CN113022851B - Flapping wing aircraft with single-crank double-rocker mechanism - Google Patents
Flapping wing aircraft with single-crank double-rocker mechanism Download PDFInfo
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- CN113022851B CN113022851B CN202110277470.2A CN202110277470A CN113022851B CN 113022851 B CN113022851 B CN 113022851B CN 202110277470 A CN202110277470 A CN 202110277470A CN 113022851 B CN113022851 B CN 113022851B
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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 discloses a hovering flapping wing aircraft based on a single-crank double-rocker mechanism, which comprises a rack, two actuating units, two planetary reducers, two digital steering engines, two driving motors and a foot support frame, wherein the two actuating units are symmetrically arranged on the left and the right, the flapping wing air vehicle uses a single-crank double-rocker mechanism as a driving flapping wing executing mechanism with Wei s-Fogh effect, uses an integrally designed planetary reducer mechanism to realize speed reduction and torque increase of a driving motor, uses two digital steering engines to adjust the flapping angle of a wing membrane through a driving rotating rod to realize the maneuverability of the flapping wing air vehicle, the four controllable parameters of the flapping wing air vehicle are respectively the rotating speed of a left driving motor and a right driving motor and the rudder amount of a left digital steering engine and a right digital steering engine, the flapping wing aircraft has the advantages of simple structure, high micro degree, symmetrical structure, simple stress model and better controllability.
Description
Technical Field
The invention relates to an aircraft, in particular to a flapping wing aircraft with a single-crank double-rocker mechanism.
Background
The existing bionic flapping-wing robot adopting a vertical take-off and landing mode mostly adopts an external gear speed reduction scheme, and two wing membranes are driven to fan in opposite or opposite directions by a double-crank double-rocker mechanism. Namely, the two transmission assemblies are respectively utilized to respectively drive the left pair of wing membranes and the right pair of wing membranes to move, the structure is complex, the whole volume of the flapping wing aircraft is large, the miniaturization degree is low, and the volume and the weight of the whole flapping wing aircraft are large. And the volume and the weight can affect the cruising ability of the machine under the condition of not achieving the optimization. The asymmetry of the flapping wing aircraft structure can also lead to a complex physical stress model, and the controllability of the aircraft is influenced to a certain extent.
Disclosure of Invention
The invention aims to provide a flapping wing air vehicle with a single-crank double-rocker mechanism, which solves one or more technical problems in the prior art and at least provides a beneficial selection or creation condition.
The solution of the invention for solving the technical problem is as follows:
the flapping wing aircraft with the single-crank double-rocker mechanism comprises a frame, wherein the frame is provided with: the left power mechanism comprises a driving motor, a wing side edge, a transmission component, a first wing front edge, a first wing membrane, a second wing front edge and a second wing membrane, wherein the first wing front edge and the second wing front edge respectively extend leftwards and are arranged on the transmission component, the wing side edge extends forwards and backwards and is arranged on the rack, the first wing membrane is connected between the first wing front edge and the wing side edge, the second wing membrane is connected between the second wing front edge and the wing side edge, and the driving motor can drive the first wing membrane and the second wing membrane to be mutually separated and folded through the transmission component; and the right power mechanism and the left power mechanism are in a bilateral symmetry structure.
The technical scheme at least has the following beneficial effects: the first fin membrane is connected between the first fin front edge and the fin side edge, the second fin membrane is connected between the second fin front edge and the fin side edge, the first fin front edge and the second fin front edge can be driven to swing through the transmission assembly when the driving motor rotates, the first fin front edge drives the first fin membrane to swing around the fin side edge, the second fin front edge drives the second fin membrane to swing around the fin side edge, and therefore the first fin membrane and the second fin membrane are separated and folded.
As a further improvement of the above technical solution, the transmission assembly includes a speed reducer, a first transmission rod, a second transmission rod, a third transmission rod, and a fourth transmission rod, the driving motor is connected to the frame, the driving motor is connected to the speed reducer in a driving manner, one end of the first transmission rod and one end of the third transmission rod are coaxially and rotatably connected to the speed reducer, the rotation axis of the first transmission rod and the rotation axis of the output end of the driving motor are not collinear, the middle of the second transmission rod and the middle of the fourth transmission rod are coaxially and rotatably connected to the frame, the other end of the first transmission rod is rotatably connected to one end of the second transmission rod, the leading edge of the first fin is connected to the other end of the second transmission rod, and the other end of the third transmission rod is rotatably connected to one end of the fourth transmission rod, the second wing leading edge is connected to the other end of the fourth transmission rod, and the rotation axis of the first transmission rod and the rotation axis of the second transmission rod both extend in the front-back direction. The first transmission rod and the third transmission rod are connected to the speed reducer and are arranged eccentrically to the output end of the driving motor, when the driving motor drives the speed reducer to rotate, one end of the first transmission rod and one end of the third transmission rod are driven by the speed reducer to rotate around the output end of the driving motor, the middle part of the second transmission rod and the middle part of the fourth transmission rod are rotatably connected to the rack, namely, the positions of the middle part of the second transmission rod and the middle part of the fourth transmission rod relative to the rack are unchanged, and a single-crank double-rocker mechanism is formed among the first transmission rod, the second transmission rod, the third transmission rod and the fourth transmission rod, so that the first fin film and the second fin film are driven to be opened and closed respectively through the first fin front edge and the second fin front edge.
As a further improvement of the above technical solution, one end of the second transmission rod connected to the first transmission rod and one end of the fourth transmission rod connected to the third transmission rod are deviated from each other. The maximum stretching angle of the first finned film and the second finned film can be adjusted through the bending design of the second transmission rod and the fourth transmission rod.
As a further improvement of the above technical solution, the speed reducer is a planetary speed reducer. The planetary reducer is more beneficial to the design of integral modularization and micro blocks, and the volume and the weight of the whole machine are smaller.
As a further improvement of the above technical scheme, the left power mechanism further comprises a digital steering engine and a rotating rod, the digital steering engine is connected to the frame, the digital steering engine is connected to one end of the rotating rod in a driving manner, a rotating axis of the rotating rod extends in the front-back direction, the rear end of the wing lateral edge is connected to the other end of the rotating rod, and the front end of the wing lateral edge is inserted into the frame. The digital steering engine drives the rotating rod to swing, so that the bottoms of the wing lateral edges are twisted, the angle of the wing membrane can be changed to provide a deflection torque, and the maneuverability is realized.
As a further improvement of the technical scheme, the driving motor is a hollow cup motor. The weight and the rotational inertia of the hollow cup motor are lower, and the lightweight of the whole machine is more favorably realized.
As a further improvement of the technical scheme, the rear end of the machine frame is connected with a foot support frame. The foot support frame can facilitate the placement, landing and support of the whole machine, and improve the stability of the whole machine during taking off and landing.
As a further improvement of the technical scheme, the rack is detachably connected with the foot support frame. The foot support frame can be conveniently disassembled and assembled from the rack, and is more flexible in use.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is an overall perspective view of a first fin film of the present invention folded with a second fin film;
fig. 2 is an overall top view of the first fin film of the present invention separated from the second fin film.
In the drawings: 100-a rack, 210-a driving motor, 220-a wing side edge, 231-a speed reducer, 232-a first transmission rod, 233-a second transmission rod, 234-a third transmission rod, 235-a fourth transmission rod, 240-a first wing front edge, 250-a first wing film, 260-a second wing front edge, 270-a second wing film, 310-a digital steering engine, 320-a rotating rod and 400-a foot support frame.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The technical characteristics in the invention can be combined interactively on the premise of not conflicting with each other.
Referring to fig. 1, the flapping wing aircraft with single crank and double rocker mechanism comprises a frame 100, wherein the frame 100 is provided with: a left power mechanism, which includes a driving motor 210, a wing leading edge 220, a transmission component, a first wing leading edge 240, a first wing membrane 250, a second wing leading edge 260, and a second wing membrane 270, wherein the first wing leading edge 240 and the second wing leading edge 260 extend leftward on the transmission component, the wing leading edge 220 extends in the front-back direction on the rack 100, the first wing membrane 250 is connected between the first wing leading edge 240 and the wing leading edge 220, the second wing membrane 270 is connected between the second wing leading edge 260 and the wing leading edge 220, and the driving motor 210 can drive the first wing membrane 250 and the second wing membrane 270 to separate and fold each other through the transmission component; and the right power mechanism and the left power mechanism are in a bilateral symmetry structure.
As can be seen from the above, the first fin film 250 is connected between the first fin front edge 240 and the fin side edge 220, the second fin film 270 is connected between the second fin front edge 260 and the fin side edge 220, when the driving motor 210 rotates, the first fin front edge 240 and the second fin front edge 260 can be driven to swing through the transmission component, the first fin front edge 240 drives the first fin film 250 to swing around the fin side edge 220, and the second fin front edge 260 drives the second fin film 270 to swing around the fin side edge 220, so as to realize the separation and the folding of the first fin film 250 and the second fin film 270.
The transmission assembly is mainly used for realizing that one power drive can drive the two finned films to be separated and folded, as shown in fig. 2, in this embodiment, the transmission assembly includes a speed reducer 231, a first transmission rod 232, a second transmission rod 233, a third transmission rod 234, and a fourth transmission rod 235, the driving motor 210 is connected to the rack 100, the driving motor 210 is connected to the speed reducer 231 in a driving manner, one end of the first transmission rod 232 and one end of the third transmission rod 234 are coaxially and rotatably connected to the speed reducer 231, the rotation axis of the first transmission rod 232 and the rotation axis of the output end of the driving motor 210 are not collinear, the first transmission rod 232 and the third transmission rod 234 are connected to an eccentric hole at the output end of the speed reducer, the eccentric hole at the output end plays a role of a crank in a rotating process, and the position is designed in a manner that the output end of the speed reducer drives the crank to rotate to drive the flapping wing mechanism to be also within a protection range, the middle of the second transmission rod 233 and the middle of the fourth transmission rod 235 are coaxially and rotatably connected to the rack 100, the other end of the first transmission rod 232 is rotatably connected to one end of the second transmission rod 233, the first wing leading edge 240 is connected to the other end of the second transmission rod 233, the other end of the third transmission rod 234 is rotatably connected to one end of the fourth transmission rod 235, the second wing leading edge 260 is connected to the other end of the fourth transmission rod 235, and the rotation axis of the first transmission rod 232 and the rotation axis of the second transmission rod 233 both extend in the front-back direction. The first transmission rod 232 and the third transmission rod 234 are connected to the reducer 231 and are eccentrically arranged with the output end of the driving motor 210, when the driving motor 210 drives the reducer 231 to rotate, one end of the first transmission rod 232 and one end of the third transmission rod 234 are driven by the reducer 231 to rotate around the output end of the driving motor 210, and as the middle part of the second transmission rod 233 and the middle part of the fourth transmission rod 235 are rotatably connected to the rack 100, that is, the positions of the middle part of the second transmission rod 233 and the middle part of the fourth transmission rod 235 relative to the rack 100 are not changed, a single-crank double-rocker mechanism is formed among the first transmission rod 232, the second transmission rod 233, the third transmission rod 234 and the fourth transmission rod 235, so that the first fin film 250 and the second fin film 270 are driven to open and close respectively by the first fin front edge 240 and the second fin front edge 260. The invention uses a single crank double rocker mechanism as a driving flapping wing mechanism with We i s-Fogh effect. The reducer 231 is an integrally designed planetary reducer mechanism, which can further reduce the volume and weight. The whole body has the characteristics of symmetrical structure, simple physical stress model, good controllability, simple driving structure, high micro-degree and the like.
As a further embodiment of the second transmission rod 233 and the fourth transmission rod 235, an end of the second transmission rod 233 connected to the first transmission rod 232 and an end of the fourth transmission rod 235 connected to the third transmission rod 234 are away from each other. The bending design of the second transmission rod 233 and the fourth transmission rod 235 can adjust the maximum opening angle of the first fin film 250 and the second fin film 270.
In the present embodiment, the speed reducer 231 is a planetary speed reducer. The planetary reducer is more beneficial to the design of integral modularization and micro blocks, and the volume and the weight of the whole machine are smaller.
In order to improve the maneuverability of the ornithopter and realize the maneuverability in the aspects of flexible steering, rotation, yawing and the like, in this embodiment, the left power mechanism further includes a digital steering engine 310 and a rotating rod 320, the digital steering engine 310 is connected to the frame 100, the digital steering engine 310 is connected to one end of the rotating rod 320 in a driving manner, a rotation axis of the rotating rod 320 extends in the front-back direction, the rear end of the wing side edge 220 is connected to the other end of the rotating rod 320, and the front end of the wing side edge 220 is inserted into the frame 100. The digital steering engine 310 drives the rotating rod 320 to swing, so that the bottoms of the wing lateral edges 220 are twisted, the angle of the wing membrane can be changed to provide a deflection torque, and the maneuverability is realized.
In this embodiment, the driving motor 210 is a hollow cup motor. The weight and the moment of inertia of the hollow cup motor are lower, and the light weight of the whole machine is more favorably realized.
In some embodiments, a foot bracket 400 is attached to the rear end of the chassis 100. The foot support frame 400 can facilitate the placement, landing and support of the whole machine, and improve the stability of the whole machine during taking off and landing.
In practical applications, the foot support frame 400 is not needed when the whole machine is used, and the foot blocking frame can be detached from the rack 100, and when the whole machine is placed, the whole machine needs to be stably placed, and as a further embodiment of the rack 100 and the foot support frame 400, the rack 100 and the foot support frame 400 are detachably connected. The foot rest 400 can be easily removed from the frame 100 and is more flexible in use.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (7)
1. The utility model provides a flapping wing aircraft of single crank double rocker mechanism which characterized in that: including frame (100), be provided with on frame (100):
the left power mechanism comprises a driving motor (210), a wing side edge (220), a transmission assembly, a first wing front edge (240), a first wing membrane (250), a second wing front edge (260) and a second wing membrane (270), wherein the first wing front edge (240) and the second wing front edge (260) are respectively arranged on the transmission assembly in a leftward extending mode, the wing side edge (220) is arranged on the rack (100) in a forward and backward extending mode, the first wing membrane (250) is connected between the first wing front edge (240) and the wing side edge (220), the second wing membrane (270) is connected between the second wing front edge (260) and the wing side edge (220), the driving motor (210) can drive the first wing membrane (250) and the second wing membrane (270) to be separated from and folded with each other through the transmission assembly, and the transmission assembly comprises a speed reducer (231), a first transmission rod (232) and a second transmission rod (270), A second transmission rod (233), a third transmission rod (234) and a fourth transmission rod (235), wherein the driving motor (210) is connected to the frame (100), the driving motor (210) is connected to a reducer (231) in a driving manner, one end of the first transmission rod (232) and one end of the third transmission rod (234) are coaxially and rotatably connected to the reducer (231), the rotation axis of the first transmission rod (232) is not collinear with the rotation axis of the output end of the driving motor (210), the middle part of the second transmission rod (233) and the middle part of the fourth transmission rod (235) are coaxially and rotatably connected to the frame (100), the other end of the first transmission rod (232) is rotatably connected to one end of the second transmission rod (233), and the first fin front edge (240) is connected to the other end of the second transmission rod (233), the other end of the third transmission rod (234) is rotatably connected to one end of the fourth transmission rod (235), the second wing leading edge (260) is connected to the other end of the fourth transmission rod (235), and the rotation axis of the first transmission rod (232) and the rotation axis of the second transmission rod (233) both extend in the front-back direction;
and the right power mechanism and the left power mechanism are in a bilateral symmetry structure.
2. The ornithopter of claim 1, wherein: one end of the second transmission rod (233) connected to the first transmission rod (232) and one end of the fourth transmission rod (235) connected to the third transmission rod (234) are deviated from each other.
3. The ornithopter of claim 1, wherein: the speed reducer (231) is a planetary speed reducer.
4. The ornithopter of claim 1, wherein: the left power mechanism further comprises a digital steering engine (310) and a rotating rod (320), the digital steering engine (310) is connected to the rack (100), the digital steering engine (310) is connected to one end of the rotating rod (320) in a driving mode, a rotating axis of the rotating rod (320) extends in the front-back direction, the rear end of the wing lateral edge (220) is connected to the other end of the rotating rod (320), and the front end of the wing lateral edge (220) is inserted into the rack (100).
5. The ornithopter of claim 1, wherein: the driving motor (210) is a hollow cup motor.
6. The ornithopter of claim 1, wherein the flapping wing aircraft comprises: the rear end of the machine frame (100) is connected with a foot support frame (400).
7. The ornithopter of claim 6, wherein the mechanism comprises: the rack (100) is detachably connected with the foot support frame (400).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110277470.2A CN113022851B (en) | 2021-03-15 | 2021-03-15 | Flapping wing aircraft with single-crank double-rocker mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110277470.2A CN113022851B (en) | 2021-03-15 | 2021-03-15 | Flapping wing aircraft with single-crank double-rocker mechanism |
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| Publication Number | Publication Date |
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| CN113022851A CN113022851A (en) | 2021-06-25 |
| CN113022851B true CN113022851B (en) | 2022-09-20 |
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| CN202110277470.2A Active CN113022851B (en) | 2021-03-15 | 2021-03-15 | Flapping wing aircraft with single-crank double-rocker mechanism |
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| CN108248856A (en) * | 2018-01-02 | 2018-07-06 | 南京航空航天大学 | Double crank rocker is double to wing flapping wing aircraft and its method of work without difference |
| CN110525647A (en) * | 2019-09-09 | 2019-12-03 | 北京航空航天大学 | A kind of transmission mechanism suitable for miniature four flapping wing aircraft |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN110712751A (en) * | 2019-09-03 | 2020-01-21 | 北京航空航天大学 | Miniature four-flapping-wing aircraft |
| CN112009683A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Miniature double-flapping-wing aircraft |
| CN112173101A (en) * | 2020-11-05 | 2021-01-05 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
| CN112319801A (en) * | 2020-11-24 | 2021-02-05 | 北京航空航天大学 | Flapping-effect-based large high-mobility hovering flapping-wing aircraft |
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2021
- 2021-03-15 CN CN202110277470.2A patent/CN113022851B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248856A (en) * | 2018-01-02 | 2018-07-06 | 南京航空航天大学 | Double crank rocker is double to wing flapping wing aircraft and its method of work without difference |
| CN110712751A (en) * | 2019-09-03 | 2020-01-21 | 北京航空航天大学 | Miniature four-flapping-wing aircraft |
| CN110525647A (en) * | 2019-09-09 | 2019-12-03 | 北京航空航天大学 | A kind of transmission mechanism suitable for miniature four flapping wing aircraft |
| CN110667840A (en) * | 2019-10-29 | 2020-01-10 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
| CN112009683A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Miniature double-flapping-wing aircraft |
| CN112173101A (en) * | 2020-11-05 | 2021-01-05 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
| CN112319801A (en) * | 2020-11-24 | 2021-02-05 | 北京航空航天大学 | Flapping-effect-based large high-mobility hovering flapping-wing aircraft |
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| CN113022851A (en) | 2021-06-25 |
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