CN102211665A - Micro dragonfly-imitating dual-flapping wing aircraft - Google Patents
Micro dragonfly-imitating dual-flapping wing aircraft Download PDFInfo
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Abstract
The invention relates to a micro dragonfly-imitating dual-flapping wing aircraft which mainly consists of a rack, a front flapping wing system and a rear flapping wing system. A pinion (17) and a large gear (16) are in meshing transmission; the large gear (16) is fixedly connected with a runner (14) through a transmission shaft (15) at an adjustable angle (36); the large gear (16), a connection rod a (23), a front right rocker (24) with a sector gear, a Y-shaped front bracket (18), a runner (14), a connection rod b (34), a rear right rocker (33) with sector gear and a Y-shaped rear bracket (20) form a crank rocker mechanism respectively; and the front and rear flapping wing systems are in meshing transmission through the sector gears to realize symmetric flapping. Compared with the prior art, the micro dragonfly-imitating dual-flapping wing aircraft provided by the invention has the advantages that: the two flapping wings are driven by a single motor in a simple and compact structure, the flapping of the front and rear flapping wing systems is completely symmetric, the flapping phase difference of the front and rear flapping wing systems can be adjusted as necessary to as to perfectly imitate the flexible flapping flying of dragonfly, and the like.
Description
Technical field
The present invention relates to a kind of flapping wing aircraft, relate in particular to the two flapping wing aircrafts of a kind of miniature imitative dragonfly.
Background technology
The flying method of flapping wing extensively is present among the biological flight of realm of nature flight, and the advantage of fixed-wing flight and rotor flight has been included in flapping flight, can take off, quicken and hover by fast speed, has high mobility and alerting ability.The biological flying method of flight roughly can be divided three classes: low-frequency flight of fluttering, so much type birds (hawk, vulture, wild goose, sea-gull, swan etc.), the span is long bigger, the frequency of fluttering is lower, do not wait from zero to tens of hertz, adopt low-frequency form of fluttering of fluttering and gliding and combining; The flight of fluttering of intermediate frequency is mainly the medium birds of the bodily form (as swallow, sparrow, pigeon etc.), and wing is not too big, and the frequency of fluttering is higher relatively, seldom adopts the glide mode; The flight of fluttering of high frequency, this flying method is the flapping wing form that adopts the characteristics of motion complexity of very high frequency, wing, as hummingbird and littler birds and the most of insect of the bodily form, the frequency of fluttering is about 60～80 hertz, can aloft realize advancing, retreat, hover and maneuvering flight that some other is highly difficult.
Minitype bionic flapping wing aircraft (in the general 10cm), it has exceeded traditional Flight Vehicle Design and aerodynamic research category on application engineering, has started the application of micro electro mechanical system (MEMS) technology (MEMS) at aviation field simultaneously.The efficient mini bionic flapping-wing flying vehicle that design and manufacturing have the good dynamics characteristic is a present challenging research difficult problem as rich as Croesus.
At present, general minitype bionic flapping wing aircraft major part only relies on a pair of flapping wing to produce lift and thrust, and efficient is lower, the flight underaction.And two flapping flights of imitative dragonfly Yan: on the one hand, before and after it sized flap wings system about to flutter be that symmetry is fluttered, and the front and back sized flap wings system is to flutter according to an adjustable phase difference, thereby realizes flying flexibly.On the other hand, the frequency of fluttering is very fast, can reach 60～80 hertz, and general DC micromotor rated speed of rotation is about 300-400 revolutions per second, so reduction ratio about 4～7, can be realized by the less one-level gear transmission of size fully.Patent CN200942872Y provides a kind of imitative dragonfly Yan two flapping wing aircrafts, but the defective of the two flapping wing aircrafts of the imitative dragonfly Yan that this patent provided is very obvious: on the one hand, left and right sides flapping wing of sized flap wings system is fluttered asymmetric fully before and after it, the right side (left side) flapping wing was but fluttered downwards when a left side (right side) flapping wing was upwards fluttered, and sized flap wings system is fully oppositely to flutter before and after it, cause aircraft flight stability very poor, even can not aerial flight.On the other hand, this patent is not at the minute vehicle design-calculated, and it adopts the multi-stage gear transmission, and the layout volume is bigger, and structure is heavy, is unfavorable for micro-miniaturisation.
Summary of the invention
Purpose of the present invention is exactly in order to overcome the defective that above-mentioned prior art exists, provide a kind of and realize the two flapping wings of single motor-driven with simple compact design, before and after sized flap wings system about the symmetry fully of fluttering all, and the two flapping wing aircrafts of miniature imitative dragonfly Yan that can adjust as required of the phase difference of fluttering of front and back sized flap wings system.
Purpose of the present invention can be achieved through the following technical solutions: the two flapping wing aircrafts of a kind of miniature imitative dragonfly, it is characterized in that, and mainly form by frame, preceding sized flap wings system, back sized flap wings system; Described frame mainly is made up of Y type front frame 18, support beam 19, Y type after poppet 20, external form main support 21; Sized flap wings system mainly is made up of the preceding right rocking bar 24 of motor 4, miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, bearing pin b25, bearing pin d27, band quadrant gear, preceding left rocking bar 28, preceding right flapping wing 8, preceding left flapping wing 6 and control module 3, the battery 7 of band quadrant gear before described; Described back sized flap wings system mainly is made up of back right rocking bar 33, back left rocking bar 29, the right flapping wing 9 in back, the left flapping wing 5 in back and the control module 3 of band quadrant gear, the battery 7 of motor 4, miniature gears 17, big gear wheel 16, transmission main shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, bearing pin g32, bearing pin e30, band quadrant gear.
The external form main support 21 of described frame is captiveed joint with Y type front frame 18, Y type after poppet 20 respectively, and support beam 19 is captiveed joint with Y type front frame 18, Y type after poppet 20 respectively.
Described transmission shaft 15 is captiveed joint with big gear wheel 16, transmission shaft 15 and runner 14 are connected in the mode of circumferentially regulating angle 36 sizes along transmission shaft 15, transmission shaft 15 and Y type front frame 18, Y type after poppet 20 are connected by revolute pair, miniature gears 17 is connected in the rotating shaft of motor 4, miniature gears 17 and big gear wheel 16 engaged transmission.
Described bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35 are connected and form angle 36, and being connected of runner 14 and transmission shaft 15 can circumferentially be regulated to change the size of angle 36 along transmission shaft 15, the phase difference of fluttering of flapping wing before and after being used to change.
Described big gear wheel 16 is connected with revolute pair with connecting rod a23 by bearing pin a22, connecting rod a23 is connected with revolute pair with the preceding right rocking bar 24 of being with quadrant gear by bearing pin c26, the preceding right rocking bar 24 of band quadrant gear is connected with revolute pair by bearing pin b25 and Y type front frame 18, and preceding right flapping wing 8 is connected with the preceding right rocking bar 24 of being with quadrant gear.
The preceding left rocking bar 28 of the preceding right rocking bar 24 of described band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission, the preceding left rocking bar 28 of band quadrant gear is connected with revolute pair by bearing pin d27 and Y type front frame 18, and preceding left flapping wing 6 is connected with the preceding left rocking bar 28 of being with quadrant gear.
Described runner 14 is connected with revolute pair with connecting rod b34 by bearing pin h35, connecting rod b34 is connected with revolute pair with the back right rocking bar 33 of being with quadrant gear by bearing pin f31, the back right rocking bar 33 of band quadrant gear is connected with revolute pair by bearing pin g32 and Y type after poppet 20, and the right flapping wing 9 in back is connected with the back right rocking bar 33 of being with quadrant gear.
The back left rocking bar 29 of the back right rocking bar 33 of described band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission, the back left rocking bar 29 of band quadrant gear is connected with revolute pair by bearing pin e30 and Y type after poppet 20, and the left flapping wing 5 in back is connected with the back left rocking bar 29 of being with quadrant gear.
Compared with prior art, the distinguishing feature of the present invention is: by the two flapping wings of single motor-driven; The symmetry fully of fluttering all of preceding sized flap wings system and back sized flap wings system; The phase difference of fluttering of front and back sized flap wings system can be adjusted as required, to realize the flight of fluttering flexibly of highly bionical dragonfly Yan.Realize complicated two flapping flight campaigns with simple compact design, this point is particularly important for minute vehicle, meets the micro-miniaturisation direction of minute vehicle.
Description of drawings
Fig. 1 is the two flapping wing aircraft integral structure scheme drawings of the miniature imitative dragonfly Yan of the present invention;
Fig. 2 is the two flapping wing aircraft rack construction scheme drawings of the miniature imitative dragonfly of the present invention;
Fig. 3 is the preceding sized flap wings system scheme drawing (front elevation) of the two flapping wing aircrafts of the miniature imitative dragonfly Yan of the present invention;
Fig. 4 is a sized flap wings system scheme drawing (back view) behind the two flapping wing aircrafts of the miniature imitative dragonfly Yan of the present invention;
Fig. 5 is the phase difference control system scheme drawing of fluttering of flapping wing before and after the two flapping wing aircrafts of the miniature imitative dragonfly Yan of the present invention.
Among Fig. 1, label is represented to the contents are as follows: direction steering wheel 1, lifting steering wheel 2, control module 3, motor 4, the left flapping wing 5 in back, preceding left flapping wing 6, battery 7, preceding right flapping wing 8, the right flapping wing 9 in back, fixed fin 10, yaw rudder 11, horizontal stabilizer 12, elevating rudder 13;
Among Fig. 2, label is represented to the contents are as follows: runner 14, transmission shaft 15, big gear wheel 16, miniature gears 17, Y type front frame 18, support beam 19, Y type after poppet 20, external form main support 21;
Among Fig. 3, label is represented to the contents are as follows: the preceding left rocking bar 28 of the preceding right rocking bar 24 of bearing pin a22, connecting rod a23, band quadrant gear, bearing pin b25, bearing pin c26, bearing pin d27, band quadrant gear;
Among Fig. 4, label is represented to the contents are as follows: back right rocking bar 33, connecting rod b34, the bearing pin h35 of the back left rocking bar 29 of band quadrant gear, bearing pin e30, bearing pin f31, bearing pin g32, band quadrant gear;
Among Fig. 5, label is represented to the contents are as follows: bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, the formation angle 36 that is connected, being connected of runner 14 and transmission shaft 15 can circumferentially be regulated to change the sizes of angle 36 along transmission shaft 15.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
Shown in Fig. 1-5, the two flapping wing aircrafts of the miniature imitative dragonfly of the present invention mainly are made up of frame, preceding sized flap wings system, back sized flap wings system and empennage system.Frame mainly is made up of Y type front frame 18, support beam 19, Y type after poppet 20, external form main support 21; Preceding sized flap wings system mainly is made up of the preceding right rocking bar 24 of motor 4, miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, bearing pin b25, bearing pin d27, band quadrant gear, preceding left rocking bar 28, preceding right flapping wing 8, preceding left flapping wing 6 and control module 3, the battery 7 of band quadrant gear; Back sized flap wings system mainly is made up of back right rocking bar 33, back left rocking bar 29, the right flapping wing 9 in back, the left flapping wing 5 in back and the control module 3 of band quadrant gear, the battery 7 of motor 4, miniature gears 17, big gear wheel 16, transmission main shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, bearing pin g32, bearing pin e30, band quadrant gear; The steering swivel system that the afterbody system mainly is made up of direction steering wheel 1, fixed fin 10, yaw rudder 11 and form by the jacking system that lifting steering wheel 2, horizontal stabilizer 12, elevating rudder 13 are formed.
Described external form main support 21 is connected with Y type front frame 18, Y type after poppet 20 respectively, and support beam 19 is connected with Y type front frame 18, Y type after poppet 20 respectively.
Described transmission shaft 15 and big gear wheel 16 are connected, transmission shaft 15 and runner 14 to be being connected along the modes that transmission shaft 15 is circumferentially regulated angle 36 sizes, transmission shaft 15 and Y type front frame 18, Y type after poppet 20 are connected by revolute pair, miniature gears 17 is connected in the rotating shaft of motor 4, miniature gears 17 and big gear wheel 16 engaged transmission.
Described big gear wheel 16 is connected with revolute pair with connecting rod a23 by bearing pin a22, connecting rod a23 is connected with revolute pair with the preceding right rocking bar 24 of being with quadrant gear by bearing pin c26, the preceding right rocking bar 24 of band quadrant gear is connected with revolute pair by bearing pin b25 and Y type front frame 18, and preceding right flapping wing 8 is connected with the preceding right rocking bar 24 of being with quadrant gear.
The preceding left rocking bar 28 of the preceding right rocking bar 24 of described band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission, the preceding left rocking bar 28 of band quadrant gear is connected with revolute pair by bearing pin d27 and Y type front frame 18, and preceding left flapping wing 6 is connected with the preceding left rocking bar 28 of being with quadrant gear.
Described runner 14 is connected with revolute pair with connecting rod b34 by bearing pin h35, connecting rod b34 is connected with revolute pair with the back right rocking bar 33 of being with quadrant gear by bearing pin f31, the back right rocking bar 33 of band quadrant gear is connected with revolute pair by bearing pin g32 and Y type after poppet 20, and the right flapping wing 9 in back is connected with the back right rocking bar 33 of being with quadrant gear.
The back left rocking bar 29 of the back right rocking bar 33 of described band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission, the back left rocking bar 29 of band quadrant gear is connected with revolute pair by bearing pin e30 and Y type after poppet 20, and the left flapping wing 5 in back is connected with the back left rocking bar 29 of being with quadrant gear.
Described bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35 are connected and form angle 36, and being connected of runner 14 and transmission shaft 15 can circumferentially be regulated to change the size of angle 36 along transmission shaft 15, the phase difference of fluttering of flapping wing before and after being used to change.
A preferred embodiment of the present invention such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, the two flapping wing aircrafts of miniature imitative dragonfly Yan, mainly forms, can constitute two flapping wings and flutter and move and turning to pitching of aircraft flown by frame, preceding sized flap wings system, back sized flap wings system and empennage system.
Two flapping wings turning to of motion and aircraft of fluttering flown as follows with pitching:
The motion of fluttering of two flapping wings: right flapping wing 8 was fluttered before motor 4 drove by miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, the preceding right rocking bar 24 of band quadrant gear, bearing pin b25; Motor 4 drives preceding left flapping wing 6 and flutters by preceding right rocking bar 24, the preceding left rocking bar 28 of band quadrant gear, the bearing pin d27 of miniature gears 17, big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, bearing pin b25, band quadrant gear; Wherein, miniature gears 17 and big gear wheel 16 engaged transmission, the preceding right rocking bar 24 of big gear wheel 16, bearing pin a22, connecting rod a23, bearing pin c26, band quadrant gear, bearing pin b25, Y type front frame 18 are formed the quadric linkage transmission, and the preceding left rocking bar 28 of the preceding right rocking bar 24 of band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission.Motor 4 drives the right flapping wing 9 in back and flutters by miniature gears 17, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, the back right rocking bar 33 of band quadrant gear, bearing pin g32; Motor 4 drives the left flapping wing 5 in back and flutters by back right rocking bar 33, bearing pin g32, the back left rocking bar 29 of band quadrant gear, the bearing pin e30 of miniature gears 17, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, connecting rod b34, bearing pin f31, band quadrant gear; Wherein, miniature gears 17 and big gear wheel 16 engaged transmission, big gear wheel 16 is passed to runner 14 to motion by transmission shaft 15, the back right rocking bar 33 of runner 14, bearing pin h35, connecting rod b34, bearing pin f31, band quadrant gear, bearing pin g32, Y type after poppet 20 are formed the quadric linkage transmission, and the back left rocking bar 29 of the back right rocking bar 33 of band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission.
By changing the be connected size of the angle 36 that forms of bearing pin a22, big gear wheel 16, transmission shaft 15, runner 14, bearing pin h35, the phase difference of fluttering of flapping wing before and after can changing, the coordination that is used to the to optimize two flapping wings flight of fluttering.
Turn to and the pitching of aircraft are flown: direction of passage steering wheel 1 control yaw rudder 11 is realized turning to of aircraft, realizes the lifting of aircraft by elevating rudder 2 control elevating rudders 13.
Claims (8)
1. the two flapping wing aircrafts of miniature imitative dragonfly is characterized in that, mainly are made up of frame, preceding sized flap wings system, back sized flap wings system; Described frame mainly is made up of Y type front frame (18), support beam (19), Y type after poppet (20), external form main support (21); Sized flap wings system mainly is made up of the preceding right rocking bar (24) of motor (4), miniature gears (17), big gear wheel (16), bearing pin a (22), connecting rod a (23), bearing pin c (26), bearing pin b (25), bearing pin d (27), band quadrant gear, preceding left rocking bar (28), preceding right flapping wing (8), preceding left flapping wing (6) and control module (3), the battery (7) of band quadrant gear before described; Described back sized flap wings system mainly is made up of back right rocking bar (33), back left rocking bar (29), back right flapping wing (9), back left flapping wing (5) and the control module (3) of band quadrant gear, the battery (7) of motor (4), miniature gears (17), big gear wheel (16), transmission main shaft (15), runner (14), bearing pin h (35), connecting rod b (34), bearing pin f (31), bearing pin g (32), bearing pin e (30), band quadrant gear.
2. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 1, it is characterized in that, the external form main support (21) of described frame is captiveed joint with Y type front frame (18), Y type after poppet (20) respectively, and support beam (19) is captiveed joint with Y type front frame (18), Y type after poppet (20) respectively.
3. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 1 are a kind of, it is characterized in that, described transmission shaft (15) is captiveed joint with big gear wheel (16), transmission shaft (15) and runner (14) are connected in the mode of circumferentially regulating angle (36) size along transmission shaft (15), transmission shaft (15) is connected by revolute pair with Y type front frame (18), Y type after poppet (20), miniature gears (17) is connected in the rotating shaft of motor (4), miniature gears (17) and big gear wheel (16) engaged transmission.
4. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 3, it is characterized in that, described bearing pin a (22), big gear wheel (16), transmission shaft (15), runner (14), bearing pin h (35) are connected and form angle (36), being connected of runner (14) and transmission shaft (15) can circumferentially be regulated to change the size of angle (36) along transmission shaft (15), the phase difference of fluttering of flapping wing before and after being used to change.
5. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 1, it is characterized in that, described big gear wheel (16) is connected with revolute pair with connecting rod a (23) by bearing pin a (22), connecting rod a (23) is connected with revolute pair with the preceding right rocking bar (24) of band quadrant gear by bearing pin c (26), the preceding right rocking bar (24) of band quadrant gear is connected with revolute pair with Y type front frame (18) by bearing pin b (25), and the preceding right rocking bar (24) of preceding right flapping wing (8) and band quadrant gear is connected.
6. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 1, it is characterized in that, the preceding left rocking bar (28) of the preceding right rocking bar (24) of described band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission, the preceding left rocking bar (28) of band quadrant gear is connected with revolute pair with Y type front frame (18) by bearing pin d (27), and the preceding left rocking bar (28) of preceding left flapping wing (6) and band quadrant gear is connected.
7. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 1, it is characterized in that, described runner (14) is connected with revolute pair with connecting rod b (34) by bearing pin h (35), connecting rod b (34) is connected with revolute pair with the back right rocking bar (33) of band quadrant gear by bearing pin f (31), the back right rocking bar (33) of band quadrant gear is connected with revolute pair with Y type after poppet (20) by bearing pin g (32), and the back right rocking bar (33) of back right flapping wing (9) and band quadrant gear is connected.
8. the two flapping wing aircrafts of a kind of miniature imitative dragonfly according to claim 1, it is characterized in that, the back left rocking bar (29) of the back right rocking bar (33) of described band quadrant gear and band quadrant gear is by the quadrant gear engaged transmission, the back left rocking bar (29) of band quadrant gear is connected with revolute pair with Y type after poppet (20) by bearing pin e (30), and the back left rocking bar (29) of back left flapping wing (5) and band quadrant gear is connected.
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| CN 201010140927 CN102211665B (en) | 2010-04-07 | 2010-04-07 | Micro dragonfly-imitating dual-flapping wing aircraft |
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| CN 201010140927 CN102211665B (en) | 2010-04-07 | 2010-04-07 | Micro dragonfly-imitating dual-flapping wing aircraft |
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