CN109795685B - Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer - Google Patents
Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer Download PDFInfo
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- CN109795685B CN109795685B CN201910262549.0A CN201910262549A CN109795685B CN 109795685 B CN109795685 B CN 109795685B CN 201910262549 A CN201910262549 A CN 201910262549A CN 109795685 B CN109795685 B CN 109795685B
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Abstract
The invention provides a gear rack pair flapping wing driving mechanism based on an externally-meshed planetary gear reducer, which comprises a rack, a motor, a parallel gear reducer, an externally-meshed planetary gear reducer, a cover plate and a gear rack pair connecting rod rocker arm mechanism, wherein the motor is arranged on the rack and drives the parallel gear reducer, the externally-meshed planetary gear reducer is arranged in an inner space formed by the lower half part of the rack and the cover plate through a crank shaft hole and a transmission shaft hole, the parallel gear reducer drives the externally-meshed planetary gear reducer through a transmission shaft, and the externally-meshed planetary gear reducer is connected with the gear rack pair connecting rod rocker arm mechanism through a crank and drives flapping wings. According to the invention, the external meshing planetary gear reducer is utilized to realize compact structure and large reduction ratio, the output torque of the mechanism is improved, the transmission efficiency is high and relatively stable, the absolute symmetry of flapping wing movement of the mechanism is ensured by utilizing the gear-rack pair connecting rod rocker arm mechanism, and the flight reliability of the aircraft is greatly improved.
Description
Technical Field
The invention relates to a flapping wing driving mechanism which can be applied to a miniature flapping wing aircraft.
Background
Compared with a fixed-wing aircraft, the miniature flapping-wing aircraft can fly more flexibly and efficiently by simulating bird movement, and can be widely applied to various military and civil fields due to small volume and light weight. Because the flapping wing air vehicle mainly generates lift force and forward force through active movement of wings, how to reasonably design the flapping wing driving mechanism to enable the flight aerodynamic efficiency and reliability to be higher becomes a research focus.
The current flapping wing driving mechanisms mainly comprise the following mechanisms:
chinese patent No. CN102267566A, entitled a stepless speed change flapping wing driving mechanism, discloses a stepless speed change flapping device which is decelerated by a friction wheel set and a gear set and whose speed reduction ratio is changed by changing the contact position of the friction wheel. The device theoretically has strict and symmetrical flapping and can realize a flapping-gliding flight mode. The four-bar linkage mechanism has the disadvantages that a space four-bar linkage mechanism is adopted, the mechanism is overlarge in size, the stress of a connecting bar is complex, and the reliability is low.
The Chinese patent No. CN102285453A is a utility model of a stepless amplitude modulation flapping wing driving mechanism. The device comprises a two-stage planetary gear mechanism, a connecting rod rocker arm mechanism and the like, and changes the motion track of an eccentric upright post by changing the position relation between a movable inner gear ring of the two-stage planetary gear mechanism and the eccentric upright post, thereby changing the flapping amplitude of the rocker arm. The method has the disadvantages that compared with an external gear, the used inner gear ring is difficult to process, and the negative deflection of the mutually meshed deflection gears is too large, so that the bending strength of the gear teeth is reduced; the positive displacement of the modified gear is too large, so that the tooth top is easy to be sharpened, the tooth top strength is easy to be reduced, and the contact ratio of the gear is reduced. The structural dimensions are also not compact enough.
In summary, the main problems of the existing flapping wing mechanisms are that the transmission efficiency and the structural compactness are not fully considered from the design level, and the stability and reliability requirements of flight are difficult to ensure.
Disclosure of Invention
The purpose of the invention is: in order to improve the transmission efficiency of an aircraft flapping wing driving device, reduce the structural volume as much as possible, and ensure the symmetry and flight stability of flapping wing motion, a gear-rack pair flapping wing driving mechanism based on an external meshing planetary gear reducer is provided. The external meshing planetary gear reducer is utilized to realize compact structure and large reduction ratio, the output torque of the mechanism is improved, and the transmission efficiency is high and relatively stable. The gear rack pair connecting rod rocker arm mechanism ensures absolute symmetry of flapping motion of the mechanism, and greatly improves flight reliability of the aircraft.
In order to overcome the problems of insufficient flight stability and reliability in the prior art, the invention provides a gear-rack pair flapping wing driving mechanism based on an externally-meshed planetary gear reducer, which can meet the flight reliability and is suitable for the application of a miniature flapping wing aircraft.
The technical scheme adopted by the invention for solving the technical problems is as follows: including frame, motor, parallel gear reducer, external toothing planetary gear reducer, apron and rack and pinion connecting rod rocker arm mechanism, its characterized in that: the frame is by last fixed orifices that is equipped with in proper order under to, the rocking arm shaft hole, the motor mounting hole, the stopper mounting hole, apron mounting hole and transmission shaft hole, the apron center is equipped with the crank shaft hole, its place surface of fixed orifices axis perpendicular to, link up around all holes except the apron mounting hole, each hole axis is all parallel, the motor is installed in the frame, drive parallel gear reducer, the inner space who comprises frame the latter half and apron is installed through crank shaft hole and transmission shaft hole to the external toothing planetary gear reducer, parallel gear reducer passes through the transmission shaft drive external toothing planetary gear reducer, the external toothing planetary gear reducer passes through crank connection rack pinion connecting rod rocker arm mechanism drive flapping wing.
The whole bilateral symmetry of frame will regard as the front end towards the aircraft nose direction, and wherein two fixed orificess are in the frame top, two rocking arm shaft hole bilateral symmetry, and rocking arm shaft hole below has three motor mounting hole to be triangle overall arrangement and arranges, and motor mounting hole below is two bilateral symmetry's stopper mounting hole, and each pore pair is symmetrical to be arranged, and frame the latter half is cylindricly, is equipped with a concentric transmission shaft hole on the face of cylindric rear end, and use the transmission shaft as the center, there are six apron mounting holes to be the circular distribution form align to grid at cylindric cylinder lateral wall front end.
The motor is a direct-current brushless motor and is installed at the rear end of the rack through a motor installation hole, a motor pivot is fixedly connected with a driving wheel of a parallel gear reducer, the driving wheel of the parallel gear reducer is meshed with a driven wheel, the driven wheel of the parallel gear reducer is fixedly connected with one end of a transmission shaft, the transmission shaft is hinged with the rack, a bearing is installed in a shaft hole to be matched with a corresponding shaft, and a cover plate is in screw connection with the rack through a cover plate installation hole.
The external-engagement planetary gear reducer is composed of two sun gears, planetary gears and a planetary gear carrier, the other end of a transmission shaft penetrates through the center of a first-stage sun gear fixedly connected with the rack and a transmission shaft hole in the rack and is fixedly connected with the planetary gear carrier, a second-stage sun gear is fixedly connected with one end of a crank shaft, the other end of the crank shaft penetrates through a crank shaft hole in a cover plate and is fixedly connected with a crank, the second-stage sun gear is engaged with three second-stage planetary gears, the three second-stage planetary gears rotate to drive the second-stage sun gear to rotate, and then the motion is transmitted to the crank.
The outer ring of the first-stage sun gear of the external-meshing planetary gear reducer is uniformly provided with three first-stage planet gears which are externally meshed with the first-stage sun gear along the circumferential direction, one ends of three planet gear shafts are fixedly connected with the three first-stage planet gears respectively, the three planet gear shafts penetrate through planet gear shaft holes in a planet gear carrier, the other ends of the three planet gear shafts are fixedly connected with three second-stage planet gears respectively, the planet gear carrier and the six planet gears rotate together under the driving of a transmission shaft, and meanwhile, because the first-stage sun gear is static, the three first-stage planet gears rotate and drive the three second-stage planet gears to rotate.
The gear-rack pair connecting rod rocker arm mechanism is composed of a connecting rod and bilaterally symmetrical rocker arms, the connecting rod is inverted T-shaped, a sliding groove is formed in the transverse edge, a short shaft at the end of a crank can slide in the sliding groove, the vertical edge end of the connecting rod is designed to be rack-shaped, the inner side ends of the two rocker arms are both in incomplete gear shape and meshed with a rack at the vertical edge end of the connecting rod, the middle parts of the two rocker arms are respectively hinged with a rocker arm shaft, the rocker arm shaft penetrates through a rocker arm shaft hole to be fixedly connected with a rack, and a blind hole is formed in the outer side of each rocker arm and used for inserting a flapping wing spar.
The connecting rod can not move all around, can only slide from top to bottom along the spacing groove of stopper, drives the flapping wing and flutters from top to bottom, and the bush is behind the connecting rod, through two screw and connecting rod rigid couplings, stopper and frame rigid coupling, bush and stopper phase-match are equipped with the draw-in groove in the bush and restrict its front and back side-to-side motion.
The length of a rack of the gear-rack auxiliary connecting rod rocker mechanism and the radian of the incomplete gear are matched with the flapping angle and the mechanism size of the flapping wing, the gear-rack auxiliary connecting rod rocker mechanism is installed on the rack through a rocker shaft hole, and the flapping wing driving mechanism is connected with an aircraft body through a fixed hole of the rack in a threaded or pin joint mode.
The beneficial effect of this hair is:
the invention reduces the speed of the high-speed rotating motion output by the motor through the parallel gear reducer and the external meshing planetary gear reducer, the part has compact structure and high installation precision, and can realize large reduction ratio. The motor with a larger rotating speed can be assembled, and the output torque of the mechanism is improved. Meanwhile, inertia forces of the three planet gears distributed circumferentially are balanced when the planet gears run, the transmission process is efficient and smooth, and the noise is small compared with that of the transmission of a common gear.
The invention adopts a gear-rack pair connecting rod rocker arm mechanism, changes the rotation motion of a crank driven by a motor into the up-and-down flapping of the rocker arm with certain frequency and amplitude, and can achieve the absolute symmetric flapping of the left wing and the right wing. The bearing capacity of the gear rack transmission is large, and the transmission precision is high and can reach 0.1 mm; in principle, the length of the rack can be infinitely extended in a butt joint mode, namely the length of the rack can be changed to adapt to different flapping amplitudes.
The invention is further illustrated with reference to the following figures and examples.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a front schematic view of the present invention;
FIG. 2 is a front schematic view of the present invention;
FIG. 3 is a front schematic view of the housing;
FIG. 4 is a rear schematic view of the gantry;
FIG. 5 is a rear schematic view of the planetary gear reducer;
FIG. 6 is a rear schematic view of the planetary carrier;
FIG. 7 is a rear schematic view of a rack and pinion link rocker mechanism;
FIG. 8 is a front view of the rack and pinion;
in the figure: 1-frame, 1A ' -rocker shaft hole, 1B-motor mounting hole, 1C ' -stopper mounting hole, 1D-cover plate mounting hole, 1E-drive shaft hole, 2-motor, 3A-drive wheel, 3B-driven wheel, 4-external meshing planetary gear reducer, 4A-drive shaft, 4B-primary sun gear, 4C-primary planet gear (3), 4D-planet carrier, 4E-secondary planet gear (3), 4F-secondary sun gear, 5-cover plate, 6-crank, 7-connecting rod, 8-bush, 9-stopper, 10 ' -rocker shaft hole, 6-crank, 7-connecting rod, 8-bush, 9-stopper, 10-motor mounting hole, etc
Detailed Description
The invention relates to a gear rack pair flapping wing driving mechanism based on an external meshing planetary gear reducer, which comprises a rack, a motor, a parallel gear reducer, an external meshing planetary gear reducer and a connecting rod rocker mechanism.
The whole frame 1 is symmetrical left and right, and the direction facing the machine head is taken as the front end. The rack 1 is sequentially provided with two fixing holes, two rocker arm shaft holes 1A and 1A ', three motor mounting holes 1B, two limiting block mounting holes 1C and 1C', six cover plate mounting holes 1D and a transmission shaft hole 1E from top to bottom, all the holes except the cover plate mounting holes are communicated from front to back, and all the holes are symmetrically arranged and the axes are parallel.
Two fixing holes at the top of the frame 1 are used for installing the driving mechanism on the aircraft body in a threaded connection mode. Two rocker shaft holes 1A and 1A' with the largest distance on the frame 1 are bilaterally symmetrical. Three motor mounting holes 1B are arranged in the middle part below the rocker shaft hole and are arranged in a triangular layout; two left and right symmetrical limiting block mounting holes 1C and 1C' are arranged immediately below.
The lower half part of the frame 1 is cylindrical, and a concentric transmission shaft hole 1E is arranged on the end face of the rear part of the frame; the transmission shaft 4A is used as the center, six cover plate mounting holes 1D are uniformly arranged at the front end of the cylindrical side wall in a circumferential distribution mode, and the cover plate 5 is in screw connection with the rack 1. Lightening holes are formed on the cylindrical side wall of the frame 1.
The motor 2 is a direct current brushless motor and is installed on the rear side of the frame through a motor installation hole in a screw connection mode.
The pivot of the motor 2 is fixedly connected with a driving wheel 3A of the parallel gear reducer. The driving wheel 3A is engaged with the driven wheel 3B. The number of teeth of the driving wheel is 39, and the modulus is 0.6; the driven wheel tooth count is 55 and the modulus is 0.6. The transmission shaft 4A passes through the transmission shaft hole to be hinged with the frame 1 and is fixedly connected with the driven wheel 3B. And a bearing is arranged in the transmission shaft hole and matched with the corresponding shaft.
The external engagement planetary gear reducer 4 is composed of a primary sun gear 4B, a secondary sun gear 4F, three identical primary planet gears 4C, three identical secondary planet gears 4E and a planet gear carrier 4D. The transmission shaft 4A passes through the center of the first-stage sun gear 4B and is fixedly connected with the planet carrier 4D. The first-stage sun gear 4B is fixedly connected with the frame 1, and the planet gear carrier 4D is driven by the transmission shaft to rotate relative to the first-stage sun gear 4B. Three primary planet wheels 4C are uniformly distributed on the outer ring of the primary sun wheel 4B along the circumferential direction and are meshed with the outer ring. Three planet wheel shafts penetrate through the planet wheel shaft holes on the planet wheel carrier and are fixedly connected with three secondary planet wheels 4E. The six planet wheels will rotate with the planet carrier 4D while spinning because the primary sun wheel 4B is stationary. The secondary sun gear 4F is engaged with the three secondary planet gears 4E and is fixedly connected to one end of the crankshaft. The crank shaft passes through a crank shaft hole in the center of the cover plate 5 and is fixedly connected with a crank 6. The rotation of the three secondary planet wheels 4E will drive the secondary sun wheel 4F to rotate and then transfer the motion to the crank 6. The external-engagement planetary gear reducer 4 is used to achieve a large reduction ratio.
The gear rack pair connecting rod rocker arm mechanism consists of a connecting rod 7 and two rocker arms 10 and 10' which are bilaterally symmetrical. The connecting rod 7 is in an inverted T shape, and a sliding groove is arranged on the transverse edge. The short shaft at the end of the crank can slide in the sliding groove, and the length of the sliding groove at least meets the requirement that the crank 6 completes the whole-circle circular motion.
The vertical edge end of the connecting rod 7 is designed into a rack shape which is symmetrical left and right. The inner ends of the two rocker arms 10 and 10' are designed to be in an incomplete gear shape and are meshed with racks at the ends of the vertical edges of the connecting rods. The length of the rack and the radian of the incomplete gear are related to the flapping angle of the flapping wing and the size of the mechanism. In this example, the single partial gear angle is 67 °, the actual number of teeth is 7, and the module is 0.5. The number of teeth on one side of the rack is 10, and the modulus is 0.5.
The middle parts of the two rocker arms 10 and 10' are respectively hinged with a rocker arm shaft, and the rocker arm shaft passes through a rocker arm shaft hole and is fixedly connected with the machine frame. The outer side of the rocker arm is provided with a blind hole for inserting the wing beam of the flapping wing.
The connecting rod 7 can not move back and forth and left and right and can only slide up and down along the limiting groove of the limiting block 9 to drive the flapping wings to flap up and down. The bush 8 is fixed to the rear of the link 7 by two screws. The limiting block 9 is fixedly connected with the frame 1, the lining 8 is matched with the limiting block 9, and a clamping groove is arranged in the lining to limit the lining to move left and right back and forth.
The mounting direction of the threads at the mounting holes of the limiting blocks is opposite to that of the other threaded holes, namely, the screws are tightened from the back of the rack 1, so that the connection between the limiting blocks 9 and the rack 1 is completed before the motor 2 is assembled.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a rack and pinion flapping wing actuating mechanism based on external gearing planetary gear reducer, includes frame, motor, parallel gear reducer, external gearing planetary gear reducer, apron and rack and pinion connecting rod rocker arm mechanism, its characterized in that:
the machine frame is provided with a fixed hole, a rocker shaft hole, a motor mounting hole, a limiting block mounting hole, a cover plate mounting hole and a transmission shaft hole in sequence from top to bottom, the center of the cover plate is provided with a crank shaft hole, the axis of the fixed hole is vertical to the surface where the fixed hole is positioned, all the holes except the cover plate mounting hole are communicated in the front and back direction, the axes of the holes are all parallel, the motor is arranged on the machine frame and drives a parallel gear reducer, an externally-engaged planetary gear reducer is arranged in an inner space formed by the lower half part of the machine frame and the cover plate through the crank shaft hole and the transmission shaft hole, the parallel gear reducer drives the externally-engaged planetary reducer through a transmission shaft, the externally-engaged planetary reducer drives a flapping wing through a crank connecting gear-rack pair connecting rod rocker arm mechanism, the driven wheel of the parallel gear reducer is fixedly connected with one end of the transmission shaft, the other end of the transmission shaft passes through the center of a primary sun wheel fixedly connected with the machine frame and the transmission shaft hole on the machine frame, is fixedly connected with the planet wheel carrier.
2. The rack and pinion flapping wing actuator of claim 1 wherein:
the whole bilateral symmetry of frame will regard as the front end towards the aircraft nose direction, and wherein two fixed orificess are in the frame top, two rocking arm shaft hole bilateral symmetry, and rocking arm shaft hole below has three motor mounting hole to be triangle overall arrangement and arranges, and motor mounting hole below is two bilateral symmetry's stopper mounting hole, and each pore pair is symmetrical to be arranged, and frame the latter half is cylindricly, is equipped with a concentric transmission shaft hole on the face of cylindric rear end, and use the transmission shaft as the center, there are six apron mounting holes to be the circular distribution form align to grid at cylindric cylinder lateral wall front end.
3. The rack and pinion flapping wing actuator of claim 1 wherein:
the motor is a direct current brushless motor and is installed at the rear end of the frame through a motor installation hole, a motor pivot is fixedly connected with a driving wheel of a parallel gear reducer, the driving wheel of the parallel gear reducer is meshed with a driven wheel, a transmission shaft is hinged with the frame, a bearing is installed in a shaft hole to be matched with a corresponding shaft, and a cover plate is in screw connection with the frame through a cover plate installation hole.
4. The rack and pinion flapping wing actuator of claim 1 wherein:
the external-engagement planetary gear reducer is composed of two sun gears, a planetary gear and a planetary gear carrier, a secondary sun gear is fixedly connected with one end of a crank shaft, the other end of the crank shaft penetrates through a crank shaft hole in a cover plate and is fixedly connected with a crank, the secondary sun gear is engaged with three secondary planetary gears, the three secondary planetary gears rotate to drive the secondary sun gear to rotate, and then the motion is transmitted to the crank.
5. The rack and pinion flapping wing actuator of claim 4 wherein:
the outer ring of the first-stage sun gear of the external-meshing planetary gear reducer is uniformly provided with three first-stage planet gears which are externally meshed with the first-stage sun gear along the circumferential direction, one ends of three planet gear shafts are fixedly connected with the three first-stage planet gears respectively, the three planet gear shafts penetrate through planet gear shaft holes in a planet gear carrier, the other ends of the three planet gear shafts are fixedly connected with three second-stage planet gears respectively, the planet gear carrier and the six planet gears rotate together under the driving of a transmission shaft, and meanwhile, because the first-stage sun gear is static, the three first-stage planet gears rotate and drive the three second-stage planet gears to rotate.
6. The rack and pinion flapping wing actuator of claim 1 wherein:
the gear-rack pair connecting rod rocker arm mechanism is composed of a connecting rod and bilaterally symmetrical rocker arms, the connecting rod is inverted T-shaped, a sliding groove is formed in the transverse edge, a short shaft at the end of a crank can slide in the sliding groove, the vertical edge end of the connecting rod is designed to be rack-shaped, the inner side ends of the two rocker arms are both in incomplete gear shape and meshed with a rack at the vertical edge end of the connecting rod, the middle parts of the two rocker arms are respectively hinged with a rocker arm shaft, the rocker arm shaft penetrates through a rocker arm shaft hole to be fixedly connected with a rack, and a blind hole is formed in the outer side of each rocker arm and used for inserting a flapping wing spar.
7. The rack and pinion flapping wing actuator of claim 6 wherein:
the connecting rod can not move back and forth and left and right, and can only slide up and down along the limiting groove of the limiting block to drive the flapping wing to flap up and down, the bushing is fixedly connected with the connecting rod through two screws at the back of the connecting rod, the limiting block is fixedly connected with the rack, the bushing is matched with the limiting block, and the bushing is internally provided with a clamping groove to limit the forward and backward and left and right movement.
8. The rack and pinion flapping wing actuator of claim 7 wherein:
the length of a rack of the gear-rack auxiliary connecting rod rocker mechanism and the radian of the incomplete gear are matched with the flapping angle and the mechanism size of the flapping wing, the gear-rack auxiliary connecting rod rocker mechanism is installed on the rack through a rocker shaft hole, and the flapping wing driving mechanism is connected with the aircraft body through a fixed hole of the rack in a threaded or pin joint mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910262549.0A CN109795685B (en) | 2019-04-02 | 2019-04-02 | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer |
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| CN201910262549.0A CN109795685B (en) | 2019-04-02 | 2019-04-02 | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer |
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| CN110667841B (en) * | 2019-09-05 | 2021-03-26 | 山东大学 | Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft |
| CN111452965B (en) * | 2020-04-13 | 2021-06-15 | 山东大学 | Flapping wing structure capable of hovering in opposite flapping mode and aircraft |
| CN112224407A (en) * | 2020-10-12 | 2021-01-15 | 仿翼(北京)科技有限公司 | Flapping wing aircraft |
| CN112224406A (en) * | 2020-10-12 | 2021-01-15 | 仿翼(北京)科技有限公司 | Flapping wing aircraft and method for controlling flapping wing aircraft |
| CN114320825A (en) * | 2021-11-22 | 2022-04-12 | 杨建平 | Double-cylinder type inflator pump |
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| RU187245U1 (en) * | 2018-12-12 | 2019-02-26 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Drive flapping wings model aircraft |
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| CN101049858A (en) * | 2006-04-06 | 2007-10-10 | 西北工业大学 | Driving mechanism for wings of minitype ornithopter |
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