CN104369864B - A kind of miniature imitative insecticide dual rotary flapping wing aircraft - Google Patents
A kind of miniature imitative insecticide dual rotary flapping wing aircraft Download PDFInfo
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- CN104369864B CN104369864B CN201410663709.XA CN201410663709A CN104369864B CN 104369864 B CN104369864 B CN 104369864B CN 201410663709 A CN201410663709 A CN 201410663709A CN 104369864 B CN104369864 B CN 104369864B
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Abstract
The present invention relates to a kind of miniature imitative insecticide dual rotary flapping wing aircraft, by fluttering system before and after flutter before and after frame, Worm Wheel System system, flapping wing rotational transmission, left side system, right side and empennage system forms, motor b mainly by gear b, gear c, worm screw, front worm gear, rear worm wheel, turning, front two axle, turning, rear two axle drive on the left of before behind flapping wing, left side before flapping wing, right side behind flapping wing, right side flapping wing high frequency flutter.Motor a is mainly by flapping wing rotary motion behind flapping wing, right side before flapping wing, right side behind front flapping wing, left side on the left of gear a, gear f, gear d, gear e, power transmission shaft, gear h, gear g, gear i driving.Compared with prior art, each flapping wing of the present invention can be with rotary motion；Worm Wheel System has self-locking performance；By Worm Wheel System achieve left side flapping wing and right side flapping wing flutter full symmetric；The flapping mechanism simple in construction consisted of turning, two axle and cylinder pole, flutters flexibly.
Description
Technical field
The present invention relates to bionic field, especially relate to a kind of miniature imitative insecticide dual rotary flapping wing aircraft.
Background technology
The flying method of flapping wing is widely present among the flight of nature flying creature, and flapping flight enumerates fixing
Wing flight and the advantage of rotor flying, can quickly take off, accelerate and hover, and has high mobility with flexible
Property.The flying method of flying creature substantially can be divided three classes: low-frequency flight of fluttering, the most the large birds
(eagle, vulture, wild goose, sea-gull, swan etc.), the span is longer relatively big, and frequency of fluttering is relatively low, from the zero to tens of conspicuous
Hereby, low-frequency form of fluttering fluttered and glide and combine is used；The flutter flight, predominantly body of intermediate frequency
The birds (such as swallow, Passeris montani saturati, pigeon etc.) that shape is medium, wing is less big, and frequency of fluttering is of a relatively high, seldom
Use glide mode；The flight of fluttering of high frequency, this flying method is to use very high frequency, the characteristics of motion of wing
Complicated flapping wing form, such as hummingbird and the less birds of the bodily form and most insects, frequency of fluttering is about 60～80
Hertz, it is possible to aloft realize advancing, retreat, hover and maneuvering flight that some other is highly difficult.
Bionic flying micro-robot (within general 10cm), in application technology, it is beyond traditional flight
Device design and aerodynamic research category, started micro electro mechanical system (MEMS) technology (MEMS) simultaneously and led in aviation
The application in territory.It is the most very that design and manufacture have the efficient mini bionic flapping-wing flying vehicle of good dynamics characteristic
Challenging research puzzle.
In order to make micro flapping wing air vehicle volume the least, the flutter design of flight of imitative insecticide high frequency is used to be
The most reasonably.At present, general bionic flying micro-robot major part rely solely on a pair flapping wing produce lift and
Thrust, inefficient, flight underaction, and double flapping wing aircraft is owing to having two teams' flapping wing, efficiency is higher,
Controllability is strong, flight is the most flexible.Patent CN100430297C proposes a kind of miniature single flapping wing aircraft,
Being mainly characterized by of this aircraft uses Worm and worm-wheel gearing, and feature is that to have self-locking performance, gear ratio high, left
Right flapping wing symmetry is good.Patent CN200942872Y provides a kind of double flapping wing aircraft of imitative Aeschna melanictera, but above-mentioned
The double flapping wing aircraft of the imitative Aeschna melanictera that patent is provided has obvious shortcoming, and before and after it, the left and right flapping wing of sized flap wings system is flutterred
Dynamic the most asymmetric, while left (right) flapping wing is upwards fluttered, the right side (left) flapping wing is fluttered downwards, and before and after it
Sized flap wings system is to be completely reversed to flutter, and causes aircraft flight less stable, even can not aerial flight.Additionally,
These flapping wings having invented provided flapping wing aircraft are all one-dimensional fluttering, and the most whole flapping wing all can not rotate,
Thus sporting flying underaction.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of compact conformation,
Volume is little, and Striking symmetry is fluttered in left and right and whole flapping wing can rotate, by motor-driven miniature imitative insecticide dual rotary
Flapping wing aircraft.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of miniature imitative insecticide dual rotary flapping wing aircraft, is rotated passed by frame, Worm Wheel System system, flapping wing
Dynamic system, system of fluttering and empennage system composition,
Described frame is mainly by gear-box, girder, cylinder ring a, cylinder ring b, cylinder ring c, cylinder ring d
Composition；Described Worm Wheel System system mainly by gear-box, motor b, motor shaft b, gear b, gear c,
Worm screw, front worm gear, rear worm wheel, turning, front two axle, turning, rear two axle composition；
Described flapping wing rotational transmission mainly by motor a, motor shaft a, gear a, gear d, gear e,
Gear f, power transmission shaft, gear h, gear g, gear i form；
The described system of fluttering is fluttered before including left side system, the right side of fluttering before system, right side of fluttering behind system, left side
Fluttering system in rear flank, wherein, system of fluttering before left side is mainly propped up by rocker bearing c, the rocking bar being connected with gear f
Before seat d, rocking bar c, rocking bar d, cylinder pole c, cylinder pole d, left side, flapping wing 10 forms；A described left side
System is fluttered mainly by the rocker bearing a being connected with gear d, rocker bearing b, rocking bar a, rocking bar b, circle in rear flank
Behind column support bar a, cylinder pole b, left side, flapping wing 9 forms；System of fluttering before described right side mainly by with gear
The rocker bearing e of g connection, rocker bearing f, rocking bar e, rocking bar f, cylinder pole e, cylinder pole f, right side
Front flapping wing forms；System of fluttering behind described right side mainly by gear i, turning, rear two axle, rocker bearing g,
Flapping wing composition behind rocker bearing h, rocking bar g, rocking bar h, cylinder pole g, cylinder pole h, right side.
The gear-box of described frame respectively with girder, cylinder ring a, cylinder ring b, cylinder ring c, cylinder ring d
Fixing connection.
The motor shaft b and gear b of described motor b is fixing to be connected, gear b and gear c engaged transmission, worm screw
Being connected with revolute pair with front facade and the rear facade of gear-box respectively, worm screw passes rear facade and the gear c of gear-box
Fixing connect, worm screw respectively with front worm gear and rear worm wheel engaged transmission, front worm gear fixes with turning, front two axle and is connected,
Rear worm wheel and turning, rear two axle are fixing to be connected, turning, front two axle through the left facade of gear-box and right facade with turn
Dynamic pair connects, and turning, rear two axle connects through left facade and the right facade of gear-box with revolute pair, turning, front two
Axle is each passed through cylinder ring b and cylinder ring c and is connected with revolute pair with its inner ring surface, and turning, rear two axle is worn respectively
Cross cylinder ring a and cylinder ring d and be connected with revolute pair with its inner ring surface.
Described gear f is connected with revolute pair with gear-box by the outer ring surface of cylinder ring b, and gear d passes through cylinder
The outer ring surface of ring a is connected with revolute pair with gear-box, and gear g passes through the outer ring surface of cylinder ring c with gear-box to turn
Dynamic pair connects, and gear i is connected with revolute pair with gear-box by the outer ring surface of cylinder ring d, the motor shaft of motor a
A and gear a is fixing to be connected, gear a and gear d engaged transmission, gear d and gear e engaged transmission, gear
E and gear f engaged transmission, gear e is fixing with power transmission shaft left end to be connected, and power transmission shaft is through the left facade of gear-box
Connect with revolute pair with right facade, power transmission shaft right-hand member and gear h engaged transmission, gear h respectively with gear g and tooth
Wheel i engaged transmission.
Described gear f is fixing with rocker bearing c and rocker bearing d respectively to be connected, and rocker bearing c passes through bearing pin
C is connected with revolute pair with rocking bar c, and rocker bearing d is connected with revolute pair with rocking bar d by bearing pin d, and cylinder props up
Bar c is fixing with rocking bar c and rocking bar d respectively to be connected, and cylinder pole d is fixing with rocking bar c and rocking bar d respectively to be connected,
Before left side, flapping wing is fixing with rocking bar c and rocking bar d respectively is connected, and the left end turning axle of turning, front two axle props up with cylinder
Bar c and cylinder pole d constitutes flapping mechanism.
Described gear d is fixing with rocker bearing a and rocker bearing b respectively to be connected, and rocker bearing a passes through bearing pin
A is connected with revolute pair with rocking bar a, and rocker bearing b is connected with revolute pair with rocking bar b by bearing pin b, and cylinder props up
Bar a is fixing with rocking bar a and rocking bar b respectively to be connected, and cylinder pole b is fixing with rocking bar a and rocking bar b respectively to be connected,
After Zuo Ce, flapping wing is fixing with rocking bar a and rocking bar b respectively is connected, and the left end turning axle of turning, rear two axle props up with cylinder
Bar a and cylinder pole b constitutes flapping mechanism.
Described gear g is fixing with rocker bearing e and rocker bearing f respectively to be connected, and rocker bearing e passes through bearing pin
E is connected with revolute pair with rocking bar e, and rocker bearing f is connected with revolute pair with rocking bar f by bearing pin f, and cylinder props up
Bar e is fixing with rocking bar e and rocking bar f respectively to be connected, and cylinder pole f is fixing with rocking bar e and rocking bar f respectively to be connected,
Before right side, flapping wing is fixing with rocking bar e and rocking bar f respectively is connected, and the right-hand member turning axle of turning, front two axle props up with cylinder
Bar e and cylinder pole f constitutes flapping mechanism.
Described gear i is fixing with rocker bearing g and rocker bearing h respectively to be connected, and rocker bearing g passes through bearing pin
G is connected with revolute pair with rocking bar g, and rocker bearing h is connected with revolute pair with rocking bar h by bearing pin h, and cylinder props up
Bar g is fixing with rocking bar g and rocking bar h respectively to be connected, and cylinder pole h is fixing with rocking bar g and rocking bar h respectively to be connected,
After You Ce, flapping wing is fixing with rocking bar g and rocking bar h respectively is connected, and the right-hand member turning axle of turning, rear two axle props up with cylinder
Bar g and cylinder pole h constitutes flapping mechanism.
Described empennage system includes being arranged on the fixed fin of girder tail end, rudder, horizontal stabilizer and liter
Fall rudder.
The two ends of described turning, Zhou Jihou two, turning, front two axle are symmetrical structure, two ends corner part and middle part
Trunnion axis be 30 degree of angles, corner part length need to meet and remains in whole rotation process and prop up with cylinder
Bar is fully contacted, and on the left of control, flapping wing and right side flapping wing are full symmetric when fluttering.
Compared with prior art, each flapping wing of the present invention can be with rotary motion；Worm Wheel System has self-locking performance；
By Worm Wheel System achieve left side flapping wing and right side flapping wing flutter full symmetric；By turning, two axle and
The flapping mechanism simple in construction that cylinder pole is constituted, flutters flexibly.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is Worm Wheel System partial structurtes schematic diagram；
Fig. 3 is flapping wing transmission partial structurtes schematic diagram before and after left side；
Fig. 4 is flapping wing transmission partial structurtes schematic diagram before and after right side；
In figure, 1-direction steering wheel, 2-lifting steering wheel, 3-control module, 4-motor a, 5-motor b, 6-gear a,
After on the left of 7-motor shaft a, 8-gear-box, 9-on the left of flapping wing, 10-before on the right side of flapping wing, 11-before on the right side of flapping wing, 12-
Rear flapping wing, 13-girder, 14-fixed fin, 15-rudder, 16-horizontal stabilizer, 17-elevator, 18-
After motor shaft b, 19-gear b, 20-gear c, 21-worm screw, 22-before turning, two axle, 23-rear worm wheel, 24-
Worm gear, 26-gear d, 27-bearing pin a, 28-rocker bearing a, 29-rocking bar a, 30-before turning, two axle, 25-
Cylinder ring a, 31-cylinder pole a, 32-cylinder pole b, 33-bearing pin b, 34-rocker bearing b, 35-rocking bar b,
36-power transmission shaft, 37-gear e, 38-bearing pin c, 39-rocker bearing c, 40-rocking bar c, 41-cylinder ring b, 42-
Cylinder pole c, 43-cylinder pole d, 44-bearing pin d, 45-rocker bearing d, 46-rocking bar d, 47-gear f, 48-
Gear g, 49-rocking bar e, 50-rocker bearing e, 51-bearing pin e, 52-cylinder ring c, 53-cylinder pole e, 54-
Cylinder pole f, 55-rocker bearing f, 56-rocking bar f, 57-bearing pin f, 58-gear h, 59-rocking bar g, 60-rocking bar
Bearing g, 61-bearing pin g, 62-cylinder pole g, 63-cylinder pole h, 64-cylinder ring d, 65-rocker bearing h,
66-rocking bar h, 67-bearing pin h, 68-gear i.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
Embodiment
Miniature imitative insecticide dual rotary flapping wing aircraft, its structure as shown in Figures 1 to 4, mainly by frame, worm gear
Flutter before and after endless screw transmission agent, flapping wing rotational transmission, left side system, the empennage of fluttering before and after system, right side
System forms；Frame mainly by gear-box 8, girder 13, cylinder ring a30, cylinder ring b41, cylinder ring c52,
Cylinder ring d64 forms；Worm Wheel System system is mainly by gear-box 8, motor b5, motor shaft b18, gear
B19, gear c20, worm screw 21, front worm gear 25, rear worm wheel 23, turning, front two axle 24, turning, rear two
Axle 22 forms；Flapping wing rotational transmission is mainly by motor a4, motor shaft a7, gear a6, gear d26, tooth
Wheel e37, gear f47, power transmission shaft 36, gear h58, gear g48, gear i68 composition；Flutter before Zuo Ce and be
System is main by the rocker bearing c39 being connected with gear f47, rocker bearing d45, rocking bar c40, rocking bar d46, circle
Before column support bar c42, cylinder pole d43, left side, flapping wing 10 forms；System of fluttering after Zuo Ce mainly by with gear
The rocker bearing a28 of d26 connection, rocker bearing b34, rocking bar a29, rocking bar b35, cylinder pole a31, circle
Behind column support bar b32, left side, flapping wing 9 forms；System of fluttering before You Ce is mainly propped up by the rocking bar being connected with gear g48
Before seat e50, rocker bearing f55, rocking bar e49, rocking bar f56, cylinder pole e53, cylinder pole f54, right side
Flapping wing 11 forms；System of fluttering after You Ce is mainly by the rocker bearing g60 being connected with gear i68, rocker bearing
Behind h65, rocking bar g59, rocking bar h66, cylinder pole g62, cylinder pole h63, right side, flapping wing 12 forms.Tail
Wing system includes being arranged on the fixed fin 14 of girder tail end, rudder 15, horizontal stabilizer 16 and elevator
17, and be controlled through control module 3.
The gear-box 8 of frame respectively with girder 13, cylinder ring a30, cylinder ring b41, cylinder ring c52, cylinder
Ring d64 is fixing to be connected.The motor shaft b18 and gear b19 of motor b5 is fixing to be connected, gear b19 and gear c20
Engaged transmission, worm screw 21 is connected with revolute pair with front facade and the rear facade of gear-box 8 respectively, and worm screw 21 passes
The rear facade of gear-box 8 is fixing with gear c20 to be connected, and worm screw 21 nibbles with front worm gear 25 and rear worm wheel 23 respectively
Closing transmission, front worm gear 25 is fixing with turning, front two axle 24 to be connected, rear worm wheel 23 and turning, rear two axle 22
Fixing connection, turning, front two axle 24 connects through left facade and the right facade of gear-box 8 with revolute pair, and rear two
Head turning axle 22 connects through left facade and the right facade of gear-box 8 with revolute pair, and turning, front two axle 24 is respectively
Through cylinder ring b41 and cylinder ring c52 and being connected with revolute pair with its inner ring surface, turning, rear two axle 22 is respectively
Through cylinder ring a30 and cylinder ring d64 and it is connected with revolute pair with its inner ring surface.
Gear f47 is connected with revolute pair with gear-box 8 by the outer ring surface of cylinder ring b41, and gear d26 is by circle
The outer ring surface of band of column a30 is connected with revolute pair with gear-box 8, gear g48 by the outer ring surface of cylinder ring c52 with
Gear-box 8 connects with revolute pair, and gear i68 is by the outer ring surface of cylinder ring d64 with gear-box 8 with revolute pair even
Connecing, the motor shaft a7 and gear a6 of motor a4 is fixing to be connected, gear a6 and gear d26 engaged transmission, gear
D26 and gear e37 engaged transmission, gear e37 and gear f47 engaged transmission, gear e37 is left with power transmission shaft 36
End is fixing to be connected, and power transmission shaft 36 connects through left facade and the right facade of gear-box 8 with revolute pair, power transmission shaft 36
Right-hand member and gear h58 engaged transmission, gear h58 respectively with gear g48 and gear i68 engaged transmission.
Gear f47 is fixing with rocker bearing c39 and rocker bearing d45 respectively to be connected, and rocker bearing c39 passes through pin
Axle c38 is connected with revolute pair with rocking bar c40, and rocker bearing d45 passes through bearing pin d44 and rocking bar d46 with revolute pair
Connecting, cylinder pole c42 is fixing with rocking bar c40 and rocking bar d46 respectively to be connected, cylinder pole d43 respectively with shake
Bar c40 and rocking bar d46 is fixing to be connected, and before left side, flapping wing 10 is fixing with rocking bar c40 and rocking bar d46 respectively is connected,
The left end turning axle of turning, front two axle 24 constitutes flapping mechanism with cylinder pole c42 and cylinder pole d43.
Gear d26 is fixing with rocker bearing a28 and rocker bearing b34 respectively to be connected, and rocker bearing a28 passes through pin
Axle a27 is connected with revolute pair with rocking bar a29, and rocker bearing b34 passes through bearing pin b33 and rocking bar b35 with revolute pair
Connecting, cylinder pole a31 is fixing with rocking bar a29 and rocking bar b35 respectively to be connected, cylinder pole b32 respectively with shake
Bar a29 and rocking bar b35 is fixing to be connected, and behind left side, flapping wing 9 is fixing with rocking bar a29 and rocking bar b35 respectively is connected,
The left end turning axle of turning, rear two axle 22 constitutes flapping mechanism with cylinder pole a31 and cylinder pole b32.
Gear g48 is fixing with rocker bearing e50 and rocker bearing f55 respectively to be connected, and rocker bearing e50 passes through pin
Axle e51 is connected with revolute pair with rocking bar e49, and rocker bearing f55 passes through bearing pin f57 and rocking bar f56 with revolute pair
Connecting, cylinder pole e53 is fixing with rocking bar e49 and rocking bar f56 respectively to be connected, cylinder pole f54 respectively with shake
Bar e49 and rocking bar f56 is fixing to be connected, and before right side, flapping wing 11 is fixing with rocking bar e49 and rocking bar f56 respectively is connected,
The right-hand member turning axle of turning, front two axle 24 constitutes flapping mechanism with cylinder pole e53 and cylinder pole f54.
Gear i68 is fixing with rocker bearing g60 and rocker bearing h65 respectively to be connected, and rocker bearing g60 passes through pin
Axle g61 is connected with revolute pair with rocking bar g59, and rocker bearing h65 passes through bearing pin h67 and rocking bar h66 with revolute pair
Connecting, cylinder pole g62 is fixing with rocking bar g59 and rocking bar h66 respectively to be connected, cylinder pole h63 respectively with shake
Bar g59 and rocking bar h66 is fixing to be connected, and behind right side, flapping wing 12 is fixing with rocking bar g59 and rocking bar h66 respectively is connected,
The right-hand member turning axle of turning, rear two axle 22 constitutes flapping mechanism with cylinder pole g62 and cylinder pole h63.
Miniature imitative insecticide dual rotary flapping wing aircraft, is mainly rotated by frame, Worm Wheel System system, flapping wing
Flutter before and after drive system, left side system and the empennage system composition of fluttering before and after system, right side, may be constructed left and right
Before and after both sides flapping wing be respectively symmetrically high frequency flutter, the turning to and pitching of the rotary motion of each flapping wing and aircraft
Flight.
Before and after the left and right sides flapping wing be respectively symmetrically high frequency flutter, the turning of each flapping wing rotary motion and aircraft
To as follows with pitching flying:
Left side before flapping wing high frequency flutter: be specially motor b5 by motor shaft b18, gear b19, gear c20,
Worm screw 21, front worm gear 25, turning, front two axle 24, rocker bearing c39, rocker bearing d45, bearing pin c38,
Flapping wing 10 before on the left of bearing pin d44, rocking bar c40, rocking bar d46, cylinder pole c42, cylinder pole d43 driving
High frequency is fluttered.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and front worm gear 25 engaged transmission,
The left end turning axle of turning, front two axle 24 constitutes flapping mechanism with cylinder pole c42 and cylinder pole d43.
Flapping wing rotary motion before left side: be specially motor a4 by motor shaft a7, gear a6, gear d26, tooth
Wheel e37, gear f47, rocker bearing c39, rocker bearing d45, bearing pin c38, bearing pin d44, rocking bar c40,
Flapping wing 10 rotary motion before on the left of rocking bar d46 driving.Wherein, gear a6 and gear d26 engaged transmission, gear
D26 and gear e37 engaged transmission, gear e37 and gear f47 engaged transmission, gear f47 passes through rocker bearing
Flapping wing 10 before on the left of c39, rocker bearing d45, bearing pin c38, bearing pin d44, rocking bar c40, rocking bar d46 drive
Rotary motion.
After Zuo Ce, flapping wing high frequency is fluttered: be specially motor b5 by motor shaft b18, gear b19, gear c20,
Worm screw 21, rear worm wheel 23, turning, rear two axle 22, rocker bearing a28, rocker bearing b34, bearing pin a27,
After on the left of bearing pin b33, rocking bar a29, rocking bar b35, cylinder pole a31, cylinder pole b32 driving, flapping wing 9 is high
Frequency is fluttered.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and rear worm wheel 23 engaged transmission, after
The left end turning axle of turning, two axle 22 constitutes flapping mechanism with cylinder pole a31 and cylinder pole b32.
Flapping wing rotary motion after Zuo Ce: be specially motor a4 and pass through motor shaft a7, gear a6, gear d26, shake
After on the left of rod bearing a28, rocker bearing b34, bearing pin a27, bearing pin b33, rocking bar a29, rocking bar b35 driving
Flapping wing 9 rotary motion.Wherein, gear a6 and gear d26 engaged transmission, gear d26 by rocker bearing a28,
After on the left of rocker bearing b34, bearing pin a27, bearing pin b33, rocking bar a29, rocking bar b35 drive, flapping wing 9 rotates fortune
Dynamic.
Right side before flapping wing high frequency flutter: be specially motor b5 by motor shaft b18, gear b19, gear c20,
Worm screw 21, front worm gear 25, turning, front two axle 24, rocker bearing e50, rocker bearing f55, bearing pin e51,
Before on the right side of bearing pin f57, rocking bar e49, rocking bar f56, cylinder pole e53, cylinder pole f54 driving, flapping wing 11 is high
Frequency is fluttered.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and front worm gear 25 engaged transmission, front
The right-hand member turning axle of turning, two axle 24 constitutes flapping mechanism with cylinder pole e53 and cylinder pole f54.
Flapping wing rotary motion before right side: be specially motor a4 by motor shaft a7, gear a6, gear d26, tooth
Wheel e37, power transmission shaft 36, gear h58, gear g48, rocker bearing e50, rocker bearing f55, bearing pin e51,
Flapping wing 11 rotary motion before on the right side of bearing pin f57, rocking bar e49, rocking bar f56 driving.Wherein, gear a6 and gear
D26 engaged transmission, gear d26 and gear e37 engaged transmission, gear h58 and gear g48 engaged transmission, tooth
Wheel g48 is by rocker bearing e50, rocker bearing f55, bearing pin e51, bearing pin f57, rocking bar e49, rocking bar f56
Flapping wing 11 rotary motion before on the right side of drive.
After You Ce, flapping wing high frequency is fluttered: be specially motor b5 by motor shaft b18, gear b19, gear c20,
Worm screw 21, rear worm wheel 23, turning, rear two axle 22, rocker bearing g60, rocker bearing h65, bearing pin g61,
Flapping wing 12 after on the right side of bearing pin h67, rocking bar g59, rocking bar h66, cylinder pole g62, cylinder pole h63 driving
High frequency is fluttered.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and rear worm wheel 23 engaged transmission,
The right-hand member turning axle of turning, rear two axle 22 constitutes flapping mechanism with cylinder pole g62 and cylinder pole h63.
Flapping wing rotary motion after You Ce: be specially motor a4 by motor shaft a7, gear a6, gear d26, tooth
Wheel e37, power transmission shaft 36, gear h58, gear i68, rocker bearing g60, rocker bearing h65, bearing pin g61,
Flapping wing 12 rotary motion after on the right side of bearing pin h67, rocking bar g59, rocking bar h66 driving.Wherein, gear a6 and tooth
Wheel d26 engaged transmission, gear d26 and gear e37 engaged transmission, gear h58 and gear i68 engaged transmission,
Gear i68 passes through rocker bearing g60, rocker bearing h65, bearing pin g61, bearing pin h67, rocking bar g59, rocking bar
Flapping wing 12 rotary motion after on the right side of h66 drive.
Turning to and pitching flying of aircraft: realize turning to of aircraft by direction steering wheel 1 control direction rudder 15,
Control elevator 17 by lifting steering wheel 2 and realize the lifting of aircraft.
Claims (7)
1. a miniature imitative insecticide dual rotary flapping wing aircraft, it is characterised in that this aircraft is by frame, worm gear
Endless screw transmission agent, flapping wing rotational transmission, system of fluttering and empennage system composition,
Described frame includes girder (13), four cylinder rings being distributed on girder (13) front part sides face,
Described Worm Wheel System system includes the gear-box (8) being connected on girder (13), for transmission
Motor b (5), the front worm gear (25) being arranged in gear-box (8), rear worm wheel (23), it is respectively symmetrically connection
At front worm gear (25), the turning, front two axle (24) in rear worm wheel (23) center of circle, turning, rear two axle (22),
Described front worm gear (25), rear worm wheel (23) all engage with worm screw (21), and described motor b (5) passes through
Motor shaft b (18) is connected with the gear train in gear-box (8), and by the worm screw (21) with meshed transmission gear
Front worm gear (25), rear worm wheel (23) are controlled；
Described flapping wing rotational transmission includes the motor a (4) controlling rotary drive, respectively with four cylinder rings
The gear train that outer ring surface engagement connects, power transmission shaft (36), the gear train being connected with power transmission shaft (36) engagement is constituted,
The motor shaft a (7) utilizing motor a (4) drives and engages, with four cylinder ring outer ring surfaces, the gear train being connected；
The described system of fluttering is fluttered before including the left side with girder as axis of symmetry system, the right side of fluttering behind system, left side
Fluttering before side system of fluttering behind system, right side, above-mentioned system of fluttering is engaged, by with cylinder ring outer ring surface, the tooth being connected
Two rocker bearings that wheels connect, through the rocking bar that bearing pin is flexibly connected with corresponding rocker bearing, are arranged on two and shake
The cylinder pole be arrangeding in parallel between bar, is connected flapping wing and constitutes with two rocking bars, described turning, front two axle (24)
And the end at turning, rear two axle (22) is plugged between the space between above-mentioned cylinder pole, constitute with cylinder pole
Flapping mechanism；
Described empennage system includes being arranged on the fixed fin (14) of girder tail end, rudder (15), level
Stabilization (16) and elevator (17).
The miniature imitative insecticide dual rotary flapping wing aircraft of one the most according to claim 1, it is characterised in that
Described turning, front two axle (24), turning, rear two axle (22) pass the left and right facade of gear-box (8) to turn
Dynamic pair connects.
The miniature imitative insecticide dual rotary flapping wing aircraft of one the most according to claim 1, it is characterised in that
Described turning, front two axle (24), turning, rear two axle (22) are each passed through two cylinder rings and cylinder ring
Inner ring surface with revolute pair connect.
The miniature imitative insecticide dual rotary flapping wing aircraft of one the most according to claim 1, it is characterised in that
The gear train being connected with worm screw (21) engagement has the gear b (19) engaging each other connection and gear c (20) group
Becoming, the motor shaft b (18) of described gear b (19) and motor b (5) is fixing to be connected, described gear c
(20) fixing with worm screw (21) it is connected.
The miniature imitative insecticide dual rotary flapping wing aircraft of one the most according to claim 1, it is characterised in that
The gear having two to engage each other transmission with four cylinder ring outer ring surface meshed gears groups is constituted, one of them gear
It is connected with revolute pair with gear-box (8) by the outer ring surface of cylinder ring, another gear and the electricity of motor a (4)
Arbor a (7) is fixing to be connected.
The miniature imitative insecticide dual rotary flapping wing aircraft of one the most according to claim 1, it is characterised in that
Described turning, front two axle (24) and the two ends at turning, rear two axle (22) are symmetrical structure, two ends corner part
Point being 30 degree of angles with the trunnion axis at middle part, corner part length need to meet and remains in whole rotation process
Being fully contacted with cylinder pole, on the left of control, flapping wing and right side flapping wing are full symmetric when fluttering.
The miniature imitative insecticide dual rotary flapping wing aircraft of one the most according to claim 1, it is characterised in that
Described rocking bar is connected with revolute pair with rocker bearing by bearing pin.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670495B (en) * | 2015-03-09 | 2016-04-27 | 葛讯 | One can hover flapping wing aircraft and flight mode |
| CN106585981B (en) * | 2016-12-19 | 2023-05-02 | 浙江大学 | Dragonfly-imitating double-wing miniature flapping-wing aircraft |
| CN106828924A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly structure |
| CN106828923A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly flapping wing and rotating mechanism |
| CN108528710B (en) * | 2018-04-03 | 2021-06-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Aerodynamic layout of flapping wing matrix aircraft |
| CN109573018B (en) * | 2018-12-17 | 2020-09-22 | 北京航空航天大学 | Simulated flying mouse gliding robot |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
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