CN117021862A - Flapping wing medium-crossing aircraft - Google Patents
Flapping wing medium-crossing aircraft Download PDFInfo
- Publication number
- CN117021862A CN117021862A CN202311300547.9A CN202311300547A CN117021862A CN 117021862 A CN117021862 A CN 117021862A CN 202311300547 A CN202311300547 A CN 202311300547A CN 117021862 A CN117021862 A CN 117021862A
- Authority
- CN
- China
- Prior art keywords
- wing
- gear
- shape memory
- flapping
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009467 reduction Effects 0.000 claims description 23
- 239000012528 membrane Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 210000001015 abdomen Anatomy 0.000 description 8
- 241000251468 Actinopterygii Species 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 241000283153 Cetacea Species 0.000 description 1
- 241000251730 Chondrichthyes Species 0.000 description 1
- 241001481833 Coryphaena hippurus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
- B64C5/00—Stabilising surfaces
- B64C5/10—Stabilising surfaces adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/08—Adjustable control surfaces or members, e.g. rudders bodily displaceable
Abstract
The embodiment of the application provides a flapping wing cross-medium aircraft, which comprises a fuselage, a tail wing and a first driving module, wherein the tail wing is movably connected with the fuselage; the first driving module comprises a control piece and a shape memory piece which are connected with each other, the shape memory piece is arranged on the tail wing, the control piece is arranged on the machine body, the shape memory piece has a first state and a second state, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state so as to enable the tail wing to swing back and forth relative to the machine body. According to the application, the shape memory piece is arranged on the tail wing, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state, so that the shape memory piece drives the tail wing to swing back and forth relative to the machine body, and the propulsion efficiency of the flapping-wing cross-medium aircraft is further improved.
Description
Technical Field
The application relates to the technical field of navigation equipment, in particular to a flapping wing cross-medium navigation device.
Background
The flapping wing medium-crossing aircraft is a novel aircraft which can adapt to a water-air amphibious environment and has a very strong living capacity, can navigate in water or air for a long time and can autonomously realize multi-phase medium crossing. Meanwhile, the underwater vehicle has the advantage of combining the stealth capability of the underwater vehicle with the maneuvering capability of the air vehicle, breaks the limitation of the working environment of a conventional single-medium vehicle, can realize the sea-air integrated operation, and has wide application in both the military and civil aspects.
The existing flapping-wing cross-medium aircraft has the problems of low propulsion efficiency, large propulsion noise and the like.
Disclosure of Invention
The embodiment of the application provides a flapping-wing cross-medium aircraft, which aims to improve the propulsion efficiency of the flapping-wing cross-medium aircraft.
An embodiment of a first aspect of the present application provides a flapping-wing cross-medium vehicle, including a fuselage, a tail, and a first drive module, the tail being movably connected to the fuselage; the first driving module comprises a control piece and a shape memory piece which are connected with each other, the shape memory piece is arranged on the tail wing, the control piece is arranged on the machine body, the shape memory piece has a first state and a second state, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state so as to enable the tail wing to swing back and forth relative to the machine body.
According to an embodiment of the first aspect of the application, the shape memory member comprises a shape memory coil; the control member includes a bi-stable driver electrically coupled to the shape memory coil, the bi-stable driver configured to place the shape memory coil in a first state when a first signal is input to the shape memory coil and place the shape memory coil in a second state when a second signal is input to the shape memory coil.
According to an embodiment of the first aspect of the application, when the shape memory coil is in the first state, one end of the tail wing facing away from the fuselage moves in a first direction; when the shape memory coil is in the second state, one end of the tail wing, which is away from the fuselage, moves in the opposite direction to the first direction, and the first direction intersects the fore-and-aft direction of the flapping-wing cross-medium vehicle.
According to the embodiment of the first aspect of the application, the wing structure further comprises a chest wing, the chest wing comprises a sliding rod, a sliding block, wing films and a supporting frame, the sliding rod is arranged in an extending mode along the front-back direction of the flapping wing cross-medium aircraft, the sliding rod is connected with the aircraft body in a rotating mode, the supporting frame is connected with two adjacent wing films, the sliding block is connected with the supporting frame, and the sliding block is sleeved on the sliding rod; the sliding block is arranged to drive the supporting frame to synchronously move when sliding along the sliding rod, so that two adjacent wing films are mutually folded or unfolded.
According to an embodiment of the first aspect of the present application, the two wings are respectively disposed at two sides of the body in a first direction, and the first direction intersects with the front-rear direction.
According to an embodiment of the first aspect of the application, the support frame is provided with folds arranged along the extension direction of the support frame; the sliding block is arranged to drive the support frame to synchronously move when sliding backwards along the sliding rod, so that one end of the wing film, which deviates from the machine body, moves towards the machine body, and two adjacent wing films are folded through folds of the support frame; the sliding block is arranged to drive the supporting frame to synchronously move when sliding forwards along the sliding rod, so that one end of the wing film, deviating from the machine body, moves towards the direction away from the machine body, and two adjacent wing films are unfolded along the direction away from the machine body.
According to an embodiment of the first aspect of the present application, the aircraft further comprises a second driving module, the second driving module is installed on the aircraft body, the second driving module comprises a motor, a gear reduction part and a rocker, the rocker is connected with the sliding rod, the gear reduction part is connected with the rocker and the motor, the motor transmits torque to the rocker through the gear reduction part, and the rocker drives the sliding rod and the wing membrane to rotate relative to the aircraft body.
According to an embodiment of the first aspect of the application, the gear reduction comprises a first gear and a crank, one end of the crank is connected with the first gear, the other end is connected with one end of the rocker away from the sliding rod, and the first gear is used for driving the crank to rotate.
According to an embodiment of the first aspect of the present application, the gear reduction further includes a first bevel gear, a second bevel gear, a first transmission shaft, a second gear, a third gear and a fourth gear, the first bevel gear is mounted on the output shaft of the motor, the second bevel gear is meshed with the first bevel gear, the second bevel gear and the second gear are both mounted on the first transmission shaft, the third gear is meshed with the second gear, the third gear and the fourth gear are both mounted on the second transmission shaft, and the fourth gear is meshed with the first gear.
According to an embodiment of the first aspect of the application, the gear reduction further comprises a first collar and a second collar, the first collar being arranged to be slidable on the first drive shaft, the second collar being arranged to be slidable on the second drive shaft.
According to an embodiment of the first aspect of the application, the fuselage comprises a first section and a second section arranged in the fore-aft direction of the flapping-span-medium vehicle, the first section and the second section being connected by a universal joint.
The flapping wing cross-medium aircraft provided by the embodiment of the application comprises a fuselage, a tail wing and a first driving module, wherein the tail wing is movably connected with the fuselage; the first driving module comprises a control piece and a shape memory piece which are connected with each other, the shape memory piece is arranged on the tail wing, the control piece is arranged on the machine body, the shape memory piece has a first state and a second state, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state so as to enable the tail wing to swing back and forth relative to the machine body. According to the application, the shape memory piece is arranged on the tail wing, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state, so that the shape memory piece drives the tail wing to swing back and forth relative to the machine body, and the propulsion efficiency of the flapping-wing cross-medium aircraft is further improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading the following detailed description of non-limiting embodiments thereof, taken in conjunction with the accompanying drawings in which like or similar reference characters designate the same or similar features.
FIG. 1 is a schematic top view of a flapping-wing cross-medium vehicle according to an embodiment of the present application;
FIG. 2 is a schematic side view of an exemplary flapping-wing cross-medium vehicle;
FIG. 3 is an enlarged partial schematic view of an exemplary fuselage, tail wing and first drive module;
FIG. 4 is an exploded view of an exemplary fuselage, tail wing and first drive module;
FIG. 5 is an enlarged partial schematic view of an exemplary first segment, second segment and universal coupling;
FIG. 6 is a schematic top view of an exemplary chest wing;
FIG. 7 is a schematic top view of another example chest wing after concealing the support shelf;
FIG. 8 is a schematic top view of an exemplary chest wing and second drive module;
FIG. 9 is a schematic side view of an exemplary chest wing and second drive module;
FIG. 10 is a schematic illustration of an exemplary chest wing, first gear, third drive shaft, crank and rocker;
FIG. 11 is a schematic top view of an exemplary second drive module after concealing the crank and rocker;
FIG. 12 is an enlarged partial schematic view of an exemplary fuselage, tail wing and belly wing;
FIG. 13 is an enlarged partial schematic view of another exemplary fuselage, tail wing and belly wing.
Reference numerals illustrate:
10. flapping wing medium crossing craft;
100. a body; 110. a first section; 120. a second section; 130. a universal coupling; 140. a machine head;
200. a tail wing;
300. a first driving module; 310. a control member; 320. a shape memory member; 330. a tail wing fixing assembly; 331. a locking groove; 332. locking;
400. chest wings; 410. a slide bar; 420. a slide block; 430. a wing film; 440. a support frame;
500. a second driving module; 510. a motor; 520. a gear reduction; 521. a first gear; 522. a crank; 523. a first bevel gear; 524. a second bevel gear; 525. a first drive shaft; 526. a second drive shaft; 527. a second gear; 528. a third gear; 529. a fourth gear; 5201. a third drive shaft; 5202. a first collar; 5203. a second collar; 530. a rocker;
600. abdomen wings;
x, flapping wings span the fore-and-aft direction of the medium vehicle; y, a first direction; z, second direction.
Detailed Description
Features and exemplary embodiments of various aspects of the application are described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the application. It will be apparent, however, to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application. In the drawings and the following description, at least some well-known structures and techniques have not been shown in detail in order not to unnecessarily obscure the present application; also, the dimensions of some of the structures may be exaggerated for clarity. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In the description of the present application, it is to be noted that, unless otherwise indicated, the meaning of "plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like are merely used for convenience in describing the present application and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The directional terms appearing in the following description are all directions shown in the drawings and do not limit the specific structure of the embodiment of the present application. In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected. The specific meaning of the above terms in the present application can be understood as appropriate by those of ordinary skill in the art.
In the related art, the flapping-wing cross-medium aircraft has the problems of low propulsion efficiency, large propulsion noise and the like.
In view of the above problems, the present application provides a flapping wing medium crossing aircraft, which comprises a fuselage, a tail wing and a first driving module, wherein the tail wing is movably connected with the fuselage; the first driving module comprises a control piece and a shape memory piece which are connected with each other, the shape memory piece is arranged on the tail wing, the control piece is arranged on the machine body, the shape memory piece has a first state and a second state, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state so as to enable the tail wing to swing back and forth relative to the machine body.
According to the flapping-wing medium-span aircraft provided by the application, the shape memory piece is arranged on the tail wing, and the shape memory piece is regulated and controlled by the control piece to switch between the first state and the second state, so that the shape memory piece drives the tail wing to swing back and forth relative to the aircraft body, and the propulsion efficiency of the flapping-wing medium-span aircraft is further improved.
For a better understanding of the application, a detailed description of an embodiment of the application, a flapping-wing cross-medium vehicle and a francis turbine, is described below with reference to the accompanying drawings. The x direction in the figure is the fore-and-aft direction of the flapping wing across the medium vehicle, the y direction is the first direction, and the z direction is the second direction. In the drawings, the dimensions in the drawings are not necessarily to scale with real dimensions for convenience in drawing.
For a better understanding of the present application, a flapping-wing cross-medium vehicle and francis turbine according to embodiments of the present application will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 3, fig. 1 is a schematic top view of a flapping-wing cross-medium vehicle according to an embodiment of the present application; FIG. 2 is a schematic side view of an exemplary flapping-wing cross-medium vehicle; FIG. 3 is an enlarged partial schematic view of an exemplary fuselage, tail wing and first drive module.
As shown in fig. 1 to 3, an embodiment of the present application provides a flapping-wing cross-medium vehicle 10, which includes a fuselage 100, a tail wing 200, and a first drive module 300, wherein the tail wing 200 is movably connected with the fuselage 100. The first driving module 300 includes a control member 310 and a shape memory member 320 connected to each other, the shape memory member 320 is mounted on the tail wing 200, the control member 310 is mounted on the body 100, the shape memory member 320 has a first state and a second state, and the control member 310 is used to control the shape memory member 320 to switch between the first state and the second state, thereby reciprocating the tail wing 200 with respect to the body 100.
Alternatively, the material of the shape memory member 320 may comprise a shape memory alloy that may be transformed into different configurations in different scenarios. The control element 310 is configured to provide different scenarios for the shape memory element 320, wherein the control element 310 may heat or cool the shape memory element 320, so that the shape memory element 320 is alternately above and below the phase transition temperature, and the shape memory element 320 is switched between the first state and the second state. In addition, the control member 310 may control the deformation of the shape memory member 320 in a stress-driven manner, a magnetic-field driven manner, an electric-field driven manner, or the like.
Optionally, the first driving module 300 further includes a power source (not shown) mounted on the body 100, the power source being used to power the control member 310.
The flapping wing cross-medium vehicle 10 provided by the embodiment of the application comprises a body 100, a tail wing 200 and a first driving module 300, wherein the tail wing 200 is movably connected with the body 100. The first driving module 300 includes a control member 310 and a shape memory member 320 connected to each other, the shape memory member 320 is mounted on the tail wing 200, the control member 310 is mounted on the body 100, the shape memory member 320 has a first state and a second state, and the control member 310 is used to control the shape memory member 320 to switch between the first state and the second state, thereby reciprocating the tail wing 200 with respect to the body 100. According to the application, the shape memory element 320 is arranged on the tail wing, and the shape memory element 320 is regulated by the control element 310 to switch between the first state and the second state, so that the shape memory element 320 drives the tail wing 200 to swing back and forth relative to the machine body 100, and a shape memory alloy is adopted as a driving mode, so that compared with a traditional transmission mode, the application has the advantages of high propulsion efficiency and lower noise.
In some alternative embodiments, shape memory element 320 comprises a shape memory coil. The control 310 includes a bi-stable driver electrically coupled to the shape memory coil, the bi-stable driver configured to place the shape memory coil in a first state when a first signal is input to the shape memory coil and place the shape memory coil in a second state when a second signal is input to the shape memory coil.
Optionally, the multiple strip-shaped memory coils form a skeleton of the tail 200, and the material of the tail 200 comprises a flexible film, and the flexible film is connected with two adjacent strip-shaped memory coils.
According to the flapping-wing medium vehicle 10 provided by the embodiment of the application, the control piece 310 is the bistable driver, and the bistable driver alternately outputs two different electric signals to the shape memory coil, so that the shape memory coil is switched between the first state and the second state, and compared with a temperature driving mode of the shape memory alloy, the response speed of an electric field driving mode is higher, and the propulsion efficiency of the flapping-wing medium vehicle 10 is further improved.
Referring to fig. 1 to 4, fig. 4 is an exploded view of an exemplary fuselage, tail wing and first drive module. Wherein the a-component in FIG. 4 represents the shape memory coil in a third state, and b in FIG. 4 1 The component represents the shape memory coil in the first state, b in FIG. 4 2 The member represents the shape memory coil in the second state.
As shown in fig. 1-4, in some alternative embodiments, the tail 200 moves away from one end of the fuselage 100 in a first direction (y-direction in the figures) when the shape memory coil is in a first state, and the tail 200 moves away from one end of the fuselage 100 in a direction opposite the first direction y when the shape memory coil is in a second state. Wherein the first direction y intersects the fore-aft direction (x-direction in the figure) of the flapping-wing cross-medium vehicle.
Optionally, the tail wing 200 is located behind the fuselage 100.
Alternatively, the first direction y may be a lateral direction of the flapping wing across the medium vehicle, or an up-down direction. When the first direction y is the left-right direction, the tail wing 200 extends in the up-down direction, and when the shape memory coil is switched between the first state and the second state, one end of the tail wing 200, which is far away from the fuselage 100, swings in a left-right reciprocating manner, and the swinging manner is similar to flying fish and shark. When the first direction y is the up-down direction, the tail wing 200 extends along the left-right direction, and when the shape memory coil is switched between the first state and the second state, one end of the tail wing 200, which is far away from the body 100, swings up and down in a reciprocating manner, and the swinging manner is similar to dolphin or whale. The embodiment specifically describes with the first direction y as the left-right direction.
Alternatively, in the first state, the end of the tail 200 facing away from the fuselage 100 swings left, and in the second state, the end of the tail 200 facing away from the fuselage 100 swings right. The shape memory coil further includes a third state, and the bistable drive is in the third state when the bistable drive is not outputting an electrical signal to the shape memory coil, i.e., when the shape memory coil is de-energized. At this time, the tail wing 200 is located on the axis of the fuselage 100.
Optionally, the first driving module 300 further includes a tail fixing assembly 330, and the tail fixing assembly 330 connects the tail 200 with the fuselage 100. The tail wing fixing assembly 330 includes a locking groove 331 and a locking catch 332, one of the locking groove 331 and the locking catch 332 is mounted on the body 100, and the other is mounted on the tail wing 200. The tail wing fixing assembly 330 includes a free state in which the locking groove 331 and the locking catch 332 are relatively movable, and a locked state in which the tail wing 200 is swingable in a first direction with respect to the body 100. In the locked state, the locking groove 331 and the lock catch 332 are locked, and the tail 200 is fixed to the fuselage 100. The locking between the locking groove 331 and the lock catch 332 can be locked electrically or mechanically. When the flapping-wing medium vehicle 10 is in water, the tail wing fixing assembly 330 is in a free state, the tail wing 200 can swing relative to the fuselage 100, when the flapping-wing medium vehicle 10 is in air, the tail wing fixing assembly 330 is in a locking state, the shape memory coil is in a third state, namely, the tail wing 200 is fixed on the axis of the fuselage 100, and the air resistance of the tail wing 200 is reduced.
Referring to fig. 1 and 5, fig. 5 is an enlarged partial schematic view of an exemplary first segment, second segment and universal joint.
As shown in fig. 1 and 5, in some alternative embodiments, the fuselage 100 includes a first section 110, a second section 120 disposed along a fore-aft direction x of the flapping-span medium vehicle, the first section 110 and the second section 120 being connected by a universal coupling 130.
Optionally, the fuselage 100 further comprises a nose 140, the nose 140 corresponding to the head of the fish, the first section 110 corresponding to the chest of the fish, and the second section 120 corresponding to the abdomen of the fish. One of the driving shaft and the driven shaft of the universal coupling 130 is mounted to the first section 110, the other is mounted to the second section 120, and the universal coupling 130 is used for enabling the first section 110 and the second section 120 to swing freely within a preset angle along the first direction y. When the flapping wing medium vehicle is in water, the swimming posture of fish in water is further simulated through the left-right swinging of the tail wing 200 and the left-right swinging between the first section 110 and the second section 120, and the swimming stability of the flapping wing medium vehicle 10 in water is improved.
Referring to fig. 6 and 7, fig. 6 is a schematic top view of an exemplary wing panel; fig. 7 is a schematic top view of another example chest wing after concealing the support frame.
As shown in fig. 6 and 7, in some alternative embodiments, the flapping-wing cross-medium vehicle 10 further comprises a wing panel 400, the wing panel 400 comprising a slide bar 410, a slide block 420, a wing membrane 430, and a support frame 440. The sliding rod 410 extends along the front-back direction of the flapping wing cross medium vehicle, the sliding rod 410 is rotatably connected with the fuselage 100, and the supporting frame 440 is connected with two adjacent wing films 430. The slider 420 is connected to at least the support 440, and the slider 420 is color coated on the slide bar 410. The sliding block 420 is configured to slide along the sliding rod 410 to drive the supporting frame 440 to move synchronously, so that two adjacent wing films 430 are folded or unfolded.
Alternatively, two wings 400 are provided separately on both sides of the body 100 in the first direction y. Preferably, the chest wing 400 is mounted to the first section 110.
In some alternative embodiments, the support 440 is provided with folds that are disposed along the extension of the support 440. The sliding block 420 is configured to drive the supporting frame 440 to move synchronously when sliding backward along the sliding rod 410, so that one end of the wing film 430 facing away from the main body 100 moves toward the main body 100, and two adjacent wing films 430 are folded by the crease of the supporting frame 440. The sliding block 420 is configured to drive the supporting frame 440 to move synchronously when sliding forward along the sliding rod 410, so that one end of the wing film 430 facing away from the machine body 100 moves away from the machine body 100, and two adjacent wing films 430 are unfolded along the direction away from the machine body.
Alternatively, the material of the wing film 430 includes a flexible film, and three wing films 430 are respectively disposed at both ends of the fuselage 100. As shown in fig. 6, when the wing 400 is fully unfolded, the three wing films 430 are sequentially connected and unfolded to form a wing shape, and at this time, the wing span of the wing 400 is maximum and the lift force is maximum. The wing film 430 closest to the nose 140 is defined as a first wing film 430, and the wing film 430 closest to the tail 200 is defined as a third wing film 430. The first wing film 430 has the longest length and the third wing film 430 has the shortest length. As shown in fig. 7, when the wing panel 400 is completely folded, the two sliding blocks 420 connecting the two supporting frames 440 slide backward along the sliding bar 410, and the three wing films 430 are folded by the folds on the two supporting frames 440, so that the first wing film 430 and the second wing film 430 are folded by the third wing film 430, and at this time, the wing span of the wing panel 400 is minimum and the air resistance is minimum. In other embodiments, the three wing films 430 may also be deformed when folded and fully fit over the fuselage 100, further reducing the air resistance of the wing panel 400 when folded.
According to the flapping-wing medium-span aircraft 10 provided by the embodiment of the application, when the flapping-wing medium-span aircraft 10 enters water from air, as the resistance of water is much larger than that of air, the sliding block 420 is pressed by the resistance of water to slide backwards along the sliding rod 410, and the sliding block 420 drives one end of the supporting frame 440, which is close to the sliding rod 410, to slide backwards, so that the wing film 430 is folded relative to the crease of the supporting frame 440, one end of the first wing film 430, which is away from the aircraft body 100, moves towards the direction, which is close to the aircraft body 100, and the volume of the chest wing 400 is reduced, so that the resistance of the chest wing 400 in water is reduced. When the flapping wing straddling medium vehicle 10 enters the air from the water, the resistance of the air is much smaller than that of the water, the sliding block 420 slides forwards along the sliding rod 410 due to the action of inertia, and the sliding block 420 drives one end of the supporting frame 440, which is close to the sliding rod 410, to slide forwards, so that one end of the first wing film 430, which is away from the body 100, moves towards a direction away from the body 100, the wing film 430 is fully unfolded, the wingspan of the wing chest 400 is improved, the wing chest 400 can be subjected to larger lifting force, and the gliding capability of the flapping wing straddling medium vehicle 10 is further improved. By enabling the sliding block 420 to automatically slide under resistance change or inertial force change during water outlet and like water, the deformation of the wing membrane 430 is driven, the movement performance of the flapping-wing medium-span aircraft 10 under two mediums is improved, and meanwhile, a deformation mechanism is not required to be additionally arranged, so that the volume and cost of the flapping-wing medium-span aircraft 10 are reduced.
Referring to fig. 8 to 11, fig. 8 is a schematic top view of an exemplary wing and a second driving module; FIG. 9 is a schematic side view of an exemplary chest wing and second drive module; FIG. 10 is a schematic illustration of an exemplary chest wing, first gear, third drive shaft, crank and rocker; FIG. 11 is a schematic top view of an exemplary second drive module after concealing the crank and rocker.
As shown in fig. 8-11, in some alternative embodiments, the flapping-span medium vehicle 10 also includes a second drive module 500, with the second drive module 500 being mounted to the fuselage 100. The second driving module 500 includes a motor 510, a gear reduction 520 and a rocker 530, the rocker 530 is connected with the sliding rod 410, the gear reduction 520 is connected with the rocker 530 and the motor 510, the motor 510 transmits torque to the rocker 530 through the gear reduction 520, and the rocker 530 drives the sliding rod 410 and the wing membrane 430 to rotate relative to the machine body 100.
Alternatively, the sliding rod 410 is rotatably connected with the machine body 100, and the motor 510 transmits torque to the rocker 530, so that the rocker 530 drives the sliding rod 410 to reciprocally rotate along the central axis of the sliding rod 410, and the sliding rod 410 drives the wing membrane 430 to reciprocally swing along the second direction (z direction in the figure). Wherein the second direction z is the up-down direction.
Optionally, a second drive module 500 is mounted within the first section 110.
According to the flapping wing medium vehicle 10 provided by the embodiment of the application, the second driving module 500 is arranged to drive the chest wing 400 to swing up and down, so that the flying capacity of the flapping wing medium vehicle 10 in the air is improved.
In some alternative embodiments, the gear reduction 520 includes a first gear 521 and a crank 522, one end of the crank 522 is connected to the first gear 521, and the other end is connected to an end of the rocker 530 facing away from the slide bar 410, and the first gear 521 is used to drive the crank 522 to rotate.
Alternatively, the first gear 521 is an output gear of the gear reducer 520.
Optionally, the gear reducer 520 further includes a first bevel gear 523, a second bevel gear 524, a first drive shaft 525, a second drive shaft 526, a second gear 527, a third gear 528, a fourth gear 529, and a third drive shaft 5201. A first bevel gear 523 is mounted on the output shaft of the motor 510, a second bevel gear 524 is meshed with the first bevel gear 523, and both the second bevel gear 524 and a second gear 527 are mounted on the first transmission shaft 525. The third gear 528 is meshed with the second gear 527, the third gear 528 and the fourth gear 529 are both mounted on the second transmission shaft 526, and the fourth gear 529 is meshed with the first gear 521.
Optionally, the diameter of the second bevel gear 524 is larger than that of the first bevel gear 523, and the second bevel gear 524 and the first bevel gear 523 form a gear reduction assembly. The diameter of the third gear 528 is larger than the diameter of the second gear 527, and the third gear 528 and the second gear 527 form a gear reduction assembly. The diameter of the first gear 521 is larger than the diameter of the fourth gear 529, and the first gear 521 and the fourth gear 529 form a gear reduction assembly. The gear reduction 520 reduces the rotation speed of the motor 510 through three-stage gear reduction, thereby improving the stability of swing of the wing 400.
Alternatively, the first gear 521 is mounted on the third transmission shaft 5201, two cranks 522 are respectively located at two sides of the first gear 521, one end of each of the two cranks 522 is sleeved on the third transmission shaft 5201, and the other end of each of the two cranks 522 is respectively connected with the two sliding rods 410.
In some alternative embodiments, gear reduction 520 further includes a first collar 5202 and a second collar 5203, first collar 5202 being nested on first drive shaft 525, first collar 5202 being configured to slide on first drive shaft 525. The second collar 5203 is fitted over the second transmission shaft 526, and the second collar 5203 is slidably disposed on the second transmission shaft 526.
Optionally, the first collar 5202 is located between the second bevel gear 524 and the second gear 527. The second collar 5203 is on a side of the fourth gear 529 facing away from the third gear 528.
According to the flapping-wing cross-medium aircraft 10 provided by the embodiment of the application, the sleeve for adjusting is arranged on the second transmission shaft 526 of the first transmission shaft 525, so that the torsion force and the bending force applied to the transmission shafts are balanced, and the transmission stability of the gear reducer 520 is improved.
In some alternative embodiments, the first gear 521 may slide on the third transmission shaft 5201, so as to balance the torsion and bending forces applied to the third transmission shaft 5201, thereby further improving the stability of the transmission of the gear reducer 520. Wherein the first gear 521 remains engaged with the fourth gear 529 as it slides over the third drive shaft 5201.
Referring to fig. 12 and 13, fig. 12 is an enlarged partial schematic view of an exemplary fuselage, tail wing and belly wing; FIG. 13 is an enlarged partial schematic view of another exemplary fuselage, tail wing and belly wing.
As shown in fig. 12 and 13, in some alternative embodiments, the flapping-span medium vehicle 10 also includes a belly wing 600, the belly wing 600 being mounted to the second section 120.
Optionally, the web 600 also has a collapsed state (as shown in fig. 13) in which the web 600 is adjacent to the second section 120 and an expanded state (as shown in fig. 12) in which the web 600 expands in a direction away from the second section 120. The movement of the wing 600 can be referred to as the wing 400.
In some alternative embodiments, the flapping-wing cross-medium vehicle 10 is configured in a full-scale bionic design, that is, a true-size model of the flying fish is obtained by observation, scanning, or the like, the maximum height is defined as H1, the width L1 is 0.61H1-0.66H1, the length L2 is 4.8H1-5.3H1, and the maximum chest wing span L3 is 0.95L2-1.05L2. And on the basis of the proportion, the design of the model machine of the multi-size aircraft is realized by carrying out equal proportion expansion.
While the application has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (11)
1. A flapping-wing cross-medium vehicle, comprising:
a body;
the tail wing is movably connected with the machine body;
the first driving module comprises a control piece and a shape memory piece which are connected with each other, the shape memory piece is installed on the tail wing, the control piece is installed on the machine body, the shape memory piece has a first state and a second state, and the control piece is used for controlling the shape memory piece to switch between the first state and the second state, so that the tail wing swings back and forth relative to the machine body.
2. The ornithopter cross-medium vehicle of claim 1, wherein the shape memory member comprises a shape memory coil;
the control includes a bi-stable driver electrically connected to the shape memory coil, the bi-stable driver configured to be in the first state when a first signal is input to the shape memory coil and in the second state when a second signal is input to the shape memory coil.
3. The ornithopter cross-medium vehicle of claim 2 wherein the tail wing moves in a first direction away from the end of the fuselage when the shape memory coil is in the first state; when the shape memory coil is in the second state, one end of the tail wing, which is away from the fuselage, moves along the direction opposite to the first direction, and the first direction intersects with the fore-and-aft direction of the flapping-wing cross-medium vehicle.
4. The flapping-wing cross-medium vehicle according to claim 1, further comprising a chest wing, wherein the chest wing comprises a sliding rod, a sliding block, a wing membrane and a supporting frame, the sliding rod extends along the front-back direction of the flapping-wing cross-medium vehicle, the sliding rod is rotationally connected with the body, the supporting frame is connected with two adjacent wing membranes, the sliding block is connected with the supporting frame, and the sliding block is sleeved on the sliding rod; the sliding block is arranged to drive the supporting frame to synchronously move when sliding along the sliding rod, so that two adjacent wing films are mutually folded or unfolded.
5. A flapping-medium vehicle according to claim 4, wherein two of the wings are provided on either side of the fuselage in a first direction, the first direction intersecting the fore-aft direction.
6. The flapping-medium vehicle according to claim 4, wherein the support frame is provided with folds arranged along the extending direction of the support frame;
the sliding block is arranged to drive the supporting frame to synchronously move when sliding backwards along the sliding rod, so that one end of the wing film, which is away from the machine body, moves towards the machine body, and two adjacent wing films are folded through folds of the supporting frame; the sliding block is arranged to drive the supporting frame to synchronously move when the sliding rod slides forwards, so that one end of the wing film, which is away from the machine body, moves away from the machine body, and two adjacent wing films are unfolded along the direction away from the machine body.
7. A flapping-wing cross-medium vehicle according to claim 4, further comprising a second drive module mounted to the fuselage, the second drive module comprising a motor, a gear reduction and a rocker, the rocker being connected to the slide bar, the gear reduction being connected to the rocker and the motor, the motor transmitting torque to the rocker via the gear reduction, thereby causing the rocker to rotate the slide bar and the wing membrane relative to the fuselage.
8. A flapping-medium vehicle according to claim 7, wherein the gear reduction comprises a first gear and a crank, one end of the crank being connected to the first gear and the other end being connected to the end of the rocker facing away from the slide bar, the first gear being arranged to drive the crank in rotation.
9. The ornithopter of claim 8, wherein the gear reduction further comprises a first bevel gear mounted on the output shaft of the motor, a second bevel gear meshed with the first bevel gear, a first drive shaft, a second gear, a third gear and a fourth gear, both mounted on the first drive shaft, both the second bevel gear and the second gear meshed with the second gear, both the third gear and the fourth gear mounted on the second drive shaft, and the fourth gear meshed with the first gear.
10. A flapping-medium vehicle according to claim 9, wherein the gear reduction further comprises a first collar and a second collar, the first collar being arranged to be slidable on the first drive shaft, the second collar being arranged to be slidable on the second drive shaft.
11. A flapping-medium vehicle according to claim 1, wherein the fuselage comprises a first section and a second section disposed in a fore-aft direction of the flapping-medium vehicle, the first and second sections being connected by a universal coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311300547.9A CN117021862A (en) | 2023-10-09 | 2023-10-09 | Flapping wing medium-crossing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311300547.9A CN117021862A (en) | 2023-10-09 | 2023-10-09 | Flapping wing medium-crossing aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117021862A true CN117021862A (en) | 2023-11-10 |
Family
ID=88623130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311300547.9A Pending CN117021862A (en) | 2023-10-09 | 2023-10-09 | Flapping wing medium-crossing aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117021862A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114907A (en) * | 2011-02-21 | 2011-07-06 | 哈尔滨工业大学 | Flexible dual-drive biomimetic fish with variable drive position |
| CN103318394A (en) * | 2013-07-08 | 2013-09-25 | 淮海工学院 | Pharyngeal-jaw bionic pectoral fin with active fin face deformation function |
| CN105922831A (en) * | 2016-05-23 | 2016-09-07 | 吉林大学 | Bionic morphing wing of water-air amphibious aircraft and diving control method of bionic morphing wing |
| CN207860416U (en) * | 2017-12-19 | 2018-09-14 | 武汉理工大学 | A kind of bionic machine fish based on marmem driving |
| CN112758314A (en) * | 2020-12-15 | 2021-05-07 | 北京交通大学 | Deformable composite wing cross-medium flying submersible vehicle |
| CN113927589A (en) * | 2021-11-22 | 2022-01-14 | 浙江大学 | Curve executor realized by shape memory alloy wire 'constraint-weaving' method |
| CN216101397U (en) * | 2021-11-18 | 2022-03-22 | 马岚 | Air-sea aircraft |
| CN115056980A (en) * | 2022-06-20 | 2022-09-16 | 哈尔滨工业大学（深圳） | Variable sweepback wing assembly of water-air cross-medium flapping wing aircraft and flapping wing aircraft |
| CN115258153A (en) * | 2022-06-08 | 2022-11-01 | 哈尔滨工业大学（深圳） | Wing deformation mechanism for water-air cross-medium flapping wing aircraft |
| CN115648870A (en) * | 2022-10-28 | 2023-01-31 | 北京航空航天大学 | Water-air amphibious cross-medium unmanned aerial vehicle |
| CN115972831A (en) * | 2023-02-03 | 2023-04-18 | 北京大学 | Aircraft |
-
2023
- 2023-10-09 CN CN202311300547.9A patent/CN117021862A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114907A (en) * | 2011-02-21 | 2011-07-06 | 哈尔滨工业大学 | Flexible dual-drive biomimetic fish with variable drive position |
| CN103318394A (en) * | 2013-07-08 | 2013-09-25 | 淮海工学院 | Pharyngeal-jaw bionic pectoral fin with active fin face deformation function |
| CN105922831A (en) * | 2016-05-23 | 2016-09-07 | 吉林大学 | Bionic morphing wing of water-air amphibious aircraft and diving control method of bionic morphing wing |
| CN207860416U (en) * | 2017-12-19 | 2018-09-14 | 武汉理工大学 | A kind of bionic machine fish based on marmem driving |
| CN112758314A (en) * | 2020-12-15 | 2021-05-07 | 北京交通大学 | Deformable composite wing cross-medium flying submersible vehicle |
| CN216101397U (en) * | 2021-11-18 | 2022-03-22 | 马岚 | Air-sea aircraft |
| CN113927589A (en) * | 2021-11-22 | 2022-01-14 | 浙江大学 | Curve executor realized by shape memory alloy wire 'constraint-weaving' method |
| CN115258153A (en) * | 2022-06-08 | 2022-11-01 | 哈尔滨工业大学（深圳） | Wing deformation mechanism for water-air cross-medium flapping wing aircraft |
| CN115056980A (en) * | 2022-06-20 | 2022-09-16 | 哈尔滨工业大学（深圳） | Variable sweepback wing assembly of water-air cross-medium flapping wing aircraft and flapping wing aircraft |
| CN115648870A (en) * | 2022-10-28 | 2023-01-31 | 北京航空航天大学 | Water-air amphibious cross-medium unmanned aerial vehicle |
| CN115972831A (en) * | 2023-02-03 | 2023-04-18 | 北京大学 | Aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021004110A1 (en) | Water-air amphibious cross-medium bionic robotic flying fish | |
| CN109592031B (en) | Bionic flapping wing aircraft with single side and single node | |
| US8992280B2 (en) | Flying toy figure | |
| CN103661919A (en) | Wing folding mechanism based on flex-wing aircraft | |
| CN103112513B (en) | Locust-simulating robot with posture adjustment function | |
| CN110143279B (en) | Two-section flexible variant bionic flapping wing aircraft | |
| CN110171568A (en) | One kind can hover flapping wing aircraft | |
| CN112550551B (en) | Folding wing device of wing type submarine | |
| CN109592032B (en) | Single-side multi-node bionic flapping wing aircraft | |
| CN107161339A (en) | One kind is fluttered the bionical bird of twisted coupling | |
| CN105329443A (en) | Ornithopter capable of realizing flapping-reversing coupled motion | |
| CN113998083B (en) | Two-degree-of-freedom variable wing device based on wave self-energy supply and underwater glider | |
| CN117021862A (en) | Flapping wing medium-crossing aircraft | |
| CN205113712U (en) | Two degree of freedom flapping wing aircraft | |
| CN108674633A (en) | Rudder plane controlling mechanism and model plane | |
| CN109911197B (en) | Four-degree-of-freedom ornithopter device | |
| CN115320843A (en) | Water-air dual-power tilt rotor cross-medium unmanned aerial vehicle | |
| CN112046731B (en) | X wing unmanned aerial vehicle fin is folded and is expanded drive mechanism | |
| CN108100252B (en) | Three-oar duct formula bimodulus unmanned aerial vehicle that verts | |
| CN115648870A (en) | Water-air amphibious cross-medium unmanned aerial vehicle | |
| CN115027667A (en) | Bionic deformable wing unmanned aerial vehicle capable of vertically taking off and landing and flight attitude control method | |
| CN114812291A (en) | Completely-contractible flexible wing-changing mechanism | |
| CN112572790A (en) | Outer truss wing spar double-beam variable-pitch seesaw type flapping wing aircraft | |
| CN208593490U (en) | Rudder plane controlling mechanism and model plane | |
| CN107117286B (en) | Folding unmanned aerial vehicle and folding method thereof |
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 |