CN105730693A - Insect-imitated flapping-wing micro air vehicle - Google Patents
Insect-imitated flapping-wing micro air vehicle Download PDFInfo
- Publication number
- CN105730693A CN105730693A CN201610097226.7A CN201610097226A CN105730693A CN 105730693 A CN105730693 A CN 105730693A CN 201610097226 A CN201610097226 A CN 201610097226A CN 105730693 A CN105730693 A CN 105730693A
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- space
- gear
- driving gear
- box
- worm screw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to an insect-imitated flapping-wing micro air vehicle. A body of a space worm drive system is arranged in a gearbox. A driving gear is fixed into the gearbox, and an input shaft of the driving gear is connected with an output shaft of a motor. Driven gears are hinged to first space worms through first spherical hinges. The first space worms are hinged to second space worms through second spherical hinges. The second space worms penetrate the gearbox and are hinged to the gearbox through third spherical hinges. A left and right flapping system comprises two lug seats fixed to the outer walls of the gearbox. The lug seats are hinged to lug plates. Two cylindrical struts are vertically fixed between each pair of lug plates. The lug plates are fixedly connected with wings. Each second space worm extends into the position between the corresponding two cylindrical struts arranged vertically. The motor drives the driving gear to rotate, the driven gears rotate around the driving gear, and the first spherical hinges rotate around the driving gear along with the drive gears to drive the first space worms to rotate. The sections, extending out of the gearbox, of the second space worms do conical surface movement, and each wing is driven by the corresponding two cylindrical struts to flap up and down.
Description
Technical field
The present invention relates to a kind of flapping wing aircraft, particularly relate to a kind of imitative insect minisize flapping wing aircraft, belong to flapping wing aircraft technical field.
Background technology
The flying method of flapping wing is widely present among the flight of nature flying creature, the advantage that flapping flight enumerates fixed-wing flight and rotor flying, it is possible to quickly take off, accelerate and hover, have high mobility and motility.The flying method of flying creature substantially can be divided three classes: low-frequency flight of fluttering, so many large birds (eagle, vulture, wild goose, sea-gull, swan etc.), the span is longer bigger, frequency of fluttering is relatively low, from the zero to tens of Hertz not etc., low-frequency form of fluttering fluttered and glide and combine is adopted；The flight of fluttering of intermediate frequency, is mainly the medium birds of the bodily form (such as swallow, Passeris montani saturati, pigeon etc.), and wing is less big, and frequency of fluttering is of a relatively high, few employing glide mode；The flight of fluttering of high frequency, this flying method is the flapping wing form of the characteristics of motion complexity adopting very high frequency, wing, such as hummingbird and the less birds of the bodily form and most insects, frequency of fluttering is about 60～80 hertz, it is possible to aloft realizes advance, retreat, hover and some other highly difficult maneuvering flight.
In order to make micro flapping wing air vehicle volume little as far as possible, adopting the flutter design of flight of imitative insecticide high frequency is that comparison is rational.At present, general bionic flying micro-robot major part relies on simply flutter generation lift and thrust, inefficient, flight underaction.The Chinese utility model patent document that Authorization Notice No. is CN200942872Y discloses a kind of double; two flapping wing aircraft of imitative Aeschna melanictera, but the left and right flapping wing of sized flap wings system is fluttered completely asymmetric before and after the double; two flapping wing aircraft of the imitative Aeschna melanictera that this patent provides, while left (right side) flapping wing is upwards fluttered, the right side (left side) flapping wing is but fluttered downwards, and before and after it, sized flap wings system is to be completely reversed to flutter, and causes aircraft flight less stable.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, compact, imitative insect minisize flapping wing aircraft flexibly of fluttering, and transmission has self-locking performance.
The present invention takes techniques below scheme:
A kind of imitative insect minisize flapping wing aircraft, its spy is being in that: include frame, space endless screw transmission agent, left and right sides flutter system；Described frame include before and after be sequentially connected with gear-box 16, girder 12, empennage 13；The main body of described space endless screw transmission agent is arranged and in described gear-box 16, including driving gear 1, driven gear 2；Described driving gear 1 is fixed in described gear-box 16, and its power shaft 11 is connected with motor output shaft；Driven gear 2 engages with driving gear 1, and hinged by the first spherical linkage 3 and the first space worm screw 4；Described first space worm screw 4 is hinged with second space worm screw 7 by the second spherical linkage 5；Described second space worm screw 7 with through gear-box 16 hinged by the 3rd spherical linkage 6 with gear-box 16；The described left and right sides system of fluttering includes two ear mount 18 being fixed on gear-box 16 outer wall, and described ear mount 18 is hinged with otic placode 19, is fixedly installed two cylinder poles 22 between a pair otic placode 19 up and down, and described otic placode 19 is fixing with wing 8 to be connected；Described second space worm screw 7 stretches between described upper and lower two cylinder poles 22；Driven by motor driving gear 1 rotates, and driven gear 2 rotates around driving gear 1, and the first spherical linkage 3 rotates around driving gear 1 with driven gear 2, drives the first space worm screw 4 to rotate；Second space worm screw 7 is under the location of the 3rd spherical linkage 6, and its stretch out gear-box 16 section does taper seat motion, and drives wing about 8 to flutter by two cylinder poles 22；Second space worm screw 7 moves left and right between two cylinder poles 22.
Further, described gear-box 16 is in hollow rectangle body structure.
Further, described empennage 13 includes fixed fin, right side horizontal stabilizer and left side horizontal stabilizer.
Further, described wing 8 front end is arc-shaped structure, and rear end is square structure.
Further, described girder 12 is in cylinder rod-like structure.
The beneficial effects of the present invention is:
1) simple in construction is compact；
2) have employed a kind of space worm structure and spherical link, flutter flexibly；
3) different effects of fluttering is obtained by the size of change worm structure, and thus regulate the lift of fluttering that acquisition is bigger, especially structure of fluttering can be allowed inwardly to be reversed around torsional axis thus creating leading vortex rapidly by wing, it is thus achieved that rotation circulation mechanism, thus improving lift.
4) transmission has self-locking performance, will not produce reversion；
5) by space worm structure transmission achieve left side flapping wing and right side flapping wing flutter full symmetric；
6) drive mechanism exquisite composition, designs ingenious；
7) there is the prospect of wide popularization and application.
Accompanying drawing explanation
Fig. 1 is the front view of the imitative insect minisize flapping wing aircraft of the present invention.
Fig. 2 is the imitative insect minisize flapping wing aircraft head amplification stereogram of the present invention.
Fig. 3 is the axonometric chart of the imitative insect minisize flapping wing aircraft drive mechanism of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
Referring to Fig. 1-Fig. 3, a kind of imitative insect minisize flapping wing aircraft, flutter system including frame, space endless screw transmission agent, left and right sides；Described frame include before and after be sequentially connected with gear-box 16, girder 12, empennage 13；The main body of described space endless screw transmission agent is arranged and in described gear-box 16, including driving gear 1, driven gear 2；Described driving gear 1 is fixed in described gear-box 16, and its power shaft 11 is connected with motor output shaft；Driven gear 2 engages with driving gear 1, and hinged by the first spherical linkage 3 and the first space worm screw 4；Described first space worm screw 4 is hinged with second space worm screw 7 by the second spherical linkage 5；Described second space worm screw 7 with through gear-box 16 hinged by the 3rd spherical linkage 6 with gear-box 16；The described left and right sides system of fluttering includes two ear mount 18 being fixed on gear-box 16 outer wall, and described ear mount 18 is hinged with otic placode 19, is fixedly installed two cylinder poles 22 between a pair otic placode 19 up and down, and described otic placode 19 is fixing with wing 8 to be connected；Described second space worm screw 7 stretches between described upper and lower two cylinder poles 22；Driven by motor driving gear 1 rotates, and driven gear 2 rotates around driving gear 1, and the first spherical linkage 3 rotates around driving gear 1 with driven gear 2, drives the first space worm screw 4 to rotate；Second space worm screw 7 is under the location of the 3rd spherical linkage 6, and its stretch out gear-box 16 section does taper seat motion, and drives wing about 8 to flutter by two cylinder poles 22；Second space worm screw 7 moves left and right between two cylinder poles 22.
Referring to Fig. 1,2, described gear-box 16 is in hollow rectangle body structure.
Referring to Fig. 1, described empennage 13 includes fixed fin, right side horizontal stabilizer and left side horizontal stabilizer.
Referring to Fig. 1, described wing 8 front end is arc-shaped structure, and rear end is square structure.
Referring to Fig. 1, described girder 12 is in cylinder rod-like structure.
The each flapping wing of the present invention can rotary motion；Space worm structure has self-locking performance；The symmetry of fluttering of left side flapping wing and right side flapping wing is achieved by space worm structure transmission；By the flapping mechanism simple in construction that ball-type pillar is constituted, flutter flexibly, work of fluttering before well achieving, produce the front whirlpool of the wing and achieve rotation circulation mechanism, thus obtaining bigger lift of fluttering.
The key point of the present invention is in that to have employed a kind of space worm structure and spherical link, make to flutter more flexible, different effects of fluttering is obtained by changing the size of worm structure, and thus regulate the lift of fluttering that acquisition is bigger, especially structure of fluttering can be allowed inwardly to be reversed around torsional axis thus creating leading vortex rapidly by wing, acquisition rotation circulation mechanism, thus improving lift.
Claims (5)
1. an imitative insect minisize flapping wing aircraft, its spy is being in that:
Flutter system including frame, space endless screw transmission agent, left and right sides；
Described frame include before and after be sequentially connected with gear-box (16), girder (12), empennage (13)；
The main body of described space endless screw transmission agent is arranged and in described gear-box (16), including driving gear (1), driven gear (2)；Described driving gear (1) is fixed in described gear-box (16), and its power shaft (11) is connected with motor output shaft；Driven gear (2) engages with driving gear (1), and hinged by the first spherical linkage (3) and the first space worm screw (4)；Described first space worm screw (4) is hinged by the second spherical linkage (5) and second space worm screw (7)；Described second space worm screw (7) with through gear-box (16) hinged by the 3rd spherical linkage (6) with gear-box (16)；
The described left and right sides system of fluttering includes two ear mount (18) being fixed on gear-box (16) outer wall, described ear mount (18) is hinged with otic placode (19), being fixedly installed two cylinder poles (22) between a pair otic placode (19) up and down, described otic placode (19) is fixing with wing (8) to be connected；
Described second space worm screw (7) is stretched between described upper and lower two cylinder poles (22)；
Driven by motor driving gear (1) rotates, driven gear (2) rotates around driving gear (1), first spherical linkage (3) rotates around driving gear (1) with driven gear (2), drives the first space worm screw (4) to rotate；
Second space worm screw (7) is under the location of the 3rd spherical linkage (6), its stretch out gear-box (16) section does taper seat motion, and drives wing (8) to flutter up and down by two cylinder poles (22)；Second space worm screw (7) moves left and right between two cylinder poles (22).
2. imitative insect minisize flapping wing aircraft as claimed in claim 1, its spy is being in that: described gear-box (16) is in hollow rectangle body structure.
3. imitative insect minisize flapping wing aircraft as claimed in claim 1, its spy is being in that: described empennage (13) includes fixed fin, right side horizontal stabilizer and left side horizontal stabilizer.
4. insect minisize flapping wing aircraft as claimed in claim 1 imitative, its spy is being in that: described wing (8) front end is arc-shaped structure, and rear end is square structure.
5. imitative insect minisize flapping wing aircraft as claimed in claim 1, its spy is being in that: described girder (12) is in cylinder rod-like structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610097226.7A CN105730693A (en) | 2016-02-23 | 2016-02-23 | Insect-imitated flapping-wing micro air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610097226.7A CN105730693A (en) | 2016-02-23 | 2016-02-23 | Insect-imitated flapping-wing micro air vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN105730693A true CN105730693A (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610097226.7A Pending CN105730693A (en) | 2016-02-23 | 2016-02-23 | Insect-imitated flapping-wing micro air vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628169A (en) * | 2016-10-14 | 2017-05-10 | 姜地 | Insect-like flapping-wing aircraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| CN2708973Y (en) * | 2004-06-03 | 2005-07-13 | 林永光 | Remote controlled boating toy |
| CN104386252A (en) * | 2014-11-19 | 2015-03-04 | 上海工程技术大学 | Miniature insect-like double-flapping-wing aircraft |
| CN104477383A (en) * | 2014-12-02 | 2015-04-01 | 西北工业大学 | Three-dimensional flapping flapping-wing drive mechanism |
-
2016
- 2016-02-23 CN CN201610097226.7A patent/CN105730693A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082671A (en) * | 1998-04-17 | 2000-07-04 | Georgia Tech Research Corporation | Entomopter and method for using same |
| CN2708973Y (en) * | 2004-06-03 | 2005-07-13 | 林永光 | Remote controlled boating toy |
| CN104386252A (en) * | 2014-11-19 | 2015-03-04 | 上海工程技术大学 | Miniature insect-like double-flapping-wing aircraft |
| CN104477383A (en) * | 2014-12-02 | 2015-04-01 | 西北工业大学 | Three-dimensional flapping flapping-wing drive mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628169A (en) * | 2016-10-14 | 2017-05-10 | 姜地 | Insect-like flapping-wing aircraft |
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Application publication date: 20160706 |
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