CN114572394A - Power assembly for bionic flapping wing flying robot - Google Patents
Power assembly for bionic flapping wing flying robot Download PDFInfo
- Publication number
- CN114572394A CN114572394A CN202210254484.7A CN202210254484A CN114572394A CN 114572394 A CN114572394 A CN 114572394A CN 202210254484 A CN202210254484 A CN 202210254484A CN 114572394 A CN114572394 A CN 114572394A
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- gear
- primary
- power assembly
- flying robot
- machine body
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 25
- 230000009467 reduction Effects 0.000 claims description 13
- 208000032370 Secondary transmission Diseases 0.000 claims description 10
- 208000032369 Primary transmission Diseases 0.000 claims description 8
- 244000309464 bull Species 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 8
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 3
- 229910000851 Alloy steel Inorganic materials 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- CNQCVBJFEGMYDW-UHFFFAOYSA-N lawrencium atom Chemical compound [Lr] CNQCVBJFEGMYDW-UHFFFAOYSA-N 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a power assembly for a bionic flapping wing flying robot, which comprises: a body; the two swing rods are respectively connected to the left side and the right side of the fuselage, can swing up and down relative to the fuselage, respectively extend from the fuselage to the left side and the right side of the fuselage, and are used for mounting wings; the two connecting rods are respectively connected to the positions, far away from the machine body, of the two swing rods and are used for driving the swing rods to swing up and down; the driving device is arranged on the machine body and is used for the connecting rod to move up and down; the component can improve the component compactness of the whole robot and is beneficial to reducing the wind resistance of the robot body.
Description
Technical Field
The invention relates to the technical field of bionic aircraft, in particular to a power assembly for a bionic flapping-wing flying robot.
Background
Flapping wing flight is an efficient flight mode, and birds, insects and the like in nature complete various flight actions in a flapping wing mode. A plurality of bionic flapping-wing flying robots are invented by human beings in a flapping-wing simulating mode, and in the flapping-wing flying robot, a power assembly is a core component for driving flapping wings to move and is mainly used for driving flapping of wings.
The swing arm of the wing of the existing flapping wing aircraft partially extends to the inner side of the aircraft body, the swing arm is driven by a driving device on the inner side of the aircraft body to swing up and down, namely the driving device and the wing are respectively positioned on the inner side and the outer side of the aircraft body, and a space for accommodating the driving device needs to be opened up inside the aircraft body, so that the windward area of the aircraft body is large, and the reduction of wind resistance is not facilitated.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the power assembly for the bionic flapping wing flying robot provided by the invention can improve the component compactness of the whole robot and is beneficial to reducing the wind resistance of the robot body.
The invention relates to a power assembly for a bionic flapping wing flying robot, which comprises: a body; the two swing rods are respectively connected to the left side and the right side of the fuselage, can swing up and down relative to the fuselage, respectively extend from the fuselage to the left side and the right side of the fuselage, and are used for mounting wings; the two connecting rods are respectively connected to the positions, far away from the machine body, of the two swing rods and are used for driving the swing rods to swing up and down; and the driving device is arranged on the machine body and is used for the connecting rod to move up and down.
According to some embodiments of the invention, the drive device comprises: the mounting plate is arranged on the machine body; the motor is arranged on the mounting plate; the speed reduction gear set is arranged on the mounting plate and is in driving connection with the motor; and the two cranks are respectively in rotating connection with the two connecting rods and are in transmission connection with the reduction gear set.
According to some embodiments of the invention, the reduction gear set comprises a primary transmission member, a secondary transmission member and a tertiary transmission member, cooperating in sequence, the primary transmission member being in driving connection with the motor and the tertiary transmission member being in connection with the two cranks.
According to some embodiments of the invention, the primary transmission comprises: the first-stage large gear is meshed with an output gear of the motor; the first-stage small gear is fixedly connected with the first-stage large gear and is in transmission connection with the second-stage transmission part; the first-stage gearwheel and the first-stage pinion are integrally arranged in a laser welding mode.
According to some embodiments of the invention, the primary bull gear and the primary pinion gear comprise a double gear assembly.
According to some embodiments of the invention, the primary gearwheel is provided with a hollow-out portion.
According to some embodiments of the invention, the secondary transmission comprises: the second-stage bull gear is meshed with the first-stage pinion; the second-stage small gear is fixedly connected with the second-stage large gear and is in transmission connection with the third-stage transmission part; the secondary main shaft is connected with the secondary large gear and the secondary small gear; the secondary gearwheel, the secondary pinion and the secondary main shaft are integrally arranged in a laser welding mode.
According to some embodiments of the invention, the power assembly for the bionic ornithopter flying robot further comprises a mounting side plate, the mounting side plate is arranged on the mounting plate, and the secondary gearwheel and the secondary pinion are respectively positioned on two sides of the mounting side plate.
According to some embodiments of the invention, the tertiary drive comprises: the third-stage bull gear is meshed with the second-stage pinion; and the three-stage main shaft is fixedly connected with the three-stage large gear, and the two cranks are respectively connected with two ends of the three-stage main shaft.
According to some embodiments of the invention, the three-stage bull gear is hollow.
By applying the power assembly for the bionic flapping wing flying robot, in the operation process, the driving device drives the two connecting rods on the left side and the right side to move up and down, and the two connecting rods respectively drive the two swing rods to swing up and down to drive the wings to swing up and down; because the two connecting rods are respectively connected to the positions of the two swing rods far away from the machine body; the space for accommodating the driving device in the machine body can be reduced, the whole shape of the machine body can be more slender, the windward area of the machine body is reduced, and the wind resistance is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of the assembly structure of a three-stage deceleration power assembly of the invention and other structures of an ornithopter flying robot;
FIG. 2 is a schematic structural diagram of the three stage retarding power assembly of the present invention;
FIG. 3 is a schematic view of the construction of the primary gear drive shaft of FIG. 2;
FIG. 4 is a schematic view of the two-stage gear drive shaft of FIG. 2;
FIG. 5 is a schematic view of the structure of the three-stage gear transmission shaft of FIG. 2 and the assembly structure of the crank;
FIG. 6 is a schematic structural view of the three-stage spindle of FIG. 5;
the above figures contain the following reference numerals.
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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 6, the power assembly for a bionic ornithopter flying robot of the embodiment includes: a body 2; the two swing rods are respectively connected to the left side and the right side of the machine body 2, can swing up and down relative to the machine body 2, respectively extend from the machine body 2 to the left side and the right side of the machine body 2, and are used for mounting the wings 4; the two connecting rods 3 are respectively connected to the positions, far away from the machine body 2, of the two swing rods, and the connecting rods 3 are used for driving the swing rods to swing up and down; and the driving device 1 is arranged on the machine body 2, and the driving device 1 is used for the connecting rod 3 to move up and down.
By applying the power assembly for the bionic flapping wing flying robot, in the operation process, the driving device 1 drives the two connecting rods 3 at the left side and the right side to move up and down, and the two connecting rods 3 respectively drive the two swing rods to swing up and down to drive the wings 4 to swing up and down; the two connecting rods 3 are respectively connected to the positions of the two swing rods far away from the machine body 2; the space for accommodating the driving device 1 in the machine body 2 can be reduced, the whole shape of the machine body 2 can be more slender, the windward area of the machine body 2 is reduced, and the wind resistance is reduced.
The driving device 1 can drive the connecting rod 3 to move up and down in various ways, such as driving the crank 105a mechanism through the motor 101, driving the connecting rod 3 to move up and down, or driving the connecting rod 3 to move up and down through the linear motor 101.
Specifically, as shown in fig. 1 to 2, the driving device 1 includes: a mounting plate 108 provided on the body 2; a motor 101 disposed on the mounting plate 108; the reduction gear set is arranged on the mounting plate 108 and is in driving connection with the motor 101; the two cranks 105a are respectively connected with the two connecting rods 3 in a rotating way, and the two cranks 105a are both connected with the reduction gear set in a transmission way; the motor 101 drives the two cranks 105a on the left and right sides to rotate through the reduction gear set, and drives the two connecting rods 3 to move up and down.
In particular, the reduction gear set comprises a primary transmission element 102, a secondary transmission element 103 and a tertiary transmission element 106 cooperating in sequence, the primary transmission element 102 being drivingly connected to the motor 101, the tertiary transmission element 106 being connected to the two cranks 105 a.
In fig. 1, the dashed portions are schematic of wing and fuselage portions.
Wherein, first order transmission member 102 includes: a primary large gear 102a engaged with an output gear of the motor 101; the primary small gear 102b is fixedly connected with the primary large gear 102a, and the primary small gear 102b is in transmission connection with the secondary transmission piece 103; the first-stage gearwheel 102a and the first-stage pinion 102b are integrally arranged in a laser welding manner; specifically, the first-stage large gear 102a and the first-stage small gear 102b are designed as a duplicate gear, and are welded together with the first-stage main shaft 102c to form a first-stage transmission assembly through laser welding, the first-stage transmission assembly is compact in structure and good in stability, the first-stage transmission piece 102 is connected with the mounting plate 108 and the mounting side plate 107 through a first-stage bearing, the first-stage large gear 102a is made of titanium alloy and provided with a hollowed-out part, the first-stage large gear 102a is high in strength and light in weight, a tooth profile is machined from a slow-speed wire, the surface smoothness is high, the first-stage small gear 102b is made of 40Cr modulated alloy steel, the strength is high, the tooth profile is machined from hobbing, and the surface smoothness is high.
As shown in fig. 4, the secondary transmission member 103 includes: a secondary bull gear 103c meshed with the primary pinion gear 102 b; the secondary pinion 103a is fixedly connected with the secondary gearwheel 103c, and the secondary pinion 103a is in transmission connection with the tertiary transmission piece 106; a secondary main shaft 103b connected with the secondary gearwheel 103c and the secondary pinion 103 a; the secondary gearwheel 103c, the secondary pinion 103a and the secondary spindle 103b are integrally arranged in a laser welding manner; specifically, the secondary large gear 103c is made of titanium alloy and is subjected to hollow processing, the strength is high, the weight is light, the tooth profile is formed by machining a slow-walking wire and is high in surface smoothness, the secondary small gear 103a is made of 40Cr modulated alloy steel and is high in strength, the tooth profile is formed by machining hobbing, the surface smoothness is high, the secondary large gear 103c, the secondary small gear 103a and the secondary main shaft 103b are fixed through laser welding to form a secondary transmission member 103 together, and the secondary transmission member 103 is connected with the mounting plate 108 and the mounting side plate 107 through a second bearing 103 d.
As shown in fig. 2, the power assembly for the bionic ornithopter flying robot further comprises a mounting side plate 107, the mounting side plate 107 is arranged on a mounting plate 108, and the secondary gearwheel 103c and the secondary pinion 103a are respectively positioned on two sides of the mounting side plate 107; wherein, the mounting plate 108 and the mounting side plate 107 are supported by the supporting column 104; the mounting plate 108 is provided with a screw hole through which a third screw 5 is mounted on the support column 104.
As shown in fig. 5 and 6, the tertiary transmission 106 includes: a third-stage large gear 106b meshed with the second-stage small gear 103 a; the three-stage main shaft 106a is fixedly connected with the three-stage large gear 106b, and the two cranks 105a are respectively connected with two ends of the three-stage main shaft 106 a; wherein the third-stage gearwheel 106b is arranged in a hollow manner.
Specifically, the conversion assembly 105 comprises a crank 105a and a first screw 105b, the third-stage gearwheel 106b is made of titanium alloy and is hollowed out, the strength is high, the weight is light, the tooth profile is formed by processing slow-moving wires, the surface finish is high, the third-stage gearwheel 106b is fixed with the third-stage main shaft 106a through a second flat position 106a2 and a second screw 106d, wherein the second screw 106d is inserted into a fixing hole in the third-stage gearwheel 106b and a first threaded hole 106a3 formed in a second flat position 106a 2; the cranks 105a are fixed through jackscrews 105c and first screws 105b, wherein each crank 105a is provided with two jackscrews 105c which are respectively abutted against two first flat positions 106a1 which are symmetrical at one end of the three-stage main shaft 106 a; and the first screw 105b passes through the crank 105a and is fitted into the second screw hole 106a4 to axially restrain the crank 105 a.
In the embodiment, the speed reduction ratio of the power assembly can be improved to more than 150 by adopting a three-level speed reduction mode, so that the large-scale flapping-wing flying robot can be driven by the large KV value brushless motor 101 with a smaller specification, and the flying efficiency of the flapping-wing flying robot is improved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A power assembly for a bionic ornithopter flying robot, comprising:
a body (2);
the two swing rods are respectively connected to the left side and the right side of the machine body (2), can swing up and down relative to the machine body (2), extend from the machine body (2) to the left side and the right side of the machine body (2) respectively, and are used for mounting wings (4);
the two connecting rods (3) are respectively connected to the positions, far away from the machine body (2), of the two swing rods, and the connecting rods (3) are used for driving the swing rods to swing up and down;
the driving device (1) is arranged on the machine body (2), and the driving device (1) is used for enabling the connecting rod (3) to move up and down.
2. A power assembly for a bionic ornithopter flying robot according to claim 1, characterized in that the driving device (1) comprises:
a mounting plate (108) provided on the body (2);
a motor (101) disposed on the mounting plate (108);
the reduction gear set is arranged on the mounting plate (108) and is in driving connection with the motor (101);
the two cranks (105a) are respectively in rotating connection with the two connecting rods (3), and the two cranks (105a) are in transmission connection with the reduction gear set.
3. The power assembly for a bionic ornithopter flying robot according to claim 2, wherein the reduction gear set comprises a primary transmission member (102), a secondary transmission member (103) and a tertiary transmission member (106) which are matched in sequence, the primary transmission member (102) is in driving connection with the motor (101), and the tertiary transmission member (106) is connected with the two cranks (105 a).
4. A power assembly for a bionic ornithopter flying robot according to claim 3, characterized in that the primary transmission (102) comprises:
a primary large gear (102a) engaged with an output gear of the motor (101);
the primary small gear (102b) is fixedly connected with the primary large gear (102a), and the primary small gear (102b) is in transmission connection with the secondary transmission piece (103);
the primary gearwheel (102a) and the primary pinion (102b) are integrally arranged in a laser welding manner.
5. The power assembly for a bionic ornithopter flying robot according to claim 4, wherein the primary gearwheel (102a) and the primary pinion (102b) constitute a double gear assembly.
6. The power assembly for the bionic ornithopter flying robot as claimed in claim 5, wherein a hollow part is formed on the primary gearwheel (102 a).
7. A power assembly for a bionic ornithopter flying robot according to claim 4, characterized in that the secondary transmission (103) comprises:
a secondary bull gear (103c) meshed with the primary pinion gear (102 b);
the secondary small gear (103a) is fixedly connected with the secondary large gear (103c), and the secondary small gear (103a) is in transmission connection with the tertiary transmission piece (106);
a secondary main shaft (103b) connecting the secondary bull gear (103c) and the secondary pinion gear (103 a);
the secondary gearwheel (103c), the secondary pinion (103a) and the secondary spindle (103b) are integrally arranged in a laser welding manner.
8. The power assembly for the bionic ornithopter flying robot as claimed in claim 7, further comprising a mounting side plate (107), wherein the mounting side plate (107) is arranged on the mounting plate (108), and the secondary bull gear (103c) and the secondary pinion gear (103a) are respectively positioned on two sides of the mounting side plate (107).
9. The power assembly for a biomimetic ornithopter flying robot according to claim 7, characterized in that the tertiary drive (106) comprises:
a tertiary gearwheel (106b) meshing with the secondary pinion (103 a);
and the three-stage main shaft (106a) is fixedly connected with the three-stage large gear (106b), and the two cranks (105a) are respectively connected with two ends of the three-stage main shaft (106 a).
10. The power assembly for a bionic ornithopter flying robot according to claim 9, wherein the three-stage gearwheel (106b) is provided with a hollow-out design.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210254484.7A CN114572394A (en) | 2022-03-11 | 2022-03-11 | Power assembly for bionic flapping wing flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210254484.7A CN114572394A (en) | 2022-03-11 | 2022-03-11 | Power assembly for bionic flapping wing flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114572394A true CN114572394A (en) | 2022-06-03 |
Family
ID=81780906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210254484.7A Pending CN114572394A (en) | 2022-03-11 | 2022-03-11 | Power assembly for bionic flapping wing flying robot |
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| Country | Link |
|---|---|
| CN (1) | CN114572394A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6227483B1 (en) * | 2000-04-05 | 2001-05-08 | SUCCESSION CLéMENT THERRIAULT | Wing movement for ornithopters and apparatus of the like |
| CN106926272A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of flying bird robot empennage governor motion |
| CN110065630A (en) * | 2019-04-01 | 2019-07-30 | 哈尔滨工业大学（深圳） | A kind of bionic flapping-wing flying robot |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
| CN210503157U (en) * | 2019-08-09 | 2020-05-12 | 哈尔滨工业大学（深圳） | Adjustable module and aircraft |
| CN112693606A (en) * | 2021-02-04 | 2021-04-23 | 清华大学 | Pigeon-like flapping wing aircraft |
-
2022
- 2022-03-11 CN CN202210254484.7A patent/CN114572394A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6227483B1 (en) * | 2000-04-05 | 2001-05-08 | SUCCESSION CLéMENT THERRIAULT | Wing movement for ornithopters and apparatus of the like |
| CN106926272A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of flying bird robot empennage governor motion |
| CN110065630A (en) * | 2019-04-01 | 2019-07-30 | 哈尔滨工业大学（深圳） | A kind of bionic flapping-wing flying robot |
| CN210503157U (en) * | 2019-08-09 | 2020-05-12 | 哈尔滨工业大学（深圳） | Adjustable module and aircraft |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
| CN112693606A (en) * | 2021-02-04 | 2021-04-23 | 清华大学 | Pigeon-like flapping wing aircraft |
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Application publication date: 20220603 |
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