CN206031778U - Wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions - Google Patents
Wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions Download PDFInfo
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- CN206031778U CN206031778U CN201620746151.6U CN201620746151U CN206031778U CN 206031778 U CN206031778 U CN 206031778U CN 201620746151 U CN201620746151 U CN 201620746151U CN 206031778 U CN206031778 U CN 206031778U
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- empennage
- connecting rod
- gear
- limit connecting
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Abstract
The utility model relates to a wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions belongs to miniature flapping wing aircraft field. Torsional device, fin, fuselage direct current motor, fin bracing piece and the electronic control module of fluttering installs on the frame is personally experienced sth. Part of the body, and the wing is connected on twising reverse the panel, and the regulation turns to the rotor to be connected on fan motor, and fin drive mechanism connects on the fin bracing piece, and fixed fin supporting bar structure passes through the screw and is in the same place fin bracing piece and fin fixed connection. The advantage is novel structure, has simplified the project organization, easily realizes the miniaturation. Make the flapping wing aircraft and only produce about the aircraft of fluttering compare and produce the bigger power that raises under the same condition of frequency fluttering, very big improvement miniature flapping wing aircraft flight performance, aircraft flight is nimble, has improved the aerodynamic characteristic, flight efficiency is high, and is small, light in weight, the practicality is stronger, can realize the functions of flying more.
Description
Technical field
This utility model is related to a kind of micro flapping wing air vehicle field, can reverse more particularly, to a kind of wing and can be real
The existing micro flapping wing air vehicle of many flight functions.
Background technology
Used as a kind of new flying robot of imitative birds, it has lightweight, small volume, flight to micro flapping wing air vehicle
Flexibly, the advantages of efficiency high, and more complicated active flight can also be realized.Flapping wing aircraft is fanned by double-vane in flight course
It is dynamic to be flown, to compare with fixed-wing with rotary-wing aircraft, flapping wing aircraft has little, the good machine in the place of occupancy of taking off
Dynamic performance, can realize hovering and capacity usage ratio it is high the features such as.Mesh can be carried out with minute vehicle in military field at present
Mark investigation, accurate transmission information, using its it is disguised strong the characteristics of reach surprise attack purpose, its communication function can also be utilized
Realize the purpose of interference signal.In civil area, after can be used to disaster, survivor is searched；The dynamic without dead angle can also be realized
Urban transportation is monitored；Aeroplane photography can also be realized.
In existing flapping wing aircraft, its wing flutters mode mainly based on fluttering up and down, although some flapping wings
Aircraft flight effect can reach expected purpose, but flexibility ratio is relatively low, and capacity usage ratio is low.And real birds are flying
During row, their wing is not exclusively simple to flutter up and down, but and increased twist motion.Also there is document to prove, fly
Device in flight, flutter up and down and in addition twist motion by wing, and flight effect is more preferably, in hgher efficiency, but all exist complex structure,
It is difficult to realize the problem of miniaturization.
The content of the invention
This utility model provides a kind of wing and can reverse and can realize the micro flapping wing air vehicle of many sporting flyings, to solve
The realization that certainly micro flapping wing air vehicle is present at present is reversed design structure complexity when fluttering, is difficult to realize miniaturization issues.
This utility model is adopted the technical scheme that：Flutter twist mechanism, empennage, fuselage direct current generator, empennage support bar
It is arranged on Rack Body with electronic control module, wing is connected on torsion panel, adjusts steering rotor and be connected to fan electromotor
On, empennage drive mechanism is connected on empennage support bar, and fixed empennage supporting bar structure is by screw empennage support bar and tail
The wing is fixed together.
Twist mechanism of fluttering described in the utility model is made up of right side motion structure and left side motion structure, and both
Structure is identical, and the left gear of the right gear and left side motion structure of right side motion structure engages connection, little gear one and left gear
Engagement connects, and wherein right side motion structure is：One end of right gear bending axis is fixed on the center of right gear, and bottom right is oriented to square
Shape block is fixed to the other end of right gear bending axis；Right torsion panel is clipped in bottom right guiding rectangular block, upper right and is oriented to rectangular block
Centre, screw are fixed on bottom right and are oriented on rectangular block through the hole on upper right guiding rectangular block, right torsion panel, and right limit connects
One end of bar one is hinged with right torsion panel, and center of the right limit connecting rod one by screw with two one end of right limit connecting rod is cut with scissors
Connect, the other end and one end of right limit connecting rod three of right limit connecting rod two are hinged, the nose bar energy of the other end of right limit connecting rod three
Enough long recess rotations and movement in right limit connecting rod four, right limit connecting rod four are fixed on Rack Body.
The structure of empennage drive mechanism described in the utility model is：Little gear two is connected on empennage direct current generator, connection
Adjust turn to rotor fan electromotor be arranged on teeth-missing gear center, and fan electromotor axis direction it is parallel sensing flight
Device dead astern, one end of bar one are equipped with limited block one, and one end of bar two is equipped with limited block two, on limited block one and teeth-missing gear
Highlight bar one fits；Limited block two is fitted with the highlight bar two on teeth-missing gear, is cased with spring respectively on bar one and bar two
One with spring two, one end of spring one is contacted with the limited block on bar one, the other end is contacted with empennage support bar, and spring one has
Pre compressed magnitude；One end of spring two is contacted with the limited block on bar two, the other end is contacted with empennage support bar, and spring two has pre-
Decrement；Bar one is connected through the hole on empennage support bar with block one, and bar two is through the hole on empennage support bar and block
Two are connected；For teeth-missing gear, hypodontia part accounts for the engagement place of the 1/3 of whole circumference part, toothed portion and little gear two
In the middle of toothed portion.
The utility model has the advantages that structure is novel, design structure is simplified, it is easy to accomplish miniaturization.Flapping wing mechanism can be with
Change the mounting inclination angle degree for reversing panel, flutter angle and windup-degree can be changed, the symmetrical structure of the mechanism, because
This flutters good symmetry, in-flight has good stability in flapping wing aircraft, and the size of torsion angle exists with wing
Middle location of fluttering up and down and be varied from, imitated the flight of birds well.Twist motion is mainly by guiding module
Block and spacing connecting rod two parts are combined and realize, empennage mechanism part is rotated by gear, small fan is moved to towards left, court
Afterwards, direction upward, then adjust small fan rotating, it is easy to accomplish accelerate flight, hovering or vertically rise, the flight that has a down dip,
Pullover flight, right-hand bend, left-hand bend sporting flying, the flare maneuver that flapping wing aircraft is realized are more comprehensive, and Stability Analysis of Structures, and
In flapping wing aircraft takeoff phase, it is possible to achieve non helping hand takes off, fluttering up and down for wing adds twist motion fly can flapping wing
Row device produces the bigger power that raises compared with the aircraft fluttered up and down is only produced in the case of frequency identical of fluttering, greatly
Micro flapping wing air vehicle flying quality is improved, aircraft flight flexibly, improves aerodynamic characteristic, and flight efficiency is high, small volume,
Lightweight, practicality is higher, can realize more flight functions.
Description of the drawings
Fig. 1 a are structural representations of the present utility model；
Fig. 1 b are upward views of the present utility model；
Fig. 2 is the upward view of this utility model torque drive mechanism；
Fig. 3 is the top view of this utility model torque drive mechanism；
Fig. 4 is the enlarged drawing in Fig. 3 at A；
Fig. 5 is the structure chart of this utility model right limit connecting rod 1；
Fig. 6 is the structure chart of this utility model right limit connecting rod 2 309；
Fig. 7 is the structure chart of this utility model right limit connecting rod 3 310；
Fig. 8 is the structure chart of this utility model empennage support bar 7；
Fig. 9 a are the front views of this utility model empennage drive mechanism；
Fig. 9 b are the rearviews of this utility model empennage drive mechanism；
In figure：Rack Body 1, wing 2, twist mechanism 3 of fluttering, little gear 1, right gear 302, left gear 303, right tooth
Wheel bending axis 304, bottom right are oriented to rectangular block 305, right torsion panel 306, upper right and are oriented to rectangular block 307, right limit connecting rod one
308th, right limit connecting rod 2 309, right limit connecting rod 3 310, right limit connecting rod 4 311, empennage 4, regulation turn to rotor 5, empennage
Drive mechanism 6, little gear 2 601, teeth-missing gear 602, bar 1, bar 2 604, spring 1, spring 2 606, empennage are straight
Stream motor 607, fan electromotor 608, empennage support bar 7, fixed empennage supporting bar structure 8, fuselage direct current generator 9, Electronic Control
Module 10.
Specific embodiment
Twist mechanism 3, empennage 4, fuselage direct current generator 9, empennage support bar 7 and electronic control module 10 flutter installed in machine
On support body 1, wing 2 is connected on torsion panel 306, is adjusted steering rotor 5 and is connected on fan electromotor 608, empennage driver
Structure 6 is connected on empennage support bar 7, and fixed empennage supporting bar structure 8 is by screw empennage support bar 7 and 4 company of fixation of empennage
It is connected together, to play a supporting role.
The twist mechanism 3 of fluttering is made up of right side motion structure and left side motion structure, and both structures are identical,
The engagement connection of left gear 303 of the right gear 302 and left side motion structure of right side motion structure, little gear 1 and left gear
303 engagements connect, and wherein right side motion structure is：One end of right gear bending axis 304 is fixed on the center of right gear 302,
Bottom right is oriented to the other end that rectangular block 305 is fixed to right gear bending axis 304；Right torsion panel 306 is clipped in bottom right and is oriented to rectangle
Block 305, upper right is oriented to the centre of rectangular block 307, and screw is through the hole on upper right guiding rectangular block 307, right torsion panel 306
It is fixed on bottom right to be oriented on rectangular block 305, one end of right limit connecting rod 1 is hinged with right torsion panel 306, right limit connecting rod
One 308 centers by screw with 2 309 one end of right limit connecting rod are hinged, the other end of right limit connecting rod 2 309 and right limit
One end of position connecting rod 3 310 is hinged, and the nose bar of the other end of right limit connecting rod 3 310 can be in the length of right limit connecting rod 4 311
Groove rotates and mobile, and right limit connecting rod 4 311 is fixed on Rack Body 1.
The structure of the empennage drive mechanism 6 is：Little gear 2 601 is connected on empennage direct current generator 607, and connection is adjusted
The fan electromotor 608 for turning to rotor 5 is arranged on 602 center of teeth-missing gear, and the parallel finger of axis direction of fan electromotor 608
To aircraft dead astern, one end of bar 1 is equipped with limited block 1, and one end of bar 2 604 is equipped with limited block 2 60401,
Limited block 1 is fitted with the highlight bar 1 on teeth-missing gear 602；Limited block 2 60401 and teeth-missing gear 602
On highlight bar 2 60202 fit, be cased with spring 1 and spring 2 606, spring one respectively on bar 1 and bar 2 604
605 one end is contacted with the limited block 60301 on bar 1, the other end is contacted with empennage support bar 7, and spring one has precompressed
Contracting amount；One end of spring 2 606 is contacted with the limited block 60401 on bar 2 604, the other end is contacted with empennage support bar 7, and bullet
Spring two has pre compressed magnitude；Bar 1 is connected through the hole on empennage support bar 7 with block 1, and bar 2 604 passes through tail
Hole on wing support bar 7 is connected with block 2 60402；For teeth-missing gear 602, hypodontia part accounts for the 1/ of whole circumference part
3, the middle of the engagement place of toothed portion and little gear 2 601 in toothed portion, spring 1 are pre- with spring 2 606
Decrement make the two ends of the limited block 1, block 2 60302 and bar 2 604 at one 603 two ends of bar limited block 2 60401,
Block 2 60402 closely with teeth-missing gear 602 on highlight bar 1, highlight bar 2 60202 and empennage support bar 7 it is tight
Closely connected conjunction.
Operation principle：
1. in coilable wing part：The signal that electronic control module 12 sends makes the work of fuselage direct current generator 9, from
And driving little gear 1 to rotate forward, left gear 303 also follows little gear 1 to rotate with right gear 302.Due to right tooth
Wheel bending axis 304, bottom right are oriented to rectangular block 305, upper right guiding rectangular block 307 and connect together, therefore right gear 302, right tooth
Wheel bending axis 304, bottom right are oriented to rectangular block 305, upper right and are oriented to central axis rotation of the rectangular block 307 around right gear 302, together
When, right limit connecting rod 1 is rotated with one 308 junction of right limit connecting rod around right torsion panel 306, and right limit
Connecting rod 1 is rotated with 2 309 junction of right limit connecting rod around right limit connecting rod 1, right limit connecting rod 2 309
Rotate with 3 310 junction of right limit connecting rod around spacing connecting rod 2 309, the nose bar of right limit connecting rod 3 310 is on the right side
Rotation and movement in the long recess of spacing connecting rod 4 311, due to right limit connecting rod 1, right limit connecting rod 2 309, right limit
The position-limiting action of connecting rod 3 310, right limit connecting rod 4 311, right torsion panel 306 can only be oriented to rectangular block 305, the right side with bottom right
The upper junction for being oriented to rectangular block 307 is done, and is connected to the right wing 2 reversed on panel 306 and follows
Right torsion panel 306 does identical motion.The motion of left side mechanism is identical with the motion of right side mechanism.
2. in empennage portion：（1）When empennage direct current generator 607 does not turn, when 1. fan electromotor 608 is rotated forward, adjust and turn to rotation
The wing 5 produces thrust backward, can realize the acceleration flight of aircraft；2., when fan electromotor 608 is inverted, adjust and turn to rotor 5
Pulling force backward is produced, the rotating speed for turning to rotor 5 is adjusted by electronic control module 12, is made regulation turn to rotor 5 and is produced
Rearward pulling force it is equal to back pressure with what aircraft wing was produced, and aircraft wing produced lift upwards and thought highly of with flight
Amount is equal, and aircraft can be enable to hover；The rearward pulling force for turning to the generation of rotor 5 is adjusted with the generation of aircraft wing to pusher
Power is equal, and the lift that aircraft wing is produced upwards is more than aircraft weight, and aircraft can be enable vertically to increase.（2）When
Empennage direct current generator 607 is rotated forward, and teeth-missing gear 602 turns clockwise, when little gear 2 601 has turned over gear and teeth-missing gear
602 hypodontia part contact, meanwhile, bar 2 604 is compressed to left movement, spring 605, and at this moment fan electromotor 608 is in vertical
Straight downward position, then empennage direct current generator 607 stop the rotation, when 1. fan electromotor 608 is rotated forward, adjust and turn to rotor 5 and produce
The downward thrust of life, can realize the flight that has a down dip of aircraft；2. fan electromotor 608 invert when, adjust turn to rotor 5 produce to
On thrust, the pullover flight of aircraft can be realized.Realization has a down dip after flight or pullover flight, stops electronic control module 12
Note signal is sent out, then bar 2 604 is moved right by 2 606 elastic force of spring, so as to promote teeth-missing gear 602 to invert, is returned to static
Position.（3）When empennage direct current generator 607 is inverted, 602 rotate counterclockwise of teeth-missing gear, when little gear 2 601 and teeth-missing gear
602 hypodontia part contact, meanwhile, bar 1 is compressed to left movement, spring 1, and at this moment fan electromotor 608 is in
Level position to the left, then empennage direct current generator 607 stop the rotation, 1. fan electromotor 608 rotate forward when, adjust turn to rotor 5
Thrust to the left is produced, the right-hand bend of aircraft can be realized；2. fan electromotor 608 invert when, adjust turn to rotor 5 produce to
Right thrust, can realize the left-hand bend of aircraft.After realizing turning right or turning left, stop 12 note letters of electronic control module
Number, then bar 1 is moved right by one 605 elastic force of spring, so as to promote teeth-missing gear 602 to invert, returns to resting position.
3. in circuit control aspect：Power supply adopts 3.7V lithium battery power supplies, drives fuselage straight by electronic control module 10
Stream motor 9, empennage direct current generator 607, fan electromotor 608 work, and electronic control module includes wireless receiving module, Motor drive
Module.
Claims (1)
1. a kind of wing can be reversed and can realize the micro flapping wing air vehicle of many sporting flyings, it is characterised in that：Flutter torsion
Mechanism, empennage, fuselage direct current generator, empennage support bar and electronic control module are arranged on Rack Body, and wing is connected to torsion
On panel, adjust steering rotor and be connected on fan electromotor, empennage drive mechanism is connected on empennage support bar, fixed empennage
Pole structure is fixed together empennage support bar and empennage by screw；
The twist mechanism of fluttering is made up of right side motion structure and left side motion structure, and both structures are identical, right side
The left gear engagement connection of the right gear and left side motion structure of motion structure, little gear one are connected with left gear engagement, wherein
Right side motion structure be：One end of right gear bending axis is fixed on the center of right gear, and bottom right is oriented to rectangular block and is fixed to the right side
The other end of tooth bending axle；The right panel that reverses is clipped in the centre that bottom right guiding rectangular block, upper right are oriented to rectangular block, and screw is passed through
Upper right be oriented to rectangular block, the hole on right torsion panel and be fixed on bottom right and be oriented on rectangular block, one end of right limit connecting rod one with
Right torsion panel is hinged, and center of the right limit connecting rod one by screw with two one end of right limit connecting rod is hinged, right limit connecting rod
Two other end is hinged with one end of right limit connecting rod three, and the nose bar of the other end of right limit connecting rod three can be in right limit connecting rod
Four long recess rotation and movement, right limit connecting rod four are fixed on Rack Body；
The structure of the empennage drive mechanism is：Little gear two is connected on empennage direct current generator, and connection is adjusted and turns to rotor
Fan electromotor is arranged on teeth-missing gear center, and the parallel sensing aircraft dead astern of axis direction of fan electromotor, bar one
One end limited block one is housed, one end of bar two is equipped with limited block two, and limited block one is affixed with the highlight bar one on teeth-missing gear
Close；Limited block two is fitted with the highlight bar two on teeth-missing gear, is cased with spring one and spring two, bullet respectively on bar one and bar two
One end of spring one is contacted with the limited block on bar one, the other end is contacted with empennage support bar, and spring one has pre compressed magnitude；Spring
Two one end is contacted with the limited block on bar two, the other end is contacted with empennage support bar, and spring two has pre compressed magnitude；Bar one is worn
The hole crossed on empennage support bar is connected with block one, and bar two is connected through the hole on empennage support bar with block two；For
Teeth-missing gear, hypodontia part account for the 1/3 of whole circumference part, and toothed portion is in toothed portion with the engagement place of little gear two
Middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620746151.6U CN206031778U (en) | 2016-07-15 | 2016-07-15 | Wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620746151.6U CN206031778U (en) | 2016-07-15 | 2016-07-15 | Wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206031778U true CN206031778U (en) | 2017-03-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620746151.6U Withdrawn - After Issue CN206031778U (en) | 2016-07-15 | 2016-07-15 | Wing can twist reverse and can realize miniature flapping wing aircraft of many flight motions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206031778U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143903A (en) * | 2016-07-15 | 2016-11-23 | 吉林大学 | A kind of wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings |
| CN106828923A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly flapping wing and rotating mechanism |
| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN108298075A (en) * | 2018-02-02 | 2018-07-20 | 南昌航空大学 | The flapping wing aircraft and its control mode that can be hovered |
| CN110104173A (en) * | 2019-05-14 | 2019-08-09 | 吉林大学 | One kind plunderring torsional mode three-freedom miniature flapping wing aircraft |
| CN110171567A (en) * | 2019-05-14 | 2019-08-27 | 吉林大学 | A kind of passive torsion swipe three-freedom miniature flapping wing aircraft |
| CN111348184A (en) * | 2020-03-19 | 2020-06-30 | 山东大学 | Flapping wing structure and aircraft |
| CN113002772A (en) * | 2021-03-26 | 2021-06-22 | 吉林大学 | Flapping-folding integrated bat-like flapping wing aircraft |
| CN118163945A (en) * | 2024-05-14 | 2024-06-11 | 吉林大学 | Variable flapping wing aircraft with curved space cam control double-wing flapping |
-
2016
- 2016-07-15 CN CN201620746151.6U patent/CN206031778U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143903A (en) * | 2016-07-15 | 2016-11-23 | 吉林大学 | A kind of wing can reverse and be capable of the micro flapping wing air vehicle of many sporting flyings |
| CN106828923A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly flapping wing and rotating mechanism |
| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN108298075A (en) * | 2018-02-02 | 2018-07-20 | 南昌航空大学 | The flapping wing aircraft and its control mode that can be hovered |
| CN108298075B (en) * | 2018-02-02 | 2021-01-05 | 南昌航空大学 | Flapping wing aircraft capable of hovering and control method thereof |
| CN110171567B (en) * | 2019-05-14 | 2022-05-27 | 吉林大学 | Passive torsion sweep type three-degree-of-freedom micro flapping wing aircraft |
| CN110104173A (en) * | 2019-05-14 | 2019-08-09 | 吉林大学 | One kind plunderring torsional mode three-freedom miniature flapping wing aircraft |
| CN110171567A (en) * | 2019-05-14 | 2019-08-27 | 吉林大学 | A kind of passive torsion swipe three-freedom miniature flapping wing aircraft |
| CN110104173B (en) * | 2019-05-14 | 2022-05-27 | 吉林大学 | Sweep and twist three-degree-of-freedom micro flapping wing aircraft |
| CN111348184A (en) * | 2020-03-19 | 2020-06-30 | 山东大学 | Flapping wing structure and aircraft |
| CN111348184B (en) * | 2020-03-19 | 2021-07-09 | 山东大学 | Flapping wing structure and aircraft |
| CN113002772A (en) * | 2021-03-26 | 2021-06-22 | 吉林大学 | Flapping-folding integrated bat-like flapping wing aircraft |
| CN118163945A (en) * | 2024-05-14 | 2024-06-11 | 吉林大学 | Variable flapping wing aircraft with curved space cam control double-wing flapping |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170322 Effective date of abandoning: 20180316 |