公开(公告)号：US20170291703A1

公开(公告)日：2017-10-12

申请号：US15581976

申请日：2017-04-28

Applicant: AeroVironment, Inc.

Inventor： Matthew Todd Keennon ,  Alexander Andryukov ,  Karl Robert Klingebiel ,  Henry Thome Won

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

CPC classification number: B64C39/003 ,  B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/042

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

公开(公告)号：US20160159477A1

公开(公告)日：2016-06-09

申请号：US14707877

申请日：2015-05-08

Applicant: PURDUE RESEARCH FOUNDATION

Inventor： Xinyan Deng ,  Jian Zhang

IPC: B64C33/02

CPC classification number: B64C33/02 ,  B64C2201/025

Abstract: Presented herein are an actuation system and a flapping wing micro aerial vehicle system. In one embodiment, for energy efficiency and to achieve a resonant system, the flapping wing is directly driven using conventional DC motors coupled with torsion springs. Using a transmission gear, the motor is designed to operating at an efficient speed, but generates an overall reciprocal motion to the wing. Closed loop control is applied to achieve tracking of the desired wing motion kinematics, the frequency of which is tuned to match the resonant frequency of the system. We also show that wing kinematic control can be achieved by tracking trajectories with different amplitude and bias, therefore creating flight control forces and torques.

Abstract translation: 这里提出的是致动系统和扑翼机微型飞行器系统。 在一个实施例中，为了能量效率并实现谐振系统，使用与扭转弹簧耦合的常规DC电动机直接驱动扑翼。 使用传动齿轮，电机被设计成以有效的速度运行，但是产生对机翼的整体往复运动。 应用闭环控制来实现期望的机翼运动运动学的跟踪，其频率被调谐以匹配系统的谐振频率。 我们还显示，可以通过跟踪具有不同幅度和偏差的轨迹来实现机翼运动控制，从而产生飞行控制力和转矩。

公开(公告)号：US20140263826A1

公开(公告)日：2014-09-18

申请号：US14216381

申请日：2014-03-17

Applicant: Francois MATTE

Inventor： Francois MATTE

IPC: B64C33/02

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

Abstract: The wing flapping mechanism (100) includes a main frame (110), a pair of opposite wings (120) laterally projecting from the main frame (110), and a linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120). The linkage arrangement includes torque-transmitting couplings extending from inside the main frame (110) into the wing structures (122) to transmit an alternating pivoting motion, created as a result of the rotation of the motor (150), to the distal end of a corresponding third torsion-responsive tube (140, 144′″). Each torque-transmitting coupling extends inside a shoulder joint (130), a first torsion-responsive tube (132, 144′), an elbow joint (134), a second torsion-responsive tube (136, 144″), a wrist joint (138) and the third torsion-responsive tube (140, 144′″) of the corresponding wing structure (122).

Abstract translation: 机翼拍动机构（100）包括主框架（110），从主框架（110）侧向突出的一对相对的翼片（120），以及将马达（150）的旋转转换成三维 每个翼（120）的三维循环翼运动。 联动装置包括从主框架（110）内部延伸到机翼结构（122）中的扭矩传递联接件，以将由马达（150）的旋转产生的交替的枢转运动传递到电动机（150）的远端 相应的第三扭转响应管（140,144'“）。 每个扭矩传递联接件在肩关节（130），第一扭转响应管（132,144'），肘关节（134），第二扭转响应管（136,144“），腕关节 （138）和相应翼结构（122）的第三扭转响应管（140,144'“）。

公开(公告)号：US08700233B1

公开(公告)日：2014-04-15

申请号：US12883317

申请日：2010-09-16

Applicant: David B. Doman ,  Michael W. Oppenheimer

Inventor： David B. Doman ,  Michael W. Oppenheimer

IPC: B64C33/00

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

Abstract: 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.

Abstract translation: 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：US20130068894A1

公开(公告)日：2013-03-21

申请号：US13640976

申请日：2011-04-14

Applicant: Robert Jan Musters

Inventor： Robert Jan Musters

IPC: B64C3/38 ,  B64C33/02 ,  F01D5/12 ,  B64C3/10

CPC classification number: B64C3/38 ,  A63H27/008 ,  B64C3/10 ,  B64C23/00 ,  B64C33/02 ,  B64C2201/025 ,  F01D5/12

Abstract: The invention relates to a wing for generating lift and comprises a trailing edge, a leading edge, an inner end, an outer end, a top surface and a bottom surface. The wing comprises an aerofoil with a chord line and a span direction. The leading edge comprises a kink between the inner end and the outer end. The leading edge comprises a forward sweep part between the inner end and the kink extending towards the kink presenting an angle relative to the span direction. The leading edge comprises a backward sweep part between the kink and the outer end extending from the kink presenting an angle relative to the span direction. The top surface comprises a flow control means for controlling the lift at least partly located between a leading edge part between the kink and the outer end and located between the leading edge and the trailing edge.

Abstract translation: 本发明涉及一种用于产生升降机的机翼，包括后缘，前缘，内端，外端，顶表面和底面。 机翼包括具有弦线和跨度方向的机翼。 前缘包括在内端和外端之间的扭结。 前缘包括在内端和扭结之间的向前扫掠部分，其朝向扭结延伸，呈现出相对于跨度方向的角度。 前缘包括在扭结之间的反向扫掠部分和从扭结延伸的外端部，其相对于跨度方向呈现一个角度。 顶表面包括用于控制至少部分地位于扭结和外端之间的前缘部分之间且位于前缘和后缘之间的升力的流量控制装置。

公开(公告)号：US08205823B2

公开(公告)日：2012-06-26

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: B64C33/00

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：US07651051B2

公开(公告)日：2010-01-26

申请号：US11593863

申请日：2006-11-07

Applicant: Sunil K. Agrawal ,  Sean H. McIntosh ,  Zaeem Khan

Inventor： Sunil K. Agrawal ,  Sean H. McIntosh ,  Zaeem Khan

IPC: B64C33/02

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

Abstract: 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.

Abstract translation: 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：US20070262194A1

公开(公告)日：2007-11-15

申请号：US11593863

申请日：2006-11-07

Applicant: Sunil Agrawal ,  Sean McIntosh ,  Zaeem Kahn

Inventor： Sunil Agrawal ,  Sean McIntosh ,  Zaeem Kahn

IPC: B64C33/00 ,  B64C33/02

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

Abstract: 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.

Abstract translation: 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：US07204455B2

公开(公告)日：2007-04-17

申请号：US10481944

申请日：2002-06-28

Applicant: Peter Logan Sinclair

Inventor： Peter Logan Sinclair

IPC: B64C33/02

CPC classification number: A63H31/08 ,  A63H27/008 ,  B64C33/02 ,  B64C39/028 ,  B64C2201/025 ,  B64C2201/042 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64C2201/148 ,  B64C2201/203

Abstract: A drive assembly for use with a mechanical flying or walking device comprises an articulated member (7) having first and second portions (7a, 7b) arranged such that the portions move relative to each other, and a drive mechanism (9) for imparting motion to the articulated member. The drive mechanism (9) comprises: a drive member for imparting a cyclic motion on the articulated member, and a control member for controlling, in a predetermined manner, the relative position of the first and second portions during each cycle of the cyclic motion of the articulated member. In the case of a mechanical flying device, two such drive assemblies may be provided, the articulated member of each assembly forming a wing.

Abstract translation: 一种与机械飞行或步行装置一起使用的驱动组件包括铰接构件（7），其具有被布置成使得所述部分相对于彼此移动的第一和第二部分（7a，7b）以及驱动机构（9） 向铰接构件施加运动。 驱动机构（9）包括：驱动构件，用于在铰接构件上施加循环运动;以及控制构件，用于以预定方式控制第一和第二部分在循环运动的每个循环期间的相对位置 铰接构件。 在机械飞行装置的情况下，可以设置两个这样的驱动组件，每个组件的铰接构件形成翼。

公开(公告)号：US20060006280A1

公开(公告)日：2006-01-12

申请号：US10830374

申请日：2004-04-22

Applicant: Robert Wood

Inventor： Robert Wood

IPC: B64C33/02

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

Abstract: A drive assembly for a wing of a micromechanical flying insect. The drive assembly comprises a honey comb structure. A method for flying a micromechanical flying insect comprising moving a wing with a drive assembly having a stiffness to weight ratio greater than about 16×1019 N/mKg.

Abstract translation: 用于微机械飞行昆虫机翼的驱动组件。 驱动组件包括蜂巢结构。 一种用于飞行微机械飞行昆虫的方法，包括使用具有大于约16×10 19 / mKg的刚度重量比的驱动组件移动机翼。