CN110979664B - Flat vibrating double-wing flapping hovering device - Google Patents
Flat vibrating double-wing flapping hovering device Download PDFInfo
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- CN110979664B CN110979664B CN201911354830.3A CN201911354830A CN110979664B CN 110979664 B CN110979664 B CN 110979664B CN 201911354830 A CN201911354830 A CN 201911354830A CN 110979664 B CN110979664 B CN 110979664B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention discloses a flat-vibrating double-wing vibrating-wing hovering device which comprises a variable attack angle wing surface mechanism, a rack, a driving mechanism and a transmission mechanism, wherein the rack comprises a horizontal moving frame and a transmission fixing frame, the transmission fixing frame is fixed at the center of the horizontal moving frame, the driving mechanism is fixed at the lower side of the horizontal moving frame, the transmission mechanism is rotatably arranged on the transmission fixing frame and can drive the transmission mechanism to act, the variable attack angle wing surface mechanism comprises two wing surfaces, the two wing surfaces are symmetrically arranged relative to the center mirror surface of the horizontal moving frame, the two wing surfaces are respectively hinged with a sliding block, the two wing surfaces can deflect a certain attack angle in an opposite direction or in an opposite direction, the sliding blocks are both in sliding connection with the horizontal moving frame and are both connected with the transmission mechanism, and the transmission mechanism can respectively drive the two sliding blocks and the wing surfaces to synchronously and reversely move. The invention has simple structure, low manufacturing cost and high flying efficiency and can stably hover and fly.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a flat vibration double-wing flapping hovering device.
Background
The aircraft can be mainly divided into three types, namely a fixed wing, a rotor wing and a flapping wing, according to the flight mode of the aircraft, wherein the rotor wing and the flapping wing aircraft can realize hovering flight. The rotor craft is the most mature at present and has the functions of vertical take-off, landing and hovering, and the rotor structure layout thereof is single-rotor type, double-rotor vertical distribution type, four-rotor horizontal distribution type, six-rotor distribution type and the like, wherein the four-rotor horizontal distribution type and the six-rotor distribution type are most widely applied. The flapping wing aircraft is designed by referring to the flapping wing flight modes of birds, bats and insects, can keep higher flight efficiency under smaller scale space and low Reynolds number, and has more advantages in the aspects of maneuverability, concealment and the like compared with the rotor wing aircraft. The existing flapping wing aircrafts include a bionic jellyfish aircraft developed at New York university in 2014, a Delfly series developed at Dutch Delff super university, a bionic Hummingbird aircraft developed at American Aero Vironment company, a bionic gull, a bionic butterfly and a bionic fox aircraft developed at German FESTO company, and the like.
In recent years, a flapping rotor wing aircraft is also provided, the characteristics of a flapping wing and a rotor wing are well fused, and a principle that insects and the like generate high lift force by utilizing the flapping wing is used for reference to obtain larger lift force.
The three types of aircrafts capable of realizing hovering have advantages respectively, but have various disadvantages simultaneously. The central torque of the rotor wing type aircraft is concentrated, the linear speed is low at the position close to the central position, and the flying efficiency is low; the flapping wing aircraft has a complex structure and motion mechanism, the mechanism is difficult to realize, the wings rotate around the root, the linear velocity is lower when the wings are closer to the root, the lift efficiency is lower, and the aerodynamic performance is obviously deteriorated under the condition of low Reynolds number; the uncontrollable rotation of the flapping-rotor aircraft can easily affect the hovering stability of the flapping-rotor aircraft, and meanwhile, the flapping-rotor aircraft has the inherent defect of concentrated torque of a central rotating shaft like a rotor. Therefore, it is an urgent problem to develop an aircraft that has a simple structure, a low manufacturing cost, a high flying efficiency and a stable hovering flight.
Disclosure of Invention
The invention aims to provide a flat vibration double-wing flutter hovering device which has a simple structure, low manufacturing cost and high flying efficiency and can stably hover and fly so as to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a flat-vibrating double-wing vibrating-wing hovering device which comprises a variable attack angle airfoil mechanism, a rack, a driving mechanism and a transmission mechanism, wherein the rack comprises a horizontal moving frame and a transmission fixing frame, the transmission fixing frame is fixed at the center of the horizontal moving frame, the driving mechanism is fixed at the lower side of the horizontal moving frame, the transmission mechanism is rotatably arranged on the transmission fixing frame and can drive the transmission mechanism to act, the variable attack angle airfoil mechanism comprises two airfoils, the two airfoils are symmetrically arranged relative to the center mirror surface of the horizontal moving frame, the two airfoils are respectively hinged with a sliding block, the two airfoils can deflect a certain attack angle in an opposite or opposite direction, the sliding block is in sliding connection with the horizontal moving frame, the sliding block is connected with the transmission mechanism, and the transmission mechanism can respectively drive the two sliding blocks and the airfoils to synchronously move on the horizontal moving frame And the opposite horizontal reciprocating movement.
Preferably, the transmission mechanism comprises a transmission rod and two connecting rods, the upper end of the transmission rod is rotatably connected with the transmission fixing frame, the lower end of the transmission rod is in transmission connection with the driving mechanism, one ends of the two connecting rods are respectively hinged with two ends of the transmission rod, the other ends of the connecting rods are respectively hinged with the sliding blocks in a one-to-one correspondence manner, and the transmission rod and the connecting rods are both made of carbon fiber plates through cutting.
Preferably, the transfer line is S type structure and including fixed connection' S first quarter butt, first pole of buckling, stock, second quarter butt and second quarter butt in proper order, two the connecting rod articulates respectively first pole of buckling with on the pole is buckled to the second, one the connecting rod can be followed first quarter butt with space between the stock passes through, another the connecting rod can be followed the stock with space between the second quarter butt passes through, follows first quarter butt with space between the stock passes through the connecting rod with the junction of slider is fixed and is provided with the benefit apart from the pivot, the benefit apart from the pivot with the slider rotates to be connected.
Preferably, the driving mechanism is a brushless motor, the brushless motor is fixed on a driving fixing frame, the driving fixing frame is located under the driving fixing frame and fixedly connected with the horizontal moving frame, an output shaft of the brushless motor is fixedly connected with an input shaft of a speed reducer, the speed reducer is fixed on the driving fixing frame, and the output shaft of the speed reducer is fixedly connected with the transmission rod.
Preferably, the transmission fixing frame is a rectangular frame, the transmission fixing frame is vertically fixed on the horizontal moving frame, and the transmission fixing frame is made of carbon fiber plates through cutting.
Preferably, the horizontal movement frame comprises a plurality of parallel moving rods, sliding grooves matched with the moving rods in shape and number are formed in the sliding blocks, and the sliding blocks are sleeved on the moving rods.
Preferably, variable angle of attack airfoil mechanism still includes fixed rotating shaft, fixed rotating shaft rotates and sets up on the slider, fixed rotating shaft's axis perpendicular to horizontal migration frame, fixed rotating shaft's upper end is provided with two spacing archs, be fixed with spacing dog on the slider, spacing dog is located directly over fixed rotating shaft, two spacing archs are located respectively spacing dog's both sides, the airfoil with fixed rotating shaft's lower extreme fixed connection.
Preferably, variable angle of attack airfoil mechanism still includes the carbon fiber skeleton, the carbon fiber skeleton includes two expansions to carbon fiber pole and a plurality of chordwise carbon fiber pole, the expansion to carbon fiber pole with chordwise carbon fiber pole is all intercrossing fixed, the airfoil is the rectangle structure, the airfoil is made by the film, the airfoil is fixed the expansion to carbon fiber pole with on the chordwise carbon fiber pole, be located the upside the expansion to carbon fiber pole be square carbon fiber pole and with spacing post fixed connection.
Preferably, the sliding block and the fixed rotating shaft are both made of nylon materials through 3D printing.
Preferably, in the process of horizontal reciprocating movement of the two airfoils, when the movement directions at the positions with the shortest distance and the positions with the farthest distance are changed, the angles of attack of the airfoils are changed under the action of inertia and wind resistance until the optimal angle of attack is reached; the horizontal reciprocating movement of the airfoil is sinusoidal.
Compared with the prior art, the invention has the following technical effects:
the invention drives the transmission mechanism to act by the driving mechanism, drives the slide block and the wing surfaces to horizontally reciprocate and vibrate on the horizontal moving frame by the transmission mechanism, simultaneously, the two wing surfaces can deflect towards or away from each other by a certain angle of attack under the action of inertia and wind resistance so as to generate lift force, and can control the magnitude of the lift force by controlling the output frequency of the driving mechanism so as to realize the lifting and the hovering flight of the hovering device, namely the hovering device realizes the hovering flight by the mode of wing surface flat vibration and variable angle of attack.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of the flat-vibrating double-wing flapping hovering device of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is an enlarged view of a portion of FIG. 1 at B;
FIG. 4 is a schematic view of the driving mechanism of the present invention;
FIG. 5 is a structural elevation view of the flat vibrating dual wing flutter hover of the present invention at rest;
FIG. 6 is a front view of the structure of the flat vibrating dual-wing flutter-fin hovering device according to the present invention when the wings are moved apart (the two wings are deflected towards each other);
FIG. 7 is a front view of the structure of the flat vibrating dual-wing flutter-fin hovering device of the present invention when the wings are moved towards each other (the two wings are deflected away from each other).
In the figure: the device comprises a driving mechanism 1, a horizontal moving frame 2, a transmission fixing frame 3, a transmission rod 4, a connecting rod 5, a variable attack angle airfoil mechanism 6, a chordwise carbon fiber rod 7, an airfoil 8, a spanwise carbon fiber rod 9, a sliding block 10, a limiting bulge 11, a fixed rotating shaft 12, a compensation rotating shaft 13, a speed reducer 14, a brushless motor 15 and a driving fixing frame 16.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-7: the embodiment provides a flat-vibrating double-wing vibrating-wing hovering device, which comprises a variable attack angle airfoil mechanism 6, a rack, a driving mechanism 1 and a transmission mechanism, wherein the rack comprises a horizontal moving frame 2 and a transmission fixing frame 3, the transmission fixing frame 3 is fixed at the center of the horizontal moving frame 2, the center of the horizontal moving frame 2 in the embodiment refers to the center in the length direction, the driving mechanism 1 is fixed at the lower side of the horizontal moving frame 2, the transmission mechanism is rotatably arranged on the transmission fixing frame 3, the driving mechanism 1 can drive the transmission mechanism to act, the variable attack angle airfoil mechanism 6 comprises two airfoils 8, the two airfoils 8 are completely identical and are arranged in mirror symmetry relative to the center of the horizontal moving frame 2, the two airfoils 8 are respectively hinged with a sliding block 10, the two airfoils 8 can deflect in opposite directions or away from each other by a certain attack angle, the sliding blocks 10 are both in sliding connection with the horizontal moving frame 2, and the, the transmission mechanism can respectively drive the two sliding blocks 10 and the airfoil 8 to synchronously and reversely horizontally reciprocate on the horizontal moving frame 2. The driving mechanism 1 drives the transmission mechanism to act, the transmission mechanism drives the sliding block 10 and the wing surfaces 8 to horizontally reciprocate and vibrate on the horizontal moving frame 2, meanwhile, the two wing surfaces 8 can deflect towards or away from each other by a certain angle of attack under the action of inertia and wind resistance, so that lift force is generated, the magnitude of the lift force can be controlled by controlling the output frequency of the driving mechanism 1, and the rising, the falling and the hovering flight of the hovering device are realized, namely the hovering device realizes the hovering flight through the mode of the plane vibration of the wing surfaces 8 and the changeable angle of attack.
Specifically, the transmission mechanism comprises a transmission rod 4 and two connecting rods 5, the upper end of the transmission rod 4 is rotatably connected with the transmission fixing frame 3, the lower end of the transmission rod 4 is in transmission connection with the driving mechanism 1, one ends of the two connecting rods 5 are respectively hinged with two ends of the transmission rod 4, the other ends of the connecting rods 5 are respectively hinged with the sliding blocks 10 in a one-to-one correspondence mode, and the transmission rod 4 and the connecting rods 5 are both made of carbon fiber plates through cutting. The transfer line 4 is S type structure and including the first quarter butt of fixed connection in proper order, first pole of buckling, the stock, pole and second quarter butt are buckled to the second, two connecting rods 5 articulate respectively on first pole of buckling and the second pole of buckling, a connecting rod 5 can be followed the space between first quarter butt and the stock and passed through, another connecting rod 5 can be followed the space between stock and the second quarter butt and passed through, connecting rod 5 that passes through from the space between first quarter butt and the stock is fixed with benefit apart from pivot 13 with the junction of slider 10, benefit apart from pivot 13 and slider 10 rotation connection, thereby make two connecting rods 5 can both keep the level setting, actuating mechanism 1 drive transfer line 4 is rotatory, it is rotatory to drive transfer line 4, thereby drive the connecting rod 5 at transfer line 4 both ends, slider 10 reciprocating motion, and then make the smooth reciprocal horizontal motion that carries on two airfoil 8.
Specifically, the driving mechanism 1 is a brushless motor 15, the brushless motor 15 has the characteristics of small volume, high power, no interference of spark noise, high precision of rotation speed adjustment and the like, the brushless motor 15 is fixed on a driving fixing frame 16, the driving fixing frame 16 is positioned right below the driving fixing frame 3 and is fixedly connected with the horizontal moving frame 2, an output shaft of the brushless motor 15 is fixedly connected with an input shaft of a speed reducer 14, the speed reducer 14 is fixed on the driving fixing frame 16, and an output shaft of the speed reducer 14 is fixedly connected with the transmission rod 4, namely the transmission rod 4 is driven to rotate by the brushless motor 15 and the speed reducer 14, the rotation speed of the transmission rod 4 is controlled by controlling the rotation speed of the brushless motor 15, the reciprocating vibration frequency of the airfoil 8 is further controlled, the magnitude of the lift force is controlled, and the larger. The transmission fixing frame 3 is preferably a rectangular frame, the transmission fixing frame 3 is vertically fixed on the horizontal moving frame 2, the transmission fixing frame 3 is made of carbon fiber plates through cutting, the length of the transmission fixing frame 3 is enough for the transmission rod 4 and the connecting rod 5 to pass through, and the size of the rectangular frame can be reasonably designed according to the lengths of the transmission rod 4 and the connecting rod 5. The horizontal moving frame 2 comprises a plurality of parallel moving rods, sliding grooves matched with the moving rods in shape and number are formed in the sliding blocks 10, and the sliding blocks 10 are sleeved on the moving rods and are shown in fig. 2 and 3. The slider 10 and the fixed rotating shaft 12 are both made of nylon materials through 3D printing.
Specifically, as shown in fig. 2 and 3, the variable attack angle airfoil mechanism 6 further includes a fixed rotating shaft 12, the fixed rotating shaft 12 is rotatably disposed on a slider 10, an axis of the fixed rotating shaft 12 is perpendicular to the horizontal moving frame 2, two limit protrusions 11 are disposed at an upper end of the fixed rotating shaft 12, a limit stop is fixed on the slider 10 and is located right above the fixed rotating shaft 12, the two limit protrusions 11 are respectively located at two sides of the limit stop, when the airfoil 8 is in a vertical state, the two limit protrusions 11 are symmetrical with respect to the limit stop, the airfoil 8 is fixedly connected with a lower end of the fixed rotating shaft 12, when the two airfoils 8 perform a relative or separated motion, due to the effects of inertia force and wind resistance, the airfoil 8 and the fixed rotating shaft 12 rotate, and when the two airfoils rotate to a certain attack angle, the limit protrusions 11 are limited at one side of the limit stop, thereby maintaining the attack angle. Variable angle of attack airfoil mechanism 6 still includes the carbon fiber skeleton, the carbon fiber skeleton includes two spanwise carbon fiber pole 9 and a plurality of chordwise carbon fiber pole 7, spanwise carbon fiber pole 9 chord is to carbon fiber pole 7 all intercrossing fixed, specifically as shown in fig. 1, spanwise carbon fiber pole 9 chord is to carbon fiber pole 7 all mutually perpendicular crossing, airfoil 8 is the rectangle structure, airfoil 8 is made by the film, airfoil 8 is fixed on spanwise carbon fiber pole 9 chord is to carbon fiber pole 7, spanwise carbon fiber pole 9 that is located the upside is square carbon fiber pole and with fixed rotating shaft 12 fixed connection. In the action process of the hovering device, in the process of horizontal reciprocating movement of the two airfoils 8, when the movement directions of the two airfoils 8 change at the positions with the shortest distance from each other and at the positions with the farthest distance from each other, the attack angle of each airfoil 8 changes under the action of inertia and wind resistance until the optimal attack angle is reached, and in other positions, the optimal attack angle is maintained for stable flight, meanwhile, the horizontal reciprocating movement of the airfoils 8 is sinusoidal movement, wherein the sinusoidal movement takes the positions of the two airfoils 8 with the shortest distance from each other as the movement starting points, and in the process of horizontal reciprocating vibration of the two airfoils 8, the average linear velocities of the same sections of the chords are the same, so that the airfoils 8 are uniformly stressed, and the lift efficiency and the stability of the hovering device are.
The action of the embodiment in one sinusoidal motion cycle of the hovering aircraft in a specific operation includes the following states:
in the first state, under the driving of the brushless motor 15, the rotation of the brushless motor 15 reaches the transmission rod 4 through the speed reducer 14 and drives the transmission rod 4 to rotate, the connecting rod 5 connected with the transmission rod 4, the slider 10 and the wing surface 8 also move along with the transmission rod, and at the moment, the rotation of the brushless motor 15 is converted into horizontal reciprocating vibration of the slider 10 and the wing surface 8, so that the horizontal reciprocating vibration of the wing surface 8 is realized.
In the second state, when the hovering device is at rest, the airfoil 8 is in a vertical suspension state, and the overall state is shown in fig. 5. The two airfoils 8 move in opposite directions in a sine motion mode at the beginning of the movement by taking the position where the two airfoils 8 are closest to each other as the movement starting point. Due to the inertia effect and the lateral resistance effect of wind, the two airfoils 8 and the fixed rotating shaft 12 rotate to generate an attack angle, the deflection angle gradually increases, the limiting protrusion 11 on one side of the fixed rotating shaft 12 contacts with the limiting stop block after reaching the set angle to complete limiting, and then the airfoils 8 maintain the attack angle to horizontally slide, so that a lift force is generated, and the motion state is shown in fig. 6.
And in the third state, after the two airfoils 8 move to the farthest position, the two airfoils 8 start to move towards each other under the driving of the slide block 10. At this time, under the combined action of inertia and wind resistance, the two airfoils 8 and the fixed rotating shaft 12 rotate in the direction opposite to the second state until the limiting protrusion 11 rotating to the other side of the fixed rotating shaft 12 contacts with the limiting stop to complete limiting, so that the change of the attack angle is completed, and then the airfoils 8 maintain the attack angle to horizontally slide, so that lift force is generated, and the motion state is as shown in fig. 7.
And in the fourth state, when the two airfoils 8 move to the most advanced position again, the horizontal sliding in the opposite directions is carried out again, the change process of the attack angle is the same as that in the second state, the airfoils start to move according to the second state after the change of the attack angle is finished, and then the reciprocating flat vibration is carried out according to the third state and the fourth state to continuously generate the lift force. The size of the lift force is related to the attack angle, the spreading length, the chord length, the area and the sliding speed of the airfoil 8, when the structural parameters of the hovering device are fixed, the purpose of changing the lift force can be achieved by adjusting the rotating frequency (rotating speed) of the brushless motor 15, and stable hovering and frequency modulation lifting of the aircraft are achieved. And based on this flat vibration motion mode, the motion mechanism is simple, and hover ware overall design is simple, stable in structure, low in manufacturing cost, the practicality is strong.
It should be noted that the power supply and control system are not described in the present invention, because the present invention focuses on the innovative design of the variable attack angle airfoil 8 structure and the flat vibration hover designed based on the design. Power and control systems may be attached to these mechanisms without limitation.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The flat vibration double-wing flapping hovering device is characterized in that: comprises a variable attack angle airfoil mechanism, a frame, a driving mechanism and a transmission mechanism, wherein the frame comprises a horizontal moving frame and a transmission fixing frame, the transmission fixing frame is fixed at the center of the horizontal moving frame, the driving mechanism is fixed at the lower side of the horizontal moving frame, the transmission mechanism is rotationally arranged on the transmission fixing frame, the driving mechanism can drive the transmission mechanism to act, the variable attack angle airfoil mechanism comprises two airfoils, the two airfoils are symmetrically arranged relative to the central mirror surface of the horizontal moving frame, the two airfoils are respectively hinged with a sliding block, the two airfoils can deflect a certain attack angle in an opposite direction or in an opposite direction, the sliding blocks are connected with the horizontal moving frame in a sliding way, the sliding blocks are connected with the transmission mechanism, the transmission mechanism can respectively drive the two sliding blocks and the airfoil surface to synchronously and reversely horizontally reciprocate on the horizontal moving frame; variable angle of attack airfoil mechanism still includes fixed rotating shaft, fixed rotating shaft rotates to set up on the slider, fixed rotating shaft's axis perpendicular to horizontal migration frame, fixed rotating shaft's upper end is provided with two spacing archs, be fixed with limit stop on the slider, limit stop is located two directly over fixed rotating shaft limit arch is located respectively limit stop's both sides, the airfoil with fixed rotating shaft's lower extreme fixed connection.
2. The flat vibrating double wing hovering device according to claim 1, wherein: the transmission mechanism comprises a transmission rod and two connecting rods, the upper end of the transmission rod is rotatably connected with the transmission fixing frame, the lower end of the transmission rod is in transmission connection with the driving mechanism, one ends of the two connecting rods are respectively hinged with two ends of the transmission rod, the other ends of the connecting rods are respectively hinged with the sliding blocks in a one-to-one correspondence mode, and the transmission rod and the connecting rods are both made of carbon fiber plates through cutting.
3. The flat vibrating double wing hovering device according to claim 2, wherein: the transfer line is S type structure and including fixed connection' S first quarter butt, first pole of buckling, stock, second in proper order the pole and the second quarter butt, two the connecting rod articulates respectively first buckle the pole with on the pole is buckled to the second, one the connecting rod can be followed first quarter butt with space between the stock passes through, another the connecting rod can be followed the stock with space between the second quarter butt passes through, follows first quarter butt with space between the stock passes through the connecting rod with the junction of slider is fixed to be provided with the benefit apart from the pivot, the benefit apart from the pivot with the slider rotates to be connected.
4. The flat vibrating double wing hovering device according to claim 2, wherein: the driving mechanism is a brushless motor, the brushless motor is fixed on a driving fixing frame, the driving fixing frame is located under the driving fixing frame and fixedly connected with the horizontal moving frame, an output shaft of the brushless motor is fixedly connected with an input shaft of the speed reducer, the speed reducer is fixed on the driving fixing frame, and the output shaft of the speed reducer is fixedly connected with the transmission rod.
5. The flat vibrating double wing hovering device according to claim 1, wherein: the transmission fixing frame is a rectangular frame and is vertically fixed on the horizontal moving frame, and the transmission fixing frame is made of carbon fiber plates through cutting.
6. The flat vibrating double wing hovering device according to claim 1, wherein: the horizontal migration frame includes the carriage release lever that a plurality of is parallel, set up on the slider with the equal assorted spout of shape and number of carriage release lever, the slider all overlaps and establishes on the carriage release lever.
7. The flat vibrating double wing hovering device according to claim 1, wherein: variable angle of attack airfoil mechanism still includes the carbon fiber skeleton, the carbon fiber skeleton includes that two expansions are to carbon fiber pole and a plurality of chordwise carbon fiber pole, the expansion to carbon fiber pole with chordwise carbon fiber pole is all intercrossing fixed, the airfoil is the rectangle structure, the airfoil is made by the film, the airfoil is fixed the expansion to carbon fiber pole with on the chordwise carbon fiber pole, be located the upside the expansion to carbon fiber pole be square carbon fiber pole and with spacing post fixed connection.
8. The flat vibrating double wing hovering device according to claim 1, wherein: the slider with fixed pivot all adopts nylon materials 3D to print and makes.
9. The flat vibrating double wing hovering device according to claim 1, wherein: in the process of horizontal reciprocating movement of the two airfoils, when the movement directions at the positions with the shortest distance and the positions with the farthest distance are changed, the attack angle of each airfoil is changed under the action of inertia and wind resistance until the optimal attack angle is reached; the horizontal reciprocating movement of the airfoil is sinusoidal.
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| CA2827688A1 (en) * | 2011-02-17 | 2012-08-23 | Georgia Tech Research Corporation | Hovering and gliding multi-wing flapping micro aerial vehicle |
| CN202624624U (en) * | 2012-05-17 | 2012-12-26 | 黄宏海 | Jellyfish-like aircraft |
| CN107933913A (en) * | 2017-12-06 | 2018-04-20 | 佛山市神风航空科技有限公司 | A kind of four flapping wing aircrafts |
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