CN1239051A - Ornithopter - Google Patents

Ornithopter Download PDF

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Publication number
CN1239051A
CN1239051A CN98114766.6A CN98114766A CN1239051A CN 1239051 A CN1239051 A CN 1239051A CN 98114766 A CN98114766 A CN 98114766A CN 1239051 A CN1239051 A CN 1239051A
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CN
China
Prior art keywords
wing
flapping
main
palm
aircraft
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CN98114766.6A
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Chinese (zh)
Inventor
樊涛
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Individual
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Individual
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Priority to CN98114766.6A priority Critical patent/CN1239051A/en
Priority to AU41296/99A priority patent/AU4129699A/en
Priority to CN99802047A priority patent/CN1081155C/en
Priority to PCT/CN1999/000079 priority patent/WO1999065767A1/en
Publication of CN1239051A publication Critical patent/CN1239051A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C33/00—Ornithopters

Abstract

An ornithopter is composed of cabin, wings, rear fin, landing chassis, power system, drive system and manipulation system. It features that said wings is composed of a pair of upper straight wings and a pair of flapping rings above the cabin, which are connected to cabin by the supporting frame of flapping rings. Said upper straight wings are fixed to the top of said supporting frame. Said flapping wings are extended from both sides of supporting frame and have ball joints composed of the convex ball joint at the end of the central beam of flapping wing and the concave ball joint on driver on supporting frame. Under the action of drive system, the flapping wings move up and down in arc mode.

Description

Flapping-wing aircraft
Field under the present invention is an aircraft, particularly a kind of flapping-wing aircraft.
Flapping-wing aircraft is to rely on fluttering of flapping wing and fly.When the mankind learnt to fly, from the flapping flight of birds, but flapping flight was because related flight mechanics, manufacturing process is too complicated and too accurate, so the scope that has exceeded Specialty Design up to now, does not also have a real flapping-wing aircraft to come out.
In present existing aircraft, straight wing aircraft of rigidity and heligyro are although technology is quite ripe, but each have its limitation, the former is by the engine drive screw propeller, obtains thrust, produce lifting flight by means of wing, take off or land, need smooth special-purpose place; The latter produces lift and thrust and flies by engine drive rotor and tail anti-torque tail rotor, though can spot takeoff and landing, in a single day driving engine is out of order, and screw propeller runs out of steam, and what both faced will be possible of air crash.
The objective of the invention is to make a kind of fluttering up and down by both wings and produce the flapping-wing aircraft of lift and thrust, this aircraft has the technical ability that resembles the birds flapping flight, can aloft hover, inverted flight.After the lift-off, can kill engine, utilize the jet power unit flight of human body power and flapping wing, not need special-purpose place, can be on ground or water surface spot takeoff, landing.About 80～100 kilograms of its basis weight, about 250～280 kilograms of maximum take-off weight, amphibious type, about 300 kilograms of maximum take-off weight is joined one 25～50 horsepower engine.
For realizing purpose of the present invention, the invention provides a kind of flapping-wing aircraft, comprise the cabin, wing, empennage, alighting gear, power system, driving system, maneuvering system, it is characterized in that described is that wing comprises that a pair of straight wing and a pair of flapping wing are located at the top in cabin, the described straight wing links to each other with the cabin by the flapping wing support frame with flapping wing, the described straight wing is located at the top of flapping wing support frame, and described a pair of flapping wing stretches out in the both sides of described flapping wing support frame, described flapping wing is connected to form ball and socket by the convex ball and socket on the driving device on the spill ball and socket of beam end among the master and the support frame, and camber is fluttered up and down under the effect of driving system.
Flapping-wing aircraft of the present invention has stronger manoevreability, stability and safety.And it is simple to operate, economical and practical, the protection and the various aerial work that can be used for air travel, transport administration, forest, farmland, be the desirable transatmospheric vehicle of industrial and mineral, enterprise, organ and family, also can be used as the model plane toy, exploitation children's intelligence.
By following detailed description, the technical personnel in the present technique field can be recognized, other purpose of the present invention and advantage.Only introduced most preferred embodiment of the present invention and describe part in detail; purpose is to provide to implement best mode of the present invention; or rather; the structure member protection domain of double seat flapping-wing aircraft commonly used; the structure member that includes single seated and multiple seat type; just increase and decrease slightly in size; so; the present invention also has other different embodiment, under the situation that does not break away from flesh and blood of the present invention, can also make various improvement and realize identical purpose the present invention; therefore; drawings and detailed description only are indicative, should not produce restriction to the present invention, in the accompanying drawing:
Fig. 1 is the integrally-built transparent view of the flapping-wing aircraft of the embodiment of the invention.
Fig. 2 is the structure transparent view of annular gear of the power system of flapping-wing aircraft of the present invention.
Fig. 3 is the structure transparent view of elliptical orbit driving device of the flapping-wing aircraft of another embodiment of the present invention.
Fig. 4 is the structure transparent view of push-pull arm machine driving device of the flapping-wing aircraft of further embodiment of this invention.
Fig. 5 is the structure transparent view of center shaft driving device of the flapping-wing aircraft of yet another embodiment of the invention.
Fig. 6 is the airfoil structure transparent view of flapping-wing aircraft of the present invention.
Fig. 7 is the airfoil structure transparent view of the flapping-wing aircraft of further embodiment of this invention.
Fig. 8 is the main body frame of flapping-wing aircraft of the present invention and the transparent view of maneuvering system.
Fig. 9 is the constructional drawing of the telescopic alighting gear that travels of the flapping-wing aircraft of another embodiment of the present invention.
Figure 10 is the flapping wing argument of flapping-wing aircraft of the present invention and the front view of wing palm running orbit.
Figure 11 is that protract sweepback and empennage of main wing that flapping-wing aircraft of the present invention is shown upwarps the birds-eye view that presses down.
Figure 12 is the aerofoil jet power unit droope snoot of flapping-wing aircraft of the present invention, the birds-eye view that trailing edge flap and wing tip are handled.
Figure 13 illustrates the birds-eye view that the flapping-wing aircraft wing of the present invention is slapped the sweepback of protracting.
Figure 14 is flapping wing side-looking flight mechanics figure under the flapping-wing aircraft of the present invention.
Figure 15 is flapping wing side-looking flight mechanics figure on the flapping-wing aircraft of the present invention.
Fig. 1-2 and 6-15 have shown an embodiment of flapping-wing aircraft 200 of the present invention, and it is made up of travel alighting gear F, power system, driving system, maneuvering system of last straight wing A, flapping wing support frame B, cabin C, flapping wing D, empennage E, land and water.
Go up straight wing A and be the flat plane that upwards arches upward and be about 15 ° of dihedral angles from the middle part to two ends in a pair of front portion, be arranged on the top of fuselage, its rear portion and support frame B rear pipe 114,115 are interlockingly connected, anterior socket-connect with frame front pipe fitting 112,113 by elevation angle button 12, go up the elevation angle of straight wing A can be in positive and negative 30 ° of scopes by the right side, cabin on straight wing elevation-angle controller 34 adjust.When flapping flight, go up the effect that the straight wing can play balance and improve lift, as the crust insect taking off and the effect of the crust wing in-flight, especially when high-frequency flies fast, go up the propeller that the straight wing cooperates fuselage afterbody, can improve the stability of flapping-wing aircraft.This wing can be made flat plane with flexible material, also can be made into the inert gas filled air bag wing.As aileron, also can remove.
Flapping wing support frame B is arranged on the middle part of fuselage, by four vertical pipe fittings 112,113,114,115, its top is connected with last straight wing A, the bottom is connected with cabin C, at the middle part of vertical pipe fitting or the bottom connecting four horizontal pipe fittings 74,74 ' and 76 ', 76 ', constitute left and right sides flapping wing and support main spar; In the both sides of framework, be annular gear G, this device can be flapping wing power is provided, and also demarcates the initial trace (referring to Fig. 2) of flapping wing motion simultaneously.
In Fig. 8, cabin C support frame B and land and water travel alighting gear F between, mainly be to be connected with former and later two oval pipe fittings 142,143 by four vertical pipe fittings 138,139,140,141, respectively having a U type pipe fitting 144,145 to be attached thereto in the front and back end of oval pipe fitting connects, knee at the U-shaped pipe fitting, 4 swan-necks 146,147,148,149,150,151,152,153 are respectively arranged up and down, one end is connected with U type pipe fitting, the other end is connected with oval pipe fitting, forms a streamline contour engine room frame.Remove in the cabin power system is housed, outside the maneuvering system, a chaufeur and passenger seat are respectively established in front and back, and the front of driver's seat is the instrument carrier panel (not shown) of instruments such as height indicator, airspeed indicator, magnetic compass.
In Fig. 1,2 and 6, flapping wing D comprises left flapping wing D1 and right flapping wing D2, lays respectively at the both sides of fuselage, and flapping wing D is by main spar 74,75,76, main joint 77,78,79; Central spar 80,81,82, middle joint 83,84; Front spar 85,86,87, preceding joint 88,89,90; Palm spar 91,92,93; The metacarpal joint 94,95,96 and the wing palm are formed, and their structure and annexation are as follows:
1) main spar and main joint be respectively main front-axle beam 74, main central sill 75, the main back rest 76, main prosthomere 77, save 78 in main, main deutomerite 79 forms.The main front-axle beam and the main back rest are scalable beams, and their ends are connected with framework B, and the other end is connected with main prosthomere, main deutomerite; Main central sill also is a telescopic girder, and an end is that the spill ball and socket on convex ball and socket and the annular gear socket-connects and forms ball and socket 16, and the other end passes main joint, the middle part with main in save and socket-connect; Joint also is a spherical joint among the master, is the fulcrum of main central sill, main joint the 77,78, the 79th, and the fulcrum joint of flapping wing, under the effect of girder moment, the main joint ball rotates up and down flapping wing is fluttered up and down in coming from the master;
2) central spar and middle joint are made up of middle front-axle beam 80, center sill 81, the middle back rest 82, middle prosthomere 83, middle deutomerite 84 respectively.Middle front-axle beam is connected with main prosthomere, main deutomerite respectively with an end of the middle back rest, and the other end is connected with middle prosthomere, middle deutomerite respectively; Center sill is the extension of main central sill in the central spar section, come from main under the effect of girder moment, the effect of central spar and middle joint segments is when flapping wing is fluttered up and down, make the wing center of flapping wing produce the front and back displacement, jump on the front upper place by the back lower place when pouncing on promptly, under jump on the back lower place by the front upper place when pouncing on, the track that wing tip streaks in the space is twist;
3) front spar and preceding joint are made up of front-axle beam 85, preceding central sill 86, front and rear beam 87, prosthomere 88, preceding middle joint 89,90 at front and back joint respectively.Preceding front-axle beam and front and rear beam all are controlled telescopic girdeies, and their end is connected with middle prosthomere, middle deutomerite respectively; The other end is connected with prosthomere, front and back joint respectively, and preceding central sill is the extension of main central sill in the front spar section, and the end is preceding middle joint, and the effect of front spar and preceding joint segments is that under the manipulation of left and right dish 31,32, both wings can stretch front and back;
4) palm spar and metacarpal joint is respectively by saving 95 in palm wing front-axle beam 91, palm wing central sill 92, the palm wing back rest 93, palm prosthomere 94, the palm, slapping deutomerite 96 and formed.Palm wing front-axle beam is controlled telescopic girder with the palm wing back rest, and their end is connected with prosthomere, front and back joint respectively; The other end is connected with palm prosthomere, palm deutomerite respectively.Palm wing central sill is a U type beam, and an end is connected with preceding middle joint; Save and be connected in the other end and the palm, palm spar with the effect of metacarpal joint is, under the manipulation of left and right palm control wheel 35,36, the two thriving palms can the front and back stretching, extension;
5) wing palm refers to that by centre of the palm dish 97, palm ring 98, palm muscle 99, the palm D1-D9 is formed.Centre of the palm dish is the outside that is socketed in joint ball in the palm, and the palm refers to pass respectively palm muscle, palm ring, is fixed on the dish of the centre of the palm, forms wing palm covering of the fan; Palm ring 98 is stuck in the U type palm wing central sill, but intensity between the strengthening wing palm and main wing;
6) preceding middle joint 89 is center nodes of flapping wing, and the center of node is a tension line pillar 100, is supporting laterally tension line 101 and vertically tension line 102, can be used for strengthening the rigidity and the intensity of flapping wing.
Fig. 7 shows the another kind of embodiment of flapping-wing aircraft airfoil structure of the present invention.In this embodiment, flapping wing D-1 is a rigid wings.Constitute by the main wing and the wing palm.Main wing is by main spar 74,75,76, main joint 77,78,79, and fixedly aerofoil 128, movable wing 129, main wing dish 130 is formed; Wing metacarpus branch is by palm wing longeron 91, wing palm crossbeam 92, and palm wing dish 97, palm wing stationary plane 131 is formed, and palm wing dish 97 is clipped in the middle of the main wing dish 130.Control under the effect of system device the sweepback of can protracting of the palm wing at the wing; In addition, but joint has an elevation angle pole on the ball in the master, and the end is preceding backguy, and main prosthomere is passed at the two ends of backguy respectively, and the pulley (not shown) that links to each other with elevation angle control panel 47 in main deutomerite end under the effect of elevation angle control setup, can be realized the change at the flapping wing elevation angle.
Empennage E is a telescopic fan-shaped empennage, is positioned at the rear portion of fuselage, is connected with cabin C by empennage girder 126, is fixing aerofoil between (referring to Fig. 1,11) empennage front-axle beam 103 and the central sill 104.Central sill with interior be that the middle part of scalable aerofoil, empennage is a leg-of-mutton support frame 105, be to go up stabilizer 106 above the framework, the right and left be stretch the arm of force 107,107 '.The inside of support frame is the flexible depression bar (108) of empennage, and ball-type deck 127 clamping mutually of the positive and negative elevation angle of the empennage of front end rocking arm 109 and empennage girder 126 ends constitutes one and can upwarp and press down the scalable fan-shaped aerofoil that dwindles.
Fig. 2,8 has represented three wheeled land and waters that flapping-wing aircraft 200 of the present invention the is adopted alighting gear F that travels, this alighting gear is by preceding wheel 7 and main frame wheel 6,6 ' constitute, can travel on the ground, take off or land, when mmi machine wheel and main frame take turns install air bag framework 124 and 125,125 ' after, (the lighter-than-air unreactable gas of can packing in the air bag), this alighting gear not only can make aircraft on ground but also can sail on the water, take off or land.Below main landing gear girder 71, a spiral propeller 70 is set, this angle of rake front end is a platform generating gear 68, this gear meets at right angles mutually meshing with platform generating gear 69 on the main landing gear axis; There is a propeller control bar 72 to be connected with the transmission shaft of propelling unit 70 in the left side in cabin.When starting main landing gear wheel 6,6 ' after, promote propeller control bar 72 forward, angle of rake transmission gear is mutually meshing with the transmission gear on the main landing gear axis, the power that provides aircraft to sail on the water for spiral propeller 70.
In addition, Fig. 9 has also represented the another kind of telescopic alighting gear F that travels of flapping-wing aircraft of the present invention 1Enforcement just.This plays balladeur train F 1Be by the foot-operated dish 132 on the preceding wheel girder under the effect of human body power, two that spur on this dish promote backguy 133 and 134, promote line 133 and be divided into the pulley that alighting gear girder 135 and 135 ' both sides are passed in 4 backguys respectively backward, be fixed on the both sides on alighting gear telescopic girder 136 and 136 ' top; Promote the pulley of line 134 girder 27 both sides before the front lower place divides two backguys to pass, be fixed on the both sides that front-wheel is stretched end carriage 137.In addition, the power wheel 3 in change speed gear box 2 left sides is connected with power wheel 120 by driving band 4.The outside of power wheel 120 is bench-type compound gear 121 and 122, and is mutually meshing with alighting gear power wheel 5 with the coaxial bench-type gear 123 of telescopic shaft 220 with gear 122, for ground run provides power; When aircraft is taking off or landing, when needing the rising alighting gear, available lower limbs strength is stepped on stretcher 17 and is driven foot-operated dish 132 and rotate, under the pulling force that promotes backguy 133 and 134, and alighting gear girder 135 and 135 ' upwards rise or telescopic girder 136 and 136 ' stretch out downwards.Also can transmit mechanical power, promote alighting gear F by the power wheel on the transmission center shaft 21 1, after alighting gear rises to certain altitude, move the foot-operated dish 132 of alighting gear lifting control stalk 221 lockings backward, alighting gear is limited at certain altitude.The rising of alighting gear is convenient to strengthen the argument of flapping wing, improves lift.Help taking off and landing.
Fig. 1 and Fig. 2 have represented the power system of flapping-wing aircraft 200 of the present invention, and this aircraft power source is divided into mechanical power and human body power two parts:
1) mechanical dynamic system is the piston engine 1 one 25～50 horsepowers of the bottom in cabin installations.The power wheel of this driving engine can be divided into the two-way transmission when transferring power, the one tunnel is to pass to flower wheel 24 by driving band, passes to screw propeller rotor wheel 25 by driving band 28 then, for screw propeller 26 provides the pusher reserve power; Another road is to pass to speed-changing gear box 2 by transmission shaft, through two power wheels about isolating after the combination of change speed gear box inner gear, left side power wheel 3 is connected with main landing gear power wheel 5 by driving band 4, the power that can provide aircraft to travel at the rise and fall ground, front and back or the water surface; The right side power wheel is connected with power wheel 9 on the transmission center shaft 10 by driving band 8, for flapping wing framework both sides annular gear provides power;
2) the human body power driving system is the front end in the cabin, and a human body power drive is arranged, it be by left and right sides stretcher 17,17 ', big trochal disc 18, small trochal disc 19 constitutes.Big trochal disc is connected with wheel disc 21 on the transmission center shaft by wheel chain 20, can be annular gear human body flapping wing power is provided; Small trochal disc is connected with coaxial wheel disc 23 on the change speed gear box by wheel chain 22, can be aircraft on ground or the water surface travel human body power be provided.After the aircraft lift-off, can kill engine, utilize the jet power unit on human body power and the flapping wing to carry out airflight.When the driving engine 1 that removes on this aircraft, behind other accessory device of speed-changing gear box 2 and mechanokinetic, described aircraft be man pwoer flapping wing airplane.
Fig. 1-2 shows the driving system of flapping-wing aircraft 200 of the present invention, this system is a kind of annular gear G, the left and right sides of flapping wing support frame B is set, be by annular chassis and circular orbit looping track chassis 11, a flute profile pulley is arranged in the middle of circular orbit, respectively be fixed with a disk in the interior outside of this pulley, distributing four scroll wheels and the interior tangent (not shown) of outerplanar of circular orbit that each disk is all symmetrical up and down, so on circular orbit, constitute a rolling wheel disc 12, the outside of wheel disc is to be fixed on the ring chain 13, and ring chain is and circular orbit chassis gear 14 up and down, 15 be connected (referring to Fig. 2).What the outside of ring chain was fixing is the matrix ball and socket, the convex joint of beam end socket-connects among this matrix joint and the master, form one can about, the ball joint 16 of 90 ° of left rotation and right rotation, under the effect of driving engine, power wheel 9 on the transmission center shaft will drive driving cog wheel disc 14,14 on the annular gear G ' and 15,15 ' rotate, the rolling wheel disc 12,12 on the Ring gear chain ' will be before and after circular orbit, operation up and down simultaneously, when the rolling wheel disc on circular orbit when down the rear makes progress the place ahead motion, flapping wing just jumps on down the rear by last the place ahead; When the rolling wheel disc on circular orbit by the direction of going forward under rear when motion, flapping wing just jumps on the place ahead by following rear, the track that wing tip awing streaks twist, we are called original flapping flight mode (or being called horizontal power flight) to this flapping flight mode that does not have artificially to handle pure mechanical movement.
In addition, Fig. 3 shows the another kind of embodiment of flapping-wing aircraft of the present invention.In this embodiment, going up straight wing A is a removable attached rib wing, can be installed or be removed by point of connection 116,117,118,119 places of fuselage both sides according to the needs of flight.Fuselage is to constitute an osed top streamline fuselage BC by support frame B and cabin C.In this embodiment, driving system is a kind of elliptical orbit driving device G 1Be arranged on the both sides of streamline fuselage BC, can be used to replace annular gear G, this device is by big oval wheel 175, little oval wheel 176 constitutes elliptical orbit, center shaft 10 is arranged in elliptical orbit, the two ends of center shaft be telescopic boom 168,168 ', the front end of telescopic boom has a scroll wheel 192, in the inboard of scroll wheel is support wheel 196, the outside is the matrix ball and socket, and the convex ball and socket of beam end socket-connects among this ball and socket and the master, constitutes a ball joint 16 of half-twist up and down.Under the effect of driving engine, the power wheel 9 on the transmission center shaft drives telescopic boom and moves on elliptical orbit, and when the scroll wheel 192 of telescopic boom end moved on later half elliptical orbit from bottom to top, flapping wing was moved downward forward by last; When scroll wheel 192 when preceding semiellipse track moves from top to bottom, flapping wing is by following upward movement backward, under the effect of flapping wing antagonistic force, when telescopic boom during in the upside of ellipse orbital motion, support wheel 196 is along little elliptical profile orbital motion.When telescopic boom during in the operation of second elliptical orbit, scroll wheel 192 is the loop orbit operation in big ellipse, under the effect of elliptical orbit driving system, flapping wing is when fluttering, the track that wing tip streaks in the space twist, this flapping flight mode that does not have artificial manipulation and control is called original flapping flight mode.
Simultaneously, Fig. 4 also shows the embodiment of another driving system of flapping-wing aircraft 200 of the present invention.This system is by push-pull arm driving device G 2Constitute, be arranged on the left and right sides of flapping wing support frame B, can be used to replace annular gear G and elliptical orbit driving device G 1, this system is by center shaft 10 and center shaft power arm 166,166 ' constitute centre-crank shaft.The center shaft power arm is a telescopic arms, and the expansion link 167 of power arm is connected with the power wheel 169 of this arm of force inboard by backguy, and on the turning handle of power wheel 169, the pulley 170,171 that has two backguys to pass the center shaft both sides respectively is connected with displacement disc 172.The rear portion of displacement disc is connected with rhombus pull bar 173, in the both sides of rhombus pull bar back seat 174, respectively has a backguy to be connected with argument capstan winch 177.Both sides at support frame B, respectively have a vertical track 178,178 ', respectively there is a pulley 179,180 at the two ends up and down of track, a flute profile pulley displacement disc 181,181 ' can be in orbit move is down arranged in the inside of track, connect a flapping wing wire drawing 182 in the outside of displacement disc 181, draw ring 183,183 about the pulley 179,180 that vertical track upper and lower side is passed at the two ends of wire drawing respectively and the main joint ' be connected.In addition, the center shaft power arm is connected with push-pull arm 185 by ball and socket 184, and the end of push-pull arm is the inboard that a rotatable ball and socket 186 is fixed on track displacement disc 181.In the both sides of center shaft rotor wheel 9, respectively have a power wheel 187,187 ' respectively by chain 188,188 ' with power wheel 189,189 ' be connected.Power wheel 189,189 ' on respectively have a coaxial wheels 190,190 ' by pull bar with main in the ball and socket 16 of joint end be connected, the end of ball and socket 16 is that a rotor wheel 191 is stuck in the guide rail and can moves forward and backward.This push-pull arm driving device is under the effect of driving engine, power wheel 9 on the transmission center shaft will drive centre-crank shaft and rotate, when center shaft power arm 166,166 ' when moving from top to bottom, push-pull arm 185 draws the displacement disc on the track 181 from top to bottom, at this moment, under the tension that the flapping wing wire drawing makes progress, flapping wing by under be pulled to the top, simultaneously, pull bar on the power wheel 190 is saving the ball and socket of end in main by the forward direction pusher, when flapping wing is fluttered downwards, jump on down the rear by last the place ahead, the track that wing tip awing streaks twist, this flapping flight mode that does not have artificial manipulation and control is called original flapping flight mode or is called the horizontal power flying method.
Fig. 5 shows the embodiment of flapping-wing aircraft 200 another kind of driving systems of the present invention.This system is by center shaft driving device G 3Constitute, be arranged on the left and right sides of flapping wing support frame B, can be used to replace annular gear G, elliptical orbit driving device G 1With push-pull arm driving device G 2This device is by center shaft 10 and center shaft power arm 194,194 ' constitute centre-crank shaft.The center shaft power arm is a telescopic arms, and the expansion link 195 of power arm is connected with the rotor wheel 197 of this arm of force inboard by backguy, and on the turning handle of rotor wheel 197, the pulley 198,199 that has two backguys to pass the center shaft both sides respectively is connected with displacement disc 205.The rear portion of displacement disc is connected with rhombus pull bar 201, rhombus pull bar back seat 202,202 ' both sides, have a backguy to be connected with argument capstan winch 204.Respectively have in the both sides of center shaft power wheel 9 power wheel 206,206 ' by chain 207,207 ' with power wheel 208,208 ' be connected.A coaxial wheels 209 is arranged on power wheel 208, be connected with the ball and socket 16 of joint end among the master by pull bar, the end of ball and socket 16 is rotor wheels 210, is stuck in the guide rail and can moves forward and backward.The end of center shaft power arm by ball and socket 211,211 ' with push-pull arm 212,212 ' be connected, the end of push-pull arm be a rotatable joint 213,213 ' with main joint on arch support 214,214 ' be connected.Under the effect of engine power, power wheel 9 on the transmission center shaft will drive centre-crank shaft and rotate, when central innermost being axle power arm moves from top to bottom, push-pull arm draws flapping wing from top to bottom, simultaneously, power wheel 209,209 ' on pull bar ball and socket 16 by the forward direction pusher, when flapping wing is fluttered downwards by on the place ahead jump on the back lower place; When the center shaft power arm moved from bottom to top, push-pull arm pushed away flapping wing from bottom to top, simultaneously, the power wheel pull bar the ball and socket 16 of joint end in main by after draw forward, make flapping wing when upwards fluttering, jump on the place ahead by rear down.The track that wing tip aloft streaks twist, this do not have the artificial flapping flight mode of handling to be called original flapping flight mode or to be called the horizontal power flying method.When moving argument capstan winch handle 215,215 ' time downwards, backguy 203,203 ' effect under, the rhombus pull bar shrinks the drive displacement disc and moves backward, the rotating disk of displacement disc front portion spurs turning handle on the rotor wheel 197 downwards by backguy, rotor wheel 197 rotates, at this moment, center shaft power arm expansion link 195,195 ' outwards stretch, the argument of flapping wing is increased, otherwise, upwards move argument capstan winch handle 215,215 ' time, center shaft power arm expansion link 195,195 inwardly shrinks, and the argument of flapping wing is reduced.
Fig. 6-13 shows the maneuvering system of flapping-wing aircraft 200 of the present invention.This system mainly is to main wing, the wing palm, elevation angle control setup, wing tip control setup, droope snoot and trailing edge flap control setup, the manipulation of the frequency of flapping wing, argument and empennage and control.
In Fig. 2,6,8,11, main wing is to be the main wing part from main spar to preceding joint segments.It is handled and control is on the girder of nose-gear, left wing's control wheel 31 and right flank control wheel 32 to be housed.The backguy 148 of right flank control panel is fixed on by flapping wing supporting bridge 40 1 ends on the prosthomere 88 in the preceding joint of right flank, saves on 90 (left wing is identical with right flank) before and after the other end is fixed on.Left wing's dish control handle 29 and right flank dish control handle 30 are each side arranged below bearing circle 110, under original flapping flight state, when about two wing dish control handles when promoting forward simultaneously, the front-axle beam 85,85 of left and right sides both wings front spar ' inwardly shrink, front and rear beam 87,87 ' protruding, at this moment, left and right sides main wing stretches forward, move after the center of gravity of airplane, nose-high becomes the positive elevation angle to lift, and aircraft upwards enters pawl and rises state; When (see figure 6) pulled back simultaneously when left and right dish control handle, aircraft left and right sides main wing was to after contraction, and the center of gravity of airplane moves forward, and the downward-sloping one-tenth of head is born the elevation angle, and aircraft enters dive status downwards.When right handle promotes forward, when left handle pulled back, right flank stretched forward, and left wing is to after contraction (referring to Figure 11), at this moment, the unexpected lack of equilibrium of aircraft, to left sharp turn, otherwise, sharp right-hand bend; Motionless when left handle original position, when right handle pulled back, the aircraft lack of equilibrium spiraled to the right, otherwise, spiral left; When about two handles get back to original position and the locking after, aircraft returns to original flapping flight state and does unaccelerated flight.
Fig. 2,8,13 has represented the manipulation and the control of the wing palm.Above nose-gear girder left and right control wheel, left wing's palm control wheel 35 and right flank palm control wheel 36 are arranged respectively, the backguy 149 of right flank palm control wheel is by flapping wing supporting bridge 40, one end is fixed on the palm prosthomere 94 of metacarpal joint, the other end is fixed on palm deutomerite 96, (left wing's palm is identical with the right flank palm) is below bearing circle, the outside of left and right dish control handle, respectively there is a left wing to control system handle 33 and right flank control system handle 34, if original flapping flight is regarded as unaccelerated flight, at this moment all application force and moments all are under the state of equilibrium.If this balance is subjected to the interference of external influence power, just needs to produce moment and restore balance.In the flapping wing process, moving forward and backward of the wing palm can be finished this two effects, restoring balance after promptly keeping balance and balance destroyed.For example, light after promptly preceding the weight when longitudinal unbalance appears in aircraft, when head is downward-sloping, can slap signaling handle to left and right and promote forward simultaneously, at this moment slap wing front-axle beam and shrink, the palm wing back rest stretches out, the left and right sides both wings palm stretches forward simultaneously, overcomes the reach of the center of gravity of airplane, keeps the aircraft balanced aircraft.When that the back appears in aircraft is light before heavy, during nose-up, left and right palm handle pulls back simultaneously (seeing Figure 13), and at this moment, the left and right palm can be plunderred the wing while backward, moves the balance of recovery aircraft after overcoming the center of gravity of airplane.When horizontal overbalance appears in aircraft, greater than right flank, when aircraft is tilted to the right, can slaps handle to right flank and push away forward as the lift of left wing, left wing's palm handle pulls back, and at this moment, right flank is slapped to protracting, and left wing slaps to sweepback, aircraft begins to be tilted to the left, and recovers balance in roll, otherwise, as the same.The balance of above-mentioned aircraft, according to the needs of flight, the wing palm also can with main wing, empennage interoperation.
Fig. 6,8 has represented the manipulation of elevation angle control setup.This device is formed (seeing Fig. 8, Fig. 6) by elevation angle control shaking tray 47, rocking bar 48, rocking bar method hurdle 165, rocking bar chest expander 217, the preceding backguy 218 of joint bottom among elevation angle control setting stick 43, rim brake 44, hand button 45, control panel 46, the foot-operated button 49 of control panel, back guy 216 and the master of both sides, cabin.The two ends of preceding backguy are separately fixed at the top and the bottom of palm prosthomere, coil the pulley of the upper and lower end parts of pillar 219 then through the centre of the palm, pass the pulley of palm deutomerite top and the bottom again, turn back and pass the pulley that 97 top and the bottom are coiled in the centre of the palm, the middle part is connected with elevation angle control shaking tray 47; The two ends of back guy are fixed on rocking bar 48 ends, then pass through pulley and flapping wing supporting bridge on main prosthomere and the main deutomerite, and the middle part is connected with elevation angle control setting stick 43.Under original flapping flight state, the leading edge of flapping wing and trailing edge can be regarded the up-and-down movement of level of approximation as, the elevation angle of flapping wing can be used as zero degree, at this moment, if want to make aircraft to obtain bigger lift and thrust, accelerate flying speed, elevation angle control handle is promptly held at the elevation angle in the time of can changing flapping wing and flutter up and down, presses handle front end hand button 45 with thumb, rim brake 44 can be upspring, at this moment rocking bar loses the downward pulling force of rim brake backguy, drawn in the rocking bar method hurdle deck by the rocking bar chest expander, so under the effect of central spar front and back displacement, when flapping wing is fluttered from bottom to top, rocking bar method hurdle is moving after by forward direction under the drive of central spar, the rocking bar 48 drive shaking trays 47 that are stuck on the method hurdle deck rotate backward, and under the effect of preceding backguy pulling force, the leading edge of flapping wing is upwards lifted, trailing edge is to pressing down, and the elevation angle of flapping wing increases to the positive elevation angle; When flapping wing is fluttered from top to bottom, rocking bar method hurdle on the central spar under the drive of central spar, by after move forward, be stuck in rocking bar 48 on the dirt hurdle deck and drive shaking trays 47 and rotate forward, under the effect of preceding backguy pulling force, the leading edge of flapping wing is upturned to edge to pressing down, and the elevation angle of flapping wing reduces, become the negative elevation angle, the positive and negative elevation angle differs+30 °～-30 ° approximately, moves forward and backward the rocking bar method hurdle on the central spar, can adjust the size at the positive and negative elevation angle.When holding elevation angle control handle, four refer to firmly can close rim brakes, hand button can be buckled rim brake automatically, and at this moment, rocking bar is under the downward pulling force of rim brake backguy, and spin off method hurdle deck is controlled setting stick so the change at the elevation angle is controlled by the elevation angle in the cabin in.When upwards moving handle, flapping wing becomes the positive elevation angle, and downwards on time, flapping wing becomes the negative elevation angle.When stepping on the foot-operated button 49 of control panel, bearing circle 110 rotatable control panels 46, the elevation angle of control flapping wing.For flapping-wing aircraft, the manipulation at the flapping wing elevation angle is very important, as the elevation angle of adjustment flapping wing that can maneuverability, can obtain good flight effect.
Simultaneously, Fig. 6,8,13 has also represented the manipulation of wing tip control setup, and this device is made up of wing tip control shaking tray 54, rocking bar 55, wing tip control rocking bar method hurdle 56, rocking bar chest expander 156, the preceding backguy 157 on wing tip control panel 50, wing tip control rim brake 51, wing tip control hand button 52, back guy 155 and the control shaking tray top, the elevation angle of both sides, cabin.The backguy middle part is connected with control panel 54 before the wing tip, then passes dish top and the bottom, centre of the palm pulley, and two ends are separately fixed at wing tip rocking handle 158 upper and lower sides.In original flapping flight, wing tip is to flutter with whole aerofoil is top-down, when holding wing tip control panel handle, when pressing the hand button 52 of handle end with thumb, wing tip control rim brake 51 is upspring, at this moment, wing tip control rocking bar loses the pulling force of rim brake backguy, is drawn in the rocking bar method hurdle deck, so under the effect of front spar displacement by the rocking bar chest expander, when flapping wing was fluttered from top to bottom, wing tip was to pressing down and curving inwardly; When flapping wing was pounced on from bottom to top, wing tip was upturned, when holding the wing tip control handle, when four fingers firmly closed rim brake, the hand button was buckled rim brake automatically, at this moment, wing tip control rocking bar spin off method hurdle deck under the pulling force of rim brake backguy is so the wing that the change of wing tip is controlled by in the cabin loses control panel 50.When upwards moving handle, wing tip is to pressing down and curving inwardly.When pressing downwards, wing tip is upturned, and handle is placed on the middle part and when locking, wing tip returns to original position, in flapping flight and gliding, adjusts the wing tip of flapping wing, can obtain best aerodynamic force and reduce tip vortex.
Fig. 6,8,13 shows the manipulation of droope snoot and trailing edge flap control setup:
1) manipulation of droope snoot control setup is made up of the foot-operated dish 57 of the wing flap on right side, cabin, stear drawing line 159, droope snoot 58, droope snoot Rocker arm 59.Droope snoot is attached to the leading edge of flapping wing at ordinary times, and the rocking arm lower end below stepping on the foot-operated dish 57 of wing flap, flapping wing leading edge is downwards pulled back by backguy, and the while upper end promotes droope snoot forward and launches to the front lower place; Lose legpower when riding dish, droope snoot is affixed on again on the leading edge of flapping wing.Aircraft climbing, when landing or the elevation angle are big, launching droope snoot, increases the camber of aerofoil usually, improves lift or prevents stall.
2) manipulation of trailing edge flap control setup, be by the left and right sides, cabin trailing edge flap control stalk 73,73 ', stear drawing line 160, trailing edge flap 60,60 ', back wing flap rocking arm 61,61 ' form.When joystick pulled back, the lower end of the rocking arm on the trailing edge flap front-axle beam was pulled to the below, and at this moment, trailing edge flap is to pressing down, and curves inwardly; When joystick promoted forward, this rocking arm top was pulled to the top, and at this moment, trailing edge flap is upturned, and aircraft is taking off usually, climbed or when landing, trailing edge flap makes aircraft when low-speed operations to pressing down, and keeps enough lift.
The manipulation of flapping wing frequency and control (referring to Fig. 2): in the front portion of change speed gear box 2 a flapping wing frequency frequency modulation device 62 is arranged, this device is divided into four gear (not shown) to the frequency per second of flapping wing for 8～60 times, by 63 controls of frequency modulation control bar.When moving a gear after the frequency modulation control bar is by forward direction, the frequency per second of flapping wing can reach 8～15 times, and this retaining is gear at a slow speed; When frequency modulation rate control stalk was moved two retainings to, the frequency per second can reach 15～30 times, and this retaining is the low speed gear; When the frequency modulation control bar was moved three retainings to, the frequency per second of flapping wing can reach 30～50 times, and this retaining is the middling speed gear; When the frequency modulation control bar was moved four retainings to, the frequency per second of flapping wing can reach more than 60 times, and this retaining is the high speed gear.Why this flapping-wing aircraft can break through the obstacle of flapping wing frequency, the flight of realization high-frequency, the flapping flight mode of this and birds is different, and the flapping wing frequency of most of small bird is difficult to break through the frequency of per second more than 10 times, and most of insects then are to surpass 50 times bat wing frequency flight with per second.Its reason is not only physiological, and is the limitation on airfoil structure and the flapping wing mode.Bird is when awing both wings are fluttered, under pounce on the whole wing and can be regarded as an integral body and flutter downwards, on when pouncing on aerofoil be not to do as a wholely upwards to lift, but lift humerus earlier, and right fore is pounced on vertex very soon, flutter so up and down and finish one-period, in the time below 10 milliseconds, be difficult to realize.The different place of flapping wing mode of this flapping-wing aircraft and birds is, has been not pure fluttering up and down when the flapping-wing aircraft both wings are fluttered, but at driving device, as annular gear G or elliptical orbit driving device G 1Deng effect under, both wings are when fluttering up and down, being accompanied by is rotation (referring to Figure 10), so just the resistance that produces when pouncing on the birds has been become lift, simultaneously, both wings have also been overcome when high-frequency is fluttered up and down, the destructive force that meeting brings to material because of resonance effect, thereby the frequency of raising flapping wing.Flapping wing is fluttered up and down and is whenever finished one-period, driving system plays leading role, for example, in the present embodiment, (referring to Fig. 2) since the power resources of annular gear G in driving engine, the power wheel 14 of this device lower end, in 14 ' about every 3 weeks of rotation, the moving ball and socket of the scroll wheel dribbling on the annular gear track will move a week up and down, finish one-period so both wings are fluttered up and down, and for example, at elliptical orbit driving device G 1In (referring to Fig. 3), telescopic boom is every one week of operation in track, will drive flapping wing up-and-down movement one-period, if the normal operation rotating speed of driving engine is decided to be per minute 5000 commentaries on classics, so at elliptical orbit driving device G 1Effect under, the flapping wing frequency per minute of this flapping-wing aircraft can be up to more than 3000 times.
The argument of flapping wing is by the foot-operated dish 37,37 of the argument of both sides, cabin ' handle (referring to Fig. 2,8,10) with control.Main front-axle beam 74 is passed at argument control line 38,38 ' two ends respectively, with the main back rest 76, be fixed on main prosthomere 77 and the main deutomerite 79.Two ends unite two into one and are fixed on the foot-operated dish 37 of argument in addition.At main prosthomere and main front-axle beam, between the main deutomerite and the main back rest, a flapping wing supporting bridge 40,41 is arranged respectively, except that argument control backguy, all flapping wing control backguys all are laid on the bridge floor, at the foot-operated front end that coils of argument an argument stretcher 42 are arranged, have one can ride and buckle 39 at the middle part of stretcher, instantly step on stretcher 42, main spar inwardly shrinks, and the flapping wing supporting bridge upwards arches upward, at this moment, the argument of flapping wing increases; When stretcher loses down when stepping on application force, foot-operated button 39 is foot-operated dish 37 lockings.At this moment the argument of flapping wing also is defined.Under the effect of pedal power, foot-operated dish 37 can change argument at three gear upper limit tentering angles in 45 °～90 ° scopes.
Fig. 1,8,11 has represented the manipulation and the control of empennage, and an empennage elevation angle control stalk 64 is arranged in the left side in cabin, and the two ends of empennage elevation angle control backguy 161 are separately fixed at the upper and lower side of empennage rocking arm 109, and the middle part is connected with control stalk 64.The upper end of control stalk 64 is empennage elevation angle control hand buttons 65, is that empennage shrinks control pin pedal 66 in the left front in cabin, and the front end of stretcher is to ride to buckle 67, and stretcher backguy 162 is passed empennage girder 126 and is fixed on the flexible depression bar 108 of empennage.When adjusting the elevation angle of empennage, thumb is pressed control hand button 65 downwards, promotes elevation angle control stalk forward, and at this moment, the trailing edge of empennage is upturned; When pulling back elevation angle control stalk, the trailing edge of empennage is to pressing down; After control stalk hand button lost the pressure of thumb, elevation angle control stalk was locked, and empennage can be fixed on and upwarp, level or press down under some states; When the empennage aerofoil need shrink, scrunch control pin pedal 66 forward with left foot, the control backguy spurs the flexible depression bar 108 of empennage downwards, at this moment, the arm of force of stretching of the empennage left and right sides inwardly shrinks, so collapsible aerofoil is by flexible depression bar 108, compress into empennage triangular support framework 105, form stabilizer down, empennage is retracted, (referring to Figure 11), after stretcher loses pedal power, flexible depression bar loses downward pulling force, stretches the arm of force about empennage compressed aerofoil is outwards ejected, so blade area amplifies.When stretcher was stepped on certain dynamics, forefoot was upturned, and foot-operated button pops up, and stretcher is locked, and at this moment, empennage is flexible also to be defined.Under the control of empennage telescopic leg pedal, the big I of fin area is flexible in 3: 1 scope.
Figure 14,15 have shown the mechanics principle of flapping flight, and can flapping-wing aircraft fly, and how to fly, and this makes people unconsciously can expect aerial flying bird.Seem that the flight of bird is very simple, secondly, from aerodynamic angle, the flapping flight of bird is quite complicated.The same with other aircraft, flapping-wing aircraft also needs lift to overcome self gravity, the resistance that needs thrust to overcome to advance.Modern aircraft is by the screw propeller of whirlpool spray or turbine engine mostly, produces thrust, by the difference of pressure generation lift of the straight wing of airflow passes rigidity top and bottom, realizes airflight; Heligyro then is to produce lift by back one secondary huge rotor, and the thrust and the pulling force that utilize the rear portion tail-rotor to produce form and the opposite balancing torque of rotor reaction torque direction, realize the skyborne flight of helicopter.And flapping-wing aircraft will be realized airflight, just needs flapping wing should produce lift and overcomes the weight of himself, produces thrust again simultaneously and keeps out the resistance that advances.Flapping wing is how to produce lift and thrust, and can lift that flapping wing produces and thrust overcome gravity of self and the resistance that advances, and this aircraft is aloft flown.As under the effect of annular gear, the leading edge of flapping wing D is along running orbit, move to B by A from top to bottom, run to A by B from bottom to top, finish one-period (seeing Figure 14), when the flapping wing frequency of this aircraft, under the effect of elevation angle control setup with per second 15 times, from top to bottom certain that pounce on a by A in a flash, the aerodynamic force F that acts on the aerofoil at 0 can be decomposed into lift F 1With resistance F 2, because the flapping wing leading edge depresses to the negative elevation angle, from the downward rear B of last the place ahead A along movement in a curve, the relative wind V that aerofoil is experienced 0Come from the front lower place, generation moment thrust on point of action 0.The θ at an angle so aerodynamic force F tilts in the place ahead of point of action vertical direction.Lift F 1Upwards the place ahead tilts, resistance F 2Along air-flow V 0Direction and lift F 1Vertically.Under the effect of the power of fluttering under flapping wing, the air-flow that flows to aerofoil is concentrated the C place, the back lower place that quickens to push to wing.According to Newton's third law, air-flow can produce an equal and opposite in direction to aerofoil, the reaction thrust that direction is opposite, so, flapping wing from top to bottom by A when camber line is pounced on B, can produce enough lift and thrust.
Certain that pounce on b by B from bottom to top when flapping wing (referring to Figure 15) in a flash affacts the air-flow component V of top airfoil because the flapping wing upward movement sCome from the place ahead, simultaneously since flapping wing be become from bottom to top the positive elevation angle to the front upper place along movement in a curve, the air-flow Vm that lower aerofoil is experienced comes from the front lower place, because of aerofoil is to be tilted to the positive elevation angle, acts on the up and down synthetic V of aerofoil flow component 0The below of deflection parallel lines, at lower aerofoil point of action 0 place, resolve into along air-flow V at the rear of aerodynamic force F deflection vertical direction 0The resistance F of direction 2With perpendicular to resistance F 2Lift F 1, as seen, flapping wing from bottom to top by B when camber line is pounced on A, it is main that what produce is lift.
When the elevation angle of flapping wing is in horizontality, when aircraft entered original flapping flight, flapping wing was pounced on B by A from top to bottom, and air-flow is pushed to the D place of the back lower place, and at this moment, thrust reduces relatively, and lift increases relatively; When pouncing on A by B from bottom to top, lift reduces relatively, and resistance increases relatively.At this moment, aircraft enters the unaccelerated flight state under the original flapping flight.
Flapping-wing aircraft 200 of the present invention is selected for use material, constitute the pipe fitting of load support structure, as above straight wing A, flapping wing carriage B, cabin C, the land and water members such as alighting gear F and flapping wing, empennage spar that travel are to adopt titanium alloy, nylon, carbon fibre composite material or other similar aviation new material to constitute.
By reading this specification sheets; those of ordinary skill in present technique field the present invention as can be seen can be realized foregoing all purposes; and can make all improvement and be equal to replacement the present invention; therefore protection scope of the present invention as claimed in claim; and be not limited to top explanation and elaboration, the claim scope with interiorly changed, modification all belongs to protection scope of the present invention.

Claims (28)

1. flapping-wing aircraft, comprise cabin (C), wing (A, D), empennage (E), alighting gear (F), power system, driving system, maneuvering system, it is characterized in that described is that wing comprises that a pair of straight wing (A) and a pair of flapping wing (D) are located at the top of cabin (C), the described straight wing (A) of links to each other with cabin (C) by flapping wing support frame (B) with flapping wing (D), the described straight wing (A) is located at the top of flapping wing support frame (B), and described a pair of flapping wing (D) stretches out in the both sides of described flapping wing support frame (B), the convex ball and socket that described flapping wing (D) is gone up on the driving device by the spill ball and socket and the support frame (B) of beam end among the master is connected to form ball and socket (16), and camber is fluttered up and down under the effect of driving system.
2. by the described flapping-wing aircraft of claim 1, it is characterized in that, the described straight wing (A) of, be upwards to arch upward and be the flat plane at about 15 ° of dihedral angles from the middle part to two ends in a pair of front portion, be arranged on the top of fuselage, in order to keep the balance of flapping flight, its elevation angle can be adjusted by the last straight wing elevation-angle controller (34) on right side, cabin in ± 30 ° of scopes.
3. by the described flapping-wing aircraft of claim 1, it is characterized in that the described straight wing is an inert gas filled air bag wing.
4. by the described flapping-wing aircraft of claim 1, it is characterized in that, described flapping wing support frame (B) is arranged on the middle part of fuselage, be connected with the last straight wing (A) by four vertical pipe fittings (112,113,114,115) top, the bottom is connected with cabin (C), middle part or bottom at vertical pipe fitting are connecting four horizontal pipe fittings (74,74 ') and (76,76 ') formation left and right sides flapping wing support main spar.
5. by the described flapping-wing aircraft of claim 1, it is characterized in that, described cabin (C) is to be connected with former and later two oval pipe fittings (142,142) by four vertical pipe fittings (138,139,140,141), respectively having a U type pipe fitting (144,145) to be attached thereto in the front and back end of oval pipe fitting connects, knee at U type pipe fitting, respectively there is 4 bending pipe fittings (146,147,148,149,150,151,152,153) end to be connected up and down with U type pipe fitting, the other end is connected with oval pipe fitting, forms a stream line pattern engine room frame (C).
6. by the described flapping-wing aircraft of claim 1, described flapping wing (D) is by main spar (74,75,76), main joint (77,78,79); Central spar (80,81,82), middle joint (83,84); Front spar (85,86,87), preceding joint (88,89,90); Wing palm beam (91,92,93), the metacarpal joint (94,95,96) and the wing palm etc. are formed, and it is characterized in that:
-main spar and main joint are respectively by main front-axle beam (74), main central sill (75), and the main back rest (76), main prosthomere (77), joint (78) among the master, main deutomerite (79) is formed; The main front-axle beam and the main back rest are scalable beams, and their ends are connected with flapping wing support frame (B) respectively, the other end respectively with main prosthomere, main deutomerite is connected; Main central sill also is a telescopic girder, and the end is the convex ball and socket, and socket-connecting with spill ball and socket on the ring-like driving device (G) forms ball and socket (16), the other end pass main in joint, the middle part with lead in save and be connected; Joint is a ball joint among the master, is the fulcrum of main central sill, also is the fulcrum joint of flapping wing, and under the effect of girder moment, the main joint ball rotates up and down flapping wing is fluttered up and down in the master;
-central spar and middle joint are respectively by middle front-axle beam (80), center sill (81), and the middle back rest (82), middle prosthomere (83), middle deutomerite (84) is formed; In front-axle beam be connected with main prosthomere, main deutomerite respectively with an end of the middle back rest, the other end respectively with middle prosthomere, middle deutomerite is connected; Center sill is the extension of main central sill in the central spar section, come from main under the effect of girder moment, the effect of central spar and middle joint segments is when flapping wing is fluttered up and down, makes the wing center of flapping wing produce the front and back displacement, jumps on the front upper place by the back lower place when pouncing on promptly; Under jump on the back lower place by the front upper place when pouncing on, the track that wing tip streaks is twist;
-front spar and preceding joint are respectively by front-axle beam (85), preceding central sill (86), and front and rear beam (87), prosthomere (88), preceding middle joint (89), front and back joints (90) are formed; Before front-axle beam and front and rear beam all be controlled telescopic girder, their end respectively with middle prosthomere, middle deutomerite is connected, the other end is connected with prosthomere, front and back joint respectively; Preceding central sill is the extension of main central sill in the front spar section, and the end is preceding middle joint, and the effect of front spar and preceding joint segments is under the manipulation of left and right dish (31,32), and both wings can stretch front and back.
-palm spar and metacarpal joint are respectively by palm wing front-axle beam (91), palm wing central sill (92), and joint (95) in the palm wing back rest (93), palm prosthomere (94), the palm, palm deutomerite (96) is formed; Palm wing front-axle beam is controlled telescopic girder with the palm wing back rest, and their end is connected with prosthomere, front and back joint respectively, and the other end is connected with palm prosthomere, front and back joint respectively; Palm wing central sill is a U type beam, an end with preceding in joint be connected, the other end with slap in save and be connected; The effect of wing palm beam and metacarpal joint is that under the manipulation of left and right palm control wheel (35,36), the two thriving palms can stretch front and back;
-the wing palm is to refer to (D by centre of the palm dish (97), palm ring (98), palm muscle (99), the palm 1-D 9) form; Centre of the palm dish is the outside that is socketed in joint ball in the palm, and the palm refers to pass respectively palm muscle, palm ring, is fixed on the dish of the centre of the palm, forms wing palm covering of the fan, and palm ring (98) is stuck in the U type palm wing central sill, but the intensity between the strengthening wing palm and main wing.
7. by the described flapping-wing aircraft of claim 6, it is characterized in that preceding middle joint (89) is the center node of flapping wing, the center of node is an account line of force pillar (100), support laterally the account line of force (101) and vertically the account line of force (102), can be used for strengthening the rigidity and the intensity of flapping wing.
8. by the described flapping-wing aircraft of claim 1, it is characterized in that, described flapping wing (D) comprises that further flapping wing (D-1) is a rigid wings, constitute by the main wing and the wing palm, main wing is by main spar (74,75,76), main joint (77,78,79), fixedly aerofoil (128), movable wing (129), main wing dish (130) is formed; The wing palm is by palm wing longeron (91), wing palm crossbeam (92), palm wing dish (97), palm wing stationary plane (131) is formed, palm wing dish (97) clamping in the middle of main wing dish (130), control at the wing under the effect of system device can before and after rotation, make the wing slap the sweepback of protracting; On the joint ball elevation angle pole is arranged in the master, the end is preceding backguy, and the two ends of backguy are passed main prosthomere respectively and are connected with elevation angle control panel (47) with main deutomerite end pulley, under the effect of elevation angle control setup, realizes the change at the flapping wing elevation angle.
9. by the described flapping-wing aircraft of claim 1, it is characterized in that, the empennage of described aircraft is a telescopic fan-shaped aerofoil (E), it between empennage front-axle beam (103) and the central sill (104) fixing aerofoil, central sill with interior be scalable aerofoil, the middle part of empennage is a leg-of-mutton support frame (105), be to go up stabilizer (106) above the framework, the right and left is to stretch the arm of force (107,107 '), and the inside of support frame is the flexible depression bar (108) of empennage, the positive and negative elevation angle of the empennage of front end rocking arm (109), with globe holder (127) clamping mutually of empennage girder (126) end, constitute one and can upwarp and press down the scalable fan-shaped aerofoil that dwindles.
10. by the described flapping-wing aircraft of claim 1, it is characterized in that the described land and water alighting gear (F) that travels is respectively to overlap a stream line pattern qi of chong channel ascending adversely air bag (124) on front and back alighting gear wheels (7) and (6,6 '), (125,125 '); This air bag can fill lighter-than-air unreactable gas, below main landing gear girder (71), a spiral propeller (70) is set, and this angle of rake front end is a platform generating gear (68), and this gear meets at right angles mutually meshing with platform generating gear (69) on the main landing gear axis; There is a propeller control bar (72) to be connected with the transmission shaft of propelling unit (70) in the left side in cabin; After starting main landing gear wheel (6,6 '), promote propeller control bar (72) forward, angle of rake transmission gear is mutually meshing with the transmission gear on the main landing gear axis, the power that provides aircraft to sail on the water for spiral propeller (70).
11. by the described flapping-wing aircraft of claim 1, its special sheet is, the described land and water alighting gear (F) that travels further comprises the telescopic alighting gear (F that travels 1), this alighting gear be by the foot-operated dish (132) on the preceding wheel girder under the effect of pedal power, spur two lifting line (133) and (134) on this dish, promote line (133) and be divided into the pulley that alighting gear girder (135) and (135 ') both sides are pierced in 4 backguys respectively backward, be fixed on the both sides on alighting gear telescopic girder (136) and (136 ') top; Promoting line (134) divides two backguys to pass the pulley of preceding girder (27) both sides to the front lower place, be fixed on the both sides of front-wheel telescopic girder (137), the rotation of foot-operated dish can make alighting gear girder (135) and (135 ') upwards rise into telescopic girder (136) and stretch out (136 ') downwards by promoting backguy, also can transmit mechanical power-lift alighting gear (F1) by the power wheel on the transmission center shaft (21), when alighting gear rises to certain altitude, can move alighting gear lifting control stalk (221) the fixed foot-operated dish of pin (132) backward, simultaneously, the power wheel (3) in change speed gear box (2) left side is connected with power wheel (120) by driving band (4), the outside of power wheel (120) is bench-type compound gear (121) and (122), mutually meshing with alighting gear power wheel (5) with gear (122) with the coaxial platform generating gear (123) of telescopic shaft (220), for providing ground run, retractable landing gear (F1) moves power.
12. by each described flapping-wing aircraft among the claim 1-11, it is characterized in that, described aircraft power system is, an aero-engine of installation (1) below the cabin, the power wheel of driving engine can be divided into two-way when transferring power, the one tunnel is to pass to flower wheel (24) by driving band, pass to the rotor wheel (25) of screw propeller then by driving band (28), for the screw propeller (26) that is arranged on fuselage afterbody provides the pusher reserve power; Another road is to pass to speed-changing gear box (2) by transmission shaft, through two power wheels about isolating after the combination of change speed gear box inner gear, left side power wheel (3) is connected with main landing gear power wheel (5) by driving band (4), aircraft ground run power before and after rising and falling can be provided, the right side power wheel is connected with power wheel (9) on the transmission center shaft (10) by driving band (8), for driving device provides flapping wing power.
13. by the described flapping-wing aircraft of claim 12, it is characterized in that, described aircraft power system further comprises the human body power system, and there is a human body power drive front portion in the cabin, it is by left and right sides stretcher (17,17 '), big trochal disc (18), small trochal disc (19) constitutes, big trochal disc is connected with wheel disc (21) on the transmission center shaft by wheel chain (20), can be flapping wing human body power is provided; Small trochal disc is by wheel chain (22), is connected with coaxial wheel disc (23) on the change speed gear box, can be ground run human body power is provided.
14. by each described flapping-wing aircraft among the claim 1-11, it is characterized in that, the driving system of described aircraft, it is annular gear (G) formation by the fuselage both sides, this driving device is by annular disk and circular orbit looping track chassis (11), a flute profile pulley is arranged in the middle of circular orbit, respectively be fixed with a disk in the interior outside of this pulley, tangent inside and outside distributing four scroll wheels and the circular orbit plane of each disk top and the bottom symmetry, so, on circular orbit, just formed a rolling wheel disc (12), the outside of rolling wheel disc is to be fixed on the ring chain (13), ring chain is and circular orbit chassis toothed disc (14) up and down, (15) be connected, what the outside of ring chain was fixing is the matrix ball and socket, this matrix joint is connected with the convex joint of beam end among the master, form one can about, the spherical joint that left rotation and right rotation is 90 ° (16), under the effect of driving engine, power wheel on the transmission center shaft (9) will drive the driving cog wheel disc (14 on the annular gear, 14 ', 15,15 ') rotate, rolling wheel disc (12 on the while Ring gear chain, 12 ') will be along operation up and down before and after the circular orbit, when the rolling wheel disc on circular orbit when down the rear makes progress the place ahead motion, flapping wing just jumps on down the rear by last the place ahead; When the rolling wheel disc by the direction of going forward under rear when operation, just by descending the rear to jump on the place ahead, the track that wing tip streaks in the space is twist for flapping wing.
15., it is characterized in that the driving system of described aircraft is a kind of elliptical orbit driving device (G by each described flapping-wing aircraft among the claim 1-11 1), this device is by big oval wheel (175), little oval wheel (176) constitutes elliptical orbit, and center shaft (10) is arranged in elliptical orbit, and the two ends of center shaft are telescopic booms (168,168 '), the front end of telescopic boom has a scroll wheel (192), is support wheel (196) in the inboard of scroll wheel, and the outside is the matrix ball and socket, this ball and socket with main in the convex ball and socket of beam end socket-connect, constitute one can about, the ball joint (16) of 90 ° of left rotation and right rotation.Under the effect of driving engine, the power wheel on the transmission center shaft (9) drives telescopic boom and moves on elliptical orbit, and when the scroll wheel (192) of telescopic boom end, when moving from bottom to top on later half elliptical orbit, flapping wing is moved downward forward by last; When scroll wheel (192) when preceding semiellipse track moves downwards, flapping wing is by following upward movement backward, under the effect of flapping wing antagonistic force, when telescopic boom during in the upside of ellipse orbital motion, support wheel (196) is along little oval outer shroud orbital motion.When telescopic boom during in the operation of second elliptical orbit, scroll wheel (192) is the loop orbit operation in big ellipse, under the effect of elliptical orbit driving system, flapping wing is when fluttering, the track that wing tip streaks in the space twist, this flapping flight mode that does not have artificial manipulation and control is called original flapping flight mode.
16., it is characterized in that the driving system of described aircraft is a kind of push-pull arm driving device (G by each described flapping-wing aircraft among the claim 1-11 2), this device is by center shaft (10) and center shaft power arm (166,166 ') the formation centre-crank shaft, the center shaft power arm is a telescopic arms, the expansion link of power arm (167) is connected with the rotor wheel (169) of this arm of force inboard by backguy, on the turning handle of rotor wheel (169), there are two backguys to pass the pulley (170 of center shaft both sides respectively, 171) be connected with displacement disc (172), the rear portion of displacement disc is connected with rhombus pull bar (173), both sides at rhombus pull bar back seat (174), respectively there is a backguy to be connected with argument capstan winch (177), both sides at support frame (B), a vertical track (178 is respectively arranged, 178 '), respectively there is a pulley (179 at the two ends up and down of track, 180) a flute profile pulley displacement disc (181 is arranged in the inside of track, 181 '), can move down in orbit, the outside at displacement disc (181) connects a flapping wing wire drawing (182), the pulley (179 of vertical track upper and lower side is passed at the two ends of wire drawing respectively, 180) with main prosthomere, save among the master, main deutomerite is draw ring (183 up and down, 183 ') be connected, in addition, the center shaft power arm is connected with push-pull arm (185) by ball and socket (184), the end of push-pull arm is the inboard that a rotatable ball and socket (186) is fixed on track displacement disc (181), both sides in center shaft power wheel (9), a power wheel (187 is respectively arranged, 187 ') respectively by chain (188,188 ') and power wheel (189,189 ') be connected, at power wheel (189,189 ') on a coaxial wheels (190 is respectively arranged, 190 ') be connected with the ball and socket (16) of joint end among the master by pull bar, the end of ball and socket (16) is a rotor wheel (191), be stuck in the guide rail and can move forward and backward, this push-pull arm driving device is under the effect of driving engine, power wheel on the transmission center shaft (9) will drive center shaft and rotate, when center shaft power arm (166,166 ') when moving from top to bottom, push-pull arm (185) draws the displacement disc on the track (181) from top to bottom, at this moment under the tension that the flapping wing wire drawing makes progress, flapping wing by under be pulled to the top, simultaneously, pull bar on the power wheel (190) the ball and socket of joint end in main by after push away forward, make flapping wing when upwards fluttering, jump on the place ahead by following rear, when the center shaft power arm moves from bottom to top, push-pull arm (185) the displacement disc on the track (181) by under push to the top, under the downward pulling force of flapping wing wire drawing, flapping wing by on be pulled to the below, simultaneously, pull bar on the power wheel (190) is saving the ball and socket of end in main by the forward direction pusher, when flapping wing is fluttered downwards, jump on down the rear by last the place ahead, the track that wing tip awing streaks twist.
17., it is characterized in that the driving system of described aircraft is a kind of center shaft driving device (G by each described flapping-wing aircraft among the claim 1-11 3), this device is by center shaft (10) and center shaft power arm (194,194 ') the formation centre-crank shaft, the center shaft power arm is a telescopic arms, the expansion link of power arm (195) is connected with the power wheel (197) of this arm of force inboard by backguy, on the turning handle of power wheel (197), two backguys are arranged, pass the pulley (198 of center shaft both sides respectively, 199) be connected with displacement disc (205), the rear portion of displacement disc is connected with rhombus pull bar (201), at rhombus pull bar back seat (202,202 ') both sides, a backguy and argument capstan winch (204 are arranged, 204 ') connect, in the both sides of center shaft power wheel (9) power wheel (206 is arranged respectively, 206 ') by chain (207,207 ') and power wheel (208,208 ') be connected, on power wheel (208), there is a coaxial wheels (209) to be connected with the ball and socket (16) of joint end among the master by pull bar, the end of ball and socket (16) is that a rotor wheel (210) is stuck in the guide rail and can moves forward and backward, the end of center shaft power arm is by ball and socket (211,211 ') and push-pull arm (212,212 ') be connected, the end of push-pull arm is a rotatable joint (213,213 ') and main prosthomere, save among the master, arch support (214 on the main deutomerite, 214 ') be connected, under the effect of engine power, power wheel on the transmission center shaft (9) will drive centre-crank shaft and rotate, when central innermost being axle power arm moves from top to bottom, push-pull arm draws flapping wing from top to bottom, while power wheel (209,209 ') on pull bar the ball and socket (16) of joint end in main by the forward direction pusher, when flapping wing is fluttered downwards by on the place ahead jump on the back lower place; When the center shaft power arm moves from bottom to top, push-pull arm pushes away flapping wing from bottom to top, simultaneously the power wheel pull bar the ball and socket of joint end in main by after draw forward, make flapping wing when upwards fluttering, jump on the place ahead by following rear, the track that wing tip aloft streaks twist.
18. by the described flapping-wing aircraft of claim 1-11, it is characterized in that, the manipulation of described aircraft main wing and control system are on the girder of nose-gear, left wing's control wheel (31) and right flank control wheel (32) are housed, the backguy of left wing or right flank control panel (148) is by left and right sides flapping wing supporting bridge (40), one end is fixed on the prosthomere (88) in left wing or the preceding joint of right flank, save on (90) before and after the other end is fixed on, control handle (29) and right flank dish control handle (30) are coiled in the left wing that each side has below bearing circle (110), when about two wing dish control handles when promoting forward simultaneously, two main wings move forward about aircraft; When left and right dish control handle pulled back simultaneously, two main wings moved backward about aircraft, when left handle promotes forward, when right handle promotes to the right, the aircraft sharp right-hand bend, otherwise, to left sharp turn, when about two handles get back to original position and the locking after, aircraft is returned to original flapping flight state.
19. by the described flapping-wing aircraft of claim 18, the manipulation of described aircraft main wing further comprises manipulation and the control that the wing is slapped with control, it is characterized in that, above nose-gear girder left and right control wheel, left wing's palm control wheel (35) and right flank palm control wheel (36) are arranged respectively, the backguy (149) of right flank palm control wheel is by flapping wing supporting bridge (40), one end is fixed on the palm prosthomere (94) of metacarpal joint, the other end is fixed on palm deutomerite (96), below bearing circle, the outside of left and right dish control handle respectively has a left wing to control system handle (33) and right flank is controlled system handle (34), under the effect of aircraft at other application force, longitudinal unbalance appears, heavy back is light promptly, and head is downward-sloping, at this moment, left and right palm signaling handle promotes forward simultaneously, left and right is slapped and can be stretched forward simultaneously, overcomes the reach of the center of gravity of airplane, and is light before weighing after aircraft occurs, during nose-up, at this moment left and right palm handle pulls back simultaneously, and the left and right palm can be plunderred the wing simultaneously backward, moves after overcoming the center of gravity of airplane.
20. by the described flapping-wing aircraft of claim 1-11, it is characterized in that, the elevation angle control setup of described aircraft is the elevation angle control setting stick (43) by the both sides, cabin, rim brake (44), hand button (45), control panel (46), control panel climbers (49), elevation angle control shaking tray (47) rocking bar (48) of joint bottom among back guy (216) and the master, rocking bar method hurdle (165), rocking bar chest expander (217), preceding backguy (218) is formed, the two ends of preceding backguy are separately fixed at the top and the bottom of palm prosthomere, coil the pulley of the upper and lower end parts of pillar (219) then through the centre of the palm, the pulley that passes palm deutomerite top and the bottom again turns back and passes the pulley of dish (97) top and the bottom, the centre of the palm, and the middle part is connected with elevation angle control shaking tray (47); The two ends of back guy are fixed on the rocking bar shank, then pass through pulley and flapping wing supporting bridge on main prosthomere and the main deutomerite, the middle part is connected with elevation angle control panel (46), the elevation angle when utilizing elevation angle control setup can change flapping wing to flutter, promptly hold elevation angle control setting stick, press handle front end hand button (45) with thumb, rim brake (44) can be upspring, at this moment, rocking bar loses the downward pulling force of rim brake backguy, is drawn in the rocking bar method hurdle deck by the rocking handle chest expander, so under the effect of central spar front and back displacement, when flapping wing was pounced on from bottom to top, the rocking bar method hurdle on the central spar moved after by forward direction, was stuck in rocking bar (48) on the method hurdle deck and drove shaking tray (47) and turn round, the leading edge of flapping wing is upwards lifted under the effect of preceding backguy pulling force, trailing edge is to pressing down, and the elevation angle of flapping wing increases, and becomes the positive elevation angle; When flapping wing was fluttered from top to bottom, to reach, rocking bar (48) the drive shaking tray (47) that is stuck on the method hurdle deck changeed forward by the back on rocking bar method hurdle on the central spar, under the effect of preceding backguy pulling force, the leading edge of flapping wing is to pressing down, and trailing edge upwards lifts, and the elevation angle of flapping wing is reduced to the negative elevation angle; The positive and negative elevation angle differs+30 °～-30 ° approximately, and when closing rim brake, the change at the elevation angle is controlled by the elevation angle control setting stick (43) in the cabin, steps on the foot-operated button of control panel (49) simultaneously, rotatable elevation angle control panel (46) control of bearing circle (110) the flapping wing elevation angle.
21. by each described flapping-wing aircraft among the claim 1-11, it is characterized in that, the wing tip control setup of described aircraft is the wing tip control panel (50) by the both sides, cabin, wing tip control rim brake (51), wing tip control mobile phone (52), the wing tip control shaking tray (54) on back guy (155) and control shaking tray top, the elevation angle, rocking bar (55), wing tip control rocking bar method hurdle (56), rocking bar chest expander (156), preceding backguy (157) is formed, the backguy middle part is connected with control shaking tray (54) before the wing tip, then pass dish top and bottom, centre of the palm pulley, two ends are separately fixed at wing tip rocking handle (158) upper and lower side, in original flapping flight, wing tip is to flutter with whole aerofoil is top-down, when holding wing tip control panel handle, when pressing the hand button (52) of handle end with thumb, wing tip control rim brake (51) is upspring, at this moment elevation angle control rocking bar loses the pulling force of rim brake backguy, drawn in the rocking bar method hurdle deck by the rocking bar chest expander, so under the effect of front spar displacement, when flapping wing was pounced on from top to bottom, wing tip was inwardly pressed downwards and is crooked; When flapping wing was pounced on from bottom to top, wing tip was upturned, when holding wing system handle out of control, four refer to firmly can close rim brake, the hand button is buckled rim brake automatically, and at this moment, the change of wing tip is controlled by the wing tip control panel (50) in the cabin, when upwards moving handle, wing tip is to pressing down and curving inwardly, and downwards on time, wing tip is upturned, handle is placed on the middle part and when locking, wing tip returns to original position.
22. by each described flapping-wing aircraft among the claim 1-11, the leading edge of this aircraft flapping wing and trailing edge are distributed with droope snoot and trailing edge flap control setup, it is characterized in that:
The droope snoot control setup is the foot-operated dish of wing flap (57) by right side, rifle storehouse, stear drawing line (159), droope snoot (58), preceding wing flap rocking arm (59) are formed, droope snoot is attached to the leading edge of flapping wing at ordinary times, when control stalk promotes forward, rocking arm lower end below the flapping wing leading edge is pulled back by backguy, and the upper end pushes away forward, and droope snoot is launched to the front lower place, lose legpower when riding dish, droope snoot can be affixed on the leading edge of flapping wing;
The trailing edge flap control setup, be by the left and right sides, cabin right border wing flap control stalk (73,73 '), stear drawing line (160), trailing edge flap (60), back wing flap rocking arm (61) constitute, when joystick pulled back, the rocking arm lower end on the trailing edge flap front-axle beam was pulled to the below, at this moment, trailing edge flap is to pressing down, when joystick promoted forward, this rocking arm upper end was pulled to the top, and at this moment trailing edge flap is upturned.
23. by each described flapping-wing aircraft among the claim 1-11, it is characterized in that, in the front portion of described aircraft change speed gear box (2) a flapping wing frequency frequency modulation device (62) is arranged, this device is divided into four gears to the frequency per second of flapping wing for 8～60 times, by frequency modulation control bar (63) control, when moving a retaining after the frequency modulation control bar is by forward direction, the frequency per second of flapping wing can reach 8～15 times; When the frequency modulation control bar was moved two retainings to, the frequency per second of flapping wing can reach 15～30 times; When the frequency modulation control bar was moved three retainings to, the frequency per second of flapping wing can reach 30～50 times; When the frequency modulation control bar is moved four retainings to, the frequency per second of flapping wing can reach the high speed more than 60 times, under the effect of driving device, when these flapping-wing aircraft both wings are fluttered, no longer be pure fluttering up and down, but the simultaneous of fluttering rotation, so both can on when pouncing on the resistance of generation become lift, both wings have been overcome again when high-frequency is fluttered up and down, the destructive force of bringing to material because of resonance effect.
24. by each described flapping-wing aircraft among the claim 1-11, described aircraft has a kind of flapping wing argument control setup, it is characterized in that, the foot-operated dish of an argument (37,37 ') is respectively arranged in the both sides in cabin, main front-axle beam (74) is passed at argument control line (38,38 ') two ends respectively, and the main back rest (76) is fixed on main prosthomere (77) and the main deutomerite (79).Two ends unite two into one and are fixed on the foot-operated dish of argument (37) in addition, at main prosthomere and main front-axle beam, a flapping wing supporting bridge (40 is respectively arranged between the main deutomerite and the main back rest, 41), except that argument control backguy, all flapping wing control backguys all are laid on the flapping wing supporting bridge, front end at the foot-operated dish of argument (37) has an argument stretcher (42), foot-operated buckle (39) are arranged at the middle part of stretcher, when stepping on stretcher (42), main spar inwardly shrinks, and the argument supporting bridge upwards arches upward, at this moment the argument of flapping wing increases, when stretcher loses down when stepping on application force, foot-operated button (39) is foot-operated dish (37) locking, at this moment, the flapping wing argument also is defined, under the effect of pedal power, foot-operated dish (37) can limit the argument of flapping wing on three gears, argument can be changed in 45 °～90 ° scopes.
25. by each described flapping-wing aircraft among the claim 1-11, described aircraft has a kind of empennage retractor device, it is characterized in that, an empennage elevation angle control stalk (64) is arranged in the left side in cabin, the two ends of empennage elevation angle control backguy (161) are separately fixed at the upper and lower side of empennage rocking arm (109), the middle part is connected with control stalk (64), the upper end of control stalk (64) is an empennage elevation angle control hand button (65), in the left front in cabin is that the empennage aerofoil shrinks control pin pedal (66), the front end of stretcher is foot-operated buckle (67), empennage girder (126) is passed in stretcher backguy (162), be fixed on the flexible depression bar (108) of empennage, when adjusting the elevation angle of empennage, thumb is pressed control hand button (65) downwards, promote elevation angle control stalk forward, at this moment the trailing edge of empennage is upturned, pull back elevation angle control stalk, the trailing edge of empennage is to pressing down, after control hand button loses the pressure of thumb, elevation angle control stalk is locked, when pedal control pin pedal (66) forward with left foot, the control backguy spurs the flexible depression bar (108) of empennage downwards, the arm of force of stretching of the empennage left and right sides inwardly shrinks, collapsible aerofoil is compressed into triangular support framework (105) by flexible depression bar (108), form stabilizer down, after stretcher lost pedal power, flexible depression bar lost downward pulling force, stretching the arm of force about empennage outwards ejects compressed aerofoil, blade area amplifies, and under the effect of empennage retractor device, the area of empennage can stretch in 3: 1 scope.
26. by the described flapping-wing aircraft of claim 1, it is characterized in that, described support frame (B) and cabin (C) constitute a closed streamline fuselage (BC), going up the straight wing (A) is the attached wing that helps of a dismounting, takes over (116,117,118,119) according to the needs of flight by the dismounting of fuselage (BC) both sides and locates to install or remove; In the left and right sides of streamline fuselage (BC), be provided with elliptical orbit driving device (G1), transmit flapping wing power.
27. by the described flapping-wing aircraft of claim 1-26, it is characterized in that, remove driving engine (1), speed-changing gear box (2) and other accessory device of mechanokinetic of described aircraft, this aircraft be man pwoer flapping wing airplane.
28. by each described flapping-wing aircraft among the claim 1-11, it is characterized in that, constitute the framework of load supporting structure, the as above straight wing (A), pipe fitting or members such as alighting gear (F) and flapping wing, empennage spar travel for flapping wing supporting frame (B), cabin (C), land and water, be to adopt titanium alloy, nylon, carbon fibre composite material or other similar aviation new material constitute.
CN98114766.6A 1998-06-12 1998-06-12 Ornithopter Pending CN1239051A (en)

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AU41296/99A AU4129699A (en) 1998-06-12 1999-06-09 The ornithopter
CN99802047A CN1081155C (en) 1998-06-12 1999-06-09 The ornithopter
PCT/CN1999/000079 WO1999065767A1 (en) 1998-06-12 1999-06-09 The ornithopter

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CN102649477B (en) * 2012-05-17 2014-08-06 傅东升 Flapping wing airplane
CN103832588A (en) * 2012-11-24 2014-06-04 刘祖学 Large bird flying machine
CN104477385A (en) * 2014-12-15 2015-04-01 佛山市神风航空科技有限公司 Unmanned flapping wing air vehicle
CN104477385B (en) * 2014-12-15 2016-08-17 佛山市神风航空科技有限公司 A kind of unmanned flapping wing aircraft
CN106364672A (en) * 2016-10-21 2017-02-01 沈小沉 Ornithopter with elastic wings
CN106364672B (en) * 2016-10-21 2018-12-21 胡高 Resilient wing flapping wing aircraft
CN108045576A (en) * 2018-01-15 2018-05-18 缪顺文 Deformable bionical rotor flapping wing fixed-wing one aircraft
CN112319792A (en) * 2020-11-26 2021-02-05 广东国士健科技发展有限公司 Flapping wing aircraft with gravity center below two wings

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CN1081155C (en) 2002-03-20
WO1999065767A1 (en) 1999-12-23
CN1288426A (en) 2001-03-21

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