CN100430297C - Driving mechanism for wings of minitype ornithopter - Google Patents
Driving mechanism for wings of minitype ornithopter Download PDFInfo
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- CN100430297C CN100430297C CNB200610042632XA CN200610042632A CN100430297C CN 100430297 C CN100430297 C CN 100430297C CN B200610042632X A CNB200610042632X A CN B200610042632XA CN 200610042632 A CN200610042632 A CN 200610042632A CN 100430297 C CN100430297 C CN 100430297C
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Abstract
A drive mechanism for the wings of miniature ornithopter is composed of a worm-gear speed reducer and two sets of 4-connection-rod unit consisting of crank with one end fixed to the axle of worm gear, connection rod with one end linked to crank, and rocker arm linked between rocker arm and wing.
Description
Technical field
The present invention relates to the driver train of mini-sized flap wings aircraft wing.
Background technology
The mini-sized flap wings aircraft is a kind of of miniplane, miniplane is an emerging in recent years technical field, basic index that it is generally acknowledged miniplane is: aircraft is that the upperlimit of all directions is no more than a class aircraft of 15 centimetres, 20～60 minutes its cruise duration, voyage reaches more than 10 kms, flying speed 30～60 kms/hour, the capacity weight that can carry 20 grams also can be finished the task of regulation.
The flight theory of mini-sized flap wings aircraft imitation birds, the fluttering up and down of a pair of wing by the fuselage both sides produce the lift of the required body support weight of flight and overcome before fly the thrust of resistance, has the pneumatic efficiency height, maneuverability, applied range, therefore the strong characteristics of disguise when executing the task have very high military and civilian using value.At present, realized that the mini-sized flap wings aircraft of successful flight mainly contains " DELFLY " mini-sized flap wings aircraft of " Microbat " mini-sized flap wings aircraft of U.S. AeroVironment company, the development of Dutch Delft university etc., the domestic PY series mini flapping-wing aircraft of Northwestern Polytechnical University's development and the mini-sized flap wings aircraft of Nanjing Aero-Space University's development etc. of mainly containing.The mini-sized flap wings aircraft has the pneumatic efficiency height, maneuverability, and applied range, therefore the strong characteristics of disguise when executing the task have very high military and civilian using value.
At present realized that the power of the mini-sized flap wings aircraft wing driver train of successful flight is miniature cocurrent electromotor, the nominal operation rotating speed of such electrical motor is usually about 300～400 revolutions per seconds, and flapping-wing aircraft required wing of when flight is fluttered frequency about 10 times/second, therefore need speed reduction gearing that the high rotating speed of motor is converted to the wing required slow speed of revolution of fluttering, reduction ratio is approximately 30～40.At present, mini-sized flap wings aircraft wing driver train is used deceleration cylindrical gear reducer structure always, owing to be subjected to the restriction of size, one-level is slowed down often can not realize the reduction ratio of needs, usually need two-stage or three grades of decelerations just can reach required reduction ratio, this has increased the weight and the complexity of mechanism undoubtedly.
On the other hand, above driver train usually adopts two to overlap independently lanar four rod mechanism to realize fluttering up and down of left and right wing.Be subjected to the restriction of speed reduction gearing, about the cranks of two cover lanar four rod mechanisms can rotate with identical rotation direction, so just caused the assymmetric motion of left and right sides parallel motion, thereby it is asymmetric that left and right sides wing is fluttered.That is to say that at synchronization, therefore left and right sides wing just can not realize stable flight owing to the different lift that produce with the angle of fluttering with the cireular frequency of fluttering of the angle of fluttering are different with thrust.
In addition, the operator needs wing not flutter in some cases, and the mini-sized flap wings aircraft is aloft slided.At this moment need wing to keep horizontality as far as possible,, improve the sliding performance of aircraft to obtain to try one's best the big span.Because the cylindrical gear reducer structure does not have self-locking performance, when operating personal cuts off motor power, owing to the effect that is subjected to updraft in the aircraft dropping process raises up wing, until the vertex of fluttering, at this moment the span of wing is minimum, aspect ratio also is minimum, and the sliding performance of aircraft is also the poorest.
Summary of the invention
Many in order to overcome the cylindrical gear reducer structure step of reduction that adopts in the existing wing driver train of mini-sized flap wings aircraft, weight is big, complex structure, do not possess self-locking performance, and the asymmetric lanar four rod mechanism in the left and right sides can not realize the problem that left and right sides wing symmetry is fluttered, and the present invention proposes a kind of mini-sized flap wings aircraft wing driver train.
The present invention includes pedestal, miniature motor, worm screw, worm gear, crank, connecting rod and rocking arm, the employing worm-and-wheel gear slows down, and adopt two to overlap crank, connecting rod and rocking arms, constituted the space four bar linkage mechanism that is symmetrical in worm-and-wheel gear jointly, the rotation of worm gear is converted to the up-and-down movement of rocking arm in the four-bar linkage, and then drive the wing be connected on the rocking arm and flutter up and down, realize driving to flapping wing.
Among the present invention, worm-and-wheel gear and fuselage are installed in front fuselage at same vertical surface by pedestal.Worm gear is installed in pedestal by worm-wheel shaft and the worm-wheel shaft mounting hole that is positioned on the pedestal; Miniature motor is installed on the pedestal by the motor mounting hole on the pedestal.Connecting pin by being positioned at the front fuselage face be positioned at closely cooperating of fuselage mounting hole on the pedestal, flutter mechanism and flapping-wing aircraft fuselage are linked together.Rocker shaft is installed in the rocker shaft mounting hole, is positioned at fuselage axis top, and with the worm mechanism space parallel.The space four bar linkage mechanism that is symmetrical in worm and gear that is made of crank, connecting rod, rocking arm is positioned at the both sides of fuselage, and promptly two cranks are positioned at the both sides of worm gear, and an end of crank is connected in worm-wheel shaft stretches out on the two ends, the left and right sides of pedestal; The two ends of connecting rod are connected with rocking arm with crank respectively by spherical linkage; One end of two rocking arms is contained on the rocker shaft by shaft hole sleeve, makes it to link together, the other end and the wing of rocking arm are connected.
The installation of each attaching parts for convenience, the present invention has adopted a kind of pedestal that mounting hole is arranged, this pedestal is the square box body structure, and two corresponding sidewall panelinies of framework extend upward the auricle that forms a pair of symmetry, and framework two corresponding sidewall panelinies in addition extends to form another auricle to symmetry downwards.On framework and auricle, have motor mounting hole, fuselage connecting bore, rocker shaft mounting hole and worm-wheel shaft mounting hole:, worm gear is installed in the pedestal by worm-wheel shaft and the worm-wheel shaft mounting hole that is positioned on the pedestal; By the motor mounting hole on the pedestal miniature motor is fixed on the pedestal; Connecting pin by being positioned at the front fuselage face be positioned at closely cooperating of fuselage mounting hole on the pedestal, flutter mechanism and flapping-wing aircraft fuselage are linked together; Rocker shaft is installed in the rocker shaft hole.
The present invention uses the worm and gear transmission, and the one-level deceleration can reach the reduction ratio more than 30.Simultaneously because four-bar linkage is symmetrical in turbine and worm decelerator, so angle, cireular frequency, the angular acceleration of this motion of mechanism mode, rocking arm swing also are identical, just realized that also angle, cireular frequency, angular acceleration that left and right sides wing flutters are identical, the aerodynamic force that wing produces is also just identical.
When needs mini-sized flap wings aircraft wing stops to flutter and when carrying out unpowered sliding, by control convenience motor speed reduced, be in horizontality or during near horizontality, cut off motor power at wing.Aerodynamic force acts on wing though have upwards this moment in the unpowered downslide process of aircraft, makes it that trend that raises up be arranged, because the self-locking performance of worm gear/worm gear box, wing can not raise up, but the state when remaining on the motor power cut-out.
The present invention constitutes the speed reduction gearing of a high reduction ratio by worm gear, worm screw, the space four bar linkage mechanism that utilization is symmetrical in worm and gear is converted into fluttering up and down of left and right sides wing symmetry with the rotation of worm gear, overcome the common cylinder gear and be and reached big retarding than the mechanism complexity of taking multi-stage speed-reducing to cause with do not possess the shortcoming of self-locking performance after cutting off power, also overcome conventional lanar four rod mechanism and caused the asymmetric disadvantage of fluttering of left and right sides wing, have simple in structure, volume is little, in light weight, reliability advantages of higher.
Description of drawings
Accompanying drawing 1 is the structural representation of mini-sized flap wings aircraft wing driver train;
Accompanying drawing 2 is the structural representations of mechanism's pedestal of fluttering;
Accompanying drawing 3 is the mechanism's assembling scheme drawings (front elevation) of fluttering;
Accompanying drawing 4 be flutter mechanism and fuselage cooperate scheme drawing (lateral plan).Among the figure:
1. pedestal 2. miniature motors 3. worm screws 4. worm gears 5. worm-wheel shafts
6. crank 7. connecting rods 8. rocking arms 9. rocker shaftes 10. spherical linkages
11 wings, 12. rocker shaft mounting holes, 13. motor knock holees, 14. motor mounting holes, 15. worm-wheel shaft mounting holes
16. fuselage mounting hole 17. fuselages
The specific embodiment
Present embodiment is a cover mini-sized flap wings aircraft wing driver train, adopts worm-and-wheel gear to convert the high rotating speed of motor to wing driver train required slow speed of revolution.Present embodiment comprises pedestal 1, miniature motor 2, worm screw 3, worm gear 4, worm-wheel shaft 5 and crank 6, spherical linkage 10, connecting rod 7 and rocking arm 8, and be axis of symmetry with turbine and worm decelerator and motor, constitute a cover space four bar linkage mechanism in the both sides of worm-and-wheel gear and miniature motor 2 by pedestal 1, crank 6, connecting rod 7, rocking arm 8, when worm gear 4 rotates, driving crank 6 by worm-wheel shaft 5 rotates together, crank 6 drives rocking arm 8 by connecting rod 7 again and swings up and down, and then drive wing 11 is fluttered up and down.Specific implementation process is:
The fuselage 17 of present embodiment is board-like, and its front end face is the plane, on this end face, have in order to pedestal 1 bonded assembly connecting pin, the external diameter of this connecting pin is with the internal diameter of fuselage mounting hole 16; The front portion of fuselage has the mounting groove that is used to install miniature motor along the fuselage axis direction.
One end of two cranks 6 has axis hole, and by this axis hole crank is captiveed joint with the two ends that extend to pedestal 1 worm-wheel shaft 5 outward respectively, when worm-wheel shaft 5 rotates, drives two cranks 6 and rotates together.The other end of crank 6 respectively is fixed with a spherical linkage 10.
Rocking arm 8 is two also, is distributed in the both sides of worm-and-wheel gear.One end of rocking arm 8 has axis hole, and by this axis hole two rocking arms 8 is sleeved on the rocker shaft 9, makes the branch of rocking arm 8 symmetries be listed in the both sides of rocker shaft 9, all can swing up and down around rocker shaft 9; The other end of rocking arm is connected with wing 11 respectively.Be fixed with a spherical linkage respectively at the middle part of rocking arm 8.
During assembling:
By worm-wheel shaft 5 be positioned at worm-wheel shaft mounting hole 15 on the pedestal 1, worm gear 4 is installed in the framework of pedestal 1, the outer certain-length of pedestal framework is extended at the two ends of worm-wheel shaft 5, makes between the crank 6 that is installed in these worm-wheel shaft two ends and the pedestal 1 to keep a safe distance.Worm screw 3 is captiveed joint with the axle of miniature motor 2.
The rocking arm 8 that is connected with wing 11 is positioned at the both sides, top of fuselage 17; Two connecting rods 7 lay respectively at the fuselage both sides, the one end all is connected with the spherical linkage of crank 6 one ends, the other end all is connected with the spherical linkage at rocking arm 8 middle parts, makes pedestal 1, crank 6, connecting rod 7, the left and right two cover space four bar linkage mechanisms of rocking arm 8 common formations.When worm gear 4 rotates, drive crank 6 by worm-wheel shaft 5 and rotate together, crank 6 drives rocking arm 8 by connecting rod 7 again and swings up and down, and then drive wing 11 is fluttered up and down.
The present invention is installed in forebody (accompanying drawing 4), the connecting pin by being positioned at the front fuselage face be positioned at closely cooperating of fuselage mounting hole 16 on the pedestal 1, flutter mechanism and flapping-wing aircraft fuselage 17 are linked together.
Claims (5)
1. the driver train of a mini-sized flap wings aircraft wing comprises pedestal (1), miniature motor (2), worm screw (3), worm gear (4), crank (6), connecting rod (7) and rocking arm (8), it is characterized in that:
A. driver train adopts worm-and-wheel gear to slow down, and this worm-and-wheel gear and fuselage (17) are installed in fuselage (17) front end at same vertical surface by pedestal (1); By worm-wheel shaft (5) be positioned at worm-wheel shaft mounting hole (15) on the pedestal (1), worm gear (4) is installed in the pedestal; Miniature motor (2) is installed on the pedestal (1) by the motor mounting hole on the pedestal; Connecting pin by being positioned at fuselage (17) front end face be positioned at closely cooperating of fuselage mounting hole (16) on the pedestal (1), flutter mechanism and flapping-wing aircraft fuselage are linked together; Rocker shaft (9) is installed in the rocker shaft mounting hole (12), is positioned at fuselage (17) axis top, and with the worm mechanism space parallel;
B. the space four bar linkage mechanism that is symmetrical in worm and gear that is made of crank (6), connecting rod (7), rocking arm (8) is positioned at the both sides of fuselage (17), promptly two cranks (6) are positioned at the both sides of worm gear (4), and an end of crank is connected in worm-wheel shaft (5) stretches out on the two ends, the left and right sides of pedestal; The two ends of connecting rod (7) are connected with rocking arm (8) with crank (6) respectively by spherical linkage (10); One end of two rocking arms is contained on the rocker shaft (9) by shaft hole sleeve, makes it to link together, the other end of rocking arm and wing (11) are connected.
2. the driver train of mini-sized flap wings aircraft wing according to claim 1 is characterized in that pedestal (1) is a frame structure, framework auricle all arranged up and down, and on framework one sidewall paneling, have two motor mounting holes (14) and a motor knock hole (13); Have rocker shaft mounting hole (12) and fuselage mounting hole at last auricle; Have worm-wheel shaft mounting hole (15) at following auricle.
3. the driver train of mini-sized flap wings aircraft wing according to claim 1, respectively there is a connecting pin at the upper and lower position of front end face that it is characterized in that fuselage (17), this connecting pin is matched with fuselage mounting hole (16) on being positioned at pedestal (1), realize being connected of pedestal and fuselage.
4. the driver train of mini-sized flap wings aircraft wing according to claim 1 is characterized in that worm-wheel shaft (5) extends the outer certain-length of pedestal framework.
5. as the driver train of mini-sized flap wings aircraft wing as described in the claim 2, it is characterized in that two sidewall panelinies corresponding, that be used to install rocking arm on pedestal (1) framework are extended upward the auricle that forms a pair of symmetry; Framework two corresponding sidewall panelinies in addition extends to form another auricle to symmetry downwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610042632XA CN100430297C (en) | 2006-04-06 | 2006-04-06 | Driving mechanism for wings of minitype ornithopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610042632XA CN100430297C (en) | 2006-04-06 | 2006-04-06 | Driving mechanism for wings of minitype ornithopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101049858A CN101049858A (en) | 2007-10-10 |
| CN100430297C true CN100430297C (en) | 2008-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200610042632XA Expired - Fee Related CN100430297C (en) | 2006-04-06 | 2006-04-06 | Driving mechanism for wings of minitype ornithopter |
Country Status (1)
| Country | Link |
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| CN (1) | CN100430297C (en) |
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| WO2012112939A1 (en) * | 2011-02-17 | 2012-08-23 | Georgia Tech Research Corporation | Hovering and gliding multi-wing flapping micro aerial vehicle |
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| CN106184745A (en) * | 2016-08-19 | 2016-12-07 | 深圳市元征科技股份有限公司 | flapping wing aircraft |
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| CN108382582B (en) * | 2018-03-15 | 2024-03-12 | 山东大学 | Electromechanical device capable of realizing conversion of flapping-fixing wing structure and aircraft |
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| CN109795685B (en) * | 2019-04-02 | 2022-03-25 | 西北工业大学 | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer |
| CN110553579B (en) * | 2019-10-10 | 2021-02-26 | 北京机械设备研究所 | Electric steering engine based on four spatial connecting rods and method for measuring angle of rudder output shaft |
| CN110641696A (en) * | 2019-10-30 | 2020-01-03 | 南开大学 | Control mechanism of bionic hummingbird flapping wing unmanned aerial vehicle based on wing deformation |
| CN113669426A (en) * | 2021-07-19 | 2021-11-19 | 中国空间技术研究院 | Hinge device |
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|---|---|---|---|---|
| GB364986A (en) * | 1931-05-06 | 1932-01-14 | Heinrich Kern | Aeroplane with vertically oscillatable wings |
| CN2053531U (en) * | 1989-09-25 | 1990-02-28 | 杨琳 | Core of motor-driven flying toy |
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| Publication number | Publication date |
|---|---|
| CN101049858A (en) | 2007-10-10 |
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Granted publication date: 20081105 Termination date: 20120406 |