CN113022850B - Hovering type micro bionic double-flapping-wing flying robot - Google Patents
Hovering type micro bionic double-flapping-wing flying robot Download PDFInfo
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- CN113022850B CN113022850B CN202110511099.1A CN202110511099A CN113022850B CN 113022850 B CN113022850 B CN 113022850B CN 202110511099 A CN202110511099 A CN 202110511099A CN 113022850 B CN113022850 B CN 113022850B
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- flapping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention discloses a hovering micro bionic double-flapping-wing flying robot which consists of flapping mechanisms, a control mechanism and a power supply and control system, wherein the flapping mechanisms are arranged on two sides of a main frame. The flapping mechanism can rotate around the connecting shaft, power is output through the hollow cup motor, flapping motion of the bionic wing is achieved, aerodynamic force and aerodynamic torque (rolling torque) are further generated, a close-flying mechanism similar to that of insects when in flapping can be used for generating high lift force when the bionic wing moves, and high aerodynamic efficiency is achieved. The control mechanism drives the whole flapping mechanism rack to rotate by virtue of a linear steering engine, so that the flapping plane of the bionic wing is changed, the direction of aerodynamic force/torque is changed, and pitching and yawing torques are generated; the power supply and control system is realized by the control circuit board, and the whole system is powered by the battery. The part material is carbon fiber plate or 3D printing material for this robot has realized lightweight and miniaturization, has improved flight efficiency, and has super high mobility.
Description
Technical Field
The invention belongs to the field of mechanical design, and relates to a hovering micro bionic double-flapping-wing flying robot.
Background
The hovering type flapping wing flying robot is a bionic robot based on hovering flying birds or insects, and has the advantages of small size, good disguising property, high maneuverability, low noise, high flying efficiency and the like. The micro bionic flapping wing flying robot shows more excellent performance in many aspects, so the micro bionic flapping wing flying robot has very wide application prospect. The existing micro bionic flapping wing flying robot has a complex mechanism and higher overall weight, so that the robot has poor flying mobility and low flying efficiency, and meanwhile, some robot mechanisms have single degree of freedom and poor aerodynamic force, and cannot realize complex maneuvering flight.
Disclosure of Invention
Aiming at the problems and the defects of the mechanism in the process of executing flying motion, the invention provides a hovering micro bionic double-flapping-wing flying robot, which can realize multiple attitude transformation and flying functions simultaneously and has the characteristics of compact structure, small volume, light weight, flexibility and the like. The invention aims to solve and improve some problems and defects of the existing micro bionic flapping wing flying robot, and provides an overall design scheme of a hovering micro bionic double flapping wing flying robot.
The invention relates to a hovering micro bionic double-flapping-wing flying robot, which comprises a left flapping mechanism and a right flapping mechanism which are arranged on two sides of a main frame.
The left flapping mechanism and the right flapping mechanism have the same structure and are composed of a hollow cup motor, a motor gear, a duplicate gear, a bias crank, a sliding rocker, a fin root connecting piece and a bionic wing, wherein the hollow cup motor, the motor gear, the duplicate gear, the bias crank, the sliding rocker, the fin root connecting piece and the bionic wing are arranged on a support frame and the support frame; wherein the output shaft of the hollow cup motor is provided with a motor gear which is meshed with the large-diameter gear of the duplicate gear; the small diameter gear of the duplicate gear is meshed with any one of two mutually meshed offset gears.
The number of the offset cranks is two, and the tail ends of the two offset cranks are coaxially fixed with the two offset gears respectively; the front ends of the two offset cranks are coaxially designed with sliding shafts. The sliding shafts on the front ends of the two offset cranks respectively pass through the chutes which are arranged on the shaft of the two sliding rocking bars to form sliding pairs. The tail ends of the two sliding rockers are respectively arranged on the frame to form a revolute pair; the front ends of the two sliding rockers are provided with fin root connecting pieces to connect the bionic wings.
The battery supplies power to the flight control panel, and the flight control panel drives the coreless motor and the two linear steering engines to move. In the motion process, earlier produce power by the drag cup motor, the motor gear carries out power take off, then by the duplicate gear with power transmission to the offset gear on, drive the offset gear motion, two offset gears intermeshing relative rotations, drive the offset crank f who links firmly respectively and rotate, make the sliding shaft on the slip rocker move in the spout, drive the swing of slip rocker, finally make the terminal bionical wing of slip rocker carry out the flapping motion thereupon. Because the two offset gears are meshed with each other, the rotating speeds are the same, and the directions are opposite, the two bionic wings move symmetrically, and a close-flying mechanism is utilized to generate larger aerodynamic force when the two bionic wings are overlapped and opened.
The left side flapping mechanism and the right side flapping mechanism are driven by the control mechanism to rotate around the axis of the connecting shaft through two ends of the connecting shaft arranged in the left-right direction in front of the main frame, so that the angle change of a flapping plane is realized, and yawing and pitching motions are performed.
The invention has the advantages that:
(1) the hovering type micro bionic double-flapping-wing flying robot has the advantages of compact mechanism, small volume and simple structure, and can realize the bionic flapping-wing function;
(2) according to the hovering micro bionic double-flapping-wing flying robot, most parts are manufactured by adopting a 3D printing technology and carbon fiber processing, the strength of a machine body is improved, the whole machine is light, and iteration optimization is easy;
(3) the hovering micro bionic double-flapping-wing flying robot adopts double pairs of flapping wings, and realizes high-lift flying and high super maneuverability by utilizing a close-flying high-lift mechanism;
(4) the hovering type micro bionic double-flapping-wing flying robot adopts the flapping mechanism based on the guide rod mechanism, so that the operating efficiency of the mechanism is high, and the structure is simple;
(5) the hovering micro bionic double-flapping-wing flying robot adopts an active rotation control mechanism design, utilizes a linear steering engine and a slider-crank mechanism to design a control mechanism 4, and has a large wing torsion angle, so that the flying robot is flexible;
drawings
FIG. 1 is a schematic view of the overall structure of a hovering micro bionic double-flapping-wing flying robot;
FIG. 2 is a schematic structural diagram of a main frame of the hovering micro bionic double-flapping-wing flying robot;
FIG. 3 is a schematic structural diagram of a single-side flapping mechanism in the hovering micro bionic double-flapping-wing flying robot;
FIG. 4 is a partial enlarged view of a single-side flapping structure of the hovering micro bionic double-flapping-wing flying robot;
FIG. 5 is a schematic structural diagram of a control mechanism in the hovering micro bionic double-flapping-wing flying robot.
In the figure:
1-main frame 2-left side flapping mechanism 3-right side flapping mechanism
4-control mechanism 5-power supply and control system 401-linear steering engine
402-drive connecting rod a-support frame b-coreless cup motor
c-motor gear d-duplicate gear e-offset gear
f-offset crank g-sliding rocker h-fin root connecting piece
i-bionic wing j-leading edge rib k-root rib
l-support rib
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples.
The invention relates to a hovering micro bionic double-flapping-wing flying robot, which comprises a main frame 1, a left-side flapping mechanism 2, a right-side flapping mechanism 3, a control mechanism 4 and a power supply and control system 5, as shown in figure 1.
As shown in fig. 2, the main frame 1 is a hollow frame structure, so that the overall weight of the robot is effectively reduced. The middle part of the main frame 1 is provided with a mounting position mounting control mechanism 4, and the rear part is provided with a mounting position mounting power supply and control system 5. The front part of the main frame 1 is designed into a conical structure, so that the flight resistance is reduced; meanwhile, the front part of the main frame 1 is also provided with a mounting hole, a connecting shaft arranged in the left-right direction is mounted at the mounting hole, and two ends of the connecting shaft are respectively used for connecting the left flapping mechanism 2 and the right flapping mechanism 3.
The left flapping mechanism 2 and the right flapping mechanism 3 are identical in structure, are respectively arranged on the left side and the right side of the main frame 1 in the same mode, and are used for driving the bionic wing i to perform flapping motion, and the flexible deformation of the bionic wing i is utilized to generate aerodynamic force and aerodynamic moment, so that the vertical flying and rolling motion of the robot is realized. As shown in fig. 3, the left flapping mechanism 2 and the right flapping mechanism 3 are composed of a support frame a, a hollow cup motor b, a motor gear c, a duplicate gear d, a bias gear e, a bias crank f, a sliding rocker g, a wing root connecting piece h and a bionic wing i.
As shown in fig. 4, a motor mounting slot is formed in the support frame a, and the coreless motor b is fixedly mounted in the motor mounting slot through interference fit. And a motor gear c is arranged on an output shaft of the hollow cup motor b. Two offset gears e and a duplicate gear d are also arranged on the frame. The two offset gears e are meshed with each other, a small-diameter gear in the duplicate gear d is meshed with one offset gear e, and a large-diameter gear in the duplicate gear d is meshed with the motor gear c; and the meshing between the gears needs to ensure the parallelism, and the motion stability and the precision are ensured.
The two offset cranks f are coaxially and fixedly arranged on the outer side surfaces of the two offset gears respectively, and the tail ends of the two offset cranks f are large-curvature ends, so that the offset cranks f can rotate along with the offset gears e. The front ends of the two offset cranks f are small-curvature ends, and sliding shafts are coaxially designed on the outer end faces of the small-curvature ends and used for being connected with sliding rocking rods g.
The number of the sliding rocking rods g is two, and the tail ends of the sliding rocking rods g are respectively connected with the end parts of two connecting columns designed on the rack through rotating shafts in a shaft-to-shaft mode to form a revolute pair. Sliding shafts on the small-curvature ends of the two offset cranks f respectively penetrate through sliding grooves formed in the axial direction of the two sliding rockers g to form sliding pairs, the positioning between the sliding rockers g of the sliding shafts and the offset cranks f is limited through limiting heads designed at the end parts of the sliding shafts, the fact that a split line in an included angle of the axes of the two sliding rockers g is coincident with a perpendicular bisector of the axes of rotating shafts of the two offset gears e is guaranteed, the rotation angles of the two sliding rockers g are guaranteed to be the same, and the flapping angles of bionic wings i connected with the two sliding rockers g are guaranteed to be the same; and the rotation limit positions of the two sliding rocking bars g are that the axes of the sliding rocking bars g are parallel to the vertical bisector. Therefore, the motor gear c is driven by the motor to rotate, the dual gear d can drive the two offset gears e to rotate reversely, so that the sliding shafts on the small-curvature ends of the two offset cranks f slide along the sliding grooves on the two sliding rocking rods g respectively, and finally the two sliding rocking rods g are driven to rotate relatively or oppositely around the axes of the rotating shafts at the respective tail ends.
The wing root connecting piece h is arranged at the front ends of the two sliding rocking bars g, is provided with a wing connecting cylinder which is coaxially designed with the sliding rocking bars g and is used for connecting the bionic wing i. The bionic wings i on the two sliding rocking bars g realize opposite or opposite flapping under the rotation of the sliding rocking bars g. The bionic wing i is provided with a flexible wing model, and can be flexibly deformed in the flapping process. The front edge of the airfoil model is provided with a front edge rib j, the root part is provided with a root part rib k, and a plurality of supporting ribs l are arranged between the front edge rib and the root part rib and used for maintaining the configuration of the bionic airfoil i, as shown in figure 3. Wherein the root of the front edge rib j is coaxially inserted and fixed in the wing connecting cylinder, and the root rib k is connected with the main frame 1.
The left flapping mechanism 2 and the right flapping mechanism 3 are respectively inserted into the left end and the right end of a connecting shaft at the front part of the main frame 1 through connecting cylinders designed on the supporting frame a, and the axes of the motor output shaft and the rotating shafts of the gears are along the front-back direction. The root ribs k of the bionic wings i positioned on the same side of the main frame 1 are arranged along the front and back direction and are positioned with the side part of the main frame 1 through design reinforcing ribs.
In the left flapping mechanism 2 and the right flapping mechanism 3, the offset gear e, the offset crank f and the sliding rocker g are provided with positioning mounting holes, and the requirement of the swinging angle of the sliding rocker, namely the wing flapping angle, is met through the length matching among the rod pieces, the length of the sliding chute and the like. Support frame a, fin root connecting piece h all adopt high performance nylon to print by 3D and make simultaneously, and biasing crank f, slip rocker g adopt the carbon fiber board to process and form, and the module is compact and realize the lightweight.
The control mechanism 4 is provided with two linear steering engines 401 which are respectively arranged on the left side and the right side of the main frame 1, an overdrive connecting rod 402 is connected with the left side flapping mechanism 2 and the right side flapping mechanism 3, so that the left side flapping mechanism 2 and the right side flapping mechanism 3 are controlled to rotate around the axis of the connecting shaft, the flapping plane of the bionic wing i is changed, pitching and yawing torques are generated, and the motion of two postures is realized. The control modes of the left side flapping mechanism 2 and the right side flapping mechanism 3 are as follows:
as shown in fig. 5, the linear steering engine 401 is fixed to the main frame 1 by bolts, and the steering arm is moved in the front-rear direction. The driving link 402 is arranged in the front-rear direction, and the end is bent upward and connected with the rudder horn to form a revolute pair. The front end of the driving connecting rod 402 is bent outwards and then connected with the lug designed on the top of the supporting frame a to form a revolute pair. Therefore, by controlling the steering engine arm of the linear steering engine 401 to perform linear motion, the driving connecting rod 402 can be driven to rotate around the revolute pair between the tail end of the driving connecting rod 402 and the steering engine arm, and the motor frame is further driven by the front end of the driving connecting rod 402 to rotate around the axis of the connecting shaft 14, so that the angle change of a flapping plane is realized, and yaw and pitch motion is performed. By the mode, the linear motion with a small stroke is converted into the rotary motion with a large stroke, and the control range and the control precision are improved.
The power supply and control system 5 is used for supplying power to the left flapping mechanism 2, the right flapping mechanism 3 and the control mechanism 4, acquiring robot attitude data and sending control signals to the left flapping mechanism 2, the right flapping mechanism 3 and the control mechanism 4. The power supply and control system 5 includes a battery, a battery holder and a flight control board. The battery seat and the flight control board are both fixedly arranged on the main rack 1, a battery is fixedly arranged on the battery seat, and the battery supplies power to the flight control board; the flight control board is connected with the coreless motor b in the left flapping mechanism 2 and the right flapping mechanism 3 and two linear steering engines 401 in the control mechanism 4 through interfaces, and by detecting the flight attitude change of the robot, the rotating speed of the coreless motor b and the motion direction of the linear steering engines 401 are controlled, so that the attitude control in the flying process of the robot is realized.
The hovering micro bionic double-flapping-wing flying robot has the following motion mode:
firstly, the battery supplies power to the flight control panel, and the flight control panel drives the coreless motor b and the two linear steering engines 401 to move. In the process of movement, taking the flapping movement process of one side as an example: the hollow cup motor b generates power, the motor gear c outputs the power, the power is transmitted to the offset gear e through the duplicate gear d to drive the offset gear e to move, the two offset gears e are meshed with each other and rotate relatively to drive the offset cranks f fixedly connected to rotate respectively, a sliding shaft on the sliding rocker g moves in the sliding groove to drive the sliding rocker g to swing, and finally the bionic wing i at the tail end of the sliding rocker g performs flapping motion along with the bionic wing i. Because the two offset gears e are meshed with each other, the rotating speeds are the same, and the directions are opposite, the two bionic wings i move symmetrically, and a close-folding mechanism is utilized to generate large aerodynamic force when the two bionic wings are overlapped and opened.
When the rotating speeds of the hollow cup motors b in the left flapping mechanism 2 and the right flapping mechanism 3 are different, the bionic wings i on the two sides generate lift forces in different sizes and directions, and simultaneously generate rolling torque around the mass center to realize rolling motion; the control movement process on one side is also taken as an example: the linear steering engine 401 generates power, a steering engine arm pushes the driving connecting rod 402 to rotate, and the other end of the driving connecting rod 402 drives the supporting frame a to rotate around the connecting shaft, so that the flapping planes of the two bionic wings i change, forward or backward and upward aerodynamic forces are generated, meanwhile, torque around the mass center of the robot is generated, and pitching and yawing motions are further realized. The flapping planes of the bionic wings i on the two sides of the rack can be independently controlled, the bionic wings i and the flapping planes rotate in the same direction, aerodynamic force on the same side can be generated, and the aerodynamic force can be divided into a forward direction and an upward direction; the aerodynamic force forms a torque around the center of gravity of the machine body, and the torque is a pitching torque and generates pitching motion; the flapping planes on the two sides rotate in opposite directions, so that pneumatic moments in opposite directions are generated, and at the moment, the yawing moments are yawing torques to generate yawing motion.
Claims (4)
1. A hovering micro bionic double-flapping-wing flying robot comprises a main frame, wherein a left flapping mechanism and a right flapping mechanism are arranged on two sides of the main frame; the method is characterized in that:
the left flapping mechanism and the right flapping mechanism have the same structure and are composed of a hollow cup motor, a motor gear, a duplicate gear, a bias crank, a sliding rocker, a fin root connecting piece and a bionic wing, wherein the hollow cup motor, the motor gear, the duplicate gear, the bias crank, the sliding rocker, the fin root connecting piece and the bionic wing are arranged on a support frame and the support frame; wherein the output shaft of the hollow cup motor is provided with a motor gear which is meshed with the large-diameter gear of the duplicate gear; the small-diameter gear of the duplicate gear is meshed with any one of the two mutually meshed offset gears;
the number of the offset cranks is two, and the tail ends of the two offset cranks are coaxially fixed with the two offset gears respectively; the front ends of the two offset cranks are coaxially provided with sliding shafts; sliding shafts on the front ends of the two offset cranks respectively penetrate through the chutes formed in the axial direction of the two sliding rocker shafts to form sliding pairs; the tail ends of the two sliding rockers are respectively arranged on the main rack to form a revolute pair; wing root connecting pieces are arranged at the front ends of the two sliding rockers and connected with the bionic wings;
the left side flapping mechanism and the right side flapping mechanism are arranged at two ends of a connecting shaft arranged in the left-right direction of the front part of the main frame, and the left side flapping mechanism and the right side flapping mechanism are driven by the control mechanism to rotate around the axis of the connecting shaft, so that the angle change of a flapping plane is realized.
2. The hovering micro bionic double-flapping-wing flying robot of claim 1, wherein: the bionic wing is provided with a flexible wing die, the front edge of the wing die is provided with a front edge rib, the root part of the wing die is provided with a root part rib, and a plurality of supporting ribs are arranged between the front edge rib and the root part rib; wherein the root of the front edge rib is coaxially inserted and fixed in the wing root connecting piece, and the root rib is connected with the main frame.
3. The hovering micro-bionic double-flapping-wing flying robot of claim 1, wherein: in the left side flapping mechanism and the right side flapping mechanism, the support frame and the fin root connecting piece are both made of high-performance nylon through 3D printing, and the offset crank and the sliding rocker are processed by carbon fiber plates.
4. The hovering micro-bionic double-flapping-wing flying robot of claim 1, wherein: the control mechanism is provided with two linear steering engines, the steering engine arms of the linear steering engines are controlled to do linear motion, the driving connecting rod can be driven to rotate around a rotating pair between the tail end of the driving connecting rod and the steering engine arms, and the left flapping mechanism and the right flapping mechanism are further driven to rotate around the axis of the connecting shaft by the front end of the driving connecting rod, so that the angle change of a flapping plane is realized, and yaw and pitch motion is carried out.
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| CN202110511099.1A CN113022850B (en) | 2021-05-11 | 2021-05-11 | Hovering type micro bionic double-flapping-wing flying robot |
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| CN202110511099.1A CN113022850B (en) | 2021-05-11 | 2021-05-11 | Hovering type micro bionic double-flapping-wing flying robot |
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| CN113022850B true CN113022850B (en) | 2022-07-19 |
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| CN113911343B (en) * | 2021-11-08 | 2023-06-27 | 北京航空航天大学 | High-efficiency transmission flapping wing mechanism with rolling control function |
| CN114212159B (en) * | 2021-11-24 | 2023-07-21 | 西北工业大学 | Single-motor-driven locust-simulated jump flapping wing double-movement-mode mechanism |
| CN113955101A (en) * | 2021-12-02 | 2022-01-21 | 西北工业大学深圳研究院 | Multi-wing bionic aircraft capable of hovering |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| NL2018958B1 (en) * | 2017-05-22 | 2018-12-04 | Univ Delft Tech | Flapping wing aerial vehicle |
| WO2019126507A1 (en) * | 2017-12-20 | 2019-06-27 | The Texas A & M University System | Hover-capable flapping-wing aircraft |
| CN109573019A (en) * | 2018-12-25 | 2019-04-05 | 哈尔滨工业大学（深圳） | A kind of imitative insect minisize flapping wing aircraft |
| CN111301677A (en) * | 2020-02-29 | 2020-06-19 | 南京航空航天大学 | Eight-wing flapping wing aircraft capable of hovering and flight control method thereof |
| CN112009683B (en) * | 2020-08-06 | 2021-11-02 | 北京航空航天大学 | Miniature double-flapping-wing aircraft |
| CN213109783U (en) * | 2020-08-13 | 2021-05-04 | 电子科技大学 | Opposite-flapping four-wing miniature flapping wing aircraft |
| CN112124582A (en) * | 2020-09-18 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Four-flapping-wing aircraft and control method thereof |
| CN112173101B (en) * | 2020-11-05 | 2022-07-19 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
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Inventor after: Wang Wen Inventor after: Zhang Yuyao Inventor after: Deng Huichao Inventor after: Xiao Shengjie Inventor after: Zhang Shutong Inventor before: Deng Huichao Inventor before: Xiao Shengjie Inventor before: Zhang Shutong |