CN205707350U - A kind of miniature cross flapping wing aircraft - Google Patents
A kind of miniature cross flapping wing aircraft Download PDFInfo
- Publication number
- CN205707350U CN205707350U CN201620351495.7U CN201620351495U CN205707350U CN 205707350 U CN205707350 U CN 205707350U CN 201620351495 U CN201620351495 U CN 201620351495U CN 205707350 U CN205707350 U CN 205707350U
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- drive mechanism
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- flapping wing
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Abstract
The utility model discloses a kind of miniature cross flapping wing aircraft, including frame (1), spatial linkage, drive mechanism (19), central gearing box (21), control system etc., described frame (1) includes cruciform skeleton, the end of cruciform skeleton is provided with column, column top is connected with the top of spatial linkage, and spatial linkage is provided with wing (20)；Cruciform skeleton is provided above drive mechanism (19), reducing gear, central gearing box (21) and control system.This utility model have employed the flapping wing structure that novel cruciform symmetry is arranged, this structure can strengthen the stability of flight and control flight attitude flexibly.Realize the flying method of pitching roll hovering, and wing tip track is " O " type, can simulate the flight attitude of birds well, and have quickreturn characteristics.
Description
Technical field
This utility model relates to a kind of flapping wing aircraft, especially relates to a kind of miniature cross flapping wing aircraft.
Background technology
Micro flapping wing air vehicle has the features such as little, lightweight, the compact conformation of volume, and it either investigates field in military affairs
Or the fields such as the civilian disaster relief, mapping, it has the most wide application prospect.
Flapping wing aircraft is relative to fixed-wing or rotary-wing aircraft, under low reynolds number, it is possible to it is non-fixed to make full use of
Often aerodynamic characteristics obtains higher lift.The flapping wing aircraft of single-degree-of-freedom, its flapping wing mechanism only has single pair of wing, has
The shortcoming that lift is less, heading is single.Multiple degrees of freedom flapping motion compares single-degree-of-freedom flapping motion can more preferable topotype
Intend biology flight, it is achieved the flying methods such as pitching roll.But existing multiple degrees of freedom flapping wing aircraft structure is complicated, drives former
Part is many, and control system is complicated, it is difficult to realize miniaturization.
Its structure of micro flapping wing air vehicle and insecticide and small birds relatively, insecticide and small birds on bionics
Wing motion have: flutter up and down, along move before and after heading (wing tip track is O type, 8 fonts, double 8 fonts etc.), edge
The twist motion in wing root direction and flap motion etc..Existing micro flapping wing air vehicle is not reasonable, mostly due to design
Single fluttering up and down can only be carried out, it is impossible to simulate Bird Flight well.
Summary of the invention
The purpose of this utility model is to provide a kind of miniature cross flapping wing aircraft, flies improving existing single-degree-of-freedom flapping wing
Row device lift is little, heading is single；Multiple degrees of freedom flapping wing aircraft structure and control system are complicated, drive that original paper is many, be difficult to
Realize miniaturization；The design of existing micro flapping wing air vehicle is not reasonable, and forms of motion is simple, it is impossible to wait simulation birds well
The technical problems such as flight.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is: a kind of miniature cross flapping flight
Device, including frame (1), spatial linkage, drive mechanism (19), central gearing box (21), control system, described frame (1)
Including cross skeleton, the end symmetrical of cross skeleton is provided with the top of four columns, column top and spatial linkage
End connects, and spatial linkage is provided with wing (20)；It is provided with perpendicular length in first branch of cross skeleton
Support (2), the 3rd branch of cross skeleton is provided with perpendicular short support (3), the second branch of cross skeleton,
Being provided with perpendicular drive mechanism support (4) in 4th branch, drive mechanism support (4) top is provided with drive mechanism
Mounting seat (5), drive mechanism mounting seat (5) is provided with drive mechanism (19) and control system；
It is provided with spring bearing (13), long stent on described long stent (2), short support (3), drive mechanism support (4)
(2), short support (3), the inner side of drive mechanism support (4) are provided with central gearing box (21)；Each spring bearing (13) is positioned at same
One height, and the end face of adjacent spring bearing (13) is orthogonal, has placed rotating shaft (12), rotating shaft in spring bearing (13)
(12) the inner is connected with central gearing box (21), and the outer end of rotating shaft (12) is connected with the bottom of spatial linkage；Described length
Support (2) top is also equipped with spring bearing (13)；
It is provided with reducing gear between rotating shaft (12) on the output shaft of described drive mechanism (19) and long stent (2).
As preferably, described spatial linkage, secondary (6) including ball, secondary (6) one end of ball is provided with ball pair and fixes axle (7),
Ball pair is fixed axle (7) and is connected with column top, and secondary (6) other end of ball is hinged with the top of pull bar (9), the bottom of pull bar (9) and
The top of rocking bar (10) is hinged, and the bottom of rocking bar (10) is connected with crank (11), the other end of crank (11) and rotating shaft (12)
Outer end connects, and the revolute pair space of rocking bar (10) top and bottom is mutually perpendicular to.
As preferably, described reducing gear, including the connecting shaft through long stent (2) top braces bearing (13), even
Spindle side is provided with primary speed-down gear wheel (17), and connecting shaft opposite side is provided with the little gear of primary speed-down (16), and one-level subtracts
Mainshaft gear (18) engagement on the output shaft of speed gear wheel (17) drive mechanism (19), the little gear of primary speed-down (16) and two grades
Reduction gearing (15) engages, and double-reduction gear (15) is set in the rotating shaft (12) on long stent (2).
As preferably, in described central gearing box (21), it is provided with four intermeshing bevel gears (14), bevel gear
(14) it is connected with the inner of rotating shaft (12).
As preferably, described drive mechanism (19) is outer rotor brushless motor.
As preferably, the ball of described spatial linkage is provided with ball secondary case cylinder (8) on secondary (6), and ball secondary case cylinder (8) is upper solid
Surely there is wing (20).
This utility model have employed the flapping wing structure that the cruciform symmetry of uniqueness is arranged, this structure can strengthen the stability of flight
Preferably control flight attitude.Realize the flying methods such as pitching roll, and wing tip track is O type, can simulate birds well
Flight attitude, and there is quickreturn characteristics.Drive mechanism drive shaft rotates, and axis of rotation drives crank to rotate, returning of crank
Turning and move through rocking bar and be transformed into reciprocating motion, rocking bar drives pull bar and ball secondary case cylinder to rotate around ball pair, it is possible to the most real
Existing wing upper and lower, front and back and twist motion.This miniature cross flapping wing aircraft improve existing flapping wing aircraft structure complicated,
Function is simple, the deficiency of simulation weak effect, has good practicality and promotional value.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiments more of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of frame, reducing gear, drive mechanism, spatial linkage；
Fig. 3 is the structural representation of spatial linkage and reducing gear；
Fig. 4 is the structural representation of spatial linkage, reducing gear and central gearing box.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Fig. 1 is structural representation of the present utility model, and Fig. 2 is frame, reducing gear, drive mechanism, spatial linkage
Structural representation, Fig. 3 is the structural representation of spatial linkage and reducing gear, and Fig. 4 is spatial linkage, reductor
Structure and the structural representation of central gearing box.
As seen from the figure, this miniature cross flapping wing aircraft, including frame (1), spatial linkage, drive mechanism (19),
Central gearing box (21), control system etc..Its frame (1) includes that cross skeleton, the end symmetrical of cross skeleton are provided with
Four columns, column top is connected with the top C-shaped supporting frame of spatial linkage, spatial linkage is provided with wing
(20)；It is provided with perpendicular long stent (2) in first branch of cross skeleton, the 3rd branch of cross skeleton sets
It is equipped with perpendicular short support (3), the second branch of cross skeleton, the 4th branch are provided with perpendicular driving
Mechanism rack (4), drive mechanism support (4) top is provided with drive mechanism mounting seat (5), and drive mechanism mounting seat sets on (5)
It is equipped with drive mechanism (19) and control system；Set between rotating shaft (12) on the output shaft of drive mechanism (19) and long stent (2)
It is equipped with reducing gear.Drive mechanism (19) in the present embodiment uses outer rotor brushless motor.
Long stent (2), short support (3), drive mechanism support (4) are provided with spring bearing (13), long stent
(2), short support (3), the inner side of drive mechanism support (4) be provided with central gearing box (21), arrange in central gearing box (21)
There are four intermeshing bevel gears (14).Each spring bearing (13) is positioned at sustained height, and adjacent spring bearing (13)
End face is orthogonal, has placed in rotating shaft (12), the inner of rotating shaft (12) and central gearing box (21) in spring bearing (13)
Bevel gear (14) connects, and the outer end of rotating shaft (12) is connected with the bottom of spatial linkage；Described long stent (2) top is also provided with
There is spring bearing (13).
Above-mentioned spatial linkage, secondary (6) including ball, secondary (6) one end of ball is provided with ball pair and fixes axle (7), and ball pair is fixed
Axle (7) is connected with column top, and secondary (6) other end of ball is hinged with the top of pull bar (9), the bottom of pull bar (9) and rocking bar (10)
Top hinged, the bottom of rocking bar (10) is connected with crank (11), and the other end of crank (11) is connected with the outer end of rotating shaft (12),
The revolute pair space of rocking bar (10) top and bottom is mutually perpendicular to.The ball of spatial linkage is provided with ball secondary case cylinder on secondary (6)
(8), ball secondary case cylinder (8) is fixed with wing (20).
Above-mentioned reducing gear, including the connecting shaft through long stent (2) top braces bearing (13), connecting shaft side sets
Being equipped with primary speed-down gear wheel (17), connecting shaft opposite side is provided with the little gear of primary speed-down (16), primary speed-down gear wheel
(17) engagement of the mainshaft gear (18) on the output shaft of drive mechanism (19), the little gear of primary speed-down (16) and double-reduction gear
(15) engagement, double-reduction gear (15) is set in the rotating shaft (12) on long stent (2).
This aircraft uses the flapping wing structure that cruciform symmetry is arranged, this structure can strengthen stability and the preferably control of flight
Flight attitude processed.Realize the flying methods such as pitching roll, and wing tip track be O type, can simulate the flight attitude of birds well,
And there is quickreturn characteristics.Drive mechanism drive shaft rotates, and axis of rotation drives crank to rotate, and the gyration of crank is by shaking
Bar is transformed into reciprocating motion, and rocking bar drives pull bar and ball secondary case cylinder to rotate around ball pair, it is possible to realize simultaneously wing upper and lower,
Front and back and twist motion.
Finally it is pointed out that above detailed description of the invention is only the more representational example of this utility model.Obviously, originally
Utility model is not limited to above-mentioned detailed description of the invention, it is also possible to have many deformation.Every according to technical spirit of the present utility model
Any simple modification, equivalent variations and the modification being made above detailed description of the invention, is all considered as belonging to of the present utility model
Protection domain.
Claims (6)
1. a miniature cross flapping wing aircraft, including frame (1), spatial linkage, drive mechanism (19), central gearing box
(21), control system, it is characterized in that described frame (1) includes cruciform skeleton, the end symmetrical of cruciform skeleton is provided with four
Individual column, column top is connected with the top of spatial linkage, and spatial linkage is provided with wing (20)；Cross bone
It is provided with perpendicular long stent (2) in first branch of frame, the 3rd branch of cruciform skeleton is provided with perpendicular
Short support (3), the second branch of cruciform skeleton, the 4th branch are provided with perpendicular drive mechanism support (4),
Drive mechanism support (4) top is provided with drive mechanism mounting seat (5), and drive mechanism mounting seat is provided with drive mechanism on (5)
And control system (19)；
Spring bearing (13) it is provided with on described long stent (2), short support (3), drive mechanism support (4), long stent (2),
Short support (3), the inner side of drive mechanism support (4) are provided with central gearing box (21)；Each spring bearing (13) is positioned at same height
Degree, and the end face of adjacent spring bearing (13) is orthogonal, has placed rotating shaft (12) in spring bearing (13), rotating shaft (12)
The inner is connected with central gearing box (21), and the outer end of rotating shaft (12) is connected with the bottom of spatial linkage；Described long stent (2)
Top is also equipped with spring bearing (13)；
It is provided with reducing gear between rotating shaft (12) on the output shaft of described drive mechanism (19) and long stent (2).
Miniature cross flapping wing aircraft the most according to claim 1, is characterized in that described spatial linkage, secondary including ball
(6), secondary (6) one end of ball is provided with ball pair and fixes axle (7), and ball pair is fixed axle (7) and is connected with column top, secondary (6) other end of ball
Hinged with the top of pull bar (9), the bottom of pull bar (9) is hinged with the top of rocking bar (10), the bottom of rocking bar (10) and crank
(11) connecting, the other end of crank (11) is connected with the outer end of rotating shaft (12), rocking bar (10) top and the revolute pair space of bottom
It is mutually perpendicular to.
Miniature cross flapping wing aircraft the most according to claim 1, is characterized in that described reducing gear, including through length
The connecting shaft of support (2) top braces bearing (13), connecting shaft side is provided with primary speed-down gear wheel (17), connecting shaft another
Side is provided with the little gear of primary speed-down (16), the mainshaft gear on the output shaft of primary speed-down gear wheel (17) drive mechanism (19)
(18) engagement, the little gear of primary speed-down (16) engages with double-reduction gear (15), and double-reduction gear (15) is set in draws money on credit
In rotating shaft (12) on frame (2).
Miniature cross flapping wing aircraft the most according to claim 1, is arranged in it is characterized in that described central gearing box (21)
Four intermeshing bevel gears (14), bevel gear (14) are had to be connected with the inner of rotating shaft (12).
Miniature cross flapping wing aircraft the most according to claim 1, is characterized in that described drive mechanism (19) is outer rotor
Brushless electric machine.
Miniature cross flapping wing aircraft the most according to claim 2, is characterized in that the ball of described spatial linkage is secondary (6)
On ball secondary case cylinder (8) is installed, ball secondary case cylinder (8) is fixed with wing (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620351495.7U CN205707350U (en) | 2016-04-25 | 2016-04-25 | A kind of miniature cross flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620351495.7U CN205707350U (en) | 2016-04-25 | 2016-04-25 | A kind of miniature cross flapping wing aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205707350U true CN205707350U (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620351495.7U Expired - Fee Related CN205707350U (en) | 2016-04-25 | 2016-04-25 | A kind of miniature cross flapping wing aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205707350U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945833A (en) * | 2017-02-27 | 2017-07-14 | 北京航空航天大学 | A kind of microminiature multiple wing bionic flapping-wing flying vehicle |
| CN107745801A (en) * | 2017-10-18 | 2018-03-02 | 柳良红 | One kind, which is taken photo by plane, surveys and draws unmanned plane |
| CN107972863A (en) * | 2017-12-06 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of four axis flapping-wing aircrafts |
| CN110104176A (en) * | 2019-04-24 | 2019-08-09 | 北京航空航天大学 | It is a kind of for flutterring the driving mechanism of rotor craft |
| CN112124582A (en) * | 2020-09-18 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Four-flapping-wing aircraft and control method thereof |
| CN113184181A (en) * | 2021-05-14 | 2021-07-30 | 北京航空航天大学 | Simulated insect flapping wing experiment mechanism |
-
2016
- 2016-04-25 CN CN201620351495.7U patent/CN205707350U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945833A (en) * | 2017-02-27 | 2017-07-14 | 北京航空航天大学 | A kind of microminiature multiple wing bionic flapping-wing flying vehicle |
| CN106945833B (en) * | 2017-02-27 | 2019-10-22 | 北京航空航天大学 | A kind of microminiature multiple wing bionic flapping-wing flying vehicle |
| CN107745801A (en) * | 2017-10-18 | 2018-03-02 | 柳良红 | One kind, which is taken photo by plane, surveys and draws unmanned plane |
| CN107972863A (en) * | 2017-12-06 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of four axis flapping-wing aircrafts |
| CN110104176A (en) * | 2019-04-24 | 2019-08-09 | 北京航空航天大学 | It is a kind of for flutterring the driving mechanism of rotor craft |
| CN112124582A (en) * | 2020-09-18 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Four-flapping-wing aircraft and control method thereof |
| CN113184181A (en) * | 2021-05-14 | 2021-07-30 | 北京航空航天大学 | Simulated insect flapping wing experiment mechanism |
| CN113184181B (en) * | 2021-05-14 | 2023-03-21 | 北京航空航天大学 | Simulated insect flapping wing experiment mechanism |
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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: 20161123 Termination date: 20170425 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |