CN105799932B - A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle - Google Patents
A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle Download PDFInfo
- Publication number
- CN105799932B CN105799932B CN201610292746.3A CN201610292746A CN105799932B CN 105799932 B CN105799932 B CN 105799932B CN 201610292746 A CN201610292746 A CN 201610292746A CN 105799932 B CN105799932 B CN 105799932B
- Authority
- CN
- China
- Prior art keywords
- vein
- wing
- flapping wing
- elastic
- sliding block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of Full-automatic foldable flapping wing for bionic flapping-wing type minute vehicle, including wing base, the first vein, the second vein, the 3rd vein, the 4th vein, nonelastic drag-line, the first elastic hinge；Second elastic hinge, parachute, built-in thermal source, microsensor, controller, interface, tubular film, elastic thread and cylinder sliding block；The original state of flapping wing is completely folded state, and when fluid temperature raises, liquid internal pressure increases, then flapping wing can be driven to deploy；When fluid temperature reduces, liquid internal pressure falls after rise, then flapping wing will fold under the effect of the elastic force of elastic thread.The present invention can deploy when minute vehicle needs flight to obtain enough lift, can be folded up when not needing flight, to reduce the area of wing, reduce wing damaged risk.The flapping wing also has automatic control system, can adjust the state of flapping wing in real time according to the needs of aircraft, significant to the operability and flight performance of raising aircraft.
Description
Technical field
The present invention relates to a kind of wing of flapping wing type minute vehicle, more particularly to a kind of bionic flapping-wing type minute vehicle
Full-automatic foldable flapping wing.
Background technology
Minute vehicle (Micro Air vehicle, abbreviation MAV) is small with size, and portable, good operability is hidden
Property it is strong the characteristics of, it has incomparable excellent of other aircraft in task under performing small space or MODEL OVER COMPLEX TOPOGRAPHY
Gesture.With the further diminution of size, flapping wing type MAV is shown in mobility, propulsive efficiency and aeroperformance etc.
Advantage is become apparent, this becomes the important directions of MAV future developments.In order to reduce weight, MAV flapping wing must be light enough
Be full of, therefore the flapping wing type MAV to emerge at present employs the membrane structure flapping wing of similar insect wing, however this flapping wing span compared with
Greatly, easily damage.
Its film quality hind wing can be folded and collapsed under elytrum by chafer in not flight, and when needing flight just by after
Wing expanse is opened.Its this characteristic makes it be provided simultaneously with excellent flight performance and good environmental suitability.
The content of the invention
The present invention is inspired by chafer, proposes a kind of new automatic foldable flapping wing for flapping wing type MAV.It is this
Flapping wing can deploy in flight to obtain enough lift, can be folded up when not needing flight, to reduce wing
Area, reduce wing damaged risk.The flapping wing also has automatic control system, the finger that can be sent according to minute vehicle body
The deployed condition of order adjustment flapping wing, carries out real-time monitoring, significant to the operability and flight performance of raising aircraft.
The present invention provides a kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle, and the purpose is to ensureing to flutter
In the case of the flying quality of aerofoil profile minute vehicle, reduce the carrying size of aircraft, reduce the damaged risk of flapping wing, and then
Improve the service life of minute vehicle.
The present invention includes wing base, the first vein, the second vein, the 3rd vein, the 4th vein, nonelastic drag-line, the first bullet
Property hinge；Second elastic hinge, parachute, built-in thermal source, microsensor, controller, interface, tubular film, elastic thread and circle
Post sliding block；
Sap cavity is provided with inside the wing base, sap cavity connects with liquid injection port and drain pipe, and the first vein is installed on drain pipe E
On, the first elastic hinge is installed on the first vein, and the second vein is connected by the first elastic hinge with the first vein, and a plurality of
Four veins are installed on wing base, the radial distribution of a plurality of 4th vein, and the 3rd vein is by the second elastic hinge and closes on first
The 4th vein connection of vein；Parachute is fixed on the first vein, the second vein, the 3rd vein and the 4th vein.
First vein includes circular pipe and support, and angle is formed between circular pipe and support；Tubular film and
Cylinder sliding block is installed in the circular pipe of the first vein, and wherein tubular film one end is fixed on the tube wall of drain pipe, film
The flexible pipe other end is fixed on the end face of cylinder sliding block；Elastic thread one end is fixed at the end face center of circle fixing point F of cylinder sliding block,
The elastic thread other end is fixed on the sap cavity inwall of wing base through drain pipe, and hole, nonelastic drag-line are provided with the support of the first vein
One end is fixed at the fixing point D on the second vein, and the nonelastic drag-line other end passes through the end face that hole is fixed on cylinder sliding block
At the fixing point F of the center of circle.
Built-in thermal source, microsensor, microcontroller and interface form control system, and built-in thermal source and microsensor are located at wing
In the sap cavity of base, microcontroller is arranged on wing base.
The spreading principle of the present invention：
Volumetric expansion after heated liquid in closed container i.e. in wing base, due to the restriction effect by chamber wall, in it
The pressure in portion will raise, and so as to promote cylinder sliding block to overcome the elastic force of elastic thread to move, make nonelastic drag-line to the second vein
Pulling force reduce, and then reduce the moment of flexure that the first elastic hinge is subject to, foldable flapping wing is made in the elastic force of the first elastic hinge
Gradually spread out under.
The folding principle of the present invention：
After fluid temperature in closed container i.e. in wing base gradually reduces, its volume-diminished, pressure is gradually recovered, and cylinder is slided
Block gradually returns to initial position under the elastic force effect of elastic thread, cylinder sliding block by nonelastic drag-line pull the second vein around
First elastic hinge rotates, and foldable flapping wing gradually folds.
Expansion and folding process are realized：
Expansion process：
The present invention is provided with built-in thermal source, microsensor, microcontroller and interface, built-in thermal source, microsensor in wing base
And microcontroller forms the control system of the Full-automatic foldable flapping wing, the state control to the foldable flapping wing is realized.Control
System processed obtains the energy by interface and realizes the data exchange with aircraft.
The original state of the present invention is completely folded state, and the sap cavity and tubular film, cylinder sliding block inside wing base are common
A closed container is formed, after liquid filling body, turns into an easy hydraulic system.It is miniature to fly when needing to deploy flapping wing
Row device will instruct and pass to microcontroller by interface, and thermal source built in microprocessor control heats to liquid；Heated liquid volume
Expansion, due to the restriction effect of receptor wall, its internal pressure will raise, and promote cylinder sliding block to overcome the bullet of elastic thread
Power is moved, the elongation of elastic thread tension, and foldable flapping wing is gradually spread out under the elastic force effect of the first elastic hinge.When flapping wing is complete
After expansion, signal is fed back to microcontroller by microsensor, and the heated condition of thermal source, keeps flapping wing built in microcontroller adjustment
Expansion.
Folding process：
When wing needs to fold, built-in thermal source stops heating, and fluid temperature reduces, and volume reduces, and pressure is gradually recovered,
Cylinder sliding block gradually returns to initial position under the elastic force effect of elastic thread, and cylinder sliding block pulls second by nonelastic drag-line
Vein rotates around the first elastic hinge, and foldable flapping wing gradually folds.
Beneficial effects of the present invention：
1. foldable flapping wing is in folded state in not flight, the area of flapping wing is reduced, helps to reduce miniature fly
The carrying size of row device, reduce the damaged risk of flapping wing；
2. drive device, control system and folding system are all encapsulated in foldable flapping wing using modular design method
Inside, energy conveying is completed by interface between flapping wing and fuselage and information exchanges, makes the flight relative motion of aircraft with flutterring
The folding and expanding motion of the wing is separated from each other, and enormously simplify the structure of aircraft body；
3. being connected between flapping wing and fuselage by interface, as long as interface is mutually matched the replacing that can realize flapping wing, improve
The versatility of minute vehicle and the interchangeability of parts, are easy to the replacing of parts, improve the use of minute vehicle
Life-span；
4. the control system on flapping wing can realize information sharing between aircraft body, allow aircraft according to need
The state of real-time monitoring flapping wing is wanted, is advantageous to improve the operability and flight performance of aircraft.
Brief description of the drawings
Fig. 1 is the structural representation of its fully unfolded position of the present invention.
Fig. 2 is the structural representation of completely folded state of the present invention.
Fig. 3 is the biopsy cavity marker devices structural representation of the present invention.
Fig. 4 is enlarged diagram at the A in Fig. 3.
Wherein：1- wing bases；The veins of 2- first；The veins of 6- second；The veins of 7- the 3rd；The veins of 9- the 4th；3- is nonelastic drag-line；
The elastic hinges of 4- first；The elastic hinges of 8- second；5- parachutes；Thermal source built in 10-；11- microsensors；12- microcontrollers；13-
Interface；14- tubular films；15- elastic threads；B- liquid injection ports；C- holes；D, F, G- fixing point；E- drain pipes.
Embodiment
Refer to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the present invention includes wing base 1, the first vein 2, the second vein 6, the 3rd wing
Arteries and veins 7, the 4th vein 9, nonelastic drag-line 3, the first elastic hinge 4；Second elastic hinge 8, parachute 5, built-in thermal source 10, micro sensing
Device 11, controller 12, interface 13, tubular film 14, elastic thread 15 and cylinder sliding block；
The inside of wing base 1 is provided with sap cavity, and sap cavity connects with liquid injection port B and drain pipe E, and the first vein 2 is installed on out liquid
On pipe E, the first elastic hinge 4 is installed on the first vein 2, and the second vein 6 is connected by the first elastic hinge 4 and the first vein 2
Connect, a plurality of 4th vein 9 is installed on wing base 1, a plurality of 4th vein, 9 radial distribution, and the 3rd vein 7 is cut with scissors by the second elasticity
Chain 8 is connected with closing on the 4th vein 9 of the first vein 2；Parachute 5 is fixed on the first vein 2, the second vein 6, the and of the 3rd vein 7
On 4th vein 9.
As shown in figure 3, first vein 2 includes circular pipe and support, angle is formed between circular pipe and support；
As shown in figure 4, tubular film 14 and cylinder sliding block are installed in the circular pipe of the first vein 2, wherein one end of tubular film 14
It is fixed on drain pipe E tube wall, the other end of tubular film 14 is fixed on the end face of cylinder sliding block；The one end of elastic thread 15 is fixed
At the end face center of circle fixing point F of cylinder sliding block, the other end of elastic thread 15 is fixed on the sap cavity inwall of wing base 1 through drain pipe E.
As shown in Figure 3 and Figure 4, hole C is provided with the support of the first vein 2, nonelastic one end of drag-line 3 is fixed on consolidating on the second vein 6
Pinpoint at D, the nonelastic other end of drag-line 3 is fixed at the end face center of circle fixing point F on cylinder sliding block through hole C.
Built-in thermal source 10, microsensor 11, microcontroller 12 and interface 13 form control system, built-in thermal source 10 and micro- biography
Sensor 11 is located in the sap cavity of wing base 1, and microcontroller 12 is arranged on wing base 1.
The spreading principle of the present invention：
Volumetric expansion after heated liquid in closed container i.e. in wing base 1, due to the restriction effect by chamber wall, in it
The pressure in portion will raise, and so as to promote cylinder sliding block to overcome the elastic force of elastic thread 15 to move, make nonelastic drag-line 3 to the second wing
The pulling force of arteries and veins 6 reduces, and then the moment of flexure for being subject to the first elastic hinge 4 reduces, bullet of the foldable flapping wing in the first elastic hinge 4
Gradually spread out under power effect.
The folding principle of the present invention：
After fluid temperature in closed container i.e. in wing base 1 gradually reduces, its volume-diminished, pressure is gradually recovered, cylinder
Sliding block gradually returns to initial position under the elastic force effect of elastic thread 15, and cylinder sliding block pulls second by nonelastic drag-line 3
Vein 6 rotates around the first elastic hinge 4, and foldable flapping wing gradually folds.
Expansion and folding process are realized：
Expansion process：
The present invention is provided with built-in thermal source 10, microsensor 11, microcontroller 12 and interface 13, built-in thermal source in wing base 1
10th, microsensor 11 and microcontroller 12 form the control system of the Full-automatic foldable flapping wing, realize and this foldable is flutterred
The state control of the wing.Control system obtains the energy by interface 13 and realizes the data exchange with aircraft.
The original state of the present invention is completely folded state, as shown in Figure 3.Sap cavity inside wing base 1 and tubular film 14,
Cylinder sliding block is collectively forming a closed container, after liquid filling body, turns into an easy hydraulic system.Flutterred when needing expansion
During the wing, minute vehicle will instruct passes to microcontroller 12 by interface 13, and microcontroller 12 controls built-in thermal source 10 to liquid
Body heats；Heated liquid volumetric expansion, due to the restriction effect of receptor wall, its internal pressure will raise, and promote circle
Post sliding block overcomes the elastic force of elastic thread 15 to move, the elongation of the tension of elastic thread 15, elastic force of the foldable flapping wing in the first elastic hinge 4
Gradually spread out under effect.After flapping wing is fully deployed, signal is fed back to microcontroller 12 by microsensor 11, and microcontroller 12 is adjusted
The heated condition of whole built-in thermal source 10, makes flapping wing keep expansion.
Folding process：
When wing needs to fold, built-in thermal source 10 stops heating, and fluid temperature reduces, and volume reduces, and pressure is gradually extensive
Multiple, cylinder sliding block gradually returns to initial position under the elastic force effect of elastic thread 15, and cylinder sliding block is drawn by nonelastic drag-line 3
Dynamic second vein 6 rotates around the first elastic hinge 4, and foldable flapping wing gradually folds.
Claims (1)
- A kind of 1. Full-automatic foldable flapping wing for flapping wing type minute vehicle, it is characterised in that：Including wing base (1), first Vein (2), the second vein (6), the 3rd vein (7), the 4th vein (9), nonelastic drag-line (3), the first elastic hinge (4)；The Two elastic hinges (8), parachute (5), built-in thermal source (10), microsensor (11), controller (12), interface (13), tubular film (14), elastic thread (15) and cylinder sliding block；Sap cavity is provided with inside the wing base (1), sap cavity is connected with liquid injection port (B) and drain pipe (E), and the first vein (2) is installed on On drain pipe (E), the first elastic hinge (4) is installed on the first vein (2), and the second vein (6) passes through the first elastic hinge (4) It is connected with the first vein (2), a plurality of 4th vein (9) is installed on wing base (1), the radial distribution of a plurality of 4th vein (9), the Three veins (7) are connected by the second elastic hinge (8) with closing on the 4th vein (9) of the first vein (2)；Parachute (5) is fixed on On first vein (2), the second vein (6), the 3rd vein (7) and the 4th vein (9)；First vein (2) includes circular pipe and support, and angle is formed between circular pipe and support；Tubular film (14) It is installed on cylinder sliding block in the circular pipe of the first vein (2), tubular film (14) one end is fixed on drain pipe (E) tube wall On, tubular film (14) other end is fixed on the end face of cylinder sliding block；The end of cylinder sliding block is fixed in elastic thread (15) one end The face center of circle fixing point (F) place, elastic thread (15) other end are fixed on the sap cavity inwall of wing base (1) through drain pipe (E)；First wing Hole (C) is provided with the support of arteries and veins (2), nonelastic drag-line (3) one end is fixed on fixing point (D) place on the second vein (6), no bullet Property drag-line (3) other end pass through hole (C) the end face center of circle fixing point (F) place for being fixed on cylinder sliding block；Built-in thermal source (10), microsensor (11), microcontroller (12) and interface (13) form control system, built-in thermal source (10) It is located at microsensor (11) in the sap cavity of wing base (1), microcontroller (12) is arranged on wing base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610292746.3A CN105799932B (en) | 2016-05-05 | 2016-05-05 | A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610292746.3A CN105799932B (en) | 2016-05-05 | 2016-05-05 | A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105799932A CN105799932A (en) | 2016-07-27 |
| CN105799932B true CN105799932B (en) | 2017-11-10 |
Family
ID=56456278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610292746.3A Expired - Fee Related CN105799932B (en) | 2016-05-05 | 2016-05-05 | A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105799932B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021146569A1 (en) * | 2020-01-15 | 2021-07-22 | Northeastern University | Armwing structures for aerial robots |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394897B (en) * | 2016-10-26 | 2018-09-04 | 吉林大学 | A kind of foldable wind resistance flapping wing of flapping-wing MAV |
| CN107472527B (en) * | 2017-08-10 | 2020-10-27 | 北京航空航天大学 | Flapping wing driven to be retracted and extended by shape memory alloy |
| CN109835481B (en) * | 2017-11-29 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Flapping wing aircraft capable of controlling flight through wing surface deformation |
| CN107972846A (en) * | 2017-12-09 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of wing |
| CN108945431B (en) * | 2018-07-23 | 2020-05-08 | 西北工业大学 | Bird and bat imitating foldable wing of ornithopter |
| US20210354818A1 (en) * | 2018-09-07 | 2021-11-18 | Flygildi Ehf. | Robotic bird |
| CN112829934B (en) * | 2021-03-09 | 2024-06-18 | 吉林农业大学 | Z-shaped folding wing imitating unfolding mechanism of long-foot elephant wing |
| CN115972831B (en) * | 2023-02-03 | 2023-06-02 | 北京大学 | Aircraft |
| CN117087857B (en) * | 2023-10-17 | 2024-01-16 | 北京理工大学 | Bird-like ornithopter and gesture conversion mechanism and use method thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107733B (en) * | 2009-12-23 | 2013-12-18 | 姚金玉 | Bionic aircraft |
| GB2493527B (en) * | 2011-08-09 | 2013-10-02 | Susan Mary Atkins | A human-powered flying and gliding garment |
| CN102923303B (en) * | 2012-11-22 | 2014-12-10 | 东北大学 | Wing-flapping flight vehicle capably of taking off and landing automatically and control method thereof |
| CN103523222B (en) * | 2013-10-30 | 2015-08-19 | 吉林大学 | The bionical flexible wing of minute vehicle |
| CN104554721B (en) * | 2015-02-08 | 2016-11-02 | 吉林大学 | A kind of flapping-wing modal can auto-folder and launch flapping wing |
| CN105366050B (en) * | 2015-11-24 | 2017-12-26 | 成都迈科高技术开发有限责任公司 | A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle |
| CN205574277U (en) * | 2016-05-05 | 2016-09-14 | 吉林大学 | A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type |
-
2016
- 2016-05-05 CN CN201610292746.3A patent/CN105799932B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021146569A1 (en) * | 2020-01-15 | 2021-07-22 | Northeastern University | Armwing structures for aerial robots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105799932A (en) | 2016-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105799932B (en) | A kind of Full-automatic foldable flapping wing for flapping wing type minute vehicle | |
| CN205574277U (en) | A full -automatic collapsible flapping wing that is used for miniature aircraft of flapping wing type | |
| CN104554721B (en) | A kind of flapping-wing modal can auto-folder and launch flapping wing | |
| CN102015446A (en) | Spoiler deployment mechanism | |
| BRPI0409202B1 (en) | adjustable rotary discharge nozzle | |
| CN204452936U (en) | A kind of flapping-wing modal can auto-folder and launch flapping wing | |
| US8292235B2 (en) | Slat assembly | |
| CN105905298B (en) | A kind of swing-wing seaplane | |
| CN106394897B (en) | A kind of foldable wind resistance flapping wing of flapping-wing MAV | |
| CN109000521A (en) | Rudder wingfold device, micro missile and rudder wingfold method | |
| CN206243449U (en) | The folding wing structure of unmanned plane | |
| CN107389292A (en) | A kind of wind tunnel system for vector propulsion trial | |
| CN103158859A (en) | Transformable inflatable extensible wing driven by piezoelectric fiber composite material | |
| JP6228181B2 (en) | Aero car fuselage and how to transition fuselage from land mode to flight mode | |
| WO2019071676A1 (en) | Opening-closing type wing structure of ornithopter based on hybrid drive | |
| CN104483093A (en) | Variable mach number transonic rigid free jet nozzle | |
| CN103908320B (en) | A kind of laparoscopic surgery nipper | |
| WO2017107493A1 (en) | Aircraft support leg, aircraft and control method | |
| CN103963960B (en) | A kind of semi-rigid inflated type opens up receipts wing automatically | |
| US2021481A (en) | Folding propeller | |
| CN209396040U (en) | A kind of folded fan type folding wing mechanism for foldable flapping-wing MAV | |
| US2539489A (en) | Convertible automobile airplane | |
| CN102107730B (en) | Dynamic controller of hinge-free aircraft | |
| CN207311814U (en) | A kind of small-sized four aerofoils longitudinal direction synchronous expansion retaining mechanism | |
| RU170947U1 (en) | Ornithopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171110 Termination date: 20180505 |