CN202491921U

CN202491921U - Bionic ornithopter

Info

Publication number: CN202491921U
Application number: CN2011203947433U
Authority: CN
Inventors: 刘吉兆; 陈丰峰; 梁东辉; 刘宇; 周鹏; 胡旭
Original assignee: Hunan Institute of Technology
Current assignee: Hunan Institute of Technology
Priority date: 2011-10-17
Filing date: 2011-10-17
Publication date: 2012-10-17
Anticipated expiration: 2021-10-17

Abstract

A bionic ornithopter which comprises an I-shaped ABS plastic plate body, a left lifting system, a right lifting system, a driving system, a control system, and two sets of battery packs; four supporting legs are disposed at the bottom of the body; the four supporting legs are fixed at the body bottom through rivets and the fixation is reinforced through supporting rods; an upper and a lower arm plates are disposed respectively on a bottom plate of an I-shaped opening end of body; the arm plates are fixed on the body by rivets through arm-fixing supporting plates; the left lifting system and the right lifting system are respectively symmetrically mounted at two sides of the body; the driving system is mounted below the middle part of the body; the control system is mounted above the middle part of the body; the battery packs are mounted on the body and supply power for the left and the right lifting systems.

Description

Bionic flapping-wing flying vehicle

Technical field

The utility model relates generally to a kind of flapping wing aircraft, particularly a kind of bionic flapping-wing flying vehicle of copying insect flapping flight mode.

Background technology

Bionic flapping-wing flying vehicle is a kind of imitation birds and insect flying, the course of new aircraft that manufactures and designs based on bionics principle.In the Nature; All biologies that can fly almost all adopt the flapping flight mode bar none; Compare with the flight of fixed-wing and rotor, it has unique advantage, takes off like original place or little place; Fabulous flight maneuver property and hovering performance and flight cost are adapted at additional the reaching under the remote condition of long-time energy free and execute the task.

The birds flapping flight substantially can be divided into four-stage: carry in the wing bending, high point is overhanging, pounce under fast, contract in the low spot.Britain biologist Wei Si-good fortune discovery Taiwan yellow jacket has adopted a kind of special mode of fluttering its wings up and down to clap mutually and anxious awing, thinks that this special flying method of fluttering its wings up and down can produce lift or thrust expeditiously.Academia is with the machine-processed called after Wei Si-good fortune effect of this generation lift.The anxious model of opening the stage of Wei Si-good fortune mechanism: 1) two wing plates bounce closure (accomplish mutually and clap); 2) open with the cireular frequency rotation; 3) be 60 degree until half opening angle; 4) both wings are opened with speed V branch.Wei Si-good fortune effect is a kind of special mechanism that can produce high lift like this, compare with traditional airfoil lift theory because the wagner phenomenon that does not exist lift to lag behind, the generation of lift more rapidly, more motor-driven.Wei Si-good fortune effect is that the insect dipteron produces in reciprocally swinging, and directly bionical have a cooresponding difficulty.Existing flapping wing aircraft adopts connecting rod mechanism or flexible wing mechanism mostly, and weight and complex structure stability that connecting rod mechanism has increased body greatly are low, flexible wing mechanism surface curve complex structure, and designing for manufacturing difficulty and cost are expensive.

Summary of the invention

The purpose of the utility model is to overcome the above-mentioned deficiency of prior art and half way around mechanism that a kind of continuous rotation are provided; It can produce the effect of similar Wei Si-good fortune mechanism kinematic; Simplify the structure of flapping wing aircraft, improved its stability, reduced manufacturing expense.

The utility model can be realized through following technical scheme:

A kind of bionic flapping-wing flying vehicle comprises I shape ABS plastic plate fuselage, left elevator system, right elevator system, drive system, control system and two Battery pack groups; Be provided with four feets in the bottom of fuselage, feet is through the bottom of rivet fixed main body, and it is fixing to pass through the brace rod reinforcement.On the bottom panel of fuselage I shape open end, be respectively equipped with two blocks of arm plates up and down, the arm plate is fixed on the fuselage with rivet through solid arm stay bearing plate.The symmetrical respectively both sides that are installed in fuselage of left side elevator system and right elevator system; Drive system is installed in the below of waist; Control system is installed in the top of waist; Battery pack, battery pack are installed in respectively on the fuselage, and battery pack is that left elevator system provides power supply, and battery pack is that right elevator system provides power supply.

Described left elevator system comprises little zanjon bearing; Gear wheel shaft; Gear; The tight-holding type coupler; Motor cabinet; Motor; The motor clip; Jump ring A; Anchor shaft; Bearing seat; Contact bearing; Fixed muffle; Big gear wheel; Jump ring B; End cap; Bearing; The diplopore bearing seat; Arm A walks around; Be with synchronously; End cap A; Bearing; Flat key; Big belt wheel; Jump ring; Blade sleeve A; Blade A; Sharf A; Blade sleeve B; Pivoted arm B; Rotating shaft; In the bearing seat; Sharf B; Blade B; Small pulley; Motor 7 is fixed on the motor cabinet through cross flat head screw, motor clip, and motor cabinet is through being bolted to the left end of I shape back, and an end of gear wheel shaft is connected in the rotating shaft of motor; The other end is movably connected in the diplopore bearing seat through the zanjon bearing, tight-holding type coupler connection gear axle and miniature gears, and miniature gears is through the big gear wheel that is connected by meshing transmission; Big gear wheel is fixed together through jump ring B and sleeve, and an end of anchor shaft is contained in the fixed bearing block, seals with screw and cover plate; Fixed bearing block is screwed the left end at back, and anchor shaft is equipped with sleeve, pivoted arm A and small pulley, and sleeve is movably connected on the anchor shaft through angular contact bearing and jump ring A; The diplopore bearing seat also is screwed the left end at back, and bearing and end cap are housed in the hole on its left side, and anchor shaft and sleeve pass the hole on the diplopore bearing seat left side; On sleeve, the end of sharf A is fixed in the blade sleeve A end that is movably connected in pivoted arm A through bearing to the arm A that walks around through bearing carrier ring and screw retention, and seal with end cap A at the top; Bearing, end cap A are screwed respectively on pivoted arm A; Big belt wheel and fixing with jump ring, flat key is housed on the blade sleeve A, and belt wheel links to each other with small pulley on being fixed on anchor shaft through synchronous band greatly, and blade A is fixed on the sharf A; The other end dress of sharf A is fixed on an end that is movably connected in pivoted arm B in the blade sleeve B together; Blade B is fixed on the sharf B, and the two ends of sharf B are movably connected in the other end of pivoted arm A, pivoted arm B respectively, and rotating shaft one end is screwed the middle part at armshaft B; The other end is movably connected in the bearing seat, and bearing seat is fixed on the fuselage lower left.

Described right elevator system is by identical with left elevator system structure, and reverse correspondence is installed in the right of I shape fuselage.

Described drive system is made up of motor, motor supporting seat, propeller, slurry folder, and the motor supporting seat is screwed the fuselage below, and motor is fixed on the motor supporting seat, and propeller, slurry clamping fix on the axle of motor.

The utility model bionic flapping-wing flying vehicle is owing to adopt above structure, and pivoted arm moved for 1 week, the blade movement half cycle; Realize similar Wei Si-good fortune effect (bat-urgency is opened mutually) mechanics effect that motion is produced, when aerofoil moved downward, aerofoil was vertical with sense of motion; Produce lift, when the aerofoil upward movement, aerofoil is parallel with sense of motion; Do not produce resistance, form the bionical flapping wing motion of fluttering its wings up and down, utilization rigidity wing; Simple in structure, owing to adopt symmetrical structure, make bionic flapping-wing flying vehicle can be easy to keep balance awing.

Further describe below in conjunction with accompanying drawing and the specific embodiment detailed structure the utility model.

Description of drawings

Accompanying drawing 1 is the utility model bionic flapping-wing flying vehicle structural representation;

Accompanying drawing 2 is the upward view in the accompanying drawing 1;

Accompanying drawing 3 is the A part enlarged drawing in the accompanying drawing 1;

Accompanying drawing 4 is the B-B cutaway view in the accompanying drawing 1.

The specific embodiment

A kind of bionic flapping-wing flying vehicle comprises I shape ABS plastic plate fuselage 1, left elevator system, right elevator system, drive system 42, control system 48 and two Battery pack groups 34,37.Be provided with four feets 40 in the bottom of fuselage 1, feet 40 is through the bottom of rivet fixed main body 1, and it is fixing to pass through brace rod 41 reinforcements.On the bottom panel of fuselage 1 I shape open end, be respectively equipped with two blocks of arm plates 39 up and down, arm plate 39 is fixed on the fuselage 1 through solid arm stay bearing plate 38 usefulness rivets.The symmetrical respectively both sides that are installed in fuselage 1 of left side elevator system and right elevator system; Drive system 42 is installed in the below at fuselage 1 middle part; Control system 48 is installed in the top at fuselage 1 middle part; Battery pack 34, battery pack 37 are installed in respectively on the fuselage 1, and battery pack 34 provides power supply for left elevator system, and battery pack 37 provides power supply for right elevator system.

Described left elevator system comprises little zanjon bearing 2; Gear wheel shaft 3; Gear 4; Tight-holding type coupler 5; Motor cabinet 6; Motor 7; Motor clip 8; Jump ring A9; Anchor shaft 10; Bearing seat 11; Contact bearing 12; Fixed muffle 13; Big gear wheel 14; Jump ring B15; End cap 16; Bearing 17; Diplopore bearing seat 18; Arm A20 walks around; Be with 21 synchronously; End cap A22; Bearing 23; Flat key 24; Big belt wheel 25; Jump ring 26; Blade sleeve A27; Blade A28; Sharf A29; Blade sleeve B30; Pivoted arm B31; Rotating shaft 32; In the bearing seat 33; Sharf B35; Blade B36; Small pulley 47; Motor 7 is fixed on the motor cabinet 6 through cross flat head screw, motor clip 8, and motor cabinet 6 is through being bolted to the left end on I shape fuselage 1 top, and an end of gear wheel shaft 3 is connected in the rotating shaft of motor 7; The other end is movably connected in the diplopore bearing seat 18 through zanjon bearing 2, tight-holding type coupler 5 connection gear axles 3 and miniature gears 4, and miniature gears 4 is through the big gear wheel 14 that is connected by meshing transmission; Big gear wheel 14 is fixed together through jump ring B15 and sleeve 13, and an end of anchor shaft 10 is contained in the fixed bearing block 11, seals with screw and cover plate; Fixed bearing block 11 is screwed the left end on fuselage 1 top, and anchor shaft 10 is equipped with sleeve 13, pivoted arm A20 and small pulley 47, and sleeve 13 is movably connected on the anchor shaft 10 with jump ring A9 through angular contact bearing 12; Diplopore bearing seat 18 also is screwed the left end on fuselage 1 top; Bearing 17 and end cap 16 are housed in the hole on its left side, and anchor shaft 10 and sleeve 13 pass the hole on diplopore bearing seat 18 left sides, the arm A20 that walks around through bearing carrier ring 19 and screw retention on sleeve 13; The end of sharf A29 is fixed on the interior end that is movably connected in pivoted arm A20 through bearing 23 of blade sleeve A27; Seal with end cap A22 at the top, and bearing 23, end cap A22 are screwed respectively on pivoted arm A20, big belt wheel 25 is housed on the blade sleeve A27 also fixes with jump ring 26, flat key 24; Big belt wheel 25 through synchronously with 21 be fixed on anchor shaft 10 on small pulley 47 link to each other; Blade A28 is fixed on the sharf A29, and the other end dress of sharf A29 is fixed on an end that is movably connected in pivoted arm B31 in the blade sleeve B30 together, and blade B36 is fixed on the sharf B35; The two ends of sharf B35 are movably connected in the other end of pivoted arm A20, pivoted arm B31 respectively; Rotating shaft 32 1 ends are screwed at the middle part of armshaft B31, and the other end is movably connected in the bearing seat 33, and bearing seat 33 is fixed on fuselage 1 lower left.

Drive described moving system 42 and be made up of motor 46, motor supporting seat 45, propeller 44, slurry folder 43, motor supporting seat 45 is screwed fuselage 1 below, and motor 46 is fixed on the motor supporting seat 45, and propeller 44, slurry folder 43 are fixed on the axle of motor.

The principle of work and the method for application of the utility model are: pivoted arm A20, pivoted arm B31, sharf A29, sharf B35 form rectangle structure; Rotate around anchor shaft 10, big belt wheel 25 through synchronously with 21 be fixed on anchor shaft 10 on small pulley 47 link to each other, blade A28 is fixed on the sharf A29; During operation; Because small pulley 47 is fixing, and big belt wheel 25 can rotate around small pulley 47, under synchronously with 21 drive; Big belt wheel 25 itself can only rotate around sharf A29, also rotates around sharf A29 thereby drive blade A28.Because big belt wheel 25 is 2:1 with the radius ratio of small pulley 47, pivoted arm A20, pivoted arm B31 circle, sharf A29, sharf B35 and dress blade A28, blade B36 rotation half cycle above that.

Feet 40 and arm plate 39 can guarantee bionic flapping-wing flying vehicle when taking off or land, and blade can be not impaired because of colliding other object.

When bionic flapping-wing flying vehicle need be turned,, can send instruction by control system 48 because the left and right sides elevator system of symmetry is driven by different motor respectively; Change the lift on two limits, make fuselage produce a degree of dip, arm plate 39 can produce a side force; Realize the direction of bionic flapping-wing flying vehicle change of flight, battery pack A34, battery pack B37 are respectively the motor power supply under the control of control system 48; Drive system 42 can be accepted the instruction that control system 48 is sent, and realizes forward or reverse, and the propelling thrust that advances or retreat is provided for bionic flapping-wing flying vehicle; When bionic flapping-wing flying vehicle need reside in when aerial break-off.

Claims

1. bionic flapping-wing flying vehicle, it is characterized in that: it comprises I shape ABS plastic plate fuselage, left elevator system, right elevator system, drive system, control system and two Battery pack groups; Be provided with four feets in the bottom of fuselage, feet is through the bottom of rivet fixed main body, and it is fixing to pass through the brace rod reinforcement; On the bottom panel of fuselage I shape open end, be respectively equipped with two blocks of arm plates up and down; The arm plate is fixed on the fuselage with rivet through solid arm stay bearing plate, the symmetrical respectively both sides that are installed in fuselage of left elevator system and right elevator system, and drive system is installed in the below of waist; Control system is installed in the top of waist; Battery pack, battery pack are installed in respectively on the fuselage, and battery pack is that left elevator system provides power supply, and battery pack is that right elevator system provides power supply;

Described left elevator system comprises little zanjon bearing; Gear wheel shaft; Gear; The tight-holding type coupler; Motor cabinet; Motor; The motor clip; Jump ring A; Anchor shaft; Bearing seat; Contact bearing; Fixed muffle; Big gear wheel; Jump ring B; End cap; Bearing; The diplopore bearing seat; Arm A walks around; Be with synchronously; End cap A; Bearing; Flat key; Big belt wheel; Jump ring; Blade sleeve A; Blade A; Sharf A; Blade sleeve B; Pivoted arm B; Rotating shaft; In the bearing seat; Sharf B; Blade B; Small pulley; Motor 7 is fixed on the motor cabinet through cross flat head screw, motor clip, and motor cabinet is through being bolted to the left end of I shape back, and an end of gear wheel shaft is connected in the rotating shaft of motor; The other end is movably connected in the diplopore bearing seat through the zanjon bearing, tight-holding type coupler connection gear axle and miniature gears, and miniature gears is through the big gear wheel that is connected by meshing transmission; Big gear wheel is fixed together through jump ring B and sleeve, and an end of anchor shaft is contained in the fixed bearing block, seals with screw and cover plate; Fixed bearing block is screwed the left end at back, and anchor shaft is equipped with sleeve, pivoted arm A and small pulley, and sleeve is movably connected on the anchor shaft through angular contact bearing and jump ring A; The diplopore bearing seat also is screwed the left end at back, and bearing and end cap are housed in the hole on its left side, and anchor shaft and sleeve pass the hole on the diplopore bearing seat left side; On sleeve, the end of sharf A is fixed in the blade sleeve A end that is movably connected in pivoted arm A through bearing to the arm A that walks around through bearing carrier ring and screw retention, and seal with end cap A at the top; Bearing, end cap A are screwed respectively on pivoted arm A; Big belt wheel and fixing with jump ring, flat key is housed on the blade sleeve A, and belt wheel links to each other with small pulley on being fixed on anchor shaft through synchronous band greatly, and blade A is fixed on the sharf A; The other end dress of sharf A is fixed on an end that is movably connected in pivoted arm B in the blade sleeve B together; Blade B is fixed on the sharf B, and the two ends of sharf B are movably connected in the other end of pivoted arm A, pivoted arm B respectively, and rotating shaft one end is screwed the middle part at armshaft B; The other end is movably connected in the bearing seat, and bearing seat is fixed on the fuselage lower left;

Described right elevator system is by identical with left elevator system structure, and reverse correspondence is installed in the right of I shape fuselage;