CN106005405A - High-frequency flapping-wing bionic insect aircraft with controllable passive torsion - Google Patents
High-frequency flapping-wing bionic insect aircraft with controllable passive torsion Download PDFInfo
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- CN106005405A CN106005405A CN201610566362.6A CN201610566362A CN106005405A CN 106005405 A CN106005405 A CN 106005405A CN 201610566362 A CN201610566362 A CN 201610566362A CN 106005405 A CN106005405 A CN 106005405A
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- wing
- flapping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention provides a high-frequency flapping-wing bionic insect aircraft with controllable passive torsion. The high-frequency flapping-wing bionic insect aircraft comprises an aircraft body framework, and a hollow cup power motor, a crank rocker transmission mechanism, a speed reduction gear group, bionic flapping wings, a controllable passive torsion mechanism and a ball bearing group which are arranged on the aircraft body framework, wherein the crank rocker transmission mechanism converts rotation of an output shaft of the hollow cup power motor into reciprocating flapping motion of the two flapping wings, to simulate flying of insects; the speed reduction gear group is used for lowering the rotating speed of the output shaft of the hollow cup power motor, so that the flapping action of the flapping wings finally keeps in a range; the controllable passive torsion mechanism ensures that the flapping wings can be twisted around rotating shafts, to generate uplifting force; meanwhile, repelling force between a limiter and an electromagnet makes the flapping wings return to the vertical positions. By the adoption of the ball bearing group, the crank rocker transmission mechanism and the controllable passive torsion mechanism, the aims of greatly reducing the transmission friction and effectively converting the power into lift force of the aircraft are fulfilled.
Description
Technical field
The present invention relates to micro-processing technology field, in particular it relates to a kind of high frequency flapping wing with controlled passive torsion
Bionic insect flight device.
Background technology
The initial design source of minute vehicle is the demand from military aspect.In order to enable preferably to hold enemy army
Feelings, perform armyman's family's reconnaissance mission more reconditely, need a kind of energy free shuttling in light, the miniature flight in battlefield
Device, it can carry out concealed shooting, communication, even as explosion weapon.
Traditional aircraft is based on fixed-wing and rotor, but when aircraft overall dimension tends to small, transmission is solid
The lift generation efficiency determining the wing and rotor substantially reduces, increasing to the demand of Novel micro aircraft.Nature
Insecticide have the advantages that under miniature scale, still possess high efficiency flying line efficiency, therefore the sight of research is thrown by people
To Bionic insect flight device, i.e. flapping wing aircraft.Flapping wing aircraft has many distinctive advantages, as taken off
Need that space is little, flying quality is splendid, there is the hovering ability of excellence, flight structure compact (collection vertical flight, water
Flat flight, posture changing are integrated), and energy consumption is relatively low.The flying method of flapping wing compares traditional rotor, fixing
For the wing, working flight can not only be competent at, also further improve flying quality.This makes flapping wing aircraft attract
It is expanded by increasing research worker.
Manufacture a kind of brand-new flapping wing aircraft and have the highly difficult challenge of each side.These challenge from hydrodynamics,
Aerodynamic and manufacturing process etc..Some documents are retrieved, Zheng Hu and Xinyan of Purdue University
Deng teaches and has delivered article " Design and Performance of Insect Inspired in 2013 on IEEE
High Frequency Flapping Wing Robots”.Document refer to the flapping wing aircraft driven by double leval jib,
Including double leval jib drive mechanism, train of reduction gears and controlled passive twist mechanism, but the design parameter in document is not
Clearly, described aircraft does not provide the specifying information of each several part dimensional parameters, material and manufacturing process, and
The transmission efficiency of described aircraft entirety is relatively low.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of high frequency with controlled passive torsion and flutter
Wing Bionic insect flight device, it is possible to by train of reduction gears, crank rocker drive mechanism, passive pivoting mechanism and
Ball bearing group, is converted into the lift that flapping wing is patted expeditiously by extremely limited drag cup motor power.
For realizing object above, the present invention by the following technical solutions:
The present invention provides a kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion, including: fuselage ring,
And the drag cup power motor, crank rocker drive mechanism, train of reduction gears, bionical being arranged on fuselage ring
Flapping wing, controlled passive twist mechanism and ball bearing group, wherein:
Described train of reduction gears connects the output shaft of drag cup power motor, for by the output of drag cup power motor
The rotating speed of axle reduces, make the final beating frequency of bionic flapping-wing in required scope, passive in train of reduction gears simultaneously
A part for gear is as the crank of crank rocker drive mechanism；
Described crank rocker drive mechanism is the main body realizing bionic flapping-wing beating action, and it is flutterred with bionical by wing axle
The wing connects, thus the rotation of drag cup power motor output shaft is converted into two bionic flapping-wings back and forth pat fortune
Dynamic, it is achieved to imitate insect flying；
Described controlled passive twist mechanism is made up of magnetic angular stop and electric magnet, and magnetic angular stop is used for
Bionic flapping-wing torsion angle is spacing, ensures that when bionic flapping-wing is patted bionic flapping-wing rotates around wing axle, thus produces
Lift straight up；Repulsion between magnetic angular stop and electric magnet promotes bionic flapping-wing to return to vertically simultaneously
Position, it is achieved controllability；
Described ball bearing component is distributed in each rotating shaft of aircraft, and rotating shaft, crank rocker including train of reduction gears pass
At the rotating shaft of motivation structure and the wing axle bonding with bionic flapping-wing, for reducing the gearing friction of aircraft.
Preferably, rated voltage 4.2V of described drag cup power motor, provide 45000 to train of reduction gears
The rotating speed of r/min～55000r/min, for ensureing that the beating frequency of bionic flapping-wing is to maintain enough lift to export.
It is highly preferred that described drag cup power motor on the premise of guaranteeing to provide sufficiently large output as far as possible
Reduce weight.
Preferably, described train of reduction gears is made up of driving gear and driven gear, wherein: driving gear is connected to
The output shaft of drag cup power motor, driven gear engages cooperation with driving gear, and drag cup power motor drives main
Moving gear rotates thus drives driven gear to rotate；There is multiple circular hole on driven gear, be used for as crank rocker transmission
Mechanism provides different crank lengths, manually to change crank length to change bionical flutterring with concrete flight condition
The beating amplitude of the wing.
It is highly preferred that described driven gear is in the case of the length ensureing crank, by using lightening hole to reduce quilt
The weight of moving gear.
Preferably, described crank rocker drive mechanism is made up of two quadric chains sharing a crank, each
Quadric chain is formed by crank, intermediate connecting rod, wing axle rocking bar and frame, wherein: crank is reduction gearing
The center of circle of a part for driven gear in group, i.e. driven gear is song to the distance of the circular hole opened on driven gear
Handle；Intermediate connecting rod connecting crank and wing axle rocking bar, be fixed with the wing axle being bonded with bionic flapping-wing at wing axle rocking bar,
And on intermediate connecting rod, it being reserved with the space being connected with ball bearing group interference, the thickness of intermediate connecting rod is to ensure simultaneously
Strength demand.
It is highly preferred that the crank being made up of a part for described driven gear is as the input of crank rocker drive mechanism
End, wing axle rocking bar as the outfan of crank rocker drive mechanism and is connected with bionic flapping-wing, thus input is bent
The convert rotational motion of handle is the reciprocally swinging of outfan wing axle rocking bar, and then drives bionic flapping-wing to pat, with machinery
Flapping wing when drive mechanism reproduces insect flying pats motion
Preferably, described crank rocker drive mechanism is the composite structure that two crank and rocker mechanisms share a crank,
Wherein: crank is made up of a part for the driven gear of train of reduction gears, two cranks are drawn from the outfan of crank
Endplay device, and the installation direction of two crank and rocker mechanisms is contrary, to ensure two wing axles when crank rotates
The motion of rocking bar outfan is symmetrical about fuselage ring central shaft approximation minute surface, thus ensures aircraft further
The lift approximately equal that two bionic flapping-wings produce.
Preferably, described bionic flapping-wing is bonding with wing axle, and wing axle passes through with the wing axle rocking bar of crank rocker drive mechanism
Rolling bearing group connects.
Preferably, described bionic flapping-wing imitates the shape of cicada's wings, and uses mylar and carbon fibre material by vacuum
Bag technology of the package and laser cutting parameter are made；Wherein:
The windward side material of bionic flapping-wing is mylar, and mylar has certain toughness, is used for ensureing imitative
Raw flapping wing high frequency will not tear due to rigidity too big (the most crisp) during patting；
The frame of bionic flapping-wing is made up of carbon fibre material, provides intensity required when patting for bionic flapping-wing, it is ensured that
Bionic flapping-wing will not excessively deformation.
Preferably, the electric magnet in described controlled passive twist mechanism is cylindrical electric magnet, and cylindrical electric magnet is solid
On wing axle rocking bar；Bionic flapping-wing coordinates with wing axle rocking bar, and in wing the tip of the axis and magnetic angular stop mistake
It is full of connection；Magnetic angular stop, when bionic flapping-wing is patted, is used for ensureing that bionic flapping-wing carries out the angle of attack not around wing axle
Angle more than 45 ° is reversed, thus produces lift upwards；Magnetic angular stop together rotates with bionic flapping-wing
During, with cylindrical electric magnet generation mechanical collision to reach the maximum twist angle of bionic flapping-wing.
Preferably, described ball bearing group uses miniature steel ball bearings, be used for reducing crank rocker drive mechanism,
The friction of the central rotating shaft rotary motion of the driven gear of controlled passive twist mechanism and train of reduction gears, thus carry
High overall transmission efficiency, alleviates the burden of power source.
Preferably, all rotating shafts of described aircraft, i.e. the rotating shaft of train of reduction gears, crank rocker drive mechanism
Rotating shaft and wing axle, all use steel shafts, to ensure enough intensity.
It is highly preferred that all use ball bearing group to connect at all described rotating shafts.
Preferably, described fuselage ring uses 3D printing and making, on the premise of its shape is to guarantee to carry other structures
Reduce volume as far as possible to be preferred；It is reserved with on fuselage ring simultaneously and includes that train of reduction gears driven gear rotating shaft and crank shake
The installing space of the bearing of the rocking bar rotating shaft of bar drive mechanism.
Preferably, other shape custom components of described aircraft, including angle limiter, the quilt of train of reduction gears
Moving gear and the rocking bar of crank and rocker mechanism and intermediate connecting rod, all use 3D printing and making, on the one hand reduce into
This, the density of material that on the other hand 3D prints is little, reduces the overall weight of aircraft.
In the present invention: described drag cup power motor provides the output speed needed for train of reduction gears, through reducing gear
After the deceleration of wheels, by the driven gear of power transmission to train of reduction gears, driven gear is as crank rocker transmission
The crank of mechanism, by crank rocker drive mechanism by reciprocal fortune that the translating rotation of driven gear is wing axle rocking bar
Dynamic, then be connected with the interference of bionic flapping-wing by wing axle rocking bar, it is achieved the beating campaign of bionic flapping-wing；Meanwhile, when
When bionic flapping-wing is patted, magnetic angular stop ensures that bionic flapping-wing carries out the torsion in certain angle around wing axle, from
And produce lift straight up；In whole aircraft, ball bearing component is distributed at each rotating shaft of aircraft,
Transmission for aircraft reduces friction.
Compared with prior art, the present invention has a following beneficial effect:
The present invention is by train of reduction gears, crank rocker drive mechanism, controlled passive pivoting mechanism and ball bearing
The combination of multiple mechanisms of group, it is provided that a kind of high frequency flapping wing Bionic insect flight device design with controlled passive torsion
Scheme, is converted into, by the dynamic high efficiency rate of limited drag cup power motor, the lift that flapping wing is patted.
Accompanying drawing explanation
The detailed description made non-limiting example with reference to the following drawings by reading, other of the present invention is special
Levy, purpose and advantage will become more apparent upon:
Fig. 1 is the structure diagram of the aircraft of one embodiment of the invention；
Fig. 2 is the crank rocker drive mechanism top view of one embodiment of the invention；
Fig. 3 is the controlled passive twist mechanism schematic diagram of one embodiment of the invention；
Fig. 4 is the controlled passive twist mechanism front view of one embodiment of the invention；
Fig. 5 is the schematic diagram of the crank rocker drive mechanism of one embodiment of the invention；
In figure: intermediate connecting rod 1, ball bearing group 2, driven gear 3, driving gear 4, wing axle rocking bar 5, bearing groove
6, wing axle 7, fuselage 8, motor 9, axle sleeve 10, magnetic angular stop 11, spacing cylinder electric magnet 12, wing
13, rocking bar rotating shaft 14, driven gear rotating shaft 15, frame 16, crank 17.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into
Protection scope of the present invention.
As Figure 1-Figure 4, a kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion, including: machine
Body 8, motor 9, crank rocker drive mechanism, the train of reduction gears being made up of driven gear 3, driving gear 4,
Wing 13, the controlled passive twist mechanism being made up of magnetic angular stop 11, spacing cylinder electric magnet 12, and
Ball bearing group 2, wherein:
Other structures that fuselage 8 is aircraft provide pedestal；
Motor 9 is arranged on fuselage 8, and motor 9, as the power source of whole aircraft, provides to train of reduction gears
The rotating speed of 45000r/min～55000r/min, for ensureing that the beating frequency of wing 13 is able to maintain that enough lift is defeated
Go out；
Train of reduction gears connects the output shaft of motor 9, for by the power source of aircraft, the i.e. output shaft of motor 9
Rotating speed reduce, make the beating frequency of final wing 13 at about 50Hz, the passive tooth in train of reduction gears simultaneously
A part for wheel 3 is as the crank section of crank rocker drive mechanism；
Crank rocker drive mechanism is to realize the wing 13 of aircraft to pat the main body of action, and it passes through wing axle 7 and wing
Wing 13 connects, thus the rotation of motor 9 output shaft is converted into two wings 13 back and forth pat motion, reach
Imitate the purpose of insect flying；
Wing 13 uses vacuum bag technique and imitates the shape making of cicada's wings, and material is carbon fiber and mylar；
Controlled passive twist mechanism is made up of with a spacing cylinder electric magnet 12 a magnetic angular stop 11, magnetic
Property angle limiter 11 spacing for wing 13 torsion angle, when wing 13 is patted, magnetic angular stop 11 ensures
Wing 13 carries out the torsion in certain angle around wing axle 7, thus produces lift upwards；Magnetic angular is spacing simultaneously
Repulsion between device 11 and spacing cylinder electric magnet 12 promotes wing 13 to return to vertical position, it is achieved certain is controlled
Property；
Ball bearing group 2 is distributed in each rotating shaft of aircraft, including train of reduction gears driven gear rotating shaft 15,
At the rocking bar rotating shaft 14 of crank rocker drive mechanism and the wing axle 7 bonding with wing 13, it is used for reducing aircraft
Gearing friction.
As an optimal way, described fuselage 8 uses 3D printing and making, and its shape is to guarantee to carry other structures
On the premise of reduce volume as far as possible and be preferred；Fuselage 8 needs to be rotating shaft everywhere simultaneously, including the quilt of train of reduction gears
The bearing headspace of the rocking bar rotating shaft 14 of moving gear rotating shaft 15 and crank rocker drive mechanism.
As an optimal way, described motor 9 on the premise of guaranteeing to provide sufficiently large output as far as possible
Reduce weight.
As an optimal way, as it is shown in figure 5, be the signal of the crank rocker drive mechanism of one embodiment of the invention
Figure.Described crank rocker drive mechanism is made up of two quadric chains sharing a crank, each double leval jib machine
Structure is formed, wherein by crank 17, intermediate connecting rod 1, wing axle rocking bar 5 and frame 16: crank is reducing gear
A part for driven gear 3 in wheels, the i.e. center of circle of driven gear 3 to the circular hole opened on driven gear 3 away from
From for crank；Intermediate connecting rod 1 connecting crank and wing axle rocking bar 5, and need to reserve and roll on intermediate connecting rod 1
The space that pearl bearing group 2 interference connects, the thickness of intermediate connecting rod 1 should be as far as possible on the premise of proof strength simultaneously
Ground is thin.
As an optimal way, described crank rocker drive mechanism is that two crank and rocker mechanisms share a crank
Composite structure, two crank and rocker mechanisms are the double-four link mechanisms sharing a crank that antisymmetry is installed, wherein
Crank is a part for the driven gear 3 in train of reduction gears, revolving around driven gear rotating shaft 15 of driven gear 3
Turn and drive two crank and rocker mechanisms (i.e. quadric chain) to make mechanical movement；Simultaneously as two cranks shake
The mounting means of linkage is contrary, near about fuselage 8 central shaft during the reciprocally swinging of therefore wing axle rocking bar 5 outfan
Symmetrical like minute surface；Fixed-wing axle 7 wing axle 7 is bonding with wing 13 at wing axle rocking bar 5, so can realize
The wing 13 of imitative insecticide pats motion.Need to indicate, the beating campaign that described crank rocker drive mechanism is formed
It is not completely symmetrical about centrage, but has certain phase contrast, but under dither, this phase contrast can
To ignore.
Concrete, the crank of described crank rocker drive mechanism arranges multiple length, and crank length is defined as: from quilt
(distance of P point to O point is by calculating to the straight length of 1 P on driven gear 3 for the center O of moving gear 3
Go out), at P point, reserve the connecting hole inserting driven gear 3 center driven gear rotating shaft 15, then O point arrives
The length of P point is crank length.The kinetic characteristic of crank and rocker mechanism is to be determined by the relative length of each bar,
After the length given other bars in addition to crank, select different crank length OP, so that wing axle shakes
The reciprocation amplitude of bar 5 changes, and the amplitude i.e. making wing 13 pat back and forth changes.By changing
Become crank length and can change the kinetic characteristic of quadric chain, i.e. change wing axle rocking bar 5 reciprocating the most significantly
Degree.
As an optimal way, described crank can arrange 4 different length, so that wing axle rocking bar 5 is reciprocal
Motion amplitude is respectively 100 °, 110 °, 120 °, 130 °.
As an optimal way, the described driven gear 3 as the crank of crank rocker drive mechanism is ensureing crank
In the case of length, lightening hole is used to reduce the weight of driven gear 3 as far as possible.
As an optimal way, described wing 13 imitates the shape of cicada's wings, and uses mylar and carbon fibre material
It is made up of vacuum bag packages technique and laser cutting parameter, wherein:
The windward side material of wing 13 is mylar, has certain toughness, can guarantee that and claps at wing 13 high frequency
Will not tear due to rigidity too big (the most crisp) during Daing；
Wing 13 frame is made up of carbon fibre material, provides intensity required when patting for wing 13, it is ensured that wing
13 will not excessively deformation.
As an optimal way, all rotating shafts of described aircraft, including: the driven gear rotating shaft of train of reduction gears
15, the rocking bar rotating shaft 14 of crank rocker drive mechanism and the wing axle 7 bonding with wing 13, all use steel shafts,
Thus ensure enough intensity.Described wing axle 7 is the axle being connected with crank rocker drive mechanism for bionic flapping-wing.
As an optimal way, at all rotating shafts of described aircraft, ball bearing group 2 is all used to connect.
As an optimal way, described ball bearing group 2 uses miniature steel ball bearings, and its advantage is that weight is little,
Use miniature steel ball bearings can greatly reduce gearing friction simultaneously, make kinetic force be delivered to wing expeditiously
On 13.
As an optimal way, all shape custom components of described aircraft, including: fuselage 8, angle limit
The wing axle rocking bar 5 of device 11, the driven gear 3 of train of reduction gears and crank rocker drive mechanism and intermediate connecting rod 1,
All using 3D printing and making, on the one hand reduce cost, the density of material that on the other hand 3D prints is little, can to the greatest extent may be used
The overall weight of aircraft can be reduced.
In the present embodiment, described motor 9 is fixed on fuselage 8, the output shaft of motor 9 and the master of train of reduction gears
Moving gear 4 coordinates；Have several circular hole on driven gear 3 in train of reduction gears, pass for fixed crank rocking bar
Passing the rocking bar rotating shaft 14 of mechanism, the distance of circular hole to driven gear 3 center is the crank of crank rocker drive mechanism；
The wing axle rocking bar 5 of crank rocker drive mechanism is connected with fuselage 8 by rocking bar rotating shaft 14, bonding with wing 13
Wing axle 7 be connected with wing axle rocking bar 5 by bearing, opposite side passes through magnetic angular stop 11 and carries out angle limit
Position, can be fixed the axial location of wing axle 7 simultaneously；
When motor 9 operates, its output shaft drives the driving gear 4 of train of reduction gears, and then drives driven gear
3, i.e. the crank of crank rocker drive mechanism rotates；It is the most corresponding that the wing 13 of both sides pats motor system
Share two crank and rocker mechanisms of a crank, and the mounting means of two crank and rocker mechanisms is contrary；At crank
When being rotated, driving two crank and rocker mechanism motions, the reciprocating motion of wing axle rocking bar 5 is the wing simultaneously
The reciprocating motion of axle 7, finally makes aircraft complete the beating campaign of wing 13.
As it is shown in figure 1, be provided with a bearing groove 6 on described wing axle rocking bar 5, for vertically placing ball bearing group 2,
This ball bearing group 2 coordinates with wing axle 7, for ensureing that wing axle 7 is not hindered by bigger frictional force in rotary course
Hinder.
As it is shown in figure 1, be provided with an axle sleeve 10 two described intermediate connecting rod 1 junctions, axle sleeve 10 with insert it
The rotating shaft interference fit at center, for carrying out spacing by two intermediate connecting rods 1, prevents from turning at a high speed at driven gear 3
Time dynamic, intermediate connecting rod 1 gets rid of de-from rotating shaft.
As in figure 2 it is shown, be the diagrammatic top view of the crank rocker drive mechanism of aircraft；Described crank rocker drive mechanism
Frame 16 (refer in fig. 2 the driven gear 3 of train of reduction gears center and wing axle rocking bar 5 spindle central it
Away from), the length of wing axle rocking bar 5 and intermediate connecting rod 1 be respectively 12mm, 5mm, 12mm, crank length presets 4
Individual value: 3.80mm, 4.07mm, 4.31mm and 4.52mm, corresponding wing 13 amplitude of patting be respectively 100 °, 110 °,
120°、130°.If desired other beating amplitude, it is only necessary to change crank length.
As shown in Figure 3, Figure 4, in described controlled passive twist mechanism, spacing cylinder electric magnet 12 is fixed on wing axle
On rocking bar 5, wing axle 7 uses ball bearing group 2 to coordinate with the wing axle rocking bar 5 of crank rocker drive mechanism, and
The end of wing axle 7 is connected with magnetic angular stop 11 interference.While wing 13 is patted, wing 13 exists
Rotate around wing axle 7 under the effect of air drag.Owing to there is certain angle of attack windward side about horizontal plane, the most permissible
Produce lift straight up, order about aircraft and upwards fly.Meanwhile, in order to make this angle of attack be unlikely to excessive, when
When magnetic angular stop 11 rotates with wing 13, the repulsion between itself and spacing cylinder electric magnet 12 is made
With wing 13 can be hindered further to reverse, make the angle of attack can be maintained at one preferably in the range of (i.e. wing 13
The angle of attack is within positive and negative 45 °).When magnetic angular stop 11 and spacing cylinder electric magnet 12 occur mechanical collision
Time reach maximum twist angle.
As an optimal way, described magnetic angular stop 11 is connected with wing axle 7 interference, while wing 13 is patted
Freely reverse around wing axle 7 in certain angle, to form the angle of attack favourable to flight.If desired for the bigger angle of attack, only need
The magnetic of spacing cylinder electric magnet 12 is reduced by changing size of current.
In the present embodiment, by reasonably selecting the power of motor 9, the speed reducing ratio of train of reduction gears, crank rocker transmission
The length parameter of mechanism and the angle limits maximum of magnetic angular stop 11, so that aircraft can obtain most preferably
Flying quality；Such as:
Described motor 9 existing product medium speed commercially is typically at about 50000r/min, it may be considered that reduction gearing
The speed reducing ratio of group is 5:1；
The parameter of described crank rocker drive mechanism is the main body determining aircraft drive mechanism kinetic characteristic, and wherein crank leads to
Cross on the driven gear 3 of train of reduction gears, reserve multiple circular hole different to gear centre distance, with concrete flight
The wing 13 of environment change of flight device pats amplitude；
The described aircraft optimal attack angle when patting wing 13 is 45 °, and therefore considering can by magnetic angular stop 11
The maximum flapping wing anglec of rotation controlled is set to about 45 °.
By ball bearing group, the present embodiment is that the aircraft driven by quadric chain provides a kind of of great value excellent
Change transmission scheme, reached significantly to reduce gearing friction, be effectively the purpose of aircraft lift by power-conversion.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims,
This has no effect on the flesh and blood of the present invention.
Claims (12)
1. a high frequency flapping wing Bionic insect flight device with controlled passive torsion, it is characterised in that including: machine
Body framework, and be arranged on fuselage ring drag cup power motor, crank rocker drive mechanism, reduction gearing
Group, bionic flapping-wing, controlled passive twist mechanism and ball bearing group, wherein:
Described train of reduction gears connects the output shaft of drag cup power motor, for by the output of drag cup power motor
The rotating speed of axle reduces, make the final beating frequency of bionic flapping-wing in required scope, passive in train of reduction gears simultaneously
A part for gear is as the crank of crank rocker drive mechanism；
Described crank rocker drive mechanism is the main body realizing bionic flapping-wing beating action, and it is flutterred with bionical by wing axle
The wing connects, thus the rotation of drag cup power motor output shaft is converted into two bionic flapping-wings back and forth pat fortune
Dynamic, it is achieved to imitate insect flying；
Described controlled passive twist mechanism is made up of magnetic angular stop and electric magnet, and magnetic angular stop is used for
Bionic flapping-wing torsion angle is spacing, ensures that when bionic flapping-wing is patted bionic flapping-wing rotates around wing axle, thus produces
Lift straight up；Repulsion between magnetic angular stop and electric magnet promotes bionic flapping-wing to return to vertically simultaneously
Position, it is achieved controllability；
Described ball bearing component is distributed in each rotating shaft of aircraft, and rotating shaft, crank rocker including train of reduction gears pass
At the rotating shaft of motivation structure and the wing axle bonding with bionic flapping-wing, for reducing the gearing friction of aircraft.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 1, its
It is characterised by, rated voltage 4.2V of described drag cup power motor, provides 45000 to train of reduction gears
The input speed of r/min～55000r/min, for ensureing that the beating frequency of bionic flapping-wing is able to maintain that enough lift is defeated
Go out.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 1, its
Being characterised by, described train of reduction gears is made up of driving gear and driven gear, wherein: driving gear is connected to sky
The output shaft of heart cup power motor, driven gear engages cooperation with driving gear, and drag cup power motor drives actively
Pinion rotation thus drive driven gear to rotate；Multiple circular hole is had, for passing for crank rocker on described driven gear
Motivation structure provides different crank lengths, bionical to change manually to change crank length with concrete flight condition
The beating amplitude of flapping wing.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 3, its
Being characterised by, described driven gear is in the case of the length ensureing crank, by using lightening hole passive to reduce
The weight of gear.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 3, its
Being characterised by, described crank rocker drive mechanism is made up of two quadric chains sharing a crank, Mei Gesi
Linkage is formed by crank, intermediate connecting rod, wing axle rocking bar and frame, wherein: crank is train of reduction gears
In the part of driven gear, i.e. the center of circle of driven gear is crank to the distance of the circular hole opened on driven gear；
Intermediate connecting rod connecting crank and wing axle rocking bar, be fixed with the wing axle being bonded with bionic flapping-wing at wing axle rocking bar, and
Being reserved with the space being connected with ball bearing group interference on intermediate connecting rod, the thickness of intermediate connecting rod is strong to ensure simultaneously
Degree demand；
The crank being made up of a part for described driven gear shakes as the input of crank rocker drive mechanism, wing axle
Bar as the outfan of crank rocker drive mechanism and is connected with bionic flapping-wing, thus the rotation of input crank is transported
The dynamic reciprocally swinging being converted into outfan wing axle rocking bar, and then drive bionic flapping-wing to pat, with mechanical transmission mechanism again
Flapping wing during existing insect flying pats motion.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 1, its
Being characterised by, described crank rocker drive mechanism is the composite structure that two crank and rocker mechanisms share a crank,
Wherein: crank is made up of a part for the driven gear of train of reduction gears, two cranks are drawn from the outfan of crank
Endplay device, and the installation direction of two crank and rocker mechanisms is contrary, to ensure two wing axles when crank rotates
The motion of rocking bar outfan is symmetrical about fuselage ring central shaft approximation minute surface, thus ensures aircraft further
The lift approximately equal that two bionic flapping-wings produce.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 1, its
Being characterised by, described bionic flapping-wing is bonding with wing axle, and wing axle passes through rolling with the wing axle rocking bar of crank rocker drive mechanism
Dynamic bearing group connects；Described bionic flapping-wing imitates the shape of cicada's wings, and uses mylar and carbon fibre material by very
Empty bag technology of the package and laser cutting parameter are made；Wherein:
The windward side material of bionic flapping-wing is mylar, and mylar has toughness, is used for ensureing at bionic flapping-wing
High frequency will not tear owing to rigidity is too big during patting；
The frame of bionic flapping-wing is made up of carbon fibre material, provides intensity required when patting for bionic flapping-wing, it is ensured that
Bionic flapping-wing will not excessively deformation.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 1, its
Being characterised by, the electric magnet in described controlled passive twist mechanism is cylindrical electric magnet, and cylindrical electric magnet is fixed
On wing axle rocking bar；Bionic flapping-wing coordinates with wing axle rocking bar, and in wing the tip of the axis and magnetic angular stop interference
Connect；Magnetic angular stop, when bionic flapping-wing is patted, is used for ensureing that bionic flapping-wing carries out the angle of attack around wing axle little
Reverse in the angles of 45 °, thus produce lift upwards；Magnetic angular stop and bionic flapping-wing together rotated
Cheng Zhong, with cylindrical electric magnet generation mechanical collision to reach the maximum twist angle of bionic flapping-wing.
A kind of high frequency flapping wing Bionic insect flight device with controlled passive torsion the most according to claim 1, its
Being characterised by, described ball bearing group uses miniature steel ball bearings, be used for reducing crank rocker drive mechanism,
The friction of the central rotating shaft rotary motion of the driven gear of controlled passive twist mechanism and train of reduction gears, thus carry
High overall transmission efficiency, alleviates the burden of power source.
10. according to a kind of high frequency flapping wing bionic insect with controlled passive torsion described in any one of claim 1-9
Aircraft, it is characterised in that all rotating shafts of described aircraft, i.e. the rotating shaft of train of reduction gears, crank rocker pass
The rotating shaft of motivation structure and wing axle, all use steel shafts, to ensure enough intensity；
Ball bearing group is all used to connect at all described rotating shafts.
11. according to a kind of high frequency flapping wing bionic insect with controlled passive torsion described in any one of claim 1-9
Aircraft, it is characterised in that all shape custom components of described aircraft, including: fuselage, angle limiter,
The driven gear of train of reduction gears and the rocking bar of crank and rocker mechanism and intermediate connecting rod, all use 3D printing and making.
12. according to a kind of high frequency flapping wing bionic insect with controlled passive torsion described in any one of claim 1-9
Aircraft, it is characterised in that described drag cup power motor provides the output speed needed for train of reduction gears, through over subtraction
After the deceleration of speed gear train, by the driven gear of power transmission to train of reduction gears, driven gear is as crank rocker
The crank of drive mechanism, is the reciprocal of wing axle rocking bar by crank rocker drive mechanism by the translating rotation of driven gear
Motion, then be connected with the interference of bionic flapping-wing by wing axle rocking bar, it is achieved the beating campaign of bionic flapping-wing；Meanwhile,
When bionic flapping-wing is patted, magnetic angular stop ensures that bionic flapping-wing carries out the torsion in certain angle around wing axle,
Thus produce lift straight up；In whole aircraft, ball bearing component is distributed at each rotating shaft of aircraft,
Transmission for aircraft reduces friction.
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| CN201610566362.6A CN106005405B (en) | 2016-07-18 | 2016-07-18 | It is a kind of with the high frequency flapping wing Bionic insect flight device controllably passively reversed |
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| CN201610566362.6A CN106005405B (en) | 2016-07-18 | 2016-07-18 | It is a kind of with the high frequency flapping wing Bionic insect flight device controllably passively reversed |
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| CN106005405A true CN106005405A (en) | 2016-10-12 |
| CN106005405B CN106005405B (en) | 2019-01-25 |
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| CN110294122A (en) * | 2019-07-18 | 2019-10-01 | 苏州高博软件技术职业学院 | The four flapping wing unmanned plane of swing type of lower resistance variable pitch |
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| CN112274410A (en) * | 2020-09-15 | 2021-01-29 | 湖南明康中锦医疗科技发展有限公司 | Slapping mechanism of expectoration undershirt |
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