CN103991547A - Small ornithopter - Google Patents
Small ornithopter Download PDFInfo
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- CN103991547A CN103991547A CN201410234289.3A CN201410234289A CN103991547A CN 103991547 A CN103991547 A CN 103991547A CN 201410234289 A CN201410234289 A CN 201410234289A CN 103991547 A CN103991547 A CN 103991547A
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- rotation arm
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Abstract
The invention provides a small ornithopter, belonging to the technical field of air vehicles. The ornithopter comprises a body, an undercarriage, an energy system, a control system, a left rotary flapping wing and a right rotary flapping wing, wherein the body is in a frame structure and adopts carbon fiber composites; the energy system comprises a motor, a lithium battery, a reduction gear set and a speed adjusting device; the lithium battery is convenient to charge; the control system comprises a wireless remote control transmitter, a receiver and a steering engine; the left and right rotary flapping wings have the same structure and are arranged on the left and right sides of the body in an axisymmetric manner; the left rotary flapping wing comprises a left rotary arm, a left rotary arm shaft, a left wing shaft, a left vane, a left guide rod and a left guider; the right rotary flapping wing comprises a right rotary arm, a right rotary arm shaft, a right wing shaft, a right vane, a right guide rod and a right guider. The ornithopter can ascend and descend vertically and hover. With shooting equipment, the ornithopter can be used in various tasks such as air photography, geographic survey, traffic duty, military surveillance, rescue and relief work and the like.
Description
Technical field
A kind of small-sized class flapping wing aircraft, belongs to vehicle technology field, relates in particular to a kind of rotary flapping wing aircraft.
Background technology
The lift unit that tradition flapping wing aircraft adopts is traditional flapping wing mechanism, driven by crankshaft-link rod, the flapping wing generation thrust of fluttering up and down, efficiency is lower, complex structure, has relatively high expectations to the strength at repeated alternation of flapping wing, and flapping wing adopts flexible, the raw very large thrust of difficult labour, and very difficult vertical lift and hovering.
Summary of the invention
In order to overcome the deficiency of above-mentioned conventional aircraft, the invention provides a kind of small-sized class flapping wing aircraft, fin rotates, can vertical lift and hovering.
The technical solution used in the present invention is: a kind of small-sized class flapping wing aircraft is made up of fuselage, alighting gear, energy resource system, control system, anticlockwise flapping wing and right rotation flapping wing.Fuselage is framed structure, adopts carbon fiber composite material; Energy resource system comprises lithium cell, train of reduction gears and the speed regulation device of a motor, convenient charging; Control system comprises radio telecommand projector, receptor and steering wheel; Anticlockwise flapping wing is identical with right rotation flapping wing structure, and they are arranged in respectively the left and right sides of fuselage axisymmetrically about the plumb bob vertical of crossing body center of gravity, and under the driving of motor, synchronized contrarotation provides thrust.This aircraft can vertical lift and hovering.
Anticlockwise flapping wing is made up of the arm that turns left, left-hand rotation arm axle, left wing's axle, left wing's sheet, left pilot bar and left guides; Right rotation flapping wing is made up of the arm of turning right, right-hand rotation arm axle, right flank axle, right flank sheet, right pilot bar and right guides; Left guides is made up of left linear bearing and left oscillating bearing; Right guides is made up of right linear bearing and right oscillating bearing; Left-hand rotation arm axle and right-hand rotation arm axle near and coaxially install, be connected with two subtend flower wheels in train of reduction gears respectively, drive driving wheel to drive again the reverse synchronized rotation of these two subtend flower wheels by motor, thereby drive respectively left-hand rotation arm axle and right-hand rotation arm axle constant speed to rotate backward, drive anticlockwise flapping wing and the reverse constant speed rotation of right rotation flapping wing to flutter simultaneously.
The concrete structure of anticlockwise flapping wing is: one end of left-hand rotation arm axle is connected with fuselage by antifriction-bearing box, vertical being connected of the other end of one end of left-hand rotation arm and left-hand rotation arm axle, vertical being connected in one end of the other end of left-hand rotation arm and left wing's axle, the other end of left wing's axle is connected with left wing sheet by bearing; Left-hand rotation arm axle, left-hand rotation arm and left wing's axle are in same plane; Left wing's axle and left wing's sheet are connected in the leading edge place that approaches left wing's sheet, and left wing's axle is parallel with the leading edge of left wing's sheet, and left wing's sheet can be around left wing's axle flexible rotating, but left wing's axle can not be made axial motion in left wing's sheet; The rectangular triangle of left wing's sheet, left wing's sheet is that the root end face of left wing's sheet and the leading edge of left wing sheet are vertical near the end face of left-hand rotation arm; Left wing's sheet is rigidity, is made up of carbon fiber composite material; One end of left pilot bar and left wing's sheet are fixed on the root end face of left wing's sheet, and overlapping with the string of a musical instrument of this end face, and left pilot bar is vertical with left wing axle, and the other end of left pilot bar is through left guides; Left guides is fixedly bumped into left oscillating bearing by left linear bearing and combines, and left guides is connected with fuselage by the shell of its left oscillating bearing; Left pilot bar can do reciprocating linear motion and can swing flexibly around guides center in the left linear bearing of left guides; The length of left pilot bar enough guarantees that in left-hand rotation arm rotation overall process left pilot bar has all the time one end in left guides and do not come off.
The principle of work of anticlockwise flapping wing is: the power of motor passes to left-hand rotation arm axle after slowing down, left-hand rotation arm axle rotates and drives the rotation of left-hand rotation arm, left-hand rotation arm drives left wing's axle rotation, traction bottom left fin rotation at left wing's axle is fluttered, due to the restriction of left pilot bar and left guides, when left wing's sheet rotates, its angle of attack revolves at a cycle of operations the regular variation of interior generation of turning around, and meets flapping wing, is conducive to produce thrust.Can flutter flexibly for higher efficiency and the left wing's sheet of fluttering, left guides is a bit larger tham the maximum chord length sum of left-hand rotation arm lengths and left wing's sheet to the distance of left-hand rotation arm axle.In one-period, the effect of flutterring generation under left wing's sheet much larger than on flutter, the efficiency that produces thrust is higher.The size of thrust is that the rotating speed by changing left wing's sheet is realized, and the faster thrust of rotating speed is larger; The direction of thrust is the relative azimuth by changing left guides and left-hand rotation arm axle and highly realizes.
The concrete structure of right rotation flapping wing is identical with the concrete structure of anticlockwise flapping wing, and they are about the symmetrical left and right sides that is also placed in respectively fuselage of plumb bob vertical of the mistake center of gravity of body.The principle of work of right rotation flapping wing is also identical with the principle of work of anticlockwise flapping wing.Identical but the switched in opposite of the rotating speed of right rotation flapping wing and anticlockwise flapping wing.Because left wing's sheet and right flank sheet are all made circular-rotation, less demanding to the strength at repeated alternation of material.
Brief description of the drawings
Fig. 1 is that the master of a kind of small-sized class flapping wing aircraft of the present invention looks schematic diagram; Fig. 2 is the left view of Fig. 1.
In figure: 1-fuselage; 2-alighting gear; 3-energy resource system; 4-control system; 5-anticlockwise flapping wing; 51-left-hand rotation arm axle; 52-left-hand rotation arm; 53-left wing sheet; 54-left wing axle; The left pilot bar of 55-; The left guides of 56-; The left linear bearing of 561-; The left oscillating bearing of 562-; 6-right rotation flapping wing.In Fig. 2, the large broken circle with arrow represents rotational trajectory and the rotation direction of left wing's axle 54.
Detailed description of the invention
Now by reference to the accompanying drawings 1 and accompanying drawing 2 for example the present invention is illustrated: a kind of small-sized class flapping wing aircraft is made up of fuselage 1, alighting gear 2, energy resource system 3, control system 4, anticlockwise flapping wing 5 and right rotation flapping wing 6.Fuselage 1 is framed structure, adopts carbon fiber composite material; Energy resource system 3 comprises lithium cell, train of reduction gears and the speed regulation device of a motor, convenient charging, and train of reduction gears comprises the flower wheel of the coaxial and relative installation that driving wheel is identical with two; Control system 4 comprises radio telecommand projector, receptor and steering wheel; Anticlockwise flapping wing 5 is identical with right rotation flapping wing 6 structures, and the left and right sides synchronized reversion under the driving of motor that they are arranged in respectively fuselage 1 about the plumb bob vertical symmetry of crossing body center of gravity provides thrust.This aircraft can vertical lift and hovering.
Anticlockwise flapping wing 5 is made up of left-hand rotation arm 52, left-hand rotation arm axle 51, left wing's axle 54, left wing's sheet 53, left pilot bar 55 and left guides 56; Right rotation flapping wing 6 is made up of right-hand rotation arm, right-hand rotation arm axle, right flank axle, right flank sheet, right pilot bar and right guides; Left guides 56 is made up of left linear bearing 561 and left oscillating bearing 562; Right guides is made up of right linear bearing and right oscillating bearing; Left-hand rotation arm axle 51 and right-hand rotation arm axle near and coaxially install, be connected with two subtend flower wheels in the train of reduction gears of energy resource system 3 respectively, drive driving wheel to drive the reverse synchronized rotation of these two subtend flower wheels by motor, thereby drive respectively left-hand rotation arm axle 51 and right-hand rotation arm axle constant speed to rotate backward, drive the reverse synchronized rotation of anticlockwise flapping wing 5 and right rotation flapping wing 6 simultaneously.
The concrete structure of anticlockwise flapping wing 5 is: one end of left-hand rotation arm axle 51 is connected with fuselage 1 by antifriction-bearing box, vertical being connected of the other end of one end of left-hand rotation arm 52 and left-hand rotation arm axle 51, vertical being connected in one end of the other end of left-hand rotation arm 52 and left wing axle 54, the other end of left wing's axle 54 is connected with left wing sheet 53 by bearing; Left-hand rotation arm axle 51, left-hand rotation arm 52 and left wing's axle 54 are in same plane; Left wing's axle 54 is connected in left wing's sheet 53 the leading edge place that approaches left wing's sheet 53, and left wing's axle 54 is parallel with the leading edge of left wing sheet 53, Pian53Neng Rao left wing of left wing axle 54 flexible rotatings, but left wing's axle 54 can not be made axial motion in left wing's sheet 53; The rectangular triangle of left wing's sheet 53, left wing's sheet 53 is that the root end face of left wing's sheet 53 is vertical with the leading edge of left wing sheet 53 near the end face of left-hand rotation arm 52; Left wing's sheet 53 is rigidity, is made up of carbon fiber composite material; One end of left pilot bar 55 and left wing's sheet 53 are fixed on the root end face of left wing's sheet 53, and overlapping with the string of a musical instrument of this end face, and left pilot bar 55 is vertical with left wing axle 54, and the other end of left pilot bar 55 is through left guides 56; Left guides 56 is fixedly bumped into left oscillating bearing 562 by left linear bearing 561 and combines, and left guides 56 is connected with fuselage 1 by the shell of its left oscillating bearing 562; Left pilot bar 55 can do reciprocating linear motion and can swing flexibly around guides 56 centers in the left linear bearing of left guides 56; The length of left pilot bar 55 enough guarantees that in left-hand rotation arm 52 rotates overall process left pilot bar 55 has all the time one end in left guides 56 and do not come off.
Alighting gear 2 adopts slide-type structure.
The principle of work of anticlockwise flapping wing 5 is: the power of motor passes to left-hand rotation arm axle 51 after slowing down, left-hand rotation arm axle 51 rotates and drives left-hand rotation arm 52 to rotate, left-hand rotation arm 52 drives left wing's axle 54 to rotate, traction bottom left fin 53 rotations at left wing's axle 54 are fluttered, due to the restriction of left pilot bar 55 and left guides 56, when left wing's sheet 53 rotates, its angle of attack revolves at a cycle of operations the regular variation of interior generation of turning around, and meets flapping wing, is conducive to produce thrust.Can flutter flexibly for higher efficiency and the left wing's sheet 53 of fluttering, left guides 56 is a bit larger tham the maximum chord length sum of left-hand rotation arm 52 length and left wing's sheet 53 to the distance of left-hand rotation arm axle 51.In one-period, the effect that left wing's sheet is flutterred generation for 53 times much larger than on flutter, the efficiency that produces thrust is higher.The size of thrust is that the rotating speed by changing left wing's sheet 53 is realized, and the faster thrust of rotating speed is larger; The direction of thrust is the relative azimuth by changing left guides 56 and left-hand rotation arm axle 51 and highly realizes.
The concrete structure of right rotation flapping wing 6 is identical with the concrete structure of anticlockwise flapping wing 5, and they are about the plumb bob vertical rotational symmetry of the mistake center of gravity of body and be placed in respectively the left and right sides of fuselage 1, and the center of gravity of body is under the line of left-hand rotation arm axle 51 and right-hand rotation arm axle.The principle of work of right rotation flapping wing 6 is also identical with the principle of work of anticlockwise flapping wing 5.Identical but the switched in opposite of the rotating speed of right rotation flapping wing 6 and anticlockwise flapping wing 5.Due to the structural symmetry of right rotation flapping wing 6 and anticlockwise flapping wing 5, drive their flower wheel also symmetrical, the starting altitude of guides is identical, the centnifugal force self-balancing of all tumblers, the pneumatic moment of couple of fuselage 1 both sides is mutual balance also.Therefore, anticlockwise flapping wing 5 and the right rotation flapping wing 6 of fuselage 1 both sides can produce equal and opposite in direction, and direction is parallel, and point of action is symmetrical in the directional thrust of fuselage.A kind of small-sized class flapping wing aircraft of this invention can be realized steady vertical lift under the effect of both sides lift.
Because left wing's sheet 53 and right flank sheet are all made circular-rotation, less demanding to the strength at repeated alternation of material.
The flight attitude that should invent a kind of small-sized class flapping wing aircraft is below described further this invention.
Take off: actuating motor, drive anticlockwise flapping wing 5 and right rotation flapping wing 6 to flutter, utilize control system 4 to make left guides 56 and right guides in sustained height position simultaneously, and make making a concerted effort upwards of aerodynamic force that anticlockwise flapping wing 5 and right rotation flapping wing 6 produce, in the time that this makes a concerted effort to be greater than body weight, this small-sized class flapping wing aircraft vertically goes up to the air.
Before fly: after taking off, under the control of control system 4, raise that left guides 56 is simultaneously synchronous reduces right guides, suitably improve the rotating speed of motor, can make this aircraft fly forward.
After fly: while flight, under the control of control system 4, raise that right guides is simultaneously synchronous reduces left guides 56 aloft, suitably improve the rotating speed of motor, can realize backward and flying.
Turning flight: in the time front flying, little Xu raises left guides 56 aircraft and will bend to right under the control of control system 4; little Xu reduces right guides aircraft and will turn left.
Hovering: while aloft flight, utilize control system 4 to make left guides 56 and right guides in same suitable height and position simultaneously, adjust the rotating speed of motor, make making a concerted effort upwards of aerodynamic force that anticlockwise flapping wing 5 and right rotation flapping wing 6 produce, and equal body weight, will be in hovering position by this aircraft after fine setting control system 4 elimination flight inertia.
Landing: this aircraft is adjusted to behind hovering position, slowly reduces the rotating speed of motor, this aircraft is by slowly vertical landing.
More than explanation is what under the operating mode that there is no interference in air flow, to make, if there is the existence of interference in air flow, should repair partially according to the direction of air-flow and flow velocity.
The multiple-tasks such as a kind of small-sized class flapping wing aircraft band photographs equipment of the present invention can be used for taking photo by plane, geographical measurement, traffic duty, military investigation and rescue and relief work.
Claims (5)
1. a small-sized class flapping wing aircraft is made up of fuselage (1), alighting gear (2), energy resource system (3), control system (4), anticlockwise flapping wing (5) and right rotation flapping wing (6), it is characterized in that: energy resource system (3) comprises lithium cell, train of reduction gears and the speed regulation device of a motor, convenient charging; Control system (4) comprises radio telecommand projector, receptor and steering wheel; Anticlockwise flapping wing (5) is identical with right rotation flapping wing (6) structure, they are arranged in respectively the left and right sides of fuselage (1) axisymmetrically about the plumb bob vertical of crossing body center of gravity, under the driving of motor, synchronized contrarotation provides thrust; Anticlockwise flapping wing (5) is made up of left-hand rotation arm (52), left-hand rotation arm axle (51), left wing's axle (54), left wing's sheet (53), left pilot bar (55) and left guides (56); Right rotation flapping wing (6) is made up of right-hand rotation arm, right-hand rotation arm axle, right flank axle, right flank sheet, right pilot bar and right guides; One end of left-hand rotation arm axle (51) is connected with fuselage (1) by antifriction-bearing box, vertical being connected of the other end of one end of left-hand rotation arm (52) and left-hand rotation arm axle (51), vertical being connected in one end of the other end of left-hand rotation arm (52) and left wing's axle (54), the other end of left wing's axle (54) is connected with left wing's sheet (53) by bearing; Left-hand rotation arm axle (51), left-hand rotation arm (52) and left wing's axle (54) are in same plane; Left wing's axle (54) is connected in left wing's sheet (53) the leading edge place that approaches left wing's sheet (53), left wing's axle (54) is parallel with the leading edge of left wing's sheet (53), and left wing's sheet (53) can be around left wing's axle (54) flexible rotating; One end of left pilot bar (55) and left wing's sheet (53) are fixed on left wing's sheet (53) root end face, and overlapping with the string of a musical instrument of this end face, left pilot bar (55) is vertical with left wing's axle (54), and the other end of left pilot bar (55) is through left guides (56); Left guides (56) is connected with fuselage (1); The length of left pilot bar (55) enough guarantees that in left-hand rotation arm (52) rotation overall process left pilot bar (55) has all the time one end in left guides (56) and do not come off; Left guides (56) is a bit larger tham the maximum chord length sum of left-hand rotation arm (52) length and left wing's sheet (53) to the distance of left-hand rotation arm axle (51); Left-hand rotation arm axle (51) and right-hand rotation arm axle near and coaxially install, be connected with two subtend flower wheels in train of reduction gears respectively, drive driving wheel to drive again the reverse synchronized rotation of these two subtend flower wheels by motor, drive the reverse constant speed rotation of anticlockwise flapping wing (5) and right rotation flapping wing (6) to flutter simultaneously.
2. the small-sized class flapping wing aircraft of one according to claim 1, is characterized in that: fuselage (1) is framed structure, adopts carbon fiber composite material.
3. the small-sized class flapping wing aircraft of one according to claim 1, is characterized in that: left wing's sheet (53) and right flank sheet be rectangular triangle all, is rigidity, is made up of carbon fiber composite material.
4. the small-sized class flapping wing aircraft of one according to claim 1, is characterized in that: alighting gear (2) adopts ski type structure.
5. the small-sized class flapping wing aircraft of one according to claim 1, is characterized in that: left guides (56) is made up of left linear bearing (561) and left oscillating bearing (562); Right guides is made up of right linear bearing and right oscillating bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410234289.3A CN103991547B (en) | 2014-05-30 | 2014-05-30 | A kind of small-sized class flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410234289.3A CN103991547B (en) | 2014-05-30 | 2014-05-30 | A kind of small-sized class flapping wing aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103991547A true CN103991547A (en) | 2014-08-20 |
| CN103991547B CN103991547B (en) | 2015-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410234289.3A Active CN103991547B (en) | 2014-05-30 | 2014-05-30 | A kind of small-sized class flapping wing aircraft |
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| CN (1) | CN103991547B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443386A (en) * | 2014-12-15 | 2015-03-25 | 佛山市神风航空科技有限公司 | Small unmanned flapping wing air vehicle |
| CN106585984A (en) * | 2017-01-03 | 2017-04-26 | 璋峰嘲 | Rolling and rotating ornithopter |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3865060A (en) * | 1972-04-26 | 1975-02-11 | Paul Bastide | Special submarine devices using a novel integrated lift, propulsion and steering system |
| US4247251A (en) * | 1978-05-17 | 1981-01-27 | Wuenscher Hans F | Cycloidal fluid flow engine |
| CN1050005A (en) * | 1990-09-24 | 1991-03-20 | 韩培洲 | The rolling-swing device that is used for aircraft |
| CN202481310U (en) * | 2012-01-30 | 2012-10-10 | 西北工业大学 | Aviation cycloid paddle thruster |
| CN203845010U (en) * | 2014-05-30 | 2014-09-24 | 佛山市神风航空科技有限公司 | Small ornithopter |
-
2014
- 2014-05-30 CN CN201410234289.3A patent/CN103991547B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3865060A (en) * | 1972-04-26 | 1975-02-11 | Paul Bastide | Special submarine devices using a novel integrated lift, propulsion and steering system |
| US4247251A (en) * | 1978-05-17 | 1981-01-27 | Wuenscher Hans F | Cycloidal fluid flow engine |
| CN1050005A (en) * | 1990-09-24 | 1991-03-20 | 韩培洲 | The rolling-swing device that is used for aircraft |
| CN202481310U (en) * | 2012-01-30 | 2012-10-10 | 西北工业大学 | Aviation cycloid paddle thruster |
| CN203845010U (en) * | 2014-05-30 | 2014-09-24 | 佛山市神风航空科技有限公司 | Small ornithopter |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443386A (en) * | 2014-12-15 | 2015-03-25 | 佛山市神风航空科技有限公司 | Small unmanned flapping wing air vehicle |
| CN104443386B (en) * | 2014-12-15 | 2016-06-29 | 佛山市神风航空科技有限公司 | A kind of miniature self-service class flapping wing aircraft |
| CN106585984A (en) * | 2017-01-03 | 2017-04-26 | 璋峰嘲 | Rolling and rotating ornithopter |
| CN106585984B (en) * | 2017-01-03 | 2021-06-01 | 谷峰 | Rolling type ornithopter |
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| Publication number | Publication date |
|---|---|
| CN103991547B (en) | 2015-12-30 |
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Effective date of registration: 20161020 Address after: 510000, Guangzhou, Guangdong, Tianhe District Longdong Dragon Road No. 260 Longdong industrial building D-6 building on the third floor Patentee after: Guangzhou Xin Cai computer supplies Co., Ltd. Address before: Foshan City, Guangdong province 528500 city streets Gaoming District No. 78 Jiangwan Road, room 402 Fu Wan Patentee before: Shenfeng science and technology of aviation Co., Ltd of Foshan City |