CN111017209A - Flapping wing driving mechanism capable of increasing high lift force and advancing power - Google Patents

Flapping wing driving mechanism capable of increasing high lift force and advancing power Download PDF

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Publication number
CN111017209A
CN111017209A CN201911363858.3A CN201911363858A CN111017209A CN 111017209 A CN111017209 A CN 111017209A CN 201911363858 A CN201911363858 A CN 201911363858A CN 111017209 A CN111017209 A CN 111017209A
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wing
rod
driving mechanism
flapping
wing rod
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李秀莲
刘伟
汪献伟
徐旭松
施晓芳
邱睿
何庆
王海峰
郭懿
张凯平
韩振华
朱福先
俞成涛
王江涛
涂天勇
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Jiangsu University of Technology
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Jiangsu University of Technology
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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 belongs to the technical field of flapping wing aircrafts, and particularly relates to a flapping wing driving mechanism capable of increasing high lift force and advancing power, which comprises a wing rod driving mechanism, a left wing and a right wing which are identical in structure, wherein the left wing and the right wing both comprise a first wing rod and a second wing rod; the left wing and the right wing are arranged in a bilateral symmetry mode, and the wing rod driving mechanism is used for driving the left wing and the right wing to synchronously swing up and down; when the wing rod driving mechanism drives the left wing to flap down, the first wing rod swings downwards, meanwhile, the second wing rod swings forwards, and the left wing gradually unfolds and the area of the left wing becomes large; when the wing rod driving mechanism drives the left wing to ascend, the first wing rod swings upwards to the top, the second wing rod swings backwards to the last side, the second wing rod and the first wing rod are located in the same vertical plane, and the left wing gradually draws in and the area of the left wing is reduced.

Description

Flapping wing driving mechanism capable of increasing high lift force and advancing power
Technical Field
The invention belongs to the technical field of flapping wing aircrafts, and particularly relates to a flapping wing driving mechanism capable of increasing high lift force and advancing power.
Background
Birds can only fly over freely in the sky because of high lift and propulsion. The high lift force and the pushing force are related to the unfolding area of the wings of the bird when the wings of the bird are shot downwards and raised upwards; if the extended area of the wing is larger when the user takes the racket down and smaller when the user lifts the racket up, the high lift force and the pushing force are larger.
The flapping wing aircraft is a special aircraft simulating the wings of birds, insects and other bioenergy. The flapping wing driving mechanism is a power source of the flapping wing aircraft, not only determines the motion form of the flapping wing, but also finally influences the flight performance of the flapping wing aircraft. Considering that the flapping wing air vehicle has the advantages of low cost, good invisibility, easy operation and the like, the flapping wing air vehicle has wide application prospect in the fields of national defense and civil use. At present, a great deal of research is carried out on flapping wing aircrafts at home and abroad, but certain disadvantages still exist.
The prior patent 201510745937.6 discloses a differential variable-amplitude flapping wing driving mechanism and a driving method, and the flapping amplitude of a left rocker arm and a right rocker arm can be adjusted by controlling the rotation angle of a steering engine, so that the flexibility and the maneuverability of the flapping wing aircraft in flying are improved. But has the disadvantages that the invention does not relate to the change of the area of the flapping wing, and the high lift force and the propelling force are not good.
In view of this, the present application provides a flapping wing driving mechanism capable of increasing high lift and forward power, which has the advantages of increasing buoyancy, reducing resistance, and increasing high lift and propulsion.
Disclosure of Invention
In order to solve the problem that the high lift force and the poor propelling force of the existing flapping wing air vehicle are caused because the flapping wing air vehicle in the prior art does not relate to the change of the area of the flapping wing, the invention provides the flapping wing driving mechanism capable of increasing the high lift force and the advancing power.
In order to solve the technical problems, the flapping wing driving mechanism capable of increasing the high lift force and the advancing power comprises a wing rod driving mechanism, a left wing and a right wing, wherein the left wing and the right wing have the same structure and respectively comprise a first wing rod and a second wing rod, the first wing rod is arranged in a vertical plane in a vertically swinging mode, the second wing rod is arranged in a horizontal plane in a front-back swinging mode, and the second wing rod is arranged below the first wing rod;
the left wing and the right wing are arranged in a bilateral symmetry mode, and the wing rod driving mechanism is used for driving the left wing and the right wing to synchronously swing up and down; when the wing rod driving mechanism drives the left wing and the right wing to flap downwards, the wing rod driving mechanism drives the first wing rod to swing downwards and drives the second wing rod to swing forwards, and the left wing and the right wing are gradually unfolded and have larger areas; when wing rod actuating mechanism drive left wing and right wing are raised, wing rod actuating mechanism drives first wing rod upswing to the top, drives second wing rod backswing to the rearmost simultaneously, this moment second wing rod and first wing rod are located same vertical in-plane, left side wing and right wing all draw in gradually, the area diminishes.
Preferably, the swing rod driving mechanism comprises a driving piece and two groups of helical racks, helical gears and worms which are sequentially meshed, the two groups of helical racks, helical gears and worms are symmetrically arranged left and right, and wing rod cams are coaxially and fixedly connected to the worms; the first wing rod of the left wing is fixedly connected with the left bevel gear along the radial direction of the left bevel gear, and the second wing rod of the left wing is in cam contact with the left wing rod; the first wing rod of the right wing is fixedly connected with the right bevel gear along the radial direction of the right bevel gear, and the second wing rod of the right wing is in cam contact with the right wing rod; the driving piece is used for driving the two groups of the helical racks to synchronously move up and down. The two groups of helical racks, the helical gear, the worm and the wing rod cam are matched to respectively drive the first wing rod and the second wing rod of the left wing and the right wing to move, so that the left wing and the right wing synchronously swing up and down, the left wing and the right wing are both designed in an inclined mode, when the left wing and the right wing are slapped, the left wing and the right wing are not vertically upwards acted by air, but are inclined forwards, and the left wing and the right wing are also pushed forwards by forward thrust besides upwards buoyancy, so that the forward power of the flapping wing aircraft is increased, and the swing rod driving mechanism is simple and reliable in structure, stable in driving function and low in cost.
Preferably, the driving member includes a driven frame and a main cam, two sets of the helical racks are respectively and fixedly disposed on the left and right sides of the driven frame, and the main cam is rotatably disposed in the driven frame and pushes the driven frame to move up and down along with the rotation of the main cam.
Preferably, the driving part comprises a crank, a connecting rod and a sliding block which are sequentially hinged, the crank is rotatably arranged, the sliding block is arranged in a vertical sliding mode, and the two groups of helical racks are respectively and fixedly arranged on the left side and the right side of the sliding block.
Further, the modulus of the normal surface of the helical rack is taken as mn3The normal pressure angle is αn3Screw, screw rodAngle β3The right rotation is carried out in the tooth direction, and the normal surface modulus of the helical gear is taken as mn5The normal pressure angle is αn5A helix angle of β5Tooth to the levogyration, vibration and noise when guaranteeing the correct meshing and improving teeth of a cogwheel intensity and reducing the transmission require: m isn3cosαn3＝mn5cosαn5、β3＝β5And αn3＜αn5。
Further, the modulus of the end face of the bevel gear is taken as mt5The end face pressure angle is αt5Taking the axial surface modulus of the worm as mx6The axial pressure angle is αx6Lift angle of worm being gamma6The equivalent friction angle of the worm and the helical gear is
Figure BDA0002337889620000041
In order to ensure correct meshing, improve the strength of the gear teeth and reduce vibration and noise during transmission, the following requirements are met: m isx6cosαx6＝mt5cosαt5And αx6＜αt5、
Figure BDA0002337889620000042
And the spiral direction is the same.
Further, a layer of polyester film is covered between the first wing rod and the second wing rod of the left wing, and a layer of polyester film is also covered between the first wing rod and the second wing rod of the right wing.
Has the advantages that: the flapping wing driving mechanism capable of increasing the high lift force and the advancing power is different from the horizontal design of a conventional flapping wing, the flapping wings (namely the left wing and the right wing) in the application are designed in an inclined mode, when the flapping wings flap downwards, the acting force of air is not vertical upwards but inclined forwards, and at the moment, the flapping wings are subjected to forward thrust besides upwards buoyancy, so that the advancing power of the flapping wing aircraft is increased; through a series of movements of all components in the flapping wing driving mechanism, not only can the upper and lower flapping of the flapping wing be realized, but also when the flapping wing flaps up and down, the area and the angle position of the flapping wing are changed constantly, so that the flapping wing has the function of liftingSmall flapping wing area, small resistance, large flapping wing area during downward flapping, large buoyancy and larger forward power. The flapping wing driving mechanism capable of increasing the high lift force and the advancing power is characterized in that the normal modulus of the oblique rack is mn3The normal pressure angle is αn3A helix angle of β3The right rotation is carried out in the tooth direction, and the normal surface modulus of the helical gear is taken as mn5The normal pressure angle is αn5A helix angle of β5Tooth to the levogyration, vibration and noise when guaranteeing the correct meshing and improving teeth of a cogwheel intensity and reducing the transmission require: m isn3cosαn3＝mn5cosαn5、β3＝β5And αn3＜αn5. The flapping wing driving mechanism capable of increasing the high lift force and the advancing power takes the end face modulus of the bevel gear as mt5The end face pressure angle is αt5Taking the axial surface modulus of the worm as mx6The axial pressure angle is αx6Lift angle of worm being gamma6The equivalent friction angle of the worm and the helical gear is
Figure BDA0002337889620000043
In order to ensure correct meshing, improve the strength of the gear teeth and reduce vibration and noise during transmission, the following requirements are met: m isx6cosαx6＝mt5cosαt5And αx6＜αt5、
Figure BDA0002337889620000051
And the spiral direction is the same.
Drawings
FIG. 1 is a schematic diagram of an embodiment 1 of the flapping wing drive mechanism with increased high lift and forward power of the present invention;
FIG. 2 is a schematic structural diagram of the first wing rod and the bevel gear of the flapping wing driving mechanism capable of increasing the high lift force and the forward power according to the present invention;
FIG. 3 is a schematic diagram of the motion principle of the second wing rod corresponding to the flapping wing driving mechanism of the present invention for increasing the high lift force and the forward power when the left wing is flapping;
FIG. 4 is a schematic diagram of the left wing of the flapping wing driving mechanism with increased lift and forward power under the action of air during flapping;
FIG. 5 is a schematic diagram of the flapping wing driving mechanism with increased lift and forward power according to the present invention, showing the air acting force when the left wing is lifted;
FIG. 6 is a schematic diagram of embodiment 2 of the flapping wing drive mechanism with increased high lift and forward power of the present invention;
in the figure: 1. the device comprises a driving piece, 1-1, a main cam, 1-2, a driven frame, 1-3, a crank, 1-4, a connecting rod, 1-5, a sliding block, 3, a helical rack, 5, a helical gear, 6, a worm, 7, a wing rod cam, 200, a left wing, 300, a right wing, a first wing rod JE and a second wing rod MN; the rotation center of the main cam is O1Point, the rotation center of the helical gear of the left wing is O2The rotation center of the bevel gear of the right wing is O3The rotation center of a wing lever cam of the point, the left wing is O4Point, the rotation center of the second wing rod of the left wing is O5The rotation center of a second wing rod of the right wing is O6The rotation center of a wing rod cam of the point and the right wing is O7Point, JOThe point is an orthographic projection point of the J point in the horizontal plane.
Detailed Description
Example 1
As shown in fig. 1 to 5, the flapping wing driving mechanism capable of increasing high lift force and forward power comprises a wing rod driving mechanism, a left wing 200 and a right wing 300, wherein the left wing 200 and the right wing 300 have the same structure and respectively comprise a first wing rod JE and a second wing rod MN, the first wing rod JE is arranged in a vertical plane in a vertically swinging mode, the second wing rod MN is arranged in a horizontal plane in a front-back swinging mode, the rotation axes of the first wing rod JE and the second wing rod MN are located in the same vertical plane, and the second wing rod MN is arranged below the first wing rod JE; a polyester film is covered between the first wing rod JE and the second wing rod MN of the left wing 200, and a polyester film is also covered between the first wing rod JE and the second wing rod MN of the right wing 300;
as shown in fig. 1, the left wing 200 and the right wing 300 are symmetrically arranged left and right, and the wing rod driving mechanism is used for driving the left wing 200 and the right wing 300 to synchronously swing up and down; when the wing rod driving mechanism drives the left wing 200 and the right wing 300 to take a downward shot, the wing rod driving mechanism drives the first wing rod JE to swing downwards and drives the second wing rod MN to swing forwards, and the left wing 200 and the right wing 300 are gradually unfolded and have larger areas; when wing rod actuating mechanism drive left wing 200 and right wing 300 are raised, wing rod actuating mechanism drive first wing pole JE upwards swings to the top, drives second wing pole MN backward swing to the rearmost simultaneously, and this moment second wing pole MN and first wing pole JE are located same vertical plane, left wing 200 and right wing 300 all draw in gradually, the area diminishes.
Specifically, as shown in fig. 1, the swing link driving mechanism includes a driving member 1 and two sets of helical racks 3, helical gears 5 and worms 6 which are sequentially engaged, the two sets of helical racks 3, helical gears 5 and worms 6 are arranged in bilateral symmetry, and the worm 6 is coaxially and fixedly connected with a wing lever cam 7; the first wing rod JE of the left wing 200 is fixedly connected with the left bevel gear 5 along the radial direction of the left bevel gear, and the second wing rod MN of the left wing 200 is contacted with the left wing rod cam 7; the first wing rod JE of the right wing 300 is fixedly connected with the right bevel gear 5 along the radial direction of the right bevel gear, and the second wing rod MN of the right wing 300 is contacted with the wing rod cam 7 on the right side; as shown in fig. 2, the first wing rod JE is fixed on the hub end surface of the helical gear 5 along the radial direction of the helical gear 5, and due to the presence of the hub, the first wing rod JE can be prevented from mechanically interfering with the worm 6; the driving piece 1 is used for driving the two groups of the helical racks 3 to synchronously move up and down;
in this embodiment, as shown in fig. 1, the driving member 1 includes a driven frame 1-2 and a main cam 1-1, two sets of helical racks 3 are respectively and fixedly disposed on the left and right sides of the driven frame 1-2, the main cam 1-1 is rotatably disposed in the driven frame 1-2, the main cam 1-1 is driven by a motor to rotate, and the driven frame 1-2 is pushed to move up and down along with the rotation of the main cam 1-1; in order to ensure that the driven frame 1-2 can only move up and down, the following conditions are met: the width between any two parallel lines tangent to the profile of the main cam 1-1 is equal everywhere and is equal to the distance between the upper part and the lower part of the inner frame of the driven frame 1-2.
Taking the normal modulus of the helical rack 3 as mn3The normal pressure angle is αn3A helix angle of β3The right rotation is carried out in the tooth direction, and the normal surface modulus of the bevel gear 5 is taken as mn5The normal pressure angle is αn5A helix angle of β5Tooth to the levogyration, vibration and noise when guaranteeing the correct meshing and improving teeth of a cogwheel intensity and reducing the transmission require: m isn3cosαn3＝mn5cosαn5、β3＝β5And αn3＜αn5(ii) a Taking the modulus of the end face of the bevel gear 5 as mt5The end face pressure angle is αt5Taking the axial surface modulus of the worm 6 as mx6The axial pressure angle is αx6The lift angle of the worm 6 is gamma6The equivalent friction angle between the worm 6 and the helical gear 5 is
Figure BDA0002337889620000081
In order to ensure correct meshing, improve the strength of the gear teeth and reduce vibration and noise during transmission, the following requirements are met: m isx6cosαx6＝mt5cosαt5And αx6＜αt5、
Figure BDA0002337889620000082
Figure BDA0002337889620000083
And the spiral direction is the same.
For the convenience of describing the implementation steps of the flapping wing driving mechanism capable of increasing the high lift force and the forward power, the following marks are marked: the rotation center of the main cam 1-1 is O1The rotation center of the bevel gear 5 of the point and left wing 200 is O2The rotation center of the bevel gear 5 of the point and right wing 300 is O3The rotation center of the wing rod cam 7 of the point and left wing 200 is O4The rotation center of the second wing rod MN of the point and left wing 200 is O5The rotation center of the second wing rod MN of the point and right wing 300 is O6The rotation center of the wing lever cam 7 of the point and the right wing 300 is O7And (4) point.
The implementation steps of the flapping wing driving mechanism capable of increasing the high lift force and the forward power are as follows:
1) the main cam 1-1 is driven by the motor to rotate clockwise;
2) the main cam 1-1 is in high-pair contact with the driven frame 1-2, and the driven frame 1-2 drives the helical rack 3 to move up and down along with the rotation of the main cam 1-1; in order to ensure that the driven frame 1-2 can only move up and down, the following conditions are met: the width between any two parallel lines tangent to the profile of the main cam 1-1 is equal everywhere and is equal to the distance between the upper part and the lower part of the inner frame of the driven frame 1-2; the helical rack 3 is meshed with the helical gear 5, and the helical rack 3 pushes the helical gear 5 to rotate;
3) down-flapping motion of left wing 200:
3.1), when the helical rack 3 of the left wing 200 moves upwards, the helical gear 5 is pushed to rotate anticlockwise through the meshing of the helical rack 3 and the helical gear 5; taking the normal modulus of the helical rack 3 as mn3The normal pressure angle is αn3A helix angle of β3The right rotation is carried out in the tooth direction, and the normal surface modulus of the bevel gear 5 is taken as mn5The normal pressure angle is αn5A helix angle of β5Tooth to the levogyration, vibration and noise when guaranteeing the correct meshing and improving teeth of a cogwheel intensity and reducing the transmission require: m isn3cosαn3＝mn5cosαn5、β3＝β5And αn3＜αn5；
3.2) as shown in fig. 2, the first wing rod JE is fixed on the hub end face of the helical gear 5 along the radial direction of the helical gear 5, and the first wing rod JE and the worm 6 can be prevented from mechanical interference due to the existence of the hub; the bevel gear 5 of the left wing 200 rotating counterclockwise drives the first wing rod JE to move downwards, so that the downward flapping motion of the left wing 200 is realized;
3.3), at the same time, the bevel gear 5 of the left wing 200 is meshed with the worm 6 to drive the worm 6 to rotate leftwards; taking the modulus of the end face of the bevel gear 5 as mt5The end face pressure angle is αt5Taking the axial surface modulus of the worm 6 as mx6The axial pressure angle is αx6The lift angle of the worm 6 is gamma6The equivalent friction angle between the worm 6 and the helical gear 5 is
Figure BDA0002337889620000091
In order to ensure correct meshing, improve the strength of the gear teeth and reduce vibration and noise during transmission, the following requirements are met: the helical gear 5 and the worm 6 have the same helical direction,
Figure BDA0002337889620000092
mx6cosαx6＝mt5cosαt5and αx6＜αt5；
3.4), the worm 6 of the left wing 200 is coaxial with the wing lever cam 7, and the wing lever cam 7 is driven by the worm 6 to rotate clockwise; the second wing rod MN of the left wing 200 contacts with the wing rod cam 7 through the high pair, and as shown in fig. 1 and 3, the second wing rod MN swings forward under the push of the wing rod cam 7; as shown in fig. 4, as the second wing rod MN of the left wing 200 continuously swings forward, the effective area of the left wing 200 is expanded to be larger (the effective area is Δ J)OMO5Area of (a), wherein JOThe point is an orthographic projection point of the J point in the horizontal plane), the buoyancy of the flapping wing air vehicle is larger and larger;
unlike the horizontal design of conventional flapping wings, the flapping wings (i.e., the left wing 200 and the right wing 300) in this application are designed to be inclined, and when the left flapping wing (i.e., the left wing 200) is slapped down, the force of the air is not vertically upward, but is inclined forward as shown in fig. 4; at the moment, the left flapping wing (namely the left wing 200) is subjected to forward thrust besides upward buoyancy, so that the forward power of the flapping wing aircraft is increased;
4) the raising movement of the left wing 200:
4.1), when the helical rack 3 of the left wing 200 moves downwards, the helical rack 3 pushes the helical gear 5 to rotate clockwise through the meshing of the helical rack 3 and the helical gear 5; the bevel gear 5 of the left wing 200 rotating clockwise drives the first wing rod JE to move upwards, so that the upward movement of the left wing 200 is realized;
4.2) and the bevel gear 5 of the left wing 200 is meshed with the worm 6 to drive the worm 6 to rotate rightwards;
4.3), the worm 6 of the left wing 200 is coaxial with the wing rod cam 7, and the wing rod cam 7 rotates anticlockwise under the driving of the worm 6; the second wing rod MN of the right wing 300 contacts with the wing rod cam 7 through a high pair, and the second wing rod MN swings backwards under the action of the wing rod cam 7; as shown in fig. 5, as the second wing rod MN of the left wing 200 continuously swings backward, the left wing 200 starts to contract, i.e. the expanded area is smaller and smaller, and the air resistance of the corresponding ornithopter is smaller and smaller;
with the continuous running of the flapping wing driving mechanism, the left flapping wing (namely the left wing 200) continuously carries out the actions of flapping downwards and flapping upwards, thereby obtaining larger high lift force and advancing power.
For the downward flapping motion and the upward flapping motion of the right wing 300, the working principle is similar to that of the left wing 200, and the left wing 200 and the right wing 300 synchronously swing up and down, which is not described in detail herein.
Example 2
As shown in fig. 6, in the present embodiment, the difference from embodiment 1 is that the driving member 1 includes a crank 1-3, a connecting rod 1-4 and a slider 1-5, which are hinged in sequence, the crank 1-3 is rotatably disposed, the slider 1-5 is slidably disposed up and down, and two sets of the helical racks 3 are respectively fixedly disposed on the left and right sides of the slider 1-5. The crank 1-3 is driven by a motor to rotate, the crank 1-3 pushes the slide block 1-5 to slide up and down through the connecting rod 1-4, and the slide block 1-5 drives the two groups of helical racks 3 to synchronously move up and down.

Claims (7)

1. A flapping wing driving mechanism capable of increasing high lift force and advancing power is characterized in that: the wing-shaped wing comprises a wing rod driving mechanism, a left wing (200) and a right wing (300), wherein the left wing (200) and the right wing (300) are identical in structure and respectively comprise a first wing rod (JE) and a second wing rod (MN), the first wing rod (JE) is arranged in a vertical plane in a vertically swinging mode, the second wing rod (MN) is arranged in a horizontal plane in a front-back swinging mode, and the second wing rod (MN) is arranged below the first wing rod (JE);
the left wing (200) and the right wing (300) are arranged in bilateral symmetry, and the wing rod driving mechanism is used for driving the left wing (200) and the right wing (300) to synchronously swing up and down; when the wing rod driving mechanism drives the left wing (200) and the right wing (300) to flap down, the wing rod driving mechanism drives the first wing rod (JE) to swing downwards and drives the second wing rod (MN) to swing forwards, and the left wing (200) and the right wing (300) are gradually unfolded and have larger areas; when the wing rod driving mechanism drives the left wing (200) and the right wing (300) to ascend, the wing rod driving mechanism drives the first wing rod (JE) to swing upwards to the uppermost direction and drives the second wing rod (MN) to swing backwards to the rearmost direction, at the moment, the second wing rod (MN) and the first wing rod (JE) are located in the same vertical plane, and the left wing (200) and the right wing (300) are gradually folded and the area of the left wing and the right wing (300) is reduced.
2. The flapping wing drive mechanism of claim 1 capable of increasing high lift and forward power, wherein: the swing rod driving mechanism comprises a driving piece (1) and two groups of helical racks (3), helical gears (5) and a worm (6) which are sequentially meshed, the two groups of helical racks (3), the helical gears (5) and the worm (6) are symmetrically arranged in a left-right mode, and a wing rod cam (7) is coaxially and fixedly connected to the worm (6); the first wing rod (JE) of the left wing (200) is fixedly connected with the left bevel gear (5) along the radial direction of the left bevel gear, and the second wing rod (MN) of the left wing (200) is contacted with the left wing rod cam (7); the first wing rod (JE) of the right wing (300) is fixedly connected with the right bevel gear (5) along the radial direction of the right bevel gear, and the second wing rod (MN) of the right wing (300) is contacted with the wing rod cam (7) on the right side; the driving piece (1) is used for driving the two groups of the helical racks (3) to synchronously move up and down.
3. The flapping wing drive mechanism of claim 2 capable of increasing high lift and forward power, wherein: the driving piece (1) comprises a driven frame (1-2) and a main cam (1-1), two groups of helical racks (3) are respectively and fixedly arranged on the left side and the right side of the driven frame (1-2), the main cam (1-1) is rotatably arranged in the driven frame (1-2), and the driven frame (1-2) is pushed to move up and down along with the rotation of the main cam (1-1).
4. The flapping wing drive mechanism of claim 2 capable of increasing high lift and forward power, wherein: the driving piece (1) comprises cranks (1-3), connecting rods (1-4) and sliding blocks (1-5) which are sequentially hinged, the cranks (1-3) are rotatably arranged, the sliding blocks (1-5) are arranged in a vertically sliding mode, and the two groups of helical racks (3) are fixedly arranged on the left side and the right side of the sliding blocks (1-5) respectively.
5. A flapping wing driving mechanism capable of increasing high lift and forward power according to any one of claims 2 to 4, wherein: taking the normal modulus of the helical rack (3) as mn3The normal pressure angle is αn3A helix angle of β3The right rotation is carried out in the tooth direction, and the normal surface modulus of the bevel gear (5) is taken as mn5The normal pressure angle is αn5A helix angle of β5And the tooth rotates leftwards, then: m isn3cosαn3＝mn5cosαn、β3＝β5And αn3＜αn5。
6. A flapping wing driving mechanism capable of increasing high lift and forward power according to any one of claims 2 to 4, wherein: taking the modulus of the end face of the bevel gear (5) as mt5The end face pressure angle is αt5Taking the axial surface modulus of the worm (6) as mx6The axial pressure angle is αx6The lift angle of the worm (6) is gamma6The equivalent friction angle between the worm (6) and the helical gear (5) is
Figure FDA0002337889610000031
Then: m isx6cosαx6＝mt5cosαt5And is and
Figure FDA0002337889610000032
and the spiral direction is the same.
7. A flapping wing driving mechanism capable of increasing high lift and forward power according to any one of claims 1 to 4, wherein: a polyester film is covered between the first wing rod (JE) and the second wing rod (MN) of the left wing (200), and a polyester film is covered between the first wing rod (JE) and the second wing rod (MN) of the right wing (300).
CN201911363858.3A 2019-12-26 2019-12-26 Flapping wing driving mechanism capable of increasing high lift force and advancing power Pending CN111017209A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112874781A (en) * 2021-02-08 2021-06-01 哈尔滨工业大学 Wing flapping mechanism of bat flapping wing imitating aircraft

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112874781A (en) * 2021-02-08 2021-06-01 哈尔滨工业大学 Wing flapping mechanism of bat flapping wing imitating aircraft
CN112874781B (en) * 2021-02-08 2022-09-20 哈尔滨工业大学 Wing flapping mechanism of bat flapping wing imitating aircraft

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