CN210063360U - Bionic mechanical flapping wing machine - Google Patents
Bionic mechanical flapping wing machine Download PDFInfo
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- CN210063360U CN210063360U CN201920755715.6U CN201920755715U CN210063360U CN 210063360 U CN210063360 U CN 210063360U CN 201920755715 U CN201920755715 U CN 201920755715U CN 210063360 U CN210063360 U CN 210063360U
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Abstract
The utility model discloses a bionic mechanical flapping wing machine, which comprises a machine body (1), a tail wing (2), a left wing flapping mechanism, a right wing flapping mechanism, a driving mechanism and a tail wing adjusting mechanism; the driving mechanism comprises a left wing driving mechanism, a right wing driving mechanism and a driving motor (3), wherein a first-stage driving gear (4) is sleeved on an output shaft of the driving motor (3), and the left wing driving mechanism and the right wing driving mechanism respectively comprise a first-stage driven gear (5), a second-stage driving gear (6) and a second-stage driven gear (7). The utility model discloses simple structure realizes the rudder piece adjustment on the fin through fin guiding mechanism to realize the function of elevator and rudder, when the rudder piece overturns simultaneously, the ornithopter is raised the first fuselage and is risen, and when the rudder piece overturns simultaneously down, ornithopter fuselage descends, and two rudder piece turned angle are different, realize turning to of ornithopter, connect through the thermoplastic skin between fin and the rudder piece, do not do the structure of living page or leaf in addition, light in weight.
Description
Technical Field
The utility model relates to the technical field of aviation, especially a bionical mechanical ornithopter.
Background
The ornithopter is an important structure of a novel aircraft type which simulates the flight of birds and insects and is designed and manufactured based on the bionics principle. Compared with a fixed wing and a rotor wing, the flapping wing has the main characteristics that the functions of lifting, hovering and propelling are integrated into a flapping wing system, the long-distance flight can be carried out by using very small energy, and meanwhile, the flapping wing has stronger maneuverability. The ornithopter is generally used for adjusting the flight steering by controlling a left wing and a right wing, the tail wing of the existing ornithopter is generally fixed, the ornithopter is generally used for changing the flight state by adjusting the left wing and the right wing, and the tail wing is provided with a plurality of horizontal tail wings. Moreover, the tail wings of the existing ornithopter cannot play the roles of an elevator and a rudder, and even though some ornithopters with adjustable tail wings exist, the problem of complex adjusting mechanisms exists.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's is not enough, provides a bionical mechanical ornithopter to solve current ornithopter and can't realize the function of elevator and rudder and the complicated problem of fin guiding mechanism through the adjustment fin.
The purpose of the utility model is realized through the following technical scheme:
a bionic mechanical flapping wing machine comprises a machine body, a tail wing, a left wing flapping mechanism, a right wing flapping mechanism, a driving mechanism and a tail wing adjusting mechanism.
The driving mechanism comprises a left wing driving mechanism, a right wing driving mechanism and a driving motor, a primary driving gear is sleeved on an output shaft of the driving motor, the left wing driving mechanism and the right wing driving mechanism respectively comprise a primary driven gear, a secondary driving gear and a secondary driven gear, the primary driven gear in the left wing driving mechanism and the right wing driving mechanism is meshed with the primary driving gear, a gear shaft is installed in a central hole of the primary driven gear, one end of the gear shaft is tightly matched with the central hole of the primary driven gear, the secondary driving gear is sleeved at the other end of the gear shaft, and the secondary driven gear is meshed with the secondary driving gear; and sleeve columns are arranged on the front surfaces of the secondary driven gears in the left wing driving mechanism and the right wing driving mechanism, and amplitude-modulated connecting rods are arranged on the sleeve columns.
The end face of the driving motor is provided with a fixed end cover, and the top of the fixed end cover is provided with a hinged support.
The left wing flapping mechanism and the right wing flapping mechanism both comprise a front output rocker arm and a rear output rocker arm, one end of the front output rocker arm is hinged with the hinged support, one end of the rear output rocker arm is movably connected with a fixed frame which is arranged in the machine body and is close to the rear side of the machine body, and the other end of the rear output rocker arm is fixedly connected with the other end of the front output rocker arm; one end of the amplitude-modulation connecting rod is hinged to the sleeve column, and the other end of the amplitude-modulation connecting rod is hinged to the front output rocker arm.
The tail wing comprises a left tail wing and a right tail wing, a tail wing bracket is arranged at the tail end of the machine body, and the left tail wing and the right tail wing are fixed with the tail wing bracket in a bolt fixing mode; the included angle between the left tail wing and the right tail wing is 110 degrees, the left tail wing and the right tail wing form a V shape, and rudder pieces are movably connected to the rear side walls of the left tail wing and the right tail wing.
The tail fin adjusting mechanism comprises a steering engine, a pull rod and a fixed hinge support, the steering engine is arranged in the body and close to the tail end of the body, the fixed hinge support is fixed on the upper surface of a rudder sheet, one end of the pull rod is hinged to a rudder disc of the steering engine, and the other end of the pull rod is hinged to the fixed hinge support.
The number of the tail wing adjusting mechanisms is 2, one tail wing adjusting mechanism is used for adjusting the rudder sheet angle of the left tail wing, and the other tail wing adjusting mechanism is used for adjusting the rudder sheet angle of the right tail wing.
The rudder pieces of the left tail wing and the left tail wing are connected through thermoplastic skins, and the rudder pieces of the right tail wing and the right tail wing are connected through thermoplastic skins.
A fixed shaft is further installed in a central hole of the secondary driven gear, a shaft support is further arranged below the fixed end cover, and two shaft sleeves used for fixing the gear shaft and the fixed shaft are respectively arranged on the left side and the right side of the shaft support.
The shape of mount is ring shape and the mount hugs closely the inside setting of fuselage, and the top of mount is provided with two rocking arm bulb, all with rocking arm bulb swing joint with the back output rocking arm in left wing flapping mechanism and the right wing flapping mechanism
The utility model has the advantages that:
the utility model discloses simple structure realizes the rudder piece adjustment on the fin through fin guiding mechanism to realize the function of elevator and rudder, when the rudder piece overturns simultaneously, the ornithopter is raised the first fuselage and is risen, and when the rudder piece overturns simultaneously down, ornithopter fuselage descends, and two rudder piece turned angle are different, realize turning to of ornithopter, connect through the thermoplastic skin between fin and the rudder piece, do not do the structure of living page or leaf in addition, light in weight.
Drawings
FIG. 1 is a schematic view of the fuselage and empennage of the present invention;
FIG. 2 is a first schematic structural diagram of a driving mechanism;
FIG. 3 is a second schematic structural view of the driving mechanism;
FIG. 4 is a schematic structural view of the stationary end cap and the shaft support;
FIG. 5 is a schematic view of the tail adjustment mechanism;
FIG. 6 is a schematic structural view of the fixing frame;
in the figure, 1-a machine body, 2-a tail wing, 3-a driving motor, 4-a primary driving gear, 5-a primary driven gear, 6-a secondary driving gear, 7-a secondary driven gear, 8-a sleeve column, 9-an amplitude modulation connecting rod, 10-a fixed end cover, 11-a hinged support, 12-a front output rocker arm, 13-a rear output rocker arm, 14-a fixed frame, 15-a left tail wing, 16-a right tail wing, 17-a tail wing support, 18-a rudder sheet, 19-a steering engine, 20-a pull rod, 21-a fixed hinged support, 22-a fixed shaft, 23-a shaft support, 24-a shaft sleeve, 25-a rocker ball head and 26-a gear shaft.
Detailed Description
The technical solution of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in fig. 1 to 6, a bionic mechanical ornithopter comprises a body 1, a tail 2, a driving motor 3, a primary driving gear 4, a primary driven gear 5, a secondary driving gear 6, a secondary driven gear 7, a sleeve column 8, an amplitude modulation connecting rod 9, a fixed end cover 10, a hinged support 11, a front output rocker arm 12, a rear output rocker arm 13, a fixed frame 14, a left tail 15, a right tail 16, a tail support 17, a rudder piece 18, a steering engine 19, a pull rod 20, a fixed hinged support 21, a fixed shaft 22, a shaft support 23, a shaft sleeve 24, a rocker ball 25 and a gear shaft 26.
A bionic mechanical ornithopter is connected in the following way:
a bionic mechanical flapping wing machine comprises a machine body 1, a tail wing 2, a left wing flapping mechanism, a right wing flapping mechanism, a driving mechanism and a tail wing adjusting mechanism.
The driving mechanism comprises a left wing driving mechanism, a right wing driving mechanism and a driving motor 3, a first driving gear 4 is sleeved on an output shaft of the driving motor 3, the left wing driving mechanism and the right wing driving mechanism respectively comprise a first driven gear 5, a second driving gear 6 and a second driven gear 7, the first driven gear 5 of the left wing driving mechanism and the right wing driving mechanism is meshed with the first driving gear 4, a gear shaft 26 is arranged in a central hole of the first driven gear 5, one end of the gear shaft 26 is tightly matched with the central hole of the first driven gear 5, the second driving gear 6 is sleeved at the other end of the gear shaft 26, and the second driven gear 7 is meshed with the second driving gear 6; the front surfaces of the secondary driven gears 7 in the left wing driving mechanism and the right wing driving mechanism are respectively provided with a sleeve column 8, and the sleeve columns 8 are provided with amplitude modulation connecting rods 9.
A fixed end cover 10 is arranged on the end face of the driving motor 3, and a hinged support 11 is arranged at the top of the fixed end cover 10;
the left wing flapping mechanism and the right wing flapping mechanism both comprise a front output rocker arm 12 and a rear output rocker arm 13, one end of the front output rocker arm 12 is hinged with a hinged support 11, one end of the rear output rocker arm 13 is movably connected with a fixed frame 14 which is arranged in the machine body 1 and is close to the rear side of the machine body 1, and the other end of the rear output rocker arm 13 is fixedly connected with the other end of the front output rocker arm 12; one end of the amplitude-modulation connecting rod 9 is hinged on the sleeve column 8, and the other end of the amplitude-modulation connecting rod 9 is hinged on the front output rocker arm 12.
The empennage comprises a left empennage 15 and a right empennage 16, an empennage bracket 17 is arranged at the tail end of the fuselage 1, and the left empennage 15 and the right empennage 16 are fixed with the empennage bracket 17 in a bolt fixing mode; an included angle between the left tail wing 15 and the right tail wing 16 is 110 degrees, a V shape is formed between the left tail wing 15 and the right tail wing 16, and rudder pieces 18 are movably connected to the rear side walls of the left tail wing 15 and the right tail wing 16.
The tail adjusting mechanism comprises a steering engine 19, a pull rod 20 and a fixed hinged support 21, the steering engine 19 is arranged in the machine body 1 and close to the tail end of the machine body 1, the fixed hinged support 21 is fixed on the upper surface of a rudder sheet 18, one end of the pull rod 20 is hinged to a rudder disc of the steering engine 19, and the other end of the pull rod 20 is hinged to the fixed hinged support 21.
The number of the tail wing adjusting mechanisms is 2, wherein one tail wing adjusting mechanism is used for adjusting the angle of a rudder piece 18 of the left tail wing 15, and the other tail wing adjusting mechanism is used for adjusting the angle of a rudder piece 18 of the right tail wing 16.
The left tail wing 15 and the rudder sheet 18 of the left tail wing 15 are connected through a thermoplastic skin, and the right tail wing 16 and the rudder sheet 18 of the right tail wing 16 are connected through a thermoplastic skin.
A fixed shaft 22 is further installed in a central hole of the secondary driven gear 7, a shaft support 23 is further arranged below the fixed end cover 10, and two shaft sleeves 24 for fixing a gear shaft 26 and the fixed shaft 22 are respectively arranged on the left side and the right side of the shaft support 23.
The shape of mount 14 is the ring shape and mount 14 hugs closely the inside setting of fuselage 1, and the top of mount 14 is provided with two rocking arm bulb 25, back output rocker arm 13 in left wing flapping mechanism and the right wing flapping mechanism all with rocking arm bulb 25 swing joint.
Wings are further mounted on the front output rocker arm and the rear output rocker arm, the wings are wing-shaped, and the wings are made of thermoplastic materials.
The bionic mechanical ornithopter has the following working principle:
firstly, a first driving gear 4 is sleeved on an output shaft of a driving motor 3, a first driven gear 5 in a left wing driving mechanism and a right wing driving mechanism is meshed with the first driving gear 4, the first driving gear 4 starts to rotate under the driving of the driving motor 3 so as to drive the first driven gear 5 in the left wing driving mechanism and the right wing driving mechanism to rotate, gear shafts 26 are respectively arranged in central holes of the first driven gears 5 of the left wing driving mechanism and the right wing driving mechanism, one end of each gear shaft 26 is tightly matched with the central hole of the first driven gear 5, second driving gears 6 are sleeved on two ends of each gear shaft 26, a second driven gear 7 is arranged below the second driving gears 6, the second driving gears 6 are meshed with the second driven gears 7, the first driven gears 5 drive the gear shafts 26 to rotate so as to drive the second driving gears 6 to rotate, and further drive the second driven gears 7 to rotate, the upper surface of the secondary driven gear 7 is provided with a rear sleeve column 8, the sleeve column 8 is hinged with an amplitude modulation connecting rod 9, one end of the amplitude modulation connecting rod 9 is hinged with the sleeve column 8, the other end of the amplitude modulation connecting rod 9 is connected with a front output rocker arm 12, and the amplitude modulation connecting rod 9 drives the front output rocker arm 12 to move up and down under the driving of the secondary driven gear 7, so that the up-and-down flapping of the left wing and the right wing is completed.
The internal portion of fuselage 1 still is provided with mount 14 near the terminal fuselage, and mount 14's shape is the inside setting of annular and mount 14 hugs closely fuselage 1, and the top of mount 14 still is provided with two rocking arm bulbs 25, and back output rocker arm 13 in left wing flapping mechanism and the right wing flapping mechanism all with rocking arm bulb 25 swing joint, back output rocker arm 13's one end and mount 14 swing joint, the other end of back output rocker arm 13 and the end-to-end connection of preceding output rocker arm 12.
The tail wing adjusting mechanism can adjust the rotation angle of the rudder sheet 18 through a steering engine 19 and a pull rod 20, one end of the pull rod 20 is movably connected with a rudder disc of the steering engine 19, the other end of the pull rod 20 is hinged with a fixed hinged support 21 on the rudder sheet 18, the rudder sheet 18 of the left tail wing 15 and the rudder sheet 18 of the left tail wing 15 are connected through a thermoplastic skin, and the rudder sheet of the right tail wing 16 are connected through a thermoplastic skin. When the rudder pieces on the left tail wing and the right tail wing are simultaneously turned upwards under the driving of the steering engine 19, the ornithopter lifts up, the machine body 1 rises, when the rudder pieces 18 on the left tail wing and the right tail wing are simultaneously turned downwards under the driving of the steering engine 19, the ornithopter dives, the machine body 1 descends, and when the rudder pieces 18 on the left tail wing and the right tail wing are turned over at different angles under the driving of the steering engine 19, the ornithopter can turn to different directions.
The utility model discloses simple structure realizes the rudder piece adjustment on the fin through fin guiding mechanism to realize the function of elevator and rudder, when the rudder piece overturns simultaneously, the ornithopter is raised the first fuselage and is risen, and when the rudder piece overturns simultaneously down, ornithopter fuselage descends, and two rudder piece turned angle are different, realize turning to of ornithopter, connect through the thermoplastic skin between fin and the rudder piece, do not do the structure of living page or leaf in addition, light in weight.
Indeed, various other embodiments of the invention may be devised without departing from the spirit and scope thereof, and it is intended that all such modifications and variations as would be within the spirit and scope of the present invention be determined by the claims appended hereto.
Claims (5)
1. A bionic mechanical ornithopter is characterized in that: comprises a machine body (1), a tail wing (2), a left wing flapping mechanism, a right wing flapping mechanism, a driving mechanism and a tail wing adjusting mechanism;
the driving mechanism comprises a left wing driving mechanism, a right wing driving mechanism and a driving motor (3), a first driving gear (4) is sleeved on an output shaft of the driving motor (3), the left wing driving mechanism and the right wing driving mechanism respectively comprise a first driven gear (5), a second driving gear (6) and a second driven gear (7), the first driven gear (5) in the left wing driving mechanism and the right wing driving mechanism is meshed with the first driving gear (4), a gear shaft (26) is installed in a central hole of the first driven gear (5), one end of the gear shaft (26) is tightly matched with a central hole of the first driven gear (5), the second driving gear (6) is sleeved at the other end of the gear shaft (26), and the second driven gear (7) is meshed with the second driving gear (6); sleeve columns (8) are respectively arranged on the front surfaces of the secondary driven gears (7) in the left wing driving mechanism and the right wing driving mechanism, and amplitude-modulated connecting rods (9) are arranged on the sleeve columns (8);
a fixed end cover (10) is arranged on the end face of the driving motor (3), and a hinged support (11) is arranged at the top of the fixed end cover (10);
the left wing flapping mechanism and the right wing flapping mechanism both comprise a front output rocker arm (12) and a rear output rocker arm (13), one end of the front output rocker arm (12) is hinged with the hinged support (11), one end of the rear output rocker arm (13) is movably connected with a fixed frame (14) which is arranged in the machine body (1) and is close to the rear side of the machine body (1), and the other end of the rear output rocker arm (13) is fixedly connected with the other end of the front output rocker arm (12); one end of the amplitude-modulation connecting rod (9) is hinged on the sleeve column (8), and the other end of the amplitude-modulation connecting rod (9) is hinged on the front output rocker arm (12);
the empennage comprises a left empennage (15) and a right empennage (16), an empennage bracket (17) is arranged at the tail end of the fuselage (1), and the left empennage (15) and the right empennage (16) are fixed with the empennage bracket (17) in a bolt fixing mode; an included angle between the left tail wing (15) and the right tail wing (16) is 110 degrees, the left tail wing (15) and the right tail wing (16) form a V shape, and rudder pieces (18) are movably connected to the rear side walls of the left tail wing (15) and the right tail wing (16);
the empennage adjusting mechanism comprises a steering engine (19), a pull rod (20) and a fixed hinge support (21), the steering engine (19) is arranged in the fuselage (1) and is close to the tail end of the fuselage (1), the fixed hinge support (21) is fixed on the upper surface of a rudder sheet (18), one end of the pull rod (20) is hinged to a rudder disc of the steering engine (19), and the other end of the pull rod (20) is hinged to the fixed hinge support (21).
2. The bionic mechanical ornithopter of claim 1, wherein: the number of the tail wing adjusting mechanisms is 2, one tail wing adjusting mechanism is used for adjusting the angle of a rudder sheet (18) of the left tail wing (15), and the other tail wing adjusting mechanism is used for adjusting the angle of a rudder sheet (18) of the right tail wing (16).
3. The bionic mechanical ornithopter of claim 1, wherein: the left tail wing (15) and the rudder blade (18) of the left tail wing (15) are connected through a thermoplastic skin, and the right tail wing (16) and the rudder blade (18) of the right tail wing (16) are connected through a thermoplastic skin.
4. The bionic mechanical ornithopter of claim 1, wherein: a fixed shaft (22) is further installed in a central hole of the secondary driven gear (7), a shaft support (23) is further arranged below the fixed end cover (10), and two shaft sleeves (24) used for fixing a gear shaft (26) and the fixed shaft (22) are respectively arranged on the left side and the right side of the shaft support (23).
5. The bionic mechanical ornithopter of claim 1, wherein: the shape of mount (14) is the ring shape and mount (14) hug closely fuselage (1) inside setting, and the top of mount (14) is provided with two rocking arm bulb (25), back output rocker arm (13) in left wing flapping mechanism and the right wing flapping mechanism all with rocking arm bulb (25) swing joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920755715.6U CN210063360U (en) | 2019-05-24 | 2019-05-24 | Bionic mechanical flapping wing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920755715.6U CN210063360U (en) | 2019-05-24 | 2019-05-24 | Bionic mechanical flapping wing machine |
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| Publication Number | Publication Date |
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| CN210063360U true CN210063360U (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920755715.6U Active CN210063360U (en) | 2019-05-24 | 2019-05-24 | Bionic mechanical flapping wing machine |
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| CN (1) | CN210063360U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248918A (en) * | 2022-01-07 | 2022-03-29 | 哈尔滨工业大学 | Jumping flying robot based on combustion and explosion driving |
-
2019
- 2019-05-24 CN CN201920755715.6U patent/CN210063360U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248918A (en) * | 2022-01-07 | 2022-03-29 | 哈尔滨工业大学 | Jumping flying robot based on combustion and explosion driving |
| CN114248918B (en) * | 2022-01-07 | 2023-10-24 | 哈尔滨工业大学 | Jumping flying robot based on blasting driving |
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Effective date of registration: 20240415 Address after: 621052 No.6, south section of the Second Ring Road, Mianyang City, Sichuan Province Patentee after: Institute of aerospace technology, China Aerodynamics Research and Development Center Country or region after: China Address before: 621000 room 324, Zone D, incubator of entrepreneurship service center, science and innovation District, Mianyang City, Sichuan Province Patentee before: MIANYANG KONGTIAN TECHNOLOGY Co.,Ltd. Country or region before: China |
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