CN218578020U

CN218578020U - Micro flapping wing device capable of realizing respective control of double wings

Info

Publication number: CN218578020U
Application number: CN202220784770.XU
Authority: CN
Inventors: 王文旭; 许娜; 牟晓蕾
Original assignee: Yantai University
Current assignee: Yantai University
Priority date: 2022-04-05
Filing date: 2022-04-05
Publication date: 2023-03-07
Anticipated expiration: 2032-04-05

Abstract

The utility model relates to a can realize miniature flapping wing device of two wings difference control belongs to miniature flapping wing aircraft field. The device comprises a frame, wings and a flapping driving mechanism, wherein the flapping driving mechanism consists of a gear, a connecting rod and a rocker arm: the transmission gear and the connecting rod are fixed on the frame through a limiting ring, and the rocker arm is connected with the sliding block on the connecting rod and is supported by the rocker arm supporting rod, so that the rocker arm can only rotate in a determined horizontal plane. The transmission gear is meshed with a power gear which is arranged on the output shaft of the motor, the high rotating speed output by the motor is converted into the speed suitable for flapping of the flapping wings, the transmission gear drives the connecting rod to do reciprocating motion, the traction hook is connected with the sliding block and the rocker arm, so that the rocker arm is driven to rotate, the rocker arm is fixedly connected with the wings, and flapping of the wings is realized. The utility model consists of two sets of same devices with bilateral symmetry to realize the respective control of the two wings.

Description

Micro flapping wing device capable of realizing respective control of double wings

Technical Field

The utility model relates to a miniature flapping wing aircraft field particularly, is a can realize miniature flapping wing device of two wings difference control.

Background

Compared with a fixed wing aircraft, the micro flapping wing aircraft has the characteristics of light weight, small volume, strong maneuverability, high flying efficiency, strong anti-reconnaissance capability and the like, so that the micro flapping wing aircraft has wide application prospect in the military aspect and the civil field, is suitable for flying in a small space, and can complete tasks such as observation, reconnaissance, communication, auxiliary rescue and the like. Although the micro flapping wing aircraft imitates the wing motion of insects and birds, the micro flapping wing aircraft is obviously larger than the wings of the insects or the birds, and cannot complete more complex flight motion like the wings of the birds and the insects due to the limitation of the technical development.

Most of the existing micro flapping-wing aircrafts adopt a driving motor to drive one or more pairs of wings, so that the wings can flap simultaneously.

However, in a complex flight environment, it is difficult for the micro flapping wing aircraft to fly smoothly, and if the two wings can be controlled respectively, better flight can be realized in the complex flight environment.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to current miniature flapping wing aircraft can't realize carrying out the technical problem controlled respectively to two wings at the flapping in-process, provided a can realize the miniature flapping wing device of both wings difference control, the gear linkage mechanism through the symmetrical layout makes flapping respectively of two wings to the realization is to controlling respectively of two wings.

The utility model provides a technical scheme that above-mentioned problem adopted as follows:

a micro flapping wing device capable of realizing respective control of two wings comprises a frame 13, wings 8 and flapping driving mechanisms 100, wherein the flapping driving mechanisms 100 are symmetrically arranged at two sides of the frame 13 in a left-right manner;

the flapping driving mechanism 100 comprises a power gear 1, a transmission gear 2, a rocker 3, a connecting rod 4, a transmission gear limiting ring 5, a connecting rod limiting ring 6, a rocker supporting rod 7, a rocker 9, a rocker limiting ring 10, a traction hook 11, a slide block 12 and a traction hook limiting ring 14, wherein the transmission gear 2 is provided with the rocker 3, the connecting rod 4 and the rocker 9 are respectively provided with a slide way,

a power gear 1 on the flapping driving mechanism 100 is connected with an output shaft of an external motor, the power gear 1 is in meshing transmission with a transmission gear 2, the transmission gear 2 and a connecting rod 4 are respectively installed on a rack 13 through a transmission gear limiting ring 5 and a connecting rod limiting ring 6, a rocker 3 and a slider 12 can respectively and freely slide in different slideways of the connecting rod 4, a traction hook 11 is installed on the slider 12 through a limiting ring 14, the traction hook 11 can freely rotate, a rocker arm 9 is connected with the traction hook 11 through a pin and is supported by a rocker arm supporting rod 7, a limiting ring 10 above the rocker arm supporting rod 7 limits the rocker arm 9 to vertically swing, so that the rocker arm 9 can only swing in a fixed horizontal plane, and the rocker arm 9 is fixedly connected with a wing 8; the high rotating speed output by the motor is reduced by the meshing of the power gear 1 and the transmission gear 2, the transmission gear 2 drives the connecting rod 4 to do reciprocating motion through the rocker 3, the sliding block 12 moves in the slide way, but the rocker 9 is driven to rotate in the same horizontal plane all the time, and therefore flapping of the wings 8 driven by the rocker 9 is achieved.

Further, the frame 13 is formed with a first bar 131 and a second bar 132.

Advantageous effects

1. The miniature flapping wing device with two wings capable of being controlled respectively adopts a bilateral symmetry layout, realizes that two wings flap respectively, and can realize more complex motion.

2. The driving mechanism of the micro flapping wing device with two wings capable of being respectively controlled is of a gear connecting rod structure, and is simple in structure, light in weight and high in reliability.

Drawings

FIG. 1 is a schematic view of a dual-wing individually controllable micro flapping wing device.

Fig. 2 is a schematic structural diagram of a flapping driving mechanism 100 of a micro flapping wing device with two wings capable of being controlled respectively.

Fig. 3 is a schematic view of a mechanism of a frame 13 of a micro flapping wing device with two wings capable of being controlled respectively.

Fig. 4 is a schematic structural diagram of a connecting rod 4 of a micro flapping wing device with two wings capable of being controlled respectively.

Fig. 5 is a schematic structural diagram of a swing arm 9 of a micro flapping-wing device with two wings capable of being controlled respectively.

Fig. 6 is a schematic structural view of a limiting ring 5 of a micro flapping wing device with two wings capable of being controlled respectively.

Fig. 7 is a schematic structural diagram of a sliding block 12 of a micro flapping-wing device with two wings capable of being controlled respectively.

The reference numbers are recorded as follows: 1-power gear, 2-drive gear, 3-rocker, 4-connecting rod, 5-drive gear limit ring, 6-connecting rod limit ring, 7-rocker arm support rod, 8-wing, 9-rocker arm, 10-rocker arm limit ring, 11-towing hook, 12-slide block, 13-frame, 14-towing hook limit ring, 41-upper slideway, 42-lower slideway, 131-first loop bar, 132-second loop bar, 20-external motor,

100-flapping driving mechanism.

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.

As shown in FIGS. 1-7, a micro flapping wing device with two wings capable of being controlled respectively comprises a

frame

13, 2

wings

8 and 2 flapping driving mechanisms 100.

The flapping driving mechanism 100 comprises a power gear 1, a transmission gear 2, a rocker 3, a connecting rod 4, a transmission gear limiting ring 5, a connecting rod limiting ring 6, a rocker supporting rod 7, a rocker 9, a rocker limiting ring 10, a traction hook 11, a sliding block 12 and a traction hook limiting ring 14, wherein the transmission gear 2 is provided with the rocker 3, the connecting rod 4 is provided with an upper slideway 41 and a lower slideway 42, the rocker 9 is provided with a slideway, and 2 sets of the flapping driving mechanisms 100 are symmetrically distributed and installed at the two sides of a frame 13.

The power gear 1 on the flapping driving mechanism 100 is connected with an output shaft of an external motor 20, the external motor 20 is fixed on a rack 13 through a motor sleeve, the power gear 1 is in meshing transmission with a transmission gear 2, the transmission gear 2 and a connecting rod 4 are respectively sleeved on a first sleeve rod 131 and a second sleeve rod 132 of the rack 13 through a transmission gear limiting ring 5 and a connecting rod limiting ring 6, a rocker 3 and a slider 12 can respectively and freely slide in a lower slide way 42 and an upper slide way 41 of the connecting rod 4, a traction hook 11 is installed on the slider 12 through a limiting ring 14, the traction hook 11 can freely rotate, the rocker 9 is connected with the traction hook 11 through a pin and is supported by a rocker supporting rod 7, the limiting ring 10 above the rocker 7 limits the rocker 9 to swing up and down, so that the rocker 9 can only swing in a fixed horizontal plane, the rocker 9 is fixedly connected with a wing rocker 8, high rotating speed output by the external motor 20 is reduced through meshing of the power gear 1 and the transmission gear 2, the rocker 3 on the transmission gear 2 makes a circular motion, the connecting rod 4 is driven, the slider 12 moves in the upper slide way 41, but the wing 9 always rotates in the same horizontal plane, and the flapping mechanism drives the wing 9 to drive the wing 8 to drive the flapping.

The micro flapping wing device with two wings capable of being controlled respectively acts in the following modes:

when the flapping wing power device is used for power flapping, an external motor 20 needs to be connected for driving, a power gear 1 is fixedly installed on an output shaft of the external motor 20, the power gear 1 is meshed with a transmission gear 2, the transmission gear 2 reduces the high rotating speed output by the external motor 20 to a speed suitable for flapping wings, a rocker 3 moves circularly in a lower slide way 42 of a connecting rod 4 and is connected with the transmission gear 2 through the rocker 3 to swing the rocker 4, a sliding block 12 is connected with a traction hook 11 through a traction hook limiting ring 14, the traction hook 11 is connected with a rocker arm 9 through a pin, a rocker arm limiting ring 10 limits a swinging plane above the rocker arm 9, the connecting rod 4 drives the sliding block 12 and the traction hook 11 to swing back and forth when reciprocating, and simultaneously drives the rocker arm 9 to reciprocate, so that the rocker arm 9 drives wings 8 to flap, the two power gears 1, the two transmission gears 2, the two connecting rods 4, the two rocker arm supporting rods 7, the two sliding blocks 12 and the two rocker arms 9 are symmetrically distributed left and right, and the two wing flaps are controlled respectively.

The micro flapping wing device with the two wings capable of being respectively controlled realizes the respective control of the two wings through two sets of gear connecting rod mechanisms, and has the advantages of simple structure and easy control.

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

1. A micro flapping wing device capable of realizing respective control of double wings is characterized by comprising a rack, wings and flapping driving mechanisms, wherein the flapping driving mechanisms are symmetrically arranged at the two sides of the rack;

the flapping driving mechanism comprises a power gear, a transmission gear, a rocker, a connecting rod, a transmission gear limiting ring, a connecting rod limiting ring, a rocker supporting rod, a rocker limiting ring, a traction hook, a sliding block and a traction hook limiting ring, wherein the rocker is arranged on the transmission gear, the connecting rod and the rocker are respectively provided with a slideway,

a power gear on the flapping driving mechanism is connected with an output shaft of an external motor, the power gear is in meshing transmission with a transmission gear, the transmission gear and a connecting rod are installed on a rack through a transmission gear limiting ring and a connecting rod limiting ring respectively, a rocker and a sliding block can slide freely in different slideways of the connecting rod respectively, a traction hook is installed on the sliding block through the limiting ring and can rotate freely, the rocker is connected with the traction hook through a pin and is supported by a rocker supporting rod, the limiting ring is arranged above the rocker supporting rod to limit the rocker to swing up and down, so that the rocker can only swing in a fixed horizontal plane, and the rocker is fixedly connected with a wing; the high rotating speed output by the motor is reduced by meshing the power gear with the transmission gear, the transmission gear drives the connecting rod to do reciprocating motion through the rocker, the sliding block moves in the slide way, but the rocker is driven to rotate in the same horizontal plane all the time, and therefore flapping of wings driven by the rocker is achieved.

2. The micro ornithopter device as claimed in claim 1, wherein the frame has a first sleeve rod and a second sleeve rod.