CN205931253U - Bionic flapping -wing air vehicle - Google Patents
Bionic flapping -wing air vehicle Download PDFInfo
- Publication number
- CN205931253U CN205931253U CN201620925999.5U CN201620925999U CN205931253U CN 205931253 U CN205931253 U CN 205931253U CN 201620925999 U CN201620925999 U CN 201620925999U CN 205931253 U CN205931253 U CN 205931253U
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- wing
- gear
- steering wheel
- aerofoil profile
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Abstract
The utility model provides a bionic flapping -wing air vehicle. The flapping wing mechanism of two sections wings, inner wing and outer wing be through articulated, the folding motion of the wing when fluttering about realizing, install the steering wheel on the wing, drive the wing by the steering wheel and realize luffing to place the end at the outer wing to the steering wheel, and the steel wire that passes through of wing skeleton is established ties, realize that the wing is along the exhibition to the torsion angle nonlinear variation, place two opto -couplers and two gratings on the gear shaft, the grating is along with the gear rotates together, according to stage of pouncing on and the lower stage of pouncing on on the angle measure in stage of fluttering from top to bottom to the stage of pouncing on makes progress every single move that the automatic control steering wheel drives wing downward every single move of the stage of pouncing on under on, the utility model discloses simple structure is convenient for make, and is with low costs, can realize folding motion when fluttering from top to bottom, more real motion of having simulated wing when birds fly helps improving lift and flight performance.
Description
Technical field
This utility model is related to bionic flapping-wing flying vehicle, more particularly, to a kind of be capable of folding and elevating movement bionical
Flapping wing aircraft.
Background technology
Since the concept of minute vehicle puts forward, because it is potentially extremely wide at military and civilian two aspect
Application prospect, minute vehicle oneself become the competing first input research of advanced country in the world, exploitation focus, according to multiple birds fly
The observation measurement of Mobile state image, and extract its common feature, fluttering of curassow is divided into four-stage 1. to flutter the stage down, flapping wing
Keep straight；2. under flutter the end in stage, flapping wing outer end deforms an angle with fold line for axially lower；3. flutter the stage on,
Flapping wing keeps folded state；4. flutter stage end on, flapping wing flattens.Meanwhile, flutter in birds and its wing has while warpage
Elevating movement, under flutter when the downward pitching of wing, when above flutterring, wing pitching upwards, and the angle of pitching along exhibition to everywhere
Different.At present existing flapping wing mechanism mainly have following several：
The bionic flapping-wing flying vehicle fluttered up and down can only be realized, most aircraft is adopted in this way at present；
Enable to flutter up and down and twist motion bionic flapping-wing mechanism；
Enable to flutter up and down and folding movement bionic flapping-wing mechanism；
Enable to flutter up and down and while folding movement, it is possible to achieve the Bionic ornithopter of the integral pitch of part wing
Structure, the motion of the more wing of height simulation birds is capable of in this kind of mechanism.
Utility model content
In order to solve problem in prior art, this utility model provides a kind of bionic flapping-wing flying vehicle, including after-poppet,
Fore-stock, connecting rod, gear, crank, inner wing upper boom, inner wing lower beam, interior outer wing articulated elements, outer wing bar, aerofoil profile, steering wheel connector,
Steering wheel rocking arm, steering wheel, screw, inner wing bracing piece, grating, optocoupler；
Described gear transmits the rotary motion of motor, and crank is fixed on gear, by connecting rod and inner wing upper boom and inner wing
Lower beam is hinged, and the rotary motion of motor is converted into fluttering up and down of wing；Outer wing bar passes through on interior outer wing articulated elements and inner wing
Bar and inner wing lower beam are connected, and steering wheel connector is fixed on outer wing bar, and steering wheel connector is connected with steering wheel by steering wheel rocking arm,
Steering wheel is fixed in aerofoil profile, and the steering wheel of wing outer end drives wing twist motion, and described grating is fixed on gear shaft and gear
Rotate together, optocoupler is fixed on fore-stock, the angle that detection gear turns over grating and optocoupler.
As further improvement of the utility model, described gear includes four gears, and first gear and second gear are stung
Close, and first gear and second gear are identical gear, the 3rd gear is engaged with second gear, the 4th gear and the 3rd gear
Occlusion.
As further improvement of the utility model, described aerofoil profile includes six skeleton A1-A6, aerofoil profile A1 on inner wing and
A2 is fixed on and cannot rotate on interior wing bar, and aerofoil profile A3-A6 can rotate around outer wing bar.
As further improvement of the utility model, steering wheel is fixed in aerofoil profile A6.
As further improvement of the utility model, also include elastic wire, whole aerofoil profile is connected by elastic wire.
As further improvement of the utility model, described grating has 100 raster grids.
The beneficial effects of the utility model are：
This utility model structure is simple, is easy to manufacture, low cost；
Using the wing structure of two sections of wings, by designing a kind of flapping wing mechanism of two sections of wings, inner wing and outer wing pass through hinged,
Realize the folding movement of wing when fluttering up and down；
Steering wheel is placed on outer wing end, and connects wing skeleton with steel wire, wing installs steering wheel, is driven by steering wheel
Wing realizes elevating movement, and steering wheel is placed on the end of outer wing, and being connected by steel wire of wing skeleton, realizes wing
Wing extends to torsion angle nonlinear change, is 0 ° at wing root, maximum at wingtip；
By Grating examinations mechanism position, Autonomous Control steering wheel, by placing two optocouplers and two light on gear shaft
Grid, grating rotates together with gear, according to flutter in the detection of the angle in stage of fluttering up and down the stage and under flutter the stage, thus automatically
Control steering wheel drive wing under flutter stage downward pitching, above flutter stage pitching upwards.
The motion of wing when more really simulating Bird Flight, is favorably improved lift and flying quality.
Brief description
Fig. 1 is this utility model flapping-wing aircraft composition；
Fig. 2 is this utility model driving machine composition；
Fig. 3 is the outer tip extension steering wheel installation diagram of this utility model；
Fig. 4 is the hinged figure of outer wing in this utility model；
Fig. 5 is this utility model grating and optocoupler installation diagram；
Fig. 6 is this utility model aerofoil profile skeleton.
The each component names of in figure are as follows：
1st, after-poppet；2nd, fore-stock；3rd, connecting rod；4th, gear；5th, crank；6th, inner wing upper boom；7th, inner wing lower beam；8th, interior outer wing
Articulated elements；9th, outer wing bar；10th, aerofoil profile；11st, steering wheel connector；12nd, steering wheel rocking arm；13rd, steering wheel；14th, elastic wire；15th, spiral shell
Nail；16th, inner wing bracing piece；17th, grating；18th, optocoupler.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described further.
Design a kind of flapping wing mechanism of two sections of wings, inner wing and outer wing, by hinged, realize the folding of wing when fluttering up and down
Folded motion；
Steering wheel is installed on wing, drives wing to realize elevating movement by steering wheel, and steering wheel is placed on the end of outer wing
End, and being connected by steel wire of wing skeleton, are realized wing and extend to torsion angle nonlinear change, are 0 ° at wing root,
Maximum at wingtip；
Place two optocouplers and two gratings on gear shaft, grating rotates together with gear, according to rank of fluttering up and down
Section angle detection on flutter the stage and under flutter the stage, thus automatically control steering wheel drive wing under flutter stage downward pitching, on
Flutter stage pitching upwards.
As shown in Figures 1 to 6, a kind of bionic flapping-wing flying vehicle, including after-poppet 1, fore-stock 2, connecting rod 3, gear 4, song
Handle 5, inner wing upper boom 6, inner wing lower beam 7, interior outer wing articulated elements 8, outer wing bar 9, aerofoil profile 10, steering wheel connector 11, steering wheel rocking arm 12,
Steering wheel 13, elastic wire 14, screw 15, inner wing bracing piece 16, grating 17, optocoupler 18.
Gear 4 includes four gears, first gear and second gear occlusion, and first gear and second gear are identical
Gear, the 3rd gear and second gear occlusion, the 4th gear and the 3rd engaged gears, for transmitting motor (in figure does not mark)
Rotary motion, crank 5 is fixed on gear 4, hinged with inner wing upper boom 6 and inner wing lower beam 7 by connecting rod 3, by the rotation of this motor
Transhipment is dynamic to be converted into fluttering up and down of wing.Outer wing bar 9 is by two bars of interior outer wing articulated elements 8 and inner wing (i.e. on inner wing
Bar 6, inner wing lower beam 7) be connected, steering wheel connector 11 is fixed on outer wing bar 9, steering wheel connector 11 pass through steering wheel rocking arm 12 with
Steering wheel 13 is connected, and steering wheel 13 is fixed in aerofoil profile 10.Wherein aerofoil profile includes six skeleton A1-A6, aerofoil profile A1 on inner wing and A2
It is fixed on and cannot rotate on interior wing bar, aerofoil profile A3-A6 can rotate around outer wing bar, and steering wheel 13 is fixed in aerofoil profile A6.Its
In all aerofoil profiles connected by elastic wire, the steering wheel 13 of wing outer end drives wing to realize twist motion, because steering wheel is in wing
Outer end, therefore torsional deflection is nonlinear, and the torsional deflection of wing outer end is maximum, and wing structure root does not almost reverse.
100 raster grids are had on grating 17, and are fixed on and rotate together with gear on gear shaft, optocoupler 18 is fixed on fore-stock 2,
The angle that detection gear turns over grating and optocoupler.
Above content be with reference to specific preferred implementation further detailed description of the utility model it is impossible to
Identification is of the present utility model to be embodied as being confined to these explanations.Ordinary skill for this utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, all should regard
For belonging to protection domain of the present utility model.
Claims (6)
1. a kind of bionic flapping-wing flying vehicle it is characterised in that：Including after-poppet（1）, fore-stock（2）, connecting rod（3）, gear（4）、
Crank（5）, inner wing upper boom（6）, inner wing lower beam（7）, interior outer wing articulated elements（8）, outer wing bar（9）, aerofoil profile（10）, steering wheel connector
（11）, steering wheel rocking arm（12）, steering wheel（13）, screw（15）, inner wing bracing piece（16）, grating（17）, optocoupler（18）；
Described gear（4）The rotary motion of transmission motor, crank（5）It is fixed on gear（4）On, by connecting rod（3）On inner wing
Bar（6）With inner wing lower beam（7）Hinged, the rotary motion of motor is converted into fluttering up and down of wing；Outer wing bar（9）By inside and outside
Wing articulated elements（8）With inner wing upper boom（6）And inner wing lower beam（7）It is connected, steering wheel connector（11）It is fixed on outer wing bar（9）On,
Steering wheel connector（11）By steering wheel rocking arm（12）With steering wheel（13）It is connected, steering wheel（13）It is fixed on aerofoil profile（10）On, outside wing
The steering wheel at end（13）Drive wing twist motion, described grating（17）It is fixed on and rotate together with gear on gear shaft, optocoupler
（18）It is fixed on fore-stock（2）On, the angle that detection gear turns over grating and optocoupler.
2. a kind of bionic flapping-wing flying vehicle according to claim 1 it is characterised in that：Described gear（4）Including four teeth
Wheel, first gear and second gear occlusion, and first gear and second gear are identical gear, the 3rd gear and second gear
Occlusion, the 4th gear and the 3rd engaged gears.
3. a kind of bionic flapping-wing flying vehicle according to claim 1 it is characterised in that：Described aerofoil profile（10）Including six bones
Frame A1-A6, aerofoil profile A1 on inner wing and A2 are fixed on and cannot rotate on interior wing bar, and aerofoil profile A3-A6 can turn around outer wing bar
Dynamic.
4. a kind of bionic flapping-wing flying vehicle according to claim 3 it is characterised in that：Steering wheel（13）It is fixed on aerofoil profile A6
On.
5. a kind of bionic flapping-wing flying vehicle according to claim 3 it is characterised in that：Also include elastic wire（14）, complete
Portion's aerofoil profile is connected by elastic wire.
6. a kind of bionic flapping-wing flying vehicle according to claim 1 it is characterised in that：Described grating（17）On have 100
Raster grid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620925999.5U CN205931253U (en) | 2016-08-23 | 2016-08-23 | Bionic flapping -wing air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620925999.5U CN205931253U (en) | 2016-08-23 | 2016-08-23 | Bionic flapping -wing air vehicle |
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| CN205931253U true CN205931253U (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620925999.5U Expired - Fee Related CN205931253U (en) | 2016-08-23 | 2016-08-23 | Bionic flapping -wing air vehicle |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945833A (en) * | 2017-02-27 | 2017-07-14 | 北京航空航天大学 | A kind of microminiature multiple wing bionic flapping-wing flying vehicle |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN107364573A (en) * | 2017-07-17 | 2017-11-21 | 哈尔滨工业大学深圳研究生院 | Flex-wing bionic flapping-wing flying vehicle |
| CN107554782A (en) * | 2017-08-08 | 2018-01-09 | 武汉科技大学 | A kind of bionic flapping-wing flying vehicle based on folding twisted coupling motion of fluttering |
| CN107697284A (en) * | 2017-09-12 | 2018-02-16 | 吉林大学 | A kind of two section type bionic flapping-wing unmanned plane wing |
| CN107862971A (en) * | 2017-12-07 | 2018-03-30 | 郑楚贞 | A kind of birds visual angle flight simulator platform based on virtual reality technology |
| CN108045521A (en) * | 2017-12-24 | 2018-05-18 | 佛山市龙远科技有限公司 | A kind of motor boat |
| CN110329505A (en) * | 2019-06-12 | 2019-10-15 | 南京理工大学 | A kind of bionical hummingbird aircraft |
| CN110606200A (en) * | 2019-10-10 | 2019-12-24 | 南京航空航天大学 | Bionic miniature flapping wing 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 |
| CN111746783A (en) * | 2020-07-01 | 2020-10-09 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| CN112429224A (en) * | 2020-11-30 | 2021-03-02 | 河海大学常州校区 | Flapping wing flight device and flapping wing aircraft |
| CN113002772A (en) * | 2021-03-26 | 2021-06-22 | 吉林大学 | Flapping-folding integrated bat-like flapping wing aircraft |
| CN113492974A (en) * | 2021-07-26 | 2021-10-12 | 西安交通大学 | Bird-like flapping wing aircraft capable of deforming in unfolding direction and driving method |
| CN113830304A (en) * | 2021-11-05 | 2021-12-24 | 中国科学院合肥物质科学研究院 | Hovering bionic hummingbird aircraft and control method thereof |
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2016
- 2016-08-23 CN CN201620925999.5U patent/CN205931253U/en not_active Expired - Fee Related
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945833A (en) * | 2017-02-27 | 2017-07-14 | 北京航空航天大学 | A kind of microminiature multiple wing bionic flapping-wing flying vehicle |
| CN106945833B (en) * | 2017-02-27 | 2019-10-22 | 北京航空航天大学 | A kind of microminiature multiple wing bionic flapping-wing flying vehicle |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN107150804B (en) * | 2017-06-21 | 2023-04-07 | 吉林大学 | Flapping wing aircraft with three-degree-of-freedom wings |
| CN107364573A (en) * | 2017-07-17 | 2017-11-21 | 哈尔滨工业大学深圳研究生院 | Flex-wing bionic flapping-wing flying vehicle |
| CN107554782A (en) * | 2017-08-08 | 2018-01-09 | 武汉科技大学 | A kind of bionic flapping-wing flying vehicle based on folding twisted coupling motion of fluttering |
| CN107554782B (en) * | 2017-08-08 | 2019-08-02 | 武汉科技大学 | It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle |
| CN107697284A (en) * | 2017-09-12 | 2018-02-16 | 吉林大学 | A kind of two section type bionic flapping-wing unmanned plane wing |
| CN107862971B (en) * | 2017-12-07 | 2020-07-31 | 郑楚贞 | Bird visual angle flight simulator platform based on virtual reality technology |
| CN107862971A (en) * | 2017-12-07 | 2018-03-30 | 郑楚贞 | A kind of birds visual angle flight simulator platform based on virtual reality technology |
| CN108045521A (en) * | 2017-12-24 | 2018-05-18 | 佛山市龙远科技有限公司 | A kind of motor boat |
| CN110329505A (en) * | 2019-06-12 | 2019-10-15 | 南京理工大学 | A kind of bionical hummingbird aircraft |
| CN110329505B (en) * | 2019-06-12 | 2022-03-22 | 南京理工大学 | Bionic hummingbird aircraft |
| CN110606200A (en) * | 2019-10-10 | 2019-12-24 | 南京航空航天大学 | Bionic miniature flapping wing aircraft |
| CN111003174B (en) * | 2019-12-16 | 2021-11-23 | 深圳先进技术研究院 | Active folding wing structure of bird imitation |
| CN111003174A (en) * | 2019-12-16 | 2020-04-14 | 深圳先进技术研究院 | Active folding wing structure of bird imitation |
| CN111746783B (en) * | 2020-07-01 | 2022-07-01 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| CN111746783A (en) * | 2020-07-01 | 2020-10-09 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| CN112429224A (en) * | 2020-11-30 | 2021-03-02 | 河海大学常州校区 | Flapping wing flight device and flapping wing aircraft |
| CN112429224B (en) * | 2020-11-30 | 2024-04-12 | 河海大学常州校区 | Flapping wing flying device and ornithopter |
| CN113002772A (en) * | 2021-03-26 | 2021-06-22 | 吉林大学 | Flapping-folding integrated bat-like flapping wing aircraft |
| CN113492974A (en) * | 2021-07-26 | 2021-10-12 | 西安交通大学 | Bird-like flapping wing aircraft capable of deforming in unfolding direction and driving method |
| CN113492974B (en) * | 2021-07-26 | 2023-08-15 | 西安交通大学 | Spreadable deformable bird-like ornithopter and driving method |
| CN113830304A (en) * | 2021-11-05 | 2021-12-24 | 中国科学院合肥物质科学研究院 | Hovering bionic hummingbird aircraft and control method thereof |
| CN113830304B (en) * | 2021-11-05 | 2023-12-22 | 中国科学院合肥物质科学研究院 | Hovering bionic buzzer aircraft and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20210823 |