CN103569360B - Translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism - Google Patents
Translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism Download PDFInfo
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- CN103569360B CN103569360B CN201310603072.0A CN201310603072A CN103569360B CN 103569360 B CN103569360 B CN 103569360B CN 201310603072 A CN201310603072 A CN 201310603072A CN 103569360 B CN103569360 B CN 103569360B
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Abstract
The invention discloses a kind of translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism, comprise for driving leading edge to do the first straight line simple harmonic motion mechanism of upper and lower simple harmonic motion and for driving after wing along the second straight line simple harmonic motion mechanism that does upper and lower simple harmonic motion, after the simple harmonic motion up and down of leading edge and wing, the simple harmonic motion up and down on edge has phase difference between the two, to change the angle of attack of wing in the upper and lower translation of wing. According to translation flapping wing mechanism of the present invention, after leading edge and wing, upper and lower simple harmonic motion is done respectively on edge, the relative fuselage displacement of wing is over time closer to sine curve, move softer, and between the two, there is phase difference, therefore wing can change the angle of attack of wing in upper and lower translation, is adapted at using on large-scale flapping-wing aircraft.
Description
Technical field
The present invention relates to translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism.
Background technology
In international airline field, flapping-wing aircraft research is in recent years very active, and flapping-wing aircraft has worked out a lot of achievements, and the overwhelming majority is all pendulumThe flapping-wing aircraft of moving wing, industry generally believes, flapping-wing aircraft just has greatly using value to large-scale flapping-wing aircraft development. Because electronics calculatesDeveloping rapidly of the high-tech areas such as machine, advanced composite material (ACM), control technology, development flapping-wing aircraft has also had new basis, from now onHave much technological break-through, make the mankind be multiplied by controllable " Bird robot " and circle in the air safer, quicker, more energy-conservationly, needn'tRely on high screw and the jet power of energy consumption.
Domestic general employing four connecting rod flapping wing mechanisms, empennage control, has had the ornithopter flight of size as some pigeons. Add and takeThe flapping-wing aircraft of " large duck's foot " single driving of aeronautical research institute of large University of Toronto has completed short distance flight. " wise bird " of GermanyAdopt four connecting rod flapping wing mechanisms, the miniature anury flapping-wing aircraft of U.S. AeroVironment " hummingbird " finally adopts line traffic control flapping wing mechanism.When Ancient Chinese, carpenter's stay cord brill (another name " pulling brill ") is a kind of original line traffic control mechanism.
Four connecting rod flapping wing mechanisms of prior art and line traffic control flapping wing mechanism are all to swing flapping wing, only suitablely make micro-, small-sized flapping-wing aircraft,Be not suitable for using on large-scale flapping-wing aircraft, the glide attitude that swings in addition flapping wing is difficult to obtain.
Summary of the invention
The object of the present invention is to provide a kind of flapping wing that is applicable to the translation flapping wing mechanism of large-scale flapping-wing aircraft and there is translation flapping wing mechanismMachine, the present invention also aims to provide a kind of sailplane that uses translation flapping wing mechanism.
For this reason, the invention provides a kind of translation flapping wing mechanism, comprise for driving leading edge to do first of upper and lower simple harmonic motionStraight line simple harmonic motion mechanism and for driving after wing along the second straight line simple harmonic motion mechanism that does upper and lower simple harmonic motion, leading edgeSimple harmonic motion up and down and wing after the simple harmonic motion up and down on edge there is phase difference between the two, with in the upper and lower translation of wingChange the angle of attack of wing.
Further, above-mentioned the first straight line simple harmonic motion mechanism and the second straight line simple harmonic motion mechanism include: crank, and with the external worldEngine connect, eccentric wheel, can rotate freely and be set on crank; Planetary gears, comprises ring gear and with interiorThe planetary gear of gear ring engagement, wherein, ring gear is fixedly connected with extraneous fuselage, and planetary gear is synchronizeed rotationally with eccentric wheelConnect; And one group of connecting rod, one end of each connecting rod and eccentric wheel pivot joint, the other end and wing are hinged.
Further, above-mentioned eccentric quantity is two, is symmetricly set on the both sides of ring gear, wherein, and planetary gearsComprise two planetary gears that are set up in parallel in ring gear, each eccentric wheel is synchronizeed with a planetary gear rotationally and to be connected.
Further, between above-mentioned two planetary gears, be provided with auxiliary accentric support part, to roll and to coordinate with the inwall of ring gear.
Further, above-mentioned ring gear and planetary gear ratio are 2:1.
Further, the phase difference of the simple harmonic motion up and down on edge between the two after the simple harmonic motion up and down of above-mentioned leading edge and wingWithin the scope of 0～90 °, adjust.
Further, after above-mentioned wing, the simple harmonic motion up and down on edge lags behind 45 ° than the phase place of the simple harmonic motion up and down of leading edge～90°。
Further, after above-mentioned wing, the simple harmonic motion up and down on edge lags behind 90 ° than the phase place of the simple harmonic motion up and down of leading edge.
Further, above-mentioned leading edge is identical with the movement travel on edge after wing.
According to a further aspect in the invention, provide a kind of flapping-wing aircraft, comprised whole wing, fuselage and engine, wherein,Between whole wing and fuselage, by connecting according to translation flapping wing mechanism described above, and translation flapping wing mechanism is first straightLine simple harmonic motion mechanism is connected with motor driven with the second straight line simple harmonic motion mechanism.
The present invention also provides a kind of aerodone, comprises whole wing, fuselage and engine, wherein, and whole wing and machineBetween body, pass through to connect according to translation flapping wing mechanism described above, and the first straight line simple harmonic motion machine of translation flapping wing mechanismStructure is connected with motor driven with the second straight line simple harmonic motion mechanism.
According to translation flapping wing mechanism of the present invention, after leading edge and wing, upper and lower simple harmonic motion, the relative fuselage of wing are done respectively in edgeDisplacement, over time closer to sine curve, is moved softer, and between the two, has phase difference, therefore wingThe angle of attack that can change wing in upper and lower translation, is adapted on large-scale flapping-wing aircraft.
Except object described above, feature and advantage, other object, feature and advantage that the present invention has,Be described in further detail in connection with accompanying drawing.
Brief description of the drawings
Form the part of this description, show the preferred embodiments of the present invention for further understanding accompanying drawing of the present invention, andBe used for illustrating principle of the present invention together with description. In figure:
Fig. 1 is according to the structural representation of translation flapping wing mechanism of the present invention;
Fig. 2 is according to the structural representation of the crank assemblies of the straight line simple harmonic motion mechanism of translation flapping wing structure of the present invention; And
Fig. 3 is according to the structural representation of the crank assemblies of the straight line simple harmonic motion mechanism of translation flapping wing structure of the present invention, wherein,Eccentric block and planetary gear are installed on crank.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, but the present invention can be defined by the claims and coverMultitude of different ways implement.
The left and right wing of translation flapping-wing aircraft of the present invention connects together, as a whole high aspect ratio wing, it mainMotion mode is translation up and down, in addition, also has angle of attack variation, make to rise and under the lift flutterred unequal and an appearanceActing in state circulation.
Particularly, after leading edge and wing, edge drives by straight line simple harmonic motion mechanism, to do upper and lower simple harmonic motion, before wingAfter the simple harmonic motion up and down on edge and wing, the simple harmonic motion up and down on edge has phase difference between the two, same with in the upper and lower translation of wingTime change the angle of attack of wing.
Two cover straight line simple harmonic motion mechanisms are contained in fuselage, connect respectively forward position and the rear edge of rigid wing. Such translation flapping wingMachine arrangement is equivalent to the aerodone of a high aspect ratio, and wing has good gliding ability and steady flying quality when fixing, canTo hover in the ascending air of 4～5 metre per second (m/s)s. Because the amplitude of wing translation is subject to structural limitations, acting ability is more weak, goodGood gliding ability is essential, and for example glide ratio is more than 40.
Because the rigidity of wing is limited, spanwise has flutter. The single order flutter forcing of translation flapping wing contributes to flapping wing acting,Single order flutter has the effect of flapping wing of swing, but requires wing alternate stress in material usable range, increases in flutterring process under flutterAdd the angle of attack and lift, in flutter, flutter and in process, reduce the angle of attack and lift. Be understood that, common aerodone supports with wingAnd unsettled flight, and translation flapping-wing aircraft also will be on this supports " playing on a swing " and fly higher and higher.
Translation flapping wing mechanism of the present invention comprises for driving leading edge to do the first straight line simple harmonic motion mechanism of upper and lower simple harmonic motionWith for driving after wing along the second straight line simple harmonic motion mechanism that does upper and lower simple harmonic motion, after leading edge and wing, edge movesAfter the simple harmonic motion up and down of the identical and leading edge of stroke and wing, the simple harmonic motion up and down on edge has phase difference between the two, withIn the upper and lower translation of wing, change the angle of attack of wing. The relative fuselage displacement of wing of translation flapping wing mechanism over time moreClose to sine curve, this means that motion is softer.
Below in conjunction with Fig. 1 to Fig. 3, the straight line simple harmonic motion mechanism of translation flapping wing mechanism according to the present invention is elaborated.
In the present invention, utilized the uniform speed rotation of crank has been transformed out to the eccentric simple harmonic quantity rectilinear motion on planetary gearCharacteristic.
Fig. 1 to Fig. 3 is according to the structural representation of translation flapping wing mechanism of the present invention, as shown in Figure 1 to Figure 3, and the first straight lineSimple harmonic motion mechanism and the second straight line simple harmonic motion mechanism include: crank 10, be connected with extraneous engine, and eccentric wheel 20,Can rotate freely and be set on crank; Planetary gears 30, the planet that comprises ring gear 31 and engage with ring gear 31Gear 32, wherein, ring gear 31 is fixedly connected with extraneous fuselage, and planetary gear 32 is synchronizeed with eccentric wheel 20 rotationally and to be connected;And one group of connecting rod 40, one end of each connecting rod has the trepanning with eccentric wheel 20 pivot joints, and the other end and wing 60 are hinged.
Wherein, ring gear and planetary gear ratio are 2:1. After the simple harmonic motion up and down of leading edge and wing, edge is upper and lowerThe phase difference of simple harmonic motion between the two adjusted within the scope of 0～90 °. Preferably, after wing, wing is compared in the simple harmonic motion up and down on edgeThe phase place of the simple harmonic motion up and down in forward position lags behind 45～90 °. Further preferably, in normal flight process, after wing, edge is upperLower simple harmonic motion lags behind 90 ° than the phase place of the simple harmonic motion up and down of leading edge.
In the present embodiment, utilize the Planetary Gear Transmission that gear ratio is 1:2 that crank is rotatablely moved and is converted into straight line simple harmonic oscillation,With connecting rod, straight line simple harmonic oscillation is passed on wing again, make left and right wing parallel the fluttering of entirety (abbreviation is flopped). With overlapping phase in front and back twoThe straight line simple harmonic motion mechanism that potential difference is 90 ° can make the wing action of flopping make angle of attack variation simultaneously.
In the present embodiment, the straight line simple harmonic motion mechanism of above-mentioned ad hoc structure is called planet crank driving mechanism by the inventor.
Preferably, the quantity of eccentric wheel 20 is two, is symmetricly set on the both sides of ring gear 31, wherein, and planetary gearsComprise two planetary gears 32 that are set up in parallel in ring gear, each eccentric wheel is synchronizeed with a planetary gear rotationally and to be connected. AsThis has formed symmetrical configuration, makes the spring bearing 50 at crank two ends stressed evenly. Further, two planetary gears 32 itBetween be provided with auxiliary accentric support part 33, entirely to roll and to coordinate contiguously with the inwall of ring gear 31, can suppress the shake of ring gear.
Easily angle of attack amplitude and the phase place of flapping wing are controlled according to translation flapping wing mechanism of the present invention, for example phase difference can be usedWith toothed timing belt or the chain transmission of upper and lower two regulating wheels, change the position of regulating wheel, phase difference just changes. In addition, thisBright translation flapping wing mechanism is easily controlled flapping wing angle of attack amplitude, is adapted at using on large-scale flapping-wing aircraft.
In aerodone according to the present invention, the whole wing of aerodone is connected with translation flapping wing mechanism with fuselage, and aerodone glidesTime, drive whole wing to do parallelly flutter up and down and coordinate the change angle of attack, power, by wing work done, makes aerodone on not havingRising in the situation of air-flow also can follow-on mission or fly height. Require the motion of translation flapping wing mechanism soft, efficiency is high.
Translation flapping wing mechanism of the present invention is to analyze various flapping wing modes (for example four connecting rod flapping wing mechanisms and line traffic control flapping wing mechanism)Function and the inspiration that happens suddenly when efficiency create. Translation flapping wing mechanism drives whole wing with planetary linear reciprocating motionUpper and lower parallel motion. Compared with swinging flapping wing, the displacement of parallel motion up and down of translation flapping wing is little, frequency is high, and efficiency is also high.
Below the course of work of the translation flapping-wing aircraft that uses translation flapping wing mechanism is described.
First use the lag behind straight line simple harmonic motion mechanism of 45～90 ° of phase place to drive edge after wing, upper due to leading edge and rear edgeLower motion has phase difference, and wing will elevating movement and moved up and down. In the time that the angle of attack is large, lift is large, and complete machine has overweight sense, machineWing large area is down flutterred, and body center of gravity potential energy increases, and engine work done forwards eccentric wheel topmost to; When the angle of attack hour, liftLittle, complete machine has weightless sense, and wing large area is up lifted, body center of gravity decrease of potential energy, and airfoil lift work done is moved eccentric wheel toLower end, engine flywheel accelerates, and reclaims energy reserve for the next flapping wing cycle. Due to eccentric wheel on body axis system upThe power of walking is large, and the power of walking downward is little, so engine (or motor) is made net work a flapping wing cycle, makes flapping-wing aircraftPotential energy and kinetic energy increase. But flapping-wing aircraft is as an aerodone on the other hand, its potential energy (highly) is running off and (is pressing continuouslyGlide ratio). Engine (or motor) is made net work a flapping wing cycle, makes up the losses of potential energy of flapping-wing aircraft, or flies moreHigh.
It should be noted that relative wind that the speed of fluttering of wing causes is to the just in time leading displacement of the angle of attack variation phase place of wing90 °. Now a lot of simple flapping-wing aircrafts mechanically do not drive edge after wing, but after wing along tying up on fuselage, be enough to productGive birth to the large lift of flutterring and the little lift raising up. Will mechanically drive edge after wing but improve flapping wing performance, by front and back along shakingMoving phase difference is adjusted between 0～90 °, as small bird, can significantly turn wing, flexible.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art, the present invention can have various modifications and variations. Within the spirit and principles in the present invention all, any amendment of doing, etc.With replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a translation flapping wing mechanism, comprise for drive leading edge do upper and lower simple harmonic motion the first straight line simple harmonic motion mechanism andFor driving after wing along the second straight line simple harmonic motion mechanism that does upper and lower simple harmonic motion, described leading edge and described wingThe simple harmonic motion up and down on edge after the simple harmonic motion up and down of the identical and described leading edge of the movement travel on edge and described wing afterwardsBetween the two, there is phase difference, to change the angle of attack of wing in the upper and lower translation of wing;
Described the first straight line simple harmonic motion mechanism and described the second straight line simple harmonic motion mechanism include:
Crank, is connected with extraneous engine,
Eccentric wheel, can rotate freely and be set on described crank;
Planetary gears, the planetary gear that comprises ring gear and engage with ring gear, wherein, described ring gear is with extraneousFuselage be fixedly connected with, described planetary gear is synchronizeed with described eccentric wheel rotationally and to be connected; And
One group of connecting rod, one end of each described connecting rod and described eccentric wheel pivot joint, the other end and described wing are hinged.
2. translation flapping wing mechanism according to claim 1, is characterized in that, described eccentric quantity is two, and symmetry is establishedPut the both sides at described ring gear, wherein, described planetary gears comprises two that are set up in parallel in described ring gearDescribed planetary gear, each described eccentric wheel is synchronizeed with a described planetary gear rotationally and to be connected.
3. translation flapping wing mechanism according to claim 2, is characterized in that, is provided with partially auxiliary between two described planetary gearsHeart support member, to roll and to coordinate with the inwall of described ring gear.
4. translation flapping wing mechanism according to claim 1, is characterized in that, described ring gear and planetary gear ratio are 2:1。
5. translation flapping wing mechanism according to claim 1, is characterized in that, the simple harmonic motion up and down of described leading edge and instituteThe phase difference of the simple harmonic motion up and down of stating edge after wing between the two adjusted within the scope of 0～90 °.
6. translation flapping wing mechanism according to claim 5, is characterized in that, after described wing, institute is compared in the simple harmonic motion up and down on edgeThe phase place of stating the simple harmonic motion up and down of leading edge lags behind 45 °～90 °.
7. translation flapping wing mechanism according to claim 1, is characterized in that, after described wing, institute is compared in the simple harmonic motion up and down on edgeThe phase place of stating the simple harmonic motion up and down of leading edge lags behind 90 °.
8. a flapping-wing aircraft, comprises whole wing, fuselage and engine, it is characterized in that, described whole wing and fuselage itBetween by connecting according to translation flapping wing mechanism described in any one in claim 1-7, and described translation flapping wing mechanism theOne straight line simple harmonic motion mechanism is connected with motor driven with the second straight line simple harmonic motion mechanism.
9. an aerodone, comprises whole wing, fuselage and engine, it is characterized in that, described whole wing and fuselage itBetween by connecting according to translation flapping wing mechanism described in any one in claim 1-7, and described translation flapping wing mechanism theOne straight line simple harmonic motion mechanism is connected with motor driven with the second straight line simple harmonic motion mechanism.
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| CN201310603072.0A CN103569360B (en) | 2013-11-25 | 2013-11-25 | Translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism |
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| CN201310603072.0A CN103569360B (en) | 2013-11-25 | 2013-11-25 | Translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism |
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| CN103569360B true CN103569360B (en) | 2016-05-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260877A (en) * | 2014-09-22 | 2015-01-07 | 任孝忠 | Valve-type paddle mechanism |
| CN104477386B (en) * | 2014-12-15 | 2016-08-03 | 佛山市神风航空科技有限公司 | A kind of single-shot double rocking lever is flat claps class flapping wing aircraft |
| CN104648670B (en) * | 2015-01-29 | 2017-02-22 | 王金海 | Flapping-wing aircraft with eccentric wheels for pushing and pulling sliding boxes to do reciprocating linear motion to enable wing membranes to float |
| CN109178303A (en) * | 2018-09-05 | 2019-01-11 | 重庆大学 | A kind of eccentric wheel reciprocating structure and the united flapping wing mechanism of gear set |
| CN113386958B (en) * | 2021-06-15 | 2024-01-09 | 东北大学 | Phase-changing double-flapping-wing mechanism and micro air vehicle |
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| SU1121182A1 (en) * | 1978-12-27 | 1984-10-30 | Bogomolov Nikolaj | Ornithopter wing drive |
| US4793573A (en) * | 1987-06-12 | 1988-12-27 | Kelfer James W | Figure eight wing drive |
| CN101883719A (en) * | 2007-09-20 | 2010-11-10 | 巴黎第十一大学 | Flying device with flapping wings |
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| CN103387053A (en) * | 2012-05-09 | 2013-11-13 | 刘鑫 | Ornithopter |
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2013
- 2013-11-25 CN CN201310603072.0A patent/CN103569360B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1121182A1 (en) * | 1978-12-27 | 1984-10-30 | Bogomolov Nikolaj | Ornithopter wing drive |
| US4793573A (en) * | 1987-06-12 | 1988-12-27 | Kelfer James W | Figure eight wing drive |
| CN101883719A (en) * | 2007-09-20 | 2010-11-10 | 巴黎第十一大学 | Flying device with flapping wings |
| CN103387053A (en) * | 2012-05-09 | 2013-11-13 | 刘鑫 | Ornithopter |
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
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Address after: 412002 Dong Jiaduan, Zhuzhou, Hunan Patentee after: China Hangfa South Industrial Co. Ltd. Address before: 412002 Dong Jiaduan, Zhuzhou, Hunan Patentee before: China Southern Airlines Industry (Group) Co., Ltd. |
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