CN113619781B - Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft - Google Patents
Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft Download PDFInfo
- Publication number
- CN113619781B CN113619781B CN202110993319.9A CN202110993319A CN113619781B CN 113619781 B CN113619781 B CN 113619781B CN 202110993319 A CN202110993319 A CN 202110993319A CN 113619781 B CN113619781 B CN 113619781B
- Authority
- CN
- China
- Prior art keywords
- wing
- flapping
- torsion
- rod
- bionic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 81
- 230000033001 locomotion Effects 0.000 title claims abstract description 74
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 53
- 230000005540 biological transmission Effects 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 37
- 230000008569 process Effects 0.000 claims abstract description 35
- 239000002184 metal Substances 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 229920001721 polyimide Polymers 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000010009 beating Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- 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)
- Toys (AREA)
Abstract
The invention discloses a transmission mechanism for realizing flapping and torsion motions of a bionic miniature flapping-rotor aircraft, and belongs to the field of bionic miniature aircrafts. The invention comprises a main shaft of a machine body, a rotating mechanism, a flapping torsion mechanism and a wing. The flapping torsion mechanism comprises a wing flapping rod, a torsion piece baffle and a ball shaft push-pull rod. The bottom end of the main shaft of the machine body is vertically and fixedly connected with the base of the machine body, the rotating mechanism is arranged at the top end and the middle part of the main shaft of the machine body and is connected with the flapping torsion mechanism, and the wing is arranged on a wing flapping rod of the flapping torsion mechanism. According to the invention, the wing attack angle is actively changed in the flapping process, so that the negative lift is reduced in the flapping process by twisting and adjusting the wing attack angle under the condition that the positive lift is maximum in the flapping process of the wing, the flying average lift of the aircraft is increased, and the aerodynamic efficiency of the aircraft is improved. The torsion angle of the wing can be changed through the torsion clamping groove, and the wing torsion movement is simple and efficient to operate.
Description
Technical Field
The invention belongs to the field of bionic miniature aircrafts, and relates to a transmission mechanism for realizing flapping and torsion combined motion of a miniature flapping-rotor aircraft.
Background
The miniature aircraft has the advantages of small size, light weight, flexibility, good concealment and the like, can finish the tasks of monitoring, reconnaissance, electronic eavesdropping, interference and the like in a narrow space, has extremely high practical value, and has wide application prospect in the future no matter in the military and civil fields, so the miniature aircraft is also an object for wide research of students in all countries of the world. According to the overall structural layout and the flight mode, the micro-aircraft is divided into three types of micro fixed-wing aircraft, micro rotor aircraft and micro ornithopter, and the three types of aircraft have different advantages and disadvantages and applicable environments. The miniature fixed wing aircraft has the advantages of high speed, simple structure and the like, but has poor maneuverability, and cannot realize vertical take-off and landing; compared with the micro fixed wing aircraft, the micro fixed wing aircraft can realize vertical take-off and landing, and has high take-off efficiency, but complex structure and low aerodynamic efficiency; the miniature flapping wing aircraft is designed by adopting a bionic principle, has small noise, high aerodynamic efficiency and good maneuverability in the flight process, but has low take-off efficiency, can not finish vertical take-off and landing and is difficult to control.
In order to overcome the defects of the miniature aircraft, the bionic miniature flapping-rotor aircraft, which is a miniature aircraft combining flapping wings and rotors, is applied. The bionic miniature flapping-rotor aircraft converts the plane symmetrical distribution of wings in the flapping wings into the center symmetrical distribution, and the wings are arranged in an anti-symmetrical way in the flapping process to generate a couple taking a wing symmetrical point as the center, so that the wings rotate around a central shaft under the action of the couple, and the functions of the flapping wings and the rotors are realized simultaneously. Therefore, the bionic miniature flapping-rotor aircraft has the advantages of the miniature rotor aircraft and the miniature flapping-rotor aircraft, has high take-off efficiency, can realize autonomous take-off and landing, and has simple structure, high aerodynamic efficiency and wide future development prospect.
However, the bionic miniature flapping rotor craft which is designed and researched at present has smaller flying average lift force, and can generate a large positive lift force in the wing lower shooting process, but simultaneously generates a small negative lift force in the upper shooting process, so that the aerodynamic efficiency is lower, and how to further improve the aerodynamic efficiency of the bionic miniature flapping rotor craft is still the key point of the current research.
Disclosure of Invention
The invention aims to solve the problems of small flying average lift and low aerodynamic efficiency caused by large negative lift in the upward shooting process of a bionic miniature flapping rotor aircraft.
The aim of the invention is achieved by the following technical scheme.
The invention discloses a transmission mechanism for realizing flapping and torsion motions of a bionic miniature flapping rotor aircraft, which comprises a main shaft of a fuselage, a rotating mechanism, a flapping torsion mechanism and wings.
The bottom end of the main body spindle is vertically and fixedly connected to the body base of the bionic miniature flapping rotor aircraft, and the top end and the middle part of the main body spindle are connected with the upper rotating mechanism and the lower rotating mechanism.
The rotating mechanism comprises an upper rotating mechanism and a lower rotating mechanism. The upper rotating mechanism comprises a wing flapping rod mounting frame, an upper sleeve bearing and an upper sleeve. The top of the upper sleeve penetrates through the inner ring of the upper sleeve bearing and is fixedly connected with the inner ring of the upper sleeve bearing, and the wing flapping rod mounting frame and the outer ring of the upper sleeve bearing are fixedly connected into a whole. The top end of the main body main shaft passes through an upper sleeve fixedly connected with the inner ring of the upper sleeve bearing, and the bottom of the upper sleeve is fixedly connected with the top end of the main body main shaft, so that the wing flapping rod mounting frame with the upper sleeve bearing can freely rotate 360 degrees around the main body main shaft but cannot slide up and down along the main body main shaft.
The use of the upper sleeve bearing makes the rotary motion of the bionic miniature flapping rotor craft smooth and smooth, reduces the rotary friction between the upper sleeve and the wing flapping rod mounting frame, and reduces the power consumption of the bionic miniature flapping rotor craft in the motion process.
The lower rotating mechanism comprises a driving push rod, a lower sleeve bearing and a lower sleeve. The top of the lower sleeve penetrates through the inner ring of the lower sleeve bearing and is fixedly connected with the inner ring of the lower sleeve bearing, the driving push rod and the outer ring of the lower sleeve bearing are fixedly connected into a whole, and the middle part of the main body main shaft penetrates through the lower sleeve fixedly connected with the inner ring of the lower sleeve bearing, so that the driving push rod with the lower sleeve bearing can freely rotate 360 degrees around the main body main shaft. The bottom of the lower sleeve is connected with a driver transmission rod, so that the driving push rod can slide up and down along the main shaft of the machine body.
The use of lower sleeve bearing makes the rotary motion of the miniature flapping rotor craft of bionical smooth and easy, reduces the rotation friction between lower sleeve and the drive push rod, reduces the power consumption of the miniature flapping rotor craft in the motion process of bionical.
The flapping torsion mechanism comprises a wing flapping rod, a torsion piece baffle and a ball shaft push-pull rod. The front end of the wing flapping rod is connected with one side of the wing flapping rod mounting frame through pins, so that the wing flapping rod can flap up and down within a range meeting the requirement. The ball shaft push-pull rod consists of a push-pull rod and a ball body, the ball body is arranged in an upper end ring of the push-pull rod to form a ball shaft capable of rotating at will, the lower end of the push-pull rod is connected with the driving push rod, and the ball shaft end at the upper end is fixedly connected with an extension shaft of the torsion part. The torsion piece is fixedly connected with the front end of the wing main beam and is arranged in a torsion groove of a wing flapping rod designed according to the torsion angle of the wing. The center round hole of the torsion piece baffle plate is penetrated by the wing main beam, the torsion piece extension shaft penetrates through the sphere center hole and is fixedly connected with the sphere center hole, and the torsion piece can be driven by the sphere shaft push-pull rod to twist. The baffle is fixedly connected with the outer side of the clamping groove end of the wing flapping rod, and the torsion part is limited to rotate in the torsion groove of the wing flapping rod and cannot axially move.
Because the surface of the metal ball is smooth, the friction between the metal ball and the push-pull rod is small when the metal ball rotates, the requirements of strength and rigidity can be met, and the power consumption in the motion process can be reduced.
The wings are in total two and are arranged on two sides of the rotating shaft in an antisymmetric way. The single wing comprises a main beam, secondary beams perpendicular to the main beam and wing films, wherein the main beam and the secondary beams perpendicular to the main beam jointly form a wing framework, and the wing films are adhered to the wing beams. The root of the wing girder passes through the round hole of the torsion piece baffle plate to be fixedly connected with the torsion piece, the torsion piece baffle plate is fixedly connected with the wing flapping rod, the hole diameter of the round hole of the torsion piece baffle plate is required to be larger than the diameter of the wing girder, and the friction influence in the wing torsion process is prevented.
In order to meet the requirements of strength and rigidity in the flapping process of the wing of the bionic miniature flapping rotor aircraft, the quality of the wing is reduced, and the wing spar adopts a high-modulus carbon fiber rod which can meet the requirements as an optimization.
In order to meet the requirements of elasticity and toughness of the wing film of the aircraft, the wing quality is reduced, and preferably, the wing film adopts a polyimide film.
The invention discloses a driving mechanism capable of realizing flapping and torsion motions of a bionic miniature flapping rotor aircraft, which comprises the following working steps: the wing movement process is divided into three processes of torsion, flapping and rotation. And in the stage of starting the movement of the wing, the lower sleeve of the lower rotating mechanism moves along the central shaft under the drive of the driver, the driving push rod on the lower sleeve also moves along with the movement, and the movement of the driving push rod drives the ball shaft push-pull rod to move, so that the torsion piece fixedly connected with the wing is driven to rotate around the axis in the torsion clamping groove, the wing is twisted until the rotation of the torsion piece reaches the torsion angle arranged in the torsion clamping groove to stop the torsion, and the torsion movement of the wing is completed. When the wing is in a high attack angle state, the negative lift force in the shooting process is small; when the lower bat is performed, the torsion part rotates to reach the minimum torsion angle position arranged in the torsion clamping groove to stop torsion, the torsion angle of the wing is minimum, the wing is horizontally downward-beaten and is in a small attack angle state, and the positive lift force of the wing is lifted, so that the flying average lift force of the flapping rotor craft is increased, and the aerodynamic efficiency of the flapping rotor craft is improved.
After the torsion movement is completed quickly, the ball shaft push-pull rod continues to move, and the torsion piece is not twisted at the moment and pushes the wing flapping rod to move instead. When the wing is in a high attack angle state, the ball shaft push-pull rod pushes the wing flapping rod through the torsion piece to enable the wing in the high attack angle state to move upwards, and the high-attack movement of the wing is completed; when the wing is in a low attack angle state, the ball shaft push-pull rod pulls the wing flapping rod through the torsion piece to enable the wing in the low attack angle state to move downwards, and the lower shooting movement of the wing is completed.
In the flapping process of the flapping rotor aircraft, a couple taking a wing symmetrical point as a center is generated due to the anti-symmetrical installation of the wing, so that the wing rotates around a central shaft under the action of the couple, and the rotary motion of the flapping rotor aircraft is completed.
The beneficial effects are that:
1. the invention discloses a transmission mechanism for realizing flapping and torsion movements of a bionic miniature flapping rotor aircraft, wherein a lower sleeve of a lower rotating mechanism moves along a central shaft under the drive of a driver, a driving push rod on the lower sleeve also moves along with the lower sleeve, and the movement of the driving push rod drives a ball shaft push-pull rod to move, so that a torsion part fixedly connected with a wing is driven to rotate around the axis in a torsion clamping groove, and the wing is twisted. When the wing is in the upper beat, under the torsion of the torsion piece, the wing moves upwards in a large attack angle state, the windward area of the wing is small, and the generated negative lift force is small; when the wing is in downward shooting, the wing moves downwards in a small attack angle state due to the torsion of the torsion piece, the windward area of the wing is large, the positive lift force of the wing is increased, the negative lift force is reduced, and the positive lift force is increased, so that the whole flapping rotor aircraft generates extremely large average lift force in one flapping period, and the loading capacity and the aerodynamic efficiency of the flapping rotor aircraft are improved.
2. According to the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor aircraft, the torsion clamping groove for adjusting the torsion angle is formed in the wing flapping rod, the torsion angle of the torsion part is adjusted by changing the position and the size of the torsion clamping groove, and even if the torsion part is twisted in the torsion clamping groove according to the designed angle, the ball shaft connected with the torsion part enables the torsion of the torsion part to be smooth and efficient, and the torsion motions of the wing can be completed rapidly and stably.
3. According to the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor aircraft, disclosed by the invention, the upper rotating mechanism and the lower rotating mechanism are provided with the sleeve bearings which rotate smoothly, so that the wing flapping rod mounting frame and the driving push rod can rotate freely around the main shaft of the aircraft body by 360 degrees respectively, the smoothness and smoothness of the rotation motions of the flapping rotor aircraft are improved by using the sleeve bearings, the rotation friction between the upper sleeve and the wing flapping rod mounting frame and between the lower sleeve and the driving push rod is reduced, the requirement on the rotation speed during wing rotation is met, and the power consumption in the motion process of the bionic miniature flapping rotor aircraft is reduced.
4. The transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor craft has the advantages of compact whole structure, simple processing technology and easy assembly and manufacture.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a transmission mechanism for realizing flapping and twisting motions of a bionic miniature flapping-rotor aircraft.
Fig. 2 is a schematic diagram of a single wing structure of a transmission mechanism for realizing flapping and twisting motions of a bionic miniature flapping-rotor aircraft.
Fig. 3 is a schematic diagram of the upper rotating mechanism of the transmission mechanism for realizing flapping and twisting motions of the bionic miniature flapping rotor craft.
Fig. 4 is a schematic diagram of the lower rotating mechanism of the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping-rotor aircraft.
Fig. 5 is a schematic diagram of the torsion mechanism of the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping-rotor aircraft.
Fig. 6 is a schematic structural view of a ball-axis push-pull rod of a transmission mechanism for realizing flapping and twisting motions of a bionic miniature flapping-rotor aircraft.
In the figure:
1-rotating mechanism 2-flapping torsion mechanism 3-wing 4-main shaft of machine body
101-upper sleeve bearing 102-upper sleeve 103-wing flapping rod mounting frame
104-lower sleeve bearing 105 lower sleeve 106-drive push rod
201-wing flapping bar 202-torsion member 203 torsion member baffle
204-push-pull rod 205-ball
301-Main girder 302-sub girder 303-wing film perpendicular to Main girder
Detailed Description
In order to better practice the invention, advantages thereof are illustrated and described in detail below with reference to the drawings and examples.
Example 1:
as shown in fig. 1, the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor aircraft disclosed in the embodiment comprises a rotating mechanism 1, a flapping torsion mechanism 2, a wing 3 and a main body shaft 4. Wherein, fuselage main shaft 4 is vertical to be installed in bionical miniature flutter aircraft base.
As shown in fig. 2, in order to realize the wing 3 of the transmission mechanism of flapping and twisting motion of the bionic micro flapping rotor aircraft in this embodiment, the whole wing 3 includes a main beam 301, a secondary beam 302 perpendicular to the main beam 301, and a wing film 303, where the main beam 301 and the secondary beam 302 perpendicular to the main beam jointly form a skeleton of the 1/4 elliptic wing 3, and the wing film 303 is cut according to the 1/4 elliptic plane size formed by the main beam 301 and the secondary beam 302 perpendicular to the main beam and is adhered to the skeleton of the wing 3. In order to meet the requirements of strength and rigidity in the flapping process of the wing 3 of the bionic miniature flapping rotor aircraft and reduce the mass of the wing 3, the main beams 301 and the secondary beams 302 perpendicular to the main beams 301 adopt high-modulus carbon fiber rods capable of meeting the requirements. In order to meet the requirements of elasticity and toughness of the wing film 303 and reduce the mass of the wing 3, the wing film 303 adopts a polyimide film with the thickness of 0.015 mm.
As shown in fig. 3, the upper rotating mechanism of the rotating mechanism 1 in the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor aircraft in this embodiment comprises an upper sleeve bearing 101, an upper sleeve 102 and a wing flapping rod mounting frame 103, wherein the top of the upper sleeve 102 passes through the inner ring of the upper sleeve bearing 101 and is fixedly connected with the inner ring of the upper sleeve bearing 101, the wing flapping rod mounting frame 103 and the outer ring of the upper sleeve bearing 101 are fixedly connected into a whole, the top end of a main body main shaft 4 passes through the upper sleeve 102, and the bottom of the upper sleeve 102 is fixedly connected with the top end of the main body main shaft 1, so that the wing flapping rod mounting frame 103 can freely rotate 360 degrees around the main body main shaft 4 but cannot slide up and down along the main body main shaft 4. The use of the upper sleeve bearing 101 makes the rotation movement of the bionic miniature flapping rotor craft smooth and smooth, reduces the rotation friction between the upper sleeve 102 and the wing flapping rod mounting frame 103, and reduces the power consumption in the movement process of the bionic miniature flapping rotor craft.
As shown in fig. 4, the lower rotating mechanism of the rotating mechanism 1 in the transmission mechanism for realizing flapping and twisting motions of the bionic miniature flapping rotor craft in the embodiment comprises a lower sleeve bearing 104, a lower sleeve 105 and a driving push rod 106. The top of the lower sleeve 105 penetrates through the inner ring of the lower sleeve bearing 104 and is fixedly connected with the inner ring of the lower sleeve bearing 104, the driving push rod 106 and the outer ring of the lower sleeve bearing 104 are fixedly connected into a whole, the middle part of the main body main shaft 4 penetrates through the lower sleeve 105 fixedly connected with the inner ring of the lower sleeve bearing 104, and the driving push rod 106 can freely rotate 360 degrees around the main body main shaft 4. The bottom of the lower sleeve 105 is connected with a driver transmission rod, so that the driving push rod 106 can slide up and down along the main shaft 4 of the machine body. The use of the lower sleeve bearing 104 makes the rotation movement of the bionic miniature flapping-rotor aircraft smooth and smooth, reduces the rotation friction between the lower sleeve 105 and the driving push rod 106, and reduces the power consumption in the movement process of the bionic miniature flapping-rotor aircraft.
As shown in fig. 5 and 6, in this embodiment, the flapping torsion mechanism 2 in the transmission mechanism for realizing flapping and torsion motions of the bionic micro flapping rotor aircraft is shown, where the flapping torsion mechanism 2 includes a wing flapping rod 201, a torsion member 202, a torsion member baffle 203, a push-pull rod 204 and a ball 205, and because the surface of the metal ball is smooth, friction between the metal ball and the push-pull rod 204 is small during rotation, so that the requirements of strength and rigidity can be met, and power consumption in the motion process can be reduced, and the ball 205 is a metal ball. The push-pull rod 204 and the metal ball 205 jointly form a ball shaft push-pull rod, the metal ball 205 is arranged in the ring at the front end of the push-pull rod 204, the metal ball 205 can rotate at will, the lower end of the push-pull rod 204 is connected with the driving push rod 106, and a central round hole of the metal ball 205 is fixedly connected with the extension shaft of the torsion member 202.
The front end of the wing flapping rod 201 is connected with one side of the wing flapping rod mounting frame 103, so that the wing flapping rod 201 can flap up and down within a range meeting the requirement. The torsion member 202 is fixedly connected with the front end of the wing main beam 301, and is installed in a torsion groove of the wing flapping rod 201 designed according to the torsion angle of the wing 3.
The center round hole of the torsion member baffle 203 is penetrated by the wing girder 301, and the aperture of the torsion member baffle 203 is larger than the diameter of the wing girder 301, so that the friction influence in the rotation process of the wing 3 is prevented. The extending shaft of the torsion member 202 penetrates through the central hole of the metal ball 205 and is fixedly connected with the metal ball 205, and the torsion member 202 can be driven by the ball shaft push-pull rod to twist due to the fact that the metal ball 205 can rotate randomly. The torsion member baffle 203 is fixedly connected with the outer side of the clamping groove end of the wing flapping rod 201, so that the torsion member 202 can only rotate in the torsion groove 201 of the wing flapping rod and cannot axially move.
The detailed working method of the transmission mechanism for realizing flapping and torsion motions of the bionic miniature flapping rotor craft disclosed by the embodiment is as follows:
after the driver is started, the lower sleeve 105 of the lower rotating mechanism of the rotating mechanism 1 moves along the main shaft 4 of the machine body under the drive of the driver, the driving push rod 106 on the lower sleeve 105 also moves along, and the movement of the driving push rod 106 drives the push-pull rod 204 to move, so that the torsion piece 202 fixedly connected with the wing 3 is driven to rotate around the axis in the torsion clamping groove of the wing flapping rod 201, the wing 3 is driven to twist until the rotation of the torsion piece 202 reaches the torsion angle arranged in the torsion clamping groove of the wing flapping rod 201, at the moment, the torsion movement of the wing 3 is completed, and then the flapping movement is carried out.
During flapping, the wing 3 generates a couple taking the symmetrical point of the wing as the center due to anti-symmetrical installation, so that the wing 3 rotates around the central shaft under the action of the couple to finish the rotary motion of the flapping-rotor aircraft. The upper sleeve bearing 101 which can rotate smoothly in the upper rotating mechanism and the lower sleeve bearing 104 which rotates smoothly in the lower rotating mechanism enable the wing flapping rod mounting frame 103 and the driving push rod 106 to rotate freely around the main shaft 360 degrees of the machine body, the use of the sleeve bearings improves the smoothness and smoothness of the rotating motion of the bionic miniature flapping rotor craft, the rotating friction between the upper sleeve 102 and the wing flapping rod mounting frame 103 and between the lower sleeve 105 and the driving push rod 106 is reduced, and the power consumption in the moving process of the bionic miniature flapping rotor craft is reduced.
The torsion clamping groove for adjusting the torsion angle is formed in the wing flapping rod 201, the torsion angle of the torsion member 202 is adjusted by changing the position and the size of the torsion clamping groove, and even if the torsion member 202 is twisted in the torsion clamping groove according to the designed angle, the smooth metal ball 205 which is connected with the torsion member 202 and can rotate randomly can enable the torsion of the torsion member 202 to be smoother and more efficient, and the torsion movement of the wing 3 can be completed rapidly and stably.
When the wing is in the upper shooting, the torsion piece 202 rotates upwards to reach the maximum torsion angle in the torsion clamping groove of the wing flapping rod 201, the wing 3 reaches the maximum torsion angle, the wing flapping rod 204 continues to move after the torsion movement is completed rapidly in a large attack angle state, and the torsion piece 202 does not twist at the moment and pushes the wing flapping rod 201 to move upwards instead until the maximum upper shooting angle of the wing 3 is reached, and the upper shooting movement of the wing 3 is completed. When the wing 3 is flapped up, under the torsion of the torsion piece 202, the wing 3 moves upwards in a large attack angle state, the windward area of the wing 3 is small, and the generated negative lift force is small.
When the lower swatter is started, the torsion piece 202 rotates downwards to reach the minimum torsion angle arranged in the torsion clamping groove of the wing flapping rod 201, the torsion angle of the wing 3 is minimum, the lower swatter is almost horizontal, the lower swatter is in a small attack angle state, after the torsion movement is rapidly completed, the push-pull rod 204 continues to move, at the moment, the torsion piece 202 does not twist downwards, and the wing flapping rod 201 is pulled to move downwards until reaching the maximum lower swatter angle of the wing 3, and the lower swatter movement of the wing 3 is completed. When the wing 3 is in a downward shooting mode, the wing 3 moves downwards in a small attack angle state due to the torsion of the torsion piece 202, the windward area of the wing 3 is large, and the positive lift of the wing is improved.
The negative lift force in the upper beating process is reduced, the positive lift force in the lower beating process is improved, and then the whole flapping rotor craft generates extremely large average lift force in one beating period, so that the loading capacity and the aerodynamic efficiency of the flapping rotor craft are improved.
The design concept, features and detailed description of the embodiments are only for those skilled in the art to understand the content of the present invention and implement it accordingly, the protection scope of the present invention is not limited to the above embodiments, and any modification, equivalent replacement, improvement, etc. made on the principle and design concept of the present invention should be included in the protection scope of the present invention within the spirit and principle of the present invention.
Claims (6)
1. Realize the miniature transmission mechanism that flapps the rotor craft and flap and twist reverse the movement of bionical, its characterized in that: comprises a main shaft of the machine body, a rotating mechanism, a flapping torsion mechanism and wings;
the rotating mechanism comprises an upper rotating mechanism and a lower rotating mechanism; the upper rotating mechanism comprises a wing flapping rod mounting frame, an upper sleeve bearing and an upper sleeve; the top of the upper sleeve penetrates through the inner ring of the upper sleeve bearing and is fixedly connected with the inner ring of the upper sleeve bearing, and the wing flapping rod mounting frame and the outer ring of the upper sleeve bearing are fixedly connected into a whole; the top end of the main shaft of the machine body passes through an upper sleeve fixedly connected with the inner ring of an upper sleeve bearing, and the bottom of the upper sleeve is fixedly connected with the top end of the main shaft of the machine body, so that a wing flapping rod mounting frame with the upper sleeve bearing can freely rotate 360 degrees around the main shaft of the machine body but cannot slide up and down along the main shaft of the machine body;
the bottom end of the main body shaft is vertically and fixedly connected to a body base of the bionic miniature flapping rotor aircraft, and the top end and the middle part of the main body shaft are connected with the upper rotating mechanism and the lower rotating mechanism;
the use of the upper sleeve bearing enables the rotation movement of the bionic miniature flapping rotor aircraft to be smooth and smooth, reduces the rotation friction between the upper sleeve and the wing flapping rod mounting frame, and reduces the power consumption in the movement process of the bionic miniature flapping rotor aircraft;
the lower rotating mechanism comprises a driving push rod, a lower sleeve bearing and a lower sleeve; the top of the lower sleeve penetrates through the inner ring of the lower sleeve bearing and is fixedly connected with the inner ring of the lower sleeve bearing, the driving push rod and the outer ring of the lower sleeve bearing are fixedly connected into a whole, and the middle part of the main body main shaft penetrates through the lower sleeve fixedly connected with the inner ring of the lower sleeve bearing, so that the driving push rod with the lower sleeve bearing can freely rotate around the main body main shaft by 360 degrees; the bottom of the lower sleeve is connected with a driver transmission rod, so that the driving push rod can slide up and down along the main shaft of the machine body;
the use of the lower sleeve bearing enables the rotation movement of the bionic miniature flapping rotor aircraft to be smooth and smooth, reduces the rotation friction between the lower sleeve and the driving push rod, and reduces the power consumption in the movement process of the bionic miniature flapping rotor aircraft;
the flapping torsion mechanism comprises a wing flapping rod, a torsion piece baffle and a ball shaft push-pull rod; the front end of the wing flapping rod is connected with one side of the wing flapping rod mounting frame through pins, so that the wing flapping rod can flap up and down within the range meeting the requirement; the ball shaft push-pull rod consists of a push-pull rod and a ball body, the ball body is arranged in an upper end ring of the push-pull rod to form a ball shaft capable of rotating at will, the lower end of the push-pull rod is connected with the driving push rod, and the ball shaft end at the upper end is fixedly connected with an extension shaft of the torsion piece; the torsion piece is fixedly connected with the front end of the wing main beam and is arranged in a torsion clamping groove of a wing flapping rod designed according to the torsion angle of the wing; the center round hole of the torsion piece baffle plate is penetrated by the wing main beam, the torsion piece extension shaft penetrates through the sphere center hole and is fixedly connected with the sphere center hole, and the torsion piece can be driven by the sphere shaft push-pull rod to twist; the baffle is fixedly connected with the outer side of the torsion clamping groove end of the wing flapping rod, and the torsion part is limited to rotate in the torsion clamping groove of the wing flapping rod and cannot axially move;
the wings are in two and are arranged on two sides of the rotating shaft in an antisymmetric way; the single wing comprises a main beam, a secondary beam vertical to the main beam and a wing film, wherein the main beam and the secondary beam vertical to the main beam form a wing framework together, and the wing film is adhered to the wing framework; the root of the wing girder passes through the round hole of the torsion piece baffle plate to be fixedly connected with the torsion piece, the torsion piece baffle plate is fixedly connected with the wing flapping rod, the aperture of the round hole of the torsion piece baffle plate is larger than the diameter of the wing girder, and the friction influence in the wing torsion process is prevented.
2. The transmission mechanism for realizing flapping and twisting motions of a bionic miniature flapping rotor craft according to claim 1, wherein the transmission mechanism comprises: because the surface of the metal ball is smooth, the friction between the metal ball and the push-pull rod is small during rotation, so that the requirements of strength and rigidity can be met, and the power consumption in the motion process can be reduced.
3. The transmission mechanism for realizing flapping and twisting motions of the bionic miniature flapping rotor craft according to claim 2, wherein the transmission mechanism is characterized in that: preferably, the ball body is a metal ball.
4. The transmission mechanism for realizing flapping and twisting motions of a bionic miniature flapping rotor craft according to claim 1, wherein the transmission mechanism comprises: in order to meet the requirements of strength and rigidity in the flapping process of the wing of the bionic miniature flapping rotor aircraft and reduce the quality of the wing, the main beams and the secondary beams adopt high-modulus carbon fiber rods which can meet the requirements.
5. The transmission mechanism for realizing flapping and twisting motions of a bionic miniature flapping rotor craft according to claim 1, wherein the transmission mechanism comprises: in order to meet the requirements of elasticity and toughness of the wing film of the aircraft and reduce the quality of the wing, the wing film adopts a polyimide film.
6. The transmission mechanism for realizing flapping and twisting motions of the bionic miniature flapping rotor craft according to claim 1, 2, 3, 4 or 5, wherein the transmission mechanism comprises: the working method is as follows: the wing movement process is divided into three processes of torsion, flapping and rotation; the wing starts to move, the lower sleeve of the lower rotating mechanism moves along the central shaft under the drive of the driver, the driving push rod on the lower sleeve also moves along with the lower sleeve, and the movement of the driving push rod drives the ball shaft push-pull rod to move, so that the torsion piece fixedly connected with the wing is driven to rotate around the axis in the torsion clamping groove, the wing is twisted until the rotation of the torsion piece reaches the torsion angle arranged in the torsion clamping groove to stop torsion, and the torsion movement of the wing is completed at the moment; when the wing is in a high attack angle state, the negative lift force in the shooting process is small; when the flapping is performed downwards, the torsion part rotates to reach the minimum torsion angle arranged in the torsion clamping groove to stop torsion, the torsion angle of the wing is minimum, the wing is horizontally performed downwards, the wing is in a small attack angle state, and the positive lift force of the wing is lifted, so that the flying average lift force of the flapping-rotor aircraft is increased, and the aerodynamic efficiency of the flapping-rotor aircraft is improved;
after the torsion movement is completed rapidly, the ball shaft push-pull rod continues to move, and the torsion piece is not twisted at the moment and pushes the wing flapping rod to move instead; when the wing is in a high attack angle state, the ball shaft push-pull rod pushes the wing flapping rod through the torsion piece to enable the wing in the high attack angle state to move upwards, and the high-attack movement of the wing is completed; when the wing is in a low attack angle state, the ball shaft push-pull rod pulls the wing flapping rod through the torsion piece to enable the wing in the low attack angle state to move downwards, so that the lower shooting movement of the wing is completed;
in the flapping process of the flapping rotor aircraft, a couple taking a wing symmetrical point as a center is generated due to the anti-symmetrical installation of the wing, so that the wing rotates around a central shaft under the action of the couple, and the rotary motion of the flapping rotor aircraft is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110993319.9A CN113619781B (en) | 2021-08-26 | 2021-08-26 | Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110993319.9A CN113619781B (en) | 2021-08-26 | 2021-08-26 | Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113619781A CN113619781A (en) | 2021-11-09 |
| CN113619781B true CN113619781B (en) | 2023-11-07 |
Family
ID=78387989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110993319.9A Active CN113619781B (en) | 2021-08-26 | 2021-08-26 | Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113619781B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030610B (en) * | 2021-11-29 | 2023-12-08 | 北京理工大学 | Flapping wing micro air vehicle based on motor antisymmetric layout driving |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202574618U (en) * | 2012-03-31 | 2012-12-05 | 西北工业大学 | Flapping-rotor-wing micro air vehicle |
| CN104590560A (en) * | 2015-01-29 | 2015-05-06 | 北京航空航天大学 | Flapping-rotating wing with attack angle control device |
| CN108995804A (en) * | 2018-08-01 | 2018-12-14 | 北京理工大学 | The bionic Aircraft for flutterring rotor and the conversion of flapping flight mode is realized based on the deformation wing |
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
| KR102134474B1 (en) * | 2019-04-11 | 2020-07-14 | 건국대학교 산학협력단 | Insect-like tailless flying robot based on change of flapping-wing plane angle |
| CN111976978A (en) * | 2020-09-02 | 2020-11-24 | 北京理工大学 | Transmission device for flapping and twisting combined motion of bionic flapping wings for micro-aircraft |
| CN112319802A (en) * | 2020-11-26 | 2021-02-05 | 广东国士健科技发展有限公司 | Flapping flight device |
| CN113212752A (en) * | 2021-06-21 | 2021-08-06 | 北京理工大学 | Multi-mode switching micro unmanned aerial vehicle |
-
2021
- 2021-08-26 CN CN202110993319.9A patent/CN113619781B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202574618U (en) * | 2012-03-31 | 2012-12-05 | 西北工业大学 | Flapping-rotor-wing micro air vehicle |
| CN104590560A (en) * | 2015-01-29 | 2015-05-06 | 北京航空航天大学 | Flapping-rotating wing with attack angle control device |
| CN108995804A (en) * | 2018-08-01 | 2018-12-14 | 北京理工大学 | The bionic Aircraft for flutterring rotor and the conversion of flapping flight mode is realized based on the deformation wing |
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
| KR102134474B1 (en) * | 2019-04-11 | 2020-07-14 | 건국대학교 산학협력단 | Insect-like tailless flying robot based on change of flapping-wing plane angle |
| CN111976978A (en) * | 2020-09-02 | 2020-11-24 | 北京理工大学 | Transmission device for flapping and twisting combined motion of bionic flapping wings for micro-aircraft |
| CN112319802A (en) * | 2020-11-26 | 2021-02-05 | 广东国士健科技发展有限公司 | Flapping flight device |
| CN113212752A (en) * | 2021-06-21 | 2021-08-06 | 北京理工大学 | Multi-mode switching micro unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113619781A (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106585976B (en) | A kind of long endurance aircraft layout of tilting rotor/lift fan high speed | |
| US6938853B2 (en) | Biomimetic mechanism for micro aircraft | |
| CN110065630B (en) | Bionic flapping wing flying robot | |
| CN112009683A (en) | Miniature double-flapping-wing aircraft | |
| CN110104175B (en) | Coaxial reverse double-flapping rotor wing mechanism | |
| CN103072688A (en) | Tiltable four-rotor wing aircraft | |
| CN102700707A (en) | Novel aircraft | |
| CN110422329A (en) | Cam controls the wheeled dynamic swing device and wheeled dynamic wing method that blade rotates | |
| CN113844652B (en) | Bionic miniature ornithopter using tail wing auxiliary control | |
| CN110294119A (en) | Fin adaptively rotates swing type and becomes inclination angle flapping wing device and flapping wing method | |
| CN108058825A (en) | It is a kind of can front and rear swipe flapping wing aircraft device | |
| CN110254712A (en) | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane | |
| CN207737497U (en) | It is a kind of can front and back swipe flapping wing aircraft device | |
| CN113619781B (en) | Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft | |
| CN107352030B (en) | Micro flapping rotor wing aircraft with double wings flapping differentially | |
| CN206871360U (en) | A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency | |
| CN103569360B (en) | Translation flapping wing mechanism and flapping-wing aircraft and the aerodone with translation flapping wing mechanism | |
| CN110371285A (en) | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift | |
| CN110254711A (en) | Two horizontal four vertical blades can turn six wheeled dynamic wing unmanned planes | |
| CN114030610B (en) | Flapping wing micro air vehicle based on motor antisymmetric layout driving | |
| CN112319801A (en) | Flapping-effect-based large high-mobility hovering flapping-wing aircraft | |
| CN113665806B (en) | Flapping-wing and rotor wing combined type micro air vehicle | |
| CN208979093U (en) | A kind of combined type vertically taking off and landing flyer | |
| CN115973414A (en) | Miniature flapping wing aircraft based on cross tail control | |
| CN114435590B (en) | Variable-incidence-angle ornithopter with wing rotation function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |