CN205131663U - Passive width of cloth mechanism of fluttering that becomes - Google Patents
Passive width of cloth mechanism of fluttering that becomes Download PDFInfo
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- CN205131663U CN205131663U CN201520945002.8U CN201520945002U CN205131663U CN 205131663 U CN205131663 U CN 205131663U CN 201520945002 U CN201520945002 U CN 201520945002U CN 205131663 U CN205131663 U CN 205131663U
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- protecting cover
- driven gear
- fluttering
- arc
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Abstract
The utility model provides a passive width of cloth mechanism of fluttering that becomes, the mechanism of fluttering includes: frame, motor, reduction gear system and the pole of fluttering group, the excavation forms protecting cover groove, torsional spring groove and arc spout to the side of second grade driven gear to be equipped with gear protecting cover, amplitude modulation torsional spring and pitman shaft respectively in the groove, the pitman shaft includes a ARC slide block and an axle body, and ARC slide block and arc spout looks adaptation can follow the arc spout and freely slide, and the surface of arc spout is placed in to the one end of spool body, just with the outer surface vertical of arc spout. The advantage does: the utility model discloses a spacing mode of torsional spring realizes the autonomic change width of cloth function of mechanism, promptly: under the heavy load, can increase the range of fluttering automatically, under little load, can reduce the range of fluttering automatically, need not the initiative intervention to the flight performance of flapping wing aircraft has been improved.
Description
Technical field
The utility model belongs to driving mechanism for flapping wing technical field, is specifically related to a kind of passive luffing flapping mechanism.
Background technology
Flapping wing aircraft is the bionic Aircraft of a kind of natural imitation circle birds or insect flying, has volume little, lightweight, disguised high and use the features such as flexible, has broad application prospects.
As the critical component of flapping wing aircraft, flapping mechanism directly determines the airworthiness of flapping wing aircraft.Found by the flying method of birding, most of birds all can adapt to different state of flights by the amplitude of fluttering changing wing.This point also can be passed through scientific experiment, i.e. wind tunnel experiment and confirm.Wind tunnel experiment shows, within the specific limits, the aerodynamic force of flapping wing increases with the increase of the amplitude of fluttering.Therefore, design a flapping mechanism that can realize luffing function and the performance improving flapping wing aircraft is seemed necessary.
Although existing flapping mechanism can realize action of fluttering, most of flapping mechanism can only carry out fluttering of single amplitude, cannot change the amplitude of fluttering, thus have impact on the airworthiness of flapping wing aircraft.In addition, although occur that minority can realize the flapping mechanism of luffing function to a certain extent, but, in order to realize the function that luffing is fluttered, often add complicated control mechanism, thus need to pay corresponding cost in the reliability, weight and volume etc. of mechanism, even counteract luffing to the contribution promoting aircraft performance.Visible, the problems referred to above constrain the development of flapping wing aircraft from hardware structure aspect.
Utility model content
For the defect that prior art exists, the utility model provides a kind of passive luffing flapping mechanism, the amplitude of fluttering can be changed passively according to the state of fluttering of flapping wing, substantially not pay extra weight and volume cost simultaneously, contribute to the performance improving flapping wing aircraft.
The technical solution adopted in the utility model is as follows:
The utility model provides a kind of passive luffing flapping mechanism, comprising: frame (1), motor (2), train of reduction gears and bar group of fluttering;
Wherein, described train of reduction gears is the parallel retarder of two-stage, comprising: one-level driving gear (3), one-level driven gear (4), secondary driving gear (5) and secondary driven gear (6);
The pedestal of described motor (2) is fixedly installed to described frame (1), and the output shaft of described motor (2) fixedly mounts described one-level driving gear (3); Described one-level driving gear (3) is engaged with described one-level driven gear (4), described one-level driven gear (4) is linked by transmission shaft and described secondary driving gear (5), and described secondary driving gear (5) is engaged with described secondary driven gear (6); Described motor (2) is by meshed transmission gear relation, and the described secondary driven gear (6) of final drive is rotated;
In addition, described secondary driven gear (6) is configured with rotary gear axis, and this rotary gear axis is horizontally disposed with;
In described secondary driven gear (6) side, excavation forms protecting cover groove (6-4), torsional spring slot (6-5) and arc chute (6-6); And in groove, be respectively fitted with gear protecting cover (6-1), amplitude modulation torsion spring (6-2) and pitman shaft (6-3);
Described protecting cover groove (6-4) is groove, for gear protecting cover (6-1) described in setting-in; Inwardly dig further at the bottom land of described protecting cover groove (6-4) and form described torsional spring slot (6-5), described torsional spring slot (6-5) has torsion spring and installs fulcrum (6-5-1), described torsional spring slot (6-5) has arc outer, and one end of this arc outer is in described secondary driven gear (6) shaft core position; Continue in this position, arc outer inwardly to dig to form described arc chute (6-6), that is: described arc chute (6-6) overlaps with described arc outer, one end of described arc chute (6-6) is in described secondary driven gear (6) shaft core position equally, and the other end is eccentric position;
Described pitman shaft (6-3) comprises arc shaped slider (6-3A) and axle body (6-3B), described arc shaped slider (6-3A) is suitable with described arc chute (6-6), can be free to slide along described arc chute (6-6), one end of described axle body (6-3B) is placed in the outside face of described arc chute (6-6), and vertical with the outside face of described arc chute (6-6);
Described amplitude modulation torsion spring (6-2) comprises spring body and the first spring arm of extending to two ends from described spring body and the second spring arm; Described spring body is fixed to described torsion spring and installs fulcrum (6-5-1), described first spring arm is retainer spring arm, described second spring arm is spacing spring arm, it contacts with described axle body (6-3B), for providing towards the power in secondary driven gear (6) axle center to described pitman shaft (6-3);
Described gear protecting cover (6-1) is fixed to the side of described secondary driven gear (6) by described protecting cover groove (6-4), and, described gear protecting cover (6-1) offers protecting cover chute (6-1-1), when described gear protecting cover (6-1) is fixed to the side of described secondary driven gear (6), described protecting cover chute (6-1-1) overlaps completely with described arc chute (6-6), and, the axle body (6-3B) of described pitman shaft (6-3) reaches the outside of described gear protecting cover (6-1) through described protecting cover chute (6-1-1),
Described bar group of fluttering comprises: left connecting rod (7-1), right connecting rod (7-2), left rocker shaft (11), right rocker shaft (12), left rocking arm (13) and right rocking arm (14);
The tail end of described left connecting rod (7-1) and the tail end of described right connecting rod (7-2) all hinged with described pitman shaft (6-3); The top of described left connecting rod (7-1) and the right-hand member of described left rocking arm (13) hinged; In addition, described left rocking arm (13) to realize with described frame (1) by described left rocker shaft (11) hinged;
The top of described right connecting rod (7-2) and the left end of described right rocking arm (14) hinged; In addition, described right rocking arm (14) to realize with described frame (1) by described right rocker shaft (12) hinged.
Preferably, described frame (1) is bilateral symmetry, with towards heading for front;
Described motor (2) is fixedly installed in longitudinal center's line position at described frame (1) back side, and described one-level driving gear (3) is fixedly installed in the output shaft of described motor (2); Immediately below described one-level driving gear (3), described one-level driven gear (4) is set;
Described secondary driving gear (5) and described secondary driven gear (6) are arranged at described frame (1) front, further, described secondary driving gear (5) and described one-level driven gear (4) equal altitudes and be symmetrical arranged relative to described frame (1).
Preferably, described torsional spring slot (6-5) is fan groove; Described torsion spring installs the home position that fulcrum (6-5-1) is described fan groove.
Preferably, the 1st assembly opening (6-1-2) and the 2nd assembly opening (6-1-3) is also offered described gear protecting cover (6-1); After described gear protecting cover (6-1) is embedded into described protecting cover groove (6-4), be fastened to described 1st assembly opening (6-1-2) by the 1st fastener, the 2nd fastener is fastened to described 2nd assembly opening (6-1-3), and then described gear protecting cover (6-1) is fixed to described secondary driven gear (6) side.
The passive luffing flapping mechanism that the utility model provides has the following advantages:
(1) the utility model adopts the spacing mode of torsion spring to realize the autonomous luffing function of mechanism, that is: under heavy load, automatically can increase the amplitude of fluttering, under little load, automatically can reduce the amplitude of fluttering, without the need to pro-active intervention, thus improve the airworthiness of flapping wing aircraft;
(2) the utility model is by the control to motor stalling or startup, can realize the mutual conversion of flapping wing aircraft between the state of fluttering and glide state;
(3) the utility model only needs to carry out very little change to traditional flapping mechanism, has that structure is simple, reliability is high, and, do not increase the advantage of extra weight and volume, thus improve the airworthiness of flapping wing aircraft comprehensively.
Accompanying drawing explanation
The perspective view of passive luffing flapping mechanism under an angle that Fig. 1 provides for the utility model;
The perspective view of passive luffing flapping mechanism under another angle that Fig. 2 provides for the utility model;
Fig. 3 does not install the schematic diagram of gear protecting cover for secondary driven gear that the utility model provides;
The structural representation of the amplitude modulation torsion spring that Fig. 4 provides for the utility model;
The structural representation of the pitman shaft that Fig. 5 provides for the utility model;
Fig. 6 has installed the schematic diagram of gear protecting cover for secondary driven gear that the utility model provides;
The schematic diagram of the gear protecting cover that Fig. 7 provides for the utility model;
The motion schematic diagram of Fig. 8 is crank length when being r mechanism;
Fig. 9 is the motion schematic diagram of the mechanism under gliding flight state.
Detailed description of the invention
The technical matters solved to make the utility model, technical scheme and beneficial effect are clearly understood, below in conjunction with drawings and Examples, are further elaborated to the utility model.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Composition graphs 1 and Fig. 2, the utility model provides a kind of passive luffing flapping mechanism, comprising: frame 1, motor 2, train of reduction gears and bar group of fluttering.Below each parts are introduced respectively in detail:
(1) train of reduction gears and motor
Train of reduction gears is the parallel retarder of two-stage, with reference to figure 1 and Fig. 2, comprising: one-level driving gear 3, one-level driven gear 4, secondary driving gear 5 and secondary driven gear 6;
The pedestal of motor 2 is fixedly installed to frame 1, the output shaft fixed installation one-level driving gear 3 of motor 2; One-level driving gear 3 engages with one-level driven gear 4, and one-level driven gear 4 is linked by transmission shaft and secondary driving gear 5, and secondary driving gear 5 engages with secondary driven gear 6; Motor 2 is by meshed transmission gear relation, and the final secondary driven gear 6 that drives rotates.
In practical application, for ensureing that whole mechanism is as far as possible bilateral symmetry, thus making left and right rocking arm symmetry flutter as far as possible, following concrete mounting means can be adopted: frame 1 is bilateral symmetry, with towards heading for front; Motor 2 is fixedly installed in longitudinal center's line position at frame 1 back side, and one-level driving gear 3 is fixedly installed in the output shaft of motor 2; One-level driven gear 4 is set immediately below one-level driving gear 3; Secondary driving gear 5 and secondary driven gear 6 are arranged at frame 1 front, and secondary driving gear 5 is with one-level driven gear 4 equal altitudes and be symmetrical arranged relative to frame 1.
In addition, secondary driven gear 6 is configured with rotary gear axis, and this rotary gear axis is horizontally disposed with.
In addition, main being improved to of the utility model: by installing a small amount of luffing part to secondary driven gear side, can realize fluttering amplitude according to the autonomous adjusting rock arm of the change of external load, and can realize the mutual conversion of fluttering and gliding between two states.
With reference to figure 3, for secondary driven gear does not install the schematic diagram of gear protecting cover, thus conveniently see the improvement of secondary driven gear side.Concrete, form protecting cover groove 6-4, torsional spring slot 6-5 and arc chute 6-6 at secondary driven gear 6 side excavation; And in groove, be respectively fitted with gear protecting cover 6-1, amplitude modulation torsion spring 6-2 and pitman shaft 6-3;
Protecting cover groove 6-4 is groove, for setting-in gear protecting cover 6-1; Inwardly dig further at the bottom land of protecting cover groove 6-4 and form torsional spring slot 6-5, in practical application, torsional spring slot 6-5 is fan groove; Torsional spring slot 6-5 has torsion spring and installs fulcrum 6-5-1, and when torsional spring slot 6-5 is fan groove, torsion spring installs the home position that fulcrum 6-5-1 is fan groove, and torsional spring slot radius is the distance of installing between fulcrum 6-5-1 to the secondary driven gear center of circle.
Torsional spring slot 6-5 has arc outer, and one end of this arc outer is in secondary driven gear 6 shaft core position; Continue in this position, arc outer inwardly to dig to form arc chute 6-6, that is: arc chute 6-6 overlaps with arc outer, and one end of arc chute 6-6 is in secondary driven gear 6 shaft core position equally, and the other end is eccentric position;
As shown in Figure 5, for the structural representation of pitman shaft, pitman shaft 6-3 comprises arc shaped slider 6-3A and axle body 6-3B, arc shaped slider 6-3A and arc chute 6-6 is suitable, can arcuately be free to slide by chute 6-6, one end of axle body 6-3B is placed in the outside face of arc chute 6-6, and vertical with the outside face of arc chute 6-6;
As shown in Figure 4, be the structural representation of amplitude modulation torsion spring, amplitude modulation torsion spring 6-2 comprises spring body and the first spring arm of extending to two ends from spring body and the second spring arm; Spring body is fixed to torsion spring and installs fulcrum 6-5-1, and the first spring arm is retainer spring arm, spacing by torsional spring slot, ensures that the first spring arm maintains static all the time; Second spring arm is spacing spring arm, and it contacts with axle body 6-3B, for providing towards the power in secondary driven gear 6 axle center to pitman shaft 6-3;
With reference to figure 7, for the structural representation of gear protecting cover, gear protecting cover 6-1 is fixed to the side of secondary driven gear 6 by protecting cover groove 6-4, and, gear protecting cover 6-1 offers protecting cover chute 6-1-1, and when gear protecting cover 6-1 is fixed to the side of secondary driven gear 6, protecting cover chute 6-1-1 overlaps completely with arc chute 6-6, further, the axle body 6-3B of pitman shaft 6-3 reaches the outside of gear protecting cover 6-1 through protecting cover chute 6-1-1; By installing protecting cover, when secondary driven gear rotates, can ensure that torsion spring and pitman shaft can not be deviate from from secondary driven gear; By offering protecting cover chute at protecting cover, can ensure can not solid protection lid installation and limit being free to slide of pitman shaft.
In practical application, also offer the 1st assembly opening 6-1-2 and the 2nd assembly opening 6-1-3 at gear protecting cover 6-1; After gear protecting cover 6-1 is embedded into protecting cover groove 6-4, is fastened to the 1st assembly opening 6-1-2 by the 1st fastener, the 2nd fastener is fastened to the 2nd assembly opening 6-1-3, and then gear protecting cover 6-1 is fixed to secondary driven gear 6 side.Wherein, the setting position of the 1st assembly opening 6-1-2 can overlap with the position that torsion spring installs fulcrum 6-5-1.As shown in Figure 6, the secondary driven gear schematic diagram of fixed gear wheel protecting cover is.
(2) to flutter bar group
Bar group of fluttering comprises: left connecting rod 7-1, right connecting rod 7-2, left rocker shaft 11, right rocker shaft 12, left rocking arm 13 and right rocking arm 14;
The tail end of left connecting rod 7-1 and the tail end of right connecting rod 7-2 all hinged with pitman shaft 6-3; The top of left connecting rod 7-1 and the right-hand member of left rocking arm 13 hinged; In addition, to realize with frame 1 by left rocker shaft 11 hinged for left rocking arm 13;
The top of right connecting rod 7-2 and the left end of right rocking arm 14 hinged; In addition, to realize with frame 1 by right rocker shaft 12 hinged for right rocking arm 14.
The principle of work of said apparatus is understood by following steps:
The utility model provides a kind of passive luffing to flutter method, comprises the following steps:
Step 1, is installed to flapping wing aircraft by passive luffing flapping mechanism, and left rocking arm 13 and the left side wing of fluttering is fixedly connected with, and right rocking arm 14 and the right side wing of fluttering is fixedly connected with;
If secondary driven gear 6 shaft core position is O point, one end of arc chute 6-6 overlaps with O point, and another end points of arc chute 6-6 is designated as A point;
Step 2, when state of flight, a left side flutter the wing and right flutter the wing respectively left rocking arm 13 and right rocking arm 14 apply load force upwards, meanwhile, there is positive correlation in the size of this load force and the rotating speed of motor 2; That is: the rotating speed of motor is larger, left rocking arm 13 and the upwards load force suffered by right rocking arm 14 larger; And the rotating speed of motor is less, left rocking arm 13 and the upwards load force suffered by right rocking arm 14 less.
Under certain certain loads power sometime, load force is by the transmission of left connecting rod and right connecting rod, and by the centrifugal direction tractive of pitman shaft 6-3 to secondary driven gear 6, and then drivening rod axle 6-3 slides to A point direction in arc chute 6-6; Meanwhile, pitman shaft 6-3 is subject to the barrier force coming from amplitude modulation torsion spring 6-2, and then limiting rod axle 6-3 slides to A point direction in arc chute 6-6; So when the barrier force of amplitude modulation torsion spring 6-2 and the traction force of pitman shaft 6-3 balance each other, pitman shaft 6-3 is fixed on the ad-hoc location in arc chute 6-6, supposes that ad-hoc location is designated as C point;
Now, due to the driving effect of motor 2, power is reached secondary driven gear 6 by train of reduction gears by motor 2, when secondary driven gear 6 rotates, and drivening rod axle 6-3 synchronous axial system; And when pitman shaft 6-3 rotates, drive the flutter left rocking arm 13 of bar group and right rocking arm 14 amplitude of carrying out to be that the constant amplitude of α 1 is fluttered.
That is, balance each other once the barrier force of amplitude modulation torsion spring 6-2 and the traction force of pitman shaft 6-3, flutter in process whole, the position of pitman shaft 6-3 in arc chute 6-6 ensures to immobilize.Motion of fluttering now is similar with traditional mechanism principle, that is: whole mechanism have employed the principle of four-bar linkage, wherein, secondary driven gear and pitman shaft together constitute the crank in four-bar linkage, and the vertical distance between the rotating shaft of secondary driven gear and pitman shaft is equivalent to the length of crank.And when the position of pitman shaft in arc chute 6-6 ensures to immobilize, the length being equivalent to crank does not change, and the amplitude of being is that the constant amplitude of α 1 is fluttered.
Step 3, when the upwards load force suffered by left rocking arm 13 and right rocking arm 14 becomes large, pitman shaft 6-3 can slide to A point direction by point further along arc chute 6-6 from C, if when reaching D point, the barrier force of amplitude modulation torsion spring 6-2 and the traction force of pitman shaft 6-3 balance each other, now, according to double leval jib principle, when pitman shaft slides in arc chute, namely be the length changing crank, and when load force becomes large, the length being crank increases, therefore, compared with the state of step 2, now because the length of crank increases, so, the amplitude of fluttering of left and right rocking arm can become large, that is: the left rocking arm 13 of bar group of fluttering and right rocking arm 14 can the amplitude of carrying out be that the constant amplitude of α 2 is fluttered, and, α 2 is greater than α 1.
In like manner, when suffered by left rocking arm 13 and right rocking arm 14 upwards load force diminishes time, pitman shaft 6-3 can slide to O point direction by point along arc chute 6-6 from C, if when reaching E point, the barrier force of amplitude modulation torsion spring 6-2 and the traction force of pitman shaft 6-3 balance each other, now, according to double leval jib principle, because the length of crank reduces, so, the amplitude of fluttering of left and right rocking arm can diminish, that is:
The left rocking arm 13 of bar group of fluttering and right rocking arm 14 can the amplitude of carrying out be that the constant amplitude of α 3 is fluttered, and α 3 is less than α 1.
Visible, in the utility model, when the load force that rocking arm is subject to changes, pitman shaft can be caused to slide a new balance position point along arc chute, that is: change the length of crank, thus reach and change rocking arm and to flutter the object of amplitude.With reference to figure 8, be the motion schematic diagram of mechanism when crank length is r, now the amplitude of fluttering of rocking arm is.
Realize automatically adjusting rocking arm according to the size of external load thus to flutter the effect of amplitude;
Step 4, when motor 2 stops operating, left rocking arm 13 and the load force upwards suffered by right rocking arm 14 sharply reduce, but still less load can be there is, therefore, pitman shaft 6-3 can in the restoring force effect lower slider of amplitude modulation torsion spring 6-2 to close to secondary driven gear 6 axle center O point position, now, according to double leval jib principle, left rocking arm 13 and right rocking arm 14 are positioned at position, upper middle and stop fluttering, and then achieve the gliding flight of flapping wing aircraft; With reference to figure 9, be the motion schematic diagram of the mechanism under gliding flight state.And when restarting motor 2, flapping wing aircraft can enter from gliding flight state state of flight of fluttering immediately, thus achieve the state of fluttering of flapping wing aircraft and the mutual conversion of glide state.
As can be seen here, the passive luffing flapping mechanism that provides of the utility model and the method for fluttering have the following advantages:
(1) the utility model adopts double leval jib principle that the cycle rotation of motor is converted into back and forth fluttering of rocking arm, and by changing the position of pitman shaft, the crank length namely in four-bar linkage, can change the amplitude of fluttering of rocking arm more efficiently;
(2) the utility model adopts the spacing mode of torsion spring to realize the autonomous luffing function of mechanism, that is: under heavy load, automatically can increase the amplitude of fluttering, under little load, automatically can reduce the amplitude of fluttering, without the need to pro-active intervention, thus improve the airworthiness of flapping wing aircraft;
(3) the utility model is by the control to motor stalling or startup, when motor shuts down; the load of rocking arm sharply reduces; pitman shaft slides to the rotating shaft position close to secondary driven gear assembly automatically; now rocking arm is positioned at position, upper middle, and then realize flapping wing aircraft from the state of fluttering to the conversion of glide state; And after motor changes starting state into from halted state, pitman shaft slides into the eccentric position of secondary driven gear assembly automatically from the rotating shaft position close to secondary driven gear assembly, realize flapping wing aircraft from glide state to the conversion of the state of fluttering;
(4) the utility model only needs to carry out very little change to traditional flapping mechanism, has that structure is simple, reliability is high, and does not increase the advantage of extra weight and volume, thus improves the airworthiness of flapping wing aircraft comprehensively.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (4)
1. a passive luffing flapping mechanism, is characterized in that, comprising: frame (1), motor (2), train of reduction gears and bar group of fluttering;
Wherein, described train of reduction gears is the parallel retarder of two-stage, comprising: one-level driving gear (3), one-level driven gear (4), secondary driving gear (5) and secondary driven gear (6);
The pedestal of described motor (2) is fixedly installed to described frame (1), and the output shaft of described motor (2) fixedly mounts described one-level driving gear (3); Described one-level driving gear (3) is engaged with described one-level driven gear (4), described one-level driven gear (4) is linked by transmission shaft and described secondary driving gear (5), and described secondary driving gear (5) is engaged with described secondary driven gear (6); Described motor (2) is by meshed transmission gear relation, and the described secondary driven gear (6) of final drive is rotated;
In addition, described secondary driven gear (6) is configured with rotary gear axis, and this rotary gear axis is horizontally disposed with;
In described secondary driven gear (6) side, excavation forms protecting cover groove (6-4), torsional spring slot (6-5) and arc chute (6-6); And in groove, be respectively fitted with gear protecting cover (6-1), amplitude modulation torsion spring (6-2) and pitman shaft (6-3);
Described protecting cover groove (6-4) is groove, for gear protecting cover (6-1) described in setting-in; Inwardly dig further at the bottom land of described protecting cover groove (6-4) and form described torsional spring slot (6-5), described torsional spring slot (6-5) has torsion spring and installs fulcrum (6-5-1), described torsional spring slot (6-5) has arc outer, and one end of this arc outer is in described secondary driven gear (6) shaft core position; Continue in this position, arc outer inwardly to dig to form described arc chute (6-6), that is: described arc chute (6-6) overlaps with described arc outer, one end of described arc chute (6-6) is in described secondary driven gear (6) shaft core position equally, and the other end is eccentric position;
Described pitman shaft (6-3) comprises arc shaped slider (6-3A) and axle body (6-3B), described arc shaped slider (6-3A) is suitable with described arc chute (6-6), can be free to slide along described arc chute (6-6), one end of described axle body (6-3B) is placed in the outside face of described arc chute (6-6), and vertical with the outside face of described arc chute (6-6);
Described amplitude modulation torsion spring (6-2) comprises spring body and the first spring arm of extending to two ends from described spring body and the second spring arm; Described spring body is fixed to described torsion spring and installs fulcrum (6-5-1), described first spring arm is retainer spring arm, described second spring arm is spacing spring arm, it contacts with described axle body (6-3B), for providing towards the power in secondary driven gear (6) axle center to described pitman shaft (6-3);
Described gear protecting cover (6-1) is fixed to the side of described secondary driven gear (6) by described protecting cover groove (6-4), and, described gear protecting cover (6-1) offers protecting cover chute (6-1-1), when described gear protecting cover (6-1) is fixed to the side of described secondary driven gear (6), described protecting cover chute (6-1-1) overlaps completely with described arc chute (6-6), and, the axle body (6-3B) of described pitman shaft (6-3) reaches the outside of described gear protecting cover (6-1) through described protecting cover chute (6-1-1),
Described bar group of fluttering comprises: left connecting rod (7-1), right connecting rod (7-2), left rocker shaft (11), right rocker shaft (12), left rocking arm (13) and right rocking arm (14);
The tail end of described left connecting rod (7-1) and the tail end of described right connecting rod (7-2) all hinged with described pitman shaft (6-3); The top of described left connecting rod (7-1) and the right-hand member of described left rocking arm (13) hinged; In addition, described left rocker shaft (11) and described frame (1) are connected, and it is hinged that described left rocking arm (13) realizes with described frame (1) by described left rocker shaft (11);
The top of described right connecting rod (7-2) and the left end of described right rocking arm (14) hinged; In addition, described right rocker shaft (12) and described frame (1) are connected, and it is hinged that described right rocking arm (14) realizes with described frame (1) by described right rocker shaft (12).
2. passive luffing flapping mechanism according to claim 1, is characterized in that, described frame (1) is bilateral symmetry, with towards heading for front;
Described motor (2) is fixedly installed in longitudinal center's line position at described frame (1) back side, and described one-level driving gear (3) is fixedly installed in the output shaft of described motor (2); Immediately below described one-level driving gear (3), described one-level driven gear (4) is set;
Described secondary driving gear (5) and described secondary driven gear (6) are arranged at described frame (1) front, further, described secondary driving gear (5) and described one-level driven gear (4) equal altitudes and be symmetrical arranged relative to described frame (1).
3. passive luffing flapping mechanism according to claim 1, is characterized in that, described torsional spring slot (6-5) is fan groove; Described torsion spring installs the home position that fulcrum (6-5-1) is described fan groove.
4. passive luffing flapping mechanism according to claim 1, is characterized in that, also offers the 1st assembly opening (6-1-2) and the 2nd assembly opening (6-1-3) described gear protecting cover (6-1); After described gear protecting cover (6-1) is embedded into described protecting cover groove (6-4), be fastened to described 1st assembly opening (6-1-2) by the 1st fastener, the 2nd fastener is fastened to described 2nd assembly opening (6-1-3), and then described gear protecting cover (6-1) is fixed to described secondary driven gear (6) side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520945002.8U CN205131663U (en) | 2015-11-24 | 2015-11-24 | Passive width of cloth mechanism of fluttering that becomes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520945002.8U CN205131663U (en) | 2015-11-24 | 2015-11-24 | Passive width of cloth mechanism of fluttering that becomes |
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| CN205131663U true CN205131663U (en) | 2016-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520945002.8U Withdrawn - After Issue CN205131663U (en) | 2015-11-24 | 2015-11-24 | Passive width of cloth mechanism of fluttering that becomes |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416582A (en) * | 2015-11-24 | 2016-03-23 | 西北工业大学 | Passive amplitude changing flapping mechanism and flapping method |
| CN106628170A (en) * | 2016-11-24 | 2017-05-10 | 北京理工大学 | Non-phase-difference wing flapping mechanism based on planet wheel transmission |
| CN106864749A (en) * | 2017-02-27 | 2017-06-20 | 北京航空航天大学 | A kind of variable deceleration than miniature rotor aircraft of flapping |
| CN109760835A (en) * | 2018-11-23 | 2019-05-17 | 西北工业大学太仓长三角研究院 | A kind of flapping wing aircraft driving mechanism for flapping wing for science and education demonstration |
| CN113844651A (en) * | 2021-11-05 | 2021-12-28 | 中国科学院合肥物质科学研究院 | Elastic flapping mechanism, bionic mechanical dragonfly aircraft with elastic flapping mechanism and control method of aircraft |
| CN115625849A (en) * | 2022-11-01 | 2023-01-20 | 安徽蓝通科技股份有限公司 | Injection molding equipment is used in processing of PVC water pipe |
-
2015
- 2015-11-24 CN CN201520945002.8U patent/CN205131663U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416582A (en) * | 2015-11-24 | 2016-03-23 | 西北工业大学 | Passive amplitude changing flapping mechanism and flapping method |
| CN106628170A (en) * | 2016-11-24 | 2017-05-10 | 北京理工大学 | Non-phase-difference wing flapping mechanism based on planet wheel transmission |
| CN106864749A (en) * | 2017-02-27 | 2017-06-20 | 北京航空航天大学 | A kind of variable deceleration than miniature rotor aircraft of flapping |
| CN106864749B (en) * | 2017-02-27 | 2019-04-26 | 北京航空航天大学 | A kind of miniature rotor aircraft of flapping of variable deceleration ratio |
| CN109760835A (en) * | 2018-11-23 | 2019-05-17 | 西北工业大学太仓长三角研究院 | A kind of flapping wing aircraft driving mechanism for flapping wing for science and education demonstration |
| CN113844651A (en) * | 2021-11-05 | 2021-12-28 | 中国科学院合肥物质科学研究院 | Elastic flapping mechanism, bionic mechanical dragonfly aircraft with elastic flapping mechanism and control method of aircraft |
| CN113844651B (en) * | 2021-11-05 | 2023-12-12 | 中国科学院合肥物质科学研究院 | Elastic flapping mechanism, bionic mechanical dragonfly aircraft with elastic flapping mechanism and control method of aircraft |
| CN115625849A (en) * | 2022-11-01 | 2023-01-20 | 安徽蓝通科技股份有限公司 | Injection molding equipment is used in processing of PVC water pipe |
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