CN102229359B - Cylindrical cam flapping wing driving mechanism - Google Patents
Cylindrical cam flapping wing driving mechanism Download PDFInfo
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- CN102229359B CN102229359B CN 201110154950 CN201110154950A CN102229359B CN 102229359 B CN102229359 B CN 102229359B CN 201110154950 CN201110154950 CN 201110154950 CN 201110154950 A CN201110154950 A CN 201110154950A CN 102229359 B CN102229359 B CN 102229359B
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Abstract
The invention discloses a cylindrical cam flapping wing driving mechanism. A motor is fixed on a rack and drives a driving gear of a gear speed reduction device; a driven gear of the gear speed reduction device is coaxially and fixedly connected with a transmission shaft; the rack is fixedly connected with a guide rail which is parallel with a transmission shaft; the guide rail is internally provided with a connecting rod which can slide; one end of the connecting rod is articulated with a sliding plate, and the other end of the connecting rod is fixedly connected with a strut; a cylindrical cam is coaxially and fixedly connected at the outer side of the transmission shaft; one or more cycles of periodic curves are wound on the circumference of a cam slot; the sliding pate can slide in the cam slot; a swinging rod mechanism comprises two swinging arms, the middle part of each swinging arm is articulated with swinging arm shafts which are fixedly connected at two sides of the guide rail; one end of each swinging arm is provided with a sliding chute; the strut can slide in a reciprocating mode along the slide chute, and the other end of each swinging arm is connected with a flapping wing beam. By utilizing the mechanism provided by the invention, the complex plane flapping type can be realized, the structure is simple, the weight is light, the reliability is high, complex control is not required, and the mechanism is applicable to a micro flapping aircraft.
Description
Technical field
The present invention relates to a kind of driving mechanism for flapping wing, can be applied to micro flapping wing air vehicle.
Background technology
Micro flapping wing air vehicle is a kind of new ideas aircraft that imitates Bird Flight, it has the advantages such as volume is little, lightweight, use is flexible, efficient is high, if carry sensor and relevant data transmission and flight control system, form the mini-sized flap wings unmanned aerial vehicle platform, will have broad application prospects.Around this problem, various countries have developed the flapping wing aircraft of controllable flight, more successful " Delfly " that " Microbat " that U.S. Aero Vironment company cooperates with the University of California and Dutch Delft university are arranged etc. wherein, but these flapping wing aircrafts have certain distance apart from the aircraft platform of practical Unmanned Aircraft Systems (UAS).
Present flapping wing is fluttered, and can't to simulate comparatively accurately the Bird Flight state be that flapping wing aircraft is difficult to use in one of major reason of Unmanned Aircraft Systems (UAS) to rule.The engine installation that driving mechanism for flapping wing is commonly used mostly is motor or the heat engine of High Rotation Speed, slows down by gear cluster or similar means, will rotatablely move by similar means such as four connecting rods and change the motion of fluttering up and down of certain amplitude into.Because the inherent characteristic of mechanism, left and right sides flapping wing has certain degree of asymmetry, and the characteristics of motion of fluttering up and down that changes by rotatablely moving all is sinusoidal function usually, it is maximum that flapping wing is positioned at the high-low limit position brief acceleration of fluttering, produce the anxious anxious role that stops, the force of inertia that produces is larger, and flight and the driving mechanism for flapping wing itself of flapping wing aircraft had adverse influence: the reverse load that driving mechanism for flapping wing bears is larger, affects reliability and the service life of mechanism; Flapping wing aircraft is subjected to the impact of force of inertia can produce stronger periodicity porpoising and luffing, affects the overall performance of flight stability and aircraft.Therefore, in order to improve the value of service of flapping wing aircraft, wish that driving mechanism for flapping wing can realize the rule of more suitably fluttering, make the acceleration change in the process of fluttering milder.
In addition, studies show that to only have the lower process of pouncing on to produce useful lift and most of thrust in the whole flapping wing flutter cycle, and the aerodynamic force of pouncing on process on the flapping wing has little significance for flight.Therefore, Bird Flight is pounced in the wing process maximum lift and the thrust of wing flattening acquisition when usually being lower pouncing on, and when pouncing on by folding and shrink wing, pack up the adjustings action such as remex and reduce the area of conter of wing, thereby pounce on the adverse effect of process to flying on weakening.What the driving mechanism for flapping wing of existing flapping wing aircraft was realized mostly is the rule of fluttering of up-and-down movement symmetry, is unfavorable for improving the pneumatic efficiency of flapping wing aircraft.The researchist is by changing the structure of flapping wing, can by driving mechanism for flapping wing carry out initiatively folding and stretch imitate birds pounce on the wing rule, the weak point of these class methods is the complexities that increased flapping mechanism, reduced mechanism reliability, increase simultaneously quality and the force of inertia of flapping wing, also be unfavorable for the stability of flying; The researchist also attempt by install additional at flapping wing " joint " that made by elastomeric material make flapping wing can in the process of fluttering, be subjected to passive folding of Aerodynamic force action and stretch imitate birds pounce on the wing rule, the weak point of these class methods is, the rigidity of elastomeric material is difficult to the coupling that is difficult to the flapping wing distortion, under the different frequencies of fluttering, required deflection and the deformation velocity of elastomeric material " joint " also is not quite similar, elastomeric material can not be realized according to the variation of the frequency of fluttering adjusting, also make a discount with regard to the effect that makes elastomeric material " joint ", under some extreme cases, elastomeric material " joint " in addition can occur under pounce on folding, on pounce on the phenomenon of flattening, produce counteraction; Also there is the researchist to realize pouncing on and descend to pounce on the speed difference of motion to improve the overall pneumatic efficiency of whole flutter cycle by the output rule of control driving mechanism for flapping wing engine installation, the deficiency of these class methods is to driving mechanism for flapping wing additional complicated control element and feedback control system, to have increased manufacture difficulty and the cost of driving mechanism for flapping wing.
Summary of the invention
Not high or need complicated control element and the deficiency of feedback control system in order to overcome the prior art pneumatic efficiency, the invention provides a kind of cylindrical cam flapping wing driving mechanism, the plane of realization complexity that can the be simple and reliable rule of fluttering is fit to the application of micro flapping wing air vehicle.
The technical solution adopted for the present invention to solve the technical problems is: comprise frame, motor, gear reducer, cylindrical cam and rocker mechanism.Motor is fixed in frame, and the driving gear of driven wheel retarder, and the driven gear of gear reducer is coaxial affixed with transmission shaft.Be connected with the guide rail that is parallel to transmission shaft on the frame, the connecting rod that can slide, the hinged slidably sheet of connecting rod one end, the affixed pillar of the other end are installed in the guide rail.Cylindrical cam is coaxial to be connected in outside the transmission shaft, is wound with the cam path of a circle or multi-turn cyclic curve on the periphery, and the first derivative of cyclic curve is continuous, and movable slide plate can slide in cam path.Rocker mechanism comprises two rocking arms, and its middle part is hinged with the rocker shaft that is fixed in the guide rail both sides, and rocking arm one end has chute, and pillar can reciprocatingly slide along chute, and the other end is connected with the flapping wing spar.
Described frame is symmetrical integral structure, and the bottom surface has the transmission axis hole No. one, and there are No. two transmission axis holes coaxial with transmission axis hole at the middle part, all is positioned at the symmetrical plane of frame.Frame has the guide rail perpendicular to the bottom surface, and a connecting rod that is parallel to guide rail and can slides in guide rail is housed in the guide rail, and there is symmetrical rocker shaft hole both sides on the guide rail.Frame is installed on the flapping wing aircraft airframe structure.
Described motor adopts dc brushless motor, be fixed in frame, its pivot and gear reducer driving gear are affixed, and it is hinged that transmission shaft passes transmission axis hole and No. two transmission axis holes and frame, affixed with driven gear, driving gear and driven gear engagement form gear reducer.
Between a transmission axis hole and No. two transmission axis holes the coaxial cylindrical cam that is fixed on transmission shaft is arranged, cam path is formed at its periphery, the work profile of cam path is the cyclic curve that twines a circle or multi-turn at the cam circle side face, the number of times of movable slide plate up-and-down movement when the number of turns that cyclic curve twines at cylindrical cam has determined that cylindrical cam rotates a circle, if cyclic curve twines multi-turn at cylindrical cam, then cam mechanism has deceleration effort.The first derivative of described cyclic curve is continuous, avoids movable slide plate along stuck phenomenon occurring in the cam path motion process.Movable slide plate is installed in the connecting rod lower end in the described guide rail, with rod hinge connection, can slide in described cam path, movable slide plate shape of cross section is spindle, and concrete shape makes movable slide plate along not occuring stuck because of the change of cam path direction in the cam path sliding process.The termination that movable slide plate contacts with cam is the circular arc of indent, and arc radius is slightly larger than the cam bottom radius, does not move interference in the cam diametric(al) when movable slide plate is slided in cam path.If cyclic curve passes through same position from different directions in the process that cam twines, so cam path will form in this position movable slide plate have a plurality of may sense of motions without confining region, in the case, movable slide plate width is greater than described width without confining region.Limit movable slide plate width and shape of cross section and be in the situation that cyclic curve twines the movable slide plate of multi-turn at a relatively high speed by without confining region being can be rapidly correct next section confining region that enters cam path.Limiting movable slide plate termination shape and size is in order to increase the area of contact of movable slide plate and cam path, to improve the stability of mechanism's operation, reducing vibration.
Described rocker mechanism has two rocking arms, and its middle part is hinged with the rocker shaft that is fixed in rocker shaft hole.There is chute the rocking arm inboard, and the pillar that is fixed on described small end can reciprocatingly slide along chute.Take rocker shaft as the boundary; rocking arm sideslip slot part cross-sectional plane is less than outside cross-sectional plane; make two rocking arm medial axis distances greater than the outer shaft linear distance; adopting this rocking arm shape is that two rocking arms move interference in mechanism's operational process; thus make the distance of two rocking arms on fore-and-aft direction can be less, reduce the size of whole mechanism fore-and-aft direction.The rocking arm Outboard Sections has blind hole, pegs graft with the flapping wing spar.
The invention has the beneficial effects as follows:
When the present invention moves, by motor-driven retarder driving gear, driving the retarder driven gear rotates, driven gear drives the coaxial cylindrical cam that is connected and rotates, cylindrical cam is pressed shape up-and-down movement in guide rail of line tracking in the cam path by movable slide plate drivening rod, the pillar of the connecting rod other end is crank motion in the rocking arm chute, drives that two rocking arms are symmetrical flutters up and down, thereby drives flapping wing.
The present invention cooperates with rocker mechanism by cylindrical cam mechanism, has finished the motion change of being fluttered up and down by the rocking arm that rotatablely moves of motor output.Because left and right sides rocking arm moves under same support function, therefore fluttering has very high symmetry, helps to improve the stability of using flapping wing aircraft of the present invention.
The cam path track of cylindrical cam of the present invention is formed by cyclic curve, to the track less-restrictive, and can be according to the needs design cycle curve of the rule of fluttering.Concrete method is, at first determines the characteristics of motion of rocking arm according to the rule of fluttering, and determines up-and-down movement change with time and the curve plotting of connecting rod according to Analytical Methods of Kinematics, checks the continuity of curve first derivative.Because in the situation that motor speed is certain, cam is uniform rotation, therefore as long as the curve that will draw is wrapped in the cylindrical cam that the end to end work profile of formations on the cam can obtain to realize presetting the rule of fluttering.Thus, the present invention can realize making rocking arm realize lower pounce on pounce on fast slow, acceleration/accel smooth variation and fluttering the relatively plane of the complexity form of fluttering such as compound grade of gliding, simultaneously simple in structure, lightweight, reliability is high, do not need complicated control, be fit to be applied to micro flapping wing air vehicle.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is that cylindrical cam twines the cyclic curve schematic diagram;
Fig. 3 is that cam path intersects without the confining region schematic diagram;
Fig. 4 is movable slide plate schematic diagram;
Fig. 5 is connecting rod rocking arm schematic diagram;
Among the figure: 1-frame, transmission axis hole of 1A-, No. two transmission axis holes of 1B-, 2-motor, 3-driving gear, 4-driven gear, 5-cylindrical cam, 5A, 5B-cyclic curve, 5 ', 5 "-cam path intersects without confining region; the movable slide plate 7-of 6-connecting rod, 7A-pillar, 8,8 '-rocking arm, 8A-blind hole.
The specific embodiment
Cylindrical cam flapping wing driving mechanism of the present invention comprises frame 1, motor 2, gear reducer, cylindrical cam mechanism and rocker mechanism.
The symmetrical integral structure that described frame 1 is made for the Alclad numerical control machining, bottom surface have transmission axis hole 1A and motor mounting hole, and both axis are parallel, all are positioned at the symmetrical plane of frame.Frame has the guide rail perpendicular to the bottom surface, is equipped with one in the guide rail and is parallel to guide rail and the connecting rod 7 that can slide in guide rail, and there is symmetrical rocker shaft hole the guide rail both sides, and central rack has No. two transmission axis hole 1Bs coaxial with transmission axis hole 1A.There is fixed orifice rear and the top of frame, are installed on the support bulkhead of flapping wing aircraft fuselage by screw or pin.
Dc brushless motor 2 is installed on frame 1 by described motor mounting hole with screw, its pivot stretches out with gear reducer driving gear 3 affixed downwards from the frame bottom, it is hinged that transmission shaft passes transmission axis hole 1A and No. two transmission axis hole 1B and frame, affixed with driven gear 4 below frame 1, driving gear 3 forms gear reducer with driven gear 4 engagements.Gear reducer driving gear 3 is made by brass, and driven gear 4 is made by the POM engineering plastics.The reduction ratio of gear reducer need to be taken into consideration with the reduction ratio of cylindrical cam mechanism, and both total reduction gear ratios are the flutter ratio of frequency of machine operation speed under load and flapping wing design.
Between a transmission axis hole 1A and No. two transmission axis hole 1B the coaxial cylindrical cam 5 that is fixed on transmission shaft is arranged, made by the POM engineering plastics.Cam path is formed at its periphery, finished by numerical control machining, the work profile of cam path is the cyclic curve that twines a circle or multi-turn at the cam circle side face, the number of turns that cyclic curve twines at cylindrical cam has determined that cylindrical cam rotates a circle, the number of times of movable slide plate 6 up-and-down movements, if cyclic curve twines multi-turn at cylindrical cam, then cam mechanism has deceleration effort, as previously mentioned, the reduction ratio of cylindrical cam need to be taken into consideration with the reduction ratio of gear reducer.The first derivative of described cyclic curve is continuous.
Movable slide plate 6 is installed in connecting rod 7 lower ends in the described guide rail, and is hinged with connecting rod 7, can slide in described cam path, and movable slide plate 6 shape of cross sections are spindle, and the termination that contacts with cam is the circular arc of indent, and arc radius is slightly larger than the cam bottom radius.If cyclic curve passes through same position from different directions in the process that cam twines, so cam path will form in this position movable slide plate have a plurality of may sense of motions without confining region 5 ' 5 "; in the case, movable slide plate width is greater than described width without confining region.
Described rocker mechanism has two rocking arms 8,8 ', is formed by the Alclad numerical control machining, and its middle part is hinged with the rocker shaft that is fixed in rocker shaft hole.There is chute rocking arm 8,8 ' inboard, and the pillar 7A that is fixed on described connecting rod 7 upper ends can reciprocatingly slide along chute.Take rocker shaft as the boundary, rocking arm sideslip slot part cross-sectional plane makes two rocking arm medial axis distance greater than the outer shaft linear distance less than outside cross-sectional plane.The rocking arm Outboard Sections has blind hole 8A, pegs graft with the flapping wing spar.
Shape by the design cycle curve can realize the required rule of fluttering.Concrete method is, at first determines the characteristics of motion of rocking arm according to the rule of fluttering, and determines up-and-down movement change with time and the curve plotting of connecting rod according to Analytical Methods of Kinematics, checks the continuity of curve first derivative.Because in the situation that motor speed is certain, cam is uniform rotation, therefore as long as the curve that will draw is wrapped in the cylindrical cam that the end to end work profile of formations on the cam can obtain to realize presetting the rule of fluttering.That shown in Figure 2 is the cosine curve 5A 5B of two kinds of different cycles, be wrapped in the cam path that forms on the cam and can realize that the symmetrical sine rule of rocking arm flutters up and down, the speed that the different cycles can make the same rotating speed lower shake-changing arm of motor flutter up and down is different with acceleration/accel, the amplitude of adjustment cycle curve, can change the amplitude that rocking arm is fluttered up and down, different curve shapes can obtain the different Changing Pattern of speed of fluttering in the flutter cycle.
When the present invention moves, be dc brushless motor power supply by poly-lithium battery, be subjected to the dc brushless motor 2 of machine governor control to drive retarder driving gear 3, driving retarder driven gear 4 rotates, driven gear 4 drives the coaxial cylindrical cam that is connected 5 and rotates, cylindrical cam 5 is pressed shape up-and-down movement in guide rail of line tracking in the cam path by movable slide plate 6 drivening rods 7, the pillar 7A of the connecting rod other end is crank motion in rocking arm 8,8 ' chute, drive that two rocking arms are symmetrical flutters up and down, thereby drive flapping wing.
Claims (5)
1. cylindrical cam flapping wing driving mechanism, comprise frame, motor, gear reducer, cylindrical cam and rocker mechanism, it is characterized in that: motor is fixed in frame, and the driving gear of driven wheel retarder, and the driven gear of gear reducer is coaxial affixed with transmission shaft; Be connected with the guide rail that is parallel to transmission shaft on the frame, the connecting rod that can slide, the hinged slidably sheet of connecting rod one end, the affixed pillar of the other end are installed in the guide rail; Cylindrical cam is coaxial to be connected in outside the transmission shaft, is wound with the cam path of a circle or multi-turn cyclic curve on the periphery, and the first derivative of cyclic curve is continuous, and movable slide plate can slide in cam path; Rocker mechanism comprises two rocking arms, and its middle part is hinged with the rocker shaft that is fixed in the guide rail both sides, and rocking arm one end has chute, and pillar can reciprocatingly slide along chute, and the other end is connected with the flapping wing spar.
2. according to utilizing cylindrical cam flapping wing driving mechanism claimed in claim 1, it is characterized in that: described frame is symmetrical integral structure, the bottom surface has the transmission axis hole No. one, and there are No. two transmission axis holes coaxial with transmission axis hole at the middle part, all is positioned at the symmetrical plane of frame; Frame has perpendicular to the bottom surface and is positioned at the guide rail of the symmetrical plane of frame, and a connecting rod that is parallel to guide rail and can slides in guide rail is housed in the guide rail, and there is symmetrical rocker shaft hole the both sides of guide rail, and frame is installed on the flapping wing aircraft airframe structure.
3. according to utilizing cylindrical cam flapping wing driving mechanism claimed in claim 2, it is characterized in that: described motor adopts dc brushless motor, be fixed in frame, its pivot and gear reducer driving gear are affixed, it is hinged that transmission shaft passes transmission axis hole and No. two transmission axis holes and frame, affixed with driven gear, driving gear and driven gear engagement form gear reducer.
4. according to utilizing cylindrical cam flapping wing driving mechanism claimed in claim 1, it is characterized in that: the number of times of movable slide plate up-and-down movement when the number of turns that described cyclic curve twines at cylindrical cam has determined that cylindrical cam rotates a circle, if cyclic curve twines multi-turn at cylindrical cam, then cam mechanism has deceleration effort; The first derivative of described cyclic curve is continuous, movable slide plate is installed in the connecting rod lower end in the described guide rail, can slide in described cam path, movable slide plate shape of cross section is spindle, and concrete shape makes movable slide plate along not occuring stuck because of the change of cam path direction in the cam path sliding process; The termination that movable slide plate contacts with cam is the circular arc of indent, and arc radius is slightly larger than the cam bottom radius, does not move interference in the cam diametric(al) when movable slide plate is slided in cam path; If cyclic curve passes through same position from different directions in the process that cam twines, so cam path will form in this position movable slide plate have a plurality of may sense of motions without confining region, in the case, movable slide plate width is greater than described width without confining region.
5. according to utilizing cylindrical cam flapping wing driving mechanism claimed in claim 1, it is characterized in that: described rocking arm middle part is hinged with the rocker shaft that is fixed in rocker shaft hole, take rocker shaft as the boundary; rocking arm sideslip slot part cross-sectional plane is less than outside cross-sectional plane; make two rocking arm medial axis distance greater than the outer shaft linear distance; the rocking arm Outboard Sections has blind hole, pegs graft with the flapping wing spar.
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| CN 201110154950 CN102229359B (en) | 2011-06-09 | 2011-06-09 | Cylindrical cam flapping wing driving mechanism |
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| CN 201110154950 CN102229359B (en) | 2011-06-09 | 2011-06-09 | Cylindrical cam flapping wing driving mechanism |
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| CN102229359A CN102229359A (en) | 2011-11-02 |
| CN102229359B true CN102229359B (en) | 2013-04-17 |
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