CN113665808A - Miniature flapping wing aircraft flapping mechanism based on linear transmission mechanism - Google Patents
Miniature flapping wing aircraft flapping mechanism based on linear transmission mechanism Download PDFInfo
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- CN113665808A CN113665808A CN202111104866.3A CN202111104866A CN113665808A CN 113665808 A CN113665808 A CN 113665808A CN 202111104866 A CN202111104866 A CN 202111104866A CN 113665808 A CN113665808 A CN 113665808A
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- gear
- transmission
- swing rod
- motor
- driving rope
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000009977 dual effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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 line transmission mechanism-based flapping mechanism of a miniature flapping wing aircraft, which comprises: the output end of the motor is provided with a motor gear; the motor gear is in transmission connection with the output gear, and an equivalent crank is arranged on the output gear; the transmission gear comprises a first transmission gear and a second transmission gear, and a first swing rod and a second swing rod are fixedly arranged below the first transmission gear and the second transmission gear respectively; one end of the first driving rope is connected with the equivalent crank, and the other end of the first driving rope is connected with the first swing rod; the second driving rope has the same structure as the first driving rope. Adopt the gear assembly transmission, improve mechanical efficiency, adopt line drive's mode drive pendulum rod and then make wing reciprocating motion simultaneously, promoted the pivot angle on the one hand, increased mechanical efficiency, improved lift, on the other hand also can effectively avoid current crank rocker's snap-back characteristic, reduces the impact force to the mechanism among the transmission process, maintains mechanical motion stability.
Description
Technical Field
The invention relates to the technical field of miniature aircrafts, in particular to a flapping mechanism of a miniature flapping wing aircraft based on a linear transmission mechanism.
Background
The traditional miniature flapping wing aircraft generally adopts crank rocker transmission, and because the crank rocker has a quick return characteristic, the angular speed of the rocker changes periodically in the transmission process, and the mechanism has periodic impact, so that the stability of the flapping mechanism is influenced.
In view of the above, it is an urgent technical problem to be solved by those skilled in the art to provide a transmission mechanism for smooth transmission of a micro flapping wing aircraft.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art.
To this end, an object of the present invention is to provide a flapping mechanism of a miniature ornithopter based on a linear transmission mechanism, the mechanism including a frame and wings, further including:
the output end of the motor is provided with a motor gear;
the motor gear is in transmission connection with the output gear, and an equivalent crank is arranged on the output gear;
the transmission gear comprises a first transmission gear and a second transmission gear, and the first transmission gear and the second transmission gear are of the same type and are meshed with each other; a first swing rod and a second swing rod are fixedly arranged below the first transmission gear and the second transmission gear respectively, and the first swing rod and the second swing rod are rotatably arranged on the rack; the wings are symmetrically arranged on two sides of the rack and are in transmission connection with the first swing rod and the second swing rod;
one end of the first driving rope is connected with the equivalent crank, and the other end of the first driving rope is connected with the first swing rod;
and one end of the second driving rope is connected with the equivalent crank, and the other end of the second driving rope is connected with the second swing rod.
The invention has the beneficial effects that:
adopt the gear assembly transmission, improve mechanical efficiency, adopt line drive's mode drive pendulum rod and then make wing reciprocating motion simultaneously, promoted the pivot angle on the one hand, increased mechanical efficiency, improved lift, on the other hand also can effectively avoid current crank rocker's snap-back characteristic, reduces the impact force to the mechanism among the transmission process, maintains mechanical motion stability.
Further, the method also comprises the following steps: the dual gear comprises an upper gear and a lower gear, the lower gear is meshed with the motor gear, and the upper gear is meshed with the output gear.
In the technical scheme, the duplicate gear plays a role of a reduction gear, so that the mechanical efficiency can be further improved.
Preferably, the motor is a coreless motor.
Further, the first swing rod comprises a first sleeve ring and a first connecting rod, the first sleeve ring is rotatably arranged on the rack and fixedly connected with the lower surface of the first gear, and one end of the first connecting rod is fixedly connected with the first swing rod; the second swing rod has the same structure as the first swing rod.
In the technical scheme, the motor can drive the driving rope after being started, the driving rope drives the first sleeve ring to rotate so as to drive the first swing rod to swing, the motor rotates forwards and backwards to reciprocate so as to drive the first swing rod and the second swing rod to swing in a reciprocating mode, and the lengths of the first swing rod and the second swing rod can be flexibly adjusted according to requirements.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view;
FIG. 2 is a schematic view of the linkage of the motor and the gear;
FIG. 3 is a schematic view of a cord drive configuration;
the device comprises a rack 1, a wing 2, a motor 3, a motor gear 4, an output gear 5, an equivalent crank 6, a first transmission gear 7, a second transmission gear 8, a first swing rod 9, a first lantern ring 901, a first connecting rod 902, a second swing rod 10, a first driving rope 11, a second driving rope 12 and a duplicate gear 13.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The embodiment of the invention discloses a miniature flapping wing aircraft flapping mechanism based on a linear transmission mechanism, which comprises a frame 1, wings 2 and a power unit, wherein the power unit comprises: the output end of the motor 3 is provided with a motor gear 4; the output gear 5, the motor gear 4 and the output gear 5 are in transmission connection, and the output gear 5 is provided with an equivalent crank 6; the transmission gears comprise a first transmission gear 7 and a second transmission gear 8, and the types of the first transmission gear 7 and the second transmission gear 8 are consistent and are meshed with each other; a first swing rod 9 and a second swing rod 10 are respectively fixedly arranged below the first transmission gear 7 and the second transmission gear 8, and the first swing rod 9 and the second swing rod 10 are rotatably arranged on the rack 1; the wings 2 are symmetrically arranged at two sides of the frame 1 and are in transmission connection with the first swing rod 9 and the second swing rod 10; one end of the first driving rope 11 is connected with the equivalent crank 6, and the other end of the first driving rope 11 is connected with the first swing rod 9; and one end of the second driving rope 12 is connected with the equivalent crank 6, and the other end of the second driving rope 12 is connected with the second swing rod 10.
In some embodiments, further comprising: the dual gear 13, the dual gear 13 includes upper gear and lower gear, the lower gear meshes with motor gear 4, the upper gear meshes with output gear 5.
In the present embodiment, the motor 3 is a coreless motor 3.
In this embodiment, the first swing link 9 includes a first collar 901 and a first link 902, the first collar 901 is rotatably disposed on the frame 1 and is fixedly connected to the lower surface of the first gear, and one end of the first link 902 is fixedly connected to the first swing link 9; the second swing link 10 has the same structure as the first swing link 9.
In this embodiment, the swing frame further includes a rotating shaft 14, the rotating shaft 14 is rotatably disposed on the frame 1, and both the first swing link 9 and the first gear are fixedly sleeved on the rotating shaft 14. The first driving rope 11 can be wound on the rotating shaft 14, and when the first driving rope 11 is tensioned, the rotating shaft 14 can be rotated, so that the first swing link 9 and the first gear can be synchronously rotated.
In the embodiment, the gears are manufactured by injection molding, and the frame 1 and other basic components are manufactured by 3D printing technology and carbon fiber processing, so that the precision can be improved, the weight can be reduced, and the lifting weight ratio of the aircraft can be improved. As for the first driving rope 11 and the second driving rope 12, the driving requirements can be satisfied by using a common fishing line.
The specific working process is as follows:
referring to fig. 1-3, the motor 3 is started, the motor gear 4 outputs counterclockwise, and the duplicate gear 13 outputs torque through two-stage speed reduction, so as to drive the output gear 5 and the equivalent crank 6 on the output gear 5 to rotate counterclockwise as well;
the equivalent crank 6 rotates counterclockwise, the first driving rope 11 is tensioned between the equivalent crank 6 and the first swing link 9 (at this time, the second driving rope 12 is in a loose state), and then the first swing link 9 is driven to rotate (in fig. 3, the position of the first driving rope 11 on the first gear is set by taking the clockwise rotation of the first swing link 9 as an example when the equivalent crank 6 rotates counterclockwise, and the positions of the first driving rope 11 and the second driving rope 12 can be adjusted according to requirements), because the first swing link 9 is fixedly connected with the first gear, the first gear also rotates (rotates clockwise) along with the first gear, and meanwhile, the first gear is meshed with the second gear, so the second gear also rotates (rotates counterclockwise) along with the second gear, and the motions of the first gear and the second gear are opposite;
when the second gear rotates anticlockwise, the second swing rod 10 connected with the second gear also rotates anticlockwise; at this time, the first swing link 9 and the second swing link 10 move symmetrically, and the motor 3 rotates forward and backward to drive the wings 2 to reciprocate.
In the above process, the second swing link 10 pulls the second driving rope 12 when rotating counterclockwise, but the second driving rope 12 is in a slack state, so that the operation of the whole mechanism is not hindered.
The invention provides a miniature flapping wing aircraft flapping mechanism based on a linear transmission mechanism, which adopts a gear assembly for transmission to improve the mechanical efficiency, and simultaneously adopts a linear transmission mode to drive a swing rod so as to make wings reciprocate, thereby improving the swing angle, increasing the mechanical efficiency and improving the lift force on the one hand, and also effectively avoiding the quick return characteristic of the existing crank rocker on the other hand, reducing the impact force on the mechanism in the transmission process and maintaining the mechanical motion stability.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. The utility model provides a miniature flapping wing aircraft flapping mechanism based on line drive mechanism, this mechanism includes frame (1) and wing (2), its characterized in that still includes:
the output end of the motor (3) is provided with a motor gear (4);
the motor gear (4) is in transmission connection with the output gear (5), and an equivalent crank (6) is arranged on the output gear (5);
the transmission gear comprises a first transmission gear (7) and a second transmission gear (8), and the first transmission gear (7) and the second transmission gear (8) are identical in model and meshed with each other; a first swing rod (9) and a second swing rod (10) are respectively fixedly arranged below the first transmission gear (7) and the second transmission gear (8), and the first swing rod (9) and the second swing rod (10) are rotatably arranged on the rack (1); the wings (2) are symmetrically arranged on two sides of the rack (1) and are in transmission connection with the first swing rod (9) and the second swing rod (10);
one end of the first driving rope (11) is connected with the equivalent crank (6), and the other end of the first driving rope (11) is connected with the first swing rod (9);
one end of the second driving rope (12) is connected with the equivalent crank (6), and the other end of the second driving rope (12) is connected with the second swing rod (10).
2. The flapping mechanism of line drive based micro ornithopter of claim 1 further comprising:
duplicate gear (13), duplicate gear (13) include last gear and lower gear, the lower gear with motor gear (4) meshing, go up the gear with output gear (5) meshing.
3. The flapping mechanism of the miniature flapping wing air vehicle based on the linear drive of claim 1, wherein said motor (3) is a coreless motor (3).
4. The flapping mechanism of the miniature flapping wing air vehicle based on the linear transmission mechanism of claim 1, wherein the first oscillating bar (9) comprises a first sleeve ring (901) and a first connecting rod (902), the first sleeve ring (901) is rotatably arranged on the frame (1) and is fixedly connected with the lower surface of the first gear, and one end of the first connecting rod (902) is fixedly connected with the first oscillating bar (9); the second swing rod (10) and the first swing rod (9) have the same structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111104866.3A CN113665808B (en) | 2021-09-22 | Miniature flapping mechanism of flapping wing air vehicle based on line transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111104866.3A CN113665808B (en) | 2021-09-22 | Miniature flapping mechanism of flapping wing air vehicle based on line transmission mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113665808A true CN113665808A (en) | 2021-11-19 |
| CN113665808B CN113665808B (en) | 2024-05-03 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011142864A2 (en) * | 2010-02-11 | 2011-11-17 | President And Fellows Of Harvard College | Passive torque balancing in a high-frequency oscillating system |
| US20140158821A1 (en) * | 2011-02-16 | 2014-06-12 | Aerovironment, Inc. | Air Vehicle Flight Mechanism and Control Method for Non-Sinusoidal Wing Flapping |
| WO2017149987A1 (en) * | 2016-02-29 | 2017-09-08 | 株式会社村田製作所 | Flapping device |
| CN109050912A (en) * | 2018-08-14 | 2018-12-21 | 北京航空航天大学 | A kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive |
| 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 |
| KR20190121920A (en) * | 2018-04-19 | 2019-10-29 | 건국대학교 산학협력단 | Jumpping flapper robot |
| CN113148145A (en) * | 2021-05-08 | 2021-07-23 | 北京航空航天大学 | Flapping wing elastic energy storage mechanism of miniature bionic flapping wing aircraft |
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011142864A2 (en) * | 2010-02-11 | 2011-11-17 | President And Fellows Of Harvard College | Passive torque balancing in a high-frequency oscillating system |
| US20140158821A1 (en) * | 2011-02-16 | 2014-06-12 | Aerovironment, Inc. | Air Vehicle Flight Mechanism and Control Method for Non-Sinusoidal Wing Flapping |
| WO2017149987A1 (en) * | 2016-02-29 | 2017-09-08 | 株式会社村田製作所 | Flapping device |
| KR20190121920A (en) * | 2018-04-19 | 2019-10-29 | 건국대학교 산학협력단 | Jumpping flapper robot |
| CN109050912A (en) * | 2018-08-14 | 2018-12-21 | 北京航空航天大学 | A kind of flapping wing mechanism of electromagnetic drive in conjunction with rope drive |
| 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 |
| CN113148145A (en) * | 2021-05-08 | 2021-07-23 | 北京航空航天大学 | Flapping wing elastic energy storage mechanism of miniature bionic flapping wing aircraft |
Non-Patent Citations (1)
| Title |
|---|
| 朱宝;王姝歆;: "两自由度扑翼机构及其运动仿真研究", 中国制造业信息化, no. 21, pages 24 - 28 * |
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