CN112046742A - Flapping wing mechanism with wing spreading capability - Google Patents
Flapping wing mechanism with wing spreading capability Download PDFInfo
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- CN112046742A CN112046742A CN202010957464.7A CN202010957464A CN112046742A CN 112046742 A CN112046742 A CN 112046742A CN 202010957464 A CN202010957464 A CN 202010957464A CN 112046742 A CN112046742 A CN 112046742A
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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 relates to a flapping wing mechanism with wing spreading capability, belonging to the technical field of aircrafts; comprises a body, a wing spreading part and a flapping wing part; the machine body comprises a main board, a flapping wing middle shaft and an n-shaped outer frame; the flapping wing middle shaft vertically penetrates through the main board, and two ends of the flapping wing middle shaft are used for being connected with the flapping wing part; the n-type outer frame is of a horizontally-placed n-shaped plate structure and is used for mounting the spreading part. The flapping wing part sequentially drives a flapping wing small power gear, a flapping wing large transmission gear, a flapping wing middle shaft and a cam through the brushless motor, and then the cam drives the spherical connecting rod and the base part of the flapping wing to move in the vertical direction, so that the flapping of the flapping wing is realized; the wing spreading part drives a wing spreading power gear, a first special-shaped gear and a second special-shaped gear in sequence through a stepping motor, and then the outer arms of the special-shaped gears of the first special-shaped gear and the second special-shaped gear drive the base parts of the flapping wing to move along the horizontal direction, so that the opening and closing of the mechanism and the maintenance of the wing spreading state in the flying state are realized.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a flapping wing mechanism with wing spreading capability.
Background
In the field of flying robots, helical wings have been mainly used for the long time, and are widely applied due to stability and small occupied space, however, the latest bionics proposes the principle of flapping wings, which are widely used in nature as flying modes. Compared with spiral wing flight, flapping wing flight has the advantages of good flexibility, lower energy consumption, strong camouflage, high adaptability and the like.
For example, the chinese invention patent CN102897322B briefly describes a two-dimensional flapping double-wing flying robot. However, all the existing flapping wing aircrafts only focus on the flapping wings, and the wing folding aspect has no bionic idea, so that the existing flapping wing mechanism is inconvenient to carry due to the large wing area when in a static state, and the wings are easy to damage. Based on the structural characteristics of the insect wings, the invention develops and designs a mechanism which can flap the wings and can be folded, and the wings can be contracted and attached to the back of the mechanism when the mechanism is static, so that the insect wings are convenient to carry, transport and store.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides the flapping wing mechanism with the wing spreading capability, solves the problems that the existing flapping wing aircraft occupies too large space and is inconvenient to carry and transport for a long distance, and designs the foldable flapping wing mechanism with the wing spreading capability, which is simple in structure and more convenient to carry.
The technical scheme of the invention is as follows: the flapping wing mechanism with the wing spreading capability is characterized in that: comprises a body, a wing spreading part and a flapping wing part; the flapping wing mechanism comprises a flapping wing part, a wing spreading part and a wing flapping part, wherein the wing spreading part and the wing flapping part are arranged on the machine body to realize folding and bionic flapping of the wing flapping mechanism;
the main board is of a vertically arranged flat plate structure and is used for supporting the whole mechanism; the flapping wing middle shaft vertically penetrates through the main board, and two ends of the flapping wing middle shaft are used for being connected with the flapping wing part; the n-type outer frame is of a horizontally placed n-shaped plate structure and is used for mounting the finned part;
the flapping wing part comprises a flapping wing large transmission gear, a flapping wing small power gear, a brushless motor, a spherical connecting rod, a cam and flapping wing parts; the brushless motor is arranged on one side of the main board, and an output shaft of the brushless motor penetrates through the vertical plate to be connected with the flapping wing small power gear; the flapping wing large transmission gear is arranged on the other side of the main board through a flapping wing middle shaft and is meshed with the flapping wing small power gear; two ends of the flapping wing middle shaft are respectively provided with a cam, the lower ends of the two spherical connecting rods are respectively connected with the two cams, and the upper ends of the two spherical connecting rods are respectively connected with the base parts of the two flapping wing middle shafts; the flapping wing is symmetrically arranged at the upper parts of the two sides of the main board and comprises a wing and a base part, the wing is arranged at the outer side of the mechanism and is in a bionic wing shape, and the base part is arranged at the root of the wing and is used for being connected with the upper end of the spherical connecting rod; the brushless motor drives the flapping wing small power gear, the flapping wing large transmission gear, the flapping wing middle shaft and the cam in sequence, and then the cam drives the spherical connecting rod and the base part of the flapping wing to move in the vertical direction, so that the flapping of the flapping wing is realized;
the wing spreading part comprises a first special-shaped gear, a second special-shaped gear, a wing spreading power gear and a stepping motor, and the first special-shaped gear, the second special-shaped gear and the wing spreading power gear are all arranged between the upper plate surface and the lower plate surface of the n-shaped outer frame and are meshed with each other; the stepping motor is arranged on the top surface of the rear end of the n-shaped outer frame through a stepping motor groove, and an output shaft of the stepping motor penetrates through the upper plate surface of the n-shaped outer frame to be connected with the wing spreading power gear; the outer peripheral surface of the first special-shaped gear is radially provided with a special-shaped gear outer arm, and the end of the special-shaped gear outer arm is hinged with the base part of the flapping wing on one side; the structure and the transmission ratio of the second special-shaped gear are the same as those of the first special-shaped gear, and the second special-shaped gear is symmetrically arranged relative to the main plate; the thickness of the second special-shaped gear is less than that of the first special-shaped gear, and the end of the outer arm of the second special-shaped gear is hinged with the base of the flapping wing on the other side; the wing spreading power gear, the first special-shaped gear and the second special-shaped gear are sequentially driven by the stepping motor, and then the base parts of the flapping wing are driven by the outer arms of the special-shaped gears of the first special-shaped gear and the second special-shaped gear to move along the horizontal direction, so that the opening and closing of the mechanism and the maintenance of the spreading state of the wings in a flying state are realized.
The further technical scheme of the invention is as follows: the transmission ratio of the flapping wing large transmission gear to the flapping wing small power gear is 12: 1.
The further technical scheme of the invention is as follows: the thickness of the first special-shaped gear is 5mm, and the thickness of the second special-shaped gear is 2 mm.
The further technical scheme of the invention is as follows: the first special-shaped gear and the second special-shaped gear are respectively installed between the upper plate surface and the lower plate surface of the n-shaped outer frame through a shaft and a bearing and are in rotating connection with the n-shaped outer frame.
Advantageous effects
The invention has the beneficial effects that:
(1) the wing spreading mechanism and the flapping wing mechanism are independently controlled by two motors and do not influence each other;
(2) in the flapping wing process, the wing spreading mechanism can always maintain the wing spreading state without influencing the flapping wing;
(3) the wing spreading motor adopts a stepping motor, can rotate forwards and backwards, and completes two processes of wing opening and wing closing.
(4) In the wing spreading part, the thicknesses of the three gear shafts are different, and the transmission work can be completed only by using three gears, so that the utilization efficiency of the gears is improved.
The flapping wing spreading mechanism is improved aiming at the common flapping wing mechanism in the market at present, and is additionally provided with a unique wing spreading design, so that the flying mechanism which can control the wings to open and close, can fly in a flapping mode and has a bionic effect is designed.
The wing spreading mechanism has the main effects that the stepping motor is utilized to drive the wing spreading power gear to be transmitted to the other two special-shaped gears, and the outer arms at the upper ends of the two special-shaped gears are linked with the wings of the mechanism, so that the wings are driven to open and close. Finally, the wing spreading of the mechanism is converted into a flight state in the flight process; when the flying toy is not in flight, the wings can be retracted to the two sides of the body and converted into a standby state.
When the wing spreading part related to the mechanism does not fly, the wings can be retracted under the driving of the stepping motor and are converted into a standby state. The occupied area of the mechanism is reduced, the storage and the transportation of the robot are very convenient, and the occupied area is saved; when the flying robot is ready to fly, the stepping motor rotates reversely to unfold the wings, the stepping motor is continuously electrified to maintain the opened state of the wings, and the flying robot is converted into a flying state. When flying, the stepping motor keeps the wings open, the brushless motor drives the gears at the moment, the flapping wing middle shaft is driven to rotate after the deceleration of the large gear, the cams at two sides rotate around the shaft to drive the ball rod to do circular motion, the upper end of the spherical connecting rod is driven to do up-and-down reciprocating motion, and the wings can take off in a flapping mode.
Drawings
FIG. 1 is an overall architecture diagram of the present invention;
FIG. 2 is a front view of the mechanism;
FIG. 3 is a right side view of the mechanism;
FIG. 4 is a rear left view of the mechanism;
FIG. 5 is a drawing showing the body;
FIG. 6 is a top plan view of the spread gear set;
FIG. 7 is a side view of the spread gear set;
FIG. 8 is a side view of the central axis of the flapping wings;
FIG. 9 is a large drive gear diagram;
FIG. 10 is a cam on both sides of the shaft;
FIG. 11 is a ball type linkage;
FIG. 12 is a wing;
FIG. 13 is a top view of the gantry;
description of reference numerals: 1 is a main board, 2 is a stepping motor slot, 3 is a stepping motor, 4 is a flapping wing, 5 is a cam, 6 is a spherical connecting rod, 7 is a flapping wing large transmission gear, 8 is a first special-shaped gear, 9 is a spreading wing power gear, 10 is a second special-shaped gear, 11 is a flapping wing small power gear, 12 is a brushless motor, 13 is a special-shaped gear hole, 14 is an on-shaft left cam fixing hole, 15 is an on-shaft large transmission gear fixing hole, 16 is an on-shaft right cam fixing hole, 17 is a main shaft hole, 18 is a brushless motor hole, 19 is a large cam fixing hole, 20 is a motor slot wire port, 21 is a cam fixing hole, 22 is a spreading wing part, 23 is a flapping wing part, 24 is an n-type outer frame, 25 is a flapping wing middle shaft, 26 is an on-cam shaft hole, 27 is an upper ball rod, 28 is a lower ball rod, 29 is an upper connecting rod hole, 30 is a flapping shaft hole, 31 is one, 32 shaft hole is two, 33 is an outer arm of a special-shaped gear.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Example (b): the invention relates to a flapping wing flying mechanism schematic diagram capable of spreading wings, which comprises a body, a wing spreading part 22 and a flapping wing part 23.
Referring to fig. 1,3,4,5,8,9,10,11,12, the machine body comprises a stepping motor slot 2, two special-shaped gear holes 13, a main shaft hole 17, a brushless motor hole 18, a motor slot wire port 20, an n-shaped outer frame 24, a flapping wing middle shaft 25 passes through the main shaft hole 17, a flapping wing large transmission gear 7 passes through the shaft through a central shaft hole, a large cam fixing hole 19 and an on shaft large transmission gear fixing hole 15 are fixed through screws to prevent sliding, left and right cam fixing holes 14,16 on two sides of the shaft are also fixed through screws and cam fixing holes 21, upper cam shaft holes 26 on two sides are connected with a lower ball rod 28, an upper wing rod 27 is connected with an upper wing connecting rod hole 29, a wing flapping shaft hole 30 on the wing is connected with a first shaft hole and a second shaft hole 31, 32 of an outer arm 33 on two sides of the special-shaped gear, a brushless motor 12 passes through a main plate motor hole 18, the other side of a main plate 1 passes through a small flapping wing power gear 11, the flapping wing small power gear 11 is meshed with the flapping wing large transmission gear 7, so that when the brushless motor 12 works, the flapping wing 4 can fly in an up-and-down flapping mode through the transmission of the gear set and the spherical connecting rod 6 structure.
Referring to fig. 1,2,3,4,5,6,7, the wing spreading mechanism is mainly concentrated on the upper part of the frame, three gear sets are fixed in the n-shaped outer frame, two special-shaped gear outer arms 33 are connected with the flapping wings 4, the gear sets are driven by the stepping motor 3, the stepping motor 3 is placed in the stepping motor groove 2, the shaft of the stepping motor 3 passes through the third shaft hole, a wing spreading power wheel 9 is fixed on the shaft of the stepping motor 3 and is meshed with the upper side of a first special-shaped gear 8 with the thickness of 5mm, and a second special-shaped gear 10 with the thickness of 2mm on the other side is meshed with the lower side of the special-shaped gear 8 with the thickness of 5mm, so that when the stepping motor 3 rotates, the two special-shaped gears are directly driven to open and close, and.
The complete working process of the invention is as follows:
when the flapping wing 4 is closed in the initial state, firstly, the stepping motor 3 provides power to rotate to drive the wing spreading power wheel 9 to rotate clockwise, then the two special- shaped gears 8 and 10 rotate, the two special-shaped gear outer arms 33 do unfolding motion, the flapping wing 4 is opened at the moment, when the special-shaped gear outer arms 33 rotate to the front end of the n-shaped outer frame, the rotation is stopped, the wing 4 is opened to the maximum, the stepping motor stops rotating at the moment, and the motor shaft can ensure that the wing maintains the opening state. Meanwhile, the brushless motor 12 supplies power, the flapping wing power gear 11 rotates to drive the flapping wing large transmission gear 7 and the flapping wing middle shaft 25 to rotate, the flapping wing middle shaft 25 drives the cam 5 to do circular motion, the lower ball rod 28 below the spherical connecting rod 6 also does circular motion, and the upper ball rod 27 does up-and-down reciprocating motion through the action of the connecting rod transmission and the spherical shaft offset, so that the whole mechanism can fly in a flapping mode. After the flapping wing flight is finished, the brushless motor 12 stops, the stepping motor 3 rotates reversely at the moment, the two special-shaped gear outer arms 33 do closing movement through the gear set, the flapping wing 4 is closed, and the mechanism returns to the initial state.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (4)
1. The flapping wing mechanism with the wing spreading capability is characterized in that: comprises a body, a wing spreading part and a flapping wing part; the flapping wing mechanism comprises a flapping wing part, a wing spreading part and a wing flapping part, wherein the wing spreading part and the wing flapping part are arranged on the machine body to realize folding and bionic flapping of the wing flapping mechanism;
the main board is of a vertically arranged flat plate structure and is used for supporting the whole mechanism; the flapping wing middle shaft vertically penetrates through the main board, and two ends of the flapping wing middle shaft are used for being connected with the flapping wing part; the n-type outer frame is of a horizontally placed n-shaped plate structure and is used for mounting the finned part;
the flapping wing part comprises a flapping wing large transmission gear, a flapping wing small power gear, a brushless motor, a spherical connecting rod, a cam and flapping wing parts; the brushless motor is arranged on one side of the main board, and an output shaft of the brushless motor penetrates through the vertical plate to be connected with the flapping wing small power gear; the flapping wing large transmission gear is arranged on the other side of the main board through a flapping wing middle shaft and is meshed with the flapping wing small power gear; two ends of the flapping wing middle shaft are respectively provided with a cam, the lower ends of the two spherical connecting rods are respectively connected with the two cams, and the upper ends of the two spherical connecting rods are respectively connected with the base parts of the two flapping wing middle shafts; the flapping wing is symmetrically arranged at the upper parts of the two sides of the main board and comprises a wing and a base part, the wing is arranged at the outer side of the mechanism and is in a bionic wing shape, and the base part is arranged at the root of the wing and is used for being connected with the upper end of the spherical connecting rod; the brushless motor drives the flapping wing small power gear, the flapping wing large transmission gear, the flapping wing middle shaft and the cam in sequence, and then the cam drives the spherical connecting rod and the base part of the flapping wing to move in the vertical direction, so that the flapping of the flapping wing is realized;
the wing spreading part comprises a first special-shaped gear, a second special-shaped gear, a wing spreading power gear and a stepping motor, and the first special-shaped gear, the second special-shaped gear and the wing spreading power gear are all arranged between the upper plate surface and the lower plate surface of the n-shaped outer frame and are meshed with each other; the stepping motor is arranged on the top surface of the rear end of the n-shaped outer frame through a stepping motor groove, and an output shaft of the stepping motor penetrates through the upper plate surface of the n-shaped outer frame to be connected with the wing spreading power gear; the outer peripheral surface of the first special-shaped gear is radially provided with a special-shaped gear outer arm, and the end of the special-shaped gear outer arm is hinged with the base part of the flapping wing on one side; the structure and the transmission ratio of the second special-shaped gear are the same as those of the first special-shaped gear, and the second special-shaped gear is symmetrically arranged relative to the main plate; the thickness of the second special-shaped gear is less than that of the first special-shaped gear, and the end of the outer arm of the second special-shaped gear is hinged with the base of the flapping wing on the other side; the wing spreading power gear, the first special-shaped gear and the second special-shaped gear are sequentially driven by the stepping motor, and then the base parts of the flapping wing are driven by the outer arms of the special-shaped gears of the first special-shaped gear and the second special-shaped gear to move along the horizontal direction, so that the opening and closing of the mechanism and the maintenance of the spreading state of the wings in a flying state are realized.
2. The flapping wing mechanism of claim 1, wherein: the transmission ratio of the flapping wing large transmission gear to the flapping wing small power gear is 12: 1.
3. The flapping wing mechanism of claim 1, wherein: the thickness of the first special-shaped gear is 5mm, and the thickness of the second special-shaped gear is 2 mm.
4. The flapping wing mechanism of claim 1, wherein: the first special-shaped gear and the second special-shaped gear are respectively installed between the upper plate surface and the lower plate surface of the n-shaped outer frame through a shaft and a bearing and are in rotating connection with the n-shaped outer frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957464.7A CN112046742A (en) | 2020-09-13 | 2020-09-13 | Flapping wing mechanism with wing spreading capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957464.7A CN112046742A (en) | 2020-09-13 | 2020-09-13 | Flapping wing mechanism with wing spreading capability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112046742A true CN112046742A (en) | 2020-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010957464.7A Pending CN112046742A (en) | 2020-09-13 | 2020-09-13 | Flapping wing mechanism with wing spreading capability |
Country Status (1)
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| CN (1) | CN112046742A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086188A (en) * | 2021-04-20 | 2021-07-09 | 清华大学 | Sliding rail mechanism-based flapping wing device with variable angle of wing surface of simulated bee wing |
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| CN207417115U (en) * | 2017-11-17 | 2018-05-29 | 西安云骋电子科技有限公司 | A kind of wheeled unmanned plane wing electric foldable unfolding mechanism of bidentate |
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| CN109808881A (en) * | 2019-04-01 | 2019-05-28 | 西北工业大学 | A kind of bionical folding double-vane flapping mechanism |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
| CN210942248U (en) * | 2019-11-28 | 2020-07-07 | 重庆理工大学 | Foldable bionic flapping wing aircraft |
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2020
- 2020-09-13 CN CN202010957464.7A patent/CN112046742A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6550716B1 (en) * | 2001-11-30 | 2003-04-22 | Neuros Co., Ltd. | Power-driven ornithopter piloted by remote controller |
| US20180244382A1 (en) * | 2015-11-04 | 2018-08-30 | Murata Manufacturing Co., Ltd. | Wing flapping apparatus |
| KR101845748B1 (en) * | 2016-10-07 | 2018-04-05 | 이상철 | Flapping flight device with varying wingspan |
| CN207417115U (en) * | 2017-11-17 | 2018-05-29 | 西安云骋电子科技有限公司 | A kind of wheeled unmanned plane wing electric foldable unfolding mechanism of bidentate |
| CN207826550U (en) * | 2018-01-24 | 2018-09-07 | 浙江工业职业技术学院 | A kind of scalable imitative bird flapping wing device of line driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086188A (en) * | 2021-04-20 | 2021-07-09 | 清华大学 | Sliding rail mechanism-based flapping wing device with variable angle of wing surface of simulated bee wing |
| CN113086188B (en) * | 2021-04-20 | 2022-08-02 | 清华大学 | Sliding rail mechanism-based flapping wing device with variable angle of wing surface of simulated bee wing |
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