CN205574277U - A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type - Google Patents
A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type Download PDFInfo
- Publication number
- CN205574277U CN205574277U CN201620399749.2U CN201620399749U CN205574277U CN 205574277 U CN205574277 U CN 205574277U CN 201620399749 U CN201620399749 U CN 201620399749U CN 205574277 U CN205574277 U CN 205574277U
- Authority
- CN
- China
- Prior art keywords
- vein
- wing
- flapping wing
- slide block
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a full -automatic collapsible flapping wing of the miniature aircraft of bionical flapping wing type, including wing base, first vein, second vein, third vein, fourth vein, no elastic inhaul, first elasticity hinge, second elasticity hinge, parachute, built -in heat source, micro sensor, controller, interface, film hose, elastic thread and cylinder slider, the initial condition of flapping wing is complete fold condition, when the rising of liquid temperature, the increase of liquid internal pressure, then can drive the flapping wing and expand, when the reduction of liquid temperature, liquid internal pressure falls after rise, and then the flapping wing will be folded under the spring action of elastic thread. The utility model discloses, miniature aircraft can expand to fold in the time need not flying in order to obtain sufficient lift when need flying to reduce the area of wing, reduce the impaired risk of wing. Its automatic control system can adjust the state of flapping wing according to the needs of aircraft in real time, improves the operability and the flight ability of aircraft.
Description
Technical field
This utility model relates to the wing of a kind of flapping wing type minute vehicle, micro-particularly to a kind of bionic flapping-wing type
The Full-automatic foldable flapping wing of type aircraft.
Background technology
It is little that minute vehicle (Micro Air vehicle is called for short MAV) has size, portable, operation
Property good, disguised strong feature, have during its task under performing small space or MODEL OVER COMPLEX TOPOGRAPHY
The advantage that other aircraft is incomparable.Along with reducing further of size, flapping wing type MAV mobility,
The aspect such as propulsive efficiency and aeroperformance shows the advantage of becoming apparent from, and this becomes MAV future
The important directions of development.In order to reduce weight, the flapping wing of MAV must be enough slim and graceful, emerges the most at present
Flapping wing type MAV all have employed the membrane structure flapping wing of similar insect wing, but this flapping wing span is relatively
Greatly, easily damage.
Its film quality hind wing can be folded when not flight and draw under elytrum by chafer, and when needs flight
Just hind wing is launched.Its this characteristic makes it be provided simultaneously with the flight performance of excellence and good environment
Adaptability.
Summary of the invention
This utility model is inspired by chafer, propose a kind of can for the new automatic of flapping wing type MAV
Folding flapping wing.This flapping wing can launch when flight to obtain enough lift, when need not flight
Can fold up, to reduce the area of wing, reduce wing damaged risk.This flapping wing also has automatically
Control system, can adjust the deployed condition of flapping wing, carry out according to the instruction that minute vehicle body sends
Real-time monitoring, significant to the operability and flight performance improving aircraft.
This utility model provides a kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle, its purpose
Being in the case of the flying quality ensureing flapping wing type minute vehicle, reduce aircraft carries size,
Reduce the damaged risk of flapping wing, and then improve the service life of minute vehicle.
This utility model include wing base, the first vein, the second vein, the 3rd vein, the 4th vein, without bullet
Property drag-line, the first elastic hinge；Second elastic hinge, parachute, built-in thermal source, microsensor, control
Device, interface, tubular film, elastic thread and cylinder slide block；
Being provided with sap cavity inside described wing base, sap cavity connects with liquid injection port and drain pipe, and the first vein is installed
On drain pipe E, the first elastic hinge is installed on the first vein, and the second vein is by the first elastic hinge
Chain and the first vein connect, and a plurality of 4th vein is installed on wing base, a plurality of 4th radial distribution of vein,
3rd vein is connected with the 4th vein closing on the first vein by the second elastic hinge；Parachute is fixed on
On one vein, the second vein, the 3rd vein and the 4th vein.
Described first vein includes circular pipe and support, angulation between circular pipe and support；Thin film
Flexible pipe and cylinder slide block are installed in the circular pipe of the first vein, and wherein tubular film one end is fixed on out
On the tube wall of liquid pipe, the tubular film other end is fixed on the end face of cylinder slide block；Elastic thread one end is fixed
At the end face center of circle fixing point F of cylinder slide block, the elastic thread other end is fixed on wing base through drain pipe
Sap cavity inwall, the support of the first vein has hole, and nonelastic drag-line one end is fixed on the second vein
At fixing point D, the nonelastic drag-line other end passes at the fixing point F that hole is fixed on cylinder slide block.
Built-in thermal source, microsensor, microcontroller and interface constitute control system, built-in thermal source and micro sensing
Device is positioned at the sap cavity of wing base, and microcontroller is arranged on wing base.
Spreading principle of the present utility model:
It is volumetric expansion after the heated liquid in wing base in hermetic container, is made owing to limiting by chamber wall
With, its internal pressure will raise, thus promotes cylinder slide block to overcome the elastic force of elastic thread to move, and makes
The pulling force of the second vein is reduced by nonelastic drag-line, and then the moment of flexure making the first elastic hinge be subject to reduces,
Collapsible flapping wing gradually spreads out under the elastic force effect of the first elastic hinge.
Folding principle of the present utility model:
It is after the temperature of liquid in wing base is gradually lowered in hermetic container, its volume-diminished, pressure gradually recovers,
Cylinder slide block gradually returns to initial position under the elastic force effect of elastic thread, and cylinder slide block is by nonelastic
Drag-line pulls the second vein to rotate around the first elastic hinge, and collapsible flapping wing gradually folds.
Launch and folding process realize:
Expansion process:
This utility model is provided with built-in thermal source, microsensor, microcontroller and interface, built-in heat in wing base
Source, microsensor and microcontroller form the control system of this Full-automatic foldable flapping wing, it is achieved to this
The state of collapsible flapping wing controls.Control system obtains the energy by interface and realizes the data with aircraft
Exchange.
Original state of the present utility model is completely folded state, the sap cavity within wing base and tubular film, circle
Post slide block is collectively forming a hermetic container, after filling liquid, becomes an easy hydraulic system.
When needs launch flapping wing, instruction is passed to microcontroller, microcontroller by interface by minute vehicle
Control built-in thermal source liquid is heated；Heated liquid volumetric expansion, due to the restriction effect of receptor wall,
Its internal pressure will raise, and promotes cylinder slide block to overcome the elastic force of elastic thread to move, and elastic thread is subject to
Stretching is long, and collapsible flapping wing gradually spreads out under the elastic force effect of the first elastic hinge.When flapping wing is opened up completely
After opening, signal is fed back to microcontroller by microsensor, and microcontroller adjusts the heated condition of built-in thermal source,
Flapping wing is made to keep launching.
Folding process:
When wing needs to fold, built-in thermal source stops heating, and temperature of liquid reduces, and volume reduces,
Pressure gradually recovers, and cylinder slide block gradually returns to initial position, cylinder under the elastic force effect of elastic thread
Slide block pulls the second vein to rotate around the first elastic hinge by nonelastic drag-line, and collapsible flapping wing is gradually rolled over
Folded.
The beneficial effects of the utility model:
The most collapsible flapping wing is in folded state when not flight, reduces the area of flapping wing, contributes to reducing
Minute vehicle carry size, reduce the damaged risk of flapping wing；
2. utilize modular design method that driving means, control system and folding system are all encapsulated in and can be rolled over
Inside folded flapping wing, complete the energy by interface between flapping wing and fuselage and carry and information exchange, make aircraft
The folding and expanding of flight relative motion and flapping wing move and be separated from each other, enormously simplify aircraft body
Structure；
3. it is connected by interface between flapping wing with fuselage, as long as interface is mutually matched just can realize flapping wing more
Change, improve the versatility of minute vehicle and the interchangeability of parts, it is simple to the replacing of parts, carry
The high service life of minute vehicle；
4. the control system on flapping wing can and aircraft body between realize information sharing, make the aircraft can
With the state of real-time monitoring flapping wing as required, be conducive to improving operability and the flight performance of aircraft.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model its fully unfolded position.
Fig. 2 is the structural representation of this utility model completely folded state.
Fig. 3 is biopsy cavity marker devices structural representation of the present utility model.
Fig. 4 is close-up schematic view at the A in Fig. 3.
Wherein: 1-wing base；2-the first vein；6-the second vein；7-the 3rd vein；9-the 4th vein；3-without
Elastomeric cords；4-the first elastic hinge；8-the second elastic hinge；5-parachute；The built-in thermal source of 10-；11-is micro-
Sensor；12-microcontroller；13-interface；14-tubular film；15-elastic thread；16-cylinder slide block；B-
Liquid injection port；C-hole；D, F, G-fixing point；E-drain pipe.
Detailed description of the invention
Refer to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, this utility model include wing base the 1, first vein 2,
Second vein the 6, the 3rd vein the 7, the 4th vein 9, nonelastic drag-line the 3, first elastic hinge 4；Second
Elastic hinge 8, parachute 5, built-in thermal source 10, microsensor 11, controller 12, interface 13, thin film
Flexible pipe 14, elastic thread 15 and cylinder slide block 16；
Described wing base 1 is internal is provided with sap cavity, and sap cavity connects with liquid injection port B and drain pipe E, the first wing
Arteries and veins 2 is installed on drain pipe E, and the first elastic hinge 4 is installed on the first vein 2, the second vein 6
Being connected with the first vein 2 by the first elastic hinge 4, a plurality of 4th vein 9 is installed on wing base 1,
The a plurality of 4th radial distribution of vein 9, the 3rd vein 7 passes through the second elastic hinge 8 and closes on the first wing
4th vein 9 of arteries and veins 2 connects；Parachute 5 is fixed on first vein the 2, second vein the 6, the 3rd vein 7
With on the 4th vein 9.
As it is shown on figure 3, described first vein 2 includes circular pipe and support, between circular pipe and support
Angulation；As shown in Figure 4, tubular film 14 and cylinder slide block 16 are installed on the circle of the first vein 2
In shape conduit, wherein tubular film 14 one end is fixed on the tube wall of drain pipe E, and tubular film 14 is another
One end is fixed on the end face of cylinder slide block 16；The end face of cylinder slide block 16 is fixed in elastic thread 15 one end
At the fixing point F of the center of circle, elastic thread 15 other end is fixed on the sap cavity inwall of wing base 1 through drain pipe E.
As shown in Figure 3 and Figure 4, the support of the first vein 2 having hole C, nonelastic drag-line 3 one end is fixed
At fixing point D on the second vein 6, it is sliding that nonelastic drag-line 3 other end is fixed on cylinder through hole C
At fixing point F on block 16.
Built-in thermal source 10, microsensor 11, microcontroller 12 and interface 13 constitute control system, built-in
Thermal source 10 and microsensor 11 are positioned at the sap cavity of wing base 1, and microcontroller 12 is arranged on wing base 1.
Spreading principle of the present utility model:
It is volumetric expansion after the heated liquid in wing base 1 in hermetic container, is made owing to limiting by chamber wall
With, its internal pressure will raise, thus promotes cylinder slide block 16 to overcome the elastic force of elastic thread 15 to move
Dynamic, make nonelastic drag-line 3 that the pulling force of the second vein 6 to be reduced, and then make the first elastic hinge 4 be subject to
Moment of flexure reduce, collapsible flapping wing gradually spreads out under the elastic force effect of the first elastic hinge 4.
Folding principle of the present utility model:
It is that after the temperature of liquid in wing base 1 is gradually lowered, its volume-diminished, pressure is the most extensive in hermetic container
Multiple, cylinder slide block 16 gradually returns to initial position, cylinder slide block under the elastic force effect of elastic thread 15
16 pull the second vein 6 to rotate around the first elastic hinge 4 by nonelastic drag-line 3, collapsible flapping wing by
Gradually fold.
Launch and folding process realize:
Expansion process:
This utility model is provided with built-in thermal source 10, microsensor 11, microcontroller 12 in wing base 1 and connects
Mouth 13, built-in thermal source 10, microsensor 11 and microcontroller 12 form this Full-automatic foldable flapping wing
Control system, it is achieved the state of this collapsible flapping wing is controlled.Control system obtains energy by interface 13
Source also realizes the data exchange with aircraft.
Original state of the present utility model is completely folded state, as shown in Figure 3.Sap cavity within wing base 1
It is collectively forming a hermetic container with tubular film 14, cylinder slide block 16, after filling liquid, becomes one
Individual easy hydraulic system.When needs launch flapping wing, instruction is transmitted by minute vehicle by interface 13
To microcontroller 12, microcontroller 12 controls built-in thermal source 10 and heats liquid；Heated liquid volume is swollen
Swollen, due to the restriction effect of receptor wall, its internal pressure will raise, and promotes cylinder slide block 16
The elastic force overcoming elastic thread 15 moves, and elastic thread 15 tension extends, and collapsible flapping wing is in the first elastic hinge
Gradually spread out under the elastic force effect of chain 4.After flapping wing is fully deployed, signal is fed back to by microsensor 11
Microcontroller 12, microcontroller 12 adjusts the heated condition of built-in thermal source 10, makes flapping wing keep launching.
Folding process:
When wing needs to fold, built-in thermal source 10 stops heating, and temperature of liquid reduces, and volume reduces,
Pressure gradually recovers, and cylinder slide block 16 gradually returns to initial position under the elastic force effect of elastic thread 15,
Cylinder slide block 16 pulls the second vein 6 to rotate around the first elastic hinge 4 by nonelastic drag-line 3, can roll over
Folded flapping wing gradually folds.
Claims (1)
1. the Full-automatic foldable flapping wing for flapping wing type minute vehicle, it is characterised in that: include
Wing base (1), the first vein (2), the second vein (6), the 3rd vein (7), the 4th vein (9),
Nonelastic drag-line (3), the first elastic hinge (4)；Second elastic hinge (8), parachute (5), built-in
Thermal source (10), microsensor (11), controller (12), interface (13), tubular film (14), bullet
The line of force (15) and cylinder slide block (16)；
Described wing base (1) is internal is provided with sap cavity, and sap cavity connects with liquid injection port (B) and drain pipe (E),
First vein (2) is installed on drain pipe (E), and the first elastic hinge (4) is installed on the first vein (2)
On, the second vein (6) is connected with the first vein (2) by the first elastic hinge (4), and a plurality of 4th
Vein (9) is installed on wing base (1), a plurality of 4th vein (9) radial distribution, the 3rd vein
(7) it is connected with the 4th vein (9) closing on the first vein (2) by the second elastic hinge (8)；
Parachute (5) is fixed on the first vein (2), the second vein (6), the 3rd vein (7) and the 4th vein
(9) on；
Described first vein (2) includes circular pipe and support, angulation between circular pipe and support；
Tubular film (14) and cylinder slide block (16) are installed in the circular pipe of the first vein (2), thin film
Flexible pipe (14) one end is fixed on the tube wall of drain pipe (E), and tubular film (14) other end is fixed on
On the end face of cylinder slide block (16)；The end face of cylinder slide block (16) is fixed in elastic thread (15) one end
At the fixing point F of the center of circle, elastic thread (15) other end is fixed on wing base (1) through drain pipe (E)
Sap cavity inwall；Having hole (C) on the support of the first vein (2), nonelastic drag-line (3) one end is fixed
At fixing point D on the second vein (6), nonelastic drag-line (3) other end is fixed through hole (C)
At fixing point F on cylinder slide block (16)；
Built-in thermal source (10), microsensor (11), microcontroller (12) and interface (13) constitute control
System, built-in thermal source (10) and microsensor (11) are positioned at the sap cavity of wing base (1), microcontroller
(12) it is arranged on wing base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620399749.2U CN205574277U (en) | 2016-05-05 | 2016-05-05 | A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620399749.2U CN205574277U (en) | 2016-05-05 | 2016-05-05 | A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205574277U true CN205574277U (en) | 2016-09-14 |
Family
ID=56856175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620399749.2U Withdrawn - After Issue CN205574277U (en) | 2016-05-05 | 2016-05-05 | A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205574277U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799932A (en) * | 2016-05-05 | 2016-07-27 | 吉林大学 | Full-automatic foldable flapping wing for flapping wing type micro aerial vehicle |
| CN106394898A (en) * | 2016-11-11 | 2017-02-15 | 吉林大学 | Automatic locking and unlocking mechanism used for foldable flapping wing micro air vehicle |
| CN107089329A (en) * | 2017-06-20 | 2017-08-25 | 吉林大学 | A kind of self-locking for foldable flapping-wing MAV receives wing expanse wing mechanism |
| CN111003174A (en) * | 2019-12-16 | 2020-04-14 | 深圳先进技术研究院 | Active folding wing structure of bird imitation |
| CN111392038A (en) * | 2020-03-25 | 2020-07-10 | 南京航空航天大学 | Flapping wing aircraft wing capable of being folded and stored quickly |
-
2016
- 2016-05-05 CN CN201620399749.2U patent/CN205574277U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799932A (en) * | 2016-05-05 | 2016-07-27 | 吉林大学 | Full-automatic foldable flapping wing for flapping wing type micro aerial vehicle |
| CN106394898A (en) * | 2016-11-11 | 2017-02-15 | 吉林大学 | Automatic locking and unlocking mechanism used for foldable flapping wing micro air vehicle |
| CN107089329A (en) * | 2017-06-20 | 2017-08-25 | 吉林大学 | A kind of self-locking for foldable flapping-wing MAV receives wing expanse wing mechanism |
| CN107089329B (en) * | 2017-06-20 | 2023-04-14 | 吉林大学 | Self-locking wing-retracting and wing-spreading mechanism for foldable flapping wing micro-aircraft |
| CN111003174A (en) * | 2019-12-16 | 2020-04-14 | 深圳先进技术研究院 | Active folding wing structure of bird imitation |
| CN111003174B (en) * | 2019-12-16 | 2021-11-23 | 深圳先进技术研究院 | Active folding wing structure of bird imitation |
| CN111392038A (en) * | 2020-03-25 | 2020-07-10 | 南京航空航天大学 | Flapping wing aircraft wing capable of being folded and stored quickly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205574277U (en) | A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type | |
| CN105799932B (en) | A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle | |
| CN104554721B (en) | A kind of flapping-wing modal can auto-folder and launch flapping wing | |
| CN204452936U (en) | A kind of flapping-wing modal can auto-folder and launch flapping wing | |
| BR112015005431B1 (en) | PNEUMATIC DEVICE, E, APPARATUS AND METHOD FOR AUTOMATED ASSEMBLY | |
| CN106394897B (en) | A kind of foldable wind resistance flapping wing of flapping-wing MAV | |
| CN113665769A (en) | Bionic jellyfish robot and ocean exploration application method thereof | |
| CN104627355A (en) | Deflection control device based on head of aircraft | |
| CN103963960B (en) | A kind of semi-rigid inflated type opens up receipts wing automatically | |
| Zhang et al. | Design of a hydraulically-driven bionic folding wing | |
| RU170947U1 (en) | Ornithopter | |
| CN105251068A (en) | Electromagnetic-permanent magnetism bidirectional driving type artificial heart pump | |
| CN208422227U (en) | A kind of blood-circulation model of dynamic demonstration heart film valve opening and closing | |
| CN209332384U (en) | A kind of heart valve prosthesis stable state leakage current experimental rig | |
| CN209396040U (en) | A kind of folded fan type folding wing mechanism for foldable flapping-wing MAV | |
| CN109732646A (en) | A kind of camera carrying telecontrol equipment and method based on torsion spring device rope closing | |
| CN116359050A (en) | Counterpulsation sacculus fatigue testing device and testing method thereof | |
| CA2709926C (en) | Actuator and method for producing mechanical motion | |
| CN105268041A (en) | Elastic haematodocha for artificial heart and air-bag-driven artificial heart pump | |
| CN208102313U (en) | Undercarriage and unmanned vehicle with the undercarriage | |
| CN207292354U (en) | A kind of anti-interference flow control device | |
| CN207843348U (en) | All-wing aircraft unmanned aerial vehicle ejecting device | |
| CN205538193U (en) | Experimental frock of air spring cycle life | |
| CN221024242U (en) | Soft landing bird-like ornithopter | |
| CN111532400A (en) | A put in device that is used for waters to carry out unmanned aerial vehicle and puts in lifesaving usefulness |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160914 Effective date of abandoning: 20171110 |
|
| AV01 | Patent right actively abandoned |