may be assumed that the first front-axle beam inner segment and the second front-axle beam inner segment can maintain always
Parallel relationship.But due to the reciprocating motion of preceding crank-rocker, it will lead to the interior angle variation of parallelogram mechanism, in turn
The first front-axle beam inner segment and the relative position of the second front-axle beam inner segment can be caused to change.That is: when the first front-axle beam inner segment and preceding crank
When angle is acute angle between rocker arm, as shown in Figure 13 when state, at this point, the right end of the second front-axle beam inner segment is more than in the first front-axle beam
The right end of section shows as front-axle beam outer segment shown in Figure 13 so that the right end of the second front-axle beam inner segment be made to hold up front-axle beam outer segment upwards
It is folded up state.On the contrary, when angle is obtuse angle between the first front-axle beam inner segment and preceding crank-rocker, at this point, in the second front-axle beam
The right end of section is located at the left side of the first front-axle beam inner segment right end, so that the right end of the second front-axle beam inner segment is made to pull downward on front-axle beam outer segment,
Front-axle beam outer segment is set to show as being folded down state.
For another example crank turns to horizontal towards right position at this time, and flapping wing is to flutter when flapping wing is in state shown in Figure 15
To the state of extreme higher position.
Then, crank rotates counterclockwise to position vertically upward, i.e. state shown in Figure 16, in the change from Figure 15 to Figure 16
During change, since angle is acute angle between the first front-axle beam inner segment and preceding crank-rocker, front-axle beam outer segment is to be folded up shape
State.
Then, when crank continue to rotate counterclockwise to it is horizontal towards left position when, i.e. state shown in Figure 17, from Figure 16 to
In the change procedure of Figure 17, since angle is obtuse angle between the first front-axle beam inner segment and preceding crank-rocker, front-axle beam outer segment be to
Lower folded state.
Then, when crank continues to rotate counterclockwise to position vertically downward, i.e. state shown in Figure 18, from Figure 17 to figure
In 18 change procedure, since angle is obtuse angle between the first front-axle beam inner segment and preceding crank-rocker, front-axle beam outer segment is downward
Folded state.
Therefore, the folding angles of front-axle beam outer segment be can control by parallelogram mechanism parameter.Pass through parallelogram machine
The movement of structure is so that front-axle beam outer segment is generated flutters relative to the active folding of front-axle beam inner segment, also, the amplitude that active folding is fluttered
It is adjustable, to improve bionical performance, improve pneumatic efficiency.
In conclusion dynamic torsion provided by the invention and the bionic flapping-wing driving mechanism folded, connection left and right is nibbled in rack
The two identical gears closed, the gear can generate the rotary motion of relative direction by motor driven.The front and back of gear
Both ends are respectively connect with preceding crank-rocker mechanism and rear crank rocker arm body, and front and back crank is coaxial, and gear drives preceding crank and rear song
Handle generates the rotation of identical speed, and front and back crank drives front arm and rear arm to generate reciprocating motion respectively.That is: front arm drives
Front-axle beam inner segment generates movement of back and forth fluttering, and rear arm drives back rest inner segment to generate movement of back and forth fluttering.
The movement of rear crank and the movement of preceding crank have certain phase difference, show as with generation front and back during fluttering
To torsion effect.The front and rear beam of flapping wing can be made to generate the amplitude of twist motion by the adjustment of phase difference.When rear crank shakes
Before the delayed phase of arm when crank-rocker, the active twist of generation conforms exactly to the height that mechanism study obtains relative to movement of fluttering
Imitate the rule of fluttering of aerodynamic characteristic.
In addition, front and rear beam inner segment is parallelogram mechanism design, front-axle beam outer segment and back rest outer segment is driven to generate opposite
The folding of inner segment is fluttered.
Preceding crank and rear crank have certain phase difference, so that generation torsion of fluttering, as the front view of Fig. 2 can be clear
See the phase difference of front and rear beam as spanwise angle constantly increases.
The present invention also provides the driving methods of a kind of active twist and the bionic flapping-wing driving mechanism of folding, including following step
It is rapid:
Step 1, the gear of the gear of the left driving mechanism for flapping wing 200 of motor driven and right driving mechanism for flapping wing 300 carries out phase
Rotation to direction passes through right flapping wing driving machine to drive left flapping wing to carry out movement of fluttering by left driving mechanism for flapping wing 200
Structure 300 drives right flapping wing to carry out movement of fluttering, also, left flapping wing is synchronous with right flapping wing symmetrically flutters；
Step 2, left flapping wing and right flapping wing carry out flapping wing twisting action simultaneously and flapping wing fold during being fluttered
Movement；
Wherein, flapping wing twisting action is accomplished by the following way:
Step 2.1, when initial, Shi Qian crank-rocker mechanism A4 and rear crank rocker arm body A5 have certain phase difference,
That is: the rear crank of the preceding crank A41 of preceding crank-rocker mechanism A4 and rear crank rocker arm body A5 has certain angle；
Step 2.2, then, when motor driven gear rotates, crank-rocker mechanism A4 before gear is driven by gear shaft A3
With rear crank rocker arm body A5 synchronization action；It drives front-axle beam A6 to flutter by preceding crank-rocker mechanism A4, passes through rear crank
The rocker arm body A5 driving back rest is fluttered；Since preceding crank-rocker mechanism A4 and rear crank rocker arm body A5 has phase difference,
Therefore, front-axle beam A6 and the back rest are not in same level there are corresponding phase difference, are thus made between front-axle beam A6 and the back rest
Flapping wing generate twisting action；
Flapping wing jackknife action is accomplished by the following way:
During flapping wing is fluttered, for front-axle beam A6, including the first front-axle beam inner segment A61, the second front-axle beam inner segment A62 and front-axle beam
Outer segment A63；Wherein, the first front-axle beam inner segment A61 and the second front-axle beam inner segment A62 are hinged with one end of front-axle beam outer segment A63, before first
Beam inner segment A61 and the second front-axle beam inner segment A62 forms parallelogram mechanism, which flutters to different location
When, driving front-axle beam outer segment A63 is folded up or is folded down, and then realizes front-axle beam A6 folding effect；Back rest A7's and front-axle beam A6
Folding principle is identical, and then realizes the folding effect for the flapping wing that back rest A7 and front-axle beam A6 is formed.
Dynamic torsion provided by the invention and the bionic flapping-wing driving mechanism folded, have the advantage that
(1) active twist with active folding of mechanism move close-coupled, realize simultaneously, in the succinct base of mechanism form
It ensure that multiple degrees of freedom bionic movement on plinth, and two kinds of motion amplitudes are active control, and can be reached by parameter adjustment
To optimal, the characteristics of motion realized is similar to birds wing characteristics of motion height.
(2) core of the invention thought is to generate active twist and active folding, and active twist passes through front and rear beam phase difference
It realizes, active folding is realized by the control of internal and external section motion phase.Due to being active mode realization, mechanism to torsion and folding
Bio-imitability it is stronger, it is more efficient, and transmission link is few, realize simple, transmission efficiency is high.
(3) since active twist is to be realized by the phase difference of front and rear beam, and front and rear beam passes through coaxial crank-rocker machine
Structure driving, the characteristics of motion is completely the same, ensure that the synchronism of movement.And the amplitude of torsion can pass through the phase of front and back crank
The careful adjusting of difference obtains best twist motion rule.
(4) characteristics of motion of the mechanism is similar to sea-gull height, and actively controllable torsion can occur for wing can with active
Control folds, and flapping wing active movement rule can be effectively controlled, to improve flight efficiency.
The chord length self-adapting stretching formula flapping wing for being applicable in active twist flapping mechanism and flapping-wing aircraft provided by the invention have with
Lower advantage:
(1) since active twist flapping wing mechanism is with the real-time change of torsion angle during fluttering, the rib to erect-position is opened up
Length has certain variation, and in order to adapt to this change, the present invention provides a kind of chord length self-adapting stretching formula flapping wing, flapping wing tool
There is the ability of adaptively changing wing area, so as to adapt to the tangential to a certain degree flexible of active twist flapping wing mechanism generation,
Guarantee active twist flapping wing during entirely fluttering aerodynamic configuration it is complete, to guarantee aeroperformance, improve flapping flight
Pneumatic efficiency.
(2) by being designed to covering, aerofoil is the entirety with complete aerodynamic configuration during guarantee is fluttered,
And then guarantee flapping wing entirety aerodynamic characteristic.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (6)
1. a kind of chord length self-adapting stretching formula flapping wing for being applicable in active twist flapping mechanism, which is characterized in that including front-axle beam (A6),
The back rest (A7), telescopic rib (400) and bridging type covering (500)；
Setting before and after the front-axle beam (A6) and the back rest (A7), constitutes flapping wing skeleton；Above the flapping wing skeleton, press from wing root
To wingtip direction, the distributing installation more telescopic ribs (400)；The every telescopic rib (400) includes leading edge segments
Rib (401), rear rim segment rib (402) and extension sleeve (403)；Wherein, the leading edge segments rib (401) and the front-axle beam
(A6) be fixedly connected, it is described after rim segment rib (402) be fixedly connected with the back rest (A7), the leading edge segments rib (401) and
The extension sleeve (403) are installed between rim segment rib (402) after described；
The bridging type covering (500) includes leading edge segments covering (501) and rear rim segment covering (502)；The leading edge segments covering
(501) it is fixedly installed in the upper surface of each leading edge segments rib (401)；Rim segment covering (502) is fixedly installed in after described
The upper surface of each rear rim segment rib (402)；Also, the rear end of the leading edge segments rib (401) extends, and stretches described in covering
Contracting sleeve (403)；It is described after rim segment rib (402) front end extend, cover the extension sleeve (403), so make it is described before
The front end for being overlying on the rear rim segment rib (402) is taken in the rear end of rim segment rib (401), after making the leading edge segments rib (401)
End and the front end of the rear rim segment rib (402) have overlapping.
2. the chord length self-adapting stretching formula flapping wing according to claim 1 for being applicable in active twist flapping mechanism, feature exist
In the leading edge segments rib (401) is fixedly connected by connector (600) with the front-axle beam (A6)；Rim segment rib after described
(402) it is fixedly connected by connector (600) with the back rest (A7).
3. the chord length self-adapting stretching formula flapping wing according to claim 2 for being applicable in active twist flapping mechanism, feature exist
In the connector (600) is three-port structure, comprising: master collet portion (601) and branch sleeve part (602)；The master collet portion
(601) it is placed on the corresponding position of the front-axle beam (A6) or the back rest (A7)；The middle part of the master collet portion (601) is the branch
Sleeve part (602), the branch sleeve part (602) are vertical with master collet portion (601)；
Leading edge segments inserting column (4011) are fixedly installed in the leading edge segments rib (401)；After described after rim segment rib (402) fixed setting
Rim segment inserting column (4021)；The leading edge segments inserting column (4011) or the rear rim segment rib (402) are inserted into the corresponding connection
The branch sleeve part (602) of part (600) is internal.
4. the chord length self-adapting stretching formula flapping wing according to claim 1 for being applicable in active twist flapping mechanism, feature exist
In, entirely flutter during, the leading edge segments covering (501) and it is described afterwards rim segment covering (502) all have it is a degree of
Overlapping, and then guarantee flapping wing entirety aerodynamic characteristic.
5. the chord length self-adapting stretching formula flapping wing according to claim 1 for being applicable in active twist flapping mechanism, feature exist
In the leading edge segments covering (501) and the rear rim segment covering (502) are all made of elastic covering.
6. a kind of flapping-wing aircraft, which is characterized in that including the described in any item applicable active twist flapping mechanisms of claim 1-5
The bionic flapping-wing driving mechanism of chord length self-adapting stretching formula flapping wing and active twist and folding；Wherein, the active twist with
The bionic flapping-wing driving mechanism of folding drives the chord length self-adapting stretching formula flapping wing to carry out movement of fluttering, also, flutters in flapping wing
During dynamic, while generating the movement of flapping wing active twist and the movement of flapping wing active folding；When flapping wing carries out active twist movement,
On the one hand, telescopic rib (400) carries out the expanding-contracting action of chord length adaptive change, on the other hand, leading edge segments covering (501) and
Rim segment covering (502) carries out the change of adaptive overlapping area afterwards, to guarantee the complete of aerodynamic configuration during entirely fluttering
It is whole, finally guarantee aeroperformance.
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| CN201910892436.9A CN110466755B (en) | 2019-09-20 | 2019-09-20 | Chord length self-adaptive telescopic flapping wing suitable for active torsion flapping mechanism and flapping wing machine |
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| CN201910892436.9A CN110466755B (en) | 2019-09-20 | 2019-09-20 | Chord length self-adaptive telescopic flapping wing suitable for active torsion flapping mechanism and flapping wing machine |
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| CN111392038A (en) * | 2020-03-25 | 2020-07-10 | 南京航空航天大学 | Flapping wing aircraft wing capable of being folded and stored quickly |
| CN113955099A (en) * | 2021-10-29 | 2022-01-21 | 西安交通大学 | Flapping wing structure with length-adjustable fins on front edge surface |
| CN114013647A (en) * | 2021-11-19 | 2022-02-08 | 大连海事大学 | Three-dimensional trailing edge sawtooth bionic wing deformation method |
| CN114905081A (en) * | 2022-05-17 | 2022-08-16 | 广东粤惠兴机电工程有限公司 | Cable bridge rack cutting device for electrical engineering installation |
| CN116639275A (en) * | 2023-05-18 | 2023-08-25 | 北京科技大学 | Formation method of ornithopter |
| CN116729658A (en) * | 2023-04-20 | 2023-09-12 | 北京科技大学 | Flight device with telescopic wings and use method thereof |
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| CN116729658A (en) * | 2023-04-20 | 2023-09-12 | 北京科技大学 | Flight device with telescopic wings and use method thereof |
| CN116729658B (en) * | 2023-04-20 | 2024-04-26 | 北京科技大学 | Flight device with telescopic wings and use method thereof |
| CN116639275A (en) * | 2023-05-18 | 2023-08-25 | 北京科技大学 | Formation method of ornithopter |
| CN116639275B (en) * | 2023-05-18 | 2024-05-28 | 北京科技大学 | Formation method of ornithopter |
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