CN204323688U - A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle - Google Patents
A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle Download PDFInfo
- Publication number
- CN204323688U CN204323688U CN201420776776.8U CN201420776776U CN204323688U CN 204323688 U CN204323688 U CN 204323688U CN 201420776776 U CN201420776776 U CN 201420776776U CN 204323688 U CN204323688 U CN 204323688U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- flapping wing
- characters
- rocking bar
- frame
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000000694 effects Effects 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 241000408659 Darpa Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 241000272878 Apodiformes Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle, comprise: frame, be located at the wing above frame, the empennage being located at frame rear and the drive motor be fixed in frame, wing is made up of symmetrically arranged two rocking bars and two flapping wings be located at respectively on two rocking bar outer ends, is provided with gear-driven assembly, connecting rod assembly transmission, card gear and ball secondary case cylinder between wing and drive motor.The utility model drives rocking bar to make two-dimentional Eight characters track by connecting rod assembly and to flutter and aerofoil reverses, and the three-dimensional Eight characters track being realized rocking bar by ball secondary case cylinder and card gear is fluttered, faster than the speed of traditional flapping wing mechanism and flight efficiency is high.
Description
Technical field
The utility model relates to flapping wing mechanism, particularly relates to a kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle.
Background technology
Minute vehicle is as the one of unmanned vehicle, and action radius designs in indoor and city usually, to rescue, reconnaissance and surveillance.In the early 1990s, U.S. national defense advanced studies meter office (being called for short DARPA) starts the research to minute vehicle, and research direction is concentrated on military and navigation aspect.At this, DARPA is that minute vehicle proposes some definition: aircraft span and length can not more than 6 inches (152mm), and total weight is between 80-150 gram, and energy follow-on mission 20-60 minute.In addition, aircraft needs carry real time imagery video camera, infradred sensor or radar communication to execute the task, such as, collect data in disaster scene.Minute vehicle also needs enough electric energy and makes long-time task, and flying speed preferably can reach and cause 30-60km/h.In military use, because collect intelligence needs to go deep into enemy area, soldier's chance in danger time on duty is very high.And minute vehicle is just in time the best weapon that shooting is searched in low latitude.In metropolitan military affairs war, minute vehicle can carry out scouting or monitoring through heavy high building neatly.In nuclear reactor or chemical reactor scouting, minute vehicle can carry video camera and carry out task, avoids the mankind directly and radioactive exposure.Minute vehicle also can coordinate the whole world surely to live system (GPS), analyzes so that fast transfer of data position is convenient.
In minute vehicle, most critical is exactly flapping wing mechanism; the design of flapping wing mechanism directly determine aircraft flying speed; in prior art, flapping wing mechanism generally adopts simple straight path or arching trajectory flapping wing; the alerting ability of flapping wing mechanism is little; and traditional flapping motion cannot produce lift and thrust in a flapping wing cycle simultaneously, the efficiency of flapping motion is low.
Therefore, how to design that a kind of alerting ability is large, the fast and Eight characters track flapping wing mechanism that flight efficiency is high of speed and use the micro flapping wing air vehicle of this flapping wing mechanism to be industry technical matters urgently to be resolved hurrily.
Utility model content
For the problems referred to above, the utility model provides that a kind of alerting ability is large, speed is fast and the Eight characters track flapping wing mechanism that flight efficiency is high and micro flapping wing air vehicle.
The technical scheme that the utility model proposes is, design a kind of Eight characters track flapping wing mechanism, comprise: frame, be located at the wing above frame, the empennage being located at frame rear and the drive motor be fixed in frame, wing is made up of symmetrically arranged two rocking bars and two flapping wings be located at respectively on two rocking bar outer ends, is provided with gear-driven assembly and connecting rod assembly transmission between wing and drive motor.Gear-driven assembly comprises: the driving wheel be connected with drive motor output shaft, the flower wheel be connected with capstan drive.Connecting rod assembly comprises: four connecting rods that head and the tail are hinged; First connecting rod first end is hinged is fixed on the driving wheel center of circle, the second end radial direction is articulated with on driving wheel, second connecting rod first end is articulated with the flower wheel center of circle, the second end radial direction is articulated with on flower wheel, and third and fourth rod hinge connection is between the second end of first and second connecting rod.Two rocking bars are inner to be in transmission connection with the hinge-point of third and fourth connecting rod, and third and fourth connecting rod drives rocking bar to make two-dimentional Eight characters orbiting motion.
Connecting rod assembly also comprises: five, six-bar linkage; 5th connecting rod first end is articulated with the hinge-point of third and fourth connecting rod, and six-bar linkage first end is articulated with the driving wheel center of circle, and the 5th, the second end of six-bar linkage is articulated and connected.5th connecting rod first end is fixed with a rotating shaft, the 5th connecting rod first end is protruded in rotating shaft one end, third and fourth connecting rod hinge point is stretched out in other end activity, two rocking bars the inner is fixedly connected with the two ends of rotating shaft respectively, the 5th, six-bar linkage drive rocking bar do pitch rotation motion.
Two rocking bar the inners are each passed through two ball secondary case cylinders, rocking bar are fixed with the roller ball coordinated with ball secondary case cylinder, the secondary sleeve bottom end of ball and frame hinged.Two card gears are fixed with respectively between two rocking bars the inners and rotating shaft.Rocking bar makes three-dimensional Eight characters orbiting motion by connecting rod assembly, card gear and ball secondary case cylinder.
Card gear is made up of cross profile shaft and two connecting rod covers, and two connecting rod covers are actively set on two vertical axises of cross profile shaft respectively, and rocking bar and rotating shaft are fixedly connected with two connecting rod covers respectively.
Empennage is made up of base plate and the riser be vertical on base plate, riser rear end is hinged is provided with vertical control surface, base plate rear end is hinged is provided with horizontal control surface, riser front end is provided with the lifting steering wheel that the direction steering wheel, the level of control control surface that control vertical control surface left-right rotation rotates up and down, and direction steering wheel, lifting steering wheel pull vertical control surface, horizontal control surface to rotate respectively by pull bar.
Drive motor lithium polymer battery drives.
The utility model additionally provides a kind of micro flapping wing air vehicle, comprises above-mentioned Eight characters track flapping wing mechanism.
Compared with prior art, the utility model is provided with connecting rod assembly, gear-driven assembly, ball secondary case cylinder and card gear on flapping wing mechanism, drive rocking bar to make two-dimentional Eight characters track by connecting rod assembly to flutter and aerofoil torsion, the three-dimensional Eight characters track being realized rocking bar by ball secondary case cylinder and card gear is fluttered, faster than the speed of traditional flapping wing mechanism and flight efficiency is high.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, the utility model is described in detail, wherein:
Fig. 1 is the utility model schematic perspective view;
Fig. 2 is the connection diagram of the utility model connecting rod assembly and gear-driven assembly;
Fig. 3 is the connection diagram of the utility model rocking bar and ball secondary case cylinder, card gear;
Fig. 4 is the connection diagram of the utility model card gear;
Fig. 5 is the anatomical connectivity schematic diagram of the utility model empennage.
Detailed description of the invention
In the utility model, research emphasis mainly concentrates on the realization of bionical thing flapping wing mechanism.Splayed configuration trace motion mechanism is the wherein a kind of of bionical thing flapping wing mechanism, and using hummingbird as source, its aerial characteristic of hovering can provide miniature and fly the more alerting abilitys of device.In addition, research finds, splayed configuration flapping wing track coordinates specific aerofoil reversion action, can produce lift and thrust in a flapping wing cycle simultaneously, more efficient than traditional flapping motion.
Specifically as shown in Figure 1, the Eight characters track flapping wing mechanism that the utility model proposes, comprise: frame 1, be located at the wing above frame 1, the empennage 2 being located at frame 1 rear and the drive motor 3 be fixed in frame, wing is made up of symmetrically arranged two rocking bars 4 and two flapping wings 5 be located at respectively on two rocking bar outer ends, is provided with gear-driven assembly and connecting rod assembly transmission between wing 5 and drive motor 3.There is provided power by drive motor 3, gear-driven assembly drivening rod component movement, then promote wing by connecting rod assembly and complete and flutter.
As shown in Figure 2, gear-driven assembly comprises: the driving wheel 6 be connected with drive motor 3 output shaft, the flower wheel 7 be in transmission connection with driving wheel 6.Wherein, drive motor 3 is driven by lithium polymer battery, is fixed at the side of frame 1, and gear-driven assembly and connecting rod assembly are located at the opposite side of frame 1, drive motor 3 output shaft is connected with driving wheel 6 through frame 1, and frame 1 is provided with the bearing coordinated with drive motor 3 output shaft.
Connecting rod assembly comprises: four connecting rods that head and the tail are hinged.First connecting rod 8 first end is articulated with driving wheel 6 center of circle, the second end radial direction is articulated with on driving wheel 6, second connecting rod 9 first end is articulated with flower wheel 7 center of circle, the second end radial direction is articulated with on flower wheel 7, and third and fourth rod hinge connection is between the second end of first and second connecting rod.Wherein, third connecting rod 10 one end and first connecting rod 8 hinged, double leval jib 11 one end and second connecting rod 9 hinged.The connecting rod mechanism of first, second, third and fourth connecting rod composition has two degree of freedom, first and second connecting rod rotates in the center of circle respectively along driving wheel 6, flower wheel 7, constantly promote third and fourth connecting rod lifting and folding in rotation process, coordinated by each length of connecting rod and make the hinge-point of third and fourth connecting rod produce two-dimentional splayed configuration orbiting motion.Rocking bar 4 is inner to be in transmission connection with the hinge-point 25 of third and fourth connecting rod, and now third and fourth connecting rod can drive rocking bar 4 to make two-dimentional Eight characters orbiting motion.
Further, connecting rod assembly also comprises: five, six-bar linkage.5th connecting rod 12 first end is articulated with the hinge-point 25 of third and fourth connecting rod, and six-bar linkage 13 first end is hinged is fixed on driving wheel 6 center of circle, and the 5th, the second end of six-bar linkage is articulated and connected.First and third, five, the connecting rod mechanism of six-bar linkage composition has one degree of freedom, the hinge-point 25 that third and fourth pipe link followed by 5th connecting rod 12 moves, under the effect of six-bar linkage 13, the 5th connecting rod 12 first end reciprocating rotation centered by the hinge-point 25 of third and fourth pipe link.
In the present embodiment, the 5th connecting rod 12 first end is fixed with a rotating shaft, rotating shaft one end protrude the 5th connecting rod 12 first end, other end activity stretch out third and fourth connecting rod hinge point the 25, five connecting rod 12 first end by rotating shaft and hinge-point 35 hinged.Two rocking bar 4 the inners are fixedly connected with the two ends of rotating shaft respectively, and two rocking bars 4 transmit the Eight characters path of motion of hinge-point 25 by rotating shaft.And while Eight characters path of motion, the 5th connecting rod 12 drives rotating shaft rotation, drive the rocking bar 4 at two ends to complete rotation by rotating shaft, thus change the angle of inclination of flapping wing 5 on rocking bar 4, complete the adjustment of aerofoil luffing angle.
Further, as shown in Figure 3, two rocking bar 4 the inners are each passed through two ball secondary case cylinders 14, this ball secondary case cylinder 14 bottom and frame 1 hinged, rocking bar 4 is fixed with the roller ball 15 coordinated with ball secondary case cylinder 1.Two card gears 16 are fixed with between rocking bar 4 the inner and rotating shaft.The hinge-point 25 of third and fourth connecting rod drives rotating shaft to make two-dimentional Eight characters orbiting motion, two dimensional motion is converted to three-dimensional motion and is delivered to rocking bar 4 the inner by card gear 16, rocking bar 4 with ball secondary case cylinder 14 for fulcrum, the Eight characters orbiting motion of rocking bar 4 outer end is amplified, realizes the three-dimensional Eight characters orbiting motion of aircraft wingtips.
As shown in Figure 4, card gear 16 overlaps 18 by cross profile shaft 17 and two connecting rods and forms, and two connecting rod covers are actively set on two vertical axises of cross profile shaft 17 respectively.One connecting rod cover 18 is fixedly connected with rocking bar 4 the inner, and another connecting rod cover is fixedly connected with one end of rotating shaft.When the imput shaft in cross profile shaft 17 is rotated, driven shaft both can rotate thereupon, can swing in any direction around cross profile shaft center again, angle and the needs that simultaneously change of distance are so just adapted to, thus ensure that rocking bar 4 can turn to any direction, under the hinge-point effect of third and fourth connecting rod, complete three-dimensional Eight characters orbiting motion.
More excellent, as shown in Figure 5, empennage 2 is made up of base plate 19 and the riser 20 be vertical on base plate, riser 20 rear end is hinged is provided with vertical control surface 21, base plate 19 rear end is hinged is provided with horizontal control surface 22, riser 20 front end is provided with the lifting steering wheel 24 that the direction steering wheel 23, the level of control control surface about 22 that control vertical control surface 21 left-right rotation rotates, and direction steering wheel 23, lifting steering wheel 24 pull vertical control surface 21 respectively by pull bar, horizontal control surface 22 rotates.
The utility model additionally provides a kind of micro flapping wing air vehicle, comprises above-mentioned Eight characters track flapping wing mechanism.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (7)
1. an Eight characters track flapping wing mechanism, comprise: frame, be located at the wing above frame, the empennage being located at frame rear and the drive motor be fixed in frame, it is characterized in that, described wing is made up of symmetrically arranged two rocking bars and two flapping wings be located at respectively on two rocking bar outer ends, is provided with gear-driven assembly and connecting rod assembly transmission between described wing and drive motor;
Described gear-driven assembly comprises: the driving wheel be connected with described drive motor output shaft, the flower wheel be connected with capstan drive;
Described connecting rod assembly comprises: four connecting rods that head and the tail are hinged; First connecting rod first end is hinged is fixed on the driving wheel center of circle, the second end radial direction is articulated with on driving wheel, second connecting rod first end is articulated with the flower wheel center of circle, the second end radial direction is articulated with on flower wheel, and third and fourth rod hinge connection is between the second end of first and second connecting rod;
Described two rocking bars are inner to be in transmission connection with the hinge-point of third and fourth connecting rod, and third and fourth connecting rod described drives rocking bar to make two-dimentional Eight characters orbiting motion.
2. Eight characters track flapping wing mechanism as claimed in claim 1, it is characterized in that, described connecting rod assembly also comprises: five, six-bar linkage; 5th connecting rod first end is articulated with the hinge-point of third and fourth connecting rod, and six-bar linkage first end is articulated with the driving wheel center of circle, and the 5th, the second end of six-bar linkage is articulated and connected;
Described 5th connecting rod first end is fixed with a rotating shaft, the 5th connecting rod first end is protruded in described rotating shaft one end, third and fourth connecting rod hinge point is stretched out in other end activity, described two rocking bars the inners are fixedly connected with the two ends of rotating shaft respectively, and described 5th, six-bar linkage drives rocking bar to do pitch rotation motion.
3. Eight characters track flapping wing mechanism as claimed in claim 2, it is characterized in that, described two rocking bar the inners are each passed through two ball secondary case cylinders, rocking bar are fixed with the roller ball coordinated with described ball secondary case cylinder, described ball pair sleeve bottom end and frame hinged;
Two card gears are fixed with respectively between described two rocking bars the inners and rotating shaft;
Described rocking bar makes three-dimensional Eight characters orbiting motion by connecting rod assembly, card gear and ball secondary case cylinder.
4. Eight characters track flapping wing mechanism as claimed in claim 3, it is characterized in that, described card gear is made up of cross profile shaft and two connecting rod covers, described two connecting rods cover is actively set on two vertical axises of cross profile shaft respectively, and described rocking bar and rotating shaft are fixedly connected with two connecting rod covers respectively.
5. Eight characters track flapping wing mechanism as claimed in claim 1, it is characterized in that, described empennage is made up of base plate and the riser be vertical on base plate, described riser rear end is hinged is provided with vertical control surface, described base plate rear end is hinged is provided with horizontal control surface, described riser front end is provided with the lifting steering wheel that the direction steering wheel, the level of control control surface that control vertical control surface left-right rotation rotates up and down, and described direction steering wheel, lifting steering wheel pull vertical control surface, horizontal control surface to rotate respectively by pull bar.
6. Eight characters track flapping wing mechanism as claimed in claim 1, is characterized in that, described drive motor lithium polymer battery drives.
7. a micro flapping wing air vehicle, is characterized in that, comprises the Eight characters track flapping wing mechanism as described in any one of claim 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420776776.8U CN204323688U (en) | 2014-12-11 | 2014-12-11 | A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420776776.8U CN204323688U (en) | 2014-12-11 | 2014-12-11 | A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204323688U true CN204323688U (en) | 2015-05-13 |
Family
ID=53160072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420776776.8U Expired - Fee Related CN204323688U (en) | 2014-12-11 | 2014-12-11 | A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204323688U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443380A (en) * | 2014-12-11 | 2015-03-25 | 香港理工大学 | Splay-track flapping wing mechanism and miniature flapping wing air vehicle |
| CN106240815A (en) * | 2016-08-15 | 2016-12-21 | 上海工程技术大学 | The sized flap wings system of ∞ font movement locus and the flapping wing aircraft containing this system |
| CN116477082A (en) * | 2023-03-17 | 2023-07-25 | 中南大学 | Bionic buzzer aircraft based on steering transmission coordination control mechanism |
-
2014
- 2014-12-11 CN CN201420776776.8U patent/CN204323688U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443380A (en) * | 2014-12-11 | 2015-03-25 | 香港理工大学 | Splay-track flapping wing mechanism and miniature flapping wing air vehicle |
| CN106240815A (en) * | 2016-08-15 | 2016-12-21 | 上海工程技术大学 | The sized flap wings system of ∞ font movement locus and the flapping wing aircraft containing this system |
| CN116477082A (en) * | 2023-03-17 | 2023-07-25 | 中南大学 | Bionic buzzer aircraft based on steering transmission coordination control mechanism |
| CN116477082B (en) * | 2023-03-17 | 2024-02-13 | 中南大学 | Bionic buzzer aircraft based on steering transmission coordination control mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104443380A (en) | Splay-track flapping wing mechanism and miniature flapping wing air vehicle | |
| CN104494818B (en) | Four rotor amphibious robots | |
| CN103318405B (en) | A kind of unmanned plane | |
| CN203819493U (en) | Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft | |
| CN103612755A (en) | Bionic flapping-wing machine with double-section main wings | |
| CN110254712B (en) | Two-horizontal two-vertical blade-rotatable four-wheel type rotor unmanned aerial vehicle | |
| CN204323688U (en) | A kind of Eight characters track flapping wing mechanism and micro flapping wing air vehicle | |
| CN214727996U (en) | Air-ground amphibious robot | |
| CN202657236U (en) | Elastic fishtail swing wing and flapping wing propulsion plant | |
| CN105329443A (en) | Ornithopter capable of realizing flapping-reversing coupled motion | |
| CN105799925A (en) | Unmanned aerial vehicle | |
| CN203558206U (en) | Bionic flapping-wing aircraft with double sections of main wings | |
| CN204368417U (en) | Novel four rotor amphibious robots | |
| CN106927041A (en) | A kind of multiple degrees of freedom flapping-wing modal with propulsive efficiency high | |
| CN110371285B (en) | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle | |
| CN103991540A (en) | Conical rotary flapping wing aircraft | |
| CN104477385A (en) | Unmanned flapping wing air vehicle | |
| CN104002968A (en) | Small conical rotary flapping wing air vehicle | |
| CN110254705B (en) | Single-wheel type moving-wing aircraft with rotatable and horizontal blades and fixed wings | |
| CN207658053U (en) | Bionical investigation mechanical bird | |
| CN106585981B (en) | Dragonfly-imitating double-wing miniature flapping-wing aircraft | |
| CN108458892B (en) | Rotor type Mars unmanned aerial vehicle with rock sample collecting and carrying functions | |
| CN203845010U (en) | Small ornithopter | |
| CN203845008U (en) | Unmanned ornithopter | |
| CN110282125B (en) | Aircraft based on blade-rotatable vertical double-wheel type moving wing pushing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20151211 |
|
| EXPY | Termination of patent right or utility model |