CN206476111U - Imitative dragonfly dipteron micro flapping wing air vehicle - Google Patents
Imitative dragonfly dipteron micro flapping wing air vehicle Download PDFInfo
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- CN206476111U CN206476111U CN201621396731.3U CN201621396731U CN206476111U CN 206476111 U CN206476111 U CN 206476111U CN 201621396731 U CN201621396731 U CN 201621396731U CN 206476111 U CN206476111 U CN 206476111U
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Abstract
The utility model discloses a kind of imitative dragonfly dipteron micro flapping wing air vehicle, including frame, the wing of fluttering, gear train, connecting rod, brushless electric machine and servomotor etc., before the wing of fluttering there is the one degree of freedom fluttered around axle, after the wing of fluttering have and fluttered around axle and two frees degree of front and rear upset；Micro flapping wing air vehicle described in the utility model is compared to existing fixed wing aircraft, and efficiency of energy utilization is high, is adapted to low reynolds number flow field, based on bionic design, and the different occasions such as mars exploration, military surveillance are can be widely used in the future.
Description
Technical field
The utility model patent belongs to aerospace field, is related to a kind of imitative dragonfly dipteron micro flapping wing air vehicle.
Background technology
Micro flapping wing air vehicle is a kind of new concept aircraft for imitating birds or insect flying, with fixed-wing and rotor phase
Than flapping wing aircraft will rise, hovering and propulsion combine in a system of fluttering, it is only necessary to which less energy loss can complete length
Distance flight, flapping wing wing fluttering under high frequency state and torsion make it obtain impayable mobility.
The build ratio conventional airplane of insect and birds is much smaller, and the aerodynamic force absolute value of generation is very small, and frequency of fluttering
Height, so flow field presentation yardstick is small around it, the characteristics of changing fast.Existing dipteron flapping wing aircraft is mainly used in a pair of research
The single-degree-of-freedom of wing flutter in aerodynamic characteristic, it is impossible to the design of the wing flapping-wing modal of the side of being applied to dragonfly four and grind
Hair.
The content of the invention
The purpose of the utility model patent is to fly in view of the shortcomings of the prior art there is provided a kind of imitative dragonfly dipteron mini-sized flap wings
Row device.
The purpose of the utility model patent is achieved through the following technical solutions：A kind of imitative dragonfly dipteron mini-sized flap wings fly
Row device, including frame, the wing of fluttering before two, the wing of fluttering after two, driving gear, shaft gear, four poles, connect before two
Bar, two preceding rotary shafts, rotary shaft after two, two rear connecting rods, one-level driven gear, two two grades of driven gears, two
Three-level driven gear, two preceding ball head connecting rods, ball head connecting rod, two steering wheel connecting rods, DC brushless motor, two servos after two
Motor；DC brushless motor and two servomotors are fixedly mounted in frame.
Driving gear is arranged on the inside of frame, is connected with DC brushless motor output shaft.One-level driven gear and driving tooth
Wheel engagement.The gear ratio of one-level driven gear and driving gear is 55：27.Shaft gear central shaft and one-level driven gear central shaft
It is connected, both are rotated with same angular velocity.The gear ratio of shaft gear and one-level driven gear is 8：55；Two two grades of driven gears
Frame both sides are symmetrically mounted on, are engaged with shaft gear；Three-level driven gear is symmetrically mounted on frame both sides, driven with two grades respectively
Gear is engaged, and three-level driven gear and two grades of driven gear gear ratios are 1:1, the gear ratio of two grades of driven gears and shaft gear is
66:8。
The company on connector, two two grades of driven gears is respectively and fixedly provided with two grades of driven gears and three-level driven gear
Fitting is arranged symmetrically, and the connector on two three-level driven gears is arranged symmetrically；The two grades of driven gears and three-level of homonymy are driven
Connector on gear has 180 ° of phase difference；
It is vertically fixed on successively in frame before and after four poles, two poles that preceding rotary shaft passes through bearing and frame front
It is connected, rear rotary shaft is connected by bearing with two poles at frame rear portion；Described preceding ball head connecting rod one end and three-level driven tooth
Connector on wheel is connected, and the other end is connected with one end of front rod, and the other end of front rod is and preceding through preceding rotary shaft
The wing of fluttering is connected；Ball head connecting rod one end is connected with the connector on two grades of driven gears afterwards, one end of the other end and rear connecting rod
It is connected, the other end of rear connecting rod is connected with rear rotary shaft；After flutter the wing in the rear rotary shaft.One, steering wheel connecting rod is with watching
Take motor to be connected, the other end wing of fluttering with after is connected.
Further, the micro flapping wing air vehicle also includes receiver of remote-control sytem, electron speed regulator, lithium battery.Electronics is adjusted
Fast device is connected with battery, receiver of remote-control sytem, DC brushless motor and stepper motor.
The beneficial effect of the utility model patent is：Micro flapping wing air vehicle is compared to existing fixed wing aircraft, the energy
Utilization ratio is high, is adapted to low reynolds number flow field, based on bionic design, mars exploration is can be widely used for after succeeding in developing, low
The different occasions such as the high maneuvering flight of speed.
Brief description of the drawings
Fig. 1 is the overall structure diagram of micro flapping wing air vehicle；
Fig. 2 is the drive mechanism schematic diagram of fluttering of micro flapping wing air vehicle；
The wing of being fluttered after Fig. 3 micro flapping wing air vehicles overturns schematic diagram；
Fig. 4 is the scheme of installation (top view) of pole and rotary shaft.
Figure include frame 101, the preceding wing 102 of fluttering, after flutter the wing 103, pole 104, shaft gear 105, three-level driven tooth
Wheel 106, two grades of driven gears 107, preceding ball head connecting rod 108, rear ball head connecting rod 109, steering wheel connecting rod 110, preceding rotary shaft 111, steps
Stepper motor 112, rear rotary shaft 113.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of imitative dragonfly dipteron micro flapping wing air vehicle, including frame 101, the wing 102, two of fluttering before two
Fluttered after individual the wing 103, driving gear, shaft gear 105, four poles 104, two front rods, two preceding rotary shafts 111, two
Individual rear rotary shaft 113, two rear connecting rods, one-level driven gear, two two grades of driven gears 107, two three-level driven gears
106th, two preceding ball head connecting rods 108, ball head connecting rod 109, two steering wheel connecting rods 110, DC brushless motor, two steppings after two
Motor 112；DC brushless motor and two stepper motors 112 are fixedly mounted in frame 101.Wherein, DC brushless motor
Used from AXI2203 serial motors and be fixedly mounted on the position of centre of gravity of frame 101；Two stepper motors 112 are symmetrically mounted on machine
The both sides of the back boom of frame 101.
Driving gear is arranged on the inner side of frame 101, is connected with DC brushless motor output shaft.One-level driven gear and active
Gear is engaged.The gear ratio of one-level driven gear and driving gear is 55：27.The central shaft of shaft gear 105 and one-level driven gear
Central shaft is connected, and both are rotated with same angular velocity.The gear ratio of shaft gear 105 and one-level driven gear is 8：55；Two two
Level driven gear 107 is symmetrically mounted on the both sides of frame 101, is engaged with shaft gear 105；Three-level driven gear 106 is symmetrically mounted on
The both sides of frame 101, are engaged with two grades of driven gears 107 respectively, three-level driven gear 106 and two grades of gear ratios of driven gear 107
For 1:1, the gear ratio of two grades of driven gears 107 and shaft gear 105 is 66:8.
Gear parameter see the table below.
| Driving gear | One-level driven gear | Shaft gear | Two grades/three-level driven gear | |
| Modulus (mm) | 0.4 | 0.4 | 0.4 | 0.4 |
| The number of teeth | 27 | 55 | 8 | 66 |
Connector, two two grades of driven gears are respectively and fixedly provided with two grades of driven gears 107 and three-level driven gear 106
Connector on 107 is arranged symmetrically, and the connector on two three-level driven gears 106 is arranged symmetrically；Two grades of driven tooths of homonymy
Connector on wheel 107 and three-level driven gear 106 has 180 ° of phase difference；
As shown in figure 4, being vertically fixed on successively in frame 101 before and after four poles 104, preceding rotary shaft 111 passes through bearing
Two poles 104 anterior with frame 101 are connected, and two preceding rotary shafts 111 are separately mounted to frame both sides；Rotary shaft 113 afterwards
It is connected by bearing with two poles 104 at the rear portion of frame 101, rotary shaft 113 is separately mounted to the two of frame 101 after two
Side；Described one end of preceding ball head connecting rod 108 is connected with the connector on three-level driven gear 106, and the one of the other end and front rod
End is connected, and the other end of front rod passes through preceding rotary shaft 111, and the wing 102 is connected with preceding fluttering so that before flutter the wing 102 around
Preceding rotary shaft 111 in frame 101 is rotated, and produces effect of fluttering.The one end of ball head connecting rod 109 and two grades of driven gears afterwards
Connector on 107 is connected, and the other end is connected with one end of rear connecting rod, the other end of rear connecting rod and the rear phase of rotary shaft 113
Even；After ball head connecting rod 109 is driven by rear connecting rod afterwards rotary shaft 113 along its axis rotate, after flutter the wing 103 be arranged on after turn
On moving axis 113 so that after the wing 103 of fluttering rotated around the rear rotary shaft 113 in frame 101, generation is fluttered effect.
DC brushless motor drives one-level driven gear by driving gear, and one-level driven gear is connected with shaft gear 105,
Both are rotated with same angular velocity；Shaft gear 105 drives two grades of driven gears 107 to rotate, and is further driven to three-level driven gear
106 rotate；So as to drive ball rod (108/109) to move by the connector being fixed on driven gear (107/106), bulb
Connecting rod (108/109) drives the end of connecting rod to move up and down, so that the front and rear wing of fluttering (102/103) is around installed in frame
Axle (preceding rotary shaft 111 and rear rotary shaft 113) on 101 is rotated, and produces effect of fluttering.Due to two two grades of driven gears 107
Gearratio be 1:1, it is possible to which the wing (102/103) same frequency of being fluttered before and after ensureing is fluttered, and frequency is two grades of driven gears
Rotating speed.The phase difference of the front and rear wing of fluttering is 180 degree, it is ensured that the aerodynamic force in motion process.
110 1, steering wheel connecting rod is connected with stepper motor 112, and the other end wing 103 of being fluttered with after is connected.Work as stepper motor
During 112 rotation, the wing 103 of being fluttered after the drive of steering wheel connecting rod 110 is rotated along its axis.Therefore, the preceding wing of fluttering (102) is only flutterred around axle
Dynamic one degree of freedom, after flutter the wing (103) have around axle flutter and it is front and rear upset two frees degree.Inputted in different signals
Under, the wing of being fluttered behind the left and right sides can be rotated according to identical or opposite direction, adjust pitching and the roll angle of flight.
Claims (2)
1. a kind of imitative dragonfly dipteron micro flapping wing air vehicle, it is characterised in that including frame（101）, the wing of fluttering before two
（102）, the wing of fluttering after two（103）, driving gear, shaft gear（105）, four poles（104）, two front rods, two
Preceding rotary shaft（111）, rotary shaft after two（113）, two rear connecting rod, one-level driven gear, two two grades of driven gears
（107）, two three-level driven gears（106）, two preceding ball head connecting rods（108）, ball head connecting rod after two（109）, two steering wheels
Connecting rod（110）, DC brushless motor, two servomotors（112）；DC brushless motor and two servomotors（112）It is solid
Dingan County is mounted in frame（101）On；
Driving gear is arranged on frame（101）Inner side, is connected with DC brushless motor output shaft；One-level driven gear and driving tooth
Wheel engagement；The gear ratio of one-level driven gear and driving gear is 55：27；Shaft gear（105）Central shaft and one-level driven gear
Central shaft is connected, and both are rotated with same angular velocity；Shaft gear（105）Gear ratio with one-level driven gear is 8：55；Two
Two grades of driven gears（107）It is symmetrically mounted on frame（101）Both sides, with shaft gear（105）Engagement；Three-level driven gear（106）
It is symmetrically mounted on frame（101）Both sides, respectively with two grades of driven gears（107）Engagement, three-level driven gear（106）With two grades from
Moving gear（107）Gear ratio is 1:1, two grades of driven gears（107）With shaft gear（105）Gear ratio be 66:8；
Two grades of driven gears（107）With three-level driven gear（106）On be respectively and fixedly provided with connector, two two grades of driven tooths
Wheel（107）On connector be arranged symmetrically, two three-level driven gears（106）On connector be arranged symmetrically；Two grades of homonymy
Driven gear（107）With three-level driven gear（106）On connector there is 180 ° of phase difference；
Four poles（104）It is front and rear to be vertically fixed on frame successively（101）On, preceding rotary shaft（111）Pass through bearing and frame
（101）Two anterior poles（104）It is connected, rear rotary shaft（113）Pass through bearing and frame（101）Two poles at rear portion
（104）It is connected；The preceding ball head connecting rod（108）One end and three-level driven gear（106）On connector be connected, the other end with before
One end of connecting rod is connected, and the other end of front rod passes through preceding rotary shaft（111）, with the wing of preceding fluttering（102）It is connected；Bulb afterwards
Connecting rod（109）One end and two grades of driven gears（107）On connector be connected, the other end is connected with one end of rear connecting rod, after
The other end of connecting rod and rear rotary shaft（113）It is connected；After flutter the wing（103）Installed in rear rotary shaft（113）On；Steering wheel connecting rod
（110）One and servomotor（112）It is connected, other end is fluttered the wing with after（103）It is connected.
2. a kind of imitative dragonfly dipteron micro flapping wing air vehicle according to claim 1, it is characterised in that the mini-sized flap wings
Aircraft also includes receiver of remote-control sytem, electron speed regulator, lithium battery；Electron speed regulator and battery, receiver of remote-control sytem, brush DC
Motor is connected with servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621396731.3U CN206476111U (en) | 2016-12-19 | 2016-12-19 | Imitative dragonfly dipteron micro flapping wing air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621396731.3U CN206476111U (en) | 2016-12-19 | 2016-12-19 | Imitative dragonfly dipteron micro flapping wing air vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206476111U true CN206476111U (en) | 2017-09-08 |
Family
ID=59749860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621396731.3U Expired - Fee Related CN206476111U (en) | 2016-12-19 | 2016-12-19 | Imitative dragonfly dipteron micro flapping wing air vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206476111U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585981A (en) * | 2016-12-19 | 2017-04-26 | 浙江大学 | Miniature dragonfly-like double-flapping-wing aircraft |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
| CN109533331A (en) * | 2018-11-09 | 2019-03-29 | 中国直升机设计研究所 | Miniature drone |
| CN111232198A (en) * | 2020-01-16 | 2020-06-05 | 中国民航大学 | Dragonfly-like flapping wing aircraft |
| CN112078791A (en) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
-
2016
- 2016-12-19 CN CN201621396731.3U patent/CN206476111U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585981A (en) * | 2016-12-19 | 2017-04-26 | 浙江大学 | Miniature dragonfly-like double-flapping-wing aircraft |
| CN106585981B (en) * | 2016-12-19 | 2023-05-02 | 浙江大学 | Dragonfly-imitating double-wing miniature flapping-wing aircraft |
| CN107472529A (en) * | 2017-09-12 | 2017-12-15 | 南通大学 | A kind of flapping wing aircraft of interior wing twisting |
| CN107472529B (en) * | 2017-09-12 | 2020-06-12 | 南通大学 | Flapping wing aircraft with twisted inner wings |
| CN109533331A (en) * | 2018-11-09 | 2019-03-29 | 中国直升机设计研究所 | Miniature drone |
| CN111232198A (en) * | 2020-01-16 | 2020-06-05 | 中国民航大学 | Dragonfly-like flapping wing aircraft |
| CN112078791A (en) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170908 Termination date: 20211219 |