CN113911343A - High-efficiency transmission flapping wing mechanism with rolling control function - Google Patents
High-efficiency transmission flapping wing mechanism with rolling control function Download PDFInfo
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- CN113911343A CN113911343A CN202111311787.XA CN202111311787A CN113911343A CN 113911343 A CN113911343 A CN 113911343A CN 202111311787 A CN202111311787 A CN 202111311787A CN 113911343 A CN113911343 A CN 113911343A
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Abstract
The invention discloses a high-efficiency transmission flapping wing mechanism with a rolling control function, which has a compact structure and light weight and can realize flapping motion required by a bionic flapping wing aircraft. The flapping wing mechanism comprises a fixing mechanism, a motor, a speed reducer, a transmission mechanism and a rolling control mechanism, wherein the transmission mechanism adopts a crank slider-helical gear amplification structure, so that efficient and accurate flapping can be realized; the rolling control mechanism can control the wing root rod to translate, and can realize larger wing membrane deformation and attack angle change range. The aircraft reduces the number of transmission parts by optimizing the transmission amplification structure, is beneficial to installation and maintenance, and meanwhile, the more stable movement is beneficial to the signal processing of a control system. The rolling torque which can be generated by the aircraft is increased through larger wing membrane deformation and attack angle change range, and the anti-jamming capability and the maneuvering capability of the aircraft are improved.
Description
Technical Field
The invention relates to the field of miniature flapping wing aircrafts, in particular to a design of a high-efficiency transmission flapping wing mechanism capable of realizing a rolling control function.
Background
In recent years, with the rapid development of technologies in the fields of micro-electro-mechanical systems, bionic aircraft design, 3D printing and the like, various micro-miniature aircrafts are continuously proposed and become hot spots under the background of rapid development of the precision manufacturing industry. Compared with a fixed-wing type micro aircraft and a rotary-wing type micro aircraft, the micro flapping-wing type micro aircraft has higher aerodynamic efficiency under the condition of low Reynolds number, and has obvious advantages in aspects of invisibility, bionic property and the like, so that the micro flapping-wing type micro aircraft has very high bionic research value and military application value, and becomes one of important directions for the development of the micro aircraft.
Despite the rapid development of micro flapping wing air vehicles, the micro flapping wing air vehicles still face difficulties in efficient and accurate transmission and control. In order to realize plane reciprocating flapping motion and ensure symmetrical left and right flapping amplitudes, the presently disclosed micro flapping wing aircraft generally adopts the design schemes of a double-crank double-rocker mechanism, a single-crank double-rocker mechanism, a crank sliding block and a four-connecting-rod amplification transmission mechanism and the like, such as the patents of 'the micro flapping wing aircraft' (ZL107416202A), 'the micro bionic flapping wing aircraft based on the single-crank double-rocker mechanism' (ZL109606675A), 'the bionic flapping wing micro aircraft based on double-wing differential motion and steering engine gravity center change for realizing high control moment generation' (ZL 112009682A). The transmission method of the aircraft is to convert the motor driving the rotation motion of the gear into the swing motion of the rod structure to realize the reciprocating flapping. The scheme realizes basically symmetrical flapping motion to a certain extent, but still has some defects, such as a double-crank double-rocker mechanism disclosed by a miniature flapping wing aircraft (ZL107416202A), on one hand, due to the limitation of a crank-rocker structure, a designed transmission angle is inversely related to an output angle, so that a better flapping angle and force transmission performance are difficult to obtain simultaneously, and on the other hand, two large crank gears cause the mechanism to have larger volume and even increase weight. The problems of large motion accumulated error, inaccurate transmission, difficult maintenance and the like are caused by more mechanism rotating pairs and complex connection, and the problems are solved, and the bionic flapping wing micro air vehicle based on a single-crank double-rocker mechanism (ZL109606675A) and the bionic flapping wing micro air vehicle based on double-wing differential motion and steering engine gravity center change (ZL112009682A) are not stable enough under high-speed transmission.
In addition to the need for reinforcement in efficient and accurate transmission design research, there is also a need for reinforcement in aircraft control methods. The bionic flapping wing micro air vehicle mainly simulates insects and hummingbirds in nature, and mostly adopts a structure without a tail wing. The flight control of the aircraft is realized by controlling the attitude of the wing, and in the actual design, the wing membrane attack angle of the wing in the front and back flapping process is adjusted mainly by controlling the deformation motion of the wing surface, so that the changed aerodynamic force and moment are generated. For example, the patent refers to the field of 'bionic flapping wing micro-aircraft based on double-wing differential motion and steering engine gravity center change to achieve high control torque' (ZL112009682A) 'micro bionic flapping wing aircraft based on single-crank double-rocker mechanism' (ZL109606675A) 'bionic hummingbird aircraft' (ZL 110329505A). In the actual implementation process, the wing root elastic rod is pulled, the flapping plane and the tension degree of the wing membrane in the flapping process of the flapping wing are changed in a mode of rotating the wing root rod or elastically deforming the wing root rod, so that the change of the front and back flapping attack angles and the shape of the wing membrane in the flapping process of the flapping wing is realized, the difference of aerodynamic force of the left wing and the right wing is caused, the rolling moment is finally generated, and the attitude control of the aircraft is realized. The patent "a bionical flapping wing micro-aircraft" (ZL112009682A) based on two wing are differential and steering wheel focus changes and realize that high control torque produces and "a miniature bionical flapping wing aircraft" (ZL109606675A) based on single crank double rocker mechanism discloses a microminiature tailless flapping wing aircraft, with wing root elastic rod and base rotatable coupling in the patent, transversely pull wing root elastic rod through the steering wheel and drive wing root rod around the top rotation, flapping wing membrane produces the deformation about the messenger, thereby the flapping wing of both sides appears lifting force poor, produce the moment of rolling over and control the organism and roll over. The scheme realizes the control of the rolling attitude in a small range to a certain extent, but the rotation angle of the flapping wing root elastic rod is limited, so that the flapping wing root elastic rod is easily limited by the distance between the rotation center position of the steering engine and the wing root rod.
Therefore, with the high-speed development of the micro flapping wing aircraft, more requirements are provided for the high-efficiency and accurate motion design of the transmission mechanism and more diversified control modes, and a flapping wing mechanism with a control function and high-efficiency transmission needs to be provided.
Disclosure of Invention
The invention provides a high-efficiency transmission flapping wing mechanism with a rolling control function, which aims at solving the problems of low transmission efficiency and insufficient transmission accuracy of the existing micro flapping wing aircraft and simultaneously enriches the rolling control method of the micro flapping wing aircraft. Wherein, the transmission is realized by a crank block-bevel gear transmission mechanism. On one hand, the mechanism still converts the rotary motion of the motor into linear motion with the motion law close to sinusoidal motion by designing a crank slider mechanism, and simultaneously, the helical gear is introduced to carry out transmission and enlarge the motion output angle by combining the characteristics of stable and accurate motion of the helical gear, so that the high efficiency and accuracy of transmission are realized. In addition, the flapping wing has the advantages that through the wing root rod translation control design of the flapping wing, the flapping wing generates larger wing membrane deformation and attack angle change range when the rolling control is needed, the change range of the rolling torque is greatly increased, and the control capability of controlling the rudder effect and the complex maneuvering flight is enhanced.
The high-efficiency transmission flapping wing mechanism with the rolling control function comprises a fixing mechanism, a motor, a speed reducer, a transmission mechanism and a rolling control mechanism.
The fixing mechanism comprises a rack and a base. The rack is of a three-dimensional structure and comprises a motor, a speed reduction unit and a mounting hole of a single-layer gear in a transmission mechanism. The frame is fixedly connected with the base through rivets, buckles and the like at two ends. The base is of a three-dimensional structure and comprises mounting holes of a left helical gear, a right helical gear, a left wing rod and a right wing rod in the transmission mechanism. The upper surface of the base is provided with a sliding chute which is matched with a connecting rod and a right helical gear of the transmission mechanism through a shaft nail. The lower part of the base is provided with a mounting point so as to fix a control steering engine of the rolling control mechanism.
The motor is fixedly arranged on the rack and used for driving the transmission mechanism to rotate so as to drive the flapping wings to flap, and a motor shaft of the motor is fixedly connected with a motor gear.
The speed reducer comprises a motor gear and a reduction gear. The reduction gear is a coaxial double-layer gear, the diameters of the double-layer gears are different, the larger layer of gear is meshed with the motor gear, and the smaller layer of gear is meshed with the single-layer gear in the transmission mechanism. The speed reducer reduces the speed of the high-speed rotation of the motor and amplifies the output torque of the motor to drive the transmission mechanism and the flapping wings to move.
The transmission mechanism comprises a single-layer gear, a connecting rod, a left helical gear, a right helical gear, a left wing rod and a right wing rod. The single-layer gear is a cylindrical straight gear with an eccentric hole and is installed on the base through a shaft nail. The two ends of the connecting rod are provided with through holes, the through hole at one thicker end is connected with the eccentric hole of the single-layer gear through a shaft nail to form a revolute pair, the through hole at the other thinner end is fixed in the right helical gear sliding chute and the base sliding chute through the shaft nail, and the stroke slider-crank mechanism converts the circular motion of the single-layer gear into the reciprocating linear motion of the connecting rod along the sliding chutes. The left helical gear is a cylindrical helical gear, is installed on the base through an axle nail and is in meshing transmission with the right helical gear and the left wing rod. The right helical gear is a cylindrical helical gear, a horizontal chute is formed in the upper surface of the right helical gear, the central line of the chute is perpendicular to the diameter, the connecting rod can drive the right helical gear to rotate through the chute, and the right helical gear is installed on the base through an axle nail and is in meshing transmission with the left helical gear and the right wing rod. The left wing rod and the right wing rod are of the same structure, are both assemblies of a flapping wing mounting boss and a cylindrical helical gear, and are respectively used for driving the left flapping wing and the right flapping wing to move, wherein the flapping wing mounting boss is positioned on the outer side of the wing rods and used for fixing a flapping wing cross rod; the cylindrical helical gear is located on the inner side of the wing rod, a central hole in the cylindrical helical gear is riveted with a corresponding mounting hole position of the base through an axle nail and can freely rotate around the mounting hole position, the cylindrical helical gear is in meshing transmission with the helical gear on the corresponding side, and the flapping wing mounting boss is located at the other end of the wing rod and used for fixing the flapping wing cross rod. The transmission mechanism has the following transmission principle: when the mechanism needs flapping motion, the motor is electrified to drive the motor gear to rotate, and the transmission mechanism is driven after the speed is reduced by the speed reducer. The single-layer gear rotates to drive one end of the connecting rod to rotate around the rotating shaft of the single-layer gear, and meanwhile, the other end of the connecting rod makes reciprocating linear motion in the base sliding groove and the right helical gear sliding groove to drive the right helical gear to rotate. The rotary motion of the motor is converted into linear motion with the motion law close to sinusoidal motion by designing a crank slider mechanism. The right helical gear is meshed with the cylindrical helical gears of the left helical gear and the right wing rod, the left helical gear is meshed with the cylindrical helical gear of the left wing rod for transmission, the motion amplitude is amplified, the characteristics of stable and accurate meshing motion of the helical gears are utilized in the process, and efficient and accurate transmission is achieved to achieve required efficient and accurate flapping motion.
The rolling control mechanism comprises a left flapping wing, a right flapping wing, a control steering engine and a wing root fixing frame. The left flapping wing and the right flapping wing are respectively composed of a flexible wing membrane, a cross rod, a vertical rod and an oblique rod, and the cross rod, the vertical rod and the oblique rod are bonded on the flexible wing membrane. The wing root end of the cross rod is fixed on the left wing rod flapping wing installation boss and the right wing rod flapping wing installation boss in the transmission mechanism, and the upper end of the vertical rod is connected with the wing root fixing frame. The control steering engine can drive the flapping wing vertical rod to realize horizontal movement of the whole body. The wing root fixing frame is of a horizontal T-shaped structure, two sides of the T-shaped structure are respectively provided with a round hole for fixing the flapping wing vertical rod, a mounting hole is formed in the middle of the T-shaped structure and is fixedly connected with the control steering engine arm, and the flapping wing vertical rod can be driven by the control steering engine arm to move horizontally. When the aircraft does not need rolling torque, the steering engine is controlled to control the horizontal positions of the vertical rods of the left and right flapping wings, and the looseness degrees of the flexible wing membranes of the left and right flapping wings are the same.
The roll control method of the high-efficiency transmission flapping wing mechanism with the roll control function comprises the following steps: when the aircraft needs to generate a right rolling torque, the steering engine is controlled to pull the wing root fixing frame towards the right side to drive the vertical rods of the two flapping wings to integrally and horizontally move rightwards, so that the left flapping wing flexible wing membrane is tensioned, and the right flapping wing flexible wing membrane is loosened. Compared with the state before the steering engine is changed, the flexible wing membrane of the left flapping wing is tensioned, and the attack angle is increased; the flexible wing membrane of the flapping wing on the right side is relaxed, and the attack angle is reduced; therefore, the lift force of the flapping wing on the left side is increased, the lift force of the flapping wing on the right side is reduced, and the right rolling moment is generated because the action points of the lift force of the flapping wing on the left side and the flapping wing on the right side are not coincident with the gravity center. The roll torque to the left is generated in the opposite way to the roll torque to the left.
The manufacturing and installation process of the high-efficiency transmission flapping wing mechanism with the rolling control function comprises the following steps:
(1) the motor gear is arranged on the motor main shaft, and the motor is in interference fit with the corresponding motor mounting hole of the frame. The reduction gear and the single-layer gear are installed on the corresponding hole positions of the rack through the shaft nails, wherein the reduction gear is meshed with the motor gear and the single-layer gear, and the single-layer gear is only meshed with the reduction gear.
(2) The left helical gear, the right helical gear, the left wing rod and the right wing rod are respectively arranged on corresponding hole positions of the base through the shaft nails, wherein the left helical gear is in meshing transmission with the left wing rod, the right helical gear is in meshing transmission with the right wing rod, and the left helical gear is in meshing transmission with the right helical gear.
(3) And a through hole at the thicker end of the connecting rod is matched with the eccentric hole of the single-layer gear through a shaft nail. The other end of the connecting rod is fixedly matched with the right helical gear sliding groove and the base sliding groove through the shaft nail to form two sliding pairs. The frame is fixed with the base through rivets, buckles and other modes.
(4) And manufacturing a flexible flapping wing, respectively connecting a cross rod of the flapping wing with the left wing rod and the right wing rod, and inserting the vertical rod into round holes at the mounting ends of the two sides of the T-shaped head of the wing root fixing frame for fixing.
(5) After the control steering engine is fixedly connected with the mounting end of the frame control steering engine in a screw mode and the like, the wing root fixing frame is fixedly connected with the rudder arm of the control steering engine through screws.
The invention has the advantages that:
1. the high-efficiency transmission flapping wing mechanism with the rolling control function has a compact structure and light weight, and can realize flapping motion required by a bionic flapping wing aircraft.
2. A high-efficiency transmission flapping wing mechanism with a rolling control function adopts a crank slider-helical gear amplification mechanism, has fewer revolute pairs, is convenient to install and maintain, and can efficiently realize more accurate and stable flapping motion by helical gear transmission.
3. The utility model provides a high-efficient transmission flapping wing mechanism with roll control function, through control wing root montant left and right translation lead to the change range of wing membrane bigger, has increased the change interval of roll moment and control rudder effect to make flapping wing air vehicle's control effect, anti-disturbance ability, maneuver flight ability promote by a wide margin.
Drawings
FIG. 1 is a general schematic view of a high efficiency drive flapping wing mechanism with roll control of the present invention;
FIG. 2 is a schematic view of a mounting mechanism for a high efficiency drive flapping wing mechanism with roll control according to the present invention;
FIG. 3 is a schematic diagram of the motor and speed reducer of the high efficiency transmission flapping wing mechanism with roll control of the present invention;
FIG. 4 is a schematic view of a high efficiency transmission flapping wing mechanism with roll control according to the present invention;
FIG. 5 is a schematic view of a roll control mechanism of the high efficiency drive flapping wing mechanism with roll control of the present invention;
FIG. 6 is a schematic view of the flapping wing of the high efficiency transmission flapping wing mechanism with roll control of the present invention;
FIG. 7 is a schematic diagram of roll control of a high efficiency drive flapping wing mechanism with roll control of the present invention;
in the figure:
1-fixing mechanism 2-motor 3-speed reducer
4-transmission mechanism 5-rolling control mechanism 101-frame
102-base 201-motor 301-motor gear
302-reduction gear 401-single-layer gear 402-connecting rod
403-left bevel gear 404-right bevel gear 405-left wing rod
406-right wing rod 501-control steering engine 502-wing root fixing frame
503-flapping wing 5031-flexible wing film 5032-cross bar
5033-vertical rod 5034-diagonal rod
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
The high-efficiency transmission flapping wing mechanism with the rolling control function comprises a fixing mechanism 1, a motor 2, a speed reducer 3, a transmission mechanism 4 and a rolling control mechanism 5.
The fixing mechanism 1 includes a frame 101 and a base 102. The frame 101 is a three-dimensional structure and includes a motor 2, a reduction unit, and a mounting hole of a single-layer gear 401 in the transmission mechanism 4. The frame 101 is fixedly connected to the base 102 by rivets, buckles, etc. at both ends. The base 102 is a three-dimensional structure and includes mounting holes for a left bevel gear 403, a right bevel gear 404, a left wing rod 405, and a right wing rod 406 in the transmission mechanism 4. The upper surface of the base 102 is provided with a sliding groove which is matched with a connecting rod 402 and a right bevel gear 404 of the transmission mechanism 4 through a shaft pin. The lower part of the base 102 is designed with a mounting point for fixing a control steering engine 501 of the roll control mechanism 5.
The motor 2 is fixedly mounted on the frame 101 and used for driving the transmission mechanism 4 to rotate so as to drive the flapping wings 503 to flap, and a motor shaft of the motor 2 is fixedly connected with the motor gear 301.
The speed reducer 3 includes a motor gear 301 and a reduction gear 302. The reduction gear 302 is a coaxial double-layer gear, the diameters of the double-layer gear are different, wherein the larger layer of gear is meshed with the motor gear 301, and the smaller layer of gear is meshed with the single-layer gear 401 in the transmission mechanism 4. The speed reducer 3 reduces the speed of the high-speed rotation of the motor 2 and amplifies the output torque of the motor 2 to drive the transmission mechanism 4 and the flapping wing 503 to move.
The transmission mechanism 4 comprises a single-layer gear 401, a connecting rod 402, a left bevel gear 403, a right bevel gear 404, a left wing rod 405 and a right wing rod 406. The single-layer gear 401 is a straight cylindrical gear with an eccentric hole and is mounted on the base 102 through a shaft nail. The two ends of the connecting rod 402 are provided with through holes, the through hole at the thicker end is connected with the eccentric hole of the single-layer gear 401 through a shaft nail to form a revolute pair, the through hole at the thinner end is fixed in the chute of the right helical gear 404 and the chute of the base 102 through the shaft nail, and the stroke crank slider mechanism converts the circular motion of the single-layer gear 401 into the reciprocating linear motion of the connecting rod 402 along the chutes. The left bevel gear 403 is a cylindrical bevel gear, is mounted on the base 102 through a shaft pin, and is in meshing transmission with the right bevel gear 404 and the left wing rod 405. The right bevel gear 404 is a cylindrical bevel gear, the upper surface of the right bevel gear is provided with a horizontal sliding groove, the central line of the sliding groove is perpendicular to the diameter, the connecting rod 402 can drive the right bevel gear 404 to rotate through the sliding groove, and the right bevel gear 404 is installed on the base 102 through a shaft nail and is in meshing transmission with the left bevel gear 403 and the right wing rod 406. The left wing rod and the right wing rod have the same structure, are both assemblies of mounting bosses of the flapping wings 503 and cylindrical helical gears, and are respectively used for driving the left flapping wing 503 and the right flapping wing 503 to move, wherein the mounting bosses of the flapping wings 503 are positioned at the outer sides of the wing rods and are used for fixing cross rods 5032 of the flapping wings 503; the cylindrical helical gear is positioned at the inner side of the wing rod, a central hole on the cylindrical helical gear is riveted with a corresponding mounting hole position of the base 102 through an axle nail and can freely rotate around the mounting hole position, the cylindrical helical gear is meshed with the helical gear at the corresponding side for transmission, and the mounting boss of the flapping wing 503 is positioned at the other end of the wing rod and used for fixing the cross rod 5032 of the flapping wing 503. The transmission mechanism 4 has the following transmission principle: when the mechanism needs flapping motion, the motor 2 is electrified to drive the motor gear 301 to rotate, and the transmission mechanism 4 is driven after the speed is reduced by the speed reducer 3. The single-layer gear 401 rotates to drive one end of the connecting rod 402 to rotate around the rotating shaft of the single-layer gear 401, and the other end of the connecting rod 402 makes reciprocating linear motion in the sliding groove of the base 102 and the sliding groove of the right helical gear 404 to drive the right helical gear 404 to rotate. The rotary motion of the motor 2 is converted into linear motion with the motion law close to sinusoidal motion by designing a crank-slider mechanism. The right helical gear 404 is meshed with the cylindrical helical gears of the left helical gear 403 and the right wing rod 406, the left helical gear 403 is meshed with the cylindrical helical gear of the left wing rod 405 for transmission, the motion amplitude is amplified, and the high-efficiency and accurate transmission is realized by utilizing the characteristics of stable and accurate meshing motion of the helical gears in the process to realize the required high-efficiency and accurate flapping motion.
The rolling control mechanism 5 comprises a left flapping wing 503, a right flapping wing 503, a control steering engine 501 and a wing root fixing frame 502. The left flapping wing 503 and the right flapping wing 503 are respectively composed of a flexible wing film 5031, a cross rod 5032, a vertical rod 5033 and a diagonal rod 5034, and the cross rod 5032, the vertical rod 5033 and the diagonal rod 5034 are bonded on the flexible wing film 5031. The wing root end of the cross rod 5032 is fixed on the mounting bosses of the flapping wings 503 of the left wing rod and the right wing rod in the transmission mechanism 4, and the upper end of the vertical rod 5033 is connected with the wing root fixing frame 502. The control steering engine 501 can drive the vertical rod 5033 of the flapping wing 503 to horizontally move left and right integrally. The wing root fixing frame 502 is of a horizontal T-shaped structure, two sides of the T-shaped structure are respectively provided with a round hole for fixing a vertical rod 5033 of the flapping wing 503, a mounting hole is formed in the middle extension end of the T-shaped structure and fixedly connected with a steering engine arm of the control steering engine 501, and the vertical rod 5033 of the flapping wing 503 can be driven by the steering engine arm of the control steering engine 501 to move horizontally. When the aircraft does not need to generate rolling torque, the steering engine 501 is controlled to control the horizontal positions of the vertical rods 5033 of the left and right flapping wings 503, and the relaxation degrees of the flexible wing membranes 5031 of the left and right flapping wings 503 are the same.
The roll control method of the high-efficiency transmission flapping wing mechanism with the roll control function comprises the following steps: when the aircraft needs to generate a right rolling moment, the steering engine 501 is controlled to pull the wing root fixing frame 502 to the right side to drive the vertical rods 5033 of the two flapping wings 503 to integrally and horizontally move to the right side, so that the flexible wing film 5031 of the left flapping wing 503 is tensioned, and the flexible wing film 5031 of the right flapping wing 503 is loosened. Compared with the state before the steering engine is changed, the flexible wing film 5031 of the left flapping wing 503 is tensioned, and the attack angle is increased; the flexible wing membrane 5031 of the right flapping wing 503 is relaxed, and the angle of attack is reduced; therefore, the lift force of the left flapping wing 503 is increased, the lift force of the right flapping wing 503 is reduced, and the right rolling moment is generated because the lift force action points of the left flapping wing 503 and the right flapping wing 503 are not coincident with the gravity center. The roll torque to the left is generated in the opposite way to the roll torque to the left.
The manufacturing and installation process of the high-efficiency transmission flapping wing mechanism with the rolling control function comprises the following steps:
(1) the motor gear 301 is arranged on the main shaft of the motor 2, and the motor 2 is in interference fit with the rack 101 corresponding to the mounting hole of the motor 2. The reduction gear 302 and the single-layer gear 401 are mounted on corresponding hole positions of the rack 101 through shaft nails, wherein the reduction gear 302 is meshed with the motor gear 301 and the single-layer gear 401, and the single-layer gear 401 is only meshed with the reduction gear 302.
(2) The left bevel gear 403, the right bevel gear 404, the left wing rod 405 and the right wing rod 406 are respectively installed on corresponding hole positions of the base 102 through shaft nails, wherein the left bevel gear 403 is in meshing transmission with the left wing rod 405, the right bevel gear 404 is in meshing transmission with the right wing rod 406, and the left bevel gear 403 is in meshing transmission with the right bevel gear 404.
(3) The through hole at the thicker end of the connecting rod 402 is matched with the eccentric hole of the single-layer gear 401 through a shaft nail. The other end of the connecting rod 402 is fixedly matched with the chute of the right bevel gear 404 and the chute of the base 102 through a shaft pin to form two sliding pairs. The frame 101 and the base 102 are fixed by rivets, snaps, or the like.
(4) Manufacturing a flexible flapping wing 503, respectively connecting the cross rod 5032 of the flapping wing 503 with the left wing rod and the right wing rod, and inserting the vertical rod 5033 into round holes at the two mounting ends of the T-shaped head of the wing root fixing frame 502 for fixing.
(5) After the control steering engine 501 is fixedly connected with the mounting end of the control steering engine 501 of the frame 101 through screws and the like, the wing root fixing frame 502 is fixedly connected with the steering engine arm of the control steering engine 501 through screws.
Claims (5)
1. A high-efficiency transmission flapping wing mechanism with a rolling control function is characterized by comprising a fixing mechanism, a motor, a speed reducer, a transmission mechanism and a rolling control mechanism;
the fixing mechanism comprises a rack and a base; the rack is of a three-dimensional structure and comprises a motor, a speed reduction unit and a mounting hole of a single-layer gear in a transmission mechanism; the frame is fixedly connected with the base through rivets, buckles and the like at two ends; the base is spatial structure, includes the mounting hole of left helical gear, right helical gear, left wing pole and right wing pole among the drive mechanism, and the base upper surface is equipped with the spout, through the cooperation of axle nail and drive mechanism's connecting rod, right helical gear. The lower part of the base is provided with a mounting point so as to fix a control steering engine of the rolling control mechanism;
the transmission mechanism comprises a single-layer gear, a connecting rod, a left helical gear, a right helical gear, a left wing rod and a right wing rod; the single-layer gear is a cylindrical straight gear with an eccentric hole and is arranged on the base through a shaft nail; the two ends of the connecting rod are provided with through holes, the through hole at the thicker end is connected with the eccentric hole of the single-layer gear through a shaft nail to form a revolute pair, the through hole at the thinner end is fixed in the right helical gear sliding chute and the base sliding chute through the shaft nail, and the stroke slider-crank mechanism converts the circular motion of the single-layer gear into the reciprocating linear motion of the connecting rod along the sliding chutes; the left helical gear is a cylindrical helical gear, is arranged on the base through an axle nail and is in meshing transmission with the right helical gear and the left wing rod; the right helical gear is a cylindrical helical gear, the upper surface of the right helical gear is provided with a horizontal chute, the central line of the chute is vertical to the diameter, a connecting rod can drive the right helical gear to rotate through the chute, and the right helical gear is installed on the base through an axle nail and is in meshing transmission with the left helical gear and the right wing rod; the left wing rod and the right wing rod are of the same structure, are both assemblies of a flapping wing mounting boss and a cylindrical helical gear, and are respectively used for driving the left flapping wing and the right flapping wing to move, wherein the flapping wing mounting boss is positioned on the outer side of the wing rods and used for fixing a flapping wing cross rod; the cylindrical helical gear is positioned at the inner side of the wing rod, a central hole on the cylindrical helical gear is riveted with a corresponding mounting hole position of the base through an axle nail and can freely rotate around the mounting hole position, the cylindrical helical gear is in meshing transmission with the helical gear at the corresponding side, and the flapping wing mounting boss is positioned at the other end of the wing rod and used for fixing the flapping wing cross rod; the transmission mechanism has the following transmission principle: when the mechanism needs flapping motion, the motor is electrified to drive the motor gear to rotate, and the transmission mechanism is driven after the motor gear is decelerated by the speed reducer; the single-layer gear rotates to drive one end of the connecting rod to rotate around the rotating shaft of the single-layer gear, and meanwhile, the other end of the connecting rod makes reciprocating linear motion in the base sliding groove and the right helical gear sliding groove to drive the right helical gear to rotate; the crank sliding block mechanism is designed to convert the rotary motion of the motor into linear motion with the motion law close to sinusoidal motion; the right helical gear is meshed with the left helical gear and the cylindrical helical gear of the right wing rod, the left helical gear is meshed with the cylindrical helical gear of the left wing rod for transmission, the motion amplitude is amplified, and the high-efficiency and accurate transmission is realized by utilizing the characteristics of stable and accurate meshing motion of the helical gears in the process to realize the required high-efficiency and accurate flapping motion;
the rolling control mechanism comprises a left flapping wing, a right flapping wing, a control steering engine and a wing root fixing frame; the left flapping wing and the right flapping wing are respectively composed of a flexible wing membrane, a cross rod, a vertical rod and an oblique rod, and the cross rod, the vertical rod and the oblique rod are bonded on the flexible wing membrane; the wing root end of the cross rod is fixed on the flapping wing mounting bosses of the left and right wing rods in the transmission mechanism, and the upper end of the vertical rod is connected with the wing root fixing frame; the control steering engine can drive the flapping wing vertical rod to horizontally move left and right integrally; the wing root fixing frame is of a horizontal T-shaped structure, two sides of the T-shaped structure are respectively provided with a round hole for fixing the flapping wing vertical rod, a mounting hole is formed in the middle of the T-shaped structure and is fixedly connected with the control steering engine arm, and the flapping wing vertical rod can be driven by the control steering engine arm to move horizontally.
2. The high-efficiency transmission flapping wing mechanism with rolling control function of claim 1, wherein when the aircraft does not need rolling torque, the steering engine is controlled to control the horizontal position of the vertical rod of the left flapping wing and the horizontal position of the vertical rod of the right flapping wing, and the looseness degrees of the flexible wing membranes of the left flapping wing and the right flapping wing are the same.
3. The high-efficiency transmission flapping wing mechanism with rolling control function of claim 1, wherein the flying and rolling control method of the flapping wing mechanism comprises,
(1) when the aircraft moves, the transmission mechanism drives the flapping wings to flap in the horizontal plane to generate lift force;
(2) when the aircraft does not need to perform attitude control, the steering engine is controlled to be in the middle position of the stroke, the wing membranes on the two sides have the same relaxation degree, the upper and lower flapping attack angle changes are consistent, and no rolling moment is generated at the moment;
(3) when the aircraft needs to generate a right rolling torque, the steering engine is controlled to pull the wing root fixing frame towards the right side to drive the vertical rods of the two flapping wings to integrally and horizontally move rightwards, so that the left flapping wing flexible wing membrane is tensioned, and the right flapping wing flexible wing membrane is loosened. Compared with the state before the steering engine is changed, the flexible wing membrane of the left flapping wing is tensioned, and the attack angle is increased; the flexible wing membrane of the flapping wing on the right side is relaxed, and the attack angle is reduced; therefore, the lift force of the left flapping wing is increased, the lift force of the right flapping wing is reduced, and the right rolling moment is generated because the action points of the lift force of the left flapping wing and the right flapping wing are not coincident with the gravity center;
(4) the roll torque to the left is generated in the opposite way to the roll torque to the left.
4. The high efficiency transmission flapping wing mechanism with roll control function of claim 1, wherein the mechanism is manufactured and installed by the method of,
(1) mounting a motor gear on a motor spindle, and performing interference fit between a motor and a corresponding motor mounting hole of the frame; the reduction gear and the single-layer gear are arranged on corresponding hole positions of the rack through shaft nails, wherein the reduction gear is meshed with the motor gear and the single-layer gear, and the single-layer gear is only meshed with the reduction gear;
(2) the left helical gear, the right helical gear, the left wing rod and the right wing rod are respectively arranged on corresponding hole positions of the base through shaft nails, wherein the left helical gear is in meshing transmission with the left wing rod, the right helical gear is in meshing transmission with the right wing rod, and the left helical gear is in meshing transmission with the right helical gear;
(3) mounting and matching a through hole at the thicker end of the connecting rod with an eccentric hole of the single-layer gear through a shaft nail; the other end of the connecting rod is fixedly matched with the right helical gear sliding groove and the base sliding groove through the shaft nail to form two sliding pairs. The frame is fixed with the base by rivets, buckles and the like;
(4) manufacturing a flexible flapping wing, respectively connecting a cross rod of the flapping wing with a left wing rod and a right wing rod, and inserting a vertical rod into round holes at the mounting ends of two sides of a T-shaped head of a wing root fixing frame for fixing;
(5) after the control steering engine is fixedly connected with the mounting end of the frame control steering engine in a screw mode and the like, the wing root fixing frame is fixedly connected with the rudder arm of the control steering engine through screws.
5. The high efficiency transmission flapping wing mechanism with roll control function of claim 1, wherein said speed reducer comprises a motor gear and a reduction gear; the reduction gear is a coaxial double-layer gear, the diameters of the double-layer gear are different, wherein the larger layer of gear is meshed with the motor gear, and the smaller layer of gear is meshed with the single-layer gear in the transmission mechanism; the speed reducer reduces the speed of the high-speed rotation of the motor and amplifies the output torque of the motor to drive the transmission mechanism and the flapping wings to move.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112009682A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| 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 |
| CN112173100A (en) * | 2020-10-10 | 2021-01-05 | 北京理工大学 | Bionic flapping wing robot based on slider-crank mechanism |
| CN113022850A (en) * | 2021-05-11 | 2021-06-25 | 北京航空航天大学 | Hovering type micro bionic double-flapping-wing flying robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| CN112009682A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112173100A (en) * | 2020-10-10 | 2021-01-05 | 北京理工大学 | Bionic flapping wing robot based on slider-crank mechanism |
| 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 |
| CN113022850A (en) * | 2021-05-11 | 2021-06-25 | 北京航空航天大学 | Hovering type micro bionic double-flapping-wing flying robot |
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