CN212195899U - Miniature flapping wing device capable of realizing large flapping amplitude - Google Patents
Miniature flapping wing device capable of realizing large flapping amplitude Download PDFInfo
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- CN212195899U CN212195899U CN202020841977.7U CN202020841977U CN212195899U CN 212195899 U CN212195899 U CN 212195899U CN 202020841977 U CN202020841977 U CN 202020841977U CN 212195899 U CN212195899 U CN 212195899U
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Abstract
The utility model relates to a micro flapping wing device capable of realizing large flapping amplitude, which belongs to the field of micro aircrafts and comprises a frame, wings, a rocker arm and a flapping driving mechanism, wherein the flapping driving mechanism consists of a gear and a connecting rod; the rocker arm and the gear are fixed on the frame through the mounting holes, the gear 6 is a motor output shaft with a fixed gear, the duplicate gear 7 is respectively meshed with the gear 6 and the gear 8, so that the high rotating speed output by the motor is converted into the speed suitable for flapping wings, the connecting rod 1 and the connecting rod 2 respectively convert the unidirectional rotation of the gear 8 and the gear 9 into the reciprocating rotation of the gear 10 and the gear 11, so that the gear 12 and the gear 13 which are fixedly connected with the rocker arm are driven to rotate in a reciprocating manner, and the rocker arm is fixedly connected with the wings, so that flapping of the wings is realized. The structure of the application realizes large flapping amplitude through a gear connecting rod mechanism, the designed flapping amplitude is 180 degrees, and therefore the folding and opening movement of the Taiwan wasp is simulated, and the lift force of the micro flapping wing air vehicle is improved.
Description
Technical Field
The utility model relates to a miniature flapping wing aircraft field particularly, is a can realize miniature flapping wing device of big flapping amplitude.
Background
Since the last 50 s, the micro-miniature ornithopter has attracted the attention of many researchers due to its wide application prospect. Both bionics and aerodynamics have shown that flapping wings have more advantages than fixed wing and rotor wing flight at wing spans less than 15cm, so that the miniaturization of flapping wing aircraft is the trend of the future.
The lifting, hovering and propelling functions of the miniature flapping-wing aircraft can be completed through one flapping-wing system, the motion posture of the aircraft can be changed rapidly by changing the motion mode of the flapping-wing system, and the miniature flapping-wing aircraft has strong maneuverability and flexibility.
The flapping amplitude is the included angle between the upper limit position and the lower limit position of the flapping wing air vehicle. Weis-Fogh, when studying insect flights, found that two wings "fold" on the back and then quickly "open" before each beat when the yellow taiwan wasp flies, and this "fold open" motion can generate a very large unsteady lift. Most of the existing driving mechanisms of the micro flapping wing air vehicle use batteries as energy sources and are driven by a multi-link mechanism driver driven by a motor, the traditional link mechanism realizes smaller flapping amplitude in the movement process and cannot completely imitate the 'folding and opening' movement of the yellow wasp in Taiwan, so that the lifting force generated by the micro flapping wing air vehicle is limited to a certain extent.
SUMMERY OF THE UTILITY MODEL
The utility model discloses it is less at the flapping in-process flapping amplitude to current miniature flapping wing aircraft, is difficult to realize "fold and open" the motion problem that produces higher lift, has provided a miniature flapping wing device that can realize big flapping amplitude, through the reasonable size design to gear linkage, makes flapping wing aircraft can reach 180 flapping amplitude to the simulation "folds and opens" the motion.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a micro flapping wing device capable of realizing large flapping amplitude comprises a frame 3, two wings 4, two rocker arms 5 and a flapping driving mechanism 100;
the two rocker arms 5 and the two wings 4 are symmetrically distributed;
the flapping driving mechanism 100 comprises a power gear 6, a duplicate gear 7, a first gear 8, a second gear 9, a third gear 10, a fourth gear 11, a fifth gear 12, a sixth gear 13, a first connecting rod 1 and a second connecting rod 2, wherein the first connecting rod 1 and the second connecting rod 2 are symmetrically distributed, the modules and the tooth numbers of the gears of the first gear 8 and the second gear 9 are the same and are symmetrically distributed, the third gear 10 and the fourth gear 11 have the same modules and the same tooth numbers and are symmetrically distributed, the fifth gear 12 and the sixth gear 13 have the same modules and the same tooth numbers and are symmetrically distributed,
the power gear 6, the duplicate gear 7, the first gear 8, the second gear 9, the third gear 10, the fourth gear 11, the fifth gear 12 and the sixth gear 13 on the flapping driving mechanism 100 are all assembled with the frame 3 through corresponding mounting holes on the frame 3,
the power gear 6 is fixedly installed on an output shaft of the driving motor, the power gear 6 is meshed with the duplicate gear 7, the duplicate gear 7 is meshed with the first gear 8 to reduce the high rotating speed output by the driving motor, the first gear 8 is meshed with the second gear 9, the first gear 8 and the second gear 9 are respectively hinged with the lower ends of the first connecting rod 1 and the second connecting rod 2, so that the lower ends of the first connecting rod 1 and the second connecting rod 2 are driven to respectively do circular motion around the centers of the first gear 8 and the second gear 9, the upper ends of the first connecting rod 1 and the second connecting rod 2 are respectively hinged with the third gear 10 and the fourth gear 11 and respectively drive the third gear 10 and the fourth gear 11 to do reciprocating rotation around the centers of the gears, the designed rotation amplitude is 90 degrees, and the fifth gear 12 and the sixth gear 13 are respectively meshed with the third gear 10 and the fourth gear 11; the fifth gear 12 and the sixth gear 13 are respectively and fixedly connected with a rocker arm 5 as symmetrical output ends of the flapping driving mechanism 100, and the rocker arms 5 are installed on the frame 3 through mounting holes and are fixedly connected with the wings 4 to realize that the wings 4 are driven by the rocker arms 5 to move.
Further, the wings 4 comprise a main beam 402, an auxiliary beam 401 and a wing membrane 403; the main beam 402 of the wing 4 is fixed in the mounting hole on the rocker arm 5; the auxiliary beam 401 is vertically fixed on the main beam 402; the wing membrane 403 is a thin film material.
The application has the advantages that:
1. a miniature flapping wing device capable of realizing large flapping amplitude enables a mechanism to achieve the flapping amplitude of 180 degrees through the reasonable size design of a gear and a connecting rod structure, so that the folding and opening movement of the small yellow wasp in Taiwan is simulated.
2. A miniature flapping wing device capable of realizing large flapping amplitude uses a gear and a connecting rod as a transmission mechanism, has simple structure and high precision, and can realize miniaturization and light weight.
Drawings
FIG. 1 is a schematic overall view of a micro flapping wing apparatus of the present application capable of achieving large flapping amplitudes;
FIG. 2 is a schematic view of a flapping actuator 100 for a micro flapping wing apparatus capable of achieving large flapping amplitudes;
FIG. 3 is a schematic structural diagram of a frame 3 of a micro flapping wing apparatus capable of achieving a large flapping amplitude;
FIG. 4 is a schematic structural diagram of a swing arm 5 of a micro flapping wing apparatus capable of achieving large flapping amplitude;
FIG. 5 is a schematic view of a wing 4 of a micro flapping wing apparatus for achieving large flapping amplitudes;
FIG. 6 is a schematic diagram of the mechanism motion of a micro flapping wing apparatus for achieving large flapping amplitude;
FIG. 7 is a schematic view of closing up the flapping of a micro flapping wing apparatus capable of achieving large flapping amplitudes;
FIG. 8 is a schematic view of closing of the flapping wings of a micro flapping wing apparatus for achieving large flapping amplitudes.
The reference numbers are recorded as follows:
1-2-connecting rod, 3-frame, 4-wing, 5-rocker arm, 6-13-gear;
100-a flapping driving mechanism;
301-a first mounting hole, 302-a second mounting hole, 303-a third mounting hole, 304-a fourth mounting hole, 305-a fifth mounting hole, 306-a sixth mounting hole, 307-a seventh mounting hole, 308-an eighth mounting hole;
401-auxiliary beam, 402-main beam, 403-wing membrane.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
A micro flapping wing device capable of realizing large flapping amplitude is shown in figures 1 and 2 and comprises a frame 3, two wings 4, two rocker arms 5 and a flapping driving mechanism 100;
the two rocker arms 5 and the two wings 4 are symmetrically distributed;
the flapping driving mechanism 100 comprises a power gear 6, a duplicate gear 7, a first gear 8, a second gear 9, a third gear 10, a fourth gear 11, a fifth gear 12, a sixth gear 13, a first connecting rod 1 and a second connecting rod 2, wherein the first connecting rod 1 and the second connecting rod 2 are symmetrically distributed, the modules and the tooth numbers of the gears of the first gear 8 and the second gear 9 are the same and are symmetrically distributed, the third gear 10 and the fourth gear 11 have the same modules and the same tooth numbers and are symmetrically distributed, the fifth gear 12 and the sixth gear 13 have the same modules and the same tooth numbers and are symmetrically distributed,
the power gear 6, the duplicate gear 7, the first gear 8, the second gear 9, the third gear 10, the fourth gear 11, the fifth gear 12 and the sixth gear 13 on the flapping driving mechanism 100 are all assembled with the frame 3 through corresponding mounting holes on the frame 3,
the power gear 6 is fixedly installed on an output shaft of the driving motor, the power gear 6 is meshed with the duplicate gear 7, the duplicate gear 7 is meshed with the first gear 8 to reduce the high rotating speed output by the driving motor, the first gear 8 is meshed with the second gear 9, the first gear 8 and the second gear 9 are respectively hinged with the lower ends of the first connecting rod 1 and the second connecting rod 2, so that the lower ends of the first connecting rod 1 and the second connecting rod 2 are driven to respectively do circular motion around the centers of the first gear 8 and the second gear 9, the upper ends of the first connecting rod 1 and the second connecting rod 2 are respectively hinged with the third gear 10 and the fourth gear 11 and respectively drive the third gear 10 and the fourth gear 11 to do reciprocating rotation around the centers of the gears, the designed rotation amplitude is 90 degrees, and the fifth gear 12 and the sixth gear 13 are respectively meshed with the third gear 10 and the fourth gear 11; the fifth gear 12 and the sixth gear 13 are respectively and fixedly connected with a rocker arm 5 as symmetrical output ends of the flapping driving mechanism 100, and the rocker arms 5 are installed on the frame 3 through mounting holes and are fixedly connected with the wings 4 to realize that the wings 4 are driven by the rocker arms 5 to move.
As shown in fig. 3, the frame 3 is made of resin material and integrally formed by 3D printing; a series of mounting holes are reserved on the frame 3, so that the frame can be conveniently connected with other structures; four symmetrically distributed mounting holes, namely a fifth mounting hole 305, a sixth mounting hole 306, a seventh mounting hole 307 and an eighth mounting hole 308 are formed in the upper part of the frame 3; a first mounting hole 301 and a second mounting hole 302 are formed in the middle of the rack; the bottom of the frame is provided with two symmetrically distributed mounting holes, namely a third mounting hole 303 and a fourth mounting hole 304.
The wings shown in fig. 5 comprise a main beam 402, an auxiliary beam 401 and a wing membrane 403; wherein the main beam 402 is fixedly connected with the mounting hole on the rocker arm 5 by interference fit; the main beam 402 and the auxiliary beam 401 both adopt carbon rods with the diameter of 1mm, the lengths are different, and the auxiliary beam 401 is vertically fixed on the main beam 402 through glue; the wing membrane is made of thin film materials with the thickness of about 0.05mm, and is fixed on the main beam 402 and the auxiliary beam 401 through glue.
The micro flapping wing device capable of realizing the large flapping amplitude acts in the following mode:
an external driving motor is required to be connected for driving during power flapping, an output shaft of the driving motor penetrates through a first mounting hole 301 from bottom to top and is fixedly provided with a power gear 6, the power gear 6 is meshed with a duplicate gear 7, the duplicate gear 7 is mounted on a rack 3 through a rack second mounting hole 302, meanwhile, the duplicate gear 7 is meshed with a first gear 8, the first gear 8 is mounted on the rack 3 through a third mounting hole 303, the duplicate gear 7 and the first gear 8 reduce the high rotating speed output by the driving motor, the first gear 8 is meshed with a second gear 9, the second gear 9 is mounted on the rack 3 through a fourth mounting hole 304 and is symmetrically distributed with the first gear 8, and meanwhile, the first gear 8 and the second gear 9 are hinged with the lower ends of a first connecting rod 1 and a second connecting rod 2 respectively and rotate at the same speed and in opposite directions, so that the lower ends of the first connecting rod 1 and the second connecting rod 2 are driven to rotate at the same speed around the centers of the first gear 8 and the second gear 9 respectively; the third gear 10 and the fourth gear 11 are respectively installed on the frame 3 through a seventh installation hole 307 and a sixth installation hole 306, and the other ends of the first connecting rod 1 and the second connecting rod 2 are respectively hinged with the third gear 10 and the fourth gear 11, so that the third gear 10 and the fourth gear 11 are driven to respectively rotate around the centers of the gears in a reciprocating manner; the third gear 10 and the fourth gear 11 are respectively engaged with the fifth gear 12 and the sixth gear 13, the fifth gear 12 and the sixth gear 13 are respectively and fixedly connected with a rocker arm 5 as output ends of the flapping driving mechanism 100, and the rocker arm 5, the fifth gear 12 and the sixth gear 13 are respectively installed on the rack 3 through an eighth installation hole 308 and a fifth installation hole 305, so that the third gear 10 and the fourth gear 11 respectively drive the fifth gear 12 and the sixth gear 13 to rotate in a reciprocating manner, and further the fifth gear 12 and the sixth gear 13 drive the rocker arms 5 at two sides and the wings 4 to rotate in a reciprocating manner.
The process of the "close and open" movement of this example is described below with reference to fig. 6:
in order to achieve symmetrical movement of the wings 4, the flapping driving mechanism 100 is also designed to be symmetrically distributed, so only the kinematic process of the right flapping driving mechanism 100 will be described:
O0is the center of the first gear 8, O3Is the third gear 10 center, O4Is the fifth gear 12 center, O0O1The distance from the center of the first gear 8 to the point where it is hinged to the lower end of the first link 1, O2O3The distance from the center of the third gear 10 to the point where it is hinged to the upper end of the first link 1, O1O2Is the distance between the hinged parts of the two ends of the first connecting rod 1, O3O4Is the distance from the center of the third gear 10 to the center of the fifth gear 12, O0O3The distance from the center of the first gear 8 to the center of the third gear 10; when O is present1Above the x-axis and O0O1And O1O2When collinear, O2O3At O3O4Above and with O3O4Has the largest included angle of alpha1(ii) a When O is present1At O1', at this time O0O1' and O1O2' collinear, O2'O3At O3O4Below and with O3O4Has the largest included angle of alpha2。
Thus, it can be seen that:
wherein the content of the first and second substances,
according to the above formula, set O0O1＝4mm，O1O2＝35mm，O2O3＝6mm，O0O3＝35mm，α1And alpha2The angle is 45 degrees, namely the first connecting rod 1 drives the first gear 10 to rotate in a reciprocating manner with the amplitude of 90 degrees; beta is amaxFor wing girder 402 and O3O4The maximum included angle between the third gear 10 and the fifth gear 12 is 1:2, so that the speed ratio of betamax＝2α1At 90 deg. and an angle of 2 beta between the upper and lower extreme positions of the swing of wing 4max180 °, the wings 4 can thus achieve a flapping amplitude of 180 ° throughout the flapping cycle, achieving a "close open" motion that fully mimics taiwan yellow bee.
In conclusion, the micro flapping wing device capable of realizing the large flapping amplitude realizes the large flapping amplitude through the gear link mechanism, the flapping amplitude is designed to be 180 degrees, and the flexible wings are selected to simulate the folding and opening motion of the small yellow Taiwan bees to improve the lift force of the micro flapping wing air vehicle.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (4)
1. A micro flapping wing device capable of realizing large flapping amplitude is characterized by comprising a rack, two wings, two rocker arms and a flapping driving mechanism;
the two rocker arms and the two wings are symmetrically distributed;
the flapping driving mechanism comprises a power gear, a duplicate gear, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a first connecting rod and a second connecting rod, wherein the first connecting rod and the second connecting rod are symmetrically distributed, the modules and the tooth numbers of the gears of the first gear and the second gear are the same and symmetrically distributed, the third gear and the fourth gear have the same module and tooth numbers and are symmetrically distributed, the fifth gear and the sixth gear have the same module and tooth numbers and are symmetrically distributed,
the power gear, the duplicate gear, the first gear, the second gear, the third gear, the fourth gear, the fifth gear and the sixth gear on the flapping driving mechanism are all assembled and installed with the frame through corresponding installation holes on the frame,
the power gear is fixedly arranged on an output shaft of the driving motor, the power gear is meshed with the duplicate gear, the duplicate gear is meshed with the first gear to reduce the high rotating speed output by the driving motor, the first gear is meshed with the second gear, the first gear and the second gear are respectively hinged with the lower ends of the first connecting rod and the second connecting rod so as to drive the lower ends of the first connecting rod and the second connecting rod to respectively do circular motion around the centers of the first gear and the second gear, the upper ends of the first connecting rod and the second connecting rod are respectively hinged with the third gear and the fourth gear and respectively drive the third gear and the fourth gear to do reciprocating rotation around the centers of the gears, the designed rotating amplitude is 90 degrees, and the fifth gear and the sixth gear are respectively meshed with the third gear and the fourth gear; the fifth gear and the sixth gear are used as symmetrical output ends of the flapping driving mechanism and are respectively and fixedly connected with a rocker arm, and the rocker arms are installed on the rack through the installation holes and are fixedly connected with the wings to realize that the wings are driven by the rocker arms to move.
2. The micro flapping wing apparatus of claim 1 wherein the wings comprise a main beam, a secondary beam, and a wing membrane.
3. The micro flapping wing apparatus of claim 2 wherein the main wing members are mounted in mounting holes in the swing arm.
4. The micro flapping wing apparatus of claim 2 wherein the secondary beam is vertically attached to the primary beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020841977.7U CN212195899U (en) | 2020-05-19 | 2020-05-19 | Miniature flapping wing device capable of realizing large flapping amplitude |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020841977.7U CN212195899U (en) | 2020-05-19 | 2020-05-19 | Miniature flapping wing device capable of realizing large flapping amplitude |
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| CN212195899U true CN212195899U (en) | 2020-12-22 |
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| CN202020841977.7U Expired - Fee Related CN212195899U (en) | 2020-05-19 | 2020-05-19 | Miniature flapping wing device capable of realizing large flapping amplitude |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306701A (en) * | 2021-06-17 | 2021-08-27 | 东莞理工学院 | Bionic hummingbird flapping wing aircraft |
| CN116443248A (en) * | 2023-06-09 | 2023-07-18 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
-
2020
- 2020-05-19 CN CN202020841977.7U patent/CN212195899U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306701A (en) * | 2021-06-17 | 2021-08-27 | 东莞理工学院 | Bionic hummingbird flapping wing aircraft |
| CN113306701B (en) * | 2021-06-17 | 2022-04-19 | 东莞理工学院 | Bionic hummingbird flapping wing aircraft |
| CN116443248A (en) * | 2023-06-09 | 2023-07-18 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
| CN116443248B (en) * | 2023-06-09 | 2023-09-26 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20201222 Termination date: 20210519 |