CN206871360U - A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency - Google Patents
A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency Download PDFInfo
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- CN206871360U CN206871360U CN201720431853.XU CN201720431853U CN206871360U CN 206871360 U CN206871360 U CN 206871360U CN 201720431853 U CN201720431853 U CN 201720431853U CN 206871360 U CN206871360 U CN 206871360U
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Abstract
A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency is the utility model is related to, belongs to minitype bionic vehicle technology field.Circuit integrated module and body frame are fixed on fuselage, and motor decelerating mechanism and ultra-thin deep groove ball bearing are fixed on body frame, and crank and rocker mechanism head and the tail both ends are separately fixed on screw propulsion mechanism and body frame, and empennage is fixed on fuselage；Screw propulsion mechanism is arranged on ultra-thin deep groove ball bearing, and twist mechanism is fixed on the execution end of crank and rocker mechanism, and flapping wing wing is fixed on twist mechanism, and elevating mechanism is fixed on afterbody.Advantage is：Overall aircraft is made up of three motors, adds the flexibility of aircraft, effectively increases the propulsive efficiency of flight, smaller by external environment influence, while adds the mobility of aircraft.
Description
Technical field
Minitype bionic vehicle technology field is the utility model is related to, more particularly, to a kind of more with high propulsive efficiency
Free degree flapping-wing modal.
Background technology
Bionic flapping-wing flying vehicle be imitate birds and insect flying, manufactured and designed based on bionics principle it is a kind of new winged
Row device.It has incomparable advantage and feature compared with fixed-wing and rotor craft：As original place or small place are taken off,
Fabulous mobility and certain hovering ability, flying for long time can be carried out with less energy.Research is found, when micro-
Type aircraft characteristic size is reduced to 15cm, and only flapping wing aircraft can guarantee that excellent flight performance, at the same have concurrently fixed-wing and
The advantages of rotor, this makes flapping wing aircraft have more advantage in terms of miniaturization.In addition, flapping wing aircraft possess it is certain bionical
Property, vision can be caused to ignore, reach stealthy effect.The target of research flapping-wing modal is to improve the stabilization of its own
Property and flexibility, as much as possible reduce micro flapping wing air vehicle size, to adapt to the purpose of multitask operation in future military.
With micro-electromechanical technology (MEMS) development, flapping wing aircraft be increasingly becoming people research focus, using the U.S. as
The head Massachusetts Institute of Technology, Harvard University, Georgia Institute of Technology, University of California Berkeley, TU Delft university,
The Fei Situo companies of Germany, Chiba, Japan university, NUS and domestic South Airways, western Beijing Polytechnical University, Beijing Institute of Aeronautics etc. exist
Pneumatic mechanism, flare maneuver path planning, energy efficiency utilize and drive mechanism efficiency aspect achieves certain achievement.Compared with
Meaning is represented to have：Hummingbird under advanced beforehand research office (DARPA) subsidy of U.S. national defense, it is big practical to be listed in the whole world 50 in 2011
It is one of new；The electronics fly of Harvard of the U.S. is successfully included in《SCIENCE》Journals and periodicals；The bionic intelligence bird of German Utility Model
(SmartBird), bionical dragonfly is also successfully put on display on Hannover Messe, it is considered to be the epoch of the industrial revolution 4.0
Under novel product；The high Korean pine in the country is to represent the imitative birds flapping wing aircraft of utility model also greatly to cause people extensive
Concern, promote the development of China's flapping wing aircraft.
Found by being retrieved to prior art literature：Patent US 20160159477, entitled Resonance Motor
(resonant electric-machine directly-driven flapping wing is miniature to fly Direct Drive Flapping Wing Micro Air Vehicle System
Row device system), acted with the flapping wing that two motors directly drive a pair of wings for driving source, the mechanism have transmission efficiency compared with
The features such as height, flexible driving；Patent CN 102887224A, entitled insect emulate flapping wing aircraft, and the aircraft can be carried out
Various motion path is fluttered, and flight maneuver is stronger.It is mostly to be flutterred merely under the one-dimensional space for existing flapping wing aircraft mechanism
It is dynamic, offline mode be present and more solidify, fly the problems such as unstable；The flapping mechanism designed under three dimensions, although flight
More flexibly, but it is difficult to the flight for imitating flapping wing biology completely, its propulsive efficiency of most mechanisms and flight flexibility can not get both,
Therefore need to carry out further exploratory development in terms of propulsive efficiency and flapping wing flexibility.The utility model designs main pin
Two aspects are designed to more than, in terms of propulsive efficiency, dexterously using the coupling of mechanism itself, inside gear drive
The shape of propeller blade is designed to, during mechanism driving, in the case of not extra increase power source, utilizes itself oar
The rotation of leaf produces thrust；In terms of flight flexibility, one group of tooth is added in the design basis of existing crank and rocker mechanism
Wheel, overall action of fluttering is set to be transformed to three dimensions by the one-dimensional space, with higher pneumatic efficiency；In summary,
The flight of the mechanism is flexible, and propulsive efficiency is higher, convenient to manufacture and design, and practicality is stronger.
The content of the invention
The utility model provides a kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency, flies for current flapping wing
Row device provides a kind of new thinking on propulsion plant and novel mechanism design, is also improved while increasing flight flexibility
Propulsive efficiency.
The utility model is achieved through the following technical solutions, and circuit integrated module and body frame are fixed on fuselage,
Motor decelerating mechanism and ultra-thin deep groove ball bearing are fixed on body frame, and crank and rocker mechanism head and the tail both ends are separately fixed at spiral
On propulsive mechanism and body frame, empennage is fixed on fuselage；Screw propulsion mechanism is arranged on ultra-thin deep groove ball bearing, twist machine
Structure is fixed on the execution end of crank and rocker mechanism, and flapping wing wing is fixed on twist mechanism, and elevating mechanism is fixed on fuselage tail
Portion；
The structure of the twist mechanism is：Organic frame fixed gear is bonded on body frame, frame fixed gear is engaged with pendulum
Moving gear, flapping wing wing is fixed with the axial direction of wobble gear, and flapping wing wing axle is connected to the end of crank and rocker mechanism, shaft shoulder gear
Circle is fixed on flapping wing wing, and crank and rocker mechanism end is around Minisize axial pin reciprocating rotation；
The structure of the elevating mechanism is：Linear drive apparatus is fixed on circuit integrated module, the both ends point of control-rod
Other axle is connected to elevator and linear drive apparatus, and the tail end axle of elevator is connected at the air port of afterbody；
The structure of the screw propulsion mechanism is：Forward two blades of propeller blade gear and reverse propeller blade gear
Structure is oppositely oriented.
The utility model has the advantage of：Overall aircraft is made up of three motors, and two of which direct current generator drives respectively
Dynamic left and right flapping wing, which provides, raises power, and the structure of left and right flapping wing is identical, and the composite move of flapping wing, increase can be achieved in each structure
The flexibility of aircraft；On the basis of extra power source is not increased, the inside of travelling gear is designed to propeller blade
Shape, not only preferably make use of the coupled characteristic of mechanism, and effectively increase the propulsive efficiency of flight；In addition fuselage interior is done
Into flow profile, air-flow can be smoothly exported, increases the stability of body；The afterbody of fuselage utilizes fuselage equipped with lifting rudder face
The internal distinguished and admirable lifting that can rapidly change flapping wing aircraft, it is smaller by external environment influence, while add the machine of aircraft
Dynamic property.
The utility model is using flapping wing aircraft drive mechanism and propulsion mode as main research, for flapping wing aircraft
Path of motion track in flight, according to bionics principle, a kind of coilable flutter designed and pushes away wing with height
Enter the flapping wing mechanism of efficiency, can make that flight efficiency is higher, and mobility is stronger by such utility model.Table is studied
Bright, flapping wing aircraft wing has higher pneumatic efficiency when torsion is fluttered than simple flutter up and down.The utility model is based on
The principle is designed, and a pair of gear mechanisms in mechanism, are being added based on crank and rocker mechanism, are realizing that twist motion is new
Type transmission mechanism；On this basis, the shape of propeller blade will be designed to inside gear drive, preferably make use of the coupling of mechanism
Conjunction property, produce bigger thrust.By both cooperations, the efficient flight of flapping wing aircraft is realized.
Brief description of the drawings
Fig. 1 is general structure axonometric drawing of the present utility model；
Fig. 2 is gear mechanism sketch of the present utility model；
Fig. 3 is propeller blade gear structure schematic diagram of the present utility model；
Fig. 4 is twist mechanism partial schematic diagram of the present utility model；
Fig. 5 is overall setup side view of the present utility model；
Fig. 6 is circuit integrated module schematic diagram of the present utility model front；
Fig. 7 is circuit integrated module schematic diagram reverse side of the present utility model；
In figure：1st, circuit integrated module, 101, lithium battery, 102, direct current generator interface, 103, motor drive module, 104,
Circuit fixed plate, 105, central processing module and wireless module, 106, three-axis gyroscope, 2, body frame, 3, screw propulsion mechanism,
301st, forward propeller blade gear, 302, reverse propeller blade gear, 4, ultra-thin deep groove ball bearing, 5, crank and rocker mechanism, 6,
Twist mechanism, 601, wobble gear, 602, frame fixed gear, 603, retaining ring for shaft shoulder, 604, miniature pivot pin, 7, flapping wing wing,
8th, motor decelerating mechanism, 801, left flapping wing motor, 802, input gear, 9, fuselage, 10, elevating mechanism, 1001, elevator,
1002nd, control-rod, 1003, linear drive apparatus, 11, empennage.
Embodiment
Circuit integrated module 1 and body frame 2 are fixed on fuselage 9, and motor decelerating mechanism 8 and ultra-thin deep groove ball bearing 4 are solid
Due on body frame 2, the head and the tail both ends of crank and rocker mechanism 5 are separately fixed in screw propulsion mechanism 3 and body frame 2, empennage 11
It is fixed on fuselage 9；Screw propulsion mechanism 3 is arranged on ultra-thin deep groove ball bearing 4, and twist mechanism 6 is fixed on crank rocker machine
The execution end of structure 5, flapping wing wing 7 are fixed on twist mechanism 6, and elevating mechanism 10 is fixed on the afterbody of fuselage 9；
The structure of the twist mechanism 6 is：Organic frame fixed gear 602, frame fixed gear 602 are bonded on body frame 2
Wobble gear 601 is engaged with, flapping wing wing 7 is fixed with the axial direction of wobble gear 601, the axle of flapping wing wing 7 is connected to crank rocker
The end of mechanism 5, retaining ring for shaft shoulder 603 are fixed on flapping wing wing 7, and the end of crank and rocker mechanism 5 is around the miniature reciprocating rotary of pivot pin 604
It is dynamic；
The structure of the elevating mechanism 10 is：Linear drive apparatus 1003 is fixed on circuit integrated module 1, control-rod
Axle is connected to elevator 1001 and linear drive apparatus 1003 respectively at 1002 both ends, and the tail end axle of elevator 1001 is connected to fuselage 9
At the air port of afterbody；
The structure of the screw propulsion mechanism 3 is：Forward propeller blade gear 301 and reverse propeller blade gear 302
Two blade constructions are oppositely oriented.
Described body frame, it is the important connection component for connecting motor, transmission mechanism and fuselage, is whole mini-sized flap wings
Aircraft provides a general frame；
Described screw propulsion mechanism, it is made up of the oppositely oriented blade gear of two blades, and gear is by two direct currents
Motor drives respectively, and the steering of two of which motor is on the contrary, this is to ensure that blade produces thrust backward, propeller blade wind
The size of speed depends on the curvature and rotating speed of blade, and the steering of whole mechanism is total to by the thrust of flapping wing active force and propeller blade
Same-action produces, and flexibility is larger；
Described fuselage, its effect are on the one hand to balance whole housing construction, it is often more important that fuselage interior can
To carry out water conservancy diversion to wind speed caused by propeller blade, stablize the balanced action of whole aircraft；
Described tail lifting mechanism, its elevator are used for the flow direction of controlled wind speed, and the lifting for adjusting wind speed is to pass through
Wind speed caused by changing propeller blade is controlled, different from by the outside action principle for producing aerodynamic force control steering, good
Place is that the mechanism is smaller by external environment influence, is lifted by wind speed caused by itself to adjust, mobility is stronger；
Described twist mechanism, it is made up of taper, and a gear is fixed on body frame, and wobble gear axle is connected to song
The execution end of handle rocker device, the wherein size of flapping wing torsion angle are relevant with the gearratio of this group of gear, eventually through crank
The compound motion of rocker device and angular wheel, complete the action of fluttering of three dimensions.
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in figure 1, a kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency, including：Circuit integrates mould
Block 1, body frame 2, screw propulsion mechanism 3, ultra-thin deep groove ball bearing 4, crank and rocker mechanism 5, twist mechanism 6, flapping wing wing 7,
Motor decelerating mechanism 8, fuselage 9, elevating mechanism 10 and empennage 11.Its annexation represents as follows：Circuit integrated module 1 and body
Frame 2 is fixed on fuselage 9, and motor decelerating mechanism 8 and ultra-thin deep groove ball bearing 4 are fixed on body frame 2, screw propulsion mechanism 3
It is fixed on ultra-thin deep groove ball bearing 4, the both ends head and the tail both ends of crank and rocker mechanism 5 are individually fixed in screw propulsion mechanism 3 and machine
On body frame 2, flapping wing wing 7 is fixed on twist mechanism 6, and twist mechanism 6 is fixed on the execution end of crank and rocker mechanism 5, is risen
Descending mechanism 10 and empennage 11 are fixed on the afterbody of fuselage 9.
In circuit control aspect as shown in Figure 6 and Figure 7, power supply is powered using 3.7V lithium batteries 101, direct current generator interface
102 two flapping wing motors of connection, its speed are adjusted by motor drive module 103, are realized and flutterred by the speed of regulation motor
The steering of wing system, the lifting for system are controlled by linear drive apparatus 1003, central processing module and wireless module
105 are used to receive instruction and control the different rotating speeds of three motors, and three-axis gyroscope 106 enters to the integrality of aircraft in addition
Row automatically controls, i.e. flapping wing aircraft sends instruction to central processing module 105 automatically, make body under autonomous navigation state
Original state of flight can be kept.
The flapping wing gear mechanism sketch of the system as shown in Fig. 2 because left and right flapping wing structure is full symmetric, therefore
Unilateral flapping motion situation is first discussed in the present embodiment, then illustrates overall flapping wing manner of execution.Lithium battery 101 gives circuit first
Module 1 is powered, and is sent and instructed by remote control, and left flapping wing motor 801 starts to rotate, and is subsequently input gear 802 and is driven dextrorotation spiral shell
Rotation blade gear 302 rotates, and the rotation of one side gear makes the thrust of propeller blade generation backward, as shown in figure 3, two gears
Rotation direction structure on the contrary, in order to balance rotating torque while produce thrust backward, right flapping wing motor speed needs to keep opposite
Steering；On the other hand rotation is delivered in crank and rocker mechanism 5, this process realizes basic flapping wing action；The flapping wing flies
The steering of row device mainly realizes that i.e. side motor speed is relatively fast, internally by controlling the differential of left and right flapping wing motor
It is larger while very fast in outside flapping wing frequency that propeller blade rotating speed comparatively fast produces thrust, and generation raises that power is larger, and inside and outside is common
Effect make it that the flapping wing aircraft mobility is more flexible.
As shown in figure 4, reciprocally swinging, wherein frame fixed gear 602 are done in crank and rocker mechanism end around miniature pivot pin 604
It is fixed on body frame 2, the axle of wobble gear 601 is connected to the execution end of crank and rocker mechanism 5, in order to prevent its axial movement,
The root of flapping wing wing 7 is fixed on retaining ring for shaft shoulder 603；Flapping wing wing 7 is converted into by the reciprocally swinging of crank and rocker mechanism 5
Upper and lower is fluttered, and the twist motion of flapping wing wing 7 is converted into by the gear motion of angular wheel, finally realizes the compound of flapping wing
Motion.
It is illustrated in figure 5 overall setup side view, elevating mechanism 10 controls the direction of wind speed in fuselage, and regulation first is straight
Line drive device 1003, elevator 1001 is rotated around afterbody axle by control-rod 1002, pass through stop portions air-flow
The overall flow direction of air-flow is controlled, finally realizes the control action of aircraft integral elevating.
Claims (4)
1. a kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency, circuit integrated module and body frame are fixed on machine
With, motor decelerating mechanism and ultra-thin deep groove ball bearing are fixed on body frame, and crank and rocker mechanism head and the tail both ends are fixed respectively
In screw propulsion mechanism and body frame, empennage is fixed on fuselage；It is characterized in that：Screw propulsion mechanism is arranged on ultra-thin depth
On ditch ball bearing, twist mechanism is fixed on the execution end of crank and rocker mechanism, and flapping wing wing is fixed on twist mechanism, lifting
Mechanism is fixed on afterbody.
2. the multiple degrees of freedom flapping-wing modal according to claim 1 with high propulsive efficiency, it is characterised in that：Institute
Stating the structure of twist mechanism is：Organic frame fixed gear is bonded on body frame, frame fixed gear is engaged with wobble gear, swings
Flapping wing wing is fixed with the axial direction of gear, flapping wing wing axle is connected to the end of crank and rocker mechanism, and retaining ring for shaft shoulder, which is fixed on, to be flutterred
On wing wing, crank and rocker mechanism end is around Minisize axial pin reciprocating rotation.
3. the multiple degrees of freedom flapping-wing modal according to claim 1 with high propulsive efficiency, it is characterised in that：Institute
Stating the structure of elevating mechanism is：Linear drive apparatus is fixed on circuit integrated module, and axle is connected to liter respectively at the both ends of control-rod
Drop rudder and linear drive apparatus, the tail end axle of elevator are connected at the air port of afterbody.
4. the multiple degrees of freedom flapping-wing modal according to claim 1 with high propulsive efficiency, is characterised by：It is described
Two blade constructions of the forward propeller blade gear of screw propulsion mechanism and reverse propeller blade gear are oppositely oriented.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720431853.XU CN206871360U (en) | 2017-04-21 | 2017-04-21 | A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720431853.XU CN206871360U (en) | 2017-04-21 | 2017-04-21 | A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency |
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| CN206871360U true CN206871360U (en) | 2018-01-12 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106927041A (en) * | 2017-04-21 | 2017-07-07 | 吉林大学 | A kind of multiple degrees of freedom flapping-wing modal with propulsive efficiency high |
| CN108674649A (en) * | 2018-04-19 | 2018-10-19 | 东南大学 | A kind of piezoelectric type micro flapping wing air vehicle and its transmission mechanism processing method |
| CN109292084A (en) * | 2018-10-08 | 2019-02-01 | 中国科学院沈阳自动化研究所 | A kind of flapping wings type synthesizing jet-flow excitor |
| CN112046743A (en) * | 2020-09-15 | 2020-12-08 | 李得正 | Flight control device and control method of bionic bird aircraft |
-
2017
- 2017-04-21 CN CN201720431853.XU patent/CN206871360U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106927041A (en) * | 2017-04-21 | 2017-07-07 | 吉林大学 | A kind of multiple degrees of freedom flapping-wing modal with propulsive efficiency high |
| CN108674649A (en) * | 2018-04-19 | 2018-10-19 | 东南大学 | A kind of piezoelectric type micro flapping wing air vehicle and its transmission mechanism processing method |
| CN108674649B (en) * | 2018-04-19 | 2021-11-26 | 东南大学 | Piezoelectric type micro flapping wing aircraft and transmission mechanism processing method thereof |
| CN109292084A (en) * | 2018-10-08 | 2019-02-01 | 中国科学院沈阳自动化研究所 | A kind of flapping wings type synthesizing jet-flow excitor |
| CN109292084B (en) * | 2018-10-08 | 2023-09-19 | 中国科学院沈阳自动化研究所 | Flapping wing type synthetic jet exciter |
| CN112046743A (en) * | 2020-09-15 | 2020-12-08 | 李得正 | Flight control device and control method of bionic bird aircraft |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |