CN112498709B - Transmission mechanism of flapping wing flying robot - Google Patents
Transmission mechanism of flapping wing flying robot Download PDFInfo
- Publication number
- CN112498709B CN112498709B CN202011370503.XA CN202011370503A CN112498709B CN 112498709 B CN112498709 B CN 112498709B CN 202011370503 A CN202011370503 A CN 202011370503A CN 112498709 B CN112498709 B CN 112498709B
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- gear
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- large gear
- rocker
- reduction
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- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 230000005540 biological transmission Effects 0.000 title claims abstract description 29
- 230000009467 reduction Effects 0.000 claims abstract description 47
- 238000010586 diagram Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a transmission mechanism of a flapping-wing flying robot, which comprises a symmetrical crank rocker mechanism, a double-layer rack and a flapping-wing mechanism, wherein a reduction gear set is arranged between the double-layer rack, and the reduction gear set drives the crank rocker mechanism to drive the flapping-wing mechanism to rotate; the reduction gear set comprises a main shaft gear, a large gear a and a small gear sleeved on the gear shaft a, a large gear b meshed with the small gear and a large gear c meshed with the large gear b; the main shaft gear rotates to drive the large gear a and the small gear to rotate, and the small gear drives the large gear b to drive the large gear c to rotate; the invention simplifies the transmission mechanism and reduces the overall size by simplifying the number of the reduction stages of the reduction gear set to two stages and adjusting the tooth number and the modulus of the gears.
Description
Technical Field
The invention relates to a transmission mechanism of a flapping wing flying robot, and belongs to the technical field of robot transmission.
Background
The flapping wing flying robot is one kind of flyer with wings capable of flapping upwards and downwards and similar to bird and insect wings and designed based on bionic principle. The flapping wing flying robot generates lift force and thrust force through the flapping wings, so that flying actions such as take-off, landing, acceleration, deceleration, sudden jump, sharp turning, hovering, back flying, diving, lifting and the like are realized. Compared with fixed wings and rotor craft, the ornithopter flying robot has stronger low consumption, flexibility and maneuverability, and is a research hot spot in the field.
The current flyable flapping-wing flying robot mainly adopts a motor as a power source, the high-speed rotation output by the motor is firstly decelerated through a reduction gear set, and then the flapping-wing mechanism is driven by a transmission mechanism to realize flapping motion. In order to reduce the weight of transmission parts and simplify the assembly process of the aircraft, most flapping wing flying robots adopt a crank rocker mechanism to drive each flapping wing, and a crank is connected with the outermost gear of a reduction gear set. The transmission mechanism realizes low-speed rotation in the outermost gear of the speed reduction group, and drives the flapping wings to realize reciprocating flapping through the transmission of the crank rocker mechanism.
In order to obtain larger reduction ratio and large moment, most ornithopter robots adopt three or higher gear reduction stages, so that the space is not simple and compact, and the overall size is larger; and part of the gears are exposed on the outer layer of the machine body, so that the gears are easy to damage in the experimental and practical use processes.
The existing ornithopter has great room for improvement in the aspects of simplification of an integral transmission mechanism, reduction of the size of a main body, protection of key transmission parts and the like.
Disclosure of Invention
The invention aims to provide a transmission mechanism of a flapping wing flying robot, which aims to solve the problems that the space of the prior art is not simple and compact enough and the overall size is large; and part of the gears are exposed out of the outer layer of the machine body.
The transmission mechanism of the flapping wing flying robot comprises a symmetrical crank rocker mechanism, a double-layer rack and a flapping wing mechanism, wherein a reduction gear set is arranged between the double-layer rack, and the reduction gear set drives the crank rocker mechanism to drive the flapping wing mechanism to rotate;
The reduction gear set comprises a main shaft gear, a large gear a and a small gear sleeved on the gear shaft a, a large gear b meshed with the small gear and a large gear c meshed with the large gear b;
The main shaft gear rotates to drive the large gear a and the small gear to rotate, and the small gear drives the large gear b to drive the large gear c to rotate.
Further, the included angle between the axis connecting line of the main shaft gear and the large gear a and the vertical axis of the end face of the large gear a is 50-60 degrees.
Further, the included angle between the axis of the pinion and the axis connecting line of the large gear b and the vertical axis of the end face of the pinion is 30-40 degrees.
Further, the double-layer rack comprises a first layer rack and a second layer rack;
the gear shaft a is movably connected to the second layer of frame, and the large gear c and the large gear b are respectively and movably connected to the first layer of frame through the gear shaft c and the gear shaft b.
Further, the symmetrical crank rocker mechanism comprises a single crank single rocker mechanism I and a single crank single rocker mechanism II; one end of the single crank single rocker mechanism is connected with the gear shaft c, and the other end of the single crank single rocker mechanism is connected with one flapping wing mechanism;
one end of the single crank single rocker mechanism is connected with the gear shaft b, and the other end of the single crank single rocker mechanism is connected with the other flapping wing mechanism.
Further, the single-crank single-rocker mechanism I and the single-crank single-rocker mechanism II are respectively composed of a single-crank single-rocker mechanism I composed of a crank a and a rocker a, and a single-crank single-rocker mechanism II composed of a crank b and a rocker b.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the relative position relation between the double-layer rack and the reduction gear set is arranged, so that the reduction gear set is positioned in the middle of the double-layer rack, the reduction gear set is protected, and the possibility that the transmission mechanism is damaged due to external impact is reduced.
The invention simplifies the transmission mechanism and reduces the overall size by simplifying the number of the reduction stages of the reduction gear set to two stages and adjusting the tooth number and the modulus of the gears.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a transmission mechanism of the present invention;
FIG. 2 is a schematic diagram of a reduction gear set of a transmission of the present invention;
FIG. 3 is a front view of a reduction gear set of the transmission of the present invention;
FIG. 4 is a schematic diagram of a symmetrical crank and rocker mechanism of the transmission mechanism of the present invention;
FIG. 5 is a schematic view of a double-deck frame structure of the present invention;
FIG. 6 is a schematic view of a first tier frame of the present invention;
FIG. 7 is a schematic view of a second tier frame of the present invention;
fig. 8 is an enlarged partial schematic view of the present invention.
In the figure: 1-a reduction gear set; 2-symmetrical crank and rocker mechanism; 3-a double-layer rack; 31-a first tier rack; 32-a second tier rack; 311-gear shaft c mounting holes; 312-gear shaft a mounting hole I; 313-gear shaft b mounting holes; 321-motor mounting holes; 322-gear shaft a mounting hole II; 4-flapping wing mechanisms; 11-a spindle gear; 12-gear shaft a; 13-gearwheel a; 14-pinion gear; 15-a large gear b; 16-gear shaft b; 17-gear shaft c; 18-large gear c; 21-crank a; 22-crank b; 23-rocker a; 24-rocker b; 25-hinge point a; 26-hinge point B; 27-hinge point C; 28-hinge point D.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in figure 1, the transmission mechanism of the flapping wing robot comprises a reduction gear set 1, a symmetrical crank rocker mechanism 2, a double-layer frame 3 and a flapping wing mechanism 4. The reduction gear set 1 is connected with the double-layer rack and is fixed in the middle of the double-layer rack 3, and the symmetrical crank rocker mechanism 2 is connected with the reduction gear set 1.
As shown in fig. 2 and 3, the reduction gear set 1 is composed of a main shaft gear 11, a gear shaft a12, a large gear a13, a small gear 14, a large gear b15, a gear shaft b16, a gear shaft c17, and a large gear c 18. The main shaft gear 11, the large gear a13, the small gear 14, the large gear b15 and the large gear c18 can be made of nylon or aluminum alloy materials, and the gear shaft a12, the gear shaft b16 and the gear shaft c17 can be made of aluminum columns for aeromodelling.
As shown in FIG. 4, the symmetrical crank-rocker mechanism consists of a crank a21, a crank b22, a rocker a23 and a rocker b24, wherein the crank a21 and the crank b22 are made of plastic or aluminum alloy. The rocker a23 and the rocker b24 are rod end joint bearings which are divided into an inner thread part and an outer thread part, and the length of the rocker can be freely adjusted through adjusting the type of the rod end joint bearing and the length of the thread engagement part.
As shown in fig. 5, the double-layered rack 3 is composed of a first-layered rack 31 and a second-layered rack 32. The material and the processing manner of the first layer frame 31 and the second layer frame 32 are not particularly limited, and for example, the photosensitive resin may be selected to be manufactured through 3D printing or CNC processing of the carbon fiber board. The first layer of frame 31 is reserved with a gear shaft c mounting hole 311, a gear shaft a mounting hole 312 and a gear shaft b mounting hole 313; the second layer of rack is provided with a motor mounting hole 321 and a gear shaft a mounting hole 322.
As shown in fig. 2, the spindle gear 11 is fixed to the output shaft of the dc brushless motor, and the dc brushless motor is fixed to the motor mounting hole 321 corresponding to the second-layer body, the pinion 14 and the large gear a13 are fixed to the gear shaft a12, and the gear shaft a12 is fixed to the double-layer body through the bearing and the bearing housing. The spindle gear 11 is engaged with the large gear a13 in the same plane, and the plane is close to and parallel to the second-layer body 32. The large gear a13 and the small gear 14 are fixed on the gear shaft b16, the small gear 14 and the large gear b16 are meshed in the same plane, the plane is close to and parallel to the first layer body 31, and the gear shaft b16 is fixed on the double layer body through a bearing and a bearing seat. The large gear c18 is fixed on the gear shaft c17, is meshed with the large gear b16, and is meshed with the first layer of rack; the large gear b16 and the large gear c18 are identical in model specification, and their relative positions are symmetrical about the vertical axis of the first-layer body 31. In the whole reduction gear set 1, the main shaft gear 11 and the large gear a13 form gear set first-stage reduction, and the small gear 14 and the large gear b16 form gear set second-stage reduction.
As shown in fig. 2 and 3, the included angle between the axis connecting line of the main shaft gear 11 and the large gear a13 and the vertical axis of the end face of the large gear a13 is 50-60 degrees. The angle between the axis of the pinion 14 and the axis of the gearwheel b15 and the vertical axis of the end face of the pinion 14 is 30-40 deg.. The angles of the two types of included angles are not particularly limited, and are, for example, 55 °, 35 ° or 50 °, 40 °.
As shown in fig. 1, the reduction gear set 1 is located in the middle of the double-deck frame 3, that is, the main shaft gear 11 and the large gear a13 in the first-stage reduction and the small gear 14 and the large gear b15 in the second-stage reduction, and the large gear c18 are located inside the first-stage frame 31 and outside the second-stage frame 32. And the projection of the main shaft gear 11 and the large gear a13 in the first-stage reduction in the axial direction of the gear shaft a12 is within the projection area of the double-layer body 3 in the axial direction of the gear shaft a 12.
As shown in fig. 4, the symmetrical crank-rocker mechanism 2 is composed of two sets of single crank-single rocker mechanisms, namely a single crank-single rocker mechanism I and a single crank-single rocker mechanism II; namely a single-crank single-rocker mechanism I consisting of a crank a21 and a rocker a23, and a single-crank single-rocker mechanism II consisting of a crank b22 and a rocker b 24.
Specifically, the first single-crank single-rocker mechanism and the second single-crank single-rocker mechanism are connected with the reduction gear set 1 and used for driving the movement of the single-side wings, two sets of single-crank single-rocker mechanisms are adopted in the flapping-wing flying robot to respectively and synchronously drive the two wings at the left side and the right side, and the two sets of mechanisms are symmetrical about the vertical axis of the first layer of frame 31 to jointly form a symmetrical crank rocker mechanism. The crank a21 and the crank b22 are positioned on the outer side of the first layer frame 31, the crank a21 and the large gear c18 are simultaneously fixed on the gear shaft c17 through the lower round hole, and the crank b22 and the large gear b16 are simultaneously fixed on the gear shaft b16 through the lower round hole. The upper end of the crank a21 is hinged with the lower end of the rocker a23 through a hinge point A25, and the upper end of the crank B22 is hinged with the lower end of the rocker B24 through a threaded hole of a hinge point B26; the upper end of the rocker a23 is hinged with the flapping wing structure 4 through a hinge point C27, and the upper end of the rocker b24 is hinged with the flapping wing structure 4 through a hinge point D28. The symmetrical crank rocker mechanism 2 drives the flapping wing mechanism 4 to realize flapping amplitude of 45-60 degrees so as to increase lifting force as much as possible. The flapping amplitude of the flapping mechanism can be adjusted by adjusting the lengths of the rocking bars a23 and b 24.
In general, in a flapping-wing robot, a symmetrical crank rocker mechanism 2 and a reduction gear set 1 are connected together by a double-layer fuselage 3 to form the overall transmission of the aircraft.
Specifically, by setting the relative positional relationship between the reduction gear set 1 and the double-layer frame 3, the first-layer frame 31 and the second-layer frame 31 surround the reduction gear set 1 from front to back, thereby realizing a protection effect on the reduction gear set 1 to a certain extent and reducing the possibility of damage to the transmission mechanism due to external impact. The reduction stage number of the reduction gear set 1 is simplified to two-stage reduction transmission, the reduction gear set is adjusted to have the number of teeth and the modulus of gears, and the included angle between the axis connecting line of the meshing gears of the first-stage reduction gear set and the second-stage reduction gear set and the vertical axis is formed, so that the structure of the transmission mechanism is more compact and simple, and the overall size is reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (4)
1. The transmission mechanism of the flapping wing flying robot comprises a symmetrical crank rocker mechanism (2), a double-layer frame (3) and a flapping wing mechanism (4), and is characterized in that a reduction gear set (1) is arranged between the double-layer frame (3), and the reduction gear set (1) drives the crank rocker mechanism (2) to drive the flapping wing mechanism (4) to rotate;
The reduction gear set (1) comprises a main shaft gear (11), a large gear a (13) and a small gear (14) which are sleeved on a gear shaft a (12), a large gear b (15) meshed with the small gear (14) and a large gear c (18) meshed with the large gear b (15);
The main shaft gear (11) rotates to drive the large gear a (13) and the small gear (14) to rotate, and the small gear (14) drives the large gear b (15) to rotate the large gear c (18);
The included angle between the axis connecting line of the main shaft gear (11) and the large gear a (13) and the vertical axis of the end face of the large gear a (13) is 50-60 degrees;
The included angle between the connecting line of the axle center of the pinion (14) and the axle center of the large gear b (15) and the vertical axis of the end face of the pinion (14) is 30-40 degrees.
2. A transmission of a ornithopter robot according to claim 1, wherein the double-deck frame (3) comprises a first deck frame (31) and a second deck frame (32);
the gear shaft a (12) is movably connected to the second-layer frame (32), and the large gear c (18) and the large gear b (15) are respectively and movably connected to the first-layer frame (31) through the gear shaft c (17) and the gear shaft b (16).
3. A transmission mechanism of an ornithopter robot according to claim 2, wherein the symmetrical crank and rocker mechanism (2) comprises a single crank and single rocker mechanism one and a single crank and single rocker mechanism two; one end of the single crank single rocker mechanism is connected with the gear shaft c (17), and the other end of the single crank single rocker mechanism is connected with one flapping wing mechanism (4);
one end of the single crank single rocker mechanism is connected with the gear shaft b (16), and the other end of the single crank single rocker mechanism is connected with the other flapping wing mechanism (4).
4. A transmission mechanism for a ornithopter robot as claimed in claim 3, wherein the first and second single crank and single rocker mechanisms are composed of a first single crank and single rocker mechanism composed of a crank a (21) and a rocker a (23) and a second single crank and single rocker mechanism composed of a crank b (22) and a rocker b (24), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011370503.XA CN112498709B (en) | 2020-11-30 | 2020-11-30 | Transmission mechanism of flapping wing flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011370503.XA CN112498709B (en) | 2020-11-30 | 2020-11-30 | Transmission mechanism of flapping wing flying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112498709A CN112498709A (en) | 2021-03-16 |
| CN112498709B true CN112498709B (en) | 2024-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011370503.XA Active CN112498709B (en) | 2020-11-30 | 2020-11-30 | Transmission mechanism of flapping wing flying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN112498709B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN210008448U (en) * | 2019-05-28 | 2020-02-04 | 中国农业大学 | Rocking arm formula "V" font dual spray mechanism of giving medicine to poor free of charge with adjustable angle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7651051B2 (en) * | 2005-11-08 | 2010-01-26 | University Of Delaware | Mechanism for biaxial rotation of a wing and vehicle containing such mechanism |
| CN204952265U (en) * | 2015-09-15 | 2016-01-13 | 季善真 | Electric capacity drive flapping wing device |
| CN107416202B (en) * | 2017-07-05 | 2020-11-10 | 北京航空航天大学 | Miniature flapping wing aircraft |
| CN109969394B (en) * | 2019-05-24 | 2024-01-26 | 绵阳空天科技有限公司 | Flapping wing structure capable of switching flapping state and gliding state and flapping wing mode switching method thereof |
-
2020
- 2020-11-30 CN CN202011370503.XA patent/CN112498709B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN210008448U (en) * | 2019-05-28 | 2020-02-04 | 中国农业大学 | Rocking arm formula "V" font dual spray mechanism of giving medicine to poor free of charge with adjustable angle |
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| Publication number | Publication date |
|---|---|
| CN112498709A (en) | 2021-03-16 |
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