CN102862677A - Double-wing type miniature bionic ornithopter - Google Patents
Double-wing type miniature bionic ornithopter Download PDFInfo
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- CN102862677A CN102862677A CN2012103466964A CN201210346696A CN102862677A CN 102862677 A CN102862677 A CN 102862677A CN 2012103466964 A CN2012103466964 A CN 2012103466964A CN 201210346696 A CN201210346696 A CN 201210346696A CN 102862677 A CN102862677 A CN 102862677A
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Abstract
The invention relates to a double-wing type miniature bionic ornithopter, which comprises a driving mechanism, a double-flapping-wing system, a spoiler mechanism and a principal arm, wherein the driving mechanism is just connected to the front end of the main arm, the double-flapping-wing system is positioned above the principal arm, and the spoiler mechanism is connected to the rear end of the principal arm. The driving mechanism comprises a diamond rack, a miniature direct current motor, a gear reducing mechanism and two crank-link mechanisms, the double-flapping-wing system comprises two symmetrical flapping wing racks, four flapping wing installation rods, an upper layer of flapping wing and a lower layer of flapping wing, and the spoiler mechanism comprises an electromagnetic rubber, a spoiler and a swing wing. The miniature direct current motor pulls two flapping wing racks to move up and down through the gear reducing mechanism and the crank-link mechanisms, so that the bionic flapping wings can be realized. The electromagnetic rubber in the spoiler mechanism can control the swing wing to swing from side to side by changing the current direction, so that the fly direction of the ornithopter can be controlled.
Description
Technical field
The invention belongs to minitype bionic aircraft field, particularly a kind of biplane minitype bionic flapping-wing aircraft.
Background technology
Occurring in nature, the flapping wings type flying method of birds or insect can realize that fast speed takes off, accelerates and hovers, and have manoevreability and the alerting ability of height.Biological flying method mainly is divided into three kinds according to the frequency of fluttering: low frequency mode, intermediate frequency mode and the high frequency mode of fluttering of fluttering of fluttering.Flapping wing aircraft is because of reasons such as airworthiness own and application targets, and is more and more important in the development of the industries such as model, military affairs, aviation.The research of the flapping wing aircraft of bionical class mainly be divided into utilize micromechanics (MEMS) technology flutter and mechanical type flutter.Flapping-wing aircraft based on the MEMS technology can make the body lightweight, reach bionical effect truly, but its cost is larger, and technology is not mature enough.Traditional mechanical type flapping-wing aircraft has the advantage that cost is low, manufacturing technology is ripe, but its complex structure and energy consumption are larger, and than the flapping-wing aircraft by micromachined, often quality is bigger than normal.The subject matter of current miniature ornithopter research is: how to reduce body weight and volume, how to increase the control of lift and attitude.
At present, exist following common problems in the design of common minitype bionic flapping-wing aircraft: the motion of (1) flapping wing is asymmetric.Appreciiable miniature ornithopter adopts slide block mechanism or asymmetric connecting rod mechanism to realize the flapping wing motion, and this design has the simple advantage of mechanism, has but greatly increased the later stage to be controlled at the complexity that keeps the balance aspect.(2) single flapping wing structure.In the patent of having announced, the design of miniature ornithopter mainly with about two flapping wings flutter up and down realize flight, lift is limited.Consult pertinent literature, existing employing mechanical type flutter and the fuselage weight of the miniature ornithopter of develop many below 20g, about span 25cm.When the total weight of mechanism, battery, circuit card and electric elements is heavier, the flapping-wing aircraft of this single flapping wing structure is merely able to rely on increase flapping wing area to improve lift, the volume that this has increased miniature ornithopter does not greatly meet the development tendency of miniature ornithopter lightweight, micro-miniaturisation.(3) turn to control.Consult Patents, most miniature ornithopters utilizes the steering wheel pulling pendulum wing to realize turning to of fuselage.There are two obvious defectives in this design: 1) quality of steering wheel is bigger than normal, and also more than 3g, this is a no small burden for the miniature ornithopter with the 20g production-release design to the quality of the lightest miniature steering wheel; 2) sensitivity of steering wheel is lower, is turning to the time-delay that easily causes response in the control, and when regions with complex terrain was flown, the time-delay of this response caused the damage of fuselage easily.
Summary of the invention
The objective of the invention is provides a kind of biplane minitype bionic flapping-wing aircraft in order to overcome the defective of above-mentioned prior art existence.This biplane minitype bionic flapping-wing aircraft can be realized the flapping wing motion of full symmetric, and is simple and compact for structure, adopts two flapping wings type structure designs to increase lift, utilizes electromagnetism rudder pulling empennage to regulate heading, increased steering sensitivity when alleviating quality.
The present invention is achieved by the following technical solutions:
A kind of biplane minitype bionic flapping-wing aircraft, it is characterized in that comprising driver train, two flapping wing mechanism, empennage mechanism and principal arm, driver train is connected to the positive front end of principal arm, two flapping wing mechanisms be positioned at principal arm directly over, empennage mechanism is connected to the positive rear end of principal arm, wherein:
Driver train comprises rhombus support, DC micromotor, gear reduction, two connecting rod mechanisms and two flapping wing framves; The rhombus support is erect, define its four summits and be respectively the summit, lower summit, left summit, and right summit, on, lower summit and a left side, be equipped with support beam between the right summit, line between upper summit and the two support beam intersection points is the axis, left, right summit is respectively in both sides, axis and symmetrical, be provided with leaning angle between line between two support beam intersection points and the lower summit and the extended line of axis, the intersection point place of two support beams is provided with through hole, DC micromotor is fixed on the intersection point place of rhombus cradle back two support beams, its output shaft is socketed a driven wheel in the front of rhombus support after passing through hole, this driven wheel and reducing gear engagement, the hinged place, lower summit that is connected to of the rotating shaft of reducing gear, left side at the rhombus support, place, right summit arranges respectively rotating shaft, two synchronizer gears and two synchronizer gears are intermeshing about being respectively equipped with in two rotating shafts, arrange one coaxial with reducing gear, be positioned at the miniature gears in the reducing gear outside, a synchronizer gear engagement of this miniature gears and nearside; Two flapping wing framves are measure-alike, two flapping wing framves are passed two hinged places, upper summit that are connected to the rhombus support of flapping wing frame in the midpoint cross lamination and by a rotating shaft, the cross lamination section of two flapping wing framves relative motion partly is the symmetrical setting of inlaying, and mutual bearing fit; About symmetric position on two synchronizer gears respectively be provided with about the hinging supporting shaft of two off-centre, one end of two connecting rods about the hinged connection of difference, the other end of left connecting rod is hinged to be connected on the hinging supporting shaft that a flapping wing frame left end with left synchronizer gear homonymy arranges, and the other end of right connecting rod is hinged to be connected on the hinging supporting shaft that another root flapping wing frame right-hand member with right synchronizer gear homonymy arranges;
Two flapping wing mechanisms comprise four identical fan-shaped flapping wings and four flapping wing mounting rods, the dual-side of fan-shaped flapping wing is orthogonal, a side of four fan-shaped flapping wings is fixedly connected on respectively on four flapping wing mounting rods, four flapping wing mounting rods are captiveed joint with four sections flapping wing framves that are positioned at the left and right sides, upper summit respectively, consist of a pair ofly to deserving to be called flapping wing and a pair of lower flapping wing, the rear end of another side of four fan-shaped flapping wings is equipped with shackle;
Empennage mechanism comprises very vertical being arranged on the line of centers on tailplane plane of tailplane and vertical tail, vertical tail, the tailplane of line of centers both sides is symmetrical, vertical tail is divided into two sections, leading portion is fixed-wing, captive joint with the tailplane plane, back segment is the pendulum wing, with be connected by annular hinge between the fixed-wing and and the tailplane plane between bearing fit, be provided with the electromagnetism rudder at fixed-wing, the output of electromagnetism rudder is connected on the two sides of the pendulum wing by two connecting rods that are positioned at the fixed-wing both sides respectively;
The front end of principal arm vertically is fixedly connected in the slotted eye of below, summit on the rhombus cradle back, captives joint with empennage mechanism in the rear end of principal arm, and the principal arm that is positioned at the empennage mechanism front end is provided with hook, with the shackle socket of four another side rear ends of fan-shaped flapping wing.
Between the left summit of described rhombus support and right summit and the support beam intersection point, 3 can be straight line also can be to be symmetrical broken line between support beam intersection point and left summit and the right summit.
Leaning angle is 5 degree between two support beam intersection points of described rhombus support and the extended line of the line between the lower summit and axis.
It also can be in the midpoint bending that described two flapping wing framves all can be straight line, about two sections updips.
Advantage of the present invention and showing effect: simple and compact for structure, can realize the flapping wing motion of full symmetric.Adopt the structure design of two flapping wings to replace traditional single flapping wing design, increased lift required when flying.Replace traditional steering wheel to turn to control with widely used electromagnetism rudder on the fixed-wing flight model, not only alleviated the weight of fuselage, also increased steering sensitivity.This biplane minitype bionic flapping-wing aircraft can use in fields such as model, monitoring, information gathering, disaster search and rescue.
Description of drawings
Fig. 1 is overall structure scheme drawing of the present invention;
Fig. 2 is driver train scheme drawing of the present invention;
Fig. 3 is the rhombus support scheme drawing in the driver train of the present invention;
Fig. 4 is of the present invention pair of flapping wing mechanism scheme drawing;
Fig. 5 is the scheme drawing that is made of a pair of upper flapping wing among the present invention two flapping wings;
Fig. 6 is empennage mechanism scheme drawing of the present invention;
Fig. 7 is main arm structure of the present invention and forward and backward connection diagram;
Fig. 8 is flapping wing movement decomposition figure of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, biplane minitype bionic flapping-wing aircraft comprises driver train 1, two flapping wing mechanism 2, empennage mechanism 3 and principal arm (cannot see among the figure), driver train is connected to the positive front end of principal arm, two flapping wing mechanisms be positioned at principal arm directly over, empennage mechanism is connected to the positive rear end of principal arm.
Referring to Fig. 2,3, driver train comprises rhombus support, DC micromotor, gear reduction, two connecting rod mechanisms and two flapping wing framves.Rhombus support 104 is erect, defining its four summits is respectively summit (having hole 204), lower summit (having hole 209), left summit (having hole 201), reaches right summit (having hole 208), be equipped with support beam between upper and lower summit and the left and right summit, line between hole, upper summit 204 and the hole, two support beam intersection point places 207 is the axis, left and right summit is respectively in both sides, axis and symmetrical, is provided with 5 ° at Right deviation oblique angle between the line between hole, two support beam intersection point places 207 and the hole, lower summit 209 and the extended line of axis.Between left summit and right summit and the support beam intersection point, 3 can be straight line and also can be illustrated in figure 2 as symmetrical broken line.DC micromotor 110 is by being fixed on the rhombus cradle back by dress hole 202,203, its output shaft meshes hinged 209 places, hole, lower summit that are connected to of the rotating shaft of reducing gear 108 in the front of rhombus support socket driven wheel 111 and with reducing gear 108 after passing hole 207.Place, hole, left and right summit at the rhombus support arranges respectively rotating shaft, two synchronizer gears 101 about being respectively equipped with in two rotating shafts, 107 and two synchronizer gears are intermeshing, 108 coaxial with reducing gear, as to be positioned at a reducing gear outside miniature gears 109 is set, and the right synchronizer gear 107 of this miniature gears and nearside meshes.Because hole, lower summit 209 is provided with 5 ° at Right deviation oblique angle and has guaranteed not collide with another synchronizer gear 101 when miniature gears 109 meshes with synchronizer gear 107.Two flapping wing framves 103,105 measure-alike pass two hinged 204 places, hole, upper summit that are connected to the rhombus support of flapping wing frame with two flapping wing framves in the midpoint cross lamination and by a rotating shaft.The cross lamination section part of two flapping wing framves relative motion can be by the symmetrical survivor of a murder attempt, and flapping wing frame 103 and 105 is inlayed mutually, and mutual bearing fit is to guarantee two flapping wing frame relative motions in same vertical plane surface.Two flapping wing framves can be straight line also can be such as Fig. 2 in the midpoint bending, about two sections updips.112 is the reinforced rib on the flapping wing frame 105, effectively strengthens the intensity of flapping wing frame, and identical reinforced rib (not shown) distributes on the flapping wing frame 103.About symmetric position on two synchronizer gears respectively be provided with about the hinging supporting shaft of two off-centre, respectively two connecting rods 102 about hinged connection, an end of 106, the other end of left connecting rod 102 is hinged to be connected on the hinging supporting shaft 113 that flapping wing frame 103 left ends with left synchronizer gear 101 homonymies arrange, and the other end of right connecting rod 106 is hinged to be connected on the hinging supporting shaft 114 that flapping wing frame 105 right-hand members with right synchronizer gear 107 homonymies arrange.
Referring to Fig. 4,5, two flapping wing mechanisms comprise four identical fan-shaped flapping wings (membraneous material, area 100-120 ㎝
2) and four flapping wing mounting rods, a side of four fan-shaped flapping wings is fixedly connected on respectively (length 100-120 ㎜) on four flapping wing mounting rods 301,302,303,304, four flapping wing mounting rods are captiveed joint with the four sections flapping wing framves (length 20-25 ㎜) that are positioned at the left and right sides, upper summit respectively, and its connection structure can adopt fixes (inserting 5-10 ㎜) with four flapping wing mounting rod leading portions (without the covering of the fan section) with the slotted eye interference fit that inserting mode stretches into respectively four sections flapping wing frame outer ends.Another side of four fan-shaped flapping wings is attempted by on the axle in twos, consists of a pair of to being much of flapping wing 308 and another lower flapping wing 307 to symmetry.Above flapping wing 308 is example explanation (Fig. 5), a side of two identical fan-shaped flapping wings is separately fixed on two flapping wing mounting rods 302,304, be attempted by (axial length 80-120 ㎜) on the center shaft 305 between another vertical side edge of two identical fan-shaped flapping wings, upper flapping wing 308 is provided with 6 reinforced ribs 401, and center shaft 305 rear ends are equipped with shackle 306.Flapping wing mounting rod 302,304 stretches into respectively flapping wing frame 105,103 outer end slotted eye interference fit.In like manner, lower flapping wing 307 is same structure, and like this, the front end of upper and lower flapping wing is fixed respectively.The shackle 306 of center shaft 305 ends of upper flapping wing 308 is buckled on the hook 602 of principal arm 601, lower flapping wing 307 also is fixed on the hook 602 with identical structure, upper and lower flapping wing 307,308 is completely fixed, and can produce up and down periodically flapping wings type motion along with flapping wing frame 103,105.
Such as Fig. 6, empennage mechanism comprises tailplane and vertical tail, vertical tail is vertical being arranged on the line of centers on tailplane plane very, the tailplane 504 of line of centers both sides, 507 symmetries, vertical tail is divided into two sections, leading portion is fixed-wing 501, captive joint with the tailplane plane, back segment is the pendulum wing 506, and pass through up and down two annular hinge 505 between the fixed-wing, 509 connect and and the tailplane plane between bearing fit, be provided with electromagnetism rudder 502 at fixed-wing, the output of electromagnetism rudder is respectively by being positioned at two connecting rods 503 of fixed-wing both sides, 508 are connected on the two sides of the pendulum wing 506.By the direction of electromagnetism rudder 502 interior current flowing, then the rotation of two different directions about electromagnetism rudder 502 can produce rotates around annular hinge 505,509 by connecting rod 503 and the 508 pulling pendulum wings 506, thereby changes the sense of motion of body.
Such as Fig. 7, the front end of principal arm 601 vertically is fixedly connected on (see figure 3) in the slotted eye 205 of below, summit on rhombus support 104 back sides, captive joint with empennage mechanism in the rear end of principal arm 601, principal arm is provided with hook 602, connect together with the shackle of upper flapping wing 308, lower flapping wing 307 rear ends, play fixedly flapping wing.
Working process of the present invention and enforcement parameter: (rotating speed is 20000r/min under the 3.7V rated voltage after DC micromotor 110 energisings, quality is 2.3g), its rotating shaft output consists of primary speed-down transmission (reduction ratio 8:1) by driven wheel 111 and big gear wheel 108 engagements, consist of double reduction transmission (reduction ratio 4:1) by coaxial miniature gears 109 and synchronizer gear 107 engagements again, (two synchronizer gears are 48 teeth to another synchronizer gear 101 with synchronously rotation of synchronizer gear 107 engagements, rotational frequency all is about 11Hz), be positioned at the eccentric link 106 on two synchronizer gears, 102 spur respectively two flapping wing framves 105,103 up and down periodic relative motions, thereby form symmetrical flapping wing motion morphology, the bat wing frequency of whole flapping-wing aircraft is 11Hz also, belongs to the mode that low frequency is fluttered.The work material of whole minitype bionic flapping-wing aircraft is nylon material except driver train, and all the other are carbon fiber, and weight is about 18g, and length is about 12cm, and the span is 15cm, the work such as the minisize pick-up heads such as portability such as OV7670 are searched and rescued, monitoring.
Fig. 8 is the flapping wing movement decomposition figure of flapping-wing aircraft.Four typicalnesses having chosen the minitype bionic flapping-wing aircraft represent a complete flapping wing cycle.Initial condition is shown in (1), and this moment is the angle minimum of two flapping wings up and down, is 24.5 °.The piston crank mechanism drivening rod of gear and connecting rod composition moves downward afterwards, and connecting rod pulling flapping wing frame moves downward, and the flapping wing frame is by flapping wing mounting rod pulling flapping wing, and the angle between the both wings increases, shown in state (2).In state (3), link work is to least significant end, and it is maximum that the angle of both wings reaches, and is 87.5 °.The piston crank mechanism of gear and connecting rod composition promotes the connecting rod upward movement afterwards, two connecting rods promote respectively two flapping wing erecting frame upward movements, and the angle of both wings begins to reduce, shown in state (4), finally return to state (1), finish a flapping wing cycle.In whole motion process, the motion of flapping wing is full symmetric.
Claims (4)
1. biplane minitype bionic flapping-wing aircraft, it is characterized in that comprising driver train, two flapping wing mechanism, empennage mechanism and principal arm, driver train is connected to the positive front end of principal arm, two flapping wing mechanisms be positioned at principal arm directly over, empennage mechanism is connected to the positive rear end of main boom, wherein:
Driver train comprises rhombus support, DC micromotor, gear reduction, two connecting rod mechanisms and two flapping wing framves; The rhombus support is erect, define its four summits and be respectively the summit, lower summit, left summit, and right summit, on, lower summit and a left side, be equipped with support beam between the right summit, line between upper summit and the two support beam intersection points is the axis, left, right summit is respectively in both sides, axis and symmetrical, be provided with leaning angle between line between two support beam intersection points and the lower summit and the extended line of axis, the intersection point place of two support beams is provided with through hole, DC micromotor is fixed on the intersection point place of rhombus cradle back two support beams, its output shaft is socketed a driven wheel in the front of rhombus support after passing through hole, this driven wheel and reducing gear engagement, the hinged place, lower summit that is connected to of the rotating shaft of reducing gear, left side at the rhombus support, place, right summit arranges respectively rotating shaft, two synchronizer gears and two synchronizer gears are intermeshing about being respectively equipped with in two rotating shafts, arrange one coaxial with reducing gear, be positioned at the miniature gears in the reducing gear outside, a synchronizer gear engagement of this miniature gears and nearside; Two flapping wing framves are measure-alike, two flapping wing framves are passed two hinged places, upper summit that are connected to the rhombus support of flapping wing frame in the midpoint cross lamination and by a rotating shaft, the cross lamination section of two flapping wing framves relative motion partly is the symmetrical setting of inlaying, and mutual bearing fit; About symmetric position on two synchronizer gears respectively be provided with about the hinging supporting shaft of two off-centre, one end of two connecting rods about the hinged connection of difference, the other end of left connecting rod is hinged to be connected on the hinging supporting shaft that a flapping wing frame left end with left synchronizer gear homonymy arranges, and the other end of right connecting rod is hinged to be connected on the hinging supporting shaft that another root flapping wing frame right-hand member with right synchronizer gear homonymy arranges;
Two flapping wing mechanisms comprise four identical fan-shaped flapping wings and four flapping wing mounting rods, the dual-side of fan-shaped flapping wing is orthogonal, a side of four fan-shaped flapping wings is fixedly connected on respectively on four flapping wing mounting rods, another side of four fan-shaped flapping wings is attempted by respectively on each main shaft in twos, four flapping wing mounting rods are captiveed joint with four sections flapping wing framves that are positioned at the left and right sides, upper summit respectively, consist of a pair ofly to deserving to be called flapping wing and a pair of lower flapping wing, two rear end of spindles are equipped with shackle;
Empennage mechanism comprises very vertical being arranged on the line of centers on tailplane plane of tailplane and vertical tail, vertical tail, the tailplane of line of centers both sides is symmetrical, vertical tail is divided into two sections, leading portion is fixed-wing, captive joint with the tailplane plane, back segment is the pendulum wing, with be connected by annular hinge between the fixed-wing and and the tailplane plane between bearing fit, be provided with the electromagnetism rudder at fixed-wing, the output of electromagnetism rudder is connected on the two sides of the pendulum wing by two connecting rods that are positioned at the fixed-wing both sides respectively;
The front end of principal arm vertically is fixedly connected in the slotted eye of below, summit on the rhombus cradle back, captives joint with empennage mechanism in the rear end of principal arm, and the principal arm that is positioned at the empennage mechanism front end is provided with hook, with the shackle socket of four another side rear ends of fan-shaped flapping wing.
2. biplane minitype bionic flapping-wing aircraft according to claim 1 is characterized in that between the left summit and right summit and support beam intersection point of rhombus support, and 3 is to be symmetrical broken line between straight line or support beam intersection point and left summit and the right summit.
3. biplane minitype bionic flapping-wing aircraft according to claim 1 is characterized in that leaning angle is 5 degree between the extended line of two support beam intersection points of rhombus support and the line between the lower summit and axis.
4. biplane minitype bionic flapping-wing aircraft according to claim 1 is characterized in that two flapping wing framves are straight line or in the midpoint bending, about two sections updips.
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| CN2012103466964A CN102862677A (en) | 2012-09-18 | 2012-09-18 | Double-wing type miniature bionic ornithopter |
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