公开(公告)号：US11592842B1

公开(公告)日：2023-02-28

申请号：US17730232

申请日：2022-04-27

申请人： University of Science and Technology Beijing

发明人： Wei He ,  Xiaoyang Wu ,  Xinyue Tang ,  Qiang Fu ,  Yongbin Sun ,  Yao Zou ,  Xiuyu He ,  Hui Zhang ,  Changyin Sun ,  Yaonan Wang

IPC分类号： G05D1/10 ,  B64C33/00

摘要： A flapping-wing aerial robot formation control method includes: determining a trailing vortex generation mechanism, an energy saving principle and a trailing vortex attenuation mechanism of the formation flight of a group of wild geese in accordance with the pattern of the formation flight of the group of wild geese; determining the formation flight of a group of flapping-wing aerial robots and a formation switching solution in accordance with the trailing vortex generation mechanism, energy saving principle and trailing vortex attenuation mechanism of the formation flight of the group of wild geese in conjunction with the flapping characteristic of a flapping-wing aerial robot from the perspective of energy consumption equalization and energy saving; and carrying out formation keeping control and formation reconfiguration control in accordance with the formation flight of the group of flapping-wing aerial robots and the formation switching solution by controlling positions of the group of flapping-wing aerial robots.

公开(公告)号：US08700233B1

公开(公告)日：2014-04-15

申请号：US12883317

申请日：2010-09-16

申请人： David B. Doman ,  Michael W. Oppenheimer

发明人： David B. Doman ,  Michael W. Oppenheimer

IPC分类号： B64C33/00

CPC分类号： B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/042

摘要： A method of controlling wing position and velocity for a flapping wing air vehicle provides six-degrees-of-freedom movement for the aircraft through a split-cycle constant-period frequency modulation with wing bias method that generates time-varying upstroke and downstroke wing position commands for wing planforms to produce nonharmonic wing flapping trajectories that generate non-zero, cycle averaged wing drag and alter the location of the cycle-averaged center of pressure of the wings relative to the center of gravity of the aircraft to cause horizontal translation forces, rolling moments and pitching moments of the aircraft.

摘要翻译： 一种控制翼状空中飞行器的机翼位置和速度的方法为飞行器提供六自由度的运动，通过采用翼偏置法的分段式周期恒定频率调制方式，可以产生时变上升和下行翼位置 机翼平面图的命令产生非谐波翼扑动轨迹，其生成非零的循环平均翼阻力并改变相对于飞行器的重心的循环平均中心压力的位置以引起水平平移力， 飞机的滚动时刻和投球时刻。

公开(公告)号：US08205823B2

公开(公告)日：2012-06-26

申请号：US12795539

申请日：2010-06-07

申请人： Matthew Todd Keennon ,  Karl Robert Klingebiel ,  Alexander Andryukov ,  Bart Dean Hibbs ,  John Peter Zwaan

发明人： Matthew Todd Keennon ,  Karl Robert Klingebiel ,  Alexander Andryukov ,  Bart Dean Hibbs ,  John Peter Zwaan

IPC分类号： B64C33/00

CPC分类号： B64C33/025 ,  B64C19/00 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/10 ,  B64C2201/146

摘要： Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

摘要翻译： 比空中飞行器，具有扑翼的飞机，例如鸟巢飞机，其中角度定向控制是通过在扫掠角度行程和/或控制可变翼膜张力的过程中可展开的翼的偏转的可变差分扫掠角来实现的 。

公开(公告)号：US20070262194A1

公开(公告)日：2007-11-15

申请号：US11593863

申请日：2006-11-07

申请人： Sunil Agrawal ,  Sean McIntosh ,  Zaeem Kahn

发明人： Sunil Agrawal ,  Sean McIntosh ,  Zaeem Kahn

IPC分类号： B64C33/00 ,  B64C33/02

CPC分类号： B64C33/02 ,  B64C39/028 ,  B64C2201/025

摘要： A vehicle with wings and a mechanism for causing a flapping motion in wings. Each wing structure comprises a wing and a wing spar coupled to a follower via a resilient member. Each wing carrier is pivotally connected to the body and is configured to restrain lateral movement and permit rotation of the wing spar about a feathering axis. A biasing member provides torsional bias to each wing spar. A linkage, driven by an actuator, transmits cyclic motion that rotates the wing carrier about a flapping axis, which moves the follower along a follower path. A guide attached to the vehicle body lies in the path of each follower, and the follower and guide are shaped such that each wing spar has a first rotational position about its axis along a first portion of the follower path and a second rotational position along a second portion of the follower path.

摘要翻译： 具有翼的车辆和用于在翼中引起扑动运动的机构。 每个翼结构包括翼和通过弹性构件联接到从动件的翼梁。 每个翼片托架枢转地连接到主体并且被构造成限制横向运动并且允许围绕羽化轴线的翼梁的旋转。 偏置构件为每个翼梁提供扭转偏压。 由致动器驱动的连杆传动循环运动，该运动使翼架围绕摇摆轴线旋转，从而使跟随器沿着跟随器路径移动。 附接到车身的导轨位于每个从动件的路径中，并且从动件和导向件成形为使得每个翼梁具有围绕其轴线的第一旋转位置，沿着从动件路径的第一部分和沿着从动件路径的第一部分的第二旋转位置 跟随器路径的第二部分。

公开(公告)号：US20050230523A1

公开(公告)日：2005-10-20

申请号：US11107064

申请日：2005-04-15

申请人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

发明人： Yoshiji Ohta ,  Keita Hara ,  Masaki Hamamoto

IPC分类号： A63H27/28 ,  B25J5/00 ,  B64C33/02 ,  B64C33/00

CPC分类号： B64C33/02

摘要： A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

摘要翻译： 拍打装置包括由驱动源旋转的第一盘和与第一盘的主表面接触旋转的第二盘。 第二盘设置有限制其旋转角度的第一和第二挡块。 当止动件与第一盘接触时，翼轴的旋转仅由第一盘的旋转引起，并且当止动件不与第一盘接触时，翼轴的旋转仅由 旋转第二盘。

公开(公告)号：US06938853B2

公开(公告)日：2005-09-06

申请号：US10387494

申请日：2003-03-14

申请人： Darryll J. Pines ,  Felipe A. Bohorquez ,  Jayant Sirohi

发明人： Darryll J. Pines ,  Felipe A. Bohorquez ,  Jayant Sirohi

IPC分类号： B64C33/02 ,  B64C39/02 ,  B64C33/00

CPC分类号： B64C39/028 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/042

摘要： A biomimetic pitching and flapping mechanism including a support member, at least two blade joints for holding blades and operatively connected to the support member. An outer shaft member is concentric with the support member, and an inner shaft member is concentric with the outer shaft member. The mechanism allows the blades of a small-scale rotor to be actuated in the flap and pitch degrees of freedom. The pitching and the flapping are completely independent from and uncoupled to each other. As such, the rotor can independently flap, or independently pitch, or flap and pitch simultaneously with different amplitudes and/or frequencies. The mechanism can also be used in a non-rotary wing configuration, such as an ornithopter, in which case the rotational degree of freedom would be suppressed.

摘要翻译： 包括支撑构件的仿生俯仰和拍动机构，用于保持叶片并且可操作地连接到支撑构件的至少两个叶片接头。 外轴构件与支撑构件同心，并且内轴构件与外轴构件同心。 该机构允许小型转子的叶片在翼片和俯仰自由度中被致动。 投球和扑动完全独立于彼此并且脱离。 因此，转子可以独立地以不同的幅度和/或频率折叠或独立地俯仰或折叠和俯仰。 该机构也可以以非旋转翼结构使用，例如鸟笼，在这种情况下旋转自由度将被抑制。

公开(公告)号：US06840477B2

公开(公告)日：2005-01-11

申请号：US10085181

申请日：2002-02-27

申请人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara

发明人： Masaki Hamamoto ,  Yoshiji Ohta ,  Keita Hara

IPC分类号： B25J5/00 ,  B64C33/02 ,  B64C39/02 ,  H02N2/00 ,  B64C33/00

CPC分类号： B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/044 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/146

摘要： On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

摘要翻译： 在飘动装置的主体部分上，形成有一个翼翼（左翼），其具有前翼轴，后翼轴和设置在前翼和后翼轴上的翼片。 此外，在主体部上安装有用于驱动前翼轴的旋转致动器和用于驱动后翼轴的旋转致动器。 前（后）翼轴在与作为支点的致动器正交的旋转轴线的平面中往复运动。 因此，获得具有优异的机动性并且可以在室内和室外不受任何障碍物或几何形状阻碍的移动装置。

公开(公告)号：US5975462A

公开(公告)日：1999-11-02

申请号：US140970

申请日：1998-08-27

申请人： Maximilian F. Platzer

发明人： Maximilian F. Platzer

IPC分类号： B63B1/24 ,  B63B1/34 ,  B63H1/28 ,  B63H1/30 ,  B64C19/02 ,  B64C21/00 ,  B64C33/00

CPC分类号： B63H1/28 ,  B63B1/248 ,  B63B1/34 ,  B63H1/30 ,  B64C19/02 ,  B64C21/00 ,  B64C33/00 ,  Y02T50/166 ,  Y02T70/121

摘要： A new method for boundary layer energization and boundary layer propulsionor use on vehicles moving through fluids, which comprises mounting small airfoils parallel or perpendicular to the vehicle's surface, said airfoils being embedded within the said vehicle's boundary layer and juxtaposed the surface of said vehicle, said airfoils being approximately the height of the boundary layer thickness and exciting said airfoils into flapping oscillation parallel to the chord plane of said airfoils, said oscillation at a frequency up to 100 cycles per second at an amplitude up to 20 percent of the chord length of said airfoil, whereby flow separation is delayed or suppressed which enables the redesign of said vehicle.

摘要翻译： 一种用于边界层通电和边界层推进的新方法，用于移动通过流体的车辆，其包括平行或垂直于车辆表面安装小型翼型件，所述翼型件嵌入在所述车辆边界层内并且并置所述车辆的表面， 所述翼型件大约是边界层厚度的高度，并且将所述翼型件激励平行于所述翼型件的弦平面的振荡振荡，所述振荡以每秒100个周期的频率振幅高达和弦长度的20％ 所述翼型件，由此流动分离被延迟或抑制，从而能够重新设计所述车辆。

公开(公告)号：US4139171A

公开(公告)日：1979-02-13

申请号：US826942

申请日：1977-08-19

申请人： Jeremy M. Harris

发明人： Jeremy M. Harris

IPC分类号： B64C33/00

CPC分类号： B64C33/00

摘要： An ornithopter which produces a large swept volume of the wings and essentially constant lift and includes a first and a second outer wing segment joined by an aerodynamically significant center wing segment having pivotal connections at the ends to the first and second outer wing segments, a driving mechanism for translating the center wing segment vertically with respect to the body of the ornithopter and links pivotally connected to the outer wing segments and to the body to cause the outer wing segments to rotate relative to the center wing segment as the center wing segment translates.

摘要翻译： 一种鸟鸣器，其产生大的扫掠体积的翼部并且基本上恒定的升力，并且包括第一和第二外翼段，其由空气动力学显着的中心翼段连接，其在端部处具有到第一和第二外翼段的枢转连接， 用于相对于所述鸟the体的主体垂直地平移所述中心翼片的机构，以及当所述中心翼段平移时，所述连杆枢转地连接到所述外翼片段和所述主体，以使所述外翼片段相对于所述中心翼片部分旋转。

公开(公告)号：US1940961A

公开(公告)日：1933-12-26

申请号：US58703532

申请日：1932-01-15

申请人： HANS MASCOW

发明人： HANS MASCOW

IPC分类号： B64C33/00

CPC分类号： B64C33/00