CN113911348A - Synchronous belt transmission rolling curtain type high-efficiency flight flapping wing device - Google Patents
Synchronous belt transmission rolling curtain type high-efficiency flight flapping wing device Download PDFInfo
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- CN113911348A CN113911348A CN202111364306.1A CN202111364306A CN113911348A CN 113911348 A CN113911348 A CN 113911348A CN 202111364306 A CN202111364306 A CN 202111364306A CN 113911348 A CN113911348 A CN 113911348A
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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 synchronous belt transmission roller shutter type high-efficiency flying flapping wing device which comprises a flapping wing, a slideway and a connecting piece, wherein the flapping wing is connected to the connecting piece and can rotate relatively, the connecting piece is connected to the slideway in a sliding manner, the slideway is arranged on an aircraft, the flapping wing comprises a flapping wing frame and a roller shutter arranged on the flapping wing frame, and a synchronous belt wheel and a driving motor are further arranged in the flapping wing frame and used for switching the working state and the reset state of the flapping wing. Compared with the prior art, the invention has the characteristics of small reset stroke resistance, large and stable working stroke thrust, high pneumatic efficiency, capability of simultaneously adjusting the lift force and the thrust, simpler device structure and convenient manufacture, and can be widely applied to various small aircrafts and unmanned planes flying at low Reynolds numbers.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a synchronous belt transmission roller shutter type efficient flying flapping wing device for an unmanned aerial vehicle.
Background
The flight mode of the aircraft comprises three flight modes of a fixed wing, a rotor wing and a flapping wing, wherein the flapping wing flight is a flight mode adopted by natural flight organisms, the upper flapping and the lower flapping of double wings are mainly utilized to simultaneously generate lift force and thrust force, and the flight mode has the main characteristic that the lifting, hovering and propelling functions are integrated, meanwhile, the flight mode has strong maneuverability and flexibility, and is more suitable for executing flight around obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency.
At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. The flapping wing driving mechanism can be divided into a multi-degree-of-freedom flapping wing driving mechanism and a single-degree-of-freedom flapping wing driving mechanism, the multi-degree-of-freedom flapping wing driving mechanism can realize a complex motion form, but the mechanism is relatively large and complex, the single-degree-of-freedom flapping wing driving mechanism only needs to realize flapping motion, and the trailing edge of the fixed wing forms an attack angle which changes along with the flapping of the wing to realize the twisting motion.
However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft. Meanwhile, most of the existing flapping wing aircrafts cannot realize vertical take-off and landing and hovering in the air, and the flexibility and the maneuverability are not good enough.
Disclosure of Invention
The invention aims to provide a synchronous belt transmission roller shutter type high-efficiency flight flapping wing device which remarkably reduces the resistance of a flapping wing resetting process of a flapping wing type aircraft, improves the aerodynamic efficiency and has adjustable lift force and thrust, so as to solve the problems in the prior art.
The invention discloses a synchronous belt transmission roller shutter type high-efficiency flying flapping wing device which is characterized by comprising a flapping wing, a connecting piece, a transmission mechanism and a slideway, wherein the flapping wing is connected to the connecting piece and can rotate relatively, the connecting piece is connected to the slideway in a sliding manner, the slideway is arranged on an aircraft, the flapping wing comprises a flapping wing frame and a roller shutter arranged on the flapping wing frame, a synchronous belt wheel and a driving motor are further arranged in the flapping wing frame and used for controlling the roller shutter to expand and contract, and the transmission mechanism is connected to the connecting piece.
Further, there are hollow roller shutter installation beam, solid roller shutter installation beam, frame bracing piece, motor installation frame and flapping wing pivot on the flapping wing frame, there are roller shutter windward side, roller shutter leeward side, roller shutter through-hole on the roller shutter, there are slide way hole and flapping wing pivot hole on the connecting piece, the axis in slide way hole and the axis in flapping wing pivot hole are perpendicular, flapping wing pivot cartridge is in it is downthehole and rotatable to flap wing pivot, the slide cartridge is in the slide is downthehole and slidable, synchronous pulley installs on hollow roller shutter installation beam and solid roller shutter installation beam, driving motor installs motor installation frame department.
Further, the transmission mechanism comprises a connecting rod, a crank and a transmission shaft, a first pin shaft hole is formed in the connecting piece, and the axis of the first pin shaft hole is perpendicular to the axis of the slide way hole and the axis of the flapping wing rotating shaft hole respectively; the connecting rod is provided with a first connecting rod hole and a second connecting rod hole, and the crank is provided with a first crank hole and a second crank hole; the connecting piece and the connecting rod are connected with the first pin hole and the second connecting rod hole through the first pin shaft, and the connecting rod and the crank are connected with the first connecting rod hole and the second crank hole through the second pin shaft; the transmission shaft is connected with the second crank hole and a second speed reducer arranged on the aircraft.
Further, the axis of the first connecting rod hole is parallel to the axis of the second connecting rod hole, and the axis of the first crank hole is parallel to the axis of the second crank hole; the distance between the axis of the first link hole and the axis of the second link hole is greater than the distance between the axis of the first crank hole and the axis of the second crank hole.
Furthermore, the connecting piece is also provided with a third speed reducer and a stepping motor, the flapping wing rotating shaft is arranged on an output shaft of the third speed reducer, and an output shaft of the stepping motor is arranged in an input hole of the third speed reducer.
Further, the transmission shaft is mounted on an output shaft of the second speed reducer, and an output shaft of the motor is mounted in an input hole of the second speed reducer.
Further, the flapping wings are further provided with a first speed reducer, and an output shaft of the driving motor is installed in an input hole of the first speed reducer.
Furthermore, the flapping wing frame is provided with the hollow roller shutter mounting beam, the solid roller shutter mounting beam and the frame support rod which are all of hollow structures and made of light materials such as engineering plastics, carbon fibers and the like.
Further, the number of the synchronous pulleys is 4, and the number of the synchronous belts is 2.
The technical scheme for realizing the aim of the invention is to provide a synchronous belt transmission rolling curtain type high-efficiency flying flapping wing device, which comprises a flapping wing, a connecting piece, a transmission mechanism and a slideway, wherein the flapping wing is connected on the connecting piece and can rotate relatively, the connecting piece is connected on the slideway in a sliding way, the slideway is arranged on an aircraft, the flapping wing comprises a flapping wing frame and a rolling curtain arranged on the flapping wing frame, a synchronous belt wheel and a driving motor are also arranged in the flapping wing frame and used for controlling the rolling curtain to expand and contract, the transmission mechanism is connected on the connecting piece, the flapping wing frame is provided with a hollow rolling curtain mounting beam, a solid rolling curtain mounting beam, a frame supporting rod, a motor mounting frame and a flapping wing rotating shaft, the rolling curtain is provided with a rolling curtain windward side, a rolling curtain leeward side and a rolling curtain through hole, the connecting piece is provided with a slideway hole and a flapping wing rotating shaft hole, and the axis of the slideway hole is vertical to the axis of the flapping wing rotating shaft hole, the flapping wing rotating shaft is inserted in the flapping wing rotating shaft hole and can rotate, the slide way is inserted in the slide way hole and can slide, the synchronous belt pulley is installed on the hollow roller shutter installation beam and the solid roller shutter installation beam, the driving motor is installed at the motor installation frame, the transmission mechanism comprises a connecting rod, a crank and a transmission shaft, a first pin shaft hole is formed in the connecting piece, and the axis of the first pin shaft hole is perpendicular to the axis of the slide way hole and the axis of the flapping wing rotating shaft hole respectively; the connecting rod is provided with a first connecting rod hole and a second connecting rod hole, and the crank is provided with a first crank hole and a second crank hole; the connecting piece and the connecting rod are connected with the first pin shaft hole and the second connecting rod hole through the first pin shaft, and the connecting rod and the crank are connected with the first connecting rod hole and the second crank hole through the second pin shaft; the transmission shaft is connected with a second crank hole and a second speed reducer arranged on the aircraft, the axis of the first connecting rod hole is parallel to the axis of the second connecting rod hole, and the axis of the first crank hole is parallel to the axis of the second crank hole; the flapping wing structure comprises a flapping wing frame, a first crank hole, a second crank hole, a connecting piece, a third speed reducer, a stepping motor, a transmission shaft, a motor, a first speed reducer, a transmission shaft, a driving motor, a hollow roller shutter mounting beam, a solid roller shutter mounting beam and a frame supporting rod, wherein the distance between the axis of the first connecting rod hole and the axis of the second connecting rod hole is larger than the distance between the axis of the first crank hole and the axis of the second crank hole, the connecting piece is further provided with the third speed reducer and the stepping motor, a flapping wing rotating shaft is mounted on an output shaft of the third speed reducer, an output shaft of the stepping motor is mounted in an input hole of the third speed reducer, the transmission shaft is mounted on an output shaft of the second speed reducer, an output shaft of the motor is mounted in an input hole of the second speed reducer, the flapping wing frame is further provided with the first speed reducer, the output shaft of the driving motor is mounted in an input hole of the first speed reducer, the hollow roller shutter mounting beam, the solid roller shutter mounting beam and the frame supporting rod are arranged on the flapping wing frame, the hollow roller shutter mounting beam, and the frame supporting rod are all made of light materials such as engineering plastics and carbon fibers.
During the use, all install slide, reduction gear and the motor in this application and fix on aircraft or unmanned aerial vehicle.
The working principle of the invention is as follows: the synchronous belt drive rolling type high-efficiency flying flapping wing reduces the air resistance of the straight reciprocating motion flapping wing in the resetting process by utilizing the synchronous belt to drive the rolling shutter to move forward and backward, thereby improving the pneumatic efficiency of the flapping wing, and achieving the purpose of controlling the lift force and the thrust by adjusting the inclination angle of the flapping wing, namely, after the motor is started, the transmission shaft and the crank are driven to rotate after being decelerated by the second decelerator, thereby driving the flapping wing frame connected on the connecting rod to do reciprocating translation, when the flapping wing frame moves close to the transmission shaft, the flapping wing frame is in a working state, at the moment, the synchronous belt wheel starts to move under the drive of the drive motor, the synchronous belt is driven to work, so that the rolling shutter is unfolded and contracted along with the forward and backward rotation of the synchronous belt wheel, at the moment, the windward side of the rolling shutter is opposite to the air flow, the rolling shutter at the through hole is wound on the hollow rolling shutter mounting beam, the windward side of the rolling shutter is vertical to the moving direction of the air flow, and the air flow directly acts on the windward side of the rolling shutter to obtain the maximum driving force, meanwhile, the stepping motor is decelerated by the third speed reducer to drive the flapping wing frame to rotate, so that the inclination angle of the flapping wing is changed, the positive pressure of airflow acting on the windward side of the roller shutter can be decomposed into lift force and thrust force, and the change of the inclination angle of the flapping wing can adjust the magnitude of the lift force and the thrust force; when the flapping wing frame moves away from the transmission shaft, the flapping wing frame is in a reset state, the through hole of the roller shutter moves to the position opposite to the air flow, and the air flow directly flows out of the through hole of the roller shutter, so that the air resistance borne by the roller shutter in the reset process is minimum, and the energy utilization efficiency in the reciprocating translation process is high; when the reset stroke is finished, the acting force of the airflow is reduced, and under the action of the driving motor, the synchronous belt wheel reversely rotates to drive the roller shutter to rotate to a working state. Compared with the prior art, the invention has the following remarkable advantages:
1. according to the synchronous belt transmission roller shutter type high-efficiency flying flapping wing device, the linearly-moving flapping wings are linearly translated, the roller shutters controlled by the driving motors are designed, the roller shutters move upwind in the largest area in the working stroke, the surface obtains larger and evenly-distributed pressure, and the working stroke thrust is large and stable; the through hole of the rolling screen moves to the position opposite to the air flow in the reset stroke, the air flow directly flows out from the through hole of the rolling screen, the acting area of the wind power is small, and therefore the reset resistance of the flapping wing is minimum, and the purpose of greatly improving the pneumatic efficiency of the flapping wing is achieved.
2. According to the synchronous belt transmission roller shutter type high-efficiency flying flapping wing device, the roller shutter is switched between the working state and the reset state under the control of the driving motor, the synchronous belt is driven to complete, and the device is high in control precision and good in reliability.
3. According to the synchronous belt transmission roller shutter type high-efficiency flying flapping wing device, continuous rotation of the motor output shaft is converted into vertical reciprocating linear motion of the flapping wing through a crank-slider mechanism, the inclination angle of the flapping wing is controlled through the stepping motor, adjustable lift force and adjustable thrust are generated at the same time, the device can be used after being simply transformed on an unmanned aerial vehicle, and the device is simple to install.
4. The synchronous belt transmission roller shutter type high-efficiency flying flapping wing device is simple in structure, good in processing manufacturability and low in production cost, and can be widely applied to various small aircrafts and unmanned aerial vehicles flying at low Reynolds numbers.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the synchronous belt transmission rolling type high-efficiency flying flapping wing device.
Fig. 2 is a detailed structural diagram of the working state of the synchronous belt transmission roller shutter type high-efficiency flying flapping wing device.
Fig. 3 is a detailed structure diagram of the reset state of the synchronous belt transmission rolling curtain type high-efficiency flying flapping wing device.
FIG. 4 is a cross-sectional view of the synchronous belt transmission rolling type high-efficiency flying flapping wing device of the invention in the working state.
FIG. 5 is a cross-sectional view of the reset state of the synchronous belt transmission rolling type high-efficiency flying flapping wing device.
Fig. 6 is a schematic structural diagram of a flapping wing frame of the synchronous belt transmission rolling curtain type high-efficiency flight flapping wing device.
Fig. 7 is a schematic structural diagram of a roller shutter of the synchronous belt transmission roller shutter type high-efficiency flight flapping wing device.
Fig. 8 is a schematic structural diagram of a connecting piece of the synchronous belt transmission rolling type high-efficiency flying flapping wing device.
Fig. 9 is a schematic structural diagram of a connecting rod of the synchronous belt transmission rolling type high-efficiency flying flapping wing device.
Fig. 10 is a schematic structural diagram of a crank of the synchronous belt transmission rolling high-efficiency flying flapping wing device.
Detailed Description
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1: with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the high-voltage wire inspection unmanned aerial vehicle adopting the synchronous belt transmission rolling curtain type high-efficiency flying flapping wing device is provided. The flapping wing type air vehicle comprises a flapping wing, a connecting piece 8, a transmission mechanism and a slideway 7, wherein the flapping wing is connected to the connecting piece 8 and can rotate relatively, the connecting piece 8 is connected to the slideway 7 in a sliding manner, the slideway 7 is arranged on an air vehicle, the flapping wing comprises a flapping wing frame 1 and a roller shutter 2 arranged on the flapping wing frame 1, a synchronous belt 3, a synchronous belt wheel 6 and a driving motor 5 are further arranged in the flapping wing frame 1 and used for controlling the roller shutter 2 to expand and contract, and the transmission mechanism is connected to the connecting piece 8; the flapping wing frame 1 is provided with a hollow rolling curtain mounting beam 101, a solid rolling curtain mounting beam 102, a frame support rod 103, a motor mounting frame 104 and a flapping wing rotating shaft 105, the rolling curtain 2 is provided with a rolling curtain windward side 201, a rolling curtain leeward side 202 and a rolling curtain through hole 203, a connecting piece 8 is provided with a sliding track hole 801 and a flapping wing rotating shaft hole 803, the axis of the sliding track hole 801 is vertical to the axis of the flapping wing rotating shaft hole 803, the flapping wing rotating shaft 105 is inserted into the flapping wing rotating shaft hole 803 and can rotate, a sliding track 7 is inserted into the sliding track hole 801 and can slide, a synchronous belt wheel 6 is mounted on the hollow rolling curtain mounting beam 101 and the solid rolling curtain mounting beam 102, a driving motor 5 is mounted at the position of the motor mounting frame 104, a transmission mechanism comprises a connecting rod 10, a crank 12 and a transmission shaft 13, the connecting piece 8 is provided with a first pin shaft hole 802, and the axis of the first pin shaft hole 802 is respectively vertical to the axis of the sliding track hole 801 and the axis of the flapping wing rotating shaft hole 105; a first connecting rod hole 1001 and a second connecting rod hole 1002 are formed in the connecting rod 10, and a first crank hole 1201 and a second crank hole 1202 are formed in the crank 12; the connecting piece 8 and the connecting rod 10 are connected with a first pin shaft hole 802 and a second connecting rod hole 1002 through the first pin shaft 9, and the connecting rod 10 and the crank 12 are connected with a first connecting rod hole 1001 and a second crank hole 1202 through the second pin shaft 11; the transmission shaft 13 is connected with the second crank hole 1202 and a second speed reducer 14 arranged on the aircraft, the axis of the first connecting rod hole 1001 is parallel to the axis of the second connecting rod hole 1002, the axis of the first crank hole 1201 is parallel to the axis of the second crank hole 1202, the distance between the axis of the first connecting rod hole 1001 and the axis of the second connecting rod hole 1002 is larger than the distance between the axis of the first crank hole 1201 and the axis of the second crank hole 1202, the connecting piece 8 is also provided with a third speed reducer 16 and a stepping motor 17, the flapping wing rotating shaft 105 is arranged on the output shaft of the third speed reducer 16, the output shaft of the stepping motor 17 is arranged in the input hole of the third speed reducer 16, the transmission shaft 13 is arranged on the output shaft of the second speed reducer 14, the output shaft of the motor 15 is arranged in the input hole of the second speed reducer 14, the flapping wing is also provided with the first speed reducer 4, the output shaft of the driving motor 5 is arranged in the input hole of the first speed reducer 4, the flapping wing frame 1 is provided with a hollow roller shutter mounting beam 101, a solid roller shutter mounting beam 102 and a frame support rod 103, which are all of hollow structure and made of light materials such as engineering plastics, carbon fiber and the like. After the high-voltage wire inspection unmanned aerial vehicle adopts the synchronous belt transmission roller shutter type efficient flying flapping wing device, various detection and photographing operations can be completed due to small resistance of the flapping wing and high pneumatic efficiency, and compared with a rotor unmanned aerial vehicle, after the same working load such as photographic equipment is carried, the one-time flight time is increased by 20 percent, so that longer flight time operation is realized.
Example 2: by combining the figures 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the unmanned aerial vehicle special for high-rise fire extinguishment adopts a synchronous belt transmission rolling curtain type high-efficiency flying flapping wing device. The flapping wing type air vehicle comprises a flapping wing, a connecting piece 8, a transmission mechanism and a slideway 7, wherein the flapping wing is connected to the connecting piece 8 and can rotate relatively, the connecting piece 8 is connected to the slideway 7 in a sliding manner, the slideway 7 is arranged on an air vehicle, the flapping wing comprises a flapping wing frame 1 and a roller shutter 2 arranged on the flapping wing frame 1, a synchronous belt 3, a synchronous belt wheel 6 and a driving motor 5 are further arranged in the flapping wing frame 1 and used for controlling the roller shutter 2 to expand and contract, and the transmission mechanism is connected to the connecting piece 8; the flapping wing frame 1 is provided with a hollow rolling curtain mounting beam 101, a solid rolling curtain mounting beam 102, a frame support rod 103, a motor mounting frame 104 and a flapping wing rotating shaft 105, the rolling curtain 2 is provided with a rolling curtain windward side 201, a rolling curtain leeward side 202 and a rolling curtain through hole 203, a connecting piece 8 is provided with a sliding track hole 801 and a flapping wing rotating shaft hole 803, the axis of the sliding track hole 801 is vertical to the axis of the flapping wing rotating shaft hole 803, the flapping wing rotating shaft 105 is inserted into the flapping wing rotating shaft hole 803 and can rotate, a sliding track 7 is inserted into the sliding track hole 801 and can slide, a synchronous belt wheel 6 is mounted on the hollow rolling curtain mounting beam 101 and the solid rolling curtain mounting beam 102, a driving motor 5 is mounted at the position of the motor mounting frame 104, a transmission mechanism comprises a connecting rod 10, a crank 12 and a transmission shaft 13, the connecting piece 8 is provided with a first pin shaft hole 802, and the axis of the first pin shaft hole 802 is respectively vertical to the axis of the sliding track hole 801 and the axis of the flapping wing rotating shaft hole 105; a first connecting rod hole 1001 and a second connecting rod hole 1002 are formed in the connecting rod 10, and a first crank hole 1201 and a second crank hole 1202 are formed in the crank 12; the connecting piece 8 and the connecting rod 10 are connected with a first pin shaft hole 802 and a second connecting rod hole 1002 through the first pin shaft 9, and the connecting rod 10 and the crank 12 are connected with a first connecting rod hole 1001 and a second crank hole 1202 through the second pin shaft 11; the transmission shaft 13 is connected with the second crank hole 1202 and a second speed reducer 14 arranged on the aircraft, the axis of the first connecting rod hole 1001 is parallel to the axis of the second connecting rod hole 1002, the axis of the first crank hole 1201 is parallel to the axis of the second crank hole 1202, the distance between the axis of the first connecting rod hole 1001 and the axis of the second connecting rod hole 1002 is larger than the distance between the axis of the first crank hole 1201 and the axis of the second crank hole 1202, the connecting piece 8 is also provided with a third speed reducer 16 and a stepping motor 17, the flapping wing rotating shaft 105 is arranged on the output shaft of the third speed reducer 16, the output shaft of the stepping motor 17 is arranged in the input hole of the third speed reducer 16, the transmission shaft 13 is arranged on the output shaft of the second speed reducer 14, the output shaft of the motor 15 is arranged in the input hole of the second speed reducer 14, the flapping wing is also provided with the first speed reducer 4, the output shaft of the driving motor 5 is arranged in the input hole of the first speed reducer 4, the flapping wing frame 1 is provided with a hollow roller shutter mounting beam 101, a solid roller shutter mounting beam 102 and a frame support rod 103, which are all of hollow structure and made of light materials such as engineering plastics, carbon fiber and the like. After the synchronous belt transmission roller shutter type efficient flying flapping wing device is adopted by the unmanned aerial vehicle special for high-rise fire extinguishment, the flapping wing has stronger maneuverability due to large thrust, small resistance and high pneumatic efficiency in the working stroke, can quickly respond to high-rise emergency, and quickly flies to a high-rise fire catching point to extinguish fire.
Claims (8)
1. The utility model provides a high-efficient flight flapping wing device of roll curtain formula is rolled up in synchronous belt drive, its characterized in that includes flapping wing, connecting piece (8), drive mechanism and slide (7), the flapping wing is connected but just relative rotation on connecting piece (8), connecting piece (8) sliding connection be in on slide (7), slide (7) set up on the aircraft, the flapping wing includes flapping wing frame (1) to and install roll curtain (2) on flapping wing frame (1), still be provided with in flapping wing frame (1) hold-in range (3), synchronous pulley (6) and driving motor (5), be used for controlling the expansion and the shrink of roll curtain (2), drive mechanism connects on connecting piece (8);
a hollow roller shutter mounting beam (101), a solid roller shutter mounting beam (102), a frame supporting rod (103), a motor mounting frame (104) and a flapping wing rotating shaft (105) are arranged on the flapping wing frame (1), the roller shutter (2) is provided with a roller shutter windward side (201), a roller shutter leeward side (202) and a roller shutter through hole (203), the connecting piece (8) is provided with a slide way hole (801) and a flapping wing rotating shaft hole (803), the axis of the slide way hole (801) is vertical to the axis of the flapping wing rotating shaft hole (803), the flapping wing rotating shaft (105) is inserted in the flapping wing rotating shaft hole (803) and can rotate, the slideway (7) is inserted in the slideway hole (801) and can slide, the synchronous pulley (6) is arranged on the hollow roller shutter mounting beam (101) and the solid roller shutter mounting beam (102), the driving motor (5) is installed at the motor mounting frame (104).
2. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1, which is characterized in that: the transmission mechanism comprises a connecting rod (10), a crank (12) and a transmission shaft (13), a first pin shaft hole (802) is formed in the connecting piece (8), and the axis of the first pin shaft hole (802) is perpendicular to the axis of the slide way hole (801) and the axis of the flapping wing rotating shaft hole (803) respectively; a first connecting rod hole (1001) and a second connecting rod hole (1002) are formed in the connecting rod (10), and a first crank hole (1201) and a second crank hole (1202) are formed in the crank (12); the connecting piece (8) and the connecting rod (10) are connected with the first pin hole (802) and the second connecting rod hole (1002) through the first pin shaft (9), and the connecting rod (10) and the crank (12) are connected with the first connecting rod hole (1001) and the second crank hole (1202) through the second pin shaft (11); the transmission shaft (13) connects the second crank hole (1202) and a second reduction gear (14) arranged on the aircraft.
3. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1 or 2, which is characterized in that: an axis of the first link hole (1001) and an axis of the second link hole (1002) are parallel, an axis of the first crank hole (1201) and an axis of the second crank hole (1202) are parallel, and a distance between the axis of the first link hole (1001) and the axis of the second link hole (1002) is greater than a distance between the axis of the first crank hole (1201) and the axis of the second crank hole (1202).
4. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1, which is characterized in that: the connecting piece (8) is further provided with a third speed reducer (16) and a stepping motor (17), the flapping wing rotating shaft (105) is installed on an output shaft of the third speed reducer (16), and an output shaft of the stepping motor (17) is installed in an input hole of the third speed reducer (16).
5. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1 or 2, which is characterized in that: the transmission shaft (13) is arranged on an output shaft of the second speed reducer (14), and an output shaft of the motor (15) is arranged in an input hole of the second speed reducer (14).
6. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1, which is characterized in that: the flapping wings are further provided with a first speed reducer (4), and an output shaft of the driving motor (5) is installed in an input hole of the first speed reducer (4).
7. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1, which is characterized in that: the flapping wing frame (1) is provided with the hollow roller shutter mounting beam (101), the solid roller shutter mounting beam (102) and the frame support rod (103), which are all of hollow structures and made of light materials such as engineering plastics, carbon fibers and the like.
8. The synchronous belt drive roller shutter type high-efficiency flying flapping wing device of claim 1, which is characterized in that: the number of the synchronous belt wheels (6) is 4, and the number of the synchronous belts (3) is 2.
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| CN202111364306.1A CN113911348A (en) | 2021-11-17 | 2021-11-17 | Synchronous belt transmission rolling curtain type high-efficiency flight flapping wing device |
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| CN202111364306.1A CN113911348A (en) | 2021-11-17 | 2021-11-17 | Synchronous belt transmission rolling curtain type high-efficiency flight flapping wing device |
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| FR402421A (en) * | 1909-04-26 | 1909-10-07 | Eugene Sunguroff | Air thruster |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN110254709A (en) * | 2019-07-18 | 2019-09-20 | 苏州高博软件技术职业学院 | Adaptive air-flow can rotating vane piece change inclination angle direct acting flapping wing device and flapping wing method |
| CN110294119A (en) * | 2019-07-18 | 2019-10-01 | 苏州高博软件技术职业学院 | Fin adaptively rotates swing type and becomes inclination angle flapping wing device and flapping wing method |
| CN110356552A (en) * | 2019-07-18 | 2019-10-22 | 苏州高博软件技术职业学院 | Equipped with can rotating vane piece the double flapping wing unmanned planes of Direct Action Type |
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