CN104369864A - Miniature insect-like double-rotation flapping wing air vehicle - Google Patents
Miniature insect-like double-rotation flapping wing air vehicle Download PDFInfo
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- CN104369864A CN104369864A CN201410663709.XA CN201410663709A CN104369864A CN 104369864 A CN104369864 A CN 104369864A CN 201410663709 A CN201410663709 A CN 201410663709A CN 104369864 A CN104369864 A CN 104369864A
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Abstract
The invention relates to a miniature insect-like double-rotation flapping wing air vehicle. The miniature insect-like double-rotation flapping wing air vehicle comprises a rack, a flapping-wing rotary transmission system, a left-side front-rear flapping system, a right-side front-rear flapping system and a tail-wing system, wherein a motor b drives a left-side front flapping wing, a left-side rear flapping wing, a right-side front flapping wing and a right-side rear flapping wing to flap at high frequency by a gear b, a gear c, a worm, a front turbine, a rear turbine, a front two-end corner shaft and a rear two-end corner shaft. A motor a drives the left-side front flapping wing, the left-side rear flapping wing, the right-side front flapping wing and the right-side rear flapping wing to move in a rotating manner by a gear a, a gear f, a gear d, a gear e, a transmission shaft, a gear h, a gear g and a gear i. Compared with the prior art, the miniature insect-like double-rotation flapping wing air vehicle has the advantages that each flapping wing can move in a rotating manner; the transmission of the turbines and the worm has self-locking performance; complete symmetry of flapping of the left-side flapping wing and the right-side flapping wing is realized by the turbines and the worm; and a flapping mechanism formed by the two-end corner shafts and cylindrical supporting rods is simple in structure and flexible in flapping.
Description
Technical field
The present invention relates to bionic field, especially relate to a kind of miniature imitative insect dual rotary flapping wing aircraft.
Background technology
The flying method of flapping wing is extensively present among the flight of realm of nature flying creature, and flapping flight enumerates the advantage of fixed-wing flight and rotor flying, can take off, accelerates and hovers by fast speed, have high mobility and alerting ability.The flying method of flying creature roughly can be divided three classes: low-frequency flight of fluttering, so many large birds (hawk, vulture, wild goose, sea-gull, swan etc.), the span is longer larger, frequency of fluttering is lower, from zero to tens of Hertz not etc., low-frequency form of fluttering combined of fluttering and glide is adopted; 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 large, and frequency of fluttering is relatively high, few employing glide mode; The flight of fluttering of high frequency, this flying method is the flapping wing form of the characteristics of motion complexity adopting very high frequency, wing, as hummingbird and the less birds of the bodily form and most insects, frequency of fluttering is about 60 ~ 80 hertz, can realize advance aloft, retreats, hover and some other highly difficult maneuvering flight.
Bionic flying micro-robot (within general 10cm), on application engineering, it is beyond traditional Flight Vehicle Design and aerodynamic research category, 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 manufacture has good dynamics characteristic is current challenging research puzzle as rich as Croesus.
In order to make micro flapping wing air vehicle volume little as far as possible, the flutter design plan of flight of imitative insect high frequency is adopted to be more rational.At present, general bionic flying micro-robot major part only relies on a pair flapping wing to produce lift and thrust, and efficiency is lower, flight underaction, and two flapping wing aircraft is owing to having two teams' flapping wing, and efficiency is higher, controllability is strong, flight is more flexible.Propose a kind of miniature single flapping wing aircraft in patent CN100430297C, the principal feature of this aircraft adopts turbine and worm transmission device, feature be there is self-locking performance, transmitting ratio is high, left and right flapping wing symmetry is good.Patent CN200942872Y provides the two flapping wing aircraft of a kind of imitative dragonfly Yan, but the two flapping wing aircraft of the imitative dragonfly Yan that above-mentioned patent provides has obvious shortcoming, before and after it, the left and right flapping wing of sized flap wings system is fluttered completely asymmetric, left (right side) flapping wing upwards flutter while the right side (left side) flapping wing but flutter downwards, and sized flap wings system is completely oppositely fluttered before and after it, cause aircraft flight less stable, even can not aerial flight.In addition, these existing flapping wings inventing the flapping wing aircraft provided are all that one dimension is fluttered, and namely whole flapping wing all can not rotate, thus sporting flying underaction.
Summary of the invention
Object of the present invention is exactly provide a kind of compact conformation, volume little to overcome defect that above-mentioned prior art exists, and flutter Striking symmetry and whole flapping wing of left and right can rotate, by motor-driven miniature imitative insect dual rotary flapping wing aircraft.
Object of the present invention can be achieved through the following technical solutions:
A kind of miniature imitative insect dual rotary flapping wing aircraft, is made up of frame, turbine and worm driving system, flapping wing rotary drive system, system of fluttering and empennage system,
Described frame forms primarily of gear case, girder, cylinder ring a, cylinder ring b, cylinder ring c, cylinder ring d; Described turbine and worm driving system is primarily of gear case, motor b, motor shaft b, gear b, gear c, worm screw, front turbine, rear turbine, turning, front two axle, turning, rear two axle composition;
Described flapping wing rotary drive system forms primarily of motor a, motor shaft a, gear a, gear d, gear e, gear f, transmission shaft, gear h, gear g, gear i;
The described system of fluttering is fluttered before comprising left side that fluttering behind system, left side flutters before system, right side and to flutter behind system, right side system, wherein, system of fluttering before left side forms primarily of flapping wing 10 before the rocker bearing c be connected with gear f, rocker bearing d, rocking bar c, rocking bar d, cylinder pole c, cylinder pole d, left side: system of fluttering behind described left side forms primarily of flapping wing 9 behind the rocker bearing a be connected with gear d, rocker bearing b, rocking bar a, rocking bar b, cylinder pole a, cylinder pole b, left side; System of fluttering before described right side forms primarily of flapping wing before the rocker bearing e be connected with gear g, rocker bearing f, rocking bar e, rocking bar f, cylinder pole e, cylinder pole f, right side; System of fluttering behind described right side is primarily of flapping wing composition behind gear i, turning, rear two axle, rocker bearing g, rocker bearing h, rocking bar g, rocking bar h, cylinder pole g, cylinder pole h, right side.
The gear case of described frame is fixedly connected with girder, cylinder ring a, cylinder ring b, cylinder ring c, cylinder ring d respectively.
The motor shaft b of described motor b is fixedly connected with gear b, gear b and gear c engaged transmission, worm screw is connected with revolute pair with the front facade of gear case and rear facade respectively, worm screw is fixedly connected with gear c through the rear facade of gear case, worm screw respectively with front turbine and rear turbine engaged transmission, front turbine is fixedly connected with turning, front two axle, rear turbine is fixedly connected with turning, rear two axle, turning, front two axle is connected with revolute pair with right facade through the left facade of gear case, turning, rear two axle is connected with revolute pair with right facade through the left facade of gear case, turning, front two axle is each passed through cylinder ring b with cylinder ring c and is connected with revolute pair with its inner ring surface, turning, rear two axle is each passed through cylinder ring a with cylinder ring d and is connected with revolute pair with its inner ring surface.
Described gear f is connected with revolute pair with gear case by the outer ring surface of cylinder ring b, gear d is connected with revolute pair with gear case by the outer ring surface of cylinder ring a, gear g is connected with revolute pair with gear case by the outer ring surface of cylinder ring c, gear i is connected with revolute pair with gear case by the outer ring surface of cylinder ring d, the motor shaft a of motor a is fixedly connected with gear a, gear a and gear d engaged transmission, gear d and gear e engaged transmission, gear e and gear f engaged transmission, gear e is fixedly connected with transmission shaft left end, transmission shaft is connected with revolute pair with right facade through the left facade of gear case, transmission shaft right-hand member and gear h engaged transmission, gear h respectively with gear g and gear i engaged transmission.
Described gear f is fixedly connected with rocker bearing d with rocker bearing c respectively, rocker bearing c is connected with revolute pair with rocking bar c by bearing pin c, rocker bearing d is connected with revolute pair with rocking bar d by bearing pin d, cylinder pole c is fixedly connected with rocking bar d with rocking bar c respectively, cylinder pole d is fixedly connected with rocking bar d with rocking bar c respectively, before left side, flapping wing is fixedly connected with rocking bar d with rocking bar c respectively, and the left end turning axle of turning, front two axle and cylinder pole c and cylinder pole d form flapping mechanism.
Described gear d is fixedly connected with rocker bearing b with rocker bearing a respectively, rocker bearing a is connected with revolute pair with rocking bar a by bearing pin a, rocker bearing b is connected with revolute pair with rocking bar b by bearing pin b, cylinder pole a is fixedly connected with rocking bar b with rocking bar a respectively, cylinder pole b is fixedly connected with rocking bar b with rocking bar a respectively, behind left side, flapping wing is fixedly connected with rocking bar b with rocking bar a respectively, and the left end turning axle of turning, rear two axle and cylinder pole a and cylinder pole b form flapping mechanism.
Described gear g is fixedly connected with rocker bearing f with rocker bearing e respectively, rocker bearing e is connected with revolute pair with rocking bar e by bearing pin e, rocker bearing f is connected with revolute pair with rocking bar f by bearing pin f, cylinder pole e is fixedly connected with rocking bar f with rocking bar e respectively, cylinder pole f is fixedly connected with rocking bar f with rocking bar e respectively, before right side, flapping wing is fixedly connected with rocking bar f with rocking bar e respectively, and the right-hand member turning axle of turning, front two axle and cylinder pole e and cylinder pole f form flapping mechanism.
Described gear i is fixedly connected with rocker bearing h with rocker bearing g respectively, rocker bearing g is connected with revolute pair with rocking bar g by bearing pin g, rocker bearing h is connected with revolute pair with rocking bar h by bearing pin h, cylinder pole g is fixedly connected with rocking bar h with rocking bar g respectively, cylinder pole h is fixedly connected with rocking bar h with rocking bar g respectively, behind right side, flapping wing is fixedly connected with rocking bar h with rocking bar g respectively, and the right-hand member turning axle of turning, rear two axle and cylinder pole g and cylinder pole h form flapping mechanism.
Described empennage system comprises the fixed fin, yaw rudder, horizontal stabilizer and the elevating rudder that are arranged on girder tail end.
The two ends of described turning, Zhou Jihou two, turning, front two axle are symmetrical structure, the horizontal shaft at two ends corner part and middle part is 30 degree of angles, corner part length need meet and to remain in whole rotation process and fully to contact with cylinder pole, controls left side flapping wing and right side flapping wing full symmetric when fluttering.
Compared with prior art, each flapping wing of the present invention can rotary motion; Turbine and worm transmission has self-locking performance; The full symmetric of fluttering of left side flapping wing and right side flapping wing is achieved by turbine and worm transmission; The flapping mechanism structure consisted of turning, two axle and cylinder pole is simple, flutters flexibly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is turbine and worm transmission local structure schematic diagrams;
Fig. 3 is flapping wing transmission local structure schematic diagram before and after left side;
Fig. 4 is flapping wing transmission local structure schematic diagram before and after right side;
In figure, 1-direction steering wheel, 2-is elevated steering wheel, 3-control module, 4-motor a, 5-motor b, 6-gear a, 7-motor shaft a, 8-gear case, flapping wing after on the left of 9-, flapping wing before on the left of 10-, flapping wing before on the right side of 11-, flapping wing after on the right side of 12-, 13-girder, 14-fixed fin, 15-yaw rudder, 16-horizontal stabilizer, 17-elevating rudder, 18-motor shaft b, 19-gear b, 20-gear c, 21-worm screw, turning, two axle after 22-, turbine after 23-, turning, 24-front two axle, turbine before 25-, 26-gear d, 27-bearing pin a, 28-rocker bearing a, 29-rocking bar a, 30-cylinder ring a, 31-cylinder pole a, 32-cylinder pole b, 33-bearing pin b, 34-rocker bearing b, 35-rocking bar b, 36-transmission shaft, 37-gear e, 38-bearing pin c, 39-rocker bearing c, 40-rocking bar c, 41-cylinder ring b, 42-cylinder pole c, 43-cylinder pole d, 44-bearing pin d, 45-rocker bearing d, 46-rocking bar d, 47-gear f, 48-gear g, 49-rocking bar e, 50-rocker bearing e, 51-bearing pin e, 52-cylinder ring c, 53-cylinder pole e, 54-cylinder pole f, 55-rocker bearing f, 56-rocking bar f, 57-bearing pin f, 58-gear h, 59-rocking bar g, 60-rocker bearing g, 61-bearing pin g, 62-cylinder pole g, 63-cylinder pole h, 64-cylinder ring d, 65-rocker bearing h, 66-rocking bar h, 67-bearing pin h, 68-gear i.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
Embodiment
Miniature imitative insect dual rotary flapping wing aircraft, its structure as shown in Figures 1 to 4, forms primarily of system of fluttering before and after flutter before and after frame, turbine and worm driving system, flapping wing rotary drive system, left side system, right side, empennage system; Frame forms primarily of gear case 8, girder 13, cylinder ring a30, cylinder ring b41, cylinder ring c52, cylinder ring d64; Turbine and worm driving system forms primarily of gear case 8, motor b5, motor shaft b18, gear b19, gear c20, worm screw 21, front turbine 25, rear turbine 23, turning, front two axle 24, turning, rear two axle 22; Flapping wing rotary drive system forms primarily of motor a4, motor shaft a7, gear a6, gear d26, gear e37, gear f47, transmission shaft 36, gear h58, gear g48, gear i68; Before left side, system of fluttering forms primarily of flapping wing 10 before the rocker bearing c39 be connected with gear f47, rocker bearing d45, rocking bar c40, rocking bar d46, cylinder pole c42, cylinder pole d43, left side; Behind left side, system of fluttering forms primarily of flapping wing 9 behind the rocker bearing a28 be connected with gear d26, rocker bearing b34, rocking bar a29, rocking bar b35, cylinder pole a31, cylinder pole b32, left side; Before right side, system of fluttering forms primarily of flapping wing 11 before the rocker bearing e50 be connected with gear g48, rocker bearing f55, rocking bar e49, rocking bar f56, cylinder pole e53, cylinder pole f54, right side; Behind right side, system of fluttering forms primarily of flapping wing 12 behind the rocker bearing g60 be connected with gear i68, rocker bearing h65, rocking bar g59, rocking bar h66, cylinder pole g62, cylinder pole h63, right side.Empennage system comprises the fixed fin 14, yaw rudder 15, horizontal stabilizer 16 and the elevating rudder 17 that are arranged on girder tail end, and controls through control module 3.
The gear case 8 of frame is fixedly connected with girder 13, cylinder ring a30, cylinder ring b41, cylinder ring c52, cylinder ring d64 respectively.The motor shaft b18 of motor b5 is fixedly connected with gear b19, gear b19 and gear c20 engaged transmission, worm screw 21 is connected with revolute pair with the front facade of gear case 8 and rear facade respectively, worm screw 21 is fixedly connected with gear c20 through the rear facade of gear case 8, worm screw 21 respectively with front turbine 25 and rear turbine 23 engaged transmission, front turbine 25 is fixedly connected with turning, front two axle 24, rear turbine 23 is fixedly connected with turning, rear two axle 22, turning, front two axle 24 is connected with revolute pair with right facade through the left facade of gear case 8, turning, rear two axle 22 is connected with revolute pair with right facade through the left facade of gear case 8, turning, front two axle 24 is each passed through cylinder ring b41 with cylinder ring c52 and is connected with revolute pair with its inner ring surface, turning, rear two axle 22 is each passed through cylinder ring a30 with cylinder ring d64 and is connected with revolute pair with its inner ring surface.
Gear f47 is connected with revolute pair with gear case 8 by the outer ring surface of cylinder ring b41, gear d26 is connected with revolute pair with gear case 8 by the outer ring surface of cylinder ring a30, gear g48 is connected with revolute pair with gear case 8 by the outer ring surface of cylinder ring c52, gear i68 is connected with revolute pair with gear case 8 by the outer ring surface of cylinder ring d64, the motor shaft a7 of motor a4 is fixedly connected with gear a6, gear a6 and gear d26 engaged transmission, gear d26 and gear e37 engaged transmission, gear e37 and gear f47 engaged transmission, gear e37 is fixedly connected with transmission shaft 36 left end, transmission shaft 36 is connected with revolute pair with right facade through the left facade of gear case 8, transmission shaft 36 right-hand member and gear h58 engaged transmission, gear h58 respectively with gear g48 and gear i68 engaged transmission.
Gear f47 is fixedly connected with rocker bearing d45 with rocker bearing c39 respectively, rocker bearing c39 is connected with revolute pair with rocking bar c40 by bearing pin c38, rocker bearing d45 is connected with revolute pair with rocking bar d46 by bearing pin d44, cylinder pole c42 is fixedly connected with rocking bar d46 with rocking bar c40 respectively, cylinder pole d43 is fixedly connected with rocking bar d46 with rocking bar c40 respectively, before left side, flapping wing 10 is fixedly connected with rocking bar d46 with rocking bar c40 respectively, and the left end turning axle of turning, front two axle 24 and cylinder pole c42 and cylinder pole d43 form flapping mechanism.
Gear d26 is fixedly connected with rocker bearing b34 with rocker bearing a28 respectively, rocker bearing a28 is connected with revolute pair with rocking bar a29 by bearing pin a27, rocker bearing b34 is connected with revolute pair with rocking bar b35 by bearing pin b33, cylinder pole a31 is fixedly connected with rocking bar b35 with rocking bar a29 respectively, cylinder pole b32 is fixedly connected with rocking bar b35 with rocking bar a29 respectively, behind left side, flapping wing 9 is fixedly connected with rocking bar b35 with rocking bar a29 respectively, and the left end turning axle of turning, rear two axle 22 and cylinder pole a31 and cylinder pole b32 form flapping mechanism.
Gear g48 is fixedly connected with rocker bearing f55 with rocker bearing e50 respectively, rocker bearing e50 is connected with revolute pair with rocking bar e49 by bearing pin e51, rocker bearing f55 is connected with revolute pair with rocking bar f56 by bearing pin f57, cylinder pole e53 is fixedly connected with rocking bar f56 with rocking bar e49 respectively, cylinder pole f54 is fixedly connected with rocking bar f56 with rocking bar e49 respectively, before right side, flapping wing 11 is fixedly connected with rocking bar f56 with rocking bar e49 respectively, and the right-hand member turning axle of turning, front two axle 24 and cylinder pole e53 and cylinder pole f54 form flapping mechanism.
Gear i68 is fixedly connected with rocker bearing h65 with rocker bearing g60 respectively, rocker bearing g60 is connected with revolute pair with rocking bar g59 by bearing pin g61, rocker bearing h65 is connected with revolute pair with rocking bar h66 by bearing pin h67, cylinder pole g62 is fixedly connected with rocking bar h66 with rocking bar g59 respectively, cylinder pole h63 is fixedly connected with rocking bar h66 with rocking bar g59 respectively, behind right side, flapping wing 12 is fixedly connected with rocking bar h66 with rocking bar g59 respectively, and the right-hand member turning axle of turning, rear two axle 22 and cylinder pole g62 and cylinder pole h63 form flapping mechanism.
Miniature imitative insect dual rotary flapping wing aircraft, primarily of system and the empennage system composition of fluttering before and after flutter before and after frame, turbine and worm driving system, flapping wing rotary drive system, left side system, right side, the front and back flapping wing that can form the left and right sides respectively symmetrical high frequency flutter, the rotary motion of each flapping wing and turning to and pitching flying of aircraft.
The front and back flapping wing of the left and right sides respectively symmetrical high frequency flutter, each flapping wing rotary motion and aircraft turn to pitching flying as follows:
Before left side, flapping wing high frequency is fluttered: be specially motor b5 and drive front flapping wing 10 high frequency in left side to flutter by motor shaft b18, gear b19, gear c20, worm screw 21, front turbine 25, turning, front two axle 24, rocker bearing c39, rocker bearing d45, bearing pin c38, bearing pin d44, rocking bar c40, rocking bar d46, cylinder pole c42, cylinder pole d43.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and front turbine 25 engaged transmission, the left end turning axle of turning, front two axle 24 and cylinder pole c42 and cylinder pole d43 form flapping mechanism.
Flapping wing rotary motion before left side: be specially motor a4 and drive front flapping wing 10 rotary motion in left side by motor shaft a7, gear a6, gear d26, gear e37, gear f47, rocker bearing c39, rocker bearing d45, bearing pin c38, bearing pin d44, rocking bar c40, rocking bar d46.Wherein, gear a6 and gear d26 engaged transmission, gear d26 and gear e37 engaged transmission, gear e37 and gear f47 engaged transmission, gear f47 drives front flapping wing 10 rotary motion in left side by rocker bearing c39, rocker bearing d45, bearing pin c38, bearing pin d44, rocking bar c40, rocking bar d46.
Behind left side, flapping wing high frequency is fluttered: be specially motor b5 and drive rear flapping wing 9 high frequency in left side to flutter by motor shaft b18, gear b19, gear c20, worm screw 21, rear turbine 23, turning, rear two axle 22, rocker bearing a28, rocker bearing b34, bearing pin a27, bearing pin b33, rocking bar a29, rocking bar b35, cylinder pole a31, cylinder pole b32.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and rear turbine 23 engaged transmission, the left end turning axle of turning, rear two axle 22 and cylinder pole a31 and cylinder pole b32 form flapping mechanism.
Flapping wing rotary motion behind left side: be specially motor a4 and drive rear flapping wing 9 rotary motion in left side by motor shaft a7, gear a6, gear d26, rocker bearing a28, rocker bearing b34, bearing pin a27, bearing pin b33, rocking bar a29, rocking bar b35.Wherein, gear a6 and gear d26 engaged transmission, gear d26 drives rear flapping wing 9 rotary motion in left side by rocker bearing a28, rocker bearing b34, bearing pin a27, bearing pin b33, rocking bar a29, rocking bar b35.
Before right side, flapping wing high frequency is fluttered: be specially motor b5 and drive front flapping wing 11 high frequency in right side to flutter by motor shaft b18, gear b19, gear c20, worm screw 21, front turbine 25, turning, front two axle 24, rocker bearing e50, rocker bearing f55, bearing pin e51, bearing pin f57, rocking bar e49, rocking bar f56, cylinder pole e53, cylinder pole f54.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and front turbine 25 engaged transmission, the right-hand member turning axle of turning, front two axle 24 and cylinder pole e53 and cylinder pole f54 form flapping mechanism.
Flapping wing rotary motion before right side: be specially motor a4 and drive front flapping wing 11 rotary motion in right side by motor shaft a7, gear a6, gear d26, gear e37, transmission shaft 36, gear h58, gear g48, rocker bearing e50, rocker bearing f55, bearing pin e51, bearing pin f57, rocking bar e49, rocking bar f56.Wherein, gear a6 and gear d26 engaged transmission, gear d26 and gear e37 engaged transmission, gear h58 and gear g48 engaged transmission, gear g48 drives front flapping wing 11 rotary motion in right side by rocker bearing e50, rocker bearing f55, bearing pin e51, bearing pin f57, rocking bar e49, rocking bar f56.
Behind right side, flapping wing high frequency is fluttered: be specially motor b5 and drive rear flapping wing 12 high frequency in right side to flutter by motor shaft b18, gear b19, gear c20, worm screw 21, rear turbine 23, turning, rear two axle 22, rocker bearing g60, rocker bearing h65, bearing pin g61, bearing pin h67, rocking bar g59, rocking bar h66, cylinder pole g62, cylinder pole h63.Wherein, gear b19 and gear c20 engaged transmission, worm screw 21 and rear turbine 23 engaged transmission, the right-hand member turning axle of turning, rear two axle 22 and cylinder pole g62 and cylinder pole h63 form flapping mechanism.
Flapping wing rotary motion behind right side: be specially motor a4 and drive rear flapping wing 12 rotary motion in right side by motor shaft a7, gear a6, gear d26, gear e37, transmission shaft 36, gear h58, gear i68, rocker bearing g60, rocker bearing h65, bearing pin g61, bearing pin h67, rocking bar g59, rocking bar h66.Wherein, gear a6 and gear d26 engaged transmission, gear d26 and gear e37 engaged transmission, gear h58 and gear i68 engaged transmission, gear i68 drives rear flapping wing 12 rotary motion in right side by rocker bearing g60, rocker bearing h65, bearing pin g61, bearing pin h67, rocking bar g59, rocking bar h66.
Turning to and pitching flying of aircraft: control yaw rudder 15 by direction steering wheel 1 and realize turning to of aircraft, controls by lifting steering wheel 2 lifting that elevating rudder 17 realizes aircraft.
Claims (7)
1. a miniature imitative insect dual rotary flapping wing aircraft, is characterized in that, this aircraft is made up of frame, turbine and worm driving system, flapping wing rotary drive system, system of fluttering and empennage system,
Described frame comprises girder (13), is distributed on four cylinder rings on girder (13) front part sides face,
Described turbine and worm driving system comprises the gear case (8) be connected on girder (13), for the motor b (5) of transmission, be arranged on the front turbine (25) in gear case (8), rear turbine (23), symmetry is connected to front turbine (25) respectively, the turning, front two axle (24) in rear turbine (23) center of circle, turning, rear two axle (22), described front turbine (25), rear turbine (23) all engages with worm screw (21), described motor b (5) is connected with the gear cluster in gear case (8) by motor shaft b (18), and by the worm screw (21) with meshed transmission gear to front turbine (25), rear turbine (23) controls,
Described flapping wing rotary drive system comprises the motor a (4) controlling rotary drive, the gear cluster be connected with a joggle with four cylinder ring outer ring surfaces respectively, transmission shaft (36), the gear cluster be connected with a joggle with transmission shaft (36) is formed, and utilizes the motor shaft a (7) of motor a (4) to drive the gear cluster be connected with a joggle with four cylinder ring outer ring surfaces;
The described system of fluttering comprise with girder be axis of symmetry left side before to flutter system, to flutter system behind left side, to flutter system before right side, to flutter system behind right side, above-mentioned system of fluttering is by two rocker bearings be connected with the gear cluster that cylinder ring outer ring surface is connected with a joggle, through the rocking bar that bearing pin is flexibly connected with corresponding rocker bearing, be arranged on the cylinder pole be arranged in parallel between two rocking bars, be connected flapping wing with two rocking bars to form, described turning, front two axle (24) and the end at turning, rear two axle (22) are plugged between the space between above-mentioned cylinder pole, flapping mechanism is formed with cylinder pole,
Described empennage system comprises the fixed fin (14), yaw rudder (15), horizontal stabilizer (16) and the elevating rudder (17) that are arranged on girder tail end.
2. the miniature imitative insect dual rotary flapping wing aircraft of one according to claim 1, it is characterized in that, described turning, front two axle (24), turning, rear two axle (22) connect with revolute pair through the left and right facade of gear case (5).
3. the miniature imitative insect dual rotary flapping wing aircraft of one according to claim 1, it is characterized in that, described turning, front two axle (24), turning, rear two axle (22) are each passed through two cylinder rings and are connected with revolute pair with the inner ring surface of cylinder ring.
4. the miniature imitative insect dual rotary flapping wing aircraft of one according to claim 1, it is characterized in that, the gear cluster be connected with a joggle with worm screw (21) has and engages each other the gear b (19) that is connected and form with gear c (20), described gear b (19) is fixedly connected with the motor shaft (18) of motor b (5), and described gear c (20) is fixedly connected with worm screw (21).
5. the miniature imitative insect dual rotary flapping wing aircraft of one according to claim 1, it is characterized in that, two gears engaging each other transmission are had to form with four cylinder ring outer ring surface gears in mesh groups, one of them gear is connected with revolute pair with gear case (6) by the outer ring surface of cylinder ring, and another gear is fixedly connected with the motor shaft a (7) of motor a (4).
6. the miniature imitative insect dual rotary flapping wing aircraft of one according to claim 1, it is characterized in that, described turning, front two axle (24) and the two ends at turning, rear two axle (22) are symmetrical structure, the horizontal shaft at two ends corner part and middle part is 30 degree of angles, corner part length need meet and to remain in whole rotation process and fully to contact with cylinder pole, controls left side flapping wing and right side flapping wing full symmetric when fluttering.
7. the miniature imitative insect dual rotary flapping wing aircraft of one according to claim 1, it is characterized in that, described rocking bar is connected with revolute pair with rocker bearing by bearing pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663709.XA CN104369864B (en) | 2014-11-19 | 2014-11-19 | A kind of miniature imitative insecticide dual rotary flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663709.XA CN104369864B (en) | 2014-11-19 | 2014-11-19 | A kind of miniature imitative insecticide dual rotary flapping wing aircraft |
Publications (2)
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Cited By (7)
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| CN104670495A (en) * | 2015-03-09 | 2015-06-03 | 葛讯 | Flapping-wing air vehicle capable of hovering as well as flight control method thereof |
| CN106585981A (en) * | 2016-12-19 | 2017-04-26 | 浙江大学 | Miniature dragonfly-like double-flapping-wing aircraft |
| CN106828923A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly flapping wing and rotating mechanism |
| CN106828924A (en) * | 2017-03-30 | 2017-06-13 | 梧州学院 | A kind of bionical dragonfly structure |
| CN108528710A (en) * | 2018-04-03 | 2018-09-14 | 中国空气动力研究与发展中心计算空气动力研究所 | A kind of flapping wing matrix aerodynamic configuration of aircraft |
| CN109573018A (en) * | 2018-12-17 | 2019-04-05 | 北京航空航天大学 | A kind of imitative flying squirrel gliding machine people |
| CN112078791A (en) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104670495A (en) * | 2015-03-09 | 2015-06-03 | 葛讯 | Flapping-wing air vehicle capable of hovering as well as flight control method thereof |
| CN106585981A (en) * | 2016-12-19 | 2017-04-26 | 浙江大学 | Miniature dragonfly-like double-flapping-wing aircraft |
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| CN108528710A (en) * | 2018-04-03 | 2018-09-14 | 中国空气动力研究与发展中心计算空气动力研究所 | A kind of flapping wing matrix aerodynamic configuration of aircraft |
| CN109573018A (en) * | 2018-12-17 | 2019-04-05 | 北京航空航天大学 | A kind of imitative flying squirrel gliding machine people |
| CN112078791A (en) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
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