WO2016179726A1 - 一种扑翼机的机翼及传动机构 - Google Patents

一种扑翼机的机翼及传动机构 Download PDF

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WO2016179726A1
WO2016179726A1 PCT/CN2015/000708 CN2015000708W WO2016179726A1 WO 2016179726 A1 WO2016179726 A1 WO 2016179726A1 CN 2015000708 W CN2015000708 W CN 2015000708W WO 2016179726 A1 WO2016179726 A1 WO 2016179726A1
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wing
wing panels
wing section
skeletons
connecting rod
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PCT/CN2015/000708
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English (en)
French (fr)
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许允夫
张沄松
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许允夫
张沄松
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Publication of WO2016179726A1 publication Critical patent/WO2016179726A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C33/00—Ornithopters
    • B64C33/02—Wings; Actuating mechanisms therefor

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  • the invention belongs to the field of general aviation and relates to a wing and a transmission mechanism of a flapping wing machine.
  • the invention redesigns the wing and transmission mechanism of the flapping wing machine by carefully studying the flight mode of the bird to reproduce the movement mode of the bird wing to achieve the perfect presentation of the flapping wing flight.
  • the technical proposal of the invention is to divide the wing of the flapping wing into an outer wing section, a middle wing section and an inner wing section, the outer wing section is a shape maintaining the airfoil, and the outer wing section is composed of a hinge and a middle wing section outer side of the skeleton.
  • the middle wing segment is a variable rhombic rectangle to serve as a skeleton;
  • the inner wing section is composed of two skeletons, one end of the outer side of the front wing of the inner wing section is connected to the upper end of the inner side of the rectangular diamond-shaped rectangular skeleton, and one end of the inner side of the front wing of the inner wing section is connected to the fuselage, the inner wing section One end of the outer side of the rear frame is connected to the apex of the lower end of the inner side of the rectangular frame of the middle wing section, and the rear frame of the inner wing section passes through the fuselage, with a point merging with the fuselage as a fulcrum, and one end of the inner side of the rear wing frame of the inner wing section is connected in the fuselage
  • the crankshaft When the motor rotates in the axial direction, the crankshaft is driven to make a circular motion backward.
  • the crankshaft drives the rear end of the connecting rod to also make a circular motion backward.
  • the stator fixes the middle of the connecting rod, so that the moving direction of the front part of the connecting rod and the connecting rod are behind.
  • the movement direction of the part is opposite, that is, the circular motion is forward;
  • the front end of the connecting rod drives the inner wing sections on both sides, and the inner end of the skeleton in the fuselage is circularly moved forward in the fuselage, and the rear wing of the inner wing section is connected to the fuselage.
  • One point is the fulcrum.
  • the outer side of the rear frame of the inner wing section is connected to the apex of the lower end of the inner side of the rectangular diamond frame.
  • the inner side of the inner frame of the front wing is fixed on the fuselage, the outer side.
  • One end is fixed at the upper end of the inner side of the rectangular skeleton of the variable-diamond shape of the middle wing section. Due to the difference in the position of the front and rear skeletons of the inner wing section, the rectangular skeleton of the variable-diamond shape of the middle wing section is driven in a diamond shape to a rectangle, and then to the shape of the diamond shape.
  • the invention has the beneficial effects that the prior art is used to make the flapping machine fully exhibit the attitude of the bird during flight, and fully utilize the aerodynamic advantage of the flapping wing flight to achieve the best power ratio: the movement of the wing
  • the state is like a rowing boat paddle, which is swept backwards and forwards.
  • the outer and middle wing sections of the wing are in a rearward state, which can reduce the flight resistance, the wing
  • the outer wing section is closed downwards to reduce the resistance of the wing lifting; when the entire wing is forward and ready to slide backwards, the wing is deployed forward and upward to reach the maximum wingspan. Get the most lift.
  • the military can make use of the characteristics of good concealing effect of the flapping wing machine, which can be used in tactical reconnaissance; for civilian use, it can be used in forest fire prevention, geological exploration, disaster prevention and mitigation, and the application prospect is very extensive.
  • Figure 1 is a plan view of the wing (the wing is in a rearward state);
  • Figure 2 is a plan view of the wing (the wing is in a deployed state);
  • Figure 3.4.5.6 is the transmission diagram (the exploded view of the crankshaft at different points);
  • Figure 7 is a front elevational view of the outer wing section.
  • the wing and transmission mechanism of the flapping wing machine is composed of an electric motor, a crankshaft, a connecting rod, a stator, an inner wing frame skeleton, a middle wing section skeleton and an outer wing section.
  • the motor is connected to the crankshaft
  • the crankshaft is connected to the connecting rod
  • One end of the stator is fixed on the fuselage, the other end passes through the gap in the middle of the connecting rod, and the front end of the connecting rod is connected to the left and right wing inner wing segments respectively.
  • the rear frame of the inner wing section passes outwardly through the fuselage, and a point connected to the fuselage is used as a fulcrum, and one end of the outer side of the rear wing of the inner wing section is connected to the inner side of the rectangular skeleton of the variable wing of the middle wing section.
  • the apex of the lower end, the inner side of the front frame of the inner wing section is connected to the fuselage, the outer end is connected to the apex of the upper end of the inner side of the variable-diameter rectangular skeleton of the middle wing section, and the outer side of the rectangular frame of the variable-diamond shape of the middle wing section and the outer wing section are conformal
  • the wings are connected by hinges. On the hinge of the conformal wing, there is an angle limiting device that limits the angle of the upper and lower angles when the outer wing section is lifted up.
  • the crankshaft drives the rear part of the connecting rod to make a circular motion backward;
  • the connecting rod is in the middle part of the stator limit, the moving direction of the front part of the connecting rod and the moving direction of the rear part of the connecting rod
  • the front part of the connecting rod makes a circular motion forward;
  • the front part of the connecting rod drives the left and right inner wing sections, and the skeleton moves forward in the fuselage, and the inner wing section passes through the fuselage to intersect with the fuselage.
  • One point is used as a fulcrum, and one end of the outer side of the rear wing of the inner wing section is connected to the apex of the lower end of the inner side of the variable rhombic rectangular skeleton of the middle wing section, and the rectangular skeleton of the variable wing of the middle wing section is moved circularly forward, and the middle wing section is variable.
  • the upper end of the inner side of the diamond-shaped rectangular skeleton is connected to the outer end of the front frame of the inner wing section, and one end of the inner side of the inner frame of the inner wing section is connected to the fuselage, and when the inner wing section is driven by the skeleton, the rectangular skeleton of the variable wing of the middle wing section is oriented.
  • the skeleton of the middle wing segment is converted back and forth between the diamond, the rectangle and the diamond by the difference of the position of the front and the rear of the inner wing section; the outer side of the rectangular skeleton of the variable wing of the middle wing is hinged and outer wing
  • the segment-shaped wing is connected.
  • the outer wing section is lifted by the air pressure, the middle wing section and the inner wing section are lifted, and the outer wing section is folded downward; when the wing is swung down, The outer wing section is flattened, and the angle limiting device on the hinge of the outer wing section limits the upward angle of the outer wing section to be too large.
  • the wing of the flapping wing machine is driven by the transmission mechanism, which mimics the movement state of the wings when the birds are flying.

Abstract

一种扑翼机的机翼及传动机构，它的机翼分为内翼段，中翼段和外翼段，传动机构以电动机带动曲轴，曲轴带动连杆，定子一端穿过连杆中间的间隙，另一端固定在机身上；连杆前端分别连接内翼段后骨架的内侧的一端，内翼段后骨架向外穿过机身，，以机身为支点，外侧一端连接中翼段可变菱形的矩形骨架内侧的下端顶点，内翼段前骨架一端固定在机身上，另一端连接在中翼段可变菱形的矩形骨架内侧上端的顶点，在内翼段前后骨架的共同作用下，不断变换形态；外翼段保形机翼由合页连接在中翼段的外侧，外翼段合页上的角度限制装置，来限制外翼段上抬角度过大；这样，扑翼机的运动就能呈现出鸟类在飞行过程中的状态了。

Description

一种扑翼机的机翼及传动机构 技术领域
本发明属于通用航空领域，涉及一种扑翼机的机翼及传动机构。
背景技术
现今世界上都比较关注扑翼机的发展，有很多国家都研制出了各种扑翼机，有的模仿昆虫的飞行方式，有的模仿鸟类的飞行方式，但由于各种原因，还只能模仿出原生物的部分功能和动作，并不能很好地把扑翼飞行的优势全部体现出来，其主要原因是对扑翼飞行的本质理解不透彻，只是片面地模仿了原生物的部分动作，像某些机构研制的机器鸟，只能呈现出机翼上抬时，外翼段向下弯曲，虽然实现了扑翼飞行，但还不能体现出扑翼飞行的空气动力学优势。
发明内容
本发明通过对鸟类飞行方式的仔细研究，重新设计了扑翼机的机翼和传动机构，来重现鸟类翅膀的运动方式，以达到对扑翼飞行的完美呈现。
本发明的技术方案是把扑翼机机翼分为外翼段，中翼段和内翼段三段，外翼段为保持形状的翼型，外翼段由合页与中翼段骨架外侧相连；中翼段为可变菱形的矩形来当做骨架； 内翼段由两根骨架构成，内翼段前骨架外侧一端连接在中翼段可变菱形的矩形骨架内侧上面的顶点，内翼段前骨架内侧的一端，连接在机身上，内翼段后骨架外侧的一端连接在中翼段矩形骨架内侧下端的顶点，内翼段后骨架穿过机身，以与机身交汇的一点为支点，内翼段后骨架内侧的一端在机身内连接在连杆的前端；连杆中部有间隙，定子一端固定在机身，另一端穿过连杆中间的间隙；连杆后部固定在曲轴上；曲轴连接在电动机的转轴上。当电动机转轴向后转动时，带动曲轴向后做圆周运动，曲轴带动连杆后端也向后做圆周运动，定子固定着连杆中部，使连杆前部的运动方向与连杆后部的运动方向相反，即向前做圆周运动；连杆前端带动两侧内翼段后骨架在机身内的一端在机身内向前做圆周运动，内翼段后骨架以连接在机身的一点为支点，像划船的船桨一样，内翼段后骨架外侧的一端，连接在中翼段可变菱形的矩形骨架内侧下端的顶点，内翼段前骨架内侧一端固定在机身上，外侧一端固定在中翼段可变菱形的矩形骨架内侧上端的顶点，由于内翼段前后骨架位置上的差异，带动中翼段可变菱形的矩形骨架在菱形到矩形，再到菱形的形态上的变化，当中翼段可变菱形的矩形骨架处于向内变的菱形时，整个机翼就会向后收，以减小飞行的阻力，当中翼段可变菱形的矩形骨架转变到矩形，再到向外的菱形时，整个机翼都向前展开，这时机翼下扑，以获得最大的升力；中翼段可变菱形的矩形 骨架外侧的一侧，以合页与外翼段保形机翼相连，这样，当整个机翼向上抬时，外翼段会在空气阻力的作用下，向下折，使机翼上抬的阻力减小，机翼向下时，空气阻力会使外翼段上抬，外翼段合页上的角度限制装置，会限制外翼段上抬过度，这时整个机翼就可以获得最大的升力。
有益效果
本发明的有益效果是利用现有技术，使扑翼机完全呈现出鸟类在飞行过程中的姿态，充分利用扑翼飞行的空气动力学优势，以达到最佳的功效比：机翼的运动状态就像划船的船桨一样，由后向前地划动，当机翼在后方时，机翼的外翼段和中翼段呈现向后收的状态，这样可以减小飞行阻力，机翼上抬时，外翼段向下收，减小机翼上抬的阻力；当整个机翼向前，准备向后向下划动时，机翼向前向上展开，达到最大翼展，就可以获得最大的升力。在应用方面，军事上利用扑翼机隐蔽效果好的特点，可以用在战术侦察上；民用上，可以用在森林防火，地质勘探，防灾减灾上，应用前景非常广泛。
附图说明
下面结合附图对本发明作进一步说明：
图1是机翼俯视图(机翼呈向后收的状态)；
图2是机翼俯视图(机翼呈展开的状态)；
图3.4.5.6是传动机构图(曲轴在不同点位的分解图)；
图7是外翼段前视图。
图中：1.电动机，2.曲轴，3.连杆，4.定子，5.内翼段后骨架，6.内翼段外骨架，7.可变菱形的矩形骨架，8.外翼段保形机翼，9.翼肋，10.连杆中间的空隙，11.外翼段合页上的角度限制装置。
具体实施方式
扑翼机的机翼及传动机构由电动机、曲轴、连杆、定子、内翼段骨架、中翼段骨架及外翼段构成。图中电动机连接曲轴，曲轴连接连杆，连杆中间有空隙，定子一端固定在机身上，另一端穿过连杆中间的空隙，连杆前端左右分别连接左右机翼内翼段后骨架在机身内的一端，内翼段后骨架向外穿过机身，并以与机身相连的一点作为支点，内翼段后骨架外侧的一端，连接在中翼段可变菱形的矩形骨架内侧下端的顶点，内翼段前骨架内侧一端连接在机身，外侧一端连接在中翼段可变菱形的矩形骨架内侧上端的顶点，中翼段可变菱形的矩形骨架外侧与外翼段保形机翼以合页相连，在保形机翼合页上，有一个限制外翼段上抬时上反角度过大的角度限制装置。这样，当电动机带动曲轴向后做圆周运动，曲轴带动连杆后部向后做圆周运动；连杆在中间部位的定子限制下，连杆前部的运动方向与连杆后部的运动方向相反，即连杆前部向前做圆周运动；连杆前部带动左右内翼段后骨架在机身内向前做圆周运动，内翼段后骨架穿过机身，以与机身相交 的一点作为支点，内翼段后骨架外侧的一端连接在中翼段可变菱形的矩形骨架内侧下端的顶点，带动中翼段可变菱形的矩形骨架向前做圆周运动，中翼段可变菱形的矩形骨架内侧上端的顶点连接在内翼段前骨架的外侧一端，内翼段前骨架内侧的一端连接在机身上，当内翼段后骨架带动中翼段可变菱形的矩形骨架向前做圆周运动时，通过内翼段前后骨架位置上的差异，使中翼段的骨架在菱形、矩形、菱形之间来回转换；中翼段可变菱形的矩形骨架外侧以合页与外翼段保形机翼相连，当机翼上抬时，外翼段在空气压力的作用下，中翼段和内翼段上抬，而外翼段向下折；当机翼向下扑时，外翼段展平，外翼段合页上的角度限制装置，限制外翼段上抬角度过大。这样一来，扑翼机的机翼就在传动机构的带动下，很好地模仿了鸟类在飞行时，翅膀的运动状态。

Claims (5)

  1. 一种扑翼机的机翼及传动机构，其特征在：扑翼机的机翼及传动机构是由电动机，曲轴，连杆，定子，内翼段骨架，中翼段骨架及外翼段构成；
  2. 根据权利要求1所述的一种扑翼机的机翼及传动机构，其特征在于：连杆中间有一个空隙，定子一端固定在机身，另一侧穿过连杆中间的空隙；
  3. 根据权利要求1所述的一种扑翼机的机翼及传动机构，其特征在于：内翼段后骨架内侧一端连接在连杆前端，向外穿过机身，以机身为支点，外侧连接中翼段可变菱形的矩形骨架内侧下端的顶点，内翼段前骨架内侧一端连接在机身，外侧一端连接在中翼段可变菱形的矩形骨架内侧上端的顶点；
  4. 根据权利要求1所述的一种扑翼机的机翼及传动机构，其特征在于：中翼段骨架为可变菱形的矩形骨架，内侧与内翼段骨架相连，外侧与外翼段相连；
  5. 根据权利要求1所述的一种扑翼机的机翼及传动机构，其特征在于：外翼段为保形机翼，其内侧与中翼段可变菱形的矩形骨架的外侧以合页相连，外翼段保形级以上的合页有一个角度限制装置。
PCT/CN2015/000708 2015-05-14 2015-10-22 一种扑翼机的机翼及传动机构 WO2016179726A1 (zh)

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CN109436320A (zh) * 2018-11-07 2019-03-08 深圳加创科技有限公司 一种飞行器
CN110901889A (zh) * 2019-12-04 2020-03-24 中国直升机设计研究所 一种变体飞行器
CN112429224A (zh) * 2020-11-30 2021-03-02 河海大学常州校区 一种扑翼飞行装置及扑翼机
CN114435590A (zh) * 2022-01-14 2022-05-06 重庆理工大学 一种具有羽翼转动功能的变迎角扑翼飞行器

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CN104843186B (zh) * 2015-05-14 2017-03-01 许允夫 一种扑翼机的机翼的传动机构
CN106718851A (zh) * 2017-01-23 2017-05-31 东莞理工学院 一种自主农业授粉的微型飞行机器人
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