CN115230959A - Flapping wing mechanism based on incomplete gear transmission - Google Patents
Flapping wing mechanism based on incomplete gear transmission Download PDFInfo
- Publication number
- CN115230959A CN115230959A CN202210840939.3A CN202210840939A CN115230959A CN 115230959 A CN115230959 A CN 115230959A CN 202210840939 A CN202210840939 A CN 202210840939A CN 115230959 A CN115230959 A CN 115230959A
- Authority
- CN
- China
- Prior art keywords
- gear
- transmission
- flapping wing
- rod
- incomplete
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a flapping wing mechanism based on incomplete gear transmission, which comprises a framework supporting structure, a reduction gear structure, a flapping wing rod structure, a transmission gear structure, a transmission main shaft structure and a motor structure, wherein the framework supporting structure is provided with a first gear; the motor structure, the reduction gear structure, the transmission main shaft structure, the transmission gear structure and the flapping wing rod structure are sequentially connected in a transmission manner. The output shaft of the motor is provided with a motor output shaft gear. The reduction gear structure comprises a first reduction gear and a double-layer gear; the transmission gear structure comprises a first incomplete gear, a second incomplete gear and a third incomplete gear; according to the flapping wing rod structure, the transmission gear structure is matched with the flapping wing rod structure, the rotary motion of the main shaft structure driven by the motor is converted into the flapping motion of the flapping wing rod structure through the plurality of incomplete gears, the jerking characteristic is avoided, and the speed change is uniform. And through the mutual meshing between the gears, the technical effects of high synchronization of the flapping wings, stable and consistent transmission ratio can be achieved.
Description
Technical Field
The invention relates to the field of bionic aircrafts, in particular to a flapping wing driving mechanism capable of realizing large-amplitude flapping through incomplete gear transmission, and particularly relates to a flapping wing mechanism based on incomplete gear transmission.
Background
The flapping wing aircraft simulates birds or insects, and the flapping wing mechanism drives the wings to flap in a reciprocating mode to generate lift force to overcome gravity. Compared with a fixed wing and a rotorcraft, the flapping wing aircraft has the advantages of high bionic degree, small size, high hiding performance and flexible movement. Has wide application prospect in the civil and military fields and receives wide attention at home and abroad.
The flapping wing mechanism is a core component of the flapping wing aircraft. The continuous rotation of the motor is converted into the reciprocating motion of the wings by the transmission mechanism. The flapping wing mechanism is used for amplifying the output torque of the motor and reducing the rotating speed to adapt to the optimal flapping wing frequency. The design of the transmission mechanism needs to realize the flapping wing amplitude as large as possible to provide larger average lift force, ensure the transmission ratio and reduce the instability of the high-speed flapping wing process. The structural framework needs to overcome periodic vibration caused in the flapping wing process, and the strength of the rotating mechanism is ensured. The current flapping wing driving mechanisms mainly comprise the following mechanisms:
chinese patent No. CN109795685A, is named as a gear rack pair flapping wing driving mechanism based on an external meshing planetary gear reducer. The flapping wing transmission mechanism is formed by taking a rack-and-pinion connecting rod as a rocker arm, and the mechanism realizes compact structure and large reduction ratio by utilizing the external meshing planetary gear reducer, and has high transmission efficiency and relative stability. However, the flapping angle of the mechanism is small, and large-amplitude angle output with high frequency cannot be realized.
Chinese patent application publication No. CN113911342A, entitled bionic flapping wing micro air vehicle capable of realizing controllable flapping amplitude based on elastic energy storage of wing root. An flapping wing mechanism with an elastic element added at the wing root is disclosed. The wing root elastic stop structure is introduced, the inertial work of flapping of the flapping wings is stored into elastic potential energy at the flapping ending and starting stages, and is released at the next flapping initial stage, so that the transmission efficiency is improved. However, collision exists in the contact process of the elastic energy storage element, extra vibration is caused to the high-frequency large-amplitude-angle flapping wing motion, and the stability of the flapping wing is influenced.
Patent document CN113665808A, entitled a miniature flapping wing aircraft flapping mechanism based on linear transmission mechanism. Discloses a flapping wing mechanism which realizes reciprocating swing by driving a flapping wing connecting rod through linear transmission. The scheme can realize a large swing angle, the phases of the flapping wing rod pieces on the two sides are the same, the quick return characteristic of the traditional crank rocker can be effectively avoided, and the impact force on the mechanism in the transmission process is reduced. However, the line transmission mechanism is stressed greatly at the flapping wing amplitude, certain elastic deformation can be generated, the tensioning of a thread rope is insufficient, the transmission ratio is unstable, the swing angle does not accord with the expected design, and meanwhile, the service life is shortened.
In conclusion, the existing flapping wing transmission mechanism still has the defects of difficulty in meeting the requirements of large argument, high stability of the flapping wings and stable transmission ratio. A new type of flapping wing drive mechanism is required.
Patent document CN113071666A discloses a micro flapping wing aircraft with adjustable wing flapping angle, belonging to the field of micro bionic aircraft, and comprising a frame part, a transmission device, a flapping device and an adjusting device. The frame part comprises a frame body, a head part, a tail wing and a counterweight balance block, wherein the head part and the tail wing are fixedly connected with the frame body; the transmission device comprises a motor, a reduction gear set and a transmission gear, and the two large gears are meshed with each other to realize synchronous and symmetrical motion of wings on two sides; the flapping device comprises a crank, a rack and wings, wherein one end of the crank is fixedly connected with the large gear and forms an eccentric crank rocker mechanism together with the rack; the adjusting device comprises a limiting slide block and a fan-shaped roller; the flapping angle of the wing can be adjusted by changing the radius of the fan-shaped roller or the position of the fan-shaped roller connected with the supporting plate. The maximum flap angle of this solution is still small.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an flapping wing mechanism based on incomplete gear transmission.
The flapping wing mechanism based on incomplete gear transmission comprises a framework supporting structure, a reduction gear structure, a flapping wing rod structure, a transmission gear structure, a transmission main shaft structure and a motor structure, wherein the framework supporting structure is arranged on the framework supporting structure;
the transmission main shaft structure and the motor structure are arranged on the framework supporting structure;
the motor structure, the reduction gear structure, the transmission main shaft structure, the transmission gear structure and the flapping wing rod structure are sequentially connected in a transmission manner.
Preferably, the motor structure comprises a motor and a motor fixing plate; the motor is arranged on the framework supporting structure through the motor fixing plate;
and an output shaft of the motor is provided with a motor output shaft gear, and the motor output shaft gear is meshed with the reduction gear structure.
Preferably, the reduction gear structure includes a first reduction gear and a double-layer gear;
the double-layer gear comprises a first-layer gear and a second-layer gear; the first layer gear and the second layer gear are coaxially arranged, the motor output shaft gear is meshed with the first layer gear, and the second layer gear is meshed with the first reduction gear.
Preferably, transmission main shaft structure includes first transmission shaft, first fixed bearing and second fixed bearing, first reduction gear suit is in on the first transmission shaft, can drive first transmission shaft is rotatory, first transmission shaft is installed through first fixed bearing and second fixed bearing skeleton bearing structure is last.
Preferably, the transmission gear structure comprises a first incomplete gear, a second incomplete gear and a third incomplete gear;
the first incomplete gear comprises a first tooth part and a first arc part, the second incomplete gear comprises a second tooth part and a second arc part, and the third incomplete gear comprises a third tooth part and a third arc part; polygonal groove structures are arranged on the second incomplete gear and the third incomplete gear;
the first incomplete gear is sleeved on the transmission main shaft structure and can rotate along with the rotation of the transmission main shaft structure;
when the first incomplete gear rotates, the first tooth part can be sequentially meshed with the second tooth part and the third tooth part so as to sequentially drive the second incomplete gear and the third incomplete gear to rotate.
Preferably, the flapping wing rod structure comprises a first gear connecting assembly, a second gear connecting assembly, a first wing connecting rod, a second wing connecting rod, a first flapping wing rod, a second flapping wing rod, a first wing root connecting rod and a second wing root connecting rod;
the first gear connecting assembly and the second gear connecting assembly respectively comprise a gear part and a connecting pin, and the connecting pin is arranged at the circle center of the gear part and extends along the axial direction of the gear part;
the connecting pin in the first gear connecting assembly is matched with the polygonal groove structure of the second incomplete gear; the connecting pin in the second gear connecting assembly is matched with a polygonal groove structure of a third incomplete gear; the gear part in the first gear connecting assembly is meshed with the gear part in the second gear connecting assembly;
the first flapping wing rod is connected with a gear part of the first gear connecting assembly, and the second flapping wing rod is connected with a gear part of the second gear connecting assembly;
the first wing connecting rod and the second wing connecting rod are respectively arranged on the first flapping wing rod and the second flapping wing rod;
the first wing root connecting rod is used for coaxially connecting the second incomplete gear with the first gear connecting assembly, and the second wing root connecting rod is used for coaxially connecting the third incomplete gear with the second gear connecting assembly.
Preferably, the framework supporting structure comprises a first side supporting plate, a second side supporting plate, an upper plate, a middle plate and a bottom plate;
the first side supporting plate and the second side supporting plate are respectively provided with a first notch, a second notch and a third notch;
the first notch is matched with a convex groove arranged on the upper plate, the second notch is matched with a convex groove arranged on the middle plate, and the third notch is matched with a convex groove arranged on the bottom plate;
the bottom layer plate is provided with a motor mounting position for mounting a motor structure;
the first fixed bearing is installed on the middle plate, and the second fixed bearing is installed on the bottom plate.
Preferably, the flapping wing rod structure further comprises a first flapping wing rod cover plate and a second flapping wing rod cover plate;
the end parts of the first flapping wing rod and the second flapping wing rod are both of a concave groove structure, and the two concave groove structures are respectively used for fixing the first wing connecting rod and the second wing connecting rod; the first flapping wing rod cover plate and the second flapping wing rod cover plate are used as end covers and are respectively connected with the top ends or the bottom ends of the first flapping wing rod and the second flapping wing rod through pins.
Preferably, the motor is a coreless motor.
Preferably, be provided with anti-skidding structure between first transmission shaft and the first incomplete gear, anti-skidding structure adopts any one of following mode:
holes are formed in the side faces of the first transmission shaft and the first incomplete gear, the first transmission shaft and the first incomplete gear are tightly attached through a self-tapping bolt, and the transmission process is prevented from slipping;
the first transmission shaft and the first incomplete gear ensure that the transmission process does not slip through a key groove structure.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the flapping wing rod structure, the transmission gear structure is matched with the flapping wing rod structure, the rotary motion of the main shaft structure driven by the motor is converted into the flapping motion of the flapping wing rod structure through the plurality of incomplete gears, the jerking characteristic is avoided, and the speed change is uniform. And the first flapping wing rod and the second flapping wing rod are mutually transmitted in a gear meshing mode, so that the technical effects of high flapping wing synchronism, stable transmission ratio and consistency can be achieved.
2. According to the invention, the first incomplete gear is provided with the first arc part, so that the motion controllability of a meshing clearance area can be ensured, and the large-angle flapping wing can be realized by adjusting the number and the modulus of the teeth of the first incomplete gear.
3. According to the flapping wing mechanism, the flapping wing angle is 180 degrees through the design of gear parameters, and large-angle flapping is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the flapping wing stick configuration of the present invention;
FIG. 3 is a schematic structural view of a transmission gear structure according to the present invention;
FIG. 4 is a schematic structural view of a reduction gear structure of the present invention;
FIG. 5 is a schematic structural view of a skeletal support structure in accordance with the present invention;
FIG. 6 is a schematic structural view of a transmission spindle structure according to the present invention;
FIG. 7 is a schematic phase diagram of the flapping wing of the present invention at 0;
FIG. 8 is a schematic phase diagram of the flapping wing of the present invention at 180;
FIG. 9 is a schematic diagram illustrating the calculation of the included angle of the first arc portion of the first incomplete gear according to the present invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
The invention provides a flapping wing mechanism based on incomplete gear transmission, which comprises a framework support structure 1, a reduction gear structure 2, a flapping wing rod structure 4, a transmission gear structure 5, a transmission main shaft structure 6 and a motor structure, wherein the framework support structure is a circular cylinder; the transmission main shaft structure and the motor structure are arranged on the framework supporting structure 1; the motor structure, the reduction gear structure 2, the transmission main shaft structure 6, the transmission gear structure 5 and the flapping wing rod structure 4 are sequentially in transmission connection.
The motor structure drives the reduction gear structure 2 to rotate the transmission main shaft structure 6, and the transmission gear structure 5 is used for converting the rotation motion of the transmission main shaft structure into the periodic motion of the transmission gear structure 5; the flapping wing lever arrangement 4 is used to convert the periodic movement of the transmission gear arrangement 5 into a flapping movement of the flapping wing lever arrangement 4.
As shown in fig. 1 and 5, the motor structure includes a motor 7 and a motor fixing plate 3; the motor 7 is arranged on the framework supporting structure 1 through the motor fixing plate 3; and a motor output shaft gear 19 is arranged on an output shaft of the motor 7, and the motor output shaft gear is meshed with the reduction gear structure 2. Considering power and output torque factors, the motor needs to output larger power. At the same time, the size and weight factors of the motor are limited. Preferably, the motor 7 is a model 8520 coreless motor, which can provide sufficient power.
As shown in fig. 4, the reduction gear structure 2 is used for increasing the output torque of the motor, reducing the output rotating speed and finally matching the flapping frequency. The reduction gear structure 2 comprises a first reduction gear 17 and a double-layer gear 18; the double-layer gear 18 comprises a first-layer gear and a second-layer gear; the first layer gear and the second layer gear are coaxially arranged, the motor output shaft gear 19 is meshed with the first layer gear, and the second layer gear is meshed with the first reduction gear 17. The reduction gear structure 2 is used for improving the output torque of the motor 7, reducing the rotating speed, matching wing inertia moment and realizing proper flapping frequency. In a preferred example, the first layer gear of the motor output shaft gear 19 and the double-layer gear 18 is 0.3 die, the motor output shaft gear 19 has 7 teeth, and the first layer gear has 42 teeth; the second layer gear in the double-layer gear 18 and the first reduction gear 17 are both 0.5 die, the second layer gear in the double-layer gear 18 is 8 teeth, the first reduction gear 17 is 30 teeth, and the transmission ratio of the two is 22.5.
The transmission main shaft structure is a key part for transmitting torque and is the place with the largest stress. As shown in fig. 6, the transmission main shaft structure includes a first transmission shaft 15, a first fixing bearing 241 and a second fixing bearing 242, the first reduction gear 17 is fitted around the first transmission shaft 15 to be able to drive the first transmission shaft 15 to rotate, and the first transmission shaft 15 is mounted on the framework support structure 1 through the first fixing bearing 241 and the second fixing bearing 242. Preferably, the first transmission shaft 15 is a carbon fiber round rod with a diameter of 2mm, and the first fixed bearing 241 and the second fixed bearing 242 are both flange bearings with an inner diameter of 2mm and an outer diameter of 5mm.
As shown in fig. 3, the transmission gear structure 5 includes a first incomplete gear 12, a second incomplete gear 141, and a third incomplete gear 142; the first transmission shaft 15 passes through the first incomplete gear 12, so that the first incomplete gear 12 obtains power.
The first incomplete gear 12 includes a first tooth portion and a first arc portion 16, the second incomplete gear 141 includes a second tooth portion and a second arc portion 131, and the third incomplete gear 142 includes a third tooth portion and a third arc portion 132. The second incomplete gear 141 and the third incomplete gear 142 are both provided with a polygonal groove structure 20, in a preferred example, the polygon is a square, and the groove structure 20 is located at a circle center of the third incomplete gear 142 and penetrates through the third incomplete gear 142. In a preferred embodiment, the first arc portion 16, the second arc portion 131, and the third arc portion 132 are all locking arcs. The first incomplete gear 12 is sleeved on the transmission main shaft structure and can rotate along with the rotation of the transmission main shaft structure, namely, the first transmission shaft 15 penetrates through the first incomplete gear 12, so that the first incomplete gear 12 obtains power. When the first incomplete gear 12 rotates, the first tooth portion can be sequentially engaged with the second tooth portion and the third tooth portion, so as to sequentially drive the second incomplete gear 141 and the third incomplete gear 142 to rotate. Specifically, the first incomplete gear 12 meshes with the second incomplete gear 141 and the third incomplete gear 142 on both sides in sequence within one rotation. It should be noted that the first incomplete gear 12 has a first tooth portion with a smaller crest factor than that of the last tooth portion of the first tooth portion to prevent tooth jamming; in addition, in order to prevent the first incomplete gear 12 from contacting the second incomplete gear 141 and the third incomplete gear 142 respectively to cause the locking, a certain gap is left in each section of meshing stroke.
In a preferred embodiment, the first arc portion 16 is a convex arc structure, the second arc portion 131 and the third arc portion 132 are concave arc structures, and a phase difference of a tooth socket needs to be left when the second incomplete gear 141 and the third incomplete gear 142 are assembled to avoid transmission teeth jamming; the radius, arc length and start and stop points of the first arc part 16 need to ensure that the first arc part 16 is attached to the second arc part 131 and the third arc part 132 at the gap in the meshing process. In another preferred embodiment, the first arc portion 16 is a convex sliding slot structure, the second arc portion 131 and the third arc portion 132 are concave sliding slot structures, and the first arc portion 16 of the first incomplete gear 12 is meshed with the concave sliding slot structure of the second incomplete gear 141 and the concave sliding slot structure of the third incomplete gear 142 respectively, so as to ensure that the transmission ratio is stable during the flapping process. During the process of engaging the first arc portion 16 with the second arc portion 131 and the third arc portion 132, care should be taken to reduce friction, and the friction can be reduced by applying grease or by using ball friction.
In a preferred embodiment, the first partial gear 12 is 0.5 die with a pitch circle diameter of 7mm and is provided with 6 teeth. The second incomplete gear 141 and the third incomplete gear 142 are 0.5 die, the reference circle diameter is 6mm, 6 teeth are arranged, and the center distance is 6.5mm. The radius of the convex arc of the first arc part 16 is 3.03mm, and the radius of the concave arc of the second arc part 131 and the third arc part 132 is 3.47mm. The crest height coefficient of the last tooth of the first incomplete gear 12 is 0.517, the crest height coefficient of the first tooth is 0.45, the radius of the top circle of the first tooth is 3.725mm, and the radius of the top circle of the last tooth is 3.7585mm, the included angle between the locking arc starting point of the driving wheel and the center line of the last tooth is 25.14 degrees, and the arc length is 15 degrees. The included angle between the starting point of the first arc part 16 and the central line of the last tooth of the first tooth part is 27.16 degrees, and the arc length is 15 degrees.
As shown in fig. 1 and 2, the flapping-wing rod structure 4 comprises a first gear connecting assembly 61, a second gear connecting assembly 62, a first wing connecting rod 81, a second wing connecting rod 82, a first flapping-wing rod 91, a second flapping-wing rod 92, a first wing-root connecting rod 111 and a second wing-root connecting rod 112; the first gear connecting assembly 61 and the second gear connecting assembly 62 both include a gear portion 8 and a connecting pin, and the connecting pin is arranged at the center of the gear portion 8 and extends along the axial direction of the gear portion 8; in a preferred embodiment, the gear portion 8 has an incomplete gear structure. The connecting pin in the first gear connecting assembly 61 is matched with the polygonal groove structure 20 of the second incomplete gear 141; the connecting pin in the second gear connecting assembly 62 matches the polygonal groove structure 20 of the third partial gear 142; by means of the tight fit of the connecting pin and the groove, the first gear connecting assembly 61 and the second incomplete gear 141 do not move relatively, the second gear connecting assembly 62 and the third incomplete gear 142 do not move relatively, and good connection is achieved. The gear part 8 in the first gear connecting assembly 61 and the gear part 8 in the second gear connecting assembly 62 are meshed with each other, and the wings are kept in symmetrical positions. Specifically, the gear portion 8 in the first gear connecting assembly 61 and the gear portion 8 in the second gear connecting assembly 62 are meshed with each other all the time in the transmission process. In a preferred example, the gear portion 8 in the first gear connecting assembly 61 and the gear portion 8 in the second gear connecting assembly 62 are both 0.5 module, the reference circle diameter is 12mm, and the number of teeth is 6.
As shown in fig. 1 and 2, the first flapping rod 91 is connected to the gear portion 8 of the first gear connecting assembly 61, and the second flapping rod 92 is connected to the gear portion 8 of the second gear connecting assembly 62; in a preferred embodiment, the first flapping rod 91 is integrally connected with the gear portion 8 of the first gear connecting assembly 61.
The first wing connecting rod 81 and the second wing connecting rod 82 are respectively installed on the first flapping wing rod 91 and the second flapping wing rod 92; the first wing connecting rod 111 is used for coaxially connecting the second incomplete gear 141 with the first gear connecting assembly 61, and the second wing connecting rod 112 is used for coaxially connecting the third incomplete gear 142 with the second gear connecting assembly 62. Specifically, the second incomplete gear 141, the first gear connecting assembly 61, the third incomplete gear 142 and the second gear connecting assembly 62 are all provided with circular through holes, and the fin connecting rods are used as pins to fix the second incomplete gear, the first gear connecting assembly 61, the third incomplete gear 142 and the second gear connecting assembly on the framework supporting structure 1.
The skeleton supporting structure 1 is of a plate structure and is provided with lightening holes, and the skeleton supporting structure 1 is a key part for supporting the strength of the flapping wing mechanism. As shown in fig. 5, the skeletal support structure 1 includes a first side support plate 201, a second side support plate 202, an upper plate 21, a middle plate 22, and a bottom plate 23; the first side supporting plate 201 and the second side supporting plate 202 are respectively provided with a first notch 2011, a second notch 2012 and a third notch 2013; the first notch 2011 is matched with the convex groove of the upper plate 21, the second notch 2012 is matched with the convex groove of the middle plate 22, and the third notch 2013 is matched with the convex groove of the bottom plate 23; the bottom layer plate 23 is provided with a motor mounting position for mounting a motor structure; the first fixing bearing 241 is installed on the middle plate 22, and the second fixing bearing 242 is installed on the lower plate 23. The motor is generally a hollow cup motor, and the motor fixing plate 3 and the bottom plate 23 jointly play a role in supporting the motor.
Specifically, the bottom plate 23 is provided with a motor positioning through hole, a gear positioning through hole and a motor fixing plate mounting through hole. Matching and aligning the 4 motor fixing plate mounting through holes with the mounting holes 301 on the motor fixing plate 3, and connecting the mounting holes through rivets; preferably, the motor fixing plate 3 has 4 pieces, the front two pieces are provided with motor mounting round holes of 6mm for being attached to the end face of the motor, and the rear two pieces are provided with motor mounting round holes of 8.5mm for fixing the position of the motor. The double-layer gear 18 is connected with the middle plate 22 and the bottom plate 23 through pins respectively to determine the position. As shown in fig. 6, the first reduction gear 17 is coupled to the intermediate plate 22 and the lower plate 23 via bearings to determine a position. The lower surface of the flange ring of the second fixed bearing 242 is tightly attached to the upper surface of the bottom layer plate 23, and the upper surface of the second fixed bearing 242 is tightly attached to the lower surface of the second-stage reduction gear wheel. The lower surface of the flange ring of the first fixed bearing 241 is closely attached to the upper surface of the first reduction gear 17, and the upper surface of the flange ring of the first fixed bearing 241 is closely attached to the lower surface of the intermediate plate 22. The upper surface of the first fixed bearing 241 is closely attached to the bottom surface of the first incomplete gear 12. In a preferred embodiment, the first transmission shaft 15 and the first incomplete gear 12 are provided with holes on the side surfaces, and the first transmission shaft 15 and the first incomplete gear 12 are tightly attached through self-tapping bolts, so that the transmission process is ensured not to slip. In another preferred embodiment, the first transmission shaft 15 and the first incomplete gear 12 ensure that the transmission process does not slip through a keyway structure.
As shown in fig. 1 and 2, in a preferred embodiment, the flapping wing rod structure 4 further comprises a first flapping wing gear washer 101, a second flapping wing gear washer 102, a first flapping wing rod cover plate 71 and a second flapping wing rod cover plate 72; the first flapping wing gear washer 101 and the second flapping wing gear washer 102 are respectively arranged above the first gear connecting component 61 and the second gear connecting component 62; the end parts of the first flapping wing rod 91 and the second flapping wing rod 92 are both of a concave groove structure, and the two concave groove structures are respectively used for fixing the first wing connecting rod 81 and the second wing connecting rod 82; the first flapping wing rod cover plate 71 and the second flapping wing rod cover plate 72 are used as end covers and are respectively connected with the top ends or the bottom ends of the first flapping wing rod 91 and the second flapping wing rod 92 through pins. In a preferred embodiment, as shown in fig. 2, the transmission gear structure 5 further includes a first gear washer 51 and a second gear washer 52, and the first gear washer 51 and the second gear washer 52 are respectively installed below the second incomplete gear 141 and the third incomplete gear 142. Preferably, the first flapping wing gear washer 101, the second flapping wing gear washer 102, the first gear washer 51 and the second gear washer 52 are all graphite washers with the thickness of 0.5mm, so as to improve the axial pre-tightening force.
The working principle of the invention is as follows:
as shown in fig. 1, 3, 7 and 8, the motor 7 drives the first transmission shaft 15 through the reduction gear structure 2 to make the first tooth portion of the first incomplete gear 12 firstly mesh with the second tooth portion of the second incomplete gear 141 to drive the second incomplete gear 141 to move, and the second incomplete gear 141, the first gear connection component 61, the first wing connection rod 81 and the first flapping wing rod 91 sequentially transmit, so as to drive the first flapping wing rod 91 to move; simultaneously, the gear part 8 in the first gear connecting assembly 61 and the gear part 8 in the second gear connecting assembly 62 are meshed with each other; therefore, the second flapping rod 92 also moves along with the movement of the second gear connecting assembly 62, and the first flapping rod 91 and the second flapping rod 92 simultaneously flap. Then the first tooth part of the first incomplete gear 12 leaves the second tooth part meshing area of the second incomplete gear 141, and the first arc part 16 of the first incomplete gear 12 is matched with the second arc part 131 of the second incomplete gear 141, so that the flapping wing rod is kept still. Then the first tooth part of the first incomplete gear 12 is meshed with the third tooth part of the third incomplete gear 142, so that the two flapping wing rods flap simultaneously, then the first tooth part of the first incomplete gear 12 leaves the third tooth part meshing area of the third incomplete gear 142, the first arc part 16 of the first incomplete gear 12 is matched with the third arc part 132 of the third incomplete gear 142, so that the flapping wing rods are kept still again, and the flapping wing process is completed once.
The first incomplete gear 12 in the middle is alternately engaged with the second incomplete gear 141 and the third incomplete gear 142 on both sides, respectively, and the second incomplete gear 141 and the third incomplete gear 142 on both sides are connected with the first gear connecting assembly 61 and the second gear connecting assembly 62, respectively, to realize synchronous movement. The flapping wing rod is connected with the gear connecting component and synchronously moves along with the gear connecting component.
Because the first tooth part of the first incomplete gear 12 cannot be meshed with the second tooth part of the second incomplete gear 141 and the third tooth part of the third incomplete gear 142 at the same time, in order to prevent the gear from being locked, a transmission gap with a certain angle needs to be reserved, in order to ensure the controllability of flapping-wing movement of the transmission gap, arc parts are respectively arranged on the first incomplete gear 12, the second incomplete gear 141 and the third incomplete gear 142, the sum of the curvature radiuses of the first arc part 16 and the second arc part 131 is equal to the center distance, and the sum of the curvature radiuses of the first arc part 16 and the third arc part 132 is equal to the center distance so as to stabilize the transmission ratio of the transmission gap. The large amplitude angle can be obtained by adjusting the number of the meshing teeth of the first incomplete gear 12, stable transmission torque can be realized through gear transmission, the quick return characteristic does not exist, and the stability of the flapping wings is high. The locking arc is added in the transmission clearance to ensure that the stable transmission ratio can be realized at any point in the transmission process.
The operation of the present embodiment will be described by taking one flapping cycle as an example. In fig. 7, the flap angles of the first flap lever 91 and the second flap lever 92 are defined to be 0 °. The second flapping wing bar 92 rotates clockwise to positive and the first flapping wing bar 91 rotates counterclockwise to positive. In the initial state of the cycle, the first flapping wing rod 91 and the second flapping wing rod 92 are both at 0 °, and under the driving of the motor and the transmission of the reduction gear structure 2 and the transmission main shaft structure 6, the first incomplete gear 12 rotates clockwise, enters the meshing area of the gear of the second incomplete gear 141, and drives the second incomplete gear 141 to move anticlockwise. The second incomplete gear 141 drives the right flapping wing rod, namely the first flapping wing rod 91, to rotate anticlockwise through the square clamping groove, and the right flapping wing rod, namely the first flapping wing rod 91, drives the left second flapping wing rod 92 to rotate clockwise through gear meshing. When all the tooth profiles of the first incomplete gear 12 are completely meshed with the driven incomplete second incomplete gear 141, the tooth profiles enter the meshing clearance. The first arc portion 16 contacts the second arc portion 131, and both the incomplete gear and the flapping wing rod are locked, and the flapping angle of the flapping wing rods is 180 ° as shown in fig. 8. The motor continues to rotate, and drives the first incomplete gear 12 to enter the tooth meshing area of the third incomplete gear 142, so as to drive the third incomplete gear 142 to rotate anticlockwise. The third incomplete gear 142 drives the left second flapping wing rod 92 to rotate anticlockwise through the square clamping groove, and the left second flapping wing rod 92 drives the right first flapping wing rod 91 to rotate clockwise through gear meshing. When all the tooth profiles of the first incomplete gear 12 are completely meshed with the left third incomplete gear 142, the first arc part 16 is contacted with the second arc part 131, the flapping wings of the incomplete gears at two sides are locked again, and the flapping angles of the flapping wings at two sides return to 0 degree
The calculation of the correlation parameter is described below, in this embodiment the flapping angle is 180, as shown in FIG. 9.
(1) Determining modulus, number of teeth, center distance
And selecting 0.5 die gear according to the size and the processing condition limit of the flapping wing mechanism. The full teeth z1 of the first incomplete gear 12 teeth count is 14 teeth, and the full teeth z2 of the second incomplete gear 141 and the third incomplete gear 142 are 12 teeth. The center distance was calculated to be 6.5mm using equation 1)
In the present embodiment, the number of teeth z1 'of the first incomplete gear 12 is 6, and the numbers of teeth z 2' of the second incomplete gear 141 and the third incomplete gear 142 are both 6.
(2) Calculating the pressure angle
Setting gear pressure angle alpha to 20 DEG and addendum coefficient
To 1, the tooth pressing angle is calculated by equation 2), and the pressing angle of the first incomplete gear 12 is 34.69 °, and the pressing angles of the second incomplete gear 141 and the third incomplete gear 142 are 36.34 °.
(3) Calculating the crest height coefficient of the last tooth of the first incomplete gear 12, and selecting the crest height coefficient of the first tooth of the first incomplete gear 12
The coefficient of the height of the top of the last tooth of the first incomplete gear 12 can be calculated by the formula 3)
Wherein L can be calculated by the formula 4)
Wherein delta 2 Can be calculated by the formula 5)
Where γ can be calculated by equation 6)
By the formulas 3) to 6), the calculation result γ =12.45 °, δ can be obtained 2 ＝27.46°，L＝7.5mm, 
Considering that the initial tooth top height is slightly lower than the final tooth top height, the initial tooth top height coefficient is 0.45.
(4) Calculating the tip pressure angle of the leading tooth and the trailing tooth of the first partial gear 12
The formula for calculating the tooth crest pressure angle can be calculated by the formula 7), and the final tooth crest pressure angle alpha is obtained through calculation as =28 °, initial tooth tip pressure angle α am ＝28.94°
(5) Calculating the radius of the first arc 16
The radius of the first arc portion 16 can be calculated by equation 8)
Where Δ θ can be calculated by equation 9)
Where θ can be calculated by equation 10)
θ = δ -2 γ 10) where δ can be calculated by equation 11)
Via equations 8) -12), the results δ =30 °, θ =5.08 °, Δ θ =8.18 °, R =3.03mm can be obtained
(6) Calculating the angle Qs between the radial direction of the starting point of the first arc part 16 and the middle line of the last tooth of the first tooth part by formula 12)
Q s ＝β 2 -λ 2 12)
Wherein λ 2 Can be calculated by the formula 13), β 2 Can be calculated from equation 14
Calculated to be 4.54 degrees and beta 2 29.69 degrees, qs =25.14 degrees
(7) Calculating the angle Qe between the radial direction of the starting point of the second arc portion 131 and the middle line of the last tooth of the second tooth portion, which can be calculated by the formula 15)
Calculated γ =12.45 °, qe =27.46 °. The angle marking schematic is shown in fig. 9.
(8) A third arc portion 132 is calculated, and the calculation process of the third arc portion is the same as that of the second arc portion 131, referring to step (7).
According to the flapping wing structure, the transmission gear structure is matched with the flapping wing rod structure, the rotary motion of the main shaft structure driven by the motor is converted into the flapping motion of the flapping wing rod structure through the plurality of incomplete gears, the jerking characteristic is avoided, and the speed change is uniform; the symmetrical flapping wings adopting a gear meshing mode have high strength and stable and consistent transmission ratio; the first incomplete gear 12 is provided with a first arc part 16, so that the movement of a meshing clearance area can be controlled; the large-angle flapping wing can be realized by adjusting the number of the gears and the modulus.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A flapping wing mechanism based on incomplete gear transmission is characterized by comprising a framework supporting structure (1), a reduction gear structure (2), a flapping wing rod structure (4), a transmission gear structure (5), a transmission main shaft structure (6) and a motor structure;
the transmission main shaft structure and the motor structure are arranged on the framework supporting structure (1);
the motor structure, the reduction gear structure (2), the transmission main shaft structure (6) the transmission gear structure (5) and the flapping wing rod structure (4) are sequentially in transmission connection.
2. The flapping wing mechanism based on incomplete gear transmission of claim 1, wherein said motor structure comprises a motor (7) and a motor fixing plate (3); the motor (7) is installed on the framework supporting structure (1) through the motor fixing plate (3);
and a motor output shaft gear (19) is arranged on an output shaft of the motor (7), and the motor output shaft gear is meshed with the reduction gear structure (2).
3. The flapping wing mechanism based on incomplete gear transmission according to claim 2, wherein the reduction gear structure (2) comprises a first reduction gear (17) and a double layer gear (18);
the double-layer gear (18) comprises a first-layer gear and a second-layer gear; the first layer gear and the second layer gear are coaxially arranged, the motor output shaft gear (19) is meshed with the first layer gear, and the second layer gear is meshed with the first reduction gear (17).
4. The flapping wing mechanism based on incomplete gear transmission of claim 3, wherein the transmission main shaft structure comprises a first transmission shaft (15), a first fixed bearing (241) and a second fixed bearing (242), the first reduction gear (17) is sleeved on the first transmission shaft (15) and can drive the first transmission shaft (15) to rotate, and the first transmission shaft (15) is mounted on the framework support structure (1) through the first fixed bearing (241) and the second fixed bearing (242).
5. The flapping mechanism based on partial gear transmission of claim 1, wherein said gear transmission structure (5) comprises a first partial gear (12), a second partial gear (141), and a third partial gear (142);
the first incomplete gear (12) comprises a first tooth part and a first arc part (16), the second incomplete gear (141) comprises a second tooth part and a second arc part (131), and the third incomplete gear (142) comprises a third tooth part and a third arc part (132); the second incomplete gear (141) and the third incomplete gear (142) are both provided with a polygonal groove structure (20);
the first incomplete gear (12) is sleeved on the transmission main shaft structure and can rotate along with the rotation of the transmission main shaft structure;
when the first incomplete gear (12) rotates, the first tooth part can be sequentially meshed with the second tooth part and the third tooth part so as to sequentially drive the second incomplete gear (141) and the third incomplete gear (142) to rotate.
6. The flapping wing mechanism based on incomplete gear transmission of claim 5, wherein said flapping wing rod structure (4) comprises a first gear connection assembly (61), a second gear connection assembly (62), a first wing connection rod (81), a second wing connection rod (82), a first flapping wing rod (91), a second flapping wing rod (92), a first wing connection rod (111), and a second wing connection rod (112);
the first gear connecting assembly (61) and the second gear connecting assembly (62) respectively comprise a gear part (8) and a connecting pin, and the connecting pin is arranged at the circle center of the gear part (8) and extends along the axial direction of the gear part (8);
the connecting pin in the first gear connecting assembly (61) is matched with the polygonal groove structure (20) of the second incomplete gear (141); the connecting pin in the second gear connecting assembly (62) is matched with a polygonal groove structure (20) of a third incomplete gear (142); the gear part (8) in the first gear connecting assembly (61) is meshed with the gear part (8) in the second gear connecting assembly (62);
the first flapping wing rod (91) is connected with a gear part (8) of the first gear connecting assembly (61), and the second flapping wing rod (92) is connected with a gear part (8) of the second gear connecting assembly (62);
the first wing connecting rod (81) and the second wing connecting rod (82) are respectively arranged on the first flapping wing rod (91) and the second flapping wing rod (92);
the first wing root connecting rod (111) is used for coaxially connecting the second incomplete gear (141) with the first gear connecting assembly (61), and the second wing root connecting rod (112) is used for coaxially connecting the third incomplete gear (142) with the second gear connecting assembly (62).
7. Flapping wing mechanism based on incomplete gear transmission according to claim 4, characterized in that the skeletal support structure (1) comprises a first side support plate (201), a second side support plate (202), an upper plate (21), a middle plate (22), a lower plate (23);
a first notch (2011), a second notch (2012) and a third notch (2013) are respectively formed on the first side supporting plate (201) and the second side supporting plate (202);
the first notch (2011) is matched with a convex groove of the upper plate (21), the second notch (2012) is matched with a convex groove of the middle plate (22), and the third notch (2013) is matched with a convex groove of the bottom plate (23);
the bottom layer plate (23) is provided with a motor mounting position for mounting a motor structure;
the first fixing bearing (241) is installed on the middle plate (22), and the second fixing bearing (242) is installed on the bottom plate (23).
8. The flapping wing mechanism based on incomplete gear transmission of claim 1, wherein said flapping wing rod structure (4) further comprises a first flapping wing rod cover plate (71) and a second flapping wing rod cover plate (72);
the end parts of the first flapping wing rod (91) and the second flapping wing rod (92) are both of a concave groove structure, and the two concave groove structures are respectively used for fixing a first wing connecting rod (81) and a second wing connecting rod (82); the first flapping wing rod cover plate (71) and the second flapping wing rod cover plate (72) are used as end covers and are respectively connected with the top ends or the bottom ends of the first flapping wing rod (91) and the second flapping wing rod (92) through pins.
9. Flapping wing mechanism based on incomplete gear transmission according to claim 2, characterized in that the motor (7) is a hollow cup motor.
10. The flapping wing mechanism based on incomplete gear transmission according to claim 5, wherein an anti-slip structure is arranged between the first transmission shaft (15) and the first incomplete gear (12), and the anti-slip structure adopts any one of the following modes:
holes are formed in the side faces of the first transmission shaft (15) and the first incomplete gear (12), the first transmission shaft (15) and the first incomplete gear (12) are tightly attached through self-tapping bolts, and the fact that the first transmission shaft does not slip in the transmission process is guaranteed;
the first transmission shaft (15) and the first incomplete gear (12) ensure that the transmission process does not slip through a key groove structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210840939.3A CN115230959A (en) | 2022-07-18 | 2022-07-18 | Flapping wing mechanism based on incomplete gear transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210840939.3A CN115230959A (en) | 2022-07-18 | 2022-07-18 | Flapping wing mechanism based on incomplete gear transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115230959A true CN115230959A (en) | 2022-10-25 |
Family
ID=83673796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210840939.3A Pending CN115230959A (en) | 2022-07-18 | 2022-07-18 | Flapping wing mechanism based on incomplete gear transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115230959A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116495172A (en) * | 2023-06-26 | 2023-07-28 | 成都航天万欣科技有限公司 | Bionic flapping wing aircraft |
-
2022
- 2022-07-18 CN CN202210840939.3A patent/CN115230959A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116495172A (en) * | 2023-06-26 | 2023-07-28 | 成都航天万欣科技有限公司 | Bionic flapping wing aircraft |
| CN116495172B (en) * | 2023-06-26 | 2023-10-10 | 成都航天万欣科技有限公司 | Bionic flapping wing aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4959896B2 (en) | Inner cycloid engine | |
| CN115230959A (en) | Flapping wing mechanism based on incomplete gear transmission | |
| CN112224407A (en) | Flapping wing aircraft | |
| CN109795685B (en) | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer | |
| WO2021008310A1 (en) | Flapping wing aircraft | |
| US8789455B2 (en) | Drive mechanism for an oscillating piston rotor | |
| CN103527721A (en) | Cycloidal pin wheel speed reducer | |
| US20100031916A1 (en) | Hypocycloid Engine | |
| EP1905983B1 (en) | Kinetic energy generation device | |
| CN202605730U (en) | Multi-rotor aircraft | |
| CN102877942A (en) | Two-phase outer cam sleeve type high-rotational-speed internal-combustion engine | |
| JP2010533273A (en) | Reciprocating rotational power converter | |
| CN108757172A (en) | A kind of half gear engine of four cylinders linkage | |
| CN213735540U (en) | Flapping wing aircraft | |
| CN114435590B (en) | Variable-incidence-angle ornithopter with wing rotation function | |
| RU2387567C1 (en) | Vibropropeller with conversion of rotational motion into progressive motion | |
| CN213384710U (en) | Flapping wing aircraft driving mechanism and flapping wing aircraft | |
| CN101555932A (en) | Angular momentum mechanism | |
| CN212055702U (en) | Planetary centrifugal stepless transmission mechanism | |
| CN112873265A (en) | Humanoid robot and joint thereof | |
| RU2340790C1 (en) | Propulsion windmill converting rotary motion into translation | |
| CN101337571B (en) | Planet gear mechanism for switching end-to-end motion | |
| CN110657222A (en) | Planetary gear transmission structure with small tooth difference | |
| CN113665808B (en) | Miniature flapping mechanism of flapping wing air vehicle based on line transmission mechanism | |
| CN217977012U (en) | Crankshaft with gear integrated structure, engine and aircraft thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |