WO2019071676A1 - 一种基于混合驱动的扑翼飞行器开合式机翼结构 - Google Patents
一种基于混合驱动的扑翼飞行器开合式机翼结构 Download PDFInfo
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- WO2019071676A1 WO2019071676A1 PCT/CN2017/109550 CN2017109550W WO2019071676A1 WO 2019071676 A1 WO2019071676 A1 WO 2019071676A1 CN 2017109550 W CN2017109550 W CN 2017109550W WO 2019071676 A1 WO2019071676 A1 WO 2019071676A1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
Definitions
- the invention belongs to the field of mechanical structure design of a flapping bionic aircraft, and relates to a flapping wing type open-close wing structure based on hybrid driving.
- Small unmanned aerial vehicles have the advantages of small size, light weight, flexible maneuverability, small space for take-off and landing, etc., and are widely used in military and civilian fields, such as monitoring, inspection, search and rescue, photography, enemy detection, electronic interference, and even active attack. Defense and so on.
- small unmanned aerial vehicles can be divided into: fixed wing, rotor and flapping wing aircraft.
- the flapping bionic aircraft is a new type of aircraft that mimics the flight of birds or insects. It belongs to the category of bionic robots and belongs to the category of aircraft. , involving cross-disciplinary knowledge across multiple disciplines.
- the object of the present invention is a flapping wing aircraft that mimics a flying bird.
- the flapping wing flight is the result of natural selection.
- the flying creatures in nature use the flapping wing to fly, which is very reasonable.
- Zhang Xingwei’s doctoral dissertation “Numerical Study on the Aerodynamic Characteristics of Bionic Floats of Harbin Institute of Technology” pointed out that in the low Reynolds coefficient environment of small unmanned aerial vehicles, compared with fixed wings and rotors, flapping wings have The advantages of maneuverability, flexibility, low energy consumption and good stealth are more suitable for long-distance flight without energy replenishment for a long time. Due to the advantages of the flapping wing aircraft, the research on the flapping wing aircraft has attracted the attention of scholars at home and abroad.
- the birds spread their wings and feathers, causing the wings to circulate air above and below the wing to reduce the air resistance encountered when the birds flapped.
- the opening and closing of the feathers during the flapping of the flying birds is achieved by the primary flying feathers and the secondary flying feathers.
- the wing structure used in the current flapping wing research does not simulate the opening and closing action of the flying feathers of the birds to effectively reduce the air resistance encountered during the flapping of the wing, thereby causing waste of energy and severely restricting the flapping.
- the flight efficiency of the wing aircraft does not simulate the opening and closing action of the flying feathers of the birds to effectively reduce the air resistance encountered during the flapping of the wing, thereby causing waste of energy and severely restricting the flapping.
- the present invention designs a fly-wing type wing-opening wing structure based on a hybrid drive based on the flight mechanism of the bird.
- the wing structure proposed by the invention effectively simulates the opening and closing action of the flying feathers during the flapping of the wings of the bird, and effectively reduces the encounter encountered during the flapping of the wing without affecting the lift generated during the flapping of the wing.
- the air resistance improves the flight efficiency of the flapping wing aircraft and solves the problem of low flight efficiency caused by the large air resistance during the flapping of the flapping wing aircraft in the current research.
- the "hybrid drive" in the present invention means that the opening and closing action of the flapping wing is simultaneously driven by the piston acting by the wing pressure and the blade group driven by the wind.
- a hybrid drive-based flapping wing open-close wing structure comprising a wing body and a primary flying feather blade group and a secondary flying feather blade group disposed on the same side of the wing body, the primary flying feather blade group and The secondary flying feather blade groups each include a plurality of spaced-apart fixed blades and moving blades, and the plurality of fixed blades are fixed on the wing body, and the plurality of moving blades can be driven along the driving structure. Moving the chute on the wing body;
- the driving structure comprises a power device, a transmission link I and a transmission link II, and the transmission link I and the transmission link II are both hinged with the moving blade;
- the power device is a piston and a wind driven blade group, the piston is mounted on a wing base of the wing body, a piston driven link connected to the piston is connected to a base, and the transmission link I and the The susceptor is connected; the wind driven blade group is located above the wing body and is connected to a driving shaft disposed at a center of the external meshing pinion;
- the piston power device drives the transmission link I, and the transmission link I and the transmission link II are respectively connected to the local internal gear and the partial external gear, the partial internal gear and the partial external gear are located at the primary flying feather.
- the power unit drives the transmission link I and the transmission link II in the longest stretch position, and the entire flying feather blade group constitutes the closed wing plane.
- the wind-driven fan blade group on the wing flaps in the counterclockwise direction (the plane on the wing overlooking the plane) under the action of the air resistance encountered on the wing, and drives the external meshing pinion along the direction.
- the clockwise direction (the plane under the wing is viewed from the top) is rotated; according to the gear meshing transmission law, the external meshing pinion
- the local internal gear and the partial external gear are driven, and then the local external gear and the local internal gear drive the transmission link I and the transmission link II respectively.
- the piston-driven connecting rod is gradually compressed under the pressure of the wing.
- the piston-driven connecting rod starts to drive the base, and the moving type of the secondary flying feather blade group fixed under the base
- the blade slides along the chute to the direction in which the external meshing pinion is located; during the sliding process, the transmission link I fixed under the moving blade of the secondary flying feather blade group drives the local internal gear transmission, and then partially
- the meshing gear, the external meshing pinion gear and the partial external meshing gear are engaged for meshing motion, and the transmission link II fixedly coupled to the partial external meshing gear is also driven in the direction of the external meshing pinion gear.
- the moving blades of the primary flying feather blade group are driven by the transmission link II to perform the blade opening movement, and the moving blades of the secondary flying feather blade group are driven by the transmission link I and the driving base.
- the blade opening movement is performed; the moving feather blade moving direction is along the direction of the external meshing pinion.
- the piston-driven connecting rod is gradually stretched by the wing.
- the piston-driven connecting rod starts to drive the driving base to move toward the wing base, and simultaneously drives the base to drive the secondary blade flying feather group.
- the moving blade moves along the direction of the body, and the transmission link I connected with the movable secondary feather blade group drives the local internal gear to move toward the body; the local internal gear drives the local external gear through the external meshing pinion In the direction of the body movement, the local external gears drive the moving primary feather blade group to move toward the body through the transmission link II; when the wing surface and the body side profile are in the direction of about 90°, the movable blade group and the fixed type
- the blade set forms a closed wing plane.
- the wing continues to flap down to the initial state of the wing.
- the wing body comprises a wing base, a wing vein and a wing membrane; the wing base is connected to the fuselage, the plurality of wing veins are connected to the wing base, and the wing membrane is laid between the plurality of wing veins to form a machine. Wing body.
- the wing vein includes a main wing vein forming a contour of the wing and a plurality of wing veins dividing the inside of the wing, wherein one of the wing veins I is substantially parallel with an edge of the main wing vein to form The space of the primary flying feather blade group and the secondary flying feather blade group is installed; the primary flying feather blade group and the secondary flying feather leaf group are separated by a branching vein II, and the driving shaft is mounted on the branching vein II.
- the wing vein I is provided with a chute at a corresponding position on the main wing vein on which the primary flying feather blade group and the secondary flying feather blade group are mounted.
- the effective width of the chute is equal to the sum of the thickness of the fixed and mobile feather blades.
- the fixed blades and the moving blades of the primary flying feather blade group and the secondary flying feather blade group have the same size and shape, and the moving blade width is slightly larger than the blank distance between the two fixed blades.
- the secondary flying feather blade group includes two fixed blades and two moving blades, and the moving blade is adjacent to the wing base, and then the fixed blade, the moving blade and the fixed are sequentially arranged along the wing. Blades; two moving blades are respectively connected to the transmission link I.
- the primary flying feather blade group includes two fixed blades and two moving blades, and the fixed blade is adjacent to the secondary flying feather blade group, and then the moving blade is fixed along the direction in which the wing is extended. Blades and moving blades; two moving blades are respectively connected to the transmission link II.
- the movement of the piston in the piston drive link in a single movement to the farthest position is synchronized with the movement of the drive base to the farthest position of the left end of the stationary secondary blade.
- the entire airfoil surface and the wing body connecting base have a slope ranging from 45° to 150°.
- the invention is based on the wing flapping characteristics of the flapping wing aircraft, and designs the above-mentioned mechanical structure to realize the automatic opening and closing action of the wing-moving flying feather blade and the fluttering up and down of the wing, thereby generating the lift without affecting the falling stroke process.
- the air resistance during the flapping process is effectively reduced; at the same time, part of the power of the wing-moving flying feather blade is from the rotation of the blade group driven by the air resistance on the wing, thereby Further improve energy utilization.
- Figure 1 is an isometric view of the initial "closed” state of the wing in the present invention (the hidden structure is shown in dashed lines).
- FIG. 2 is a schematic view showing the structure of the upper flap in the "closed” state of the wing in the present invention.
- Fig. 3 is a schematic view showing the structure of the lower surface of the wing in the "closed” state of the present invention.
- Figure 4 is an isometric view of the "open” state of the wing in the present invention (the hidden structure is shown in dashed lines).
- Fig. 5 is a schematic view showing the structure of the upper flap in the "open" state of the wing in the present invention.
- Fig. 6 is a schematic view showing the structure of the lower surface of the wing in the "open" state of the present invention.
- Figure 7 is a perspective view of a wind driven blade group in the present invention.
- Figure 8 is a schematic view of the opening and closing transmission module of the present invention.
- Figure 9 is a schematic view of a gear transmission module in the present invention.
- Figure 10 is a schematic view of a piston-driven connecting rod module and a piston-driven connecting rod axial drawing of the present invention (the hidden structure is shown by a broken line).
- Figure 11 is a schematic view showing the structure of the chute in the present invention.
- 5A, 5B-fixed secondary flying feather blade set 6A, 6B-mobile primary flying feather blade set;
- 11-piston driven connecting rod 12A, 12B-drive base
- wing base, wing vein, and fin membrane described in the present invention have no specific meaning and correspond to the main beam and the substrate of the conventional wing.
- the wing structure adopted in the current research on the flapping wing in the prior art does not simulate the opening and closing action of the flying feathers of the bird to effectively reduce the air resistance encountered during the flapping of the wing, thereby The waste of energy seriously restricts the flight efficiency of the flapping wing aircraft.
- the present invention proposes a hybrid-driven flapping wing opener-type wing structure.
- the wing structure proposed by the invention simulates the opening and closing action of the wings during the flapping process of the flying bird, without affecting the machine Under the condition of lift in the process of wing flapping, the air resistance encountered during the flapping process is effectively reduced, the flight efficiency of the flapping wing aircraft is improved, and the airborne flapping wing in the current research is solved due to the air.
- a hybrid-driven flapping wing aircraft opening and closing wing structure including wing base 1, wing vein 2A, 2B, 2C, 2D, 2E , wing film 3A, 3B, 3C, 3D, fixed primary flying feather blade group 4A, 4B, fixed secondary flying feather blade group 5A, 5B, mobile primary flying feather blade group 6A, 6B, mobile secondary flying Feather blade set 7A, 7B, primary fly feather chute set 8A, 8B, secondary fly feather chute set 9A, 9B, piston driven link 11, drive base 12A, 12B, wind driven fan blade set 10,
- the rotating shaft 19 the external meshing pinion 18, the partial external meshing gear 15, the partial internal meshing gear 16, the transmission link II14, the transmission link I17, and the fixed shanks 13A, 13B, 13C, 13D.
- the entire wing is connected to the fuselage through the wing base, and rotates around the fuselage with the wing vein 2A as an axis; the piston-driven connecting rod 11 and the wing base 1, and the movable secondary flying feather blade group 7A, 7B pass the driving base 12A 12B is connected and can be rotated around the driving bases 12A, 12B; the wind driven blade group 10 and the external meshing pinion 18 are connected by the rotating shaft 19; the fixed primary flying feather blade sets 4A, 4B and the fixed secondary flying The feather blade groups 5A, 5B are respectively fixed at the contact positions of the upper half of the chute chute group 8A, 8B and the second flying feather chute group 9A, 9B.
- the mobile primary flying feather blade group 6A, 6B and the mobile secondary flying feather blade group 7A, 7B are respectively installed in the primary flying feather chute group 8A, 8B, and the secondary flying feather chute group 9A, 9B lower half chute. Contact surface location.
- the transmission link II14 and the transmission link I17 are fixed to the movable primary feather blade group 6A, 6B and the mobile secondary feather blade group 7A, 7B by the fixed handles 13A, 13B, 13C, 13D, respectively; the partial external gear 15
- the local internal gear 16 is fixed to the transmission link II and the transmission link I, respectively; the partial external gear 15 and the partial internal gear 16 are geared by the external meshing pinion 18.
- the drive link I17 is connected to the drive base 12A, the drive base 12A is connected to the piston drive link 11, and the piston connected to the piston drive link 11 is mounted on the drive base 12B, the drive base 12B Connected to the wing base 1.
- the effective width of the primary fly feather chute group 8A, 8B chute is equal to the sum of the fixed and mobile primary feather blade thickness, and the effective width of the secondary fly feather chute group 9A, 9B chute is equal to the fixed and mobile times. The sum of the blade feathers of the class.
- the size and shape of the fixed primary flying feather blade group 4A, 4B and the mobile primary flying feather blade group 6A, The size and shape of the 6B blades are the same, and the blade width of the mobile primary feather blade group is slightly larger than the blank distance between the blades of the stationary primary feather blade group; the size of the blade of the mobile secondary feather blade group 7A, 7B
- the shape is the same as the shape of the fixed secondary feather blade group 5A, 5B, and the blade width of the mobile secondary feather blade group is slightly larger than the blank distance between the fixed secondary feather blade group.
- the rotating shaft 19 is mounted on the wing vein 2D; the wind driven blade group 10 located on the wing is connected to the rotating shaft 19, and the plane of the blade of the wind driven blade group 10 is inclined with respect to the wing surface of the wing, inclined The direction is in the clockwise direction, where "clockwise” refers to the direction of the surface of the wing; the effective meshing surface width of the outer meshing pinion 18 is equal to the meshing surface of the partial external gear 15 and the local internal gear 16 The sum of the widths, and the width of the meshing surface of the partial external gear and the local internal gear is equal, and the distance between the position of the partial external gear 15 and the surface of the wing is more than the distance between the position of the local internal gear 16 and the surface of the wing.
- the height of the effective rotating portion of the piston-driven connecting rod 11 (the rotating cylinder contacting the inner groove of the driving base 12A) is smaller than the distance between the inner grooves of the two handles of the driving base 12A.
- the entire airfoil surface and the wing fuselage connection base have a slope ranging from 45° to 150° (from the "open” to the “close” of the moving blade).
- the movement of the farthest position of the single movement of the piston in the piston-driven link 11 is synchronized with the movement of the drive base 12A to the farthest position of the left end of the stationary secondary blade 5B.
- the hour hand looks in the direction.
- the external meshing pinion drives the partial external meshing gear and the partial internal meshing gear transmission, and then the partial external meshing gear and the local internal meshing gear drive the transmission link II and the transmission link I respectively.
- the piston-driven connecting rod is gradually compressed under the pressure of the wing.
- the piston-driven connecting rod starts to drive the base 12A.
- the movable secondary feather blade group below the base 12A slides along the secondary feather chute outwardly engaging the pinion; during the sliding process, the transmission link fixed under the movable secondary feather blade group I drives the local internal gear transmission, and then the local internal gear, the external meshing pinion and the partial external gear make meshing motion, and the transmission link II fixed to the partial external meshing gear is also driven in the direction of the external meshing pinion.
- the mobile primary flying feather blade group is driven by the transmission link II to perform the blade opening movement
- the mobile secondary flying feather blade group is driven by the transmission connecting rod I and the driving base. Do the leaf opening movement.
- the moving feather blades are moving in the direction of the external meshing pinion.
- the piston-driven connecting rod is gradually stretched by the wing.
- the piston-driven connecting rod starts to drive the driving base to move toward the wing base, and at the same time drives the base to drive the moving secondary blade to fly.
- the feather group moves along the body direction, and the transmission link I connected with the movable secondary feather blade group moves the direction of the body by driving the local internal gear; the local internal gear drives the local external gear through the external meshing pinion In the direction of the body movement, the local external gears drive the moving primary feather blade group to move toward the body through the transmission link II; when the wing surface and the body side profile are in the direction of about 90°, the movable blade group and the fixed type
- the blade set forms a closed wing plane.
- the wing continues to flap down to the initial state of the wing.
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Claims (10)
- 一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,包括机翼本体和设置在机翼本体同一侧的初级飞羽叶片组和次级飞羽叶片组,所述的初级飞羽叶片组和次级飞羽叶片组各自包括多个间隔分布的固定叶片和移动叶片,多个所述的固定叶片固定在机翼本体上不动,多个所述的移动叶片在驱动结构驱动下可以沿着位于机翼本体上的滑槽移动;所述的驱动结构包括动力装置、传动连杆I和传动连杆II,所述的传动连杆I和传动连杆II分别与移动叶片铰接,所述的动力装置为活塞和风力驱动式扇叶组,所述的活塞安装在机翼本体的翅基上,与活塞连接的活塞驱动式连杆连接一个基座,且传动连杆I与该基座相连;所述的风力驱动式扇叶组位于机翼本体上方,且与设置在外啮合小齿轮中心的驱动轴连接;所述的活塞动力装置驱动传动连杆I,所述的传动连杆I、传动连杆II上分别连接局部内啮合齿轮和局部外啮合齿轮,局部内啮合齿轮和局部外啮合齿轮与位于初级飞羽叶片组、次级飞羽叶片组之间的外啮合小齿轮啮合。
- 如权利要求1所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的活塞安装在翅基上,与活塞连接的活塞驱动式连杆连接一个基座,且传动连杆I与该基座相连。
- 如权利要求1所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的机翼本体包括翅基、翅脉和翅膜;翅基用于与机身相连,多个翅脉与翅基相连,在多个翅脉之间铺设翅膜,形成机翼本体。
- 如权利要求3所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的翅脉包括形成机翼外型轮廓的主翅脉以及将机翼内部分割的支翅脉,其中一个支翅脉I与主翅脉的一条边基本上平行,形成安装初级飞羽叶片组和次级飞羽叶片组的空间;初级飞羽叶片组和次级飞羽叶组之间通过支翅脉II分隔,所述的驱动轴安装在支翅脉II上。
- 如权利要求4所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的支翅脉I与主翅脉上安装初级飞羽叶片组和次级飞羽叶片组的对应位置上设有滑槽。
- 如权利要求5所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的滑槽的有效宽度分别等于固定式及移动式飞羽叶片厚度之和。
- 如权利要求1所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,初级飞羽叶片组、次级飞羽叶片组各自的固定叶片和移动叶片的大小形状相同,且移动叶片宽度略大于两个固定叶片之间的空白距离。
- 如权利要求1所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于, 所述的次级飞羽叶片组包括两个固定叶片和两个移动叶片,与翅基紧邻的为移动叶片,然后沿着机翼外伸的方向依次是固定叶片、移动叶片和固定叶片;两个移动叶片分别与传动连杆I相连。
- 如权利要求1所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的初级飞羽叶片组包括两个固定叶片和两个移动叶片,与次级飞羽叶片组紧邻的为固定叶片,然后沿着机翼外伸的方向依次是移动叶片、固定叶片和移动叶片;两个移动叶片分别与传动连杆II相连。
- 如权利要求1所述的一种基于混合驱动的扑翼飞行器开合式机翼结构,其特征在于,所述的活塞驱动式连杆中活塞单次运动到最远位置的运动与驱动基座单次运动到固定式次级叶片左端最远位置的运动相同步;整个机翼面与翅膀机身连接基体所成斜度范围为45°-150°。
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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 |
CN112937853A (zh) * | 2021-03-10 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | 基于线驱动的扑翼机构 |
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CN111605704B (zh) * | 2020-06-08 | 2021-06-22 | 吉林大学 | 一种低噪音隐身仿生可折叠扑翼微飞行器 |
CN112078791B (zh) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学(深圳) | 扑翼飞行器 |
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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 |
CN112429224B (zh) * | 2020-11-30 | 2024-04-12 | 河海大学常州校区 | 一种扑翼飞行装置及扑翼机 |
CN112937853A (zh) * | 2021-03-10 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | 基于线驱动的扑翼机构 |
CN112937853B (zh) * | 2021-03-10 | 2024-01-23 | 常州龙源智能机器人科技有限公司 | 基于线驱动的扑翼机构 |
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