CN102211665B - Micro dragonfly-imitating dual-flapping wing aircraft - Google Patents
Micro dragonfly-imitating dual-flapping wing aircraft Download PDFInfo
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Abstract
The invention relates to a micro dragonfly-imitating dual-flapping wing aircraft which mainly consists of a rack, a front flapping wing system and a rear flapping wing system. A pinion (17) and a large gear (16) are in meshing transmission; the large gear (16) is fixedly connected with a runner (14) through a transmission shaft (15) at an adjustable angle (36); the large gear (16), a connection rod a (23), a front right rocker (24) with a sector gear, a Y-shaped front bracket (18), a runner (14), a connection rod b (34), a rear right rocker (33) with sector gear and a Y-shaped rear bracket (20) form a crank rocker mechanism respectively; and the front and rear flapping wing systems are in meshing transmission through the sector gears to realize symmetric flapping. Compared with the prior art, the micro dragonfly-imitating dual-flapping wing aircraft provided by the invention has the advantages that: the two flapping wings are driven by a single motor in a simple and compact structure, the flapping of the front and rear flapping wing systems is completely symmetric, the flapping phase difference of the front and rear flapping wing systems can be adjusted as necessary to as to perfectly imitate the flexible flapping flying of dragonfly, and the like.
Description
Technical field
The present invention relates to a kind of flapping wing aircraft, relate in particular to the two flapping wing aircrafts of a kind of miniature imitative dragonfly.
Background technology
The flying method of flapping wing extensively is present among the biological flight of realm of nature flight, and the advantage of fixed-wing flight and rotor flying has been included in flapping flight, can take off, accelerate and hover by fast speed, has high mobility and alerting ability.The biological flying method of flight roughly can be divided three classes: low-frequency flight of fluttering, so much type birds (hawk, vulture, wild goose, sea-gull, swan etc.), the span is long larger, the frequency of fluttering is lower, do not wait from zero to tens of hertz, adopt low-frequency form of fluttering of fluttering and gliding and combining; The flight of fluttering of intermediate frequency is mainly the medium birds of the bodily form (as swallow, sparrow, pigeon etc.), and wing is not too large, and the frequency of fluttering is relatively high, seldom adopts the glide mode; The flight of fluttering of high frequency, this flying method is that proportion is high, the flapping wing form of the characteristics of motion complexity of wing, as hummingbird and less birds and the most insects of the bodily form, the frequency of fluttering is about 60～80 hertz, can aloft realize advancing, retreat, hover and maneuvering flight that some other is highly difficult.
Bionic flying micro-robot (in general 10cm), it has exceeded traditional Flight Vehicle Design and aerodynamic research category on application engineering, has started simultaneously the application of micro electro mechanical system (MEMS) technology (MEMS) at aviation field.The efficient mini bionic flapping-wing flying vehicle that Design and manufacture has the good dynamics characteristic is a present challenging research difficult problem as rich as Croesus.
At present, general bionic flying micro-robot major part only relies on a pair of flapping wing to produce lift and thrust, and efficient is lower, the flight underaction.And two flapping flights of imitative dragonfly Yan: on the one hand, before and after it to flutter be that symmetry is fluttered in left and right of sized flap wings system, and the front and back sized flap wings system is to flutter according to an adjustable phase difference, thereby realize flying flexibly.On the other hand, the frequency of fluttering is very fast, can reach 60～80 hertz, and general DC micromotor rated speed of rotation is 300-400 revolutions per second of left and right, therefore reduction ratio in 4～7 left and right, can be realized by the less one-level gear transmission of size fully.Patent CN200942872Y provides the two flapping wing aircrafts of a kind of imitative dragonfly Yan, but the defective of the two flapping wing aircrafts of the imitative dragonfly Yan that this patent provides is very obvious: on the one hand, before and after it, left and right flapping wing of sized flap wings system is fluttered fully asymmetric, when left (right side) flapping wing is upwards fluttered, right (left side) flapping wing is but fluttered downwards, and before and after it, sized flap wings system is fully oppositely to flutter, cause aircraft flight stability very poor, even can not aerial flight.On the other hand, for the minute vehicle design, it does not adopt stage-geared to this patent, and the layout volume is larger, and structure is heavier, is unfavorable for micro-miniaturisation.
Summary of the invention
Purpose of the present invention is exactly the defective that exists in order to overcome above-mentioned prior art, provide a kind of and realize the two flapping wings of single motor-driven with simple compact design, before and after the left and right of the sized flap wings system equal full symmetric of fluttering, and the two flapping wing aircrafts of miniature imitative dragonfly Yan that can adjust as required of the phase difference of fluttering of front and back sized flap wings system.
Purpose of the present invention can be achieved through the following technical solutions: the two flapping wing aircrafts of a kind of miniature imitative dragonfly, it is characterized in that, and mainly formed by frame, front sized flap wings system, rear sized flap wings system; Described frame mainly is comprised of Y type front frame 18, support beam 19, Y type after poppet 20, external form main support 21; Described front sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, bearing pin b25, bearing pin d27, the front right rocking bar 24 with quadrant gear, front left rocking bar 28, front right flapping wing 8, front left flapping wing 6 and control module 3 with quadrant gear, battery 7; Described rear sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, transmission main shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, bearing pin g32, bearing pin e30, the rear right rocking bar 33 with quadrant gear, rear left rocking bar 29, rear right flapping wing 9, rear left flapping wing 5 and control module 3 with quadrant gear, battery 7.
The external form main support 21 of described frame is captiveed joint with Y type front frame 18, Y type after poppet 20 respectively, and support beam 19 is captiveed joint with Y type front frame 18, Y type after poppet 20 respectively.
Described transmission shaft 15 is captiveed joint with big gear wheel 16, transmission shaft 15 and runner 14 are connected in the mode of circumferentially regulating angle 36 sizes along transmission shaft 15, transmission shaft 15 is connected by revolute pair with Y type front frame 18, Y type after poppet 20, miniature gears 17 is connected in the rotating shaft of motor 4, miniature gears 17 and big gear wheel 16 engaged transmission.
Described bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35 are connected and form angle 36, and being connected of runner 14 and transmission shaft 15 can circumferentially regulate to change the size of angle 36 along transmission shaft 15, the phase difference of fluttering of flapping wing before and after being used for changing.
Described big gear wheel 16 is connected with revolute pair with connecting rod a23 by bearing pin a22, connecting rod a23 is connected with revolute pair with front right rocking bar 24 with quadrant gear by bearing pin c26, front right rocking bar 24 with quadrant gear is connected with revolute pair with Y type front frame 18 by bearing pin b25, and front right flapping wing 8 is connected with front right rocking bar 24 with quadrant gear.
Described with quadrant gear front right rocking bar 24 and with the front left rocking bar 28 of quadrant gear by the quadrant gear engaged transmission, front left rocking bar 28 with quadrant gear is connected with revolute pair with Y type front frame 18 by bearing pin d27, and front left flapping wing 6 is connected with front left rocking bar 28 with quadrant gear.
Described runner 14 is connected with revolute pair with connecting rod b34 by bearing pin h35, connecting rod b34 is connected with revolute pair with rear right rocking bar 33 with quadrant gear by bearing pin f31, rear right rocking bar 33 with quadrant gear is connected with revolute pair with Y type after poppet 20 by bearing pin g32, and rear right flapping wing 9 is connected with rear right rocking bar 33 with quadrant gear.
Described with quadrant gear rear right rocking bar 33 and with the rear left rocking bar 29 of quadrant gear by the quadrant gear engaged transmission, rear left rocking bar 29 with quadrant gear is connected with revolute pair with Y type after poppet 20 by bearing pin e30, and rear left flapping wing 5 is connected with rear left rocking bar 29 with quadrant gear.
Compared with prior art, the distinguishing feature of the present invention is: by the two flapping wings of single motor-driven; The equal full symmetric of fluttering of front sized flap wings system and rear sized flap wings system; The phase difference of fluttering of front and back sized flap wings system can be adjusted as required, to realize the flight of fluttering flexibly of highly bionical dragonfly Yan.Realize complicated two flapping flight campaigns with simple compact design, this point is particularly important for minute vehicle, meets the micro-miniaturisation direction of minute vehicle.
Description of drawings
Fig. 1 is the two flapping wing aircraft integral structure schematic diagrams of the miniature imitative dragonfly Yan of the present invention;
Fig. 2 is the two flapping wing aircraft rack construction schematic diagrams of the miniature imitative dragonfly of the present invention;
Fig. 3 is sized flap wings system schematic diagram (front elevation) before the two flapping wing aircrafts of the miniature imitative dragonfly Yan of the present invention;
Fig. 4 is sized flap wings system schematic diagram (back view) after the two flapping wing aircrafts of the miniature imitative dragonfly Yan of the present invention;
Fig. 5 is the flapping wing phase difference control system schematic diagram of fluttering before and after the two flapping wing aircrafts of the miniature imitative dragonfly Yan of the present invention.
In Fig. 1, label represents to the contents are as follows: direction steering wheel 1, lifting steering wheel 2, control module 3, motor 4, rear left flapping wing 5, front left flapping wing 6, battery 7, front right flapping wing 8, rear right flapping wing 9, fixed fin 10, yaw rudder 11, horizontal stabilizer 12, elevating rudder 13;
In Fig. 2, label represents to the contents are as follows: runner 14, transmission shaft 15, big gear wheel 16, miniature gears 17, Y type front frame 18, support beam 19, Y type after poppet 20, external form main support 21;
In Fig. 3, label represents to the contents are as follows: bearing pin a22, connecting rod a23, the front right rocking bar 24 with quadrant gear, bearing pin b25, bearing pin c26, bearing pin d27, with the front left rocking bar 28 of quadrant gear;
In Fig. 4, label represents to the contents are as follows: with rear left rocking bar 29, bearing pin e30, bearing pin f31, bearing pin g32, the rear right rocking bar 33 with quadrant gear, connecting rod b34, the bearing pin h35 of quadrant gear;
In Fig. 5, label represents to the contents are as follows: bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, the formation angle 36 that is connected, being connected of runner 14 and transmission shaft 15 can circumferentially regulate to change the size of angle 36 along transmission shaft 15.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
As shown in Fig. 1-5, the two flapping wing aircrafts of the miniature imitative dragonfly of the present invention mainly are comprised of frame, front sized flap wings system, rear sized flap wings system and empennage system.Frame mainly is comprised of Y type front frame 18, support beam 19, Y type after poppet 20, external form main support 21; Front sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, bearing pin b25, bearing pin d27, the front right rocking bar 24 with quadrant gear, front left rocking bar 28, front right flapping wing 8, front left flapping wing 6 and control module 3 with quadrant gear, battery 7; Rear sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, transmission main shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, bearing pin g32, bearing pin e30, the rear right rocking bar 33 with quadrant gear, rear left rocking bar 29, rear right flapping wing 9, rear left flapping wing 5 and control module 3 with quadrant gear, battery 7; The steering swivel system that the afterbody system mainly is comprised of direction steering wheel 1, fixed fin 10, yaw rudder 11 and the jacking system that is comprised of lifting steering wheel 2, horizontal stabilizer 12, elevating rudder 13 form.
Described external form main support 21 is connected with Y type front frame 18, Y type after poppet 20 respectively, and support beam 19 is connected with Y type front frame 18, Y type after poppet 20 respectively.
Described transmission shaft 15 and big gear wheel 16 are connected, transmission shaft 15 and runner 14 to be being connected along the mode that transmission shaft 15 is circumferentially regulated angle 36 sizes, transmission shaft 15 is connected by revolute pair with Y type front frame 18, Y type after poppet 20, miniature gears 17 is connected in the rotating shaft of motor 4, miniature gears 17 and big gear wheel 16 engaged transmission.
Described big gear wheel 16 is connected with revolute pair with connecting rod a23 by bearing pin a22, connecting rod a23 is connected with revolute pair with front right rocking bar 24 with quadrant gear by bearing pin c26, front right rocking bar 24 with quadrant gear is connected with revolute pair with Y type front frame 18 by bearing pin b25, and front right flapping wing 8 is connected with front right rocking bar 24 with quadrant gear.
Described with quadrant gear front right rocking bar 24 and with the front left rocking bar 28 of quadrant gear by the quadrant gear engaged transmission, front left rocking bar 28 with quadrant gear is connected with revolute pair with Y type front frame 18 by bearing pin d27, and front left flapping wing 6 is connected with front left rocking bar 28 with quadrant gear.
Described runner 14 is connected with revolute pair with connecting rod b34 by bearing pin h35, connecting rod b34 is connected with revolute pair with rear right rocking bar 33 with quadrant gear by bearing pin f31, rear right rocking bar 33 with quadrant gear is connected with revolute pair with Y type after poppet 20 by bearing pin g32, and rear right flapping wing 9 is connected with rear right rocking bar 33 with quadrant gear.
Described with quadrant gear rear right rocking bar 33 and with the rear left rocking bar 29 of quadrant gear by the quadrant gear engaged transmission, rear left rocking bar 29 with quadrant gear is connected with revolute pair with Y type after poppet 20 by bearing pin e30, and rear left flapping wing 5 is connected with rear left rocking bar 29 with quadrant gear.
Described bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35 are connected and form angle 36, and being connected of runner 14 and transmission shaft 15 can circumferentially regulate to change the size of angle 36 along transmission shaft 15, the phase difference of fluttering of flapping wing before and after being used for changing.
A preferred embodiment of the present invention such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, the two flapping wing aircrafts of miniature imitative dragonfly Yan, mainly formed by frame, front sized flap wings system, rear sized flap wings system and empennage system, can consist of two flapping wings turning to and pitching flying of motion and aircraft of fluttering.
Two flapping wings flutter the motion and aircraft turn to pitching flying as follows:
The motion of fluttering of two flapping wings: motor 4 is by miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, drive front right flapping wing 8 and flutter with front right rocking bar 24, the bearing pin b25 of quadrant gear; Motor 4 is by miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, bearing pin b25, with the front right rocking bar 24 of quadrant gear, drive front left flapping wing 6 and flutter with front left rocking bar 28, the bearing pin d27 of quadrant gear; Wherein, miniature gears 17 and big gear wheel 16 engaged transmission, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, the front right rocking bar 24 with quadrant gear, bearing pin b25, Y type front frame 18 forms the quadric linkage transmissions, with the front right rocking bar 24 of quadrant gear and with the front left rocking bar 28 of quadrant gear by the quadrant gear engaged transmission.Motor 4 is by miniature gears 17, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, drive rear right flapping wing 9 and flutter with rear right rocking bar 33, the bearing pin g32 of quadrant gear; Motor 4 by miniature gears 17, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, with quadrant gear rear right rocking bar 33, bearing pin g32, drive rear left flapping wing 5 and flutter with rear left rocking bar 29, the bearing pin e30 of quadrant gear; Wherein, miniature gears 17 and big gear wheel 16 engaged transmission, big gear wheel 16 is passed to runner 14 to motion by transmission shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, the rear right rocking bar 33 with quadrant gear, bearing pin g32, Y type after poppet 20 forms the quadric linkage transmissions, with the rear right rocking bar 33 of quadrant gear and with the rear left rocking bar 29 of quadrant gear by the quadrant gear engaged transmission.
By changing the be connected size of the angle 36 that forms of bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, the phase difference of fluttering of flapping wing before and after can changing, the coordination that is used for the optimizing two flapping wings flight of fluttering.
Turning to and pitching flying of aircraft: control yaw rudder 11 by direction steering wheel 1 and realize turning to of aircraft, control by elevating rudder 2 lifting that elevating rudder 13 realized aircraft.
Claims (1)
1. the two flapping wing aircrafts of miniature imitative dragonfly, is characterized in that, mainly is comprised of frame, front sized flap wings system, rear sized flap wings system; Described frame mainly is comprised of Y type front frame (18), support beam (19), Y type after poppet (20), external form main support (21); Described front sized flap wings system is mainly by motor (4), miniature gears (17), big gear wheel (16), bearing pin a(22), connecting rod a(23), bearing pin c(26), bearing pin b(25), bearing pin d(27), the front right rocking bar (24) with quadrant gear, front left rocking bar (28), front right flapping wing (8), front left flapping wing (6) and control module (3) with quadrant gear, battery (7) form; Described rear sized flap wings system is mainly by motor (4), miniature gears (17), big gear wheel (16), transmission main shaft (15), runner (14), bearing pin h(35), connecting rod b(34), bearing pin f(31), bearing pin g(32), bearing pin e(30), the rear right rocking bar (33) with quadrant gear, rear left rocking bar (29), rear right flapping wing (9), rear left flapping wing (5) and control module (3) with quadrant gear, battery (7) form;
The external form main support (21) of described frame is captiveed joint with Y type front frame (18), Y type after poppet (20) respectively, and support beam (19) is captiveed joint with Y type front frame (18), Y type after poppet (20) respectively;
Described transmission shaft (15) is captiveed joint with big gear wheel (16), transmission shaft (15) and runner (14) are connected in the mode of circumferentially regulating angle (36) size along transmission shaft (15), transmission shaft (15) is connected by revolute pair with Y type front frame (18), Y type after poppet (20), miniature gears (17) is connected in the rotating shaft of motor (4), miniature gears (17) and big gear wheel (16) engaged transmission;
Described bearing pin a(22), big gear wheel (16), transmission shaft (15), runner (14), bearing pin h(35) being connected forms angle (36), being connected of runner (14) and transmission shaft (15) can circumferentially regulate to change the size of angle (36) along transmission shaft (15), the phase difference of fluttering of flapping wing before and after being used for changing;
Described big gear wheel (16) is by bearing pin a(22) with connecting rod a(23) be connected with revolute pair, connecting rod a(23) by bearing pin c(26) be connected with revolute pair with front right rocking bar (24) with quadrant gear, with the front right rocking bar (24) of quadrant gear by bearing pin b(25) be connected front right flapping wing (8) and being connected with the front right rocking bar (24) of quadrant gear with revolute pair with Y type front frame (18);
Described with quadrant gear front right rocking bar (24) and with the front left rocking bar (28) of quadrant gear by the quadrant gear engaged transmission, with the front left rocking bar (28) of quadrant gear by bearing pin d(27) be connected front left flapping wing (6) and being connected with the front left rocking bar (28) of quadrant gear with revolute pair with Y type front frame (18);
Described runner (14) is by bearing pin h(35) with connecting rod b(34) be connected with revolute pair, connecting rod b(34) by bearing pin f(31) be connected with revolute pair with rear right rocking bar (33) with quadrant gear, with the rear right rocking bar (33) of quadrant gear by bearing pin g(32) be connected rear right flapping wing (9) and being connected with the rear right rocking bar (33) of quadrant gear with revolute pair with Y type after poppet (20);
Described with quadrant gear rear right rocking bar (33) and with the rear left rocking bar (29) of quadrant gear by the quadrant gear engaged transmission, with the rear left rocking bar (29) of quadrant gear by bearing pin e(30) be connected rear left flapping wing (5) and being connected with the rear left rocking bar (29) of quadrant gear with revolute pair with Y type after poppet (20).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010140927 CN102211665B (en) | 2010-04-07 | 2010-04-07 | Micro dragonfly-imitating dual-flapping wing aircraft |
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| CN 201010140927 CN102211665B (en) | 2010-04-07 | 2010-04-07 | Micro dragonfly-imitating dual-flapping wing aircraft |
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| CN102211665A CN102211665A (en) | 2011-10-12 |
| CN102211665B true CN102211665B (en) | 2013-05-08 |
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| 朱保利等.一种新型三维仿生扑翼机构设计与分析.《南京航空航天大学学报》.2007,第39卷(第4期),457-460. |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224407A (en) * | 2020-10-12 | 2021-01-15 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
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