CN110091988A - Imitative butterfly micro flapping wing air vehicle - Google Patents
Imitative butterfly micro flapping wing air vehicle Download PDFInfo
- Publication number
- CN110091988A CN110091988A CN201910420541.2A CN201910420541A CN110091988A CN 110091988 A CN110091988 A CN 110091988A CN 201910420541 A CN201910420541 A CN 201910420541A CN 110091988 A CN110091988 A CN 110091988A
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- wing
- connecting rod
- diameter
- skeleton
- driver
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 7
- 238000010146 3D printing Methods 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000024188 Andala Species 0.000 description 1
- 241000271566 Aves Species 0.000 description 1
- 241001364432 Microbates Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of imitative butterfly micro flapping wing air vehicles, including rack, flapping mechanism and wing；Rack is for installing flapping mechanism, driver and fuselage connecting rod；Flapping mechanism is double-crank double rocker mechanism, and comprising mainshaft gear, transmission gear and connecting rod, rocking bar etc., mainshaft gear drives transmission gear rotation, and connecting rod flutters the swing for being converted into rocking bar of gear, realization；First, second grade of wing is connect with rocking bar, is fluttered up and down with rocking bar and is generated lift, wherein the second wing and the first wing link, other than fluttering with the first wing, also be may be reversed and is realized gesture stability.The entirety that the present invention realizes wing in simple and compact structure is fluttered and the deflection of trailing edge, realizes the control of the compound movements such as aircraft advance, rolling, up and down.
Description
Technical field
The present invention relates to a kind of imitative butterfly micro flapping wing air vehicles.
Background technique
Micro flapping wing air vehicle has strong motor-driven, low noise, low cost, easy to carry, simple operation and other advantages, military
And civil field has high application value.In military use, enemy's situation scouting and monitoring can be carried out under the conditions of low latitude, carried out
Assessment of risks, target search, communication interference etc., infrared or thermal imaging can be also carried out by video camera and scouts enemy army's building interior
Situation, monitoring chemistry, nuclear or biological weapons etc..In civil field, respective sensor can be configured on minute vehicle, carry out calamity
Survivor searches, detects inside dangerous building, detects toxic gas or dangerous chemicals source etc. afterwards.
Foreign study person obtains certain achievement at present, has produced the micro flapping wing air vehicle haveing excellent performance, as California is managed
" Microbat " of engineering college, University of Toronto and " Mentor " in the U.S., research center, Stamford etc..It is domestic at present, predominantly
The mechanisms such as Northwestern Polytechnical University, Nanjing Aero-Space University, BJ University of Aeronautics & Astronautics, Tsinghua University carry out related bionic micro
Research in terms of flapping wing aircraft.
The flight theory of butterfly is different from common birds, and maximum feature is that wing is only fluttered up and down, hardly
It twists, freedom degree is approximately 1, and without stabilizations such as tailplane, vertical tails, only realizes posture control by body swing
System, therefore bionical difficulty is larger.More successfully bionical butterfly is the machine butterfly of Festo company at present, and the country is about imitative butterfly
The research achievement of butterfly micro flapping wing air vehicle is very few.
Summary of the invention
The purpose of the present invention is to provide a kind of micro flapping wing air vehicles of imitative butterfly.
Imitative butterfly micro flapping wing air vehicle provided by the invention, including rack, flapping mechanism and first, second grade of wing；
The rack includes driver mounting hole, fuselage connecting rod mounting hole and two pinion mounting holes；The flapping mechanism includes driving
Device, fuselage connecting rod, mainshaft gear, two transmission gears, two connecting rods and two rocking bars；First, second grade of wing include
Carbon fiber skeleton and ala；
Driver is decelerating motor, is installed in driver mounting hole, and driver output shaft is fixed with mainshaft gear, two
Transmission gear is respectively arranged in two pinion mounting holes, and the intermeshing of two transmission gears, one of them is engaged with mainshaft gear；
Eccentric orfice is all set on two transmission gears, respectively by articulated connection connecting rod one end, the other end of two connecting rods is respectively with two
It is hinged in the middle part of rocking bar；Fuselage connecting rod is mounted in fuselage connecting rod mounting hole, two rocking bar ends with fuselage connecting rod clearance fit
To realize rotation.
In above-mentioned technical proposal, further, in the rack driver installation bore dia be 5.95mm, for it is straight
The driver for meeting 6mm is fitted close, and fuselage connecting rod installs bore dia 1.95mm, is closely matched for the fuselage connecting rod with diameter 2mm
It closes, pinion mounting holes diameter 0.95mm, for being fitted close with diameter 1mm steel shaft.
Further, the driver of the flapping wing mechanism uses diameter 6mm drag cup decelerating motor, revolving speed 1200r/
Min exports shaft diameter 2mm；Mainshaft gear modulus 0.5, the number of teeth 13, shaft hole diameter 1.9mm closely match with driver output shaft
It closes；Transmission gear modulus 0.5, the number of teeth 28, shaft hole diameter 1.05mm, with diameter 1mm steel shaft clearance fit to realize rotation.
Further, the rack is made using the 3D printing of laser resin.
Further, the fuselage connecting rod uses carbon fibre tube.
Further, the carbon fiber skeleton includes a pair of of level-one wing skeleton and a pair of of second level wing skeleton；Level-one
Wing skeleton is Nian Jie with rocking bar, flutters with rocking bar, and second level wing skeleton and level-one wing skeleton are hinged, flutters with level-one wing skeleton
It can independently be spun upside down while dynamic, ala is Nian Jie with carbon fiber skeleton.
Imitative butterfly micro flapping wing air vehicle size provided by the invention is small (span can accomplish only 150mm), light-weight
(20g), it is simple and compact for structure reliable, can be realized it is symmetrical it is bionical flutter, attitude of flight vehicle is controlled using steering engine, realizes aircraft
The control of the compound movements such as advance, steering, up and down.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawing.
Fig. 1 is the structural upright schematic diagram (only showing a half wing) of flapping wing aircraft of the present invention；
Fig. 2 is the rack stereoscopic schematic diagram.
Fig. 3 is the flapping wing mechanism stereoscopic schematic diagram.
Fig. 4 is the wingpiston schematic diagram.
Fig. 5 is mainshaft gear stereoscopic schematic diagram.
Fig. 6 is left side transmission gear floor map.
Fig. 7 is right side transmission gear floor map.
Fig. 8 is flapping wing mechanism connecting rod schematic diagram.
Fig. 9 and Figure 10 is a kind of concrete structure schematic diagram of two rocking bars of flapping wing mechanism.
Specific embodiment
Embodiment of the present invention is described in detail with reference to the accompanying drawing.
As shown in Fig. 1 to Figure 10, the present invention includes rack 1, flapping mechanism 2 and first, second grade of wing 3.Rack is sharp
Photopolymer resin 3D printing part is provided with driver mounting hole 101, fuselage connecting rod mounting hole 102 and two pinion mounting holes in rack
103；Flapping mechanism includes driver 201, mainshaft gear 202, two transmission gears 203, two connecting rods 204, fuselage connecting rod
205, Ji Lianggen rocking bar 206,207；First, second grade of wing includes carbon fiber skeleton, ultralight ala.
101 diameter of driver mounting hole is 5.95mm in the rack 1, is closely matched for the driver with direct 6mm
It closes, 102 diameter 1.95mm of fuselage connecting rod mounting hole, for being fitted close with the fuselage connecting rod of diameter 2mm, pinion mounting holes 103
Diameter 0.95mm, for being fitted close with diameter 1mm steel shaft.
The driver 201 of the flapping wing mechanism uses diameter 6mm drag cup decelerating motor, revolving speed 1200r/min, defeated
Shaft diameter 2mm out；202 modulus 0.5 of mainshaft gear, the number of teeth 13, shaft hole diameter 1.9mm are fitted close with driver output shaft；It passes
203 modulus 0.5 of moving gear, the number of teeth 28, shaft hole diameter 1.05mm, with diameter 1mm steel shaft clearance fit to realize rotation.
When flapping mechanism is installed, 6mm driver 201 and rack driver mounting hole 101 are fitted close first, by 2mm
Fuselage connecting rod and fuselage connecting rod mounting hole 102 are fitted close, and the diameter 1mm steel shaft of two appropriate lengths and two gears are installed
Hole 103 is fitted close.Mainshaft gear 202 and driver output shaft are fitted close afterwards, two transmission gears 203 are intermeshed
It is attached in the steel shaft of rack afterwards, one of transmission gear will be engaged with mainshaft gear, such as Fig. 3.Afterwards by two connecting rods 204 and biography
The eccentric orfice pin shaft of moving gear is hinged, and pin shaft and eccentric orfice are fitted close, and with connecting rod clearance fit to realize rotation, by two
(the end difference of two rocking bars is as shown in Figures 9 and 10 in the present embodiment) is installed to machine after 206,207 end of root rocking bar cooperates
On body connecting rod, fuselage connecting rod and rocking bar clearance fit can respectively install rocking bar as a pair in front and back on the rack so that control
More stable, finally that the middle part of connecting rod and two rocking bars on front side of rack is hinged by pin shaft, flapping mechanism just installs.
After being installed, start driver, drive belts nutating gear rotation, due to the presence of eccentric orfice, driving cog
The translation for being converted into connecting rod of wheel, the translation of connecting rod make rocking bar around fuselage link rotatable, flutter to realize.And it selects
Suitable length of connecting rod can make to flutter 60 degree of angle on flapping mechanism, under to flutter angle be 30 degree, flutter with butterfly similar, with compared with
Good bionical effect.
It is after flapping mechanism is installed, first order wing skeleton is Nian Jie with two rocking bar cooperations on front side of rack, by second
Grade wing skeleton and first order wing skeleton are hinged, then ultralight ala is overlying on to the installation that wing is completed on wing skeleton.It will
Two miniature steering engines are installed on fuselage connecting rod or on wing skeleton, to drive the flip-flop movement of second level wing skeleton.
After complete machine is installed, the remote control distributor of aircraft can be realized by installing electronic equipment.It flutters in the present invention machine
Structure is double-crank double rocker mechanism, and mainshaft gear drives transmission gear rotation, and connecting rod is by the pendulum for being converted into rocking bar of gear
Dynamic, realization is fluttered；First, second grade of wing skeleton is connect with rocking bar, is fluttered up and down with rocking bar and is generated lift, wherein the second wing
Skeleton also may be reversed other than it can flutter with the first wing skeleton and realize gesture stability.The present invention is in simple and compact structure
In realize the entirety of wing and flutter and the deflection of trailing edge, realize the compound movements such as aircraft advance, rolling, up and down
Control.
Claims (6)
1. imitative butterfly micro flapping wing air vehicle, it is characterised in that: the imitative butterfly micro flapping wing air vehicle includes rack (1), is flutterred
Motivation structure (2) and wing (3)；Driver mounting hole (101), fuselage connecting rod mounting hole (102) and two are provided in the rack
A pinion mounting holes (103)；The flapping mechanism includes driver (201), fuselage connecting rod (205), mainshaft gear (202), two
A transmission gear (203), two connecting rod (204) Ji Lianggen rocking bars (206,207)；The wing includes carbon fiber skeleton and the wing
Film；
Driver (201) is decelerating motor, is installed in driver mounting hole (101), driver output shaft and mainshaft gear
(202) fixed, two transmission gears (203) are respectively arranged in two pinion mounting holes (103), and two transmission gears are mutually nibbled
It closes, one of them is engaged with mainshaft gear (202)；Eccentric orfice is all set on two transmission gears, is connected respectively by articulated connection
Bar (204) one end, the other end of two connecting rods are hinged with two rocking bars (206,207) middle part respectively；Fuselage connecting rod (205) is mounted on
In fuselage connecting rod mounting hole (102), two rocking bar ends are with fuselage connecting rod clearance fit to realize rotation.
2. imitative butterfly micro flapping wing air vehicle according to claim 1, which is characterized in that driven in the rack (1)
Device mounting hole (101) diameter is 5.95mm, and for being fitted close with the driver of direct 6mm, fuselage connecting rod mounting hole (102) is straight
Diameter 1.95mm, for the tight fit of the fuselage connecting rod of diameter 2mm, pinion mounting holes (103) diameter 0.95mm is used for and diameter
1mm steel shaft is fitted close.
3. imitative butterfly micro flapping wing air vehicle according to claim 1, which is characterized in that the driving of the flapping wing mechanism
Device (201) uses diameter 6mm drag cup decelerating motor, and revolving speed 1200r/min exports shaft diameter 2mm；Mainshaft gear (202)
Modulus 0.5, the number of teeth 13, shaft hole diameter 1.9mm are fitted close with driver output shaft；Transmission gear (203) modulus 0.5, the number of teeth
28, shaft hole diameter 1.05mm, with diameter 1mm steel shaft clearance fit to realize rotation.
4. imitative butterfly micro flapping wing air vehicle according to claim 1, which is characterized in that the rack uses laser tree
Rouge 3D printing is made.
5. imitative butterfly micro flapping wing air vehicle according to claim 1, which is characterized in that the fuselage connecting rod uses carbon
Fibre pipe.
6. imitative butterfly micro flapping wing air vehicle according to claim 1, which is characterized in that the carbon fiber skeleton includes
A pair of of level-one wing skeleton (301) and a pair of of second level wing skeleton (302)；Level-one wing skeleton is Nian Jie with rocking bar, flutters with rocking bar
Dynamic, second level wing skeleton and level-one wing skeleton are hinged, while fluttering with level-one wing skeleton can independent control carry out it is upper and lower
Overturning, ala are Nian Jie with carbon fiber skeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420541.2A CN110091988B (en) | 2019-05-20 | 2019-05-20 | Butterfly-like miniature flapping-wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420541.2A CN110091988B (en) | 2019-05-20 | 2019-05-20 | Butterfly-like miniature flapping-wing aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110091988A true CN110091988A (en) | 2019-08-06 |
| CN110091988B CN110091988B (en) | 2024-01-05 |
Family
ID=67448645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910420541.2A Active CN110091988B (en) | 2019-05-20 | 2019-05-20 | Butterfly-like miniature flapping-wing aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110091988B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634414A (en) * | 2020-04-29 | 2020-09-08 | 南京航空航天大学 | Micro-miniature bionic flapping wing mechanism |
| CN112896504A (en) * | 2021-03-08 | 2021-06-04 | 浙江理工大学 | Microminiature flapping-wing aircraft and flight method thereof |
| CN114906323A (en) * | 2022-06-07 | 2022-08-16 | 沈阳航空航天大学 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
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| KR20040046628A (en) * | 2002-11-28 | 2004-06-05 | 이영범 | a remote control for aplaying flapping bug |
| JP2010105413A (en) * | 2008-10-28 | 2010-05-13 | Chiba Inst Of Technology | Reciprocating oscillating mechanism and ornithopter using the same |
| CN201643710U (en) * | 2010-02-11 | 2010-11-24 | 乐山师范学院 | Butterfly directional aircraft |
| CN105947196A (en) * | 2016-04-25 | 2016-09-21 | 北京航空航天大学 | Novel bionic butterfly aircraft with independently driven double wings |
| JP2017061285A (en) * | 2015-09-25 | 2017-03-30 | 太一 矢口 | Flapping flying body to which flight control of cicada is applied |
| CN107416202A (en) * | 2017-07-05 | 2017-12-01 | 北京航空航天大学 | Micro flapping wing air vehicle |
| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN210416979U (en) * | 2019-05-20 | 2020-04-28 | 浙江大学 | Butterfly-imitating micro flapping wing aircraft |
-
2019
- 2019-05-20 CN CN201910420541.2A patent/CN110091988B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040046628A (en) * | 2002-11-28 | 2004-06-05 | 이영범 | a remote control for aplaying flapping bug |
| JP2010105413A (en) * | 2008-10-28 | 2010-05-13 | Chiba Inst Of Technology | Reciprocating oscillating mechanism and ornithopter using the same |
| CN201643710U (en) * | 2010-02-11 | 2010-11-24 | 乐山师范学院 | Butterfly directional aircraft |
| JP2017061285A (en) * | 2015-09-25 | 2017-03-30 | 太一 矢口 | Flapping flying body to which flight control of cicada is applied |
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| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634414A (en) * | 2020-04-29 | 2020-09-08 | 南京航空航天大学 | Micro-miniature bionic flapping wing mechanism |
| CN112896504A (en) * | 2021-03-08 | 2021-06-04 | 浙江理工大学 | Microminiature flapping-wing aircraft and flight method thereof |
| CN114906323A (en) * | 2022-06-07 | 2022-08-16 | 沈阳航空航天大学 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110091988B (en) | 2024-01-05 |
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| CB03 | Change of inventor or designer information |
Inventor after: Du Changping Inventor after: Cao Zhefeng Inventor after: Wu Yuean Inventor after: Xie Lan Inventor after: Ye Zhixian Inventor after: Zheng Yao Inventor after: Song Guanghua Inventor after: Yang Rui Inventor after: Liao Wei Inventor after: Liu Qingsong Inventor before: Du Changping Inventor before: Ye Zhixian Inventor before: Liu Qingsong Inventor before: Cao Zhefeng Inventor before: Yang Rui Inventor before: Liao Wei Inventor before: Song Guanghua Inventor before: Zheng Yao |
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