CN110091988B - Butterfly-like miniature flapping-wing aircraft - Google Patents
Butterfly-like miniature flapping-wing aircraft Download PDFInfo
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- CN110091988B CN110091988B CN201910420541.2A CN201910420541A CN110091988B CN 110091988 B CN110091988 B CN 110091988B CN 201910420541 A CN201910420541 A CN 201910420541A CN 110091988 B CN110091988 B CN 110091988B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- 238000010146 3D printing Methods 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 239000012528 membrane Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000001174 ascending effect Effects 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000271566 Aves Species 0.000 description 1
- 241001364432 Microbates Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a butterfly-like miniature flapping wing aircraft, which comprises a frame, a flapping mechanism and wings, wherein the frame is provided with a plurality of wing parts; the frame is used for installing a flapping mechanism, a driver and a machine body connecting rod; the flapping mechanism is a double-crank double-rocker mechanism and comprises a main shaft gear, a transmission gear, a connecting rod, a rocker and the like, wherein the main shaft gear drives the transmission gear to rotate, and the connecting rod converts the rotation of the gear into the swing of the rocker to realize flapping; the first and second wings are connected with the rocking bars and generate lift force along with the rocking bars to flap up and down, wherein the second wing is hinged with the first wing, and besides the first wing, the second wing can also be turned over to realize attitude control. The invention realizes the integral flapping of the wing and the deflection of the tail edge in a simple and compact structure, and realizes the control of the complex motions of forward movement, rolling, ascending, descending and the like of the aircraft.
Description
Technical Field
The invention relates to a butterfly-like miniature ornithopter.
Background
The miniature flapping-wing aircraft has the advantages of strong maneuvering, low noise, low cost, convenient carrying, simple operation and the like, and has extremely high application value in the military and civil fields. In military use, enemy investigation and monitoring can be performed under low-altitude conditions, danger assessment, target search, communication interference and the like can be performed, and the condition inside the enemy building can be detected through infrared or thermal imaging by a camera, so that chemical, nuclear or biological weapons and the like can be monitored. In the civil field, corresponding sensors can be configured on the micro-aircraft to search for survivors after disaster, detect the interior of dangerous buildings, detect toxic gases or dangerous chemical sources and the like.
At present, foreign researchers have achieved certain results, and micro flapping wing aircrafts with excellent performance, such as Microbat of California academy of technology, "Mentror" of Toronto university and Stuft research center in the United states, are manufactured. At present, the research on the aspect of the bionic micro flapping wing aircraft is mainly carried out by institutions such as university of North America and university of Beijing aviation, university of Qinghua and the like at home.
The butterfly flying principle is different from common birds, and the butterfly flying principle is characterized in that wings only flutter up and down, almost no torsion occurs, the degree of freedom is approximately 1, and the butterfly flying principle does not contain stabilizers such as a horizontal tail wing, a vertical tail wing and the like, and the butterfly flying principle is controlled by only swinging the body, so that the bionic difficulty is high. At present, the more successful bionic butterfly is a machine butterfly of Feston company, and the research results on the butterfly-simulated miniature ornithopter in China are very few.
Disclosure of Invention
The invention aims to provide a butterfly-like miniature ornithopter.
The butterfly-like miniature flapping wing aircraft provided by the invention comprises a frame, a flapping mechanism, a first-stage wing and a second-stage wing; the frame comprises a driver mounting hole, a frame connecting rod mounting hole and two gear mounting holes; the flapping mechanism comprises a driver, a machine body connecting rod, a main shaft gear, two transmission gears, two connecting rods and two rockers; the first and second-stage wings comprise carbon fiber frameworks and wing films;
the driver is a gear motor and is arranged in the driver mounting hole, an output shaft of the driver is fixed with the main shaft gear, two transmission gears are respectively arranged in the two gear mounting holes, the two transmission gears are meshed with each other, and one of the transmission gears is meshed with the main shaft gear; eccentric holes are formed in the two transmission gears, one ends of the connecting rods are respectively connected through hinges, and the other ends of the two connecting rods are respectively hinged with the middle parts of the two rocking bars; the fuselage connecting rod is installed in fuselage connecting rod mounting hole, and two rocker tip all with fuselage connecting rod clearance fit in order to realize rotating.
In the above technical scheme, further, the diameter of the driver mounting hole on the frame is 5.95mm for the tight fit with direct 6 mm's driver, fuselage connecting rod mounting hole diameter 1.95mm for the tight fit with 2 mm's fuselage connecting rod, gear mounting hole diameter 0.95mm for the tight fit with 1 mm's diameter steel axle.
Further, a driver of the flapping wing mechanism adopts a hollow cup speed reducing motor with the diameter of 6mm, the rotating speed is 1200r/min, and the diameter of an output shaft is 2mm; the modulus of the main shaft gear is 0.5, the number of teeth is 13, the diameter of the shaft hole is 1.9mm, and the main shaft gear is tightly matched with the output shaft of the driver; the transmission gear has the modulus of 0.5, the tooth number of 28 and the diameter of the shaft hole of 1.05mm, and is in clearance fit with a steel shaft with the diameter of 1mm so as to realize rotation.
Furthermore, the frame is manufactured by adopting laser resin 3D printing.
Furthermore, the machine body connecting rod adopts a carbon fiber pipe.
Further, the carbon fiber skeleton comprises a pair of cascade wing skeletons and a pair of secondary wing skeletons; the primary wing framework is bonded with the rocking bars, the secondary wing framework is hinged with the primary wing framework and can be turned up and down independently while flapping along with the primary wing framework, and the wing membrane is bonded with the carbon fiber framework.
The butterfly-like miniature ornithopter provided by the invention has small size (the span can be only 150 mm), light weight (20 g), simple, compact and reliable structure, and can realize symmetrical bionic flapping, and the steering engine is adopted to control the gesture of the aerocraft, so as to realize the control of complex motions such as forward movement, steering, ascending, descending and the like of the aerocraft.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic structural perspective view of the ornithopter of the present invention (only half of the wings shown);
fig. 2 is a schematic perspective view of the frame.
Fig. 3 is a schematic perspective view of the flapping wing mechanism.
Fig. 4 is a schematic plan view of the wing.
Fig. 5 is a schematic perspective view of a spindle gear.
Fig. 6 is a schematic plan view of the left side drive gear.
Fig. 7 is a schematic plan view of the right side drive gear.
FIG. 8 is a schematic view of a flapping-wing mechanism linkage.
Fig. 9 and 10 are schematic views of a specific construction of two rockers of the flapping wing mechanism.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings.
As shown in fig. 1 to 10, the invention comprises a frame 1, a flapping mechanism 2 and first and second stages of wings 3. The frame is a laser resin 3D printing piece, and is provided with a driver mounting hole 101, a frame connecting rod mounting hole 102 and two gear mounting holes 103; the flapping mechanism comprises a driver 201, a main shaft gear 202, two transmission gears 203, two connecting rods 204, a body connecting rod 205 and two rockers 206 and 207; the first and second wings comprise carbon fiber frameworks and ultra-light wing films.
The diameter of a driver mounting hole 101 on the frame 1 is 5.95mm and is used for being tightly matched with a driver with the diameter of 6mm, the diameter of a body connecting rod mounting hole 102 is 1.95mm and is used for being tightly matched with a body connecting rod with the diameter of 2mm, and the diameter of a gear mounting hole 103 is 0.95mm and is used for being tightly matched with a steel shaft with the diameter of 1 mm.
The driver 201 of the flapping wing mechanism adopts a hollow cup gear motor with the diameter of 6mm, the rotating speed is 1200r/min, and the diameter of an output shaft is 2mm; the module of the main shaft gear 202 is 0.5, the number of teeth is 13, the diameter of the shaft hole is 1.9mm, and the main shaft gear is tightly matched with the output shaft of the driver; the transmission gear 203 has the modulus of 0.5, the tooth number of 28 and the diameter of 1.05mm, and is in clearance fit with a steel shaft with the diameter of 1mm to realize rotation.
When the flapping mechanism is installed, the 6mm driver 201 is tightly matched with the rack driver mounting hole 101, the 2mm body connecting rod is tightly matched with the body connecting rod mounting hole 102, and two steel shafts with the diameter of 1mm and proper length are tightly matched with the two gear mounting holes 103. The main shaft gear 202 is then tightly matched with the output shaft of the driver, and two transmission gears 203 are meshed with each other and then are mounted on the steel shaft of the frame, wherein one transmission gear is meshed with the main shaft gear, as shown in fig. 3. The two connecting rods 204 are hinged with the eccentric holes of the transmission gear by pin shafts, the pin shafts are tightly matched with the eccentric holes and are in clearance fit with the connecting rods to realize rotation, the end parts of the two rocking rods 206 and 207 are mutually matched (the end parts of the two rocking rods in the embodiment are respectively shown in fig. 9 and 10) and then are mounted on the machine body connecting rod, the machine body connecting rod is in clearance fit with the rocking rods, a pair of rocking rods can be mounted on the machine frame in front of and behind the machine frame respectively to enable the control to be more stable, finally, the connecting rods are hinged with the middle parts of the two rocking rods on the front side of the machine frame by the pin shafts, and the flapping mechanism is mounted.
After the installation is completed, the driver is started, the driver drives the transmission gear to rotate, and due to the existence of the eccentric hole, the rotation of the transmission gear is converted into the translation of the connecting rod, and the rocker is rotated around the machine body connecting rod by the translation of the connecting rod, so that the flapping is realized. And the proper length of the connecting rod can enable the upper flapping angle of the flapping mechanism to be 60 degrees, and the lower flapping angle to be 30 degrees, similar to butterfly flapping, and has a better bionic effect.
After the installation of the flapping mechanism is completed, the first-stage wing framework is matched and bonded with two rockers at the front side of the frame, the second-stage wing framework is hinged with the first-stage wing framework, and then the ultra-light wing film is covered on the wing framework to complete the installation of the wing. Two micro steering engines are arranged on a fuselage connecting rod or an aerofoil framework to drive the overturning motion of the second-stage aerofoil framework.
After the whole machine is installed, the electronic equipment is installed, so that the remote control flight of the aircraft can be realized. The flapping mechanism is a double-crank double-rocker mechanism, the main shaft gear drives the transmission gear to rotate, and the connecting rod converts the rotation of the gear into the swing of the rocker to realize flapping; the first and second wing frameworks are connected with the rocking bars and can generate lift force along with the rocking bars to flap up and down, wherein the second wing framework can be turned over to realize attitude control besides flapping along with the first wing framework. The invention realizes the integral flapping of the wing and the deflection of the tail edge in a simple and compact structure, and realizes the control of the complex motions of forward movement, rolling, ascending, descending and the like of the aircraft.
Claims (5)
1. The butterfly-like miniature ornithopter is characterized in that: the butterfly-like miniature flapping-wing aircraft comprises a frame (1), a flapping mechanism (2) and wings (3); the machine frame is provided with a driver mounting hole (101), a machine body connecting rod mounting hole (102) and two gear mounting holes (103); the flapping mechanism comprises a driver (201), a body connecting rod (205), a main shaft gear (202), two transmission gears (203), two connecting rods (204) and two rockers (206, 207); the wing comprises a carbon fiber skeleton and a wing film;
the driver (201) is a gear motor and is arranged in the driver mounting hole (101), an output shaft of the driver is fixed with the main shaft gear (202), two transmission gears (203) are respectively arranged in the two gear mounting holes (103), the two transmission gears are meshed with each other, and one of the transmission gears is meshed with the main shaft gear (202); eccentric holes are formed in the two transmission gears, one end of a connecting rod (204) is connected through a hinge, and the other end of the connecting rod is hinged with the middle parts of two rockers (206, 207); the machine body connecting rod (205) is arranged in the machine body connecting rod mounting hole (102), and the end parts of the two rocking bars are in clearance fit with the machine body connecting rod to realize rotation;
the carbon fiber skeleton comprises a pair of cascade wing skeletons (301) and a pair of secondary wing skeletons (302); the primary wing framework and the secondary wing framework are arranged back and forth along the axial direction of the fuselage connecting rod, the primary wing framework is in front, the secondary wing framework is behind, the primary wing framework is bonded with the rocking bars, the secondary wing framework is hinged with the primary wing framework and can be independently controlled to turn up and down while the primary wing framework is flapped, and the wing membrane is bonded with the carbon fiber framework.
2. A butterfly-like micro ornithopter as claimed in claim 1, wherein the diameter of the driver mounting hole (101) on the frame (1) is 5.95mm for close fit with a 6mm diameter driver, the diameter of the body link mounting hole (102) is 1.95mm for close fit with a 2mm diameter body link, and the diameter of the gear mounting hole (103) is 0.95mm for close fit with a 1mm diameter steel shaft.
3. The butterfly-like miniature ornithopter according to claim 1, wherein the driver (201) of the flapping mechanism adopts a hollow cup gear motor with the diameter of 6mm, the rotating speed is 1200r/min, and the diameter of an output shaft is 2mm; the modulus of the main shaft gear (202) is 0.5, the number of teeth is 13, the diameter of the shaft hole is 1.9mm, and the main shaft gear is tightly matched with the output shaft of the driver; the modulus of the transmission gear (203) is 0.5, the number of teeth is 28, the diameter of the shaft hole is 1.05mm, and the transmission gear is in clearance fit with a steel shaft with the diameter of 1mm to realize rotation.
4. The butterfly-like micro ornithopter of claim 1, wherein the frame is manufactured by laser resin 3D printing.
5. The butterfly-like micro ornithopter of claim 1, wherein the fuselage connecting rod is a carbon fiber tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420541.2A CN110091988B (en) | 2019-05-20 | 2019-05-20 | Butterfly-like miniature flapping-wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420541.2A CN110091988B (en) | 2019-05-20 | 2019-05-20 | Butterfly-like miniature flapping-wing aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110091988A CN110091988A (en) | 2019-08-06 |
| CN110091988B true CN110091988B (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910420541.2A Active CN110091988B (en) | 2019-05-20 | 2019-05-20 | Butterfly-like miniature flapping-wing aircraft |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634414A (en) * | 2020-04-29 | 2020-09-08 | 南京航空航天大学 | Micro-miniature bionic flapping wing mechanism |
| CN112896504A (en) * | 2021-03-08 | 2021-06-04 | 浙江理工大学 | Microminiature flapping-wing aircraft and flight method thereof |
| CN114906323A (en) * | 2022-06-07 | 2022-08-16 | 沈阳航空航天大学 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
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| KR20040046628A (en) * | 2002-11-28 | 2004-06-05 | 이영범 | a remote control for aplaying flapping bug |
| JP2010105413A (en) * | 2008-10-28 | 2010-05-13 | Chiba Inst Of Technology | Reciprocating oscillating mechanism and ornithopter using the same |
| CN201643710U (en) * | 2010-02-11 | 2010-11-24 | 乐山师范学院 | Butterfly directional aircraft |
| CN105947196A (en) * | 2016-04-25 | 2016-09-21 | 北京航空航天大学 | Novel bionic butterfly aircraft with independently driven double wings |
| JP2017061285A (en) * | 2015-09-25 | 2017-03-30 | 太一 矢口 | Flapping flying body to which flight control of cicada is applied |
| CN107416202A (en) * | 2017-07-05 | 2017-12-01 | 北京航空航天大学 | Micro flapping wing air vehicle |
| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN210416979U (en) * | 2019-05-20 | 2020-04-28 | 浙江大学 | Butterfly-imitating micro flapping wing aircraft |
-
2019
- 2019-05-20 CN CN201910420541.2A patent/CN110091988B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040046628A (en) * | 2002-11-28 | 2004-06-05 | 이영범 | a remote control for aplaying flapping bug |
| JP2010105413A (en) * | 2008-10-28 | 2010-05-13 | Chiba Inst Of Technology | Reciprocating oscillating mechanism and ornithopter using the same |
| CN201643710U (en) * | 2010-02-11 | 2010-11-24 | 乐山师范学院 | Butterfly directional aircraft |
| JP2017061285A (en) * | 2015-09-25 | 2017-03-30 | 太一 矢口 | Flapping flying body to which flight control of cicada is applied |
| CN105947196A (en) * | 2016-04-25 | 2016-09-21 | 北京航空航天大学 | Novel bionic butterfly aircraft with independently driven double wings |
| CN107416202A (en) * | 2017-07-05 | 2017-12-01 | 北京航空航天大学 | Micro flapping wing air vehicle |
| CN108860595A (en) * | 2018-04-12 | 2018-11-23 | 南京航空航天大学 | It is a kind of to imitate dove aircraft with the flapping wing passively reversed |
| CN210416979U (en) * | 2019-05-20 | 2020-04-28 | 浙江大学 | Butterfly-imitating micro flapping wing aircraft |
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| CN110091988A (en) | 2019-08-06 |
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Inventor after: Du Changping Inventor after: Cao Zhefeng Inventor after: Wu Yuean Inventor after: Xie Lan Inventor after: Ye Zhixian Inventor after: Zheng Yao Inventor after: Song Guanghua Inventor after: Yang Rui Inventor after: Liao Wei Inventor after: Liu Qingsong Inventor before: Du Changping Inventor before: Ye Zhixian Inventor before: Liu Qingsong Inventor before: Cao Zhefeng Inventor before: Yang Rui Inventor before: Liao Wei Inventor before: Song Guanghua Inventor before: Zheng Yao |
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