CN207433799U - A kind of flapping wing aircraft that flare maneuver is controlled by sensing human action - Google Patents
A kind of flapping wing aircraft that flare maneuver is controlled by sensing human action Download PDFInfo
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- CN207433799U CN207433799U CN201721051453.2U CN201721051453U CN207433799U CN 207433799 U CN207433799 U CN 207433799U CN 201721051453 U CN201721051453 U CN 201721051453U CN 207433799 U CN207433799 U CN 207433799U
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Abstract
The utility model is specifically related to a kind of flapping wing aircraft that flare maneuver is controlled by sensing human action, including flapping wing aircraft body and control circuit, wherein, flapping wing aircraft body includes fuselage and is separately positioned on the left machine wing of fuselage both sides and right machine wing；Control circuit includes sensor group, controller, driving device, the left machine wing extended along left machine wing direction pats part, the right machine wing extended along right machine wing direction pats part and the machine wing revolving part being arranged on fuselage, wherein, sensor group and driving device are electrically connected with the controller respectively, left machine wing pats part, right machine wing pats part and machine wing revolving part is electrically connected respectively with driving device, controller is used for the signal of receiving sensor group output, left machine wing and right machine wing to be controlled to stretch within a preset range, swats, move back and forth and rotates up and down.Technical solution provided by the utility model, which realizes, is applied to ectoskeleton technology in flapping wing aircraft, so as to which the mankind be helped to realize flight experience.
Description
Technical field
The utility model is related to flapping wing aircraft technical fields, and in particular to a kind of by sensing human action control flight
The flapping wing aircraft of action.
Background technology
Flapping wing aircraft refers to generate lift and the aircraft of forward power by wing active movement as bird, also known as shake
Wing machine.It is characterized in that：1st, wing active movement.2nd, the counter-force of air is patted as lift and forward power by wing.3rd, machine is passed through
The position of the wing and empennage, which changes, carries out maneuvering flight.
Toy fans often oneself make a variety of flapping-wing aircrafts, and the very little that these aircrafts have is sticked up with glue
Come, big some is even remotely controlled with radio.The flivver that those glue make is all non-in design and manufacturing process
Normal is simple, and fans are through commonly using such aircraft to carry out various long endurance aerial derbies.But in this contest
In those leading aircraft be exquisite incomparable invariably in design, be even more a major challenge in making.Roy White Roy
A record in the U.S. is held in the current hands of White, he is completed using the flapping-wing aircraft made in this hand and flown in history
The flight of endurance maximum duration amounts to 21 points 44 seconds.
It is had existed in the prior art by sensing human action and the ectoskeleton with people's simultaneous action, i.e., is driven by electric power
Hydrodynamic press mechanism is further driven to ectoskeleton and makes the action consistent with people, utilizes the strong structure and electric power of ectoskeleton, hydraulic pressure
The powerful strength of system, the weight walking that people can bear up to a hundred kilograms do not think painstaking in mountainous region.But it lacks in the prior art
It is weary to be combined together ectoskeleton technology and flapping wing aircraft, so as to which the mankind be helped to realize the application of flight experience.
Flight is mankind's dream of thousand, though can be by flying instrument of the people with heaven there are many, and people can be effective
Control this this flying instrument, but the participation of people is relatively low.The utility model be intended to invent it is a kind of by the action control of people, by auxiliary
Help the flapping flight utensil of power source drive；It can allow portrait small bird is the same take off, hover from ground, landing.People is allowed to have
Most real flight experience.With power-equipment, light-weight high-strength material and the maturation for sensing control technology, make this practicality new
Type becomes a kind of possibility.
Utility model content
In view of this, the purpose of the utility model is to overcome the deficiencies in the prior art, one kind is provided by sensing human body
Ectoskeleton technology is applied in flapping wing aircraft by the flapping wing aircraft of action control flare maneuver, so as to which the mankind be helped to realize
Flight experience.
In order to achieve the above object, the utility model adopts the following technical solution：
A kind of flapping wing aircraft that flare maneuver is controlled by sensing human action, including exoskeleton-type flapping wing aircraft sheet
Body and control circuit, wherein,
The exoskeleton-type flapping wing aircraft body include fuselage and be separately positioned on the fuselage both sides left machine wing and
Right machine wing；Wherein, it is provided with human body fixing piece on the exoskeleton-type flapping wing aircraft body；The control circuit includes sensing
Device group, controller, driving device, the left machine wing extended along left machine wing direction pat part, the right machine wing extended along right machine wing direction
Part and the machine wing revolving part being arranged on fuselage are patted, wherein, the sensor group includes multiple pressure sensors, human-body biological
Electric transducer, gyroscope, gravity sensor, angular transducer and range sensor；The sensor group and driving device difference
It is electrically connected with the controller, the left machine wing pats part, right machine wing is patted part and machine wing revolving part and filled respectively with the driving
Electrical connection is put, the controller is used to receive the signal of the sensor group output, to control described in the driving device driving
Left machine wing and right machine wing stretch, swat, move back and forth and rotate up and down within a preset range.
Preferably, the driving device is electric rotating unit or fluid pressure drive device, and the fluid pressure drive device includes liquid
Press pump.
Preferably, the left machine wing and right machine wing all refer to including sequentially connected wing large arm, wing forearm and wing, the left machine
Wing pat part and right machine wing pat part all include being successively set on the wing large arm, wing forearm and wing refer on the support of wing large arm
Bar, wing forearm supporting rod and wing refer to supporting rod,
It is hinged between the wing large arm supporting rod and fuselage by the first articulation piece, the wing large arm supporting rod and the wing
It is hinged between forearm supporting rod by the second articulation piece, the wing forearm supporting rod and the wing refer between supporting rod by the 3rd
Articulation piece is hinged；
If the driving device is fluid pressure drive device, the left machine wing pats part and right machine wing is patted part and further included：
First hydraulic tube, its one end are arranged on the fuselage, and at machine wing and fuselage tie point, it is big that the other end is arranged on the wing
On arm supporting rod；Second hydraulic tube, its one end are arranged on the wing large arm supporting rod, and it is small that the other end is arranged on the wing
Arm supporting rod it is upper；3rd hydraulic tube, its one end are arranged on the upper of the connection wing forearm supporting rod, and the other end is arranged on described
Wing refers to the upper of supporting rod；First hydraulic tube, the second hydraulic tube and the 3rd hydraulic tube are electric with the fluid pressure drive device respectively
Connection；Wherein, the machine wing includes left machine wing and right machine wing.
Preferably, the fluid pressure drive device is hydraulic pump.
Preferably, if the driving device is electric rotating unit, the left machine wing pats part and right machine wing is patted part and all wrapped
It includes and spreads the wings component and receive wing component, wherein,
The component of spreading the wings includes：First limiter is arranged on the fuselage, on machine wing and fuselage tie point
Side；First gag lever post is arranged on the wing large arm supporting rod；Second gag lever post and the 3rd gag lever post are separately positioned on described
On wing large arm supporting rod and wing forearm supporting rod, positioned at the second articulation piece both sides；4th gag lever post and the 5th gag lever post, point
The wing forearm supporting rod is not arranged on and wing refers on supporting rod, positioned at the 3rd articulation piece both sides；First reels line, one
End is wrapped on the output shaft of the first electric rotating machine in electric rotating unit, and the other end sequentially passes through the first gag lever post, the second limit
Position bar, the 3rd gag lever post, the limit hole set on the 4th gag lever post, are bundled in the limit hole on the 5th gag lever post；
The receipts wing component includes：Second limiter is arranged on the fuselage, under machine wing and fuselage tie point
Side；First limit hole is arranged on the wing large arm supporting rod；Second limit hole and the 3rd limit hole are separately positioned on described
On wing large arm supporting rod and wing forearm supporting rod, positioned at the second articulation piece both sides；4th limit hole and the 5th limit hole, point
The wing forearm supporting rod is not arranged on and wing refers on supporting rod, positioned at the 3rd articulation piece both sides；Line is reeled, its one end twines
Be wound on the output shaft of the second electric rotating machine in electric rotating unit, the other end sequentially pass through the second limiter, the first limit hole,
Second limit hole, the 3rd limit hole, the 4th limit hole, are bundled in the 5th limit hole；Wherein, the machine wing include left machine wing and
Right machine wing.
Preferably, machine wing revolving part includes the direct current generator with retarder, left machine wing base seat, right machine wing base seat, driving tooth
Wheel and driven gear；Wherein, the direct current generator is electrically connected with the controller, and the driving gear is arranged on the direct current
On the output shaft of machine；The driving gear and driven gear engagement either by chain drive connect or pass through dragline-transmission
Connection；The left machine wing base seat and right machine wing base seat are separately positioned on the both sides of the driven gear, same with the driven gear
Axis rotates；The left machine wing and right machine wing are separately fixed on the left machine wing base seat and right machine wing base seat.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, further includes and is separately positioned on
The gripper of pedipulator and the connection pedipulator under the fuselage.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, further includes and is separately positioned on
The head rudder and tail vane of the fuselage head end and tail end；For assisting in flying, the head rudder is plane, three for the head rudder and tail vane
Face type, X shapes or crosswise chiasma type；The tail vane is plane, three face types, X shapes or crosswise chiasma type.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, further includes and is separately positioned on
The stabilising fin of the fuselage both sides, the stabilising fin are used to stablize the state of flight of the flapping wing aircraft, the state of flight
Including rotation, turn over up and down and folding.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, it is described to further include
Control circuit power supply supplies electric installation.
The utility model uses above technical scheme, at least possesses following advantageous effect：
As shown from the above technical solution, it is provided by the utility model this by sensing human action control flare maneuver
Flapping wing aircraft, including exoskeleton-type flapping wing aircraft body and control circuit, the sensor group in control circuit includes multiple
Muscle pressure sensor, human-body biological electric transducer, gyroscope, gravity sensor, the angular transducer being arranged on handpiece
And range sensor；Sensor group and driving device are electrically connected with the controller respectively, left machine wing pats part, right machine wing pats part and
Machine wing revolving part is electrically connected respectively with driving device, and controller is used to receive the signal of the sensor group output, is driven with controlling
Dynamic device drives left machine wing and right machine wing to stretch within a preset range, swat, move back and forth and rotate up and down, realizes ectoskeleton
Technology is applied in flapping wing aircraft, and flare maneuver is performed by sensing human action.
In addition, this flapping wing aircraft that flare maneuver is controlled by sensing human action provided by the utility model, tool
There is the advantages of action is flexible, noise is small, easily operated, it may have scout, the application value in army in terms of attack.
Description of the drawings
Figure 1A is a kind of flapping wing that flare maneuver is controlled by sensing human action that one embodiment of the utility model provides
The overall structure diagram of aircraft；
Figure 1B is a kind of flapping wing that flare maneuver is controlled by sensing human action that one embodiment of the utility model provides
Partial enlarged view when aircraft user uses；
Fig. 1 C are a kind of flapping wing that flare maneuver is controlled by sensing human action that one embodiment of the utility model provides
The schematic block diagram of the control circuit of aircraft；
Fig. 2 is operation principle schematic diagram when the right machine wing that one embodiment of the utility model provides performs stretching；
Fig. 3 A are the operation principle schematic diagram that the right machine wing execution that one embodiment of the utility model provides is spread the wings when acting；
Fig. 3 B are the bionical appearance diagram that the right machine wing execution that one embodiment of the utility model provides is spread the wings when acting；
Fig. 4 is that the right machine wing that one embodiment of the utility model provides performs the operation principle schematic diagram received when wing acts；
Fig. 5 A are that the operation principle that the right machine wing that one embodiment of the utility model provides is performed when swatting action up and down is illustrated
Figure；
Fig. 5 B are that the operation principle that the right machine wing that another embodiment of the utility model provides is performed when swatting action up and down is shown
It is intended to；
Fig. 6 is the structure diagram for the machine wing revolving part that one embodiment of the utility model provides；
Fig. 7 is the operation principle schematic diagram of the pedipulator that one embodiment of the utility model provides and gripper；
Fig. 8 is the operation principle schematic diagram that the pedipulator that one embodiment of the utility model provides performs straddle action.
Specific embodiment
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Referring to Figure 1A and Figure 1B, one embodiment of the utility model provides a kind of dynamic by sensing human action control flight
The flapping wing aircraft of work, including exoskeleton-type flapping wing aircraft body 1 and control circuit 2, wherein,
The exoskeleton-type flapping wing aircraft body 1 includes fuselage 100 and is separately positioned on 100 both sides of fuselage
Left machine wing 101 and right machine wing 102；Wherein, it is provided with human body fixing piece 103 on the exoskeleton-type flapping wing aircraft body 1；
Referring to Fig. 1 C, the control circuit 2 includes sensor group 21, controller 22, driving device 23, along left machine wing direction
The left machine wing of extension pats part 24, and the machine wing that the right machine wing extended along right machine wing direction is patted part 25 and is arranged on fuselage revolves
Turn part 26, wherein, the sensor group 21 includes multiple pressure sensors, human-body biological electric transducer, gyroscope, gravity sensitive
Device, angular transducer and range sensor；The sensor group 21 and driving device 23 are electrically connected respectively with the controller 22,
The left machine wing pats part 24, right machine wing pats part 25 and machine wing revolving part 26 is electrically connected respectively with the driving device 23, institute
Controller 22 is stated for receiving the signal that the sensor group 21 exports, the driving device 23 to be controlled to drive the left machine
Wing and right machine wing stretch, swat, move back and forth and rotate up and down within a preset range.
Preferably, the controller 22 is CPU.
It should be noted that the human body fixing piece includes but not limited to：Hold part, lumbar mount, leg connector
Deng.
It is understood that in order to realize inducing function, precisely device transfers inductive signal in order to control, in the sensor group
Each sensor can be arranged as required to each position on exoskeleton-type flapping wing aircraft body or human body, such as：
1st, pressure sensor, can be arranged between human body fixing piece and exoskeleton-type flapping wing aircraft body or four
Week, for experiencing pressure applied from human muscle or external environment etc..
2nd, human-body biological electric transducer can be set on human skin, for experiencing human-body biological electric current, because human body
Action is all irritated by human-body biological electric current and generated, and bioelectricity is to be distributed to generate by brain again, and brain is to pass through
Receive external sensor (such as：Tactile, vision) and react.
3rd, gyroscope, gravity sensor can be arranged on exoskeleton-type flapping wing aircraft body position of centre of gravity, can also set
It puts on the central shaft of flapping wing aircraft body, can also be arranged as required to first-class in left machine wing and right machine wing.
4th, angular transducer can be arranged on human synovial junction, for experiencing the limbs situation of change of human body.Such as
The junction of large arm and forearm is arranged on, for experiencing human body stretching, extension upper limb and bending the action of upper limb；Such as it is arranged on thigh
With the junction of shank, for experiencing human body stretching, extension lower limb and bending action etc. of lower limb.
5th, range sensor can be arranged on fuselage, can also be arranged on left machine wing and right machine wing, flutterred for sensing
Height and left machine wing of the rotor aircraft body apart from ground or the stretching, extension of right machine wing, the amplitude swatted etc..
Preferably, the driving device is electric rotating unit M2 or fluid pressure drive device, and the fluid pressure drive device can be with
For hydraulic pump M1.
As shown from the above technical solution, it is provided by the utility model this by sensing human action control flare maneuver
Flapping wing aircraft, including exoskeleton-type flapping wing aircraft body and control circuit, the sensor group in control circuit includes multiple
Muscle pressure sensor, angular transducer and the range sensor being arranged on handpiece；Sensor group and driving device difference
It is electrically connected with the controller, left machine wing pats part, right machine wing pats part and machine wing revolving part is electrically connected respectively with driving device, controls
Device is used to receive the signal of the sensor group output, driving device to be controlled to drive left machine wing and right machine wing within a preset range
It stretches, swat, move back and forth and rotate up and down, realize and ectoskeleton technology is applied in flapping wing aircraft, by sensing human body
Action executing flare maneuver.
It should be noted that before performing flare maneuver, controller can set movement range, angle according to the Different Individual of people
The adaptability condition such as degree, strength, speed, so that human body is mutually adapted with equipment, it is also unlikely to be subject to beyond human body tolerance range
Injury.
Referring to Figure 1B, when sensor group detects the push pull maneuver that arm is done in X direction, sensor group is to controller
Related pressure signal is sent, is changed by controller to the related command of driving device, finally realizes left machine wing and right machine wing
Stretching, extension and gathering.
When sensor group detects that the pressure-raising that arm is done along Z-direction acts, sensor group sends related to controller
Pressure signal is changed into the beating up and down for the related command of driving device, finally realizing left machine wing and right machine wing by controller.
When sensor group detects the fore-aft motion that arm is done along Y-direction, sensor group sends related to controller
Pressure signal is changed by controller to the related command of driving device, finally realizes left machine wing and right machine wing front and rear angles
It adjusts.
Referring to Fig. 2, it is preferable that the left machine wing and right machine wing all include sequentially connected wing large arm C, wing forearm D and wing
Refer to E, the left machine wing pats part and right machine wing pats part and all refers to E including being successively set on the wing large arm C, wing forearm D and wing
On wing large arm supporting rod, wing forearm supporting rod and wing refer to supporting rod,
It is hinged (such as passing through hinged ball-joint) by the first articulation piece between the wing large arm supporting rod and fuselage, it is described
It is hinged between wing large arm supporting rod and the wing forearm supporting rod by the second articulation piece, the wing forearm supporting rod and the wing
It is hinged between finger supporting rod by the 3rd articulation piece；
Preferably, the driving device is fluid pressure drive device, and the left machine wing pats part and right machine wing is patted part and also wrapped
It includes：First hydraulic tube, its one end are arranged on the fuselage, and at machine wing and fuselage tie point, the other end is arranged on described
On wing large arm supporting rod；Second hydraulic tube, its one end are arranged on the wing large arm supporting rod, and the other end is arranged on described
Wing forearm supporting rod it is upper；3rd hydraulic tube, its one end are arranged on the upper of the connection wing forearm supporting rod, and the other end is arranged on
The wing refers to the upper of supporting rod；First hydraulic tube, the second hydraulic tube and the 3rd hydraulic tube fill respectively with the hydraulic-driven
Put electrical connection；Wherein, the machine wing includes left machine wing and right machine wing.
Specifically, referring to Fig. 2, when controller (CPU in such as Fig. 2), which receives, spreads the wings action request, hydraulic pressure is controlled
The stream pressure in M1 increase hydraulic tubes is pumped, at this time as the hydraulic pressure in hydraulic tube raises, the hydraulic press elongation between B11 and C11 makes wing
Large arm C relative bodies extend, while the hydraulic tube elongation between C21 and D11 makes wing forearm D trail compared with wing large arm C
Come, while the hydraulic tube elongation between D21 and E11 makes wing refer to the opposite wing forearm D of E to extend, it is achieved thereby that wing stretched
Act target.
When controller, which receives, receives wing action request, control hydraulic pump M1 reduces the stream pressure in hydraulic tube, at this time with
Hydraulic pressure in hydraulic tube reduces, and above-mentioned each hydraulic tube shortens it is achieved thereby that the target that wing collapses, by controlling in hydraulic tube
Hydraulic pressure can realize the control that amplitude is opened, collapsed to machine wing.
Preferably, the driving device is electric rotating unit M2, and the left machine wing pats part and right machine wing is patted part and also wrapped
It includes and spreads the wings component and receive wing component, wherein,
Referring to Fig. 3 A and Fig. 3 B, the component of spreading the wings includes：First limiter is arranged on the fuselage, positioned at machine wing
With fuselage tie point top；First gag lever post is arranged on the wing large arm supporting rod；Second gag lever post and the 3rd gag lever post,
It is separately positioned on the wing large arm supporting rod and wing forearm supporting rod, positioned at the second articulation piece both sides；4th gag lever post
With the 5th gag lever post, it is separately positioned on the wing forearm supporting rod and wing refers on supporting rod, positioned at the 3rd articulation piece both sides；
First reels line, and its one end is wrapped on the output shaft of the first electric rotating machine in electric rotating unit M2, and the other end sequentially passes through
First gag lever post, the second gag lever post, the 3rd gag lever post, the limit hole set on the 4th gag lever post, are bundled on the 5th gag lever post
Limit hole in.
Specifically, when the first electric rotating machine tenses hawser S1, the C1C2 distance between two points being on wing large arm C will not
Change, the D1D2 distance between two points being on wing forearm D will not change；And it is on the B1 holes on body and the first gag lever post
Limit hole C1 holes between distance can be furthered, stop until limit hole C1 meets limiter B2 on body, at this time wing large arm C
Relative body is in extended configuration；
Similarly, when S1 is tightened up, furthered between C2D1 and wing forearm D made to be in extended configuration compared with wing large arm C,
The compatible limiting device of structure of C2D1；Similarly, when S1 is tightened up, furthered between D2E1 and wing is made to refer to E compared with wing forearm D
In extended configuration, the compatible limiting device of structure of D2E1, it is achieved thereby that the action target of wing stretching, extension.
Referring to Fig. 4, the receipts wing component includes：Second limiter is arranged on the fuselage, is connected positioned at machine wing and fuselage
Below contact；First limit hole is arranged on the wing large arm supporting rod；Second limit hole and the 3rd limit hole, are set respectively
On the wing large arm supporting rod and wing forearm supporting rod, positioned at the second articulation piece both sides；4th limit hole and the 5th limit
Position hole, is separately positioned on the wing forearm supporting rod and wing refers on supporting rod, positioned at the 3rd articulation piece both sides；Reel line,
Its one end is wrapped on the output shaft of the second electric rotating machine in electric rotating unit M2, the other end sequentially pass through the second limiter,
First limit hole, the second limit hole, the 3rd limit hole, the 4th limit hole, are bundled in the 5th limit hole；Wherein, the machine wing
Including left machine wing and right machine wing.
Specifically, referring to Fig. 4, when the second electric rotating machine tenses hawser S2, be on wing large arm C 12,13 two points
Between distance will not change, 14,15 distance between two points being on wing forearm D will not change；And it is in the second /V on body
The distance between the first limit hole 12 on the hole and wing large arm C of device 11 can be furthered, until the first limit hole 12 is encountered on body
Limiter 11 stop, wing large arm C relative bodies are in rounding state, 11, the 12 compatible limiting device of structure at this time；Together
Reason, when S2 is tightened up, is furthered between 13,14 and wing forearm D is made to be in rounding state, 13,14 knot compared with wing large arm C
The compatible limiting device of structure；Similarly, when S2 is tightened up, furthered between 15,16 and wing is made to refer to E and is in receipts compared with wing forearm D
Hold together state, 15, the 16 compatible limiting device of structure.The action target of machine wing gathering is realized at this time, by the way that S2 is controlled to tense
Distance and with S1 coordinate, can realize to machine wing open, collapse amplitude control.
Referring to Fig. 5 A, when the driving device is hydraulic pump M1, as the fulcrum B3 on the support construction chest on body is dashed forward
Hydraulic tube between the fulcrum C3 in wing large arm is received in short-term under the action of controller and hydraulic pump M1, and machine wing is realized dynamic downwards
Make；When hydraulic tube extends under the action of controller and hydraulic pump M1, machine wing realizes action upwards.
Referring to Fig. 5 B, when the driving device is electric rotating unit M2, when the first electric rotating machine is connected to the life of controller
When making and tightening, hawser S3 make body chest dash forward on fulcrum B4 points and wing large arm on Distance Shortened between tie point C4, wing at this time
Wing realizes downward actuation；When the second electric rotating machine is connected to the order of controller and tightens, hawser S4 make body chest dash forward on branch
Distance Shortened on point B5 points and wing large arm between tie point C5, this opportunity wing realize action upwards.
The alternating movement under the control of the controller of the upward of machine wing, downward actuation, that is, the beating up and down for realizing machine wing are moved
Make target, the rotary speed and frequency of electric rotating unit M2 are controlled by controller, you can realize that machine wing pats amplitude and beating
The control of speed.
It should be noted that this flapping wing that flare maneuver is controlled by sensing human action provided by the utility model flies
Row device, driving device include two sets：A set of is fluid pressure drive device, another set of for motor driver, this two sets of driving devices
It is independent from each other at work, i.e., when wherein a set of driving device breaks down, another set of driving device opens work, from
And ensure smooth to switch when flapping wing aircraft provided by the utility model breaks down, fault-free linking.
Referring to Fig. 6, it is preferable that machine wing revolving part includes the direct current generator with retarder, left machine wing base seat, right machine wing base
Seat, driving gear and driven gear；Wherein, the direct current generator is electrically connected with the controller, and the driving gear is arranged on
On the output shaft of the direct current generator；The driving gear and driven gear engagement (not providing such connection mode in attached drawing),
Either connected by chain drive or connected (referring to Fig. 6) by dragline-transmission；The left machine wing base seat and right machine wing base seat
The both sides of the driven gear are separately positioned on, are rotated coaxially with the driven gear；The left machine wing and right machine wing are solid respectively
It is scheduled on the left machine wing base seat and right machine wing base seat.
When machine wing needs rotation, controller control direct current generator and driving gear make corresponding rotational action, actively
Gear drives driven gear, and driven gear follows with fixed machine wing on motivation wing base seat and makes rotational action, so as to fulfill machine
The action target of wing relative body rotation.
Referring to Fig. 7, it is preferable that the flapping wing aircraft that flare maneuver is controlled by sensing human action further includes point
The pedipulator and the gripper of the connection pedipulator not being arranged under the fuselage.
Because flapping wing aircraft span volume is larger, and can bear a heavy burden power source, support construction, power transmission mechanism and control machine
Structure etc., people's leg do not adapt to whether from length or from strength, should be aircraft at this time and are equipped with the imitative of human action control
Raw pedipulator, adapting to take off, landing, keeping the tasks needs such as balancing steering.
In Fig. 7 by taking angular transducer as an example, and the power-driven system of leg is neglected, because of its principle and the action of machine wing
Power drive principle is identical, specifically for：
When the thigh of people and the included angle A 1 of body become smaller, that is, do lift leg action, controller receives related sensor letter
Number, and the associated power driving device being transmitted between aircraft thigh and body being ordered, driving device makes aircraft thigh and body
Included angle A 11 between body becomes smaller, and realizes aircraft lift leg action；Inductor finds human thigh and shank internode included angle B 1 simultaneously at this time
Angle becomes smaller, and order aircraft leg two angles of B11 and B12 also becomes smaller after controller processing, pedipulator is lifted away from ground at this time
Face reaches object height, and by adjusting the size of two angles of B11 and B12, can adjust stride.
In figure F between G it is corresponding be people's leg length, G to the part between H is the mechanical leg section slender compared with people's leg.
When the thigh of people and the included angle A 2 of body become larger, that is, when acting with stepping on, controller receives related sensor letter
Number, by the associated power driving device between order aircraft thigh and body, driving device makes between aircraft thigh and body
Included angle A 21 becomes larger, and realizes aircraft thrust kick；Sensor finds that human thigh becomes with 2 angle of shank internode included angle B simultaneously at this time
Greatly, order aircraft leg two angles of B21 and B22 are also become larger under the driving of driving device after controller processing, at this time
Pedipulator make pedal ground and drive aircraft relatively in face of into action.
Similarly, can further be believed by the position signal to the relatively small leg of human body instep and toe with respect to the position of instep
Number, the actions such as accurate gathering, opening, grasping for controlling aircraft foot such as utilize the hawser drive scheme of aircraft wings.Because non-
The core missions of this aircraft wouldn't be described in detail.
Referring to Fig. 8, straddle action：Angle E1 changes between angular transducer experiences two legs, order driving device
Aircraft mechanical leg is made to make corresponding actions, this action is useful when keeping balancing.
Spinning movement：When sensor group is experienced if both legs (or buttocks) relative body has rotation, control order machine
Tool leg makes corresponding actions, this action is useful when keeping balance and turning.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, further includes and is separately positioned on
The head rudder and tail vane of the fuselage head end and tail end；For assisting in flying, the head rudder is plane, three for the head rudder and tail vane
Face type, X shapes or crosswise chiasma type；The tail vane is plane, three face types, X shapes or crosswise chiasma type.
It is understood that tail vane is anticipated with birds tail feathers, awing there is control direction and control the function of flight attitude,
In the present invention, the relative position that human buttock's relative body (or back) can be sensed by sensor group changes to control
The action of tail vane can trigger dependent angle sensor or rotation by the hind wing of buttocks relative body, preceding receipts, left swing, right pendulum and rotation
Turn sensor and send coherent signal to controller, controller sends dependent instruction to power drive unit, and then realizes tail vane phase
The action of upper and lower, left and right and rotation to aircraft body.
Because the opening of human body control tail vane is relatively difficult, as long as can both be arranged to do relevant action, tail vane just opens, and
Action is bigger, more anxious, and just opening is bigger；It is open configuration that can also be arranged to tail vane acquiescence.
Similarly, if using the head rudder such as pterosaur, using the change in location of head relative body as controller as signal
Source controls the action of head rudder.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, further includes and is separately positioned on
The stabilising fin of the fuselage both sides, the stabilising fin are used to stablize the state of flight of the flapping wing aircraft, the state of flight
Including rotation, turn over up and down and folding.
Preferably, the flapping wing aircraft that flare maneuver is controlled by sensing human action, it is described to further include
Control circuit power supply supplies electric installation.
It is understood that described can be for electric installation：
1st, non-rechargeable battery, for example, novel battery such as graphene battery.This pass through sense what this practicality newly provided
Before the flapping wing aircraft of human action control flare maneuver is answered to take off, battery is loaded onto, when not enough power supply, falls earthward and replaces again
Battery.
2nd, rechargeable battery, such as accumulator, storage battery, lithium battery group etc..This pass through sensing what this practicality newly provided
, can be fully charged by rechargeable battery before the flapping wing aircraft of human action control flare maneuver takes off, it then takes off again, treats electricity
During amount deficiency, then fall earthward and recharge.
3rd, solar panel+electrical storage device (such as accumulator).This kind of charging modes energy conservation and environmental protection, with the hair of science and technology
Exhibition, can realize and hover in charging, shortcoming is the increase in the weight of equipment.
It should be noted that above-mentioned for electric installation preferably the first scheme, other two kinds are alternative.
This flapping wing aircraft that flare maneuver is controlled by sensing human action provided by the utility model, is only taking off
When need compared with strong power export, and go up to the air after can for a long time in low energy consumption glide state, and can utilize thermal current rise,
Relative step province power, efficiently.
Further, the utility model further relates to set solar energy film power generator on board the aircraft, in any state
Under can be aircraft charge, as long as charging rate energy equilibrium glide state power consumption rate, it is ensured that the utility model carries
This flapping wing aircraft supplied can work normally.
The utility model has a vast market prospect, if for military use, flapping flight provided by the utility model
Utensil has the advantages that flying distance is remote, load is big, it is strong to withdraw ability, training difficulty is small, has higher-value.If fly for civilian
Row experience purposes, because it uses human body induction control scheme, makes trainee more readily understood, theoretically the dancing of Hui Tiao squares
People can fly, and the corresponding more thorough training of cooperation, technical solution provided by the utility model, which can become, certain payment energy
The flying method that the people of power can experience.Can realize the thing of mankind's dream has the characteristic for being easier to grasp simultaneously, necessarily has
Huge market prospects, similarly Russian space station once carried the tourist for wishing to roam in the heavens, it is and corresponding higher
Charge even maintain the turn of Russian related aerospace department.
The utility model is not limited to above-mentioned preferred forms, anyone can draw under the enlightenment of the utility model
Other various forms of products, however, make any variation in its shape or structure, it is every that there is same as the present application or phase
Approximate technical solution, all falls within the scope of protection of the utility model.In addition, in the utility model, term " first ",
" second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.Term " multiple " refers to two
Or it is more than two, unless otherwise restricted clearly.
Claims (10)
1. a kind of flapping wing aircraft that flare maneuver is controlled by sensing human action, which is characterized in that flutterred including exoskeleton-type
Rotor aircraft body and control circuit, wherein,
The exoskeleton-type flapping wing aircraft body includes fuselage and is separately positioned on the left machine wing of the fuselage both sides and right machine
Wing；Wherein, it is provided with human body fixing piece on the exoskeleton-type flapping wing aircraft body；
The control circuit includes sensor group, controller, driving device, and the left machine wing extended along left machine wing direction pats part,
The right machine wing extended along right machine wing direction pats part and the machine wing revolving part being arranged on fuselage, wherein, the sensor group bag
Include pressure sensor, human-body biological electric transducer, gyroscope, gravity sensor, angular transducer and range sensor；The biography
Sensor group and driving device are electrically connected respectively with the controller, and the left machine wing pats part, right machine wing pats part and the rotation of machine wing
Turn part to be electrically connected with the driving device respectively, the controller is used to receive the signal of the sensor group output, with control
The driving device drives the left machine wing and right machine wing to stretch within a preset range, swat, move back and forth and rotate up and down.
2. the flapping wing aircraft according to claim 1 that flare maneuver is controlled by sensing human action, which is characterized in that
The left machine wing and right machine wing all refer to including sequentially connected wing large arm, wing forearm and wing, and the left machine wing pats part and right machine
Wing pat part all include be successively set on the wing large arm, wing forearm and wing refer on wing large arm supporting rod, wing forearm supporting rod
Refer to supporting rod with wing,
It is hinged between the wing large arm supporting rod and fuselage by the first articulation piece, the wing large arm supporting rod and the wing forearm
It is hinged between supporting rod by the second articulation piece, the wing forearm supporting rod and the wing refer to hinged by the 3rd between supporting rod
Part is hinged.
3. the flapping wing aircraft according to claim 2 that flare maneuver is controlled by sensing human action, which is characterized in that
The driving device is fluid pressure drive device, and the left machine wing pats part and right machine wing is patted part and further included：First hydraulic tube,
One end is arranged on the fuselage, and at machine wing and fuselage tie point, the other end is arranged on the wing large arm supporting rod；The
Two hydraulic tubes, its one end are arranged on the wing large arm supporting rod, and the other end is arranged on the upper of the wing forearm supporting rod；3rd
Hydraulic tube, its one end are arranged on the upper of the connection wing forearm supporting rod, and the other end is arranged on the wing and refers to the upper of supporting rod；Institute
The first hydraulic tube, the second hydraulic tube and the 3rd hydraulic tube is stated to be electrically connected with the fluid pressure drive device respectively；Wherein, the machine wing
Including left machine wing and right machine wing.
4. the flapping wing aircraft according to claim 3 that flare maneuver is controlled by sensing human action, which is characterized in that
The fluid pressure drive device is hydraulic pump.
5. the flapping wing aircraft according to claim 2 that flare maneuver is controlled by sensing human action, which is characterized in that
The driving device is electric rotating unit, and the left machine wing pats part and right machine wing pats part and further includes spread the wings component and receipts wing group
Part, wherein,
The component of spreading the wings includes：First limiter is arranged on the fuselage, above machine wing and fuselage tie point；The
One gag lever post is arranged on the wing large arm supporting rod；Second gag lever post and the 3rd gag lever post are separately positioned on the wing large arm
On supporting rod and wing forearm supporting rod, positioned at the second articulation piece both sides；4th gag lever post and the 5th gag lever post, are set respectively
Refer in the wing forearm supporting rod and wing on supporting rod, positioned at the 3rd articulation piece both sides；First reels line, its one end winding
On the output shaft of the first electric rotating machine in electric rotating unit, the other end sequentially passes through the first gag lever post, the second gag lever post,
The limit hole set on three gag lever posts, the 4th gag lever post is bundled in the limit hole on the 5th gag lever post；
The receipts wing component includes：Second limiter is arranged on the fuselage, below machine wing and fuselage tie point；The
One limit hole is arranged on the wing large arm supporting rod；Second limit hole and the 3rd limit hole are separately positioned on the wing large arm
On supporting rod and wing forearm supporting rod, positioned at the second articulation piece both sides；4th limit hole and the 5th limit hole, are set respectively
Refer in the wing forearm supporting rod and wing on supporting rod, positioned at the 3rd articulation piece both sides；Line is reeled, its one end is wrapped in rotation
On the output shaft of the second electric rotating machine in rotating motor group, the other end sequentially passes through the second limiter, the first limit hole, the second limit
Position hole, the 3rd limit hole, the 4th limit hole, are bundled in the 5th limit hole；Wherein, the machine wing includes left machine wing and right machine
Wing.
6. the flapping wing aircraft according to claim 1 that flare maneuver is controlled by sensing human action, which is characterized in that
Machine wing revolving part includes the direct current generator with retarder, left machine wing base seat, right machine wing base seat, driving gear and driven gear；Its
In, the direct current generator is electrically connected with the controller, and the driving gear is arranged on the output shaft of the direct current generator；Institute
It states driving gear and driven gear engagement is either connected by chain drive or connected by dragline-transmission；The left machine wing
Pedestal and right machine wing base seat are separately positioned on the both sides of the driven gear, are rotated coaxially with the driven gear；The left machine
Wing and right machine wing are separately fixed on the left machine wing base seat and right machine wing base seat.
7. the flapping wing aircraft according to claim 1 that flare maneuver is controlled by sensing human action, which is characterized in that
Further include the gripper of the pedipulator being separately positioned under the fuselage and the connection pedipulator.
8. the flapping wing aircraft according to claim 1 that flare maneuver is controlled by sensing human action, which is characterized in that
Further include the head rudder and tail vane for being separately positioned on the fuselage head end and tail end；The head rudder and tail vane are for assisting in flying, institute
A rudder is stated as plane, three face types, X shapes or crosswise chiasma type；The tail vane is plane, three face types, X shapes or crosswise are handed over
Forked type.
9. the flapping wing aircraft according to claim 1 that flare maneuver is controlled by sensing human action, which is characterized in that
The stabilising fin for being separately positioned on the fuselage both sides is further included, the stabilising fin is used to stablize the flight shape of the flapping wing aircraft
State.
10. the flapping wing aircraft of flare maneuver is controlled by sensing human action according to claim 1~9 any one of them,
It is characterized in that, further including electric installation is supplied for what is powered for the control circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721051453.2U CN207433799U (en) | 2017-08-22 | 2017-08-22 | A kind of flapping wing aircraft that flare maneuver is controlled by sensing human action |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352031A (en) * | 2017-08-22 | 2017-11-17 | 苏永华 | A kind of flapping wing aircraft that flare maneuver is controlled by sensing human action |
| CN109521784A (en) * | 2018-12-13 | 2019-03-26 | 华南农业大学 | A kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula and method |
| CN114455071A (en) * | 2021-04-24 | 2022-05-10 | 宁波大学 | Pterosaur-like object carrying robot |
-
2017
- 2017-08-22 CN CN201721051453.2U patent/CN207433799U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352031A (en) * | 2017-08-22 | 2017-11-17 | 苏永华 | A kind of flapping wing aircraft that flare maneuver is controlled by sensing human action |
| CN107352031B (en) * | 2017-08-22 | 2024-03-15 | 苏永华 | Flapping wing aircraft capable of controlling flying action by sensing human body action |
| CN109521784A (en) * | 2018-12-13 | 2019-03-26 | 华南农业大学 | A kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula and method |
| CN109521784B (en) * | 2018-12-13 | 2021-05-11 | 华南农业大学 | Touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method |
| CN114455071A (en) * | 2021-04-24 | 2022-05-10 | 宁波大学 | Pterosaur-like object carrying robot |
| CN114455071B (en) * | 2021-04-24 | 2023-06-06 | 宁波大学 | Wing-like dragon carrying robot |
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