CN102229359A - Cylindrical cam flapping wing driving mechanism - Google Patents
Cylindrical cam flapping wing driving mechanism Download PDFInfo
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- CN102229359A CN102229359A CN2011101549506A CN201110154950A CN102229359A CN 102229359 A CN102229359 A CN 102229359A CN 2011101549506 A CN2011101549506 A CN 2011101549506A CN 201110154950 A CN201110154950 A CN 201110154950A CN 102229359 A CN102229359 A CN 102229359A
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Abstract
The invention discloses a cylindrical cam flapping wing driving mechanism. A motor is fixed on a rack and drives a driving gear of a gear speed reduction device; a driven gear of the gear speed reduction device is coaxially and fixedly connected with a transmission shaft; the rack is fixedly connected with a guide rail which is parallel with a transmission shaft; the guide rail is internally provided with a connecting rod which can slide; one end of the connecting rod is articulated with a sliding plate, and the other end of the connecting rod is fixedly connected with a strut; a cylindrical cam is coaxially and fixedly connected at the outer side of the transmission shaft; one or more cycles of periodic curves are wound on the circumference of a cam slot; the sliding pate can slide in the cam slot; a swinging rod mechanism comprises two swinging arms, the middle part of each swinging arm is articulated with swinging arm shafts which are fixedly connected at two sides of the guide rail; one end of each swinging arm is provided with a sliding chute; the strut can slide in a reciprocating mode along the slide chute, and the other end of each swinging arm is connected with a flapping wing beam. By utilizing the mechanism provided by the invention, the complex plane flapping type can be realized, the structure is simple, the weight is light, the reliability is high, complex control is not required, and the mechanism is applicable to a micro flapping aircraft.
Description
Technical field
The present invention relates to a kind of flapping wing driver train, can be applied to the mini-sized flap wings aircraft.
Background technology
The mini-sized flap wings aircraft is a kind of new ideas aircraft that imitates birds flight, it has advantages such as volume is little, in light weight, use is flexible, efficient height, if carry sensor and relevant data transmission and flight control system, form mini-sized flap wings unmanned plane platform, will have broad application prospects.Around this problem, various countries have developed the flapping wing aircraft of controllable flight, wherein " Delfly " of the having of success " Microbat " that U.S. Aero Vironment company cooperates with the University of California and Dutch Delft university etc., but these flapping wing aircrafts all have certain distance apart from the aircraft platform of practical Unmanned Aircraft Systems (UAS).
Present flapping wing is fluttered, and can't to simulate the birds state of flight comparatively accurately be that flapping wing aircraft is difficult to use in one of major reason of Unmanned Aircraft Systems (UAS) to rule.The engine installation that the flapping wing driver train is commonly used mostly is motor rotating at high speed or hot machine, slows down by gear cluster or similar means, will rotatablely move by similar means such as four connecting rods and change the motion of fluttering up and down of certain amplitude into.Because the inherent characteristic of mechanism, left and right sides flapping wing has certain degree of asymmetry, and the characteristics of motion of fluttering up and down that changes by rotatablely moving all is sinusoidal function usually, flapping wing is positioned at the high-low limit position brief acceleration maximum of fluttering, produce the anxious anxious role that stops, the force of inertia that produces is bigger, and the flight and the flapping wing driver train itself of flapping wing aircraft all had adverse influence: the reverse load that the flapping wing driver train bears is bigger, influences the reliability and the service life of mechanism; Flapping wing aircraft is subjected to The Effect of Inertia Force can produce stronger periodicity porpoising and luffing, influences the overall performance of flight stability and aircraft.Therefore,, wish that the flapping wing driver train can realize the rule of more suitably fluttering, make the acceleration change in the process of fluttering milder in order to improve the value of service of flapping wing aircraft.
In addition, studies show that to have only in the whole flapping wing flutter cycle and pounce on down process and produce useful lift and most of thrust, and the aerodynamic force of pouncing on process on the flapping wing has little significance for flight.Therefore, it usually is that wing flattens lift and the thrust that obtains maximum when pouncing on down that birds flight is pounced in the wing process, and when last pouncing on by folding and shrink wing, pack up adjustings action such as remex and reduce the area of conter of wing, thereby pounce on the adverse effect of process on weakening to flying.What the flapping wing driver train of existing flapping wing aircraft was realized mostly is the rule of fluttering of up-and-down movement symmetry, is unfavorable for improving the pneumatic efficiency of flapping wing aircraft.The researchist is by changing the structure of flapping wing, make its can by the flapping wing driver train carry out actv. folding and stretch imitate birds pounce on the wing rule, the weak point of these class methods is the complexities that increased the mechanism of fluttering, reduced mechanism reliability, increase the quality and the force of inertia of flapping wing simultaneously, also be unfavorable for the stability of flying; The researchist also attempt by install additional on the flapping wing " joint " that make by elastomeric material flapping wing can be bullied in the process of fluttering passive folding of dynamic action and stretching imitate birds pounces on the wing rule, the weak point of these class methods is, the rigidity of elastomeric material is difficult to the coupling that is difficult to the flapping wing distortion, under the different frequencies of fluttering, required deflection and the deformation velocity of elastomeric material " joint " also is not quite similar, elastomeric material can not be realized according to the variation of the frequency of fluttering adjusting, also make a discount with regard to the effect that makes elastomeric material " joint ", under some extreme cases, elastomeric material " joint " in addition can occur under pounce on folding, on pounce on the phenomenon of flattening, produce counteraction; Also there is the researchist to realize pouncing on and descend to pounce on the speed difference of motion to improve the overall pneumatic efficiency of whole flutter cycle by the output rule of control flapping wing driver train engine installation, the deficiency of these class methods is to need to give the flapping wing driver train additional complicated control element and feedback control system, has increased the manufacture difficulty and the cost of flapping wing driver train.
Summary of the invention
In order to overcome prior art pneumatic efficiency not high or the control element of needs complexity and the deficiency of feedback control system, the invention provides a kind of cylindrical cam flapping wing driver train, the plane of realization complexity that can the be simple and reliable rule of fluttering is fit to the application of mini-sized flap wings aircraft.
The technical solution adopted for the present invention to solve the technical problems is: comprise frame, motor, gear reducer, cylindrical cam and rocker mechanism.Motor is fixed in frame, and the driving gear of driven wheel retarder, and the driven gear of gear reducer is coaxial affixed with transmission shaft.Be connected with the guide rail that is parallel to transmission shaft on the frame, the connecting rod that can slide, the hinged slidably sheet of connecting rod one end, the affixed pillar of the other end are installed in the guide rail.Cylindrical cam is coaxial to be connected in outside the transmission shaft, is wound with the cam path of a circle or multi-turn cyclic curve on the periphery, and the first derivative of cyclic curve is continuous, and movable slide plate can slide in cam path.Rocker mechanism comprises two rocking arms, and its middle part is hinged with the rocker shaft that is fixed in the guide rail both sides, and rocking arm one end has chute, and pillar can reciprocatingly slide along chute, and the other end is connected with the flapping wing spar.
Described frame is symmetrical integral structure, and the bottom surface has the transmission axis hole No. one, and the middle part has and No. two coaxial transmission axis holes of transmission axis hole, all is positioned at the symmetrical plane of frame.Frame has the guide rail perpendicular to the bottom surface, and a connecting rod that is parallel to guide rail and can slides in guide rail is housed in the guide rail, and there is symmetrical rocker shaft hole both sides on the guide rail.Frame is installed on the flapping wing aircraft airframe structure.
Described motor adopts dc brushless motor, be fixed in frame, its pivot and gear reducer driving gear are affixed, and it is hinged that transmission shaft passes transmission axis hole and No. two transmission axis holes and frame, affixed with driven gear, driving gear and driven gear engagement formative gear retarder.
Between a transmission axis hole and No. two transmission axis holes the coaxial cylindrical cam that is fixed on transmission shaft is arranged, cam path is formed at its periphery, the work profile of cam path is the cyclic curve that twines a circle or multi-turn at the cam circle side face, the number of times of movable slide plate up-and-down movement when the number of turns that cyclic curve twines on cylindrical cam has determined that cylindrical cam rotates a circle, if cyclic curve twines multi-turn on cylindrical cam, then cam mechanism has deceleration effort.The first derivative of described cyclic curve is continuous, avoids movable slide plate along stuck phenomenon occurring in the cam path motion process.Movable slide plate is installed in the connecting rod lower end in the described guide rail, with rod hinge connection, can slide in described cam path, movable slide plate shape of cross section is a spindle, and concrete shape makes movable slide plate along not taking place stuck because of the change of cam path direction in the cam path sliding process.The termination that movable slide plate contacts with cam is the circular arc of indent, and arc radius is slightly larger than the cam bottom radius, does not move interference in the cam diametric(al) when movable slide plate is slided in cam path.If pass through same position from different directions in the process that cyclic curve twines on cam, cam path will form the no confining region that movable slide plate has a plurality of possibility sense of motions in this position so, in the case, movable slide plate width is greater than the width of described no confining region.Limit movable slide plate width and shape of cross section and be for movable slide plate under the situation of twining multi-turn at cyclic curve at a relatively high speed by no confining region be can be correct rapidly next section confining region that enters cam path.Limiting movable slide plate termination shape and size is in order to increase the area of contact of movable slide plate and cam path, to improve the stability of mechanism's operation, reducing vibration.
Described rocker mechanism has two rocking arms, and its middle part is hinged with the rocker shaft that is fixed in rocker shaft hole.There is chute the rocking arm inboard, and the pillar that is fixed on described small end can reciprocatingly slide along chute.With the rocker shaft is the boundary; rocking arm sideslip slot part cross-sectional plane is less than outside cross-sectional plane; make two rocking arm medial axis distances greater than the outer shaft linear distance; adopting this rocking arm shape is that two rocking arms move interference in mechanism's operational process; thus make the distance of two rocking arms on fore-and-aft direction can be littler, reduce the size of entire mechanism fore-and-aft direction.The rocking arm Outboard Sections has blind hole, pegs graft with the flapping wing spar.
The invention has the beneficial effects as follows:
When the present invention moves, by motor-driven retarder driving gear, driving the retarder driven gear rotates, driven gear drives the coaxial cylindrical cam that is connected and rotates, cylindrical cam is pressed shape up-and-down movement in guide rail of line tracking in the cam path by movable slide plate drivening rod, the pillar of the connecting rod other end is crank motion in the rocking arm chute, drives that two rocking arms are symmetrical flutters up and down, thereby drives flapping wing.
The present invention cooperates with rocker mechanism by cylindrical cam mechanism, has finished the motion change of being fluttered up and down by the rocking arm that rotatablely moves of motor output.Because left and right sides rocking arm moves under same support function, therefore fluttering has very high symmetry, helps to improve the stability of using flapping wing aircraft of the present invention.
The cam path track of cylindrical cam of the present invention is formed by cyclic curve, to the track less-restrictive, and can be according to the needs design cycle curve of the rule of fluttering.Concrete method is, at first determines the characteristics of motion of rocking arm according to the rule of fluttering, and determines the up-and-down movement change with time and the curve plotting of connecting rod according to the kinematics analysis method, checks the continuity of curve first derivative.Because under the certain situation of motor speed, cam is uniform rotation, therefore as long as the curve that will draw is wrapped in the cylindrical cam that the end to end work profile of formations on the cam can obtain to realize presetting the rule of fluttering.Thus, it is slow that the present invention can realize making rocking arm to realize pouncing on down pouncing on fast, acceleration/accel smooth variation and fluttering the relatively plane of the complexity form of fluttering such as compound grade of gliding, simultaneously simple in structure, in light weight, the reliability height, do not need complicated control, be fit to be applied to the mini-sized flap wings aircraft.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is a scheme drawing of the present invention;
Fig. 2 twines the cyclic curve scheme drawing for cylindrical cam;
Fig. 3 is the no confining region scheme drawing of cam path intersection;
Fig. 4 is movable slide plate scheme drawing;
Fig. 5 is a connecting rod rocking arm scheme drawing;
Among the figure: 1-frame, transmission axis hole of 1A-, No. two transmission axis holes of 1B-, 2-motor, 3-driving gear, the 4-driven gear, 5-cylindrical cam, 5A, 5B-cyclic curve, 5 ', 5 "-the no confining region of cam path intersection; the movable slide plate 7-of 6-connecting rod, 7A-pillar, 8,8 '-rocking arm, 8A-blind hole.
The specific embodiment
Cylindrical cam flapping wing driver train of the present invention comprises frame 1, motor 2, gear reducer, cylindrical cam mechanism and rocker mechanism.
The symmetrical integral structure that described frame 1 is made for the Alclad numerical control machining, bottom surface have transmission axis hole 1A and motor mounting hole, and both parallel axes all are positioned at the symmetrical plane of frame.Frame has the guide rail perpendicular to the bottom surface, and a connecting rod 7 that is parallel to guide rail and can slides in guide rail is housed in the guide rail, and there is symmetrical rocker shaft hole the guide rail both sides, and central rack has and No. two coaxial transmission axis hole 1B of transmission axis hole 1A.There is fixed orifice the rear and the top of frame, are installed on the support bulkhead of flapping wing aircraft fuselage by screw or pin.
Dc brushless motor 2 is installed on frame 1 by described motor mounting hole with screw, its pivot stretches out with gear reducer driving gear 3 affixed downwards from the frame bottom, it is hinged that transmission shaft passes transmission axis hole 1A and No. two transmission axis hole 1B and frame, affixed with driven gear 4 below frame 1, driving gear 3 and driven gear 4 engagement formative gear retarders.Gear reducer driving gear 3 is made by brass, and driven gear 4 is made by the POM engineering plastics.The reduction ratio of gear reducer need be taken into consideration with the reduction ratio of cylindrical cam mechanism, and both total reduction gear ratios are the flutter ratio of frequency of machine operation speed under load and flapping wing design.
Between a transmission axis hole 1A and No. two transmission axis hole 1B the coaxial cylindrical cam 5 that is fixed on transmission shaft is arranged, make by the POM engineering plastics.Cam path is formed at its periphery, finish by numerical control machining, the work profile of cam path is the cyclic curve that twines a circle or multi-turn at the cam circle side face, the number of turns that cyclic curve twines on cylindrical cam has determined cylindrical cam to rotate a circle, the number of times of movable slide plate 6 up-and-down movements, if cyclic curve twines multi-turn on cylindrical cam, then cam mechanism has deceleration effort, as previously mentioned, the reduction ratio of cylindrical cam need be taken into consideration with the reduction ratio of gear reducer.The first derivative of described cyclic curve is continuous.
Described rocker mechanism has two rocking arms 8,8 ', is formed by the Alclad numerical control machining, and its middle part is hinged with the rocker shaft that is fixed in rocker shaft hole.There is chute rocking arm 8,8 ' inboard, and the pillar 7A that is fixed on described connecting rod 7 upper ends can reciprocatingly slide along chute.With the rocker shaft is the boundary, and rocking arm sideslip slot part cross-sectional plane makes two rocking arm medial axis distance greater than the outer shaft linear distance less than outside cross-sectional plane.The rocking arm Outboard Sections has blind hole 8A, pegs graft with the flapping wing spar.
Shape by the design cycle curve can realize the required rule of fluttering.Concrete method is, at first determines the characteristics of motion of rocking arm according to the rule of fluttering, and determines the up-and-down movement change with time and the curve plotting of connecting rod according to the kinematics analysis method, checks the continuity of curve first derivative.Because under the certain situation of motor speed, cam is uniform rotation, therefore as long as the curve that will draw is wrapped in the cylindrical cam that the end to end work profile of formations on the cam can obtain to realize presetting the rule of fluttering.That shown in Figure 2 is the cosine curve 5A 5B of two kinds of different cycles, be wrapped in the cam path that forms on the cam and can realize that the symmetrical sine rule of rocking arm flutters up and down, the speed that the different cycles can make the same rotating speed lower shake-changing arm of motor flutter up and down is different with acceleration/accel, the amplitude of adjustment cycle curve, can change the amplitude that rocking arm is fluttered up and down, different curve shapes can obtain the different Changing Pattern of speed of fluttering in the flutter cycle.
When the present invention moves, by poly-lithium battery is the dc brushless motor power supply, be subjected to the dc brushless motor 2 of machine governor control to drive retarder driving gear 3, driving retarder driven gear 4 rotates, driven gear 4 drives the coaxial cylindrical cam that is connected 5 and rotates, cylindrical cam 5 is pressed shape up-and-down movement in guide rail of line tracking in the cam path by movable slide plate 6 drivening rods 7, the pillar 7A of the connecting rod other end is crank motion in rocking arm 8,8 ' chute, drive that two rocking arms are symmetrical flutters up and down, thereby drive flapping wing.
Claims (5)
1. cylindrical cam flapping wing driver train, comprise frame, motor, gear reducer, cylindrical cam and rocker mechanism, it is characterized in that: motor is fixed in frame, and the driving gear of driven wheel retarder, and the driven gear of gear reducer is coaxial affixed with transmission shaft; Be connected with the guide rail that is parallel to transmission shaft on the frame, the connecting rod that can slide, the hinged slidably sheet of connecting rod one end, the affixed pillar of the other end are installed in the guide rail; Cylindrical cam is coaxial to be connected in outside the transmission shaft, is wound with the cam path of a circle or multi-turn cyclic curve on the periphery, and the first derivative of cyclic curve is continuous, and movable slide plate can slide in cam path; Rocker mechanism comprises two rocking arms, and its middle part is hinged with the rocker shaft that is fixed in the guide rail both sides, and rocking arm one end has chute, and pillar can reciprocatingly slide along chute, and the other end is connected with the flapping wing spar.
2. according to utilizing the described cylindrical cam flapping wing of claim 1 driver train, it is characterized in that: described frame is symmetrical integral structure, the bottom surface has the transmission axis hole No. one, and the middle part has and No. two coaxial transmission axis holes of transmission axis hole, all is positioned at the symmetrical plane of frame; Frame has perpendicular to the bottom surface and is positioned at the guide rail of the symmetrical plane of frame, and a connecting rod that is parallel to guide rail and can slides in guide rail is housed in the guide rail, and there is symmetrical rocker shaft hole the both sides of guide rail, and frame is installed on the flapping wing aircraft airframe structure.
3. according to utilizing the described cylindrical cam flapping wing of claim 1 driver train, it is characterized in that: described motor adopts dc brushless motor, be fixed in frame, its pivot and gear reducer driving gear are affixed, it is hinged that transmission shaft passes transmission axis hole and No. two transmission axis holes and frame, affixed with driven gear, driving gear and driven gear engagement formative gear retarder.
4. according to utilizing the described cylindrical cam flapping wing of claim 1 driver train, it is characterized in that: between a described transmission axis hole and No. two transmission axis holes the coaxial cylindrical cam that is fixed on transmission shaft is arranged, cam path is formed at its periphery, the work profile of cam path is the cyclic curve that twines a circle or multi-turn at the cam circle side face, the number of times of movable slide plate up-and-down movement when the number of turns that cyclic curve twines on cylindrical cam has determined that cylindrical cam rotates a circle, if cyclic curve twines multi-turn on cylindrical cam, then cam mechanism has deceleration effort; The first derivative of described cyclic curve is continuous, movable slide plate is installed in the connecting rod lower end in the described guide rail, can slide in described cam path, movable slide plate shape of cross section is a spindle, and concrete shape makes movable slide plate along not taking place stuck because of the change of cam path direction in the cam path sliding process; The termination that movable slide plate contacts with cam is the circular arc of indent, and arc radius is slightly larger than the cam bottom radius, does not move interference in the cam diametric(al) when movable slide plate is slided in cam path; If pass through same position from different directions in the process that cyclic curve twines on cam, cam path will form the no confining region that movable slide plate has a plurality of possibility sense of motions in this position so, in the case, movable slide plate width is greater than the width of described no confining region.
5. according to utilizing the described cylindrical cam flapping wing of claim 1 driver train, it is characterized in that: described rocking arm middle part is hinged with the rocker shaft that is fixed in rocker shaft hole, with the rocker shaft is the boundary; rocking arm sideslip slot part cross-sectional plane is less than outside cross-sectional plane; make two rocking arm medial axis distance greater than the outer shaft linear distance; the rocking arm Outboard Sections has blind hole, pegs graft with the flapping wing spar.
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| CN 201110154950 CN102229359B (en) | 2011-06-09 | 2011-06-09 | Cylindrical cam flapping wing driving mechanism |
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| CN 201110154950 CN102229359B (en) | 2011-06-09 | 2011-06-09 | Cylindrical cam flapping wing driving mechanism |
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| CN103661942A (en) * | 2012-09-10 | 2014-03-26 | 胡学文 | Bird-flapping-wing simulation flight flapping device |
| RU174034U1 (en) * | 2017-05-19 | 2017-09-26 | Федеральное государственное бюджетное образовательное учреждение высшего образования " Юго-Западный государственный университет" (ЮЗГУ) | Drive flapping wings model aircraft |
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| CN102424109A (en) * | 2011-12-21 | 2012-04-25 | 重庆大学 | Double swing-rod flapping-wing mechanism working in differential seat angle |
| CN102424109B (en) * | 2011-12-21 | 2014-04-16 | 重庆大学 | Double swing-rod flapping-wing mechanism working in differential angle |
| CN102796666A (en) * | 2012-08-14 | 2012-11-28 | 中国人民解放军南京军区南京总医院 | Sloshing-type micro-dynamic incubator |
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