CN108820205A - A kind of more flight attitude flapping-wing modals - Google Patents
A kind of more flight attitude flapping-wing modals Download PDFInfo
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- CN108820205A CN108820205A CN201810690272.7A CN201810690272A CN108820205A CN 108820205 A CN108820205 A CN 108820205A CN 201810690272 A CN201810690272 A CN 201810690272A CN 108820205 A CN108820205 A CN 108820205A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention discloses a kind of more flight attitude flapping-wing modals, including rack, rack includes fuselage, and fuselage one end is vertically equipped with setter plate, and the other end is equipped with tailplane and vertical tail；Fuselage two sides are symmetrically arranged with two flapping wing mechanisms being installed in setter plate, two motor-driven mechanisms and two gear reductions；The winged control plate that fuselage bottom is equipped with battery case and is electrically connected with battery case；Rudder is rotatably connected on the vertical direction of vertical tail one end；Rudder two sides are respectively equipped with symmetrical two wire drawings, and two wire drawings are connect with two motor-driven mechanisms respectively；Flapping wing mechanism includes the connecting rod that one end and setter plate side are rotatablely connected close to top position, and the connecting rod other end is fixedly connected with the wing of flapping, and rocking bar is rotatably connected on connecting rod and is rotatablely connected by rocking bar and gear reduction output end；Motor-driven mechanism includes the fixed frame for being set to setter plate side, and fixed frame is located at close to fuselage side.
Description
Technical field
The present invention relates to flight equipment technical fields, and in particular to a kind of more flight attitude flapping-wing modals.
Background technique
Since last century the nineties, with conventional aircraft designing technique continuous mature and microelectric technique substantially
Progress, minute vehicle is suggested and fast development.
Minute vehicle is due to having many characteristics, such as small in size, light-weight and mobility strong, in national security and national economy
Construction Party's mask has wide practical use, and execute scouting, detection etc. that future can be applied under small space, unsafe conditions are rescued
Help nonproductive task.
With the continuous exploration that people fly to natural biology, bionic design is increasingly used in micro air
Device field starts the flapping-wing modal for occurring imitating birds, insect flying.
The mechanism design of existing wing layout of flapping, it is most of to use multi-connecting-rod mechanism to realize that motor rotary motion is converted into
Flap movement.Link mechanism is simple to manufacture, is easier to obtain higher kinematic accuracy, also the characteristics of motion of complexity easy to accomplish and
Trajectory Design.For flapping-wing modal layout designs, on the one hand, symmetrical configuration, movement are symmetrically for improving flapping flight
Stability is most important；On the other hand, existing to be realized using most of the flapping-wing modal design scheme of tail vane
Fly before horizontal direction, more flight attitudes of similar birds, insect cannot be completed, flexibility is poor.In addition, the ruler of minute vehicle
Very little and weight constraints propose high requirement to flapping mechanism and control mechanism integrated design.
Summary of the invention
The purpose of the present invention is to provide a kind of more flight attitude flapping-wing modals, to solve existing flight attitude
The problem for causing flexibility poor less.
To achieve the above object, the technical scheme is that a kind of more flight attitude flapping-wing modals, including machine
Frame, the rack include fuselage, and described fuselage one end is vertically equipped with setter plate, and the other end is equipped with tailplane and vertical tail；
The fuselage two sides are symmetrically arranged with two flapping wing mechanisms being installed in the setter plate, two motor-driven mechanisms and two teeth
Take turns deceleration mechanism；
The winged control plate that the fuselage bottom is equipped with battery case and is electrically connected with the battery case；Described vertical tail one end
Rudder is rotatably connected on vertical direction；The rudder two sides are respectively equipped with symmetrical two wire drawings, two wire drawings
It is connect respectively with two motor-driven mechanisms；
The flapping wing mechanism includes the connecting rod that one end and the setter plate side are rotatablely connected close to top position, the company
The bar other end is fixedly connected with the wing of flapping, and rocking bar is rotatably connected on the connecting rod and by rocking bar and the gear reduction
Output end rotation connection；
The motor-driven mechanism includes the fixed frame for being set to the setter plate side, and the fixed frame is located at close to institute
State fuselage side；Be equipped on the fixed frame driving motor and deflection steering engine and installation site respectively with the flapping wing mechanism and
Gear reduction is equipped with, and the driving motor and deflection steering engine are electrically connected with the winged control plate；
The driving motor output end is connect with the gear reduction input terminal；The deflection steering engine output end is fixed
It is connected with the long rocker arm of steering engine, steering engine short rocker arm| is fixedly connected on the long rocker arm of steering engine, steering engine short rocker arm| one end passes through
Shaft is connect with the link rotatable；The long rocker arm of steering engine is connect with the wire drawing.
Further, the vertical tail is far from being provided with the first axle for extending through bottom at the top of described setter plate one end
Hole；The rudder one end side is provided with the groove that can be caught in vertical tail, and the groove passes through shaft and the setter plate
Rotation connection, the both ends of the shaft respectively with the groove top inner wall and bottom end inner wall is vertical connect；The rudder two sides
It is respectively equipped with wire drawing line fixed hole seat.
Further, the setter plate is in the arcuate structure in the middle part of the up-narrow and down-wide hardened structure of rib and both ends being in indent, institute
Stating setter plate quadrangle is rounded corner；The setter plate side be respectively equipped with by the position of two close end extend through two of the other side it is right
The positioning through slot of title, two symmetrical driving motor holes, two symmetrical stepped gear holes and two symmetrical output gear wheel bore；
It is divided into A, B, C tri- positioning on positioning through slot inner vertical direction.
Further, described connecting rod one end, which is equipped with, is equipped with the matched mounting hole of the location notch hole, middle part through two sides
Stepped hole, be equipped at other end center and extend through the fixed jack communicated therewith inside stepped hole.
Further, the wing of flapping includes girder, and the girder is in one end slightly acerate pyramidal structure, the girder
Butt end is plugged together with the fixed jack and is matched；The girder is vertically connected with auxiliary beam close to butt end position；The wing of flapping also wraps
Include the ala being cooperatively connected with the girder and the auxiliary beam.
Further, the rocking bar both ends are respectively equipped with the second axis hole and third axis hole through two sides；Second axis
Hole is rotatablely connected by shaft and the stepped hole；The third axis hole and the gear reduction output end are rotatablely connected；
The rocking bar is provided with escape groove close to the setter plate side.
Further, the gear reduction include the first gear being fixedly connected with the driving motor output end and
By the stepped gear of shaft and stepped gear hole rotation connection, the stepped gear is engaged with the first gear；Institute
State gear reduction further include by shaft and the output gear wheel bore rotation connection output gear, the output gear with
The stepped gear engagement；The output gear side is provided with output shaft hole close to the position of outer ring；The output shaft hole passes through
Shaft and the third axis hole are rotatablely connected.
Further, the long rocker arm of the steering engine includes cylindrical body, and the cylindrical body is in the end face of described setter plate one end
Blind hole is provided at the heart；The cylindrical member at one end side wall is vertically connected with rocking bar, and the rocking bar is equipped with and institute far from cylindrical member at one end
The deflection steering engine delivery outlet that deflection steering engine output end is fixedly connected is stated, the cylindrical body other end is vertical with the rocking bar opposite side
Equipped with connecting plate, wire drawing hole is provided on the connecting plate；
Steering engine short rocker arm| one end is provided with the 4th axis hole, and the 4th axis hole connects by the way that shaft and the blind hole are fixed
It connects；The steering engine short rocker arm| other end, which is equipped with, passes through connection with matched 5th axis hole of the location notch hole, the 5th axis hole
Shaft and the mounting hole are rotatablely connected, and the connection shaft passes through the location notch hole.
The invention has the advantages that：A kind of more flight attitude flapping-wing modals provided by the invention use double-crank
The high degree of symmetry Integration Design of rocker structure form, more flight attitudes that horizontal direction and vertical direction can be achieved at the same time fly
Row, including fly before level, take off vertically, turning, pitching, yaw, the maneuvering flights such as rolling and hovering, be conducive to improve and flutter
The kinetic stability and flexibility of wing minute vehicle.
Detailed description of the invention
Fig. 1 is a kind of rack construction schematic diagram for more flight attitude flapping-wing modals that the embodiment of the present invention 1 provides；
Fig. 2 is that a kind of forward sight overall structure for more flight attitude flapping-wing modals that the embodiment of the present invention 1 provides is shown
It is intended to；
Fig. 3 is that a kind of backsight overall structure for more flight attitude flapping-wing modals that the embodiment of the present invention 1 provides is shown
It is intended to；
Fig. 4 is that a kind of vertical tail structure for more flight attitude flapping-wing modals that the embodiment of the present invention 2 provides is shown
It is intended to；
Fig. 5 is a kind of rudder structural representation for more flight attitude flapping-wing modals that the embodiment of the present invention 2 provides
Figure；
Fig. 6 is a kind of setter plate structural representation for more flight attitude flapping-wing modals that the embodiment of the present invention 3 provides
Figure；
Fig. 7 is a kind of link mechanism schematic diagram for more flight attitude flapping-wing modals that the embodiment of the present invention 4 provides；
Fig. 8 is a kind of wing structure signal of flapping for more flight attitude flapping-wing modals that the embodiment of the present invention 5 provides
Figure；
Fig. 9 is a kind of rocker structure schematic diagram for more flight attitude flapping-wing modals that the embodiment of the present invention 6 provides；
Figure 10 is a kind of gear reduction knot for more flight attitude flapping-wing modals that the embodiment of the present invention 7 provides
Structure schematic diagram；
Figure 11 is a kind of long rocker structure of steering engine for more flight attitude flapping-wing modals that the embodiment of the present invention 8 provides
Schematic diagram；
Figure 12 is a kind of steering engine short rocker arm| structure for more flight attitude flapping-wing modals that the embodiment of the present invention 8 provides
Schematic diagram
Figure 13 is a kind of flight theory schematic diagram of more flight attitude flapping-wing modals provided in an embodiment of the present invention；
Figure 14 is a kind of flight theory signal for more flight attitude flapping-wing modals that the embodiment of the present invention 8 provides
Figure；
Figure 15 is a kind of flight theory signal for more flight attitude flapping-wing modals that the embodiment of the present invention 8 provides
Figure；
Figure 16 is a kind of flight theory signal for more flight attitude flapping-wing modals that the embodiment of the present invention 8 provides
Figure.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Embodiment 1
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 1 provides, refering to Figure 1, including machine
Frame 1, the rack 1 include fuselage 12, and described 11 one end of fuselage is vertically equipped with setter plate 11, and the other end is equipped with 14 He of tailplane
Vertical tail 13；It please refers to shown in Fig. 2,12 two sides of fuselage are symmetrically arranged with two flapping wings being installed in the setter plate 11
2, two motor-driven mechanisms 4 of mechanism and two gear reductions 3；
The winged control plate 5 that 12 bottom of fuselage is equipped with battery case 6 and is electrically connected with the battery case 6；The vertical tail
Rudder 7 is rotatably connected on the vertical direction of 13 one end；7 two sides of rudder are respectively equipped with symmetrical two wire drawings 8, and two
Wire drawing 8 described in item is connect with two motor-driven mechanisms 4 respectively；
The flapping wing mechanism 2 includes the connecting rod 22 that one end and 11 side of setter plate are rotatablely connected close to top position,
22 other end of connecting rod is fixedly connected with the wing 21 of flapping, be rotatably connected on the connecting rod 22 rocking bar 23 and by rocking bar 23 with
3 output end of the gear reduction rotation connection；
It please join shown in Fig. 3, the motor-driven mechanism 4 includes the fixed frame for being set to 11 side of setter plate, described
Fixed frame is located at close to 12 side of fuselage；Driving motor 41 and deflection steering engine 42 and installation position are installed on the fixed frame
It sets and is equipped with respectively with the flapping wing mechanism 2 and gear reduction 3, the driving motor 41 and deflection steering engine 42 are and institute
It states and flies the control electrical connection of plate 5；
41 output end of driving motor is connect with 3 input terminal of gear reduction；The deflection steering engine 42 exports
End is fixedly connected with the long Rocker arm 43 of steering engine, is fixedly connected with steering engine short rocker arm| 42 on the long Rocker arm 43 of steering engine, the steering engine is short
2 one end of Rocker arm 4 is rotatablely connected by shaft and the connecting rod 22；The long Rocker arm 43 of steering engine is connect with the wire drawing 8.
Fly control plate in use, manipulating by remote controllers, so that driving motor and deflection steering engine are controlled, control driving electricity
Machine operating is driven through gear reduction drives the wing of flapping in flapping wing mechanism to flutter；And the wing of flapping is controlled by deflection steering engine
Angle, while by the deflection angle of wire drawing change rudder, so that rudder is generated yawing, to reach multi-pose flight
Purpose.
Embodiment 2
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 2 provides are substantially the same manner as Example 1, difference
It is, please refers to shown in Fig. 4 and Fig. 5, in order to which rudder achievees the purpose that better deflection angle, the vertical tail 13 are remote
From being provided with the first shaft hole 131 for extending through bottom at the top of described 11 one end of setter plate；7 one end side of rudder is provided with can
The groove 171 that vertical tail 13 is caught in, the groove 171 are rotatablely connected by shaft and the setter plate 11, the shaft
Both ends respectively with the 171 top inner wall of groove and bottom end inner wall is vertical connect；72 two sides of rudder are respectively equipped with wire drawing
Line fixed hole seat 72.
Embodiment 3
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 3 provides are substantially the same manner as Example 2, difference
Be, please refer to shown in Fig. 6, in order to reach the installation effect of specification, the setter plate 11 in the up-narrow and down-wide hardened structure of rib and
It is in the arcuate structure of indent in the middle part of both ends, 11 4 jiaos of the setter plate are rounded corner；11 side of setter plate is by two close end
Position is respectively equipped with through slot 111, two symmetrical 112, two, the driving motor holes of two symmetrical positioning for extending through the other side
Symmetrical stepped gear hole 113 and two symmetrical output gear wheel bore 114；Divide on the 111 inner vertical direction of positioning through slot
It is positioned for A, B, C tri-；Connecting rod is located at different installation sites, and aircraft flight direction is different, to reach better yaw
Effect.
It should be noted that the hole in setter plate is equipped with according to structure service condition.
Embodiment 4
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 4 provides are substantially the same manner as Example 3, difference
It is, please refers to shown in Fig. 7, in order to reach preferably transmission effect, described 22 one end of connecting rod is equipped with and the location notch hole 111
Matched mounting hole 221, middle part are equipped with the stepped hole 222 through two sides, are equipped with and are extended through in stepped hole 222 at other end center
The fixed jack 223 that portion communicates therewith.
Embodiment 5
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 5 provides are substantially the same manner as Example 4, difference
It is, please refers to shown in Fig. 8, in order to reach better torque effect, the wing 21 of flapping includes girder 211, the girder 211
In one end slightly acerate pyramidal structure, 211 butt end of girder is plugged together with the fixed jack 223 to be matched；The girder 211
Auxiliary beam 212 is vertically connected with close to butt end position；The wing 21 of flapping further includes matching with the girder 211 and the auxiliary beam 212
Close the ala 213 of connection.
It should be noted that ala it is smooth and it is tight connect with girder and auxiliary beam, reach possess when flapping preferably
Thrust effect.
Embodiment 6
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 6 provides are substantially the same manner as Example 5, difference
It is, please refers to shown in Fig. 9,23 both ends of rocking bar is respectively equipped with the second axis hole 231 and third axis hole 232 through two sides；
Second axis hole 231 is rotatablely connected by shaft and the stepped hole 222；The third axis hole 232 and the The gear deceleration
The rotation connection of 3 output end of mechanism；The rocking bar 23 is provided with escape groove 233 close to 11 side of setter plate；The effect of escape groove
It is to prevent it from touching other structures component and influence aircraft normal operation, to reach better operational effect.
Embodiment 7
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 7 provides are substantially the same manner as Example 8, difference
It is, please refers to shown in Figure 10, the gear reduction 3 includes first be fixedly connected with 41 output end of driving motor
Gear 31 and by shaft and the stepped gear hole 113 rotation connection stepped gear 32, the stepped gear 32 with it is described
First gear 31 engages；The gear reduction 3 further include be rotatablely connected by shaft with the output gear wheel bore 114 it is defeated
Gear 33 out, the output gear 33 are engaged with the stepped gear 32；Position of 33 side of output gear close to outer ring
It is provided with output shaft hole 34；The output shaft hole 34 is rotatablely connected by shaft and the third axis hole 232；Reach better reduction
The purpose of gear rotational speed.
Embodiment 8
A kind of more flight attitude flapping-wing modals that the embodiment of the present invention 8 provides are substantially the same manner as Example 7, difference
It is, please refers to shown in Figure 11 and Figure 12, the long Rocker arm 43 of steering engine includes cylindrical body 431, and the cylindrical body 431 is close to described
Blind hole 434 is provided at 11 one end end face center of setter plate；431 one end side wall of cylindrical body is vertically connected with rocking bar 432, described
Rocking bar 432 is equipped with the deflection steering engine delivery outlet being fixedly connected with deflection 42 output end of steering engine far from 431 one end of cylindrical body
435,431 other end of cylindrical body is vertical with 432 opposite side of rocking bar to be equipped with connecting plate 433, opens on the connecting plate 433
There is wire drawing hole 436；
Described 43 one end of steering engine short rocker arm| is provided with the 4th axis hole 441, and the 4th axis hole 441 passes through shaft and the blind hole
434 are fixedly connected；43 other end of steering engine short rocker arm| be equipped with matched 5th axis hole 442 of the location notch hole 111, it is described
5th axis hole 442 is rotatablely connected by connection shaft and the mounting hole 221, and the connection shaft passes through the location notch hole
111。
In use, deflection steering engine rotation, drives the long rotation of Rocker arm 43 of steering engine to drive rudder rotation by wire drawing, together
When by steering engine short rocker arm| 43 change connecting rod be located at positioning through slot in position, make its 3 points of A, B, C convert, reach aircraft
The purpose of multi-pose flight.
The use principle of flapping-wing modal of the invention is as follows：
Manipulation aircraft is controlled by remote controllers, when about 2 flapping-wing modal flapping wing mechanism is fluttered, left and right connects
Bar 22 is in positioning 111 medium position B of through slot, and when driving motor 41 revolving speed in the left and right sides is the same, deflection steering engine 42 is not deflected,
The flap angular bisector of flapping of the wing 21 of two sides is in horizontal position, and the two sides wing 21 of flapping generates that thrust is the same, and flapping wing is miniature flies
Fly before row device is horizontal；When driving motor 41 revolving speed in the left and right sides is inconsistent, deflection steering engine 42 is not deflected, and two sides are flapped the wing 21 at this time
Generation thrust is inconsistent, generates the deflection torque around aircraft longitudinal axis, flapping-wing modal changes horizontal flight direction, real
It now turns, as shown in figure 13；When driving motor 41 revolving speed in the left and right sides is the same, the deflection of side yaw control motor 42 drives wire drawing 8 to change
It changes direction the deflection angle of rudder 7, so that rudder 7 is generated yawing, flapping-wing modal changes horizontal flight direction, realizes and turns
It is curved, as shown in figure 14；
Flapping-wing modal is flapped when fluttering before and after the wing 21：When left linkages 22 are in position in positioning through slot 111
B is set, driving motor 41 revolving speed in the left and right sides is the same, and the flap angular bisector of flapping of the wing 21 of two sides is in horizontal position, at this time
Two sides flap the wing 21 generate lift it is the same, flapping-wing modal vertical ascent；As shown in figure 12, when left linkages 22 are in
Sliding slot position 111 medium position B of through slot, driving motor 41 revolving speed in the left and right sides is inconsistent, at this time two sides flap the wing 21 generate rise
Power is inconsistent, generates the deflection torque around aircraft longitudinal axis, realizes vertical direction rolling maneuvering flight；As shown in figure 15, when
Left linkages 22 are in positioning 111 upper position A (or lower position C) of through slot, and driving motor 41 revolving speed in the left and right sides is consistent,
The two sides angular bisector of flapping of the wing 21 of flapping deviates under horizontal alignment (or upwards) at this time, generates the deflection around aircraft lateral shaft
Torque realizes vertical direction pitch flight；As shown in figure 16, when left linkages 22 are respectively at positioning 111 top of through slot
Position A and lower position B, driving motor 41 revolving speed in the left and right sides is consistent, at this time two sides flap the wing 21 flap angular bisector difference
Deviate horizontal line downwardly and upwardly, generate the deflection torque around aircraft course axis, realizes the flight of vertical direction yawing maneuvering.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of more flight attitude flapping-wing modals, including rack (1), the rack (1) includes fuselage (12), the machine
Body (11) one end is vertically equipped with setter plate (11), and the other end is equipped with tailplane (14) and vertical tail (13)；It is characterized in that,
Fuselage (12) two sides are symmetrically arranged with two flapping wing mechanisms (2) being installed on the setter plate (11), two motor drivens
Mechanism (4) and two gear reductions (3)；
The winged control plate (5) that fuselage (12) bottom is equipped with battery case (6) and is electrically connected with the battery case (6)；It is described vertical
Rudder (7) are rotatably connected on the vertical direction of empennage (13) one end；Rudder (7) two sides are respectively equipped with symmetrical two
Wire drawing (8), two wire drawings (8) connect with two motor-driven mechanisms (4) respectively；
The flapping wing mechanism (2) includes the connecting rod that one end and the setter plate (11) side are rotatablely connected close to top position
(22), connecting rod (22) other end is fixedly connected with the wing of flapping (21), is rotatably connected to rocking bar (23) on the connecting rod (22)
And it is rotatablely connected by rocking bar (23) and the gear reduction (3) output end；
The motor-driven mechanism (4) includes the fixed frame for being set to the setter plate (11) side, and the fixed frame, which is located at, to be leaned on
Nearly fuselage (12) side；Driving motor (41) and deflection steering engine (42) are installed on the fixed frame and installation site is distinguished
Be equipped with the flapping wing mechanism (2) and gear reduction (3), the driving motor (41) and deflection steering engine (42) with
Winged control plate (5) electrical connection；
Driving motor (41) output end is connect with the gear reduction (3) input terminal；The deflection steering engine (42) is defeated
Outlet is fixedly connected with the long rocker arm of steering engine (43), is fixedly connected with steering engine short rocker arm| (42), institute on the long rocker arm of steering engine (43)
Steering engine short rocker arm| (42) one end is stated to be rotatablely connected by shaft and the connecting rod (22)；The long rocker arm of steering engine (43) and the drawing
Silk (8) connection.
2. a kind of more flight attitude flapping-wing modals according to claim 1, which is characterized in that the vertical tail
(13) first shaft hole (131) for extending through bottom is provided at the top of the separate setter plate (11) one end；The rudder (7) one
End side surface, which is provided with, to pass through shaft and the setter plate for the groove (171) that vertical tail (13) are caught in, the groove (171)
(11) be rotatablely connected, the both ends of the shaft respectively with the groove (171) top inner wall and bottom end inner wall is vertical connect；The side
Wire drawing line fixed hole seat (72) is respectively equipped with to rudder (72) two sides.
3. a kind of more flight attitude flapping-wing modals according to claim 2, which is characterized in that the setter plate
(11) in the arcuate structure in the middle part of the up-narrow and down-wide hardened structure of rib and both ends being in indent, setter plate (11) quadrangle is rounding
Angle；Setter plate (11) side is respectively equipped with two symmetrical positioning through slots for extending through the other side by the position of two close end
(111), two symmetrical driving motor holes (112), two symmetrical stepped gear holes (113) and two symmetrical output gears
Hole (114)；It is divided into A, B, C tri- positioning on positioning through slot (111) the inner vertical direction.
4. a kind of more flight attitude flapping-wing modals according to claim 3, which is characterized in that the connecting rod (22)
One end, which is equipped with, is equipped with the stepped hole (222) through two sides with the location notch hole (111) matched mounting hole (221), middle part, separately
The fixed jack (223) for extending through and communicating therewith inside stepped hole (222) is equipped at the center of one end.
5. a kind of more flight attitude flapping-wing modals according to claim 4, which is characterized in that the wing of flapping
It (21) include girder (211), the girder (211) is in one end slightly acerate pyramidal structure, girder (211) butt end and institute
It states fixed jack (223) and plugs together matching；The girder (211) is vertically connected with auxiliary beam (212) close to butt end position；It is described to flap
The wing (21) further includes the ala (213) being cooperatively connected with the girder (211) and the auxiliary beam (212).
6. a kind of more flight attitude flapping-wing modals according to claim 5, which is characterized in that the rocking bar (23)
Both ends are respectively equipped with the second axis hole (231) and third axis hole (232) through two sides；Second axis hole (231) passes through shaft
It is rotatablely connected with the stepped hole (222)；The third axis hole (232) and the rotation of the gear reduction (3) output end connect
It connects；The rocking bar (23) is provided with escape groove (233) close to the setter plate (11) side.
7. a kind of more flight attitude flapping-wing modals according to claim 6, which is characterized in that the The gear deceleration
Mechanism (3) includes the first gear (31) being fixedly connected with the driving motor (41) output end and by shaft and the ladder
The stepped gear (32) of gear hole (113) rotation connection, the stepped gear (32) are engaged with the first gear (31)；It is described
Gear reduction (3) further includes the output gear (33) being rotatablely connected by shaft and the output gear wheel bore (114), described
Output gear (33) is engaged with the stepped gear (32)；Output gear (33) side is provided with output close to the position of outer ring
Axis hole (34)；The output shaft hole (34) is rotatablely connected by shaft and the third axis hole (232).
8. a kind of more flight attitude flapping-wing modals according to claim 7, which is characterized in that the steering engine length is shaken
Arm (43) includes cylindrical body (431), and the cylindrical body (431) is provided with blind hole at the end face center of the setter plate (11) one end
(434)；Described cylindrical body (431) one end side wall is vertically connected with rocking bar (432), and the rocking bar (432) is far from cylindrical body (431)
One end is equipped with the deflection steering engine delivery outlet (435) being fixedly connected with described deflection steering engine (42) output end, the cylindrical body (431)
The other end is vertical with the rocking bar (432) opposite side to be equipped with connecting plate (433), is provided with wire drawing hole on the connecting plate (433)
(436)；
Described steering engine short rocker arm| (43) one end is provided with the 4th axis hole (441), the 4th axis hole (441) by shaft with it is described blind
Hole (434) is fixedly connected；Steering engine short rocker arm| (43) other end is equipped with and matched 5th axis hole of the location notch hole (111)
(442), the 5th axis hole (442) is rotatablely connected by connection shaft and the mounting hole (221), and the connection shaft passes through
The location notch hole (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810690272.7A CN108820205B (en) | 2018-06-28 | 2018-06-28 | Multi-flight-attitude flapping-wing micro aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810690272.7A CN108820205B (en) | 2018-06-28 | 2018-06-28 | Multi-flight-attitude flapping-wing micro aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108820205A true CN108820205A (en) | 2018-11-16 |
| CN108820205B CN108820205B (en) | 2020-11-24 |
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| CN109911196A (en) * | 2019-03-27 | 2019-06-21 | 吉林大学 | A kind of foldable flapping-wing MAV of drag reduction |
| CN109911195A (en) * | 2019-03-27 | 2019-06-21 | 吉林大学 | A kind of foldable flapping wing micro-robot of link-type |
| CN110435888A (en) * | 2019-08-21 | 2019-11-12 | 天津大学 | A kind of flapping wing aircraft |
| CN110588970A (en) * | 2019-09-12 | 2019-12-20 | 北京科技大学 | Bionic flapping wing flying robot with deflectable driving mechanism |
| CN113306715A (en) * | 2021-07-06 | 2021-08-27 | 西北农林科技大学 | Novel micro bionic aircraft and simulation analysis method thereof |
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| CN113306715A (en) * | 2021-07-06 | 2021-08-27 | 西北农林科技大学 | Novel micro bionic aircraft and simulation analysis method thereof |
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