CN102211667B - Flapping wing driving mechanism of two-level parallel gear reduction - Google Patents
Flapping wing driving mechanism of two-level parallel gear reduction Download PDFInfo
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- CN102211667B CN102211667B CN 201110094318 CN201110094318A CN102211667B CN 102211667 B CN102211667 B CN 102211667B CN 201110094318 CN201110094318 CN 201110094318 CN 201110094318 A CN201110094318 A CN 201110094318A CN 102211667 B CN102211667 B CN 102211667B
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Abstract
The invention discloses a flapping wing driving mechanism of two-level parallel gear reduction. The mechanism comprises a rack, a motor, a two-level parallel gear reducer and a four-bar mechanism, wherein a micro motor is fixed on the rack, which drives the two-level parallel gear reducer and the two rocker arms of the four-bar mechanism and converts the high-speed rotation of the micro motor into the up-down flapping of the rocker arm of the four-bar mechanism at proper frequency. The flapping wing driving mechanism disclosed by the invention has the advantages of simple structure, light weight, small space, high reliability, long service life and the like, and is suitable for micro flapping wing aircraft.
Description
Technical field
The present invention relates to a kind of driving mechanism for flapping wing.
Background technology
Micro flapping wing air vehicle is a kind of new ideas aircraft that imitates Bird Flight, and it has the advantages such as volume is little, lightweight, use is flexible, efficient is high.Because lift, the thrust of flapping wing aircraft provide by the flapping wing of fluttering up and down, therefore, drive flapping wing and make flapping wing aircraft obtain good pneumatic efficiency, possess simultaneously higher reliability and good load character just becomes the important step that affects micro flapping wing air vehicle overall performance quality.This just so that driving mechanism for flapping wing be designed to for the key link in the micro flapping wing air vehicle development process.
Present driving mechanism for flapping wing mainly contains following several technological approaches:
Chinese patent Granted publication CN201354146Y, the utility model patent that name is called the flapping mechanism of mechanical bird discloses a kind of flapping apparatus with three degree of freedom that flying bird spreads the wings and flies of simulating.This device adopts three motors, and driving crank rocker mechanism, wheel tooth ring mechanism and gear cluster have been realized imitation flying bird the spread the wings beating of flight, the three-degree-of-freedom motion that reverses and swing respectively.Its weak point is the composition more complicated of mechanism, is difficult to lightweight, miniaturization, uses limited at micro flapping wing air vehicle; Whole mechanism is independent respectively by the transmission device of three motors and correspondence thereof, needs complicated control system to control the coordination of fluttering that three motors make whole mechanism, has increased the design difficulty of flight control system, has reduced reliability.
Chinese patent Granted publication CN101508343A, name is called patent of invention that the flapping wing track is the bionic micro aircraft of 8-shaped and has provided a kind of single degree of freedom four connecting rods and clap wing driver train, clap the wing by the drive of double reduction gear driving crank connecting rod mechanism and flap up and down, and realize that by the aerodynamic characteristic of the elastic deformability who claps the wing and the frequency of specifically fluttering generation bat wing rail mark is flapping of 8-shaped.Its weak point is the design owing to frame, and the installation of double reduction gear is difficult to guarantee alignment, and two gear wheel shaft castors are from longer, in the higher situation of the frequency of fluttering, easily cause mechanism's fluctuation of service, the phenomenon that jitter amplitude is large affects reliability and the service life of mechanism.
It seems that comprehensively existing driving mechanism for flapping wing subject matter is that complex structure, weight are large, be difficult to use and the microminiature flapping wing aircraft that poor reliability, service life are short etc.
Summary of the invention
For overcome the prior art complex structure, weight is large, be difficult to use and the microminiature flapping wing aircraft, the deficiencies such as poor reliability, service life are short, the invention provides the driving mechanism for flapping wing that a kind of two-stage parallel gears slows down, realization flapping wing symmetry that can be simple and reliable is fluttered, and has higher structure efficiency and larger horsepower output, and reliability is high, long service life is fit to micro flapping wing air vehicle and uses.
The technical solution adopted for the present invention to solve the technical problems is: comprise frame, motor, two-stage parallel gears retarder and four-bar linkage.
Described frame is symmetrical integral structure, take towards heading as the front, in frame bottom surface and front upper fixed orifice is arranged respectively, the axis of fixed orifice is perpendicular to its surface, place, and frame is threaded or pin joint with the flapping wing aircraft fuselage by described fixed orifice.The motor mounting hole, transmission axis hole and the crank axis hole that have fore-and-aft direction to connect on the frame, three's axis is parallel to each other and be positioned at successively the former below, all is positioned at the frame symmetrical plane.There are symmetrical two rocker shaft holes crank axis hole top, and its axis is parallel with the axis in aforementioned three holes.
Described motor is no more than the dc brushless motor of 60mm for the captain, be fixed in the motor mounting hole at the frame rear side, it is affixed that the motor pivot passes the one-level driving gear of frame and two-stage parallel gears retarder, transmission shaft passes the transmission axis hole, two ends are affixed with one-level driven gear and secondary driving gear respectively, crank shaft passes the crank axis hole, and an end and secondary driven gear are affixed, and the other end and crank are affixed.Bearing, spacing collar and bearing are installed respectively in transmission axis hole and the crank axis hole are successively cooperated with corresponding axis, the length of axis hole is 3 times of the diameter of axle at least.The installation site of described gear on transmission shaft and crank shaft is so that one-level driving gear and one-level driven gear mesh, and secondary driving gear and the engagement of secondary driven gear form described two-stage parallel gears retarder, and reduction ratio is 45-65.
Described four-bar linkage has two rocking arm left-right symmetric to distribute, each rocking arm middle part is hinged with the rocker shaft that is fixed in the frame rocker shaft hole respectively; rocking arm take its with the rocker shaft articulated position as the boundary; inside cross-section is less than outside cross-sectional plane, makes two rocking arm medial axis apart from greater than the outer shaft linear distance.There is blind hole in the rocking arm outside, pegs graft with the flapping wing spar.The rocking arm inboard is hinged with two connecting rod one ends respectively, and the minor axis of the connecting rod other end and crank end is hinged, the position of the point of connection of connecting rod and rocking arm between the rocker shaft line of the left and right sides.Connecting rod has the bending of two place's vertical axis directions near an end of rocking arm, makes connecting rod be positioned at two parallel but planes of not overlapping with following part more than described bending; The direction of bending make two connecting rods near an end of rocking arm mutually away from.The rocking arm cross-sectional plane changes and the effect of connecting rod bending is, certain space is additionally reserved in the larger position of vibration when four connecting rods rotate, make four-bar linkage when assembling can be as far as possible compact at fore-and-aft direction, and needn't consider the movement interference that causes because of the part manufacturing and fixing error.
The size relationship of described four-bar linkage is, if take crank length as datum length 1.0, length of connecting rod is 5.0-5.5, and the rocker shaft distance between centers of tracks is 2.7-2.9, and rocker shaft line and crank shaft axis spacing are 5.2-5.3.
Described four-bar linkage is as far as possible close under the prerequisite that does not move interference at frame fore-and-aft direction and two-stage parallel gears retarder.
The size of described frame determined by described four-bar linkage, highly is the definite rocker shaft line of four-bar linkage and the distance of crank shaft axis, and maximum width is the distance of two rocker shaft holes.
The invention has the beneficial effects as follows:
The present invention has realized the high speed rotary motion of motor output is become fluttering up and down of rocking arm suitable frequency by simple two-stage parallel gears retarder and four-bar linkage, satisfy flapping wing aircraft to flapping wing flutter the up and down requirement of angle of frequency and rocking arm of fluttering by preferred reduction ratio and four-bar linkage size relationship, the degree of asymmetry that left and right sides rocking arm is fluttered also is controlled in the scope that satisfies actual needs.Whole mechanism has larger horsepower output.
Compact conformation of the present invention, lightweight, Sizes is adapted at using on the micro flapping wing air vehicle.The variation of the bending of four-link rod mechanism and rocking arm shape of cross section so that two connecting rods crank one end can near and needn't worry to move interference with rocking arm in the motion process, this has just reduced the size of four-bar linkage fore-and-aft direction.The height of frame is determined that by rocking arm axis and crank axis motor and two-stage parallel gears retarder can be arranged in the space that this height provides, and obtain good space availability ratio on the short transverse.The maximum width of frame is the rocker shaft distance between centers of tracks, has obtained the minimum wind area of whole mechanism under the prerequisite of highly determining, conveniently installs at micro flapping wing air vehicle.Four-bar linkage is as far as possible close with two-stage parallel gears retarder at fore-and-aft direction, obtains the minimum size of fore-and-aft direction.
The present invention has higher reliability and long service life.Frame is the numerical control machining integral structure, has very high accuracy of positioning, has reduced to a great extent installation error, has also just reduced and has used wearing and tearing.Transmission shaft and crank shaft have long axis hole and cooperate installation with bearing and spacing collar, and carrying that can be effective and reasonable in the process of high speed rotating guarantees driving efficiency and service life.
Description of drawings
Fig. 1 is scheme drawing of the present invention;
Fig. 2 is the present invention and fuselage and flapping wing connection mode scheme drawing;
Fig. 3 is transmission shaft of the present invention and crank shaft mounting means scheme drawing;
Fig. 4 is frame of the present invention rear scheme drawing;
Among the figure: 1-frame, 1A-motor mounting hole, 1B-transmission axis hole, 1C-crank axis hole, 1D, 1D '-rocker shaft hole, 2-motor, 3A-one-level driving gear, 3C-one-level driven gear, 3D-secondary driving gear, 3E-crank shaft, 3F-secondary driven gear, 4,4 '-rocking arm, 4A, 4A '-rocker shaft, 5,5 '-connecting rod, the 6-crank, 7-fuselage bulkhead, 8,8 '-flapping wing, 8A, 8A '-flapping wing spar, 9-bearing, 10-spacing collar.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
The driving mechanism for flapping wing that two-stage parallel gears of the present invention slows down comprises frame, motor, two-stage parallel gears retarder and four-bar linkage.
Frame 1 is symmetrical integral structure, and bottom surface and front upper have respectively axis perpendicular to the fixed orifice on surface, is connected with flapping wing aircraft fuselage bulkhead 7 by described fixed orifice, and connection mode is pin joint or is threaded.Frame 1 has motor 2 mounting hole 1A, transmission axis hole 1B and the crank axis hole 1C of fore-and-aft direction, and three's axis is parallel to each other and be positioned at successively the former below, all is positioned at frame 1 symmetrical plane.There are symmetrical two rocker shaft hole 1D 1D ' crank axis hole 1C top, and its axis is parallel with the axis in aforementioned three holes.In addition, frame 1 is also between the two rocker shaft hole 1D 1D ', have lightening hole between transmission axis hole 1B and the crank axis hole 1C.
Described motor 2 is no more than the dc brushless motor of 60mm for the captain, be fixed in the motor mounting hole at frame 1 rear side, it is affixed with 1 grade of driving gear 3A of two-stage parallel gears retarder that its pivot passes frame 1, transmission shaft passes transmission axis hole 1B, two ends are affixed with 1 grade of driven gear 3C and 2 grades of driving gear 3D respectively, crank shaft 3E passes crank axis hole 1C, and an end and 2 grades of driven gear 3F are affixed, and the other end and crank 6 are affixed.Among transmission axis hole 1B and the crank axis hole 1C bearing 9, spacing collar 10 and bearing 9 are installed successively respectively and are cooperated with corresponding axis, the length of axis hole is 3～3.5 times of the diameter of axle at least, and spacing collar is fixed by the tightening screw that is positioned at frame 1 side.The installation site of described gear on two axles is, 1 grade of driving gear 3A and 1 grade of driven gear 3C engagement, 2 grades of driving gear 3D and 2 grades of driven gear 3F engagements, namely 1 grade of driving gear and 1 grade of driven gear are positioned at frame 1 the place ahead, 2 grades of driving gears and 2 grades of driven gears are positioned at frame 1 rear, form described two-stage parallel gears retarder.Its reduction ratio is 45-65, and reduction ratio determines that according to used motor 2 loaded work piece state rotating speeds and the flapping wing aircraft required flapping wing frequency of fluttering of flying the preferred reduction ratio that uses is 51.The retarder two-stage is used identical driving gear and driven gear, reduces manufacturing cost.
Described four-bar linkage is symmetrical two Rocker arm 4s, 4 '; Rocker arm 44 ' middle part is hinged with the rocker shaft 4A, the 4A ' that are fixed in frame rocker shaft hole 1D, 1D '; Rocker arm 4,4 ' take its with rocker shaft 4A, 4A ' articulated position as the boundary; inside cross-section is less than outside cross-sectional plane, makes two Rocker arm 44 ' medial axis apart from greater than the outer shaft linear distance.Rocker arm 4,4 ' Outboard Sections have blind hole, peg graft with flapping wing spar 8A, 8A '.Rocker arm 4,4 ' inboard are hinged with two connecting rods 5,5 ' one end respectively, and the minor axis of two connecting rod other ends and crank 6 terminations is hinged, the position of the point of connection of connecting rod and rocking arm between the rocker shaft line of the left and right sides.Connecting rod has the bending of two place's vertical axis directions near an end of rocking arm, makes connecting rod be positioned at two parallel but planes of not overlapping with following part more than described bending; The direction of bending is, make two connecting rods 5,5 ' near Rocker arm 4, an end of 4 ' mutually away from.
If described four-bar linkage is take crank 6 length as datum length 1.0, length of connecting rod is 5.0-5.5, and the rocker shaft distance between centers of tracks is 2.7-2.9, and rocker shaft line and crank shaft axis spacing are 5.2-5.3.Different dimension scale relations can obtain different flutter angle and degree of asymmetry, should according to flapping wing aircraft to flapping wing the flutter requirement of angle select the dimension scale relation of degree of asymmetry in allowed band.Preferred size closes and to be connecting rod 55 ' length is 5.29, and Rocker arm 44 ' length is 1.71, and the rocker shaft distance between centers of tracks is 2.86, and rocker shaft line and crank shaft axis spacing are 5.29.At this moment, the amplitude of fluttering of four-bar linkage rocking arm is 72 °, and degree of asymmetry is less, satisfies flapping wing aircraft flight requirement.
The size of described frame 1 is determined by four-bar linkage, highly is the distance of definite rocker shaft 4A, 4A ' line and crank shaft 3E axis of four-bar linkage, and maximum width is the distance of two rocker shaft hole 1D, 1D '.
When mechanism worked, the high speed rotating of motor 2 was slowed down through two-stage parallel gears retarder crank 6 flexing arbor 3E is rotated, and drives the four-bar linkage Rocker arm 4, flutters about in the of 4 ' by connecting rod 5,5 '.
Claims (4)
1. the driving mechanism for flapping wing that the two-stage parallel gears slows down comprises frame, motor, two-stage parallel gears retarder and four-bar linkage, it is characterized in that:
Described frame is symmetrical integral structure, take towards heading as the front, in frame bottom surface and front upper fixed orifice is arranged respectively, the axis of fixed orifice is perpendicular to its surface, place, and frame is threaded or pin joint with the flapping wing aircraft fuselage by described fixed orifice; The motor mounting hole, transmission axis hole and the crank axis hole that have fore-and-aft direction to connect on the frame, three's axis is parallel to each other and be positioned at successively the former below, all is positioned at the frame symmetrical plane; There are symmetrical two rocker shaft holes motor mounting hole top, and its axis is parallel with the axis in aforementioned three holes;
Described motor is no more than the dc brushless motor of 60mm for the captain, be fixed in the motor mounting hole at the frame rear side, it is affixed that the motor pivot passes the one-level driving gear of frame and two-stage parallel gears retarder, transmission shaft passes the transmission axis hole, two ends are affixed with one-level driven gear and secondary driving gear respectively, crank shaft passes the crank axis hole, and an end and secondary driven gear are affixed, and the other end and crank are affixed; Bearing, spacing collar and bearing are installed respectively in transmission axis hole and the crank axis hole are successively cooperated with corresponding axis, the length of axis hole is 3 times of the diameter of axle at least; The installation site of described gear on transmission shaft and crank shaft is so that one-level driving gear and one-level driven gear mesh, and secondary driving gear and the engagement of secondary driven gear form described two-stage parallel gears retarder, and reduction ratio is 45-65;
Described four-bar linkage has two rocking arm left-right symmetric to distribute, each rocking arm middle part is hinged with the rocker shaft that is fixed in the frame rocker shaft hole respectively; rocking arm take its with the rocker shaft articulated position as the boundary; inside cross-section is less than outside cross-sectional plane, makes two rocking arm medial axis apart from greater than the outer shaft linear distance; There is blind hole in the rocking arm outside, pegs graft with the flapping wing spar, and the rocking arm inboard is hinged with two connecting rod one ends respectively, and the minor axis of the connecting rod other end and crank end is hinged, the position of the point of connection of connecting rod and rocking arm between the rocker shaft line of the left and right sides; Connecting rod has the bending of two place's vertical axis directions near an end of rocking arm, makes connecting rod be positioned at two parallel but planes of not overlapping with following part more than described bending; The direction of bending make two connecting rods near an end of rocking arm mutually away from.
2. the driving mechanism for flapping wing that slows down of two-stage parallel gears according to claim 1, it is characterized in that: the size relationship of described four-bar linkage is, if take crank length as datum length 1.0, length of connecting rod is 5.0-5.5; the rocker shaft distance between centers of tracks is 2.7-2.9, and rocker shaft line and crank shaft axis spacing are 5.2-5.3.
3. the driving mechanism for flapping wing that slows down of two-stage parallel gears according to claim 1, it is characterized in that: described four-bar linkage is as far as possible close under the prerequisite that does not move interference at frame fore-and-aft direction and two-stage parallel gears retarder.
4. the driving mechanism for flapping wing that slows down of two-stage parallel gears according to claim 1, it is characterized in that: the size of described frame is determined by described four-bar linkage, the rocker shaft line of highly determining for four-bar linkage and the distance of crank shaft axis, maximum width is the distance of two rocker shaft holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110094318 CN102211667B (en) | 2011-04-14 | 2011-04-14 | Flapping wing driving mechanism of two-level parallel gear reduction |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110094318 CN102211667B (en) | 2011-04-14 | 2011-04-14 | Flapping wing driving mechanism of two-level parallel gear reduction |
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| Publication Number | Publication Date |
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| CN102211667A CN102211667A (en) | 2011-10-12 |
| CN102211667B true CN102211667B (en) | 2013-04-03 |
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| CN 201110094318 Expired - Fee Related CN102211667B (en) | 2011-04-14 | 2011-04-14 | Flapping wing driving mechanism of two-level parallel gear reduction |
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