CN203864998U - Small-sized rotating flapping wing unmanned aerial vehicle - Google Patents
Small-sized rotating flapping wing unmanned aerial vehicle Download PDFInfo
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- CN203864998U CN203864998U CN201420282405.4U CN201420282405U CN203864998U CN 203864998 U CN203864998 U CN 203864998U CN 201420282405 U CN201420282405 U CN 201420282405U CN 203864998 U CN203864998 U CN 203864998U
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Abstract
The utility model discloses a small-sized rotating flapping wing unmanned aerial vehicle, and belongs to the technical field of aircrafts. The aerial vehicle consists of a machine body, a landing gear, an energy system, a control system, a left rotating flapping wing and a right rotating flapping wing, wherein the energy system comprises a motor, a convenient-to-charge lithium battery, a reduction gear set and a speed governing device; the control system comprises a radio remote control transmitter and a radio remote control receiver or adopts an automatic navigation control device and a steering gear; the left and right rotating flapping wings have the same structure, are symmetrically arranged on the left and right sides of the machine body, and are driven by power to provide thrust; the aerial vehicle can be perpendicularly lifted and hovered; the left rotating flapping wing consists of a left main shaft, a left rotating arm, a left wing panel, a left wing shaft, a left guide rod and a left guider; the right rotating flapping wing consists of a right main shaft, a right rotating arm, a right wing panel, a right wing shaft, a right guide rod and a right guider. The aerial vehicle is simple in structure and higher in efficiency, and can be provided with photographic equipment for many tasks such as aerial photography, geographic survey, traffic duty, military reconnaissance and rescue and relief work.
Description
Technical field
A kind of small rotary flapping wing unmanned vehicle, belongs to vehicle technology field, particularly relates to a kind of flapping wing unmanned vehicle.
Background technology
The lift unit that tradition flapping wing aircraft adopts is traditional flapping wing mechanism, is driven the flapping wing generation lift of fluttering up and down by crankshaft-link rod, efficiency is lower, strength at repeated alternation to flapping wing is had relatively high expectations, the raw very large thrust of difficult labour, and very difficult vertical lift and hovering.
Summary of the invention
In order to overcome the deficiency of above-mentioned conventional aircraft, the invention provides a kind of small rotary flapping wing unmanned vehicle, flapping wing rotates, can vertical lift and hovering.
The present invention adopts following technical scheme: a kind of small rotary flapping wing unmanned vehicle comprises fuselage, alighting gear, energy resource system, control system, anticlockwise flapping wing and right rotation flapping wing.Energy resource system comprises lithium cell, train of reduction gears and the speed regulation device of a motor, convenient charging; Control system comprises radio telecommand projector, receptor or automatic navigation control equipment and steering wheel; Anticlockwise flapping wing is identical with right rotation flapping wing structure, and they provide thrust as the left and right sides that the plane of symmetry is symmetrically arranged in respectively fuselage taking the symmetrical vertical section of fuselage under the driving of power, and this aircraft can vertical lift and hovering.
Anticlockwise flapping wing is made up of left main shaft, left-hand rotation arm, left wing's sheet, left wing's axle, left pilot bar and left guides; Right rotation flapping wing is made up of right main shaft, right-hand rotation arm, right flank sheet, right flank axle, right pilot bar and right guides; Left main shaft and right main shaft are fixed together coaxially, adopt single motor to be used as power, and pass to left main shaft and right main shaft by train of reduction gears, drive the synchronized in the same way motion of anticlockwise flapping wing and right rotation flapping wing simultaneously.
The concrete structure of anticlockwise flapping wing is: one end of left main shaft is connected with fuselage by antifriction-bearing box, one end of left-hand rotation arm is vertical with the other end of left main shaft to be connected, vertical being connected in one end of the other end of left-hand rotation arm and left wing's axle, left wing's axle, left-hand rotation arm and left main shaft form crank structure in same plane; The other end of left wing's axle is connected in the leading edge place near left wing sheet by bearing and left wing's sheet, and left wing's axle is parallel with the leading edge of left wing's sheet, and left wing's sheet can be around left wing's axle flexible rotating, but left wing's axle can not be made axial linear movement; The end face of the close left-hand rotation arm of left wing's sheet is that the root end face of left wing's sheet and the leading edge of left wing sheet are vertical, one end of left pilot bar and left wing's sheet are fixed on the rearmost end of this end face string of a musical instrument, left pilot bar is on this end face string of a musical instrument extended line backward and vertical with left wing axle, and the other end of left pilot bar is through left guides; Left guides is combined by left linear bearing and left oscillating bearing, and left linear bearing is fixedly bumped in left oscillating bearing; Left guides is connected with fuselage by the shell of left oscillating bearing; Left pilot bar inserts in the left linear bearing of left guides, and left pilot bar can do reciprocating linear motion flexibly in left linear bearing, and along with left linear bearing together can be around the left oscillating bearing center of left guides switch; Under the control of control system, left guides can the steering wheel switch around control system move in the plane of the left pilot bar of mistake parallel with left-hand rotation arm plane of rotation; One end that the length of left pilot bar is enough guaranteed left pilot bar in whole motion process is all the time in left guides and do not come off; Left guides approaches the rotation round of left wing's axle and installs, but left guides is greater than the maximum chord length sum of left-hand rotation arm lengths and left wing's sheet to the distance between left main shaft, so that left wing's sheet rotates smoothly.For reducing the resistance of air, improve 1ift-drag ratio, improve the efficiency of fluttering, the aerofoil profile of left wing's sheet adopts flat pattern or epirelief concave shape under epirelief.
The principle of work of anticlockwise flapping wing is: the power of motor passes to left main shaft after slowing down, left main shaft rotates and drives the rotation of left-hand rotation arm, left-hand rotation arm drives left wing's axle rotation, traction bottom left fin rotation at left wing's axle is fluttered, due to the control of left pilot bar and left guides, when left wing's sheet rotates, its angle of attack revolves at a cycle of operations the interior meeting of turning around regular variation occurs, and meets flapping wing, is conducive to produce lift.Can flutter flexibly for higher efficiency and the left wing's sheet of fluttering, left guides approaches the rotation round of left wing's axle and installs, but left guides is greater than the maximum chord length sum of left-hand rotation arm lengths and left wing's sheet to the distance between left main shaft.Because left guides approaches the rotation round of left wing's axle, in one-period, the effect of flutterring generation under left wing's sheet much larger than on flutter, the efficiency that produces lift is higher.The rotating speed that changes left wing's sheet can change the size of thrust; Aerodynamic direction is that the orientation by changing the relatively left main shaft of left guides realizes.
The concrete structure of right rotation flapping wing and principle of work are identical with anticlockwise flapping wing.Right main shaft and left main shaft are fixed together coaxially, and are connected with the flower wheel of train of reduction gears, and the driving wheel of train of reduction gears is connected with motor.
Advantage of the present invention is: owing to only using a motor to drive anticlockwise flapping wing and right rotation flapping wing simultaneously, simple in structure, and lightweight construction, anticlockwise flapping wing and right rotation flapping wing are synchronized in the same way, easily adjust balance, and the high period of service of battery degree of utilization is long.Because left wing's sheet and right flank sheet are all made circular-rotation, less demanding to the strength at repeated alternation of material.
Brief description of the drawings
Fig. 1 is that the master of a kind of small rotary flapping wing of the present invention unmanned vehicle looks schematic diagram; Fig. 2 is the left view of Fig. 1.
In figure: 1-fuselage; 2-alighting gear; 3-energy resource system; 4-control system; 5-anticlockwise flapping wing; 6-right rotation flapping wing; The left main shaft of 51-; 52-left-hand rotation arm; 53-left wing sheet; 54-left wing axle; The left pilot bar of 55-; The left guides of 56-; The left linear bearing of 561-; The left oscillating bearing of 562-; In Fig. 2, the large broken circle with arrow represents rotational trajectory and the rotation direction of left wing's axle 54.
Detailed description of the invention
Now by reference to the accompanying drawings 1 and accompanying drawing 2 for example the present invention is illustrated: a kind of small rotary flapping wing unmanned vehicle comprises fuselage 1, alighting gear 2, energy resource system 3, control system 4, anticlockwise flapping wing 5 and right rotation flapping wing 6.Energy resource system 3 comprises lithium cell, train of reduction gears and the speed regulation device of a motor, convenient charging; Control system 4 is made up of radio telecommand projector, receptor or automatic navigation control equipment and steering wheel; Anticlockwise flapping wing 5 is identical with right rotation flapping wing 6 structures, and they provide thrust as the left and right sides that the plane of symmetry is symmetrically arranged in respectively fuselage 1 taking the symmetrical vertical section of fuselage 1 under the driving of power, and this aircraft can vertical lift and hovering.
Anticlockwise flapping wing 5 is made up of left main shaft 51, left-hand rotation arm 52, left wing's sheet 53, left wing's axle 54, left pilot bar 55 and left guides 56; Right rotation flapping wing 6 is made up of right main shaft, right-hand rotation arm, right flank sheet, right flank axle, right pilot bar and right guides; Left main shaft 51 and right main shaft are fixed together coaxially, adopt single motor to make active force, pass to left main shaft 51 and right main shaft by train of reduction gears, drive anticlockwise flapping wing 5 and right rotation flapping wing 6 simultaneously, and this is simple in structure, lightweight.
The concrete structure of anticlockwise flapping wing 5 is: one end of left main shaft 51 is connected with fuselage 1 by antifriction-bearing box, vertical being connected of the other end of one end of left-hand rotation arm 52 and left main shaft 51, vertical being connected in one end of the other end of left-hand rotation arm 52 and left wing axle 54, left wing's axle 54, left-hand rotation arm 52 and left main shaft 51 form crank structure in same plane; The other end of left wing's axle 54 is connected in the leading edge place near left wing sheet 53 by bearing and left wing's sheet 53, and left wing's axle 54 is parallel with the leading edge of left wing sheet 53, Pian53Neng Rao left wing of left wing axle 54 flexible rotatings, but left wing's axle 54 can not be made axial linear movement; The end face of the close left-hand rotation arm 52 of left wing's sheet 53 is that the root end face of left wing's sheet 53 is vertical with the leading edge of left wing sheet 53, one end of left pilot bar 55 and left wing's sheet 53 are fixed on the rearmost end of this end face string of a musical instrument, left pilot bar 55 is on this end face string of a musical instrument extended line backward and vertical with left wing axle 54, and the other end of left pilot bar 55 is through left guides 56; Left guides 56 is fixedly bumped into left oscillating bearing 562 by left linear bearing 561 and combines; Left guides 56 is connected with fuselage by the shell of left oscillating bearing 562; Left pilot bar inserts in the left linear bearing of left guides, left pilot bar can be in left linear bearing moving linearly flexibly, and along with left linear bearing together can be around the left oscillating bearing center of left guides switch; Under the control of control system 4, left guides 56 can move around the steering wheel switch of control system 4 in the plane of the left pilot bar 55 of mistake parallel with left-hand rotation arm 52 plane of rotations; One end that the length of left pilot bar 55 should enough be guaranteed left pilot bar 55 in whole motion process is all the time in left guides 56 and do not come off.Left guides 56 approaches the rotation round of left wing's axle 54 and installs, but left guides 56 is greater than the maximum chord length sum of left-hand rotation arm 52 length and left wing's sheet 53 to the distance between left main shaft 51, so that left wing's sheet 53 rotates smoothly.For reducing the resistance of air, improve 1ift-drag ratio, improve the efficiency of fluttering, the aerofoil profile of left wing's sheet 53 adopts flat pattern or epirelief concave shape under epirelief.
The skeleton of fuselage 1, left wing's sheet 53 and right flank sheet all adopts carbon fiber composite material, and intensity height is lightweight.Left wing's sheet 53 and right flank sheet be rectangular triangle all.
Alighting gear 2 is made up of three supports, and every support is made up of finer wire and small rubber ball, and small rubber ball plays buffer action while landing, and alighting gear also plays anti-twisted force balance effect.
The principle of work of anticlockwise flapping wing 5 is: the power of motor passes to left main shaft 51 after slowing down, left main shaft 51 rotates and drives left-hand rotation arm 52 to rotate, left-hand rotation arm 52 drives left wing's axle 54 to rotate, traction bottom left fin 53 rotations at left wing's axle 54 are fluttered, due to the control of left pilot bar 55 and left guides 56, when left wing's sheet 53 rotates, its angle of attack revolves at a cycle of operations the interior meeting of turning around regular variation occurs, and meets flapping wing, is conducive to produce thrust.Can flutter flexibly for higher efficiency and the left wing's sheet 53 of fluttering, left guides 56 approaches the rotation round of left wing's axle 54 and installs, but left guides 56 is greater than the maximum chord length sum of left-hand rotation arm 52 length and left wing's sheet 53 to the distance between left main shaft 51.Because left guides 56 approaches the rotation round of left wing's axle 54, in one-period, the effect that left wing's sheet is flutterred generation for 53 times much larger than on flutter, the efficiency that produces lift is higher.The rotating speed that changes left wing's sheet 53 can change the size of thrust; The direction of thrust is that the orientation by changing the relatively left main shaft 51 of left guides 56 realizes.Because left wing's sheet 53 and right flank sheet are all made circular-rotation, less demanding to the strength at repeated alternation of material.
The concrete structure of right rotation flapping wing 6 and principle of work are identical with anticlockwise flapping wing 5.
The state of flight that should invent a kind of small rotary flapping wing unmanned vehicle is below described further this invention.
Take off: actuating motor, drive anticlockwise flapping wing 5 and right rotation flapping wing 6 to flutter, utilize control system 4 to adjust the height of left guides 56 and right guides simultaneously, what make that anticlockwise flapping wing 5 and right rotation flapping wing 6 produce makes a concerted effort upwards, in the time that motor speed reaches certain value, lift is greater than body weight, and this small rotary flapping wing unmanned vehicle vertically goes up to the air.
Before fly: after taking off, left guides 56 and right guides are moved to front upper place simultaneously, thrust direction will be to front upper place, improves motor speed simultaneously and makes the component of the direction vertically upward of thrust equal body weight, is convenient to put down and fly forward.
After fly: while aloft flight, left guides 56 and right guides are moved downwards simultaneously, make thrust direction to back upper place, adjust motor speed simultaneously and make the component of the direction vertically upward of thrust equal body weight, realize flat flying backward.
Turning flight: in the time front flying, separately right guides is moved to this aircraft of little Xu toward front upper place and will turn left; Separately left guides 56 being moved to this aircraft of little Xu toward front upper place will bend to right.
Hovering: while aloft flight, left guides 56 and right guides are adjusted to suitable same height and position of orientation, adjust the rotating speed of motor, what make that anticlockwise flapping wing 5 and right rotation flapping wing 6 produce makes a concerted effort vertically upward and equals body weight, eliminate flight inertia after this aircraft will be in hovering position.
Landing: this aircraft is adjusted to behind hovering position, slowly reduces the rotating speed of motor, finely tune the slowly vertical landing of this aircraft of orientation of left guides 56 and right guides.
More than explanation is what under the operating mode that there is no interference in air flow, to make, if there is the existence of interference in air flow, should repair partially according to the direction of air-flow and flow velocity.
The multiple-tasks such as a kind of small rotary flapping wing of the present invention unmanned vehicle band photographs equipment can be used for taking photo by plane, geographical measurement, traffic duty, military investigation and rescue and relief work.
Claims (5)
1. a small rotary flapping wing unmanned vehicle, comprise fuselage (1), alighting gear (2), energy resource system (3), control system (4), anticlockwise flapping wing (5) and right rotation flapping wing (6), it is characterized in that: energy resource system (3) comprises lithium cell, train of reduction gears and the speed regulation device of a motor, convenient charging; Anticlockwise flapping wing (5) is made up of left main shaft (51), left-hand rotation arm (52), left wing's sheet (53), left wing's axle (54), left pilot bar (55) and left guides (56); Right rotation flapping wing (6) is made up of right main shaft, right-hand rotation arm, right flank sheet, right flank axle, right pilot bar and right guides; Anticlockwise flapping wing (5) is identical with right rotation flapping wing (6) structure, and they are symmetrically arranged in respectively the left and right sides of fuselage (1) as the plane of symmetry taking the symmetrical vertical section of fuselage (1); Left main shaft (51) and right main shaft are fixed together coaxially, adopt single motor to make active force, pass to main shaft by train of reduction gears, drive anticlockwise flapping wing (5) and right rotation flapping wing (6) simultaneously; One end of left main shaft (51) is connected with fuselage (1) by antifriction-bearing box, vertical being connected of the other end of one end of left-hand rotation arm (52) and left main shaft (51), vertical being connected in one end of the other end of left-hand rotation arm (52) and left wing's axle (54), left wing's axle (54), left-hand rotation arm (52) and left main shaft (51) are in same plane; The other end of left wing's axle (54) is connected in the leading edge place near left wing's sheet (53) by bearing and left wing's sheet (53), and left wing's axle (54) is parallel with the leading edge of left wing's sheet (53), and left wing's sheet (53) can be around left wing's axle flexible rotating; The end face of the close left-hand rotation arm (52) of left wing's sheet (53) is that the root end face of left wing's sheet (53) is vertical with the leading edge of left wing's sheet (53), one end of left pilot bar (55) and left wing's sheet (53) are fixed on the rearmost end of this end face string of a musical instrument, left pilot bar (55) is on this end face string of a musical instrument extended line backward and vertical with left wing's axle (54), and the other end of left pilot bar (55) is through left guides (56); Left guides (56) is combined by left linear bearing (561) and left oscillating bearing (562), and left linear bearing (561) is fixedly bumped in left oscillating bearing (562); Left guides (56) is connected with fuselage (1) by the shell of left oscillating bearing (562); Left pilot bar (55) inserts in the left linear bearing (561) of left guides (56), left pilot bar (55) can do reciprocating linear motion flexibly in left linear bearing (561), and along with left linear bearing (561) together can be around left oscillating bearing (562) center of left guides (56) switch; Under the control of control system (4), left guides (56) can move around the steering wheel switch of control system (4) in the plane of the left pilot bar of mistake (55) parallel with left-hand rotation arm (52) plane of rotation; One end that the length of left pilot bar (55) is enough guaranteed left pilot bar (55) in whole motion process is all the time in left guides (56) and do not come off.
2. a kind of small rotary flapping wing unmanned vehicle according to claim 1, is characterized in that: mode adopts radio telecommand mode or adopts automatic navigation mode.
3. a kind of small rotary flapping wing unmanned vehicle according to claim 1, is characterized in that: the skeleton of fuselage (1), left wing's sheet (53) and right flank sheet adopts carbon fiber composite material.
4. a kind of small rotary flapping wing unmanned vehicle according to claim 1, is characterized in that: left wing's sheet (53) and right flank sheet be rectangular triangle all, and aerofoil profile all adopts flat pattern or epirelief concave shape under epirelief.
5. a kind of small rotary flapping wing unmanned vehicle according to claim 1, is characterized in that: alighting gear (2) is made up of finer wire and small rubber ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420282405.4U CN203864998U (en) | 2014-05-30 | 2014-05-30 | Small-sized rotating flapping wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420282405.4U CN203864998U (en) | 2014-05-30 | 2014-05-30 | Small-sized rotating flapping wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203864998U true CN203864998U (en) | 2014-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420282405.4U Withdrawn - After Issue CN203864998U (en) | 2014-05-30 | 2014-05-30 | Small-sized rotating flapping wing unmanned aerial vehicle |
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| Country | Link |
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| CN (1) | CN203864998U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103991544A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small rotary unmanned ornithopter |
| CN104369865A (en) * | 2014-12-15 | 2015-02-25 | 佛山市神风航空科技有限公司 | Asynchronous rotary flapping-wing aircraft |
| CN104494825A (en) * | 2014-12-15 | 2015-04-08 | 佛山市神风航空科技有限公司 | Panel type flapping wing aircraft with stepping motor |
-
2014
- 2014-05-30 CN CN201420282405.4U patent/CN203864998U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103991544A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small rotary unmanned ornithopter |
| CN103991544B (en) * | 2014-05-30 | 2016-01-20 | 佛山市神风航空科技有限公司 | A kind of small rotary flapping wing unmanned vehicle |
| CN104369865A (en) * | 2014-12-15 | 2015-02-25 | 佛山市神风航空科技有限公司 | Asynchronous rotary flapping-wing aircraft |
| CN104494825A (en) * | 2014-12-15 | 2015-04-08 | 佛山市神风航空科技有限公司 | Panel type flapping wing aircraft with stepping motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141008 Effective date of abandoning: 20160120 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |