公开(公告)号：US20150008279A1

公开(公告)日：2015-01-08

申请号：US14198418

申请日：2014-03-05

Applicant: AeroVironment, Inc.

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

IPC: B64C33/02 ,  B64C19/00

CPC classification number: B64C33/025 ,  B64C19/00 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/10 ,  B64C2201/146

Abstract: 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.

Abstract translation: 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：US20120292438A1

公开(公告)日：2012-11-22

申请号：US13519901

申请日：2011-02-11

Applicant: Pratheev Sabaratnam Sreetharan ,  Robert J. Wood

Inventor： Pratheev Sabaratnam Sreetharan ,  Robert J. Wood

IPC: B64C33/02 ,  F16H21/44

CPC classification number: B64C33/02 ,  B64C33/00 ,  B64C39/028 ,  B64C2201/025 ,  Y10T74/18928 ,  Y10T74/18968

Abstract: A passively torque-balanced device includes (a) a frame; (b) a drivetrain including a drive actuator mounted to the frame and configured for reciprocating displacement, an input platform configured for displacement by the drive actuator, a plurality of rigid links, including a proximate link and remote links, wherein the rigid links are collectively mounted to the frame, and a plurality of joints joining the rigid links and providing a plurality of non-fully actuated degrees of freedom for displacement of the rigid links, the plurality of joints including a fulcrum joint that is joined both to the input platform and to the proximate rigid link; and (c) at least two end effectors respectively coupled with the remote links and configured for displacement without full actuation.

Abstract translation: 无源扭矩平衡装置包括（a）框架; （b）传动系统，其包括安装到所述框架并被构造成用于往复运动的驱动致动器，构造成用于由所述驱动致动器移位的输入平台，包括邻近链节和远程链节的多个刚性连杆，其中所述刚性连杆集体 安装到框架上的多个接头以及连接刚性连杆并且提供多个非完全致动的刚性连杆的移动自由度的多个接头，所述多个接头包括支撑接头，其连接到输入平台和 到邻近的刚性连接; 和（c）至少两个末端执行器，其分别与远程链节联接并被配置为在没有完全致动的情况下进行位移。

公开(公告)号：US20120248243A1

公开(公告)日：2012-10-04

申请号：US13515503

申请日：2010-12-15

Applicant: Guy Thomas Greenyer

Inventor： Guy Thomas Greenyer

IPC: B64C33/02 ,  F03G3/00 ,  H01L41/09

CPC classification number: B64C39/028 ,  B64C33/02 ,  B64C2201/025

Abstract: A resonance engine is disclosed comprising: a driver plate (12), to which is coupled at least one oscillatory transducer (14); a drive signal generator connected to the oscillatory transducer for excitation thereof; a first spring-mass resonator, having a first natural resonant frequency, with a proximal end attached to the driver plate (12) and a free distal end; and a reaction means attached to the driver plate substantially opposite to the first spring-mass resonator. When the oscillatory transducer (14) is excited by a drive signal from the generator having a component at or close to said natural resonant frequency, the first spring-mass resonator oscillates at resonance, substantially in anti-phase to the driver plate (12).Small vibrational strains in the oscillatory transducer (14) are converted to large strains of controllable kinematic movements.The resonance engine has particular application for nano air vehicles (10-10f), wherein at least one spring-mass resonator is fitted with a wing (RD, LD) capable of producing thrust by flapping in an insect like kinematic manner suitable for flight. Where additional spring-mass resonators are added to the engine, each may be fitted with a wing. Each different spring-mass resonator may be tuned to have a different natural resonant frequency (when measured in isolation), whereby flight may be controlled by adjusting the drive signal; at particular drive frequencies, certain of the resonators may resonate in preference to others, thereby increasing lift from the associated wings, and controlling flight. The wings may face in opposite directions in order to produce rotational flight.Further closely tuned spring-mass resonators that are tuned on a substantially different frequency band to the wing resonators can be added as legs for independently controllable terrestrial or aerial locomotion.

Abstract translation: 公开了一种共振发动机，包括：驱动器板（12），其耦合到至少一个振荡换能器（14）; 驱动信号发生器，连接到所述振荡换能器以用于激励; 具有第一固有谐振频率的第一弹簧质量谐振器，其近端附接到驱动器板（12）和自由远端; 以及附接到驱动器板的基本上与第一弹簧质量谐振器相对的反作用装置。 当振荡换能器（14）被来自具有等于或接近于所述固有谐振频率的分量的发生器的驱动信号激发时，第一弹簧 - 质量谐振器以与驱动器板（12）基本上相反的谐振器振荡， 。 振荡换能器（14）中的小振动应变被转换为大的可控运动运动。 共振发动机具有对纳米空气车辆（10-10f）的特殊应用，其中至少一个弹簧 - 质量谐振器装配有能够以适于飞行的运动学方式的昆虫扑动产生推力的翼（RD，LD）。 在发动机附加额外的弹簧 - 质量谐振器的情况下，每个可以安装一个机翼。 每个不同的弹簧质量谐振器可以被调谐为具有不同的自然谐振频率（当隔离测量时），由此可以通过调节驱动信号来控制飞行; 在特定的驱动频率下，某些谐振器可能优先于其它谐振器共振，从而增加从相关联的机翼的升力并控制飞行。 机翼可能面向相反的方向，以产生旋转飞行。 调谐在与翼谐振器基本不同的频带上的进一步紧密调谐的弹簧 - 质量谐振器可以作为腿添加，用于独立可控的地面或空中运动。

公开(公告)号：US20110278391A1

公开(公告)日：2011-11-17

申请号：US12781039

申请日：2010-05-17

Applicant: Andrey KOTLER

Inventor： Andrey KOTLER

IPC: B64C33/00

CPC classification number: B64C39/028 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/042 ,  B64C2201/088 ,  B64C2201/127

Abstract: A micro aerial vehicle apparatus capable of flying in different flight modes is disclosed. The apparatus includes a fuselage; at least one pair of blade-wings; and an actuator for actuating the blade-wings by flapping the blade-wings in dissonance or resonance frequencies.

Abstract translation: 公开了能够以不同飞行模式飞行的微型飞行器具。 该装置包括机身; 至少一对叶片翼; 以及致动器，用于通过以不相干或共振频率拍打叶片翼来致动叶片翼。

公开(公告)号：US20100308160A1

公开(公告)日：2010-12-09

申请号：US12795539

申请日：2010-06-07

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

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

IPC: B64C33/02 ,  B64C3/00

CPC classification number: B64C33/025 ,  B64C19/00 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/10 ,  B64C2201/146

Abstract: 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.

Abstract translation: 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：US20040056149A1

公开(公告)日：2004-03-25

申请号：US10387494

申请日：2003-03-14

Applicant: University of Maryland

Inventor： Darryll J. Pines ,  Felipe A. Bohorquez ,  Jayant Sirohi

IPC: B64C033/00

CPC classification number: B64C39/028 ,  B64C33/02 ,  B64C2201/025 ,  B64C2201/042

Abstract: 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.

Abstract translation: 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：US6082671A

公开(公告)日：2000-07-04

申请号：US62114

申请日：1998-04-17

Applicant: Robert C. Michelson

Inventor： Robert C. Michelson

IPC: B64C39/02 ,  B64C33/02

CPC classification number: B64C39/028 ,  B64C2201/025 ,  B64C2201/042 ,  B64C2201/141

Abstract: The present invention is an apparatus and method for a multimodal electromechanical insect known as an entomopter. The entomopter is a species of micro air vehicle (MAV), which is defined as a flying vehicle having no dimension greater than 15 cm. The entomopter mimics the flight characteristics of an insect by flapping wings to generate lift. The entomopter's wings are powered by a reciprocating power source. The same power source may be used to power legs to enable the entomopter to crawl along the ground. In a preferred embodiment, the power source is a compact noncombustive engine known as a reciprocating chemical muscle (RCM).

Abstract translation: 本发明是一种被称为ent器的多模式机电昆虫的装置和方法。 昆虫是一种微型飞行器（MAV），它被定义为没有尺寸大于15厘米的飞行器。 昆虫通过拍翅来产生升力模拟昆虫的飞行特征。 ent子的翅膀由往复动力源供电。 可以使用相同的电源来驱动腿部，以使得ent子沿着地面爬行。 在优选实施例中，电源是称为往复式化学肌肉（RCM）的紧凑型非燃烧发动机。

公开(公告)号：WO2015193742A1

公开(公告)日：2015-12-23

申请号：PCT/IB2015/050290

申请日：2015-01-15

Applicant: SMIRNOV, Andrei ,  SMIRNOFF, Michael

Inventor： SMIRNOV, Andrei

IPC: B64C27/08 ,  B64C33/00 ,  B64C37/02 ,  B64D1/22

CPC classification number: B64C37/02 ,  B64C27/08 ,  B64C33/00 ,  B64C39/024 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/128 ,  B64D1/22

Abstract: This invention proposes a method and an apparatus which enables one to combine several autonomous areal vehicles into a larger areal vehicle. In particular, the invention describes an apparatus capable of autonomous flight and consisting of multiple sections, each section supplied with a rotor. The sections are joined vertically, one on top of the other. A minimum of two joined sections provides for the possibility of performing horizontal maneuvers by means of controlling the angle between the axes of the corresponding sections at section joints as well as changing vehicle's orientation by menas of differential rotor speed of the respective rotors. The invention also describes a method of arranging a joint formation of winged areal vehicles whereby a number of winged sections is joined horizon- tally and the flapping of the wings between the sections is coordinated in such a manner as to increase the lift-to-drag ratio. Changing the angle between the sections during the flight is done to increase the maneuverability of the vehicle.

Abstract translation: 本发明提出了一种方法和装置，其使得能够将多个自动车辆车辆组合成更大的车辆。 特别地，本发明描述了一种能够自主飞行并由多个部分组成的装置，每个部分提供有转子。 这些部分垂直连接，一个在另一个之上。 至少两个连接部分提供了通过控制截面接头处的相应部分的轴线之间的角度以及通过相应转子的差速转子速度的变化来改变车辆定向来执行水平机动的可能性。 本发明还描述了一种布置翼状面车辆的联合形成的方法，其中多个翼状部分水平地连接，并且在这些部分之间的翼的拍动以增加牵引力的方式协调 比。 在飞行期间改变部分之间的角度是为了增加车辆的机动性。

公开(公告)号：WO2014129502A1

公开(公告)日：2014-08-28

申请号：PCT/JP2014/053924

申请日：2014-02-19

Applicant: 三菱重工業株式会社

Inventor： 黒田　智史 ,  森　知之 ,  服部　起也 ,  田原　雅人 ,  ▲高▼山　央貴

IPC: B64C33/02 ,  A63H27/18 ,  A63H27/28

CPC classification number: B64C33/02 ,  A63H27/008 ,  B64C2201/025

Abstract: 　羽ばたき機は、胴体に取り付けられた主翼と、主翼の羽ばたき動作を制御する制御システムと、を備える。主翼は、内桁、外桁、及び内桁と外桁との間に介在し、内桁と外桁との間の相対角度である折り曲げ角が所定の変動範囲内で可変となるように構成された手首を備える。制御システムは、内桁を上下方向に運動させることによって内桁の打ち上げ動作及び打ち下ろし動作を行うアクチュエータと、折り曲げ角を測定する角度センサと、その折り曲げ角に応じてアクチュエータを制御して内桁を動作させる制御装置と、を備える。

Abstract translation: 这种鸟巢器具有附接到机身的主翼，以及控制主翼的扑动运动的控制系统。 主翼分别设置有内翼梁，外翼梁和腕部，其构造为设置在内翼梁和外翼梁之间，并且具有弯曲角度，该弯曲角度是 内部翼梁和外部翼梁，其在规定的变化范围内变化。 控制系统设有：通过向内和向下移动内梁来执行内梁的向上运动和向下运动的致动器; 测量弯曲角度的角度传感器; 以及根据弯曲角度控制致动器以使内部翼梁运动的控制装置。

公开(公告)号：WO2012112816A1

公开(公告)日：2012-08-23

申请号：PCT/US2012/025518

申请日：2012-02-16

Applicant: AEROVIRONMENT, INC. ,  KEENNON, Matthew, Todd ,  ANDRYUKOV, Alexander ,  KLINGEBIEL, Karl, Robert ,  WON, Henry Thome

Inventor： KEENNON, Matthew, Todd ,  ANDRYUKOV, Alexander ,  KLINGEBIEL, Karl, Robert ,  WON, Henry Thome

IPC: B64C33/02

CPC classification number: B64C33/02 ,  B64C39/024 ,  B64C2201/025

Abstract: A flapping wing driving apparatus includes at least one crank gear capstan (1207) rotatably coupled to a crank gear (1202), the at least one crank gear capstan (1207) disposed radially offset from a center of rotation (1204) of the crank gear (1202); a first wing capstan (1212) coupled to a first wing (1800), the first wing capstan (1212) having a first variable-radius drive pulley portion (1226); and a first drive linking member (1208) configured to drive the first wing capstan (1221), the first drive linking member (1208) windably coupled between the first variable-radius drive pulley portion (1226) and one of the at least one crank gear capstan (1207); wherein the first wing capstan (1212) is configured to non-constantly, angularly rotate responsive to a constant angular rotation of the crank gear (1202).

Abstract translation: 拍动翼驱动装置包括可旋转地联接到曲柄齿轮（1202）的至少一个曲柄齿轮主导轴（1207），所述至少一个曲柄齿轮主导轴（1207）设置在径向偏离曲柄齿轮的旋转中心（1204） （1202）; 第一机翼绞盘（1212），其联接到第一机翼（1800），所述第一机翼绞盘（1212）具有第一可变半径的驱动滑轮部分（1226）; 和构造成驱动所述第一翼形绞盘（1221）的第一驱动连接构件（1208），所述第一驱动连接构件（1208）可转动地联接在所述第一可变半径驱动滑轮部分（1226）和所述至少一个曲柄 齿轮绞盘（1207）; 其中所述第一翼形绞盘（1212）构造成响应于所述曲柄齿轮（1202）的恒定的角度旋转而不变地成角度地旋转。