CN102211666B - Micro flapping wing air vehicle - Google Patents
Micro flapping wing air vehicle Download PDFInfo
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- CN102211666B CN102211666B CN 201010140931 CN201010140931A CN102211666B CN 102211666 B CN102211666 B CN 102211666B CN 201010140931 CN201010140931 CN 201010140931 CN 201010140931 A CN201010140931 A CN 201010140931A CN 102211666 B CN102211666 B CN 102211666B
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- conical gear
- flapping wing
- revolute pair
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Abstract
The invention relates to a micro flapping wing air vehicle. The micro flapping wing air vehicle mainly comprises a machine frame, a left flapping wing system and a right flapping wing system. A pinion (17) and a gear (16) are meshed to form first-stage transmission; and a small conical gear (28) is meshed with a large conical gear a (24), and a large conical gear b (35) respectively to form second-stage transmission, and drives a left driving rocker (19) and a right driving rocker (30) respectively through a connection rod a (23) and a connection rod b (34) so as to realize symmetrical flapping of the left and right flapping systems. The micro flapping wing air vehicle overcomes the defects that the volume is large due to the adoption of a pure cylindrical gear speed reduction mechanism, left and right flapping wings are asymmetric and transmission efficiency is too low due to the adoption of worms and worm gears in the prior art, and has the advantages of simple and compact structure, high efficiency, and symmetric left and right flapping, and meets the miniaturization development direction.
Description
Technical field
The present invention relates to a kind of flapping wing aircraft, especially relate to a kind of micro flapping wing air vehicle.
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.
The power of the driving mechanism for flapping wing that micro flapping wing air vehicle is the most frequently used is miniature cocurrent electromotor, the nominal operation rotating speed of such electrical motor is usually 300-400 revolutions per second of left and right, and required flapping wing is fluttered frequency about 10 times/second during the flight of the capable device of mini-sized flap wings, so reduction ratio is approximately 30-40.At present, the micro flapping wing air vehicle driving mechanism for flapping wing often adopts two-stage or three grades of deceleration cylindrical gear reducer structures.Structure is not compact on the one hand in this mechanism, and size is larger, is not suitable for the micro-miniaturisation direction.On the other hand, this class mechanism adopts two to overlap independently lanar four rod mechanism to realize fluttering up and down of left and right flapping wing usually.Be subject to the restriction of speed reduction gearing, the crank of left and right two cover lanar four rod mechanisms can rotate with identical rotation direction, so just caused the assymmetric motion of left and right parallel motion, thereby it is asymmetric that the left and right flapping wing is fluttered.That is to say, at synchronization, therefore the left and right flapping wing can not realize stable flight because the angle of the fluttering lift that produce different from the cireular frequency of fluttering are different with thrust.
Propose a cover in patent CN 100430297C and adopted the turbine worm reducer structure, and with two cover crank, connecting rod and rocking arms, jointly consisted of the space four bar linkage mechanism that is symmetrical in turbine and worm.Although this mechanism only has the one-level transmission, and has self-locking performance, the turbine and worm driving efficiency is too low, certainly will cause and expend large energy, thereby greatly increase battery weight, is unfavorable for the micro-miniaturisation of flapping wing aircraft.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of cylinder circular cone secondary engaging structure with simple compact efficient to realize the micro flapping wing air vehicle that left and right flapping wing symmetry is fluttered for the defective that overcomes above-mentioned prior art existence.
Purpose of the present invention can be achieved through the following technical solutions: micro flapping wing air vehicle mainly is comprised of frame, left sized flap wings system, right sized flap wings system; Described frame mainly is comprised of Y type front frame 14, support baseboard 12, Y type after poppet 13, external form main support 15; Described left sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, transmission shaft 27, small conical gear 28, large conical gear a24, bearing pin d25, bearing pin e26, connecting rod a23, bearing pin c22, bearing pin a18, left drive crank 19, bearing pin g32, left driven rocking bar 31, left flapping wing 7 and control module 5, battery 3; Described right sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, transmission shaft 27, small conical gear 28, large conical gear b35, bearing pin i36, bearing pin j37, connecting rod b34, bearing pin h33, bearing pin f29, right drive crank 30, bearing pin b21, right driven rocking bar 20, right flapping wing 6 and control module 5, battery 3.
The external form main support 15 of described frame is captiveed joint with Y type front frame 14, Y type after poppet 13 respectively, and support baseboard 12 is captiveed joint with Y type front frame 14, Y type after poppet 13, external form main support 15 respectively.
Described transmission shaft 27 is captiveed joint with big gear wheel 16, small conical gear 28 respectively, described support baseboard 12 is by revolute pair connection for transmission axle 27, described miniature gears 17 and big gear wheel 16 engaged transmission, described small conical gear 28 respectively with large conical gear a24, large conical gear b35 engaged transmission.
The large conical gear a24 of described left sized flap wings system is connected with Y type front frame and is connected with revolute pair by bearing pin d25, connecting rod a23 is connected bearing pin e26 with large conical gear a24 and connects with revolute pair, connecting rod a23 be connected drive crank 19 and connect with revolute pair by bearing pin c22, left drive crank 19 is connected with Y type front frame and is connected with revolute pair by bearing pin a18, left driven rocking bar 31 is connected with Y type after poppet and is connected with revolute pair by bearing pin g32, and left flapping wing 7 is captiveed joint with left drive crank 19, left driven rocking bar 31 respectively.
The large conical gear b35 of described right sized flap wings system is connected with Y type after poppet and is connected with revolute pair by bearing pin i36, connecting rod b34 is connected bearing pin j37 with large conical gear b35 and connects with revolute pair, connecting rod b34 be connected drive crank 30 and connect with revolute pair by bearing pin h33, right drive crank 30 is connected with Y type after poppet and is connected with revolute pair by bearing pin f29, right driven rocking bar 20 is connected with Y type front frame and is connected with revolute pair by bearing pin b21, and right flapping wing 6 is captiveed joint with right drive crank 30, right driven rocking bar 20 respectively.
Described bearing pin e26 is fixedly connected on large conical gear a24, described bearing pin j37 is fixedly connected on large conical gear b35, the line of the line of described bearing pin e26, bearing pin j37 and bearing pin d25, bearing pin i36 is coplanar, and bearing pin e26, bearing pin j37 divide the line distance that is clipped to bearing pin d25, bearing pin i36 to equate, large conical gear a24 and large conical gear b35 parameter are in full accord, make fluttering of left and right flapping wing consistent.
Compared with prior art, the distinguishing feature of the present invention is: overcome the pure cylindrical gear reducer structure of available technology adopting volume large, the left and right flapping wing is fluttered asymmetric and is adopted the too low defective of turbine and worm driving efficiency, realize that with the cylinder circular cone secondary engaging structure of simple compact efficient left and right flapping wing symmetry flutters, meet the micro-miniaturisation direction.Miniature gears 17 and big gear wheel 16 engagements form first order transmission, engagement forms second stage transmission to small conical gear 28 with large conical gear a24, large conical gear b35 respectively, drive left drive crank 19, right drive crank 30 by connecting rod a23, connecting rod b34 respectively, realize that the symmetry of left and right sized flap wings system is fluttered.
Description of drawings
Fig. 1 is micro flapping wing air vehicle integral structure schematic diagram of the present invention;
Fig. 2 is micro flapping wing air vehicle rack construction schematic diagram of the present invention;
Fig. 3 is the left sized flap wings system schematic diagram of micro flapping wing air vehicle of the present invention;
Fig. 4 is the right sized flap wings system schematic diagram of micro flapping wing air vehicle of the present invention;
Fig. 5 is that micro flapping wing air vehicle of the present invention left and right flapping wing symmetry is fluttered to install and will be put schematic diagram.
In Fig. 1, label represents to the contents are as follows: direction steering wheel 1, lifting steering wheel 2, battery 3, motor 4, control module 5, right flapping wing 6, left flapping wing 7, fixed fin 8, yaw rudder 9, horizontal stabilizer 10, elevating rudder 11;
In Fig. 2, label represents to the contents are as follows: support baseboard 12, Y type after poppet 13, Y type front frame 14, external form main support 15;
In Fig. 3, label represents to the contents are as follows: big gear wheel 16, miniature gears 17, bearing pin a18, left drive crank 19, right driven rocking bar 20, bearing pin b21, bearing pin c22, connecting rod a23, large conical gear a24, bearing pin d25, bearing pin e26, transmission shaft 27, small conical gear 28;
In Fig. 4, label represents to the contents are as follows: bearing pin f29, right drive crank 30, left driven rocking bar 31, bearing pin g32, bearing pin h33, connecting rod b34, large conical gear b35, bearing pin i36, bearing pin j37;
In Fig. 5, label represents to the contents are as follows: bearing pin e26 is fixedly connected on large conical gear a24, bearing pin j37 is fixedly connected on large conical gear b35, bearing pin e26, bearing pin j37 are arranged symmetrically with about the line of bearing pin d25, bearing pin i36, large conical gear a24 and large conical gear b35 parameter are in full accord, make fluttering of left and right flapping wing consistent.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
The present invention mainly is comprised of frame, left sized flap wings system, right sized flap wings system and empennage system.Frame mainly is comprised of Y type front frame 14, support baseboard 12, Y type after poppet 13, external form main support 15; Left sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, transmission shaft 27, small conical gear 28, large conical gear a24, bearing pin d25, bearing pin e26, connecting rod a23, bearing pin c22, bearing pin a18, left drive crank 19, bearing pin g32, left driven rocking bar 31, left flapping wing 7 and control module 5, battery 3; Right sized flap wings system mainly is comprised of motor 4, miniature gears 17, big gear wheel 16, transmission shaft 27, small conical gear 28, large conical gear b35, bearing pin i36, bearing pin j37, connecting rod b34, bearing pin h33, bearing pin f29, right drive crank 30, bearing pin b21, right driven rocking bar 20, right flapping wing 6 and control module 5, battery 3; The steering swivel system that the afterbody system mainly is comprised of direction steering wheel 1, fixed fin 8, yaw rudder 9 and the jacking system that is comprised of lifting steering wheel 2, horizontal stabilizer 10, elevating rudder 11 form.
The external form main support 15 of described frame is captiveed joint with Y type front frame 14, Y type after poppet 13 respectively, and support baseboard 12 is captiveed joint with Y type front frame 14, Y type after poppet 13, external form main support 15 respectively.
Described transmission shaft 27 is captiveed joint with big gear wheel 16, small conical gear 28 respectively, described support baseboard 12 is by revolute pair connection for transmission axle 27, described miniature gears 17 and big gear wheel 16 engaged transmission, described small conical gear 28 respectively with large conical gear a24, large conical gear b35 engaged transmission.
The large conical gear a24 of described left sized flap wings system is connected with Y type front frame and is connected with revolute pair by bearing pin d25, connecting rod a23 is connected bearing pin e26 with large conical gear a24 and connects with revolute pair, connecting rod a23 be connected drive crank 19 and connect with revolute pair by bearing pin c22, left drive crank 19 is connected with Y type front frame and is connected with revolute pair by bearing pin a18, left driven rocking bar 31 is connected with Y type after poppet and is connected with revolute pair by bearing pin g32, and left flapping wing 7 is captiveed joint with left drive crank 19, left driven rocking bar 31 respectively.
The large conical gear b35 of described right sized flap wings system is connected with Y type after poppet and is connected with revolute pair by bearing pin i36, connecting rod b34 is connected bearing pin j37 with large conical gear b35 and connects with revolute pair, connecting rod b34 be connected drive crank 30 and connect with revolute pair by bearing pin h33, right drive crank 30 is connected with Y type after poppet and is connected with revolute pair by bearing pin f29, right driven rocking bar 20 is connected with Y type front frame and is connected with revolute pair by bearing pin b21, and right flapping wing 6 is captiveed joint with right drive crank 30, right driven rocking bar 20 respectively.
Described bearing pin e26 is fixedly connected on large conical gear a24, described bearing pin j37 is fixedly connected on large conical gear b35, the line of the line of described bearing pin e26, bearing pin j37 and bearing pin d25, bearing pin i36 is coplanar, and bearing pin e26, bearing pin j37 divide the line distance that is clipped to bearing pin d25, bearing pin i36 to equate, large conical gear a24 and large conical gear b35 parameter are in full accord, make fluttering of left and right flapping wing consistent.
A preferred embodiment of the present invention such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, micro flapping wing air vehicle, mainly formed by frame, left sized flap wings system, right sized flap wings system and empennage system, can consist of that left and right flapping wing symmetry is fluttered and the turning to and pitching flying of aircraft.
Left and right flapping wing symmetry is fluttered as follows with turning to pitching flying of aircraft:
Left and right flapping wing symmetry is fluttered: motor 4 drives left flapping wing 7 and flutters by miniature gears 17, big gear wheel 16, transmission shaft 27, small conical gear 28, large conical gear a24, bearing pin d25, bearing pin e26, connecting rod a23, bearing pin c22, bearing pin a18, left drive crank 19, bearing pin g32, left driven rocking bar 31; Wherein, miniature gears 17 and big gear wheel 16 engaged transmission, big gear wheel 16 is passed to small conical gear 28 to motion by transmission shaft 27, small conical gear 28 and large conical gear a24 engaged transmission, bearing pin d25, large conical gear a24, bearing pin e26, connecting rod a23, bearing pin c22, left drive crank 19, bearing pin a18, Y type front frame 14 form the quadric linkage transmission.Motor 4 drives right flapping wing 6 and flutters by miniature gears 17, big gear wheel 16, transmission shaft 27, small conical gear 28, large conical gear b35, bearing pin i36, bearing pin j37, connecting rod b34, bearing pin h33, bearing pin f29, right drive crank 30, bearing pin b21, right driven rocking bar 20; Wherein, miniature gears 17 and big gear wheel 16 engaged transmission, big gear wheel 16 is passed to small conical gear 28 to motion by transmission shaft 27, small conical gear 28 and large conical gear b35 engaged transmission, bearing pin i36, large conical gear b35, bearing pin j37, connecting rod b34, bearing pin h33, right drive crank 30, bearing pin t29, Y type after poppet 13 form the quadric linkage transmission.
Turning to and pitching flying of aircraft: control yaw rudder 9 by direction steering wheel 1 and realize turning to of aircraft, control by elevating rudder 2 lifting that elevating rudder 11 realized aircraft.
Claims (1)
1. a micro flapping wing air vehicle, is characterized in that, micro flapping wing air vehicle mainly is comprised of frame, left sized flap wings system, right sized flap wings system; Described frame mainly is comprised of Y type front frame (14), support baseboard (12), Y type after poppet (13), external form main support (15); Described left sized flap wings system is mainly by motor (4), miniature gears (17), big gear wheel (16), transmission shaft (27), small conical gear (28), large conical gear a(24), bearing pin d(25), bearing pin e(26), connecting rod a(23), bearing pin c(22), bearing pin a(18), left drive crank (19), bearing pin g(32), left driven rocking bar (31), left flapping wing (7) and control module (5), battery (3) form; Described right sized flap wings system is mainly by motor (4), miniature gears (17), big gear wheel (16), transmission shaft (27), small conical gear (28), large conical gear b(35), bearing pin i(36), bearing pin j(37), connecting rod b(34), bearing pin h(33), bearing pin f(29), right drive crank (30), bearing pin b(21), right driven rocking bar (20), right flapping wing (6) and control module (5), battery (3) form;
The external form main support (15) of described frame is captiveed joint with Y type front frame (14), Y type after poppet (13) respectively, and support baseboard (12) is captiveed joint with Y type front frame (14), Y type after poppet (13), external form main support (15) respectively;
Described transmission shaft (27) is captiveed joint with big gear wheel (16), small conical gear (28) respectively, described support baseboard (12) is by revolute pair connection for transmission axle (27), described miniature gears (17) and big gear wheel (16) engaged transmission, described small conical gear (28) respectively with large conical gear a(24), large conical gear b(35) engaged transmission;
the large conical gear a(24 of described left sized flap wings system) be connected 14 with Y type front frame) by bearing pin d(25) connect with revolute pair, connecting rod a(23) be connected with large conical gear a(24 by bearing pin e(26) connect with revolute pair, connecting rod a(23) be connected drive crank (19) by bearing pin c(22) connect with revolute pair, left drive crank (19) is connected 14 with Y type front frame) by bearing pin a(18) connect with revolute pair, left driven rocking bar (31) is connected 13 with Y type after poppet) by bearing pin g(32) connect with revolute pair, left flapping wing (7) respectively with left drive crank (19), left driven rocking bar (31) captive joint,
the large conical gear b(35 of described right sized flap wings system) be connected 13 with Y type after poppet) by bearing pin i(36) connect with revolute pair, connecting rod b(34) be connected with large conical gear b(35 by bearing pin j(37) connect with revolute pair, connecting rod b(34) be connected drive crank (30) by bearing pin h(33) connect with revolute pair, right drive crank (30) is connected 13 with Y type after poppet) by bearing pin f(29) connect with revolute pair, right driven rocking bar (20) is connected 14 with Y type front frame) by bearing pin b(21) connect with revolute pair, right flapping wing (6) respectively with right drive crank (30), right driven rocking bar (20) captive joint,
Described bearing pin e(26) be fixedly connected on large conical gear a(24) on, described bearing pin j(37) be fixedly connected on large conical gear b(35) on, described bearing pin e(26), bearing pin j(37) line and bearing pin d(25), bearing pin i(36) line coplanar, and bearing pin e(26), bearing pin j(37) divide be clipped to bearing pin d(25), bearing pin i(36) line distance equate, large conical gear a(24) and large conical gear b(35) parameter is in full accord, makes fluttering of left and right flapping wing consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201010140931 CN102211666B (en) | 2010-04-07 | 2010-04-07 | Micro flapping wing air vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010140931 CN102211666B (en) | 2010-04-07 | 2010-04-07 | Micro flapping wing air vehicle |
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| CN102211666A CN102211666A (en) | 2011-10-12 |
| CN102211666B true CN102211666B (en) | 2013-05-08 |
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| CN 201010140931 Expired - Fee Related CN102211666B (en) | 2010-04-07 | 2010-04-07 | Micro flapping wing air vehicle |
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Families Citing this family (7)
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| CN104276282B (en) * | 2013-07-12 | 2016-04-27 | 上海工程技术大学 | A kind of miniature imitative insect high frequency flapping wing aircraft |
| CN103482064A (en) * | 2013-09-18 | 2014-01-01 | 南京航空航天大学 | Bionic flapping wing air vehicle |
| CN104369864B (en) * | 2014-11-19 | 2016-11-09 | 上海工程技术大学 | A kind of miniature imitative insecticide dual rotary flapping wing aircraft |
| CN104386252B (en) * | 2014-11-19 | 2017-01-04 | 上海工程技术大学 | The double flapping wing aircraft of a kind of miniature imitative insecticide |
| CN109533304B (en) * | 2018-10-19 | 2021-09-17 | 上海交通大学 | Single-wing aircraft with rotor wing and fixed wing flight modes and mode switching method |
| CN109591990B (en) * | 2018-12-21 | 2020-12-15 | 张家港江苏科技大学产业技术研究院 | Seabed detection bionic fish |
| CN112078790B (en) * | 2020-09-03 | 2022-04-19 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
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| CN201354147Y (en) * | 2009-01-08 | 2009-12-02 | 上海工程技术大学 | Mechanical bird |
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