CN211253021U - Flapping wing control device and aircraft - Google Patents

Abstract

The utility model provides a flapping wing control device and an aircraft, which relate to the technical field of aircrafts and comprise a connecting rod and a rotating part; the rotating piece is used for being rotationally connected with the machine body bracket; one end of the connecting rod is rotatably connected with the rotating piece, the other end of the connecting rod is fixedly connected with the flying wing, and the rotating center of the connecting rod and the rotating piece is eccentrically arranged relative to the rotating center of the rotating piece and the rotating center of the machine body support. When the rotating part is driven by external force and rotates relative to the body support, the fixed end of the connecting rod rotates at a certain angle due to eccentric arrangement, so that the flying wing is driven to generate a depression angle or an elevation angle. In addition, when the rotating end generates deflection motion, the distance between the rotating end and the initial connecting position of the fixed end and the flight wings can be changed to a certain extent, so that the flight wings can be driven to carry out flaring up and down. Therefore, the pitching angle of the flying wing can be actively adjusted, and the flying is more flexible and changeable.

Description

Flapping wing control device and aircraft

Technical Field

The utility model relates to an aircraft technical field particularly, relates to a flapping wing controlling means and aircraft.

Background

With the rapid development of economy and the rapid improvement of living standard of people, the traditional ground trip is difficult to meet the requirements of people on trip, and therefore, the research and development of the aerial vehicle become the focus of attention in the industry. Among them, the flapping wing aircraft has become an important development direction in the aircraft due to its advantages of high efficiency, light weight, low energy consumption, etc. The flapping wing aircraft refers to an aerial aircraft with wings capable of flapping up and down like wings of birds or insects to generate lift force and forward force.

The control of the existing ornithopter about the wing pitch angle is usually that the wings are passively adjusted by the resistance of air in the flaring process, so that the wings are difficult to be matched to a better degree according to the actual requirement, and the flight is limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to the not enough among the above-mentioned prior art, provide a flapping wing controlling means and aircraft to solve current flapping wing aircraft every single move angle and adjust passively and lead to the limited problem of flight.

In order to achieve the above object, the embodiment of the present invention adopts the following technical solutions:

the utility model discloses an aspect of the embodiment provides a flapping wing controlling means, include: a connecting rod and a rotating member; the rotating piece is used for being rotationally connected with the machine body bracket; one end of the connecting rod is rotatably connected with the rotating piece, the other end of the connecting rod is fixedly connected with the flying wing, and the rotating center of the connecting rod and the rotating piece is eccentrically arranged relative to the rotating center of the rotating piece and the rotating center of the machine body support.

Optionally, the connecting rod comprises a first connecting rod and a second connecting rod which are hinged at the ends; the other end of the first connecting rod is fixedly connected with the flying wing, and the other end of the second connecting rod is rotatably connected with the rotating piece; the hinged end parts of the first connecting rod and the second connecting rod are further rotatably connected with the flying wing, and the extending direction of the first connecting rod is the same as that of the flying wing.

Optionally, a limiting member is further sleeved at the end of the first connecting rod hinged to the second connecting rod, the first connecting rod can rotate relative to the limiting member, and the limiting member is fixedly connected to the flying wing.

Optionally, the flapping wing control device further comprises an elastic clamping part and a driving energy accumulator which are arranged on the machine body support, and the driving energy accumulator is in driving connection with the rotating part relative to the rotating shaft of the machine body support; when the elastic clamping part is in an energy storage state, the elastic end of the elastic clamping part is abutted against the clamping end of the rotating part so as to drive the energy accumulator to store energy; when the elastic clamping part is in the energy releasing state, the elastic end of the elastic clamping part is separated from the clamping end of the rotating part so as to drive the energy accumulator to release energy.

Optionally, the driving energy accumulator comprises an elastic element and a driver; one end of the elastic element is connected with the rotating shaft of the rotating element rotating relative to the frame of the machine body, and the other end of the elastic element is connected with the rotating output end of the driver in a transmission way.

Optionally, the elastic member is sleeved on the periphery of the rotating shaft, a first gear is arranged at the rotating output end of the driver, a second gear is arranged at the other end of the elastic member, the second gear is sleeved on the periphery of the rotating shaft and can rotate relative to the rotating shaft, and the first gear is in transmission connection with the second gear.

Optionally, the elastic clamping portion is a torsion spring, one end of the torsion spring abuts against the body support, when the torsion spring is in the energy storage state, the other end of the torsion spring abuts against the clamping end, and when the torsion spring is in the energy release state, the other end of the torsion spring is separated from the clamping end.

Optionally, an energy storage regulator is further arranged on the machine body support; the energy storage regulator comprises a telescopic piece and a fixing piece fixed on the frame of the machine body; one end of the torsion spring is abutted against one end of the telescopic piece, the telescopic piece is connected with the fixing piece, and the telescopic piece can stretch relative to the fixing piece so that one end of the torsion spring is close to or far away from the other end of the torsion spring.

The embodiment of the utility model provides a further aspect provides an aircraft, include the flight wing, incite the axle, fuselage support and any kind of flapping wing controlling means of aforesaid, incite the axle and be located the fuselage support, two flight wings set up relatively and respectively with incite the axle and rotate and be connected, the one end of the connecting rod among two flapping wing controlling means corresponds with two flight wings respectively and is connected, the rotation piece among two flapping wing controlling means rotates with the side of fuselage support respectively and is connected.

Optionally, the aircraft further comprises a torsional elastic member; every flight wing all includes the wing body and the fixed rotation portion that sets up at the wing body tip, and two rotation portion cover are located and are incited the axle periphery, and the torsion elastic component cover is located and is incited the axle periphery, and the both ends of torsion elastic component respectively with two rotation portion butt or be connected.

The beneficial effects of the utility model include:

the utility model provides a flapping wing control device, which comprises a connecting rod and a rotating piece. Wherein, will rotate the piece setting on the fuselage support, and rotate the piece and can rotate relatively the fuselage support. Simultaneously, rotate the one end of connecting rod and rotate the piece and be connected, the other end then with flight wing fixed connection, in addition, still need to make the connecting rod with rotate the rotation center relative rotation piece of piece and fuselage support eccentric settings, two rotation centers do not coincide promptly. When rotating the piece and receiving under external force drive, when relative fuselage support rotates, because eccentric settings for the rotation department that the connecting rod is connected with rotating the piece (the rotation end of connecting rod promptly) revolutes the rotation center rotation of piece, and simultaneously, the other end and the flight wing fixed connection of connecting rod (the stiff end of connecting rod promptly), thereby at the rotation in-process, because the rotation end of connecting rod can take place the deflection of certain angle for the stiff end, the transmission through the connecting rod pole body makes the stiff end take place the rotation of certain angle, thereby it produces angle of depression or angle of elevation to drive the flight wing. In addition, when the rotating end generates deflection motion, the distance between the rotating end and the initial connecting position of the fixed end and the flight wings can be changed to a certain extent, so that the flight wings can be driven to carry out flaring up and down. Therefore, the pitching angle of the flying wing can be actively adjusted, and the flying is more flexible and changeable.

The utility model also provides an aircraft is applied to the aircraft field with foretell flapping wing controlling means, makes it can control the flapping wing aircraft and carry out the control of active every single move angle, can also carry out the moving about simultaneously, provides better drive and control for the flight of aircraft, simultaneously also further improvement the flexibility of aircraft flight in the air, make it can satisfy comparatively harsh flight environment.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an flapping wing control apparatus according to an embodiment of the present invention;

fig. 2 is a second schematic structural diagram of a flapping wing control apparatus according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an aircraft according to an embodiment of the present invention;

fig. 4 is a third schematic structural diagram of a flapping wing control apparatus according to an embodiment of the present invention;

fig. 5 is a second schematic structural diagram of an aircraft according to an embodiment of the present invention.

Icon: 100-a flight wing; 101-a rotating member; 1011-a clamping projection; 1012-grooves; 102-a connecting rod; 1021-a first connecting rod; 1022-a second connecting rod; 1023-a fixed end; 1024-a rotation end; 103-an elastic clamping part; 1031-pulley; 1032-bullet stop; 1033-a plug-in part; 1034-shrapnel; 104-an energy storage regulator; 105-a driver; 106-an elastic member; 107-first gear; 108-a second gear; 109-stir shaft; 110-a first direction; 111-a second direction; 112-torsional spring; 200-fuselage cradle.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. It should be noted that, in the case of no conflict, various features in the embodiments of the present invention may be combined with each other, and the combined embodiments are still within the scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

An aspect of the embodiments of the present invention, as shown in fig. 1, provides a flapping wing control apparatus, including: a connecting rod 102 and a rotating member 101; the rotating part 101 is used for being rotatably connected with the machine body bracket 200; one end of the connecting rod 102 is rotatably connected with the rotating member 101, the other end is used for being fixedly connected with the flying wing 100, and the rotating centers of the connecting rod 102 and the rotating member 101 are eccentrically arranged relative to the rotating centers of the rotating member 101 and the fuselage support 200.

Illustratively, as shown in FIG. 1, the fuselage cradle 200 is mounted to one side of the flying wing 100 and is attached to the flying wing 100 at a right angle (for example, in the position shown in FIG. 1). Wherein the flying wing 100 can be hinged with the fuselage cradle 200, so that it can be flaring up and down (i.e. the right angle can be changed) during flight, thereby providing the aircraft with better lift and forward force. The rotary member 101 (taking a disc as an example in fig. 1) is disposed at a side of the fuselage support 200 and is rotatably connected to the fuselage support 200 (hereinafter referred to as a rotation center for convenience of description), i.e., forms a structure in which a disc surface of the rotary disc is parallel to a side of the fuselage support 200 and is at right angles to the flying wing 100 (the position shown in fig. 1). The connecting rod 102 has one end (rotating end 1024) rotatably connected to the rotating disk and the other end (fixed end 1023) fixedly connected to the frame of the flying wing 100. And the position of the rotating end 1024 connected to the rotating disk is not overlapped with the position of the rotation center, i.e. the rotating end is eccentrically arranged. When the rotating disc is driven by external force to rotate around the rotation center, the shaft rotates along with the rotating disc by the connecting rod 102 arranged eccentrically, and the initial distance between the rotating end 1024 and the fixed end 1023 changes, thereby driving the flying wings 100 to perform flaring up and down. Therefore, by means of the compound motion, the size of the pitch angle of the flying wing 100 can be actively changed. The flying wings 100 can be driven to incite, so that the aircraft has more flexible and changeable flying modes, the control dimensionality of the aircraft is increased, and the control performance of the aircraft is improved.

In actual operation, the state shown in fig. 1 will be described as an example of an initial state. When the rotating disc is driven by external force and rotates in the direction (counterclockwise) shown by the arrow in fig. 1, in the process that the rotating disc rotates 90 degrees around the rotation center, the rotating end 1024 of the connecting rod 102 moves backwards (forward of the flying direction of the flying wing 100 in fig. 1) and downwards (downward folded from the flying wing 100 to the fuselage support 200 in fig. 1) along with the rotating disc, in the process that the rotating end 1024 moves backwards, the rod body of the connecting rod 102 rotates a certain angle clockwise, at this time, the fixed end 1023 also generates a certain angle through the transmission of the rod body, so as to drive the flying wing 100 to become a depression angle, in the process that the rotating end 1024 moves downwards, the fixed end 1023 is driven to move downwards through the pulling of the connecting rod 102, and then the flying wing 100 is pulled to incite downwards. When the rotating disc rotates for 90 degrees by taking the rotation center as the axis, the rotating end 1024 moves forward, the shaft rotates counterclockwise, at this time, the fixed end 1023 drives the flying wings 100 to return to the initial state from the depression angle, the rotating end 1024 moves downward, and therefore the flying wings 100 are pulled to flare downward. When the rotating disc rotates for 90 degrees by taking the rotation center as the axis, the rotating end 1024 moves forward continuously, the shaft rotates counterclockwise, at this time, the fixed end 1023 drives the flying wings 100 to change from the initial state to the elevation angle state, the rotating end 1024 moves upward, and the flying wings 100 are pulled to start flaring upward. When the rotating disc rotates for 90 degrees by taking the rotation center as the axis, the rotating end 1024 moves backwards continuously, the shaft rotates clockwise and anticlockwise, at this time, the fixed end 1023 drives the flying wings 100 to change from the elevation angle state to the initial state, and the rotating end 1024 moves upwards continuously, so that the flying wings 100 are pulled to flare upwards continuously. Thereby accomplishing the flexible control of the pitch angle of the flying wing 100, and at the same time, the flapping wing control device has a simpler structure but higher stability.

First, the rotating member 101 may be a disk, a sector disk, a rod, or the like, as long as it is rotatably connected to the body frame 200 and is rotatably connected to the connecting rod 102 at a position other than the rotation center (i.e., eccentrically disposed).

Secondly, the rotating component 101 may be disposed perpendicular to the flying wing 100 as shown in fig. 1, may be disposed in parallel, may be disposed at another included angle, and the like, and this embodiment does not specifically limit the same.

Third, the rotating component 101 is driven by an external force to rotate, wherein in this embodiment, the external force may be from a human hand, or from a driver 105, such as a motor.

Fourth, in order to secure the stability of connection, the fixing end 1023 should be connected to the frame of the flying wing 100, thereby providing better connection strength.

Optionally, the connecting rod 102 comprises a first connecting rod 1021 and a second connecting rod 1022 which are hinged at the ends; the other end of the first connecting rod 1021 is fixedly connected with the flying wing 100, and the other end of the second connecting rod 1022 is rotatably connected with the rotating part 101; the hinged ends of the first connecting rod 1021 and the second connecting rod 1022 are also rotatably connected with the flight wing 100, and the extending direction of the first connecting rod 1021 is the same as the extending direction of the flight wing 100.

Illustratively, as shown in FIG. 1, the connecting rod 102 comprises a first connecting rod 1021 and a second connecting rod 1022, and the ends of the first connecting rod 1021 and the second connecting rod 1022 are hinged to each other, so that the first connecting rod 1021 and the second connecting rod 1022 can move closer to or away from each other during the vertical flaring of the flight wing 100, thereby preventing the first connecting rod 1021 and the second connecting rod 1022 from being easily broken in the vertical flaring direction of the flight wing 100. The flight wing 100 may be composed of a skin and a skeleton such that an end of the first connecting rod 1021 is fixedly connected with the skeleton of the flight wing 100 and an end of the second connecting rod 1022 is rotatably connected with the rotation member 101. The extending direction of the first connecting rod 1021 is maintained to be the same as the extending direction of the flying wing 100, i.e., the direction from one end of the flying wing 100 connected to the fuselage cradle 200 to the opposite end in fig. 1. Therefore, when the second connecting rod 1022 rotates along with the rotating member 101, the shaft of the first connecting rod 1021 is driven to rotate clockwise or counterclockwise through the swinging of the second connecting rod 1022, and meanwhile, the connecting end of the second connecting rod 1022 and the first connecting rod 1021 can rotate relative to the flying wing 100, so that the upper limit of strength and the response capability of the flying wing 100 when the pitch angle changes are improved, and the change is smoother. In addition, the first connecting rod 1021 can be replaced according to the weight requirement of the fuselage, so that the flight wing 100 has different strength, and can be matched with the weight of the fuselage by replacing only the first connecting rod 1021. Avoiding the cumbersome operation of replacing the entire flying wing 100 when the fuselage weight changes. It should be noted that the radial cross section of the first connecting rod 1021 may be circular, rectangular, or the like. When the first connecting rod 1021 is a rectangular rod, the plate surface where the first connecting rod 1021 is long is parallel to the flying wing 100, so that the resistance in flying can be effectively reduced. Meanwhile, when the second connecting rod 1022 drives the first connecting rod 1021 to rotate, the rectangular rod has better deformation capacity.

Optionally, a limiting member is further sleeved at the end of the first connecting rod 1021 hinged to the second connecting rod 1022, the first connecting rod 1021 can rotate relative to the limiting member, and the limiting member is fixedly connected to the flying wing 100.

For example, as shown in fig. 1 and 3, a limiting member is disposed on the framework of the flight wing 100, and the hinged end portions of the first connecting rod 1021 and the second connecting rod 1022 pass through the limiting member to be hinged to the end portion of the second connecting rod 1022. Meanwhile, in order to reinforce the strength of the connection, the limiting member may be disposed on the framework of the flight wing 100. It should be noted that the limiting member may be a circular ring, or may be a splayed buckle, etc.

When the wings of the traditional flapping wing aircraft are flaring up and down, the driving source is usually the motor, the rotation of the rotating motor drives the wings to flare up and down, when the flapping wing aircraft is cruising, the flaring frequency of the wings is lower, and the traditional method is that the rotating speed of the motor is slower when the flapping wing aircraft is cruising, thereby reducing the flaring frequency of the wings. But as the frequency of flaring is reduced, the speed of flaring is also obviously reduced. Therefore, the lift force generated during slow flaring is reduced, namely the flaring conversion efficiency is reduced, and finally the flapping wing aircraft can not normally cruise. On this basis, the present application proposes a flapping wing control device to solve the above-mentioned drawbacks, as follows:

optionally, the flapping wing control apparatus further comprises an elastic clamping portion 103 and a driving energy accumulator which are arranged on the body support 200, and the driving energy accumulator is in driving connection with the rotating shaft of the rotating member 101 which rotates relative to the body support 200; when the elastic clamping part 103 is in the energy storage state, the elastic end of the elastic clamping part 103 abuts against the clamping end of the rotating part 101 so as to enable the driving energy accumulator to store energy; when the elastic clamping portion 103 is in the energy releasing state, the elastic end of the elastic clamping portion 103 is separated from the clamping end of the rotating member 101 to release the energy of the driving energy storage.

Illustratively, as shown in fig. 2, an elastic clamping part 103 and a driving energy accumulator are further provided on the flapping wing control device, so as to form a device for storing and releasing energy with the clamping end of the rotating member 101. The driving energy storage and the elastic clamping part 103 are exemplarily arranged on the body bracket 200, and the driving energy storage is connected with the rotation central shaft of the rotating member 101 to form a driving connection. When the driving energy accumulator drives the rotating member 101 to rotate, two states are formed, namely, one state is an energy storage state, namely, the driving energy accumulator drives the rotating member 101 to rotate, and the clamping end of the rotating member 101 and the elastic clamping portion 103 form a supporting state, at this time, the driving energy accumulator still drives, but the rotating member 101 stops rotating in the energy storage state due to the supporting of the elastic clamping portion 103. The other is an energy releasing state, when the energy stored in the driving energy accumulator reaches a certain limit (the limit can be reasonably set according to actual requirements), the clamping end of the rotating part 101 can form enough acting force on the elastic clamping part 103, so that the elastic clamping part 103 deforms (i.e. moves), and when the deformation amount or the movement amount reaches a certain degree, the clamping end can be separated from the elastic clamping part 103, so that the rotating part 101 can release the energy stored in the driving energy accumulator at the moment, namely, the rotating part 101 can rapidly rotate, and the speed of the flight wings 100 during flaring is in a reasonable value according with the cruise state. When the holding end of the rotating member 101 is separated from the elastic holding portion 103, the elastic holding portion 103 will recover its deformation under its own action, and the holding end of the rotating member 101 will form a holding state with the elastic holding portion 103 again during the rotation, i.e. an energy storage state. Thereby forming a cyclic motion mode with a period from energy storage to energy release. With this kind of control structure, it is possible to reduce the rotational speed of the motor in the cruise condition, by the energy storage condition and the energy release condition, only reduce the frequency of flaring of the wings 100, without reducing the speed of each flaring of the wings 100, i.e. keeping the speed of each flaring the wings 100 in different conditions (cruise or acceleration mode) kept the same.

Optionally, the driving energy accumulator comprises an elastic member 106 and a driver 105; one end of the elastic element 106 is connected with the rotating shaft of the rotating element 101 rotating relative to the body frame 200, and the other end is connected with the rotating output end of the driver 105 in a transmission way.

For example, as shown in fig. 3, the driving energy accumulator includes an elastic member 106 and a driver 105, the driver 105 may be a rotating motor, and the like, one end of the elastic member 106 is connected to the rotation central shaft of the rotating member 101, and the other end is in transmission connection (directly or indirectly) with the rotation output end of the driver 105. Thereby storing the kinetic energy outputted by the elastic member 106 while the continuous rotation of the driver 105 is outputted, and releasing when it is satisfied, thereby ensuring that the efficiency of the flight wings 100 at the time of flaring is not lowered, improving the performance of the aircraft at the time of flight.

Optionally, the elastic member 106 is sleeved on the periphery of the rotating shaft, a first gear 107 is disposed at the rotation output end of the driver 105, a second gear 108 is disposed at the other end of the elastic member 106, the second gear 108 is sleeved on the periphery of the rotating shaft and can rotate relative to the rotating shaft, and the first gear 107 is in transmission connection with the second gear 108.

For example, as shown in fig. 3, the elastic element 106 may also be a periphery of a rotation axis sleeved at the rotation center of the rotation element 101, so that the elastic element 106 may be protected to some extent by a diameter of the rotation axis, thereby preventing the elastic element 106 from being damaged after deformation exceeds a deformation limit due to energy storage transition, and providing higher stability for the elastic element 106 in an energy storage state by the rotation axis, thereby preventing the elastic element 106 from being interfered by deformation of other dimensions. The second gear 108 is arranged at one end of the elastic member 106, the first gear 107 is arranged at the rotation output end of the driver 105, and the driving is completed through the mutual meshing of the first gear 107 and the second gear 108 (or the first gear 107 and the second gear 108 form a transmission connection relationship through other transmission gears), so that the elastic member 106 and the driver 105 can be stacked, the transverse dimension of the aircraft is reduced, and the flight performance of the aircraft is improved. When the driver 105 rotates in the first direction 110 (which is defined as clockwise) in fig. 3, the rotation member 101 is rotated in the second direction 111 (counterclockwise) by the transmission of the first and second gears 108.

Optionally, the elastic clamping portion 103 is a torsion spring, one end of the torsion spring abuts against the body support 200, when the torsion spring is in the energy storage state, the other end of the torsion spring abuts against the clamping end, and when the torsion spring is in the energy release state, the other end of the torsion spring is separated from the clamping end.

As shown in fig. 2, an exemplary structure in which the elastic clamping portion 103 and the rotation member 101 are clamped and matched to abut against each other is shown, that is, the elastic clamping portion 103 is a torsion spring, the middle portion of the torsion spring is fixed to the side surface of the body support 200 and is located at the same side as the rotation disc, a clamping protrusion 1011 is formed on the periphery of the rotation disc so as to abut against one end of the torsion spring, and the other end of the torsion spring abuts against another limiting protrusion on the body support 200 so as to abut against the other end of the torsion spring with the clamping protrusion 1011 of the rotation disc in the energy storage state. In order to ensure that the torsion spring can form good abutting joint with the clamping protrusion 1011 of the rotating disk in the next period after releasing energy, namely after being separated from the clamping protrusion 1011 of the rotating disk, an elastic stopping part 1032 is further arranged on the outer side of one end of the torsion spring abutting joint with the clamping protrusion 1011 of the rotating disk, so that the torsion spring is prevented from being loosened in a transition mode. In order to reduce friction, a pulley 1031 may be provided at an end of the torsion spring abutting against the rotating disk, thereby reducing wear of both in the energy release state.

In addition, as shown in fig. 4, the elastic clamping portion 103 may also be an elastic sheet 1034 disposed on the body bracket 200 on the side away from the rotating disk, one end of the elastic sheet 1034 is fixedly connected to the body bracket 200, the other end of the elastic sheet 1034 is provided with an insertion portion 1033, the insertion portion 1033 penetrates through the protrusion of the body bracket 200, a groove 1012 is dug on a side surface of the rotating disk close to the body bracket 200, the insertion portion 1033 is inserted into the groove 1012 in the energy storage state to form an abutting relationship, after the energy is stored to a certain limit, the groove 1012 pushes the insertion portion 1033 to separate from the groove 1012, that is, the insertion portion 1033 moves in the direction away from the rotating disk, and the elastic sheet 1034 is elastically deformed, thereby. After entering the next cycle, the groove 1012 rotates to the position of the insertion portion 1033, and the elastic piece 1034 pushes the insertion portion 1033 to enter the groove 1012 under the condition of recovering the natural energy of the elastic deformation of itself, thereby entering the energy storage state again. In order to reduce the setback, a guiding inclined plane can be reasonably arranged at the protruding end of the insertion part 1033.

Optionally, an energy storage regulator 104 is further disposed on the body support 200; the energy storage regulator 104 comprises a telescopic piece and a fixing piece fixed on the fuselage support 200; one end of the torsion spring is abutted against one end of the telescopic piece, the telescopic piece is connected with the fixing piece, and the telescopic piece can stretch relative to the fixing piece so that one end of the torsion spring is close to or far away from the other end of the torsion spring.

Illustratively, as shown in FIG. 2, an energy storage regulator 104 is further provided on the fuselage support 200, thereby facilitating flexible and rational regulation control of the flaring speed of the wings 100 according to the requirements. The stored energy regulator 104 includes a fixed member fixed to the body mount 200 and the telescoping member is extendable and retractable relative to the fixed member toward the other end of the torsion spring. For example, the fixing member is a fixing plate perpendicular to the side surface of the body frame 200, and a through hole is formed in the fixing plate, and the extensible member is a screw rod which is in threaded connection with the inner wall of the through hole, so that when the screw rod is screwed, an extensible movement can be realized, and the torsion force of the torsion spring can be adjusted (i.e., one end of the torsion spring is close to or away from the other end). When the flaring speed of the flight wings 100 needs to be increased, the telescopic pieces can be extended out, so that the distance from one end of the torsion spring to the other end is shortened, the upper limit of energy storage or energy release is improved, and more energy can be stored. When the reduction is needed, the telescopic part can be retracted relative to the fixed part.

The utility model discloses an on the other hand provides an aircraft, including the flight wing 100, incite axle 109, fuselage support 200 and any kind of flapping wing controlling means of above-mentioned, incite axle 109 to be located fuselage support 200, two flight wings 100 set up relatively and rotate respectively with inciting axle 109 and be connected, the one end of connecting rod 102 among two flapping wing controlling means corresponds with two flight wings 100 respectively and is connected, the rotation piece 101 among two flapping wing controlling means rotates respectively with the side of fuselage support 200 and is connected.

Exemplarily, referring to fig. 3, an aircraft comprises a fuselage support 200, wherein an incitation shaft 109 is provided above the fuselage support 200 and the fuselage support 200 is connected with the incitation shaft 109. At the same time, both flying wings 100 are connected to the flaring shaft 109, i.e. hinged on the flaring shaft 109, thereby enabling up and down flaring of the flying wings 100. The fuselage support 200 includes a bottom side and two opposite side surfaces, wherein two rotating members 101 may be provided to control two flying wings 100, respectively, and two connecting rods 102 are provided correspondingly. The two oppositely disposed rotating members 101 may be coaxially connected or separately controlled. Fig. 3 shows a coaxial connection, so that a synchronous control of the two flying wings 100 is possible. The driver 105 is disposed between the two side surfaces and fixedly connected to the bottom side, a coaxial common rotating shaft is disposed above the driver, and an elastic member 106 is sleeved on the rotating shaft for storing and releasing energy. The two are in transmission connection through gears. Therefore, the control of the flapping wing air vehicle to carry out the active pitching angle can be realized, meanwhile, the upward and downward flaring can be carried out, better driving and control are provided for the flight of the air vehicle, meanwhile, the flexibility of the air vehicle in the air flight is further improved, and the harsher flight environment can be met.

Optionally, the aircraft further comprises a torsional spring 112; each flight wing 100 comprises a wing body and rotating parts fixedly arranged at the end parts of the wing body, two rotating parts are sleeved on the periphery of the flaring shaft 109, a torsion elastic piece 112 is sleeved on the periphery of the flaring shaft 109, and two ends of the torsion elastic piece 112 are respectively abutted against or connected with the two rotating parts.

For example, as shown in fig. 5, a power assisting device is provided on the aircraft, and specifically, a torsion elastic member 112, which may be a torsion spring, a torsion elastic sheet 1034, or the like, is sleeved on the flaring shaft 109. During the flying process of the aircraft, the two flying wings 100 are opened by the resistance of the gas, at this time, the torsion elastic element 112 stores energy, when the connecting rod 102 needs to pull the two flying wings 100 to incite downwards, the rotating element 101 can be enabled to incite the flying wings 100 under smaller pulling force by the pulling force of the rotating element 101 and the stored energy of the torsion elastic element 112. Therefore, the stress load when the connecting rod 102 is pulled is effectively reduced, the reliability of the aircraft is improved, and the aircraft has better flight performance.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An flapping wing control apparatus, comprising: a connecting rod and a rotating member; the rotating piece is used for being rotationally connected with the machine body support; the one end of connecting rod with rotate the piece and rotate and be connected, the other end be used for with flight wing fixed connection, just the connecting rod with the center of rotation that rotates is relative rotate the piece with the center of rotation eccentric settings of fuselage support.

2. The flapping control apparatus of claim 1 wherein said linkage comprises first and second articulated-end linkages; the other end of the first connecting rod is fixedly connected with the flying wing, and the other end of the second connecting rod is rotatably connected with the rotating piece; the hinged end parts of the first connecting rod and the second connecting rod are further rotatably connected with the flying wing, and the extending direction of the first connecting rod is the same as that of the flying wing.

3. The flapping wing control apparatus of claim 2, wherein a limiting member is further sleeved at the end of the first connecting rod hinged to the second connecting rod, the first connecting rod can rotate relative to the limiting member, and the limiting member is fixedly connected to the flight wing.

4. The flapping wing control apparatus of any one of claims 1 to 3, further comprising a resilient latch portion disposed on the fuselage support and a drive energy storage device, the drive energy storage device being drivingly connected to the rotatable shaft of the rotatable member rotating relative to the fuselage support; when the elastic clamping part is in an energy storage state, the elastic end of the elastic clamping part is abutted against the clamping end of the rotating part so as to enable the driving energy accumulator to store energy; when the elastic clamping part is in an energy releasing state, the elastic end of the elastic clamping part is separated from the clamping end of the rotating part so as to enable the driving energy accumulator to release energy.

5. The flapping control apparatus of claim 4 wherein said drive accumulator comprises an elastic member and an actuator; one end of the elastic element is connected with the rotating shaft of the rotating element rotating relative to the machine body support, and the other end of the elastic element is in transmission connection with the rotating output end of the driver.

6. The flapping wing control apparatus of claim 5, wherein the resilient member is disposed around the periphery of the rotatable shaft, a first gear is disposed at the output end of the actuator, a second gear is disposed at the other end of the resilient member, the second gear is disposed around the periphery of the rotatable shaft and is rotatable relative to the rotatable shaft, and the first gear is in driving connection with the second gear.

7. The flapping wing control apparatus of claim 4, wherein the resilient latching portion is a torsion spring, one end of the torsion spring abuts against the fuselage support, the other end of the torsion spring abuts against the retaining end when the torsion spring is in the energy storage state, and the other end of the torsion spring disengages from the retaining end when the torsion spring is in the energy release state.

8. The flapping wing control apparatus of claim 7, further comprising an energy storage regulator disposed on said fuselage support; the energy storage regulator comprises a telescopic piece and a fixing piece fixed on the frame of the machine body; one end of the torsion spring is abutted against one end of the telescopic piece, the telescopic piece is connected with the fixing piece, and the telescopic piece can stretch relative to the fixing piece so that one end of the torsion spring is close to or far away from the other end of the torsion spring.

9. An aircraft, characterized in that, including flying wings, incite the axle, fuselage support and as in any one of claims 1 to 8 the flapping wing controlling means, incite the axle to be located on the fuselage support, two the flying wings set up relatively and respectively with incite the axle rotation connection, two one end of the connecting rod in the flapping wing controlling means respectively with two the flying wings correspond to be connected, two the rotation piece in the flapping wing controlling means respectively with the side of fuselage support rotation connection.

10. The aircraft of claim 9, further comprising a torsional spring; each flight wing all includes the wing body and fixed the setting is in the rotation portion of wing body tip, two the rotation portion cover is located incite the axle periphery, torsion elastic piece cover is located incite the axle periphery, just the both ends of torsion elastic piece respectively with two the rotation portion butt or be connected.

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