CN113911343B - High-efficiency transmission flapping wing mechanism with rolling control function - Google Patents
High-efficiency transmission flapping wing mechanism with rolling control function Download PDFInfo
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- CN113911343B CN113911343B CN202111311787.XA CN202111311787A CN113911343B CN 113911343 B CN113911343 B CN 113911343B CN 202111311787 A CN202111311787 A CN 202111311787A CN 113911343 B CN113911343 B CN 113911343B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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Abstract
The invention discloses a high-efficiency transmission flapping wing mechanism with a rolling control function, which has a compact structure and light weight and can realize flapping motion required by a bionic flapping wing aircraft. The flapping wing mechanism comprises a fixing mechanism, a motor, a speed reducer, a transmission mechanism and a rolling control mechanism, wherein the transmission mechanism adopts a crank slider-bevel gear amplifying structure, so that efficient and accurate flapping can be realized; the rolling control mechanism controls the wing root rod to translate, so that the wing film deformation and the attack angle change range are larger. The aircraft reduces the number of transmission parts by optimizing the transmission amplifying structure, is beneficial to installation and maintenance, and meanwhile, is beneficial to signal processing of a control system due to more stable movement. The rolling moment which can be generated by the aircraft is increased through larger wing film deformation and attack angle change range, and the anti-interference capability and the maneuverability of the aircraft are increased.
Description
Technical Field
The invention relates to the field of miniature flapping-wing aircrafts, in particular to a high-efficiency transmission flapping-wing mechanism design capable of realizing a roll control function.
Background
In recent years, with the rapid development of technologies in the fields of micro-electro-mechanical, bionic aircraft design, 3D printing and the like, various miniature aircrafts are continuously proposed and become hot spots under the background of rapid development of precision manufacturing industry. Compared with fixed wings and rotor wing type micro aircrafts, the micro flapping wing aircrafts have higher aerodynamic efficiency under low Reynolds number, have remarkable advantages in the aspects of concealment, simulation and the like, have high bionic research value and military application value, and become one of important directions of development of the micro aircrafts.
Despite the rapid development of miniature ornithopters, the current miniature ornithopters still face difficulties in efficient and accurate transmission and control. The presently disclosed miniature flapping wing aircraft adopts the design schemes of a double-crank double-rocker mechanism, a single-crank double-rocker mechanism, a crank slider and a four-bar amplifying transmission mechanism and the like for realizing planar reciprocating flapping motion and guaranteeing symmetry of left and right flapping amplitude, such as a patent of 'miniature flapping wing aircraft' (CN 107416202A) 'a miniature bionic flapping wing aircraft based on a single-crank double-rocker mechanism' (CN 109606675A) 'a bionic flapping wing miniature aircraft based on double-wing differential motion and steering engine gravity center change for realizing high control moment generation' (CN 112009682A). The transmission method of the aircraft is to convert the rotation motion of a gear driven by a motor into the swing motion of a rod structure to realize reciprocating flapping. The above scheme realizes basically symmetrical flapping motion to a certain extent, but still has some defects, such as a double-crank double-rocker mechanism disclosed in a miniature flapping wing aircraft (CN 107416202A), on one hand, due to the limitation of a crank rocker structure, the design transmission angle is inversely related to the output angle, and the better flapping angle and the force transmission performance are difficult to obtain simultaneously, and on the other hand, two large crank gears lead to the mechanism with larger volume and even increased weight. For example, "a miniature bionic flapping-wing aircraft based on a single-crank double-rocker mechanism" (CN 109606675A), "a bionic flapping-wing miniature aircraft based on double-wing differential motion and steering engine gravity center change to realize high control moment generation" (CN 112009682A) discloses a single-crank double-rocker mechanism and a crank slider plus four-bar amplifying transmission mechanism, because the mechanism has more revolute pairs, the connection is complex, the motion accumulation error is large, the transmission is not accurate enough, the maintenance is difficult, and the like, and meanwhile, the bionic flapping-wing miniature aircraft is similar to the double-crank double-rocker mechanism, and is not stable enough under high-speed transmission.
Besides the high-efficiency and accurate transmission mechanism design research needs to be enhanced, the method for controlling the aircraft is also required to be enhanced. The main imitating objects of the bionic flapping-wing micro air vehicle are insects and buzzers in the nature, and a structure without tail wings is adopted in most cases. The flight control of the aircraft is realized by controlling the attitude of the wing, and in actual design, the wing deformation motion is mainly controlled to adjust the attack angle of the wing film of the wing in the front-back flapping process so as to generate variable aerodynamic force and moment. For example, the patent refers to a bionic flapping-wing micro aerial vehicle (CN 112009682A) for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change, a single-crank double-rocker mechanism-based bionic flapping-wing aerial vehicle (CN 109606675A), and a bionic hummer aerial vehicle (CN 110329505A). In the actual implementation process, the flapping plane and the tensioning degree of the wing membrane in the front and back flapping process of the flapping wing are changed by pulling the wing root elastic rod in virtue of the mode of rotation of the wing root rod or elastic deformation of the wing root rod, so that the changes of the front and back flapping attack angle and the shape of the wing membrane in the flapping process of the flapping wing are realized, the aerodynamic difference of the left wing and the right wing is caused, and finally, the rolling moment is generated, and the attitude control of the aircraft is realized. The patent discloses a bionic flapping-wing micro aerial vehicle (CN 112009682A) for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change and a miniature bionic flapping-wing aerial vehicle (CN 109606675A) based on a single-crank double-rocker mechanism, wherein a wing root elastic rod is rotatably connected with a base, and the wing root elastic rod is transversely pulled by a steering engine to drive the wing root rod to rotate around the top end, so that left and right flapping-wing films deform, lift force difference occurs on the two sides, and rolling moment is generated to control the rolling of a machine body. The proposal realizes the small-range rolling gesture control to a certain extent, but because the rotation angle of the elastic rod of the flapping wing root is limited, the flapping wing root is easily limited by the rotation center position of the steering engine and the distance between the wing root and the wing root.
Therefore, with the high-speed development of the micro flapping wing aircraft, more requirements are put forward on the motion design and more diversified control modes of the efficient and accurate transmission mechanism, and a flapping wing mechanism with a control function and efficient transmission needs to be put forward.
Disclosure of Invention
Aiming at the problems of low transmission efficiency and insufficient transmission accuracy of the existing miniature flapping-wing aircraft, the invention provides a high-efficiency transmission flapping-wing mechanism with a rolling control function for enriching the rolling control method of the miniature flapping-wing aircraft. Wherein, the transmission is realized by a crank sliding block-bevel gear transmission mechanism. On one hand, the mechanism still converts the rotation motion of the motor into linear motion with motion law close to sinusoidal motion by designing the crank sliding block mechanism, and meanwhile, the characteristics of stable and accurate motion of the bevel gear are combined, the bevel gear is introduced for transmission, and the motion output angle is amplified, so that the high efficiency and accuracy of transmission are realized. In addition, through the design of the translation control of the root rod of the flapping wing, the flapping wing generates larger amplitude of wing membrane deformation and attack angle change range when the rolling control is needed, the change range of the rolling moment is greatly increased, and the rudder control capability and the complex maneuvering flight control capability are enhanced.
The high-efficiency transmission flapping wing mechanism with the rolling control function comprises a fixing mechanism, a motor, a speed reducer, a transmission mechanism and a rolling control mechanism.
The fixing mechanism comprises a frame and a base. The frame is of a three-dimensional structure and comprises a motor, a speed reduction group and a single-layer gear mounting hole in a transmission mechanism. The frame is fixedly connected with the base through rivets, buckles and the like at two ends. The base is of a three-dimensional structure and comprises a left bevel gear, a right bevel gear, a left wing rod and a right wing rod mounting hole in a transmission mechanism. The upper surface of the base is provided with a chute which is matched with a connecting rod and a right bevel gear of the transmission mechanism through a shaft nail. The lower part of the base is provided with a mounting point for fixing a control steering engine of the rolling control mechanism.
The motor is fixedly arranged on the frame and used for driving the transmission mechanism to rotate so as to drive the flapping wings to flap, and a motor shaft of the motor is fixedly connected with the motor gear.
The speed reducer comprises a motor gear and a speed reducing gear. The reduction gear is a coaxial double-layer gear, the diameters of the double-layer gears are different, wherein a larger layer of gear is meshed with the motor gear, and a smaller layer of gear is meshed with a single-layer gear in the transmission mechanism. The speed reducer is used for decelerating the high-speed rotation of the motor and amplifying the output torque of the motor so as to drive the transmission mechanism and the flapping wings to move.
The transmission mechanism comprises a single-layer gear, a connecting rod, a left bevel gear, a right bevel gear, a left wing rod and a right wing rod. The single-layer gear is a cylindrical straight gear with eccentric holes and is arranged on the base through a shaft nail. The two ends of the connecting rod are provided with through holes, the through holes at the thicker end are connected with the eccentric holes of the single-layer gear through shaft nails to form a revolute pair, the through holes at the thinner end are fixed in the right bevel gear chute and the base chute through shaft nails, and the stroke crank sliding block mechanism converts the circular motion of the single-layer gear into the reciprocating linear motion of the connecting rod along the chute. The left bevel gear is a cylindrical bevel gear and is arranged on the base through a shaft nail to be meshed with the right bevel gear and the left wing rod for transmission. The right bevel gear is a cylindrical bevel gear, the upper surface of the right bevel gear is provided with a horizontal chute, the central line of the chute is vertical to the diameter, the connecting rod can drive the right bevel gear to rotate through the chute, and the right bevel gear is installed on the base through a shaft nail and is meshed with the left bevel gear and the right wing rod for transmission. The left wing rod and the right wing rod have the same structure and are all combined bodies of a flapping wing installation boss and a cylindrical bevel gear, and the left wing rod and the right wing rod are respectively used for driving the left flapping wing and the right flapping wing to move, wherein the flapping wing installation boss is positioned at the outer side of the wing rod and used for fixing a flapping wing cross rod; the cylindrical bevel gear is positioned at the inner side of the wing rod, a central hole on the cylindrical bevel gear is riveted with a corresponding installation hole position of the base through a shaft nail, the cylindrical bevel gear can freely rotate around the installation hole position, the cylindrical bevel gear is meshed with the bevel gear at the corresponding side for transmission, and the flapping wing installation boss is positioned at the other end of the wing rod and used for fixing the flapping wing cross rod. The transmission principle of the transmission mechanism is as follows: when the mechanism needs to perform flapping motion, the motor is electrified to drive the motor gear to rotate, and the transmission mechanism is driven after the speed is reduced by the speed reducer. The single-layer gear rotates to drive one end of the connecting rod to rotate around the single-layer gear rotating shaft, and meanwhile, the other end of the connecting rod makes reciprocating linear motion in the base sliding groove and the right bevel gear sliding groove to drive the right bevel gear to rotate. The crank block mechanism is designed to convert the rotary motion of the motor into linear motion with motion law approaching to sinusoidal motion. The right bevel gear is meshed with the left bevel gear and the cylindrical bevel gear of the right wing rod, the left bevel gear is meshed and driven with the cylindrical bevel gear of the left wing rod, and the motion amplitude is amplified.
The rolling control mechanism comprises a left flapping wing, a right flapping wing, a control steering engine and a wing root fixing frame. The left flapping wing and the right flapping wing are composed of a flexible wing film, a cross rod, a vertical rod and an inclined rod, and the cross rod, the vertical rod and the inclined rod are bonded on the flexible wing film. The wing root ends of the cross rods are fixed on left and right wing rod flapping wing installation bosses in the transmission mechanism, and the upper ends of the vertical rods are connected with a wing root fixing frame. The control steering engine can drive the flapping wing vertical rod to realize the overall horizontal movement. The wing root fixing frame is of a horizontal T-shaped structure, round holes are formed in two sides of the T-shaped structure and used for fixing the flapping wing vertical rods, the middle extension end of the T-shaped structure is provided with a mounting hole which is fixedly connected with the steering arm of the control steering engine, and the flapping wing vertical rods can horizontally move under the driving of the steering arm of the control steering engine. When the aircraft does not need to generate rolling moment, the horizontal position of the vertical rods of the left and right flapping wings is controlled by controlling the steering engine, and the looseness degree of the flexible wing films of the left and right flapping wings is the same.
The roll control method of the high-efficiency transmission flapping wing mechanism with the roll control function comprises the following steps: when the aircraft needs to generate a right rolling moment, the steering engine is controlled to pull the wing root fixing frame to the right side to drive the vertical rods of the two flapping wings to integrally and horizontally move to the right, so that the left-side flexible wing film is tensioned, and the right-side flexible wing film is loosened. Compared with the state before the steering engine is changed, the flexible wing membrane of the left flapping wing is tensioned, and the attack angle is increased; the flexible wing membrane of the right flapping wing is relaxed, and the attack angle is reduced; therefore, the lifting force of the left side flapping wing is increased, the lifting force of the right side flapping wing is reduced, and the lifting force action points of the left side flapping wing and the right side flapping wing are not coincident with the gravity center, so that a rightward rolling moment is generated. The method of generating a rolling moment to the left is opposite to the method of generating a rolling moment to the left.
The manufacturing and mounting process of the high-efficiency transmission flapping wing mechanism with the rolling control function is as follows:
(1) And a motor gear is arranged on the motor spindle, and the motor is in interference fit with a corresponding motor mounting hole of the frame. The reduction gear and the single-layer gear are arranged on corresponding hole sites of the frame through the shaft nails, wherein the reduction gear is meshed with the motor gear and the single-layer gear, and the single-layer gear is meshed with the reduction gear only.
(2) The left bevel gear, the right bevel gear, the left wing rod and the right wing rod are respectively arranged on corresponding hole sites of the base through shaft nails, wherein the left bevel gear is meshed with the left wing rod for transmission, the right bevel gear is meshed with the right wing rod for transmission, and the left bevel gear is meshed with the right bevel gear for transmission.
(3) And a through hole at the thicker end of the connecting rod is matched with the eccentric hole of the single-layer gear through a shaft nail. The other end of the connecting rod is fixedly matched with the right bevel gear chute and the base chute through the shaft nails to form two moving pairs. The frame is fixed with the base by means of rivets, buckles and the like.
(4) And manufacturing a flexible flapping wing, connecting transverse rods of the flapping wing with left and right wing rods respectively, inserting vertical rods into round holes at mounting ends at two sides of a T-shaped head of a wing root fixing frame, and fixing.
(5) After the control steering engine and the rack control steering engine are fixedly connected through screws and the like, the wing root fixing frame is fixedly connected with the control steering engine arm through screws.
The invention has the advantages that:
1. the high-efficiency transmission flapping wing mechanism with the rolling control function is compact in structure and light in weight, and can realize flapping motion required by a bionic flapping wing aircraft.
2. A high-efficiency transmission flapping wing mechanism with a rolling control function adopts a crank block-bevel gear amplifying mechanism, has fewer revolute pairs, is convenient to install and maintain, and can efficiently realize more accurate and stable flapping motion through bevel gear transmission.
3. The high-efficiency transmission flapping wing mechanism with the rolling control function has the advantages that the change amplitude of a wing membrane is larger by controlling the left-right translation of a wing root vertical rod, the change interval of rolling moment and the control rudder efficiency of the rolling moment are increased, and therefore the control effect, the disturbance rejection capability and the maneuver flying capability of the flapping wing aircraft are greatly improved.
Drawings
FIG. 1 is an overall schematic of a high efficiency transmission flapping wing mechanism with roll control according to the present invention;
FIG. 2 is a schematic illustration of a securing mechanism for a high efficiency transmission flapping wing mechanism with roll control according to the present invention;
FIG. 3 is a schematic diagram of a motor and decelerator of a high efficiency drive flapping wing mechanism with roll control according to the present invention;
FIG. 4 is a schematic illustration of a transmission mechanism of a high efficiency transmission flapping wing mechanism with roll control according to the present invention;
FIG. 5 is a schematic diagram of a roll control mechanism of a high efficiency drive ornithopter mechanism having roll control functionality in accordance with the present invention;
FIG. 6 is a schematic view of a high efficiency transmission flapping wing mechanism with roll control according to the present invention;
FIG. 7 is a schematic diagram of a right roll control of a high efficiency drive ornithopter mechanism with roll control according to the present invention;
in the figure:
1-fixed mechanism 2-motor 3-speed reducer
4-drive mechanism 5-roll control mechanism 101-frame
102-base 201-motor 301-motor gear
302-reduction gear 401-single layer gear 402-connecting rod
403-left bevel gear 404-right bevel gear 405-left wing rod
406-right wing rod 501-control steering engine 502-wing root fixing frame
503-ornithopter 5031-flexible airfoil film 5032-crossbar
5033-vertical bar 5034-diagonal bar
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.
The efficient transmission flapping wing mechanism with the rolling control function comprises a fixing mechanism 1, a motor 2, a speed reducer 3, a transmission mechanism 4 and a rolling control mechanism 5.
The fixing mechanism 1 includes a frame 101 and a base 102. The frame 101 is of a three-dimensional structure and comprises a motor 2, a reduction group and a mounting hole of a single-layer gear 401 in the transmission mechanism 4. The frame 101 is fixedly connected with the base 102 by rivets, buckles and the like at two ends. The base 102 is of a three-dimensional structure, and comprises a left bevel gear 403, a right bevel gear 404, a left wing rod 405 and a right wing rod 406 in the transmission mechanism 4. The upper surface of the base 102 is provided with a chute which is matched with a connecting rod 402 and a right bevel gear 404 of the transmission mechanism 4 through shaft nails. The lower part of the base 102 is designed with a mounting point for fixing a control steering engine 501 of the roll control mechanism 5.
The motor 2 is fixedly arranged on the frame 101 and used for driving the transmission mechanism 4 to rotate so as to drive the flapping wings 503 to flap, and a motor shaft of the motor 2 is fixedly connected with the motor gear 301.
The speed reducer 3 includes a motor gear 301 and a reduction gear 302. The reduction gear 302 is a coaxial double-layer gear, the diameters of the double-layer gears are different, wherein a larger gear is meshed with the motor gear 301, and a smaller gear is meshed with the single-layer gear 401 in the transmission mechanism 4. The speed reducer 3 reduces the high-speed rotation of the motor 2 and amplifies the torque output by the motor 2 to drive the transmission mechanism 4 and the flapping wings 503 to move.
The transmission mechanism 4 comprises a single-layer gear 401, a connecting rod 402, a left bevel gear 403, a right bevel gear 404, a left wing rod 405 and a right wing rod 406. The single-layer gear 401 is a cylindrical straight gear with eccentric holes and is installed on the base 102 through shaft nails. Through holes are formed in two ends of the connecting rod 402, a thicker through hole at one end is connected with an eccentric hole of the single-layer gear 401 through a shaft pin to form a revolute pair, and a thinner through hole at the other end is fixed in a chute of the right bevel gear 404 and a chute of the base 102 through the shaft pin, and the circular motion of the single-layer gear 401 is converted into reciprocating linear motion of the connecting rod 402 along the chute by a stroke crank sliding block mechanism. The left bevel gear 403 is a cylindrical bevel gear, and is mounted on the base 102 through a shaft nail to be meshed with the right bevel gear 404 and the left wing rod 405 for transmission. The right bevel gear 404 is a cylindrical bevel gear, the upper surface of the right bevel gear is provided with a horizontal chute, the central line of the chute is vertical to the diameter, the connecting rod 402 can drive the right bevel gear 404 to rotate through the chute, and the right bevel gear 404 is installed on the base 102 through a shaft nail and is meshed with the left bevel gear 403 and the right wing rod 406 for transmission. The left wing rod and the right wing rod have the same structure and are all combined bodies of a flapping wing 503 mounting boss and a cylindrical bevel gear, and the combined bodies are respectively used for driving the left flapping wing 503 and the right flapping wing 503 to move, wherein the flapping wing 503 mounting boss is positioned at the outer side of the wing rod and is used for fixing a transverse rod 5032 of the flapping wing 503; the cylindrical bevel gear is positioned at the inner side of the wing rod, a central hole on the cylindrical bevel gear is riveted with a corresponding installation hole position of the base 102 through a shaft nail, the cylindrical bevel gear can freely rotate around the installation hole position, the cylindrical bevel gear is meshed with the bevel gear at the corresponding side for transmission, and the installation boss of the flapping wing 503 is positioned at the other end of the wing rod and used for fixing the cross rod 5032 of the flapping wing 503. The transmission principle of the transmission mechanism 4 is as follows: when the mechanism needs to perform flapping motion, the motor 2 is electrified to drive the motor gear 301 to rotate, and the transmission mechanism 4 is driven after the speed is reduced by the speed reducer 3. The single-layer gear 401 rotates to drive one end of the connecting rod 402 to rotate around the rotating shaft of the single-layer gear 401, and meanwhile, the other end of the connecting rod 402 makes reciprocating linear motion in the sliding groove of the base 102 and the sliding groove of the right bevel gear 404 to drive the right bevel gear 404 to rotate. The crank block mechanism is designed to convert the rotary motion of the motor 2 into linear motion with a motion rule close to sine motion. The right bevel gear 404 is meshed with the cylindrical bevel gears of the left bevel gear 403 and the right wing rod 406, the left bevel gear 403 is meshed with the cylindrical bevel gears of the left wing rod 405 for transmission, and the motion amplitude is amplified.
The roll control mechanism 5 comprises a left flapping wing 503, a right flapping wing 503, a control steering engine 501 and a wing root fixing frame 502. The left and right flapping wings 503 are composed of a flexible wing film 5031, a cross bar 5032, a vertical bar 5033 and a diagonal bar 5034, and the cross bar 5032, the vertical bar 5033 and the diagonal bar 5034 are adhered to the flexible wing film 5031. The root end of the cross bar 5032 is fixed on the mounting bosses of the left wing rod flapping wing 503 and the right wing rod flapping wing 503 in the transmission mechanism 4, and the upper end of the vertical bar 5033 is connected with the root fixing frame 502. The steering engine 501 can drive the vertical rod 5033 of the flapping wing 503 to realize the overall horizontal movement. The wing root fixing frame 502 is a horizontal T-shaped structure, two sides of the T-shaped structure are respectively provided with a round hole for fixing the vertical rod 5033 of the flapping wing 503, the middle extension end of the T-shaped structure is provided with a mounting hole for fixedly connecting with the steering arm of the control steering engine 501, and the vertical rod 5033 of the flapping wing 503 can horizontally move under the driving of the steering arm of the control steering engine 501. When the aircraft does not need to generate rolling moment, the steering engine 501 is controlled to control the horizontal position of the vertical rods 5033 of the left and right flapping wings 503, and the flexible wing films 5031 of the left and right flapping wings 503 have the same looseness degree.
The roll control method of the high-efficiency transmission flapping wing mechanism with the roll control function comprises the following steps: when the aircraft needs to generate a right rolling moment, the steering engine 501 is controlled to pull the wing root fixing frame 502 to the right side to drive the vertical rods 5033 of the two flapping wings 503 to integrally move to the right side horizontally, so that the flexible wing film 5031 of the left flapping wing 503 is tensioned, and the flexible wing film 5031 of the right flapping wing 503 is loosened. Compared with the state before the steering engine is changed, the flexible wing membrane 5031 of the left flapping wing 503 is tensioned, and the attack angle is increased; the right side ornithopter 503 flexible airfoil membrane 5031 relaxes and the angle of attack decreases; thus, the lifting force of the left side flapping wing 503 is increased, the lifting force of the right side flapping wing 503 is reduced, and the lifting force action points of the left side flapping wing 503 and the right side flapping wing 503 are not coincident with the gravity center, so that a right rolling moment is generated. The method of generating a rolling moment to the left is opposite to the method of generating a rolling moment to the left.
The manufacturing and mounting process of the high-efficiency transmission flapping wing mechanism with the rolling control function is as follows:
(1) The motor gear 301 is arranged on the main shaft of the motor 2, and the motor 2 is in interference fit with the corresponding motor 2 mounting hole of the frame 101. The reduction gear 302 and the single-layer gear 401 are arranged on corresponding hole sites of the frame 101 through shaft nails, wherein the reduction gear 302 is meshed with the motor gear 301 and the single-layer gear 401, and the single-layer gear 401 is meshed with the reduction gear 302 only.
(2) The left bevel gear 403, the right bevel gear 404, the left wing rod 405 and the right wing rod 406 are respectively arranged on corresponding hole sites of the base 102 through shaft nails, wherein the left bevel gear 403 is meshed with the left wing rod 405 for transmission, the right bevel gear 404 is meshed with the right wing rod 406 for transmission, and the left bevel gear 403 is meshed with the right bevel gear 404 for transmission.
(3) The thicker end of the connecting rod 402 is provided with a through hole which is matched with the eccentric hole of the single-layer gear 401 through a shaft nail. The other end of the connecting rod 402 is fixedly matched with the chute of the right bevel gear 404 and the chute of the base 102 through shaft nails to form two moving pairs. The frame 101 is fixed to the base 102 by means of rivets, snaps, or the like.
(4) The flexible flapping wings 503 are manufactured, the transverse rods 5032 of the flapping wings 503 are respectively connected with the left wing rod and the right wing rod, and the vertical rods 5033 are inserted into round holes at the mounting ends at the two sides of the T-shaped head of the wing root fixing frame 502 for fixing.
(5) After the control steering engine 501 and the mounting end of the control steering engine 501 of the frame 101 are fixedly connected in a screw mode, the wing root fixing frame 502 and the steering arm of the control steering engine 501 are fixedly connected through screws.
Claims (5)
1. The high-efficiency transmission flapping wing mechanism with the rolling control function is characterized by comprising a fixing mechanism, a motor, a speed reducer, a transmission mechanism and a rolling control mechanism;
the fixing mechanism comprises a frame and a base; the rack is of a three-dimensional structure and comprises a motor, a speed reduction group and a single-layer gear mounting hole in the transmission mechanism; the frame is fixedly connected with the base by means of rivets or buckles at two ends; the base is of a three-dimensional structure and comprises a left bevel gear, a right bevel gear, a left wing rod and a right wing rod mounting hole in the transmission mechanism, wherein the upper surface of the base is provided with a chute, and the chute is matched with a connecting rod and the right bevel gear of the transmission mechanism through shaft nails; the lower part of the base is provided with a mounting point so as to fix a control steering engine of the rolling control mechanism;
the transmission mechanism comprises a single-layer gear, a connecting rod, a left bevel gear, a right bevel gear, a left wing rod and a right wing rod; the single-layer gear is a cylindrical straight gear with an eccentric hole and is arranged on the base through a shaft nail; the two ends of the connecting rod are respectively provided with a through hole, the through hole at the thicker end is connected with the eccentric hole of the single-layer gear through a shaft pin to form a revolute pair, the through hole at the thinner end is fixed in the right bevel gear chute and the base chute through the shaft pin, and the stroke crank sliding block mechanism converts the circular motion of the single-layer gear into the reciprocating linear motion of the connecting rod along the chute; the left bevel gear is a cylindrical bevel gear and is arranged on the base through a shaft nail to be meshed with the right bevel gear and the left wing rod for transmission; the right bevel gear is a cylindrical bevel gear, the upper surface of the right bevel gear is provided with a horizontal chute, the central line of the chute is vertical to the diameter, the connecting rod can drive the right bevel gear to rotate through the chute, and the right bevel gear is arranged on the base through a shaft nail and is meshed with the left bevel gear and the right wing rod for transmission; the left wing rod and the right wing rod have the same structure and are all combined bodies of a flapping wing installation boss and a cylindrical bevel gear, and the left wing rod and the right wing rod are respectively used for driving the left flapping wing and the right flapping wing to move, wherein the flapping wing installation boss is positioned at the outer side of the wing rod and used for fixing a flapping wing cross rod; the cylindrical bevel gear is positioned at the inner side of the wing rod, a central hole on the cylindrical bevel gear is riveted with a corresponding installation hole position of the base through a shaft nail and can freely rotate around the installation hole position, the cylindrical bevel gear is meshed with the bevel gear at the corresponding side for transmission, and the flapping wing installation boss is positioned at the other end of the wing rod and used for fixing the flapping wing cross rod; the transmission principle of the transmission mechanism is as follows: when the mechanism needs flapping movement, the motor is electrified to drive the motor gear to rotate, and the transmission mechanism is driven after the speed is reduced by the speed reducer; the single-layer gear rotates to drive one end of the connecting rod to rotate around the single-layer gear rotating shaft, and meanwhile, the other end of the connecting rod makes reciprocating linear motion in the base sliding groove and the right bevel gear sliding groove to drive the right bevel gear to rotate; the crank block mechanism is designed to convert the rotary motion of the motor into linear motion with a motion rule close to sine motion; the right bevel gear is meshed with the left bevel gear and the cylindrical bevel gear of the right wing rod, the left bevel gear is meshed with the cylindrical bevel gear of the left wing rod for transmission, and the motion amplitude is amplified;
the rolling control mechanism comprises a left flapping wing, a right flapping wing, a control steering engine and a wing root fixing frame; the left flapping wing and the right flapping wing are composed of a flexible wing film, a cross rod, a vertical rod and an inclined rod, and the cross rod, the vertical rod and the inclined rod are bonded on the flexible wing film; the wing root ends of the cross rods are fixed on left and right wing rod flapping wing installation bosses in the transmission mechanism, and the upper ends of the vertical rods are connected with a wing root fixing frame; the control steering engine can drive the flapping wing vertical rod to realize overall horizontal movement; the wing root fixing frame is of a horizontal T-shaped structure, round holes are formed in two sides of the T-shaped structure and used for fixing the flapping wing vertical rods, the middle extension end of the T-shaped structure is provided with a mounting hole which is fixedly connected with the steering arm of the control steering engine, and the flapping wing vertical rods can horizontally move under the driving of the steering arm of the control steering engine.
2. The high-efficiency transmission flapping wing mechanism with the rolling control function according to claim 1, wherein when the aircraft does not need to generate rolling moment, the horizontal position of the left and right flapping wing vertical rods is controlled by controlling a steering engine, and the looseness degree of the left and right flapping wing flexible wing films is the same.
3. A high efficiency transmission flapping wing mechanism with roll control function according to claim 1, wherein the flapping wing mechanism flying and roll control method comprises the following steps,
(1) When the aircraft moves, the transmission mechanism drives the flapping wings to flap in the horizontal plane to generate lifting force;
(2) When the aircraft does not need to carry out attitude control, the steering engine is controlled to be at a stroke middle position, the looseness degree of the wing films at two sides is the same, the change of attack angles of the upper and lower beats is consistent, and no rolling moment is generated at the moment;
(3) When the aircraft needs to generate a right rolling moment, the steering engine is controlled to pull the wing root fixing frame to the right side to drive the vertical rods of the two flapping wings to integrally and horizontally move to the right, so that the left-side flexible wing film is tensioned, and the right-side flexible wing film is loosened; compared with the state before the steering engine is changed, the flexible wing membrane of the left flapping wing is tensioned, and the attack angle is increased; the flexible wing membrane of the right flapping wing is relaxed, and the attack angle is reduced; therefore, the lifting force of the left side flapping wing is increased, the lifting force of the right side flapping wing is reduced, and the action points of the lifting forces of the left side flapping wing and the right side flapping wing are not coincident with the gravity center, so that a rightward rolling moment is generated;
(4) The method of generating a rolling moment to the left is opposite to the method of generating a rolling moment to the left.
4. A high efficiency transmission flapping wing mechanism with rolling control function according to claim 1, wherein the mechanism is manufactured and installed by the following method,
(1) The motor gear is arranged on a motor main shaft, and the motor is in interference fit with a corresponding motor mounting hole of the frame; the reduction gear and the single-layer gear are arranged on corresponding hole sites of the frame through shaft nails, wherein the reduction gear is meshed with the motor gear and the single-layer gear, and the single-layer gear is meshed with the reduction gear only;
(2) The left bevel gear, the right bevel gear, the left wing rod and the right wing rod are respectively arranged on corresponding hole sites of the base through shaft nails, wherein the left bevel gear is meshed with the left wing rod for transmission, the right bevel gear is meshed with the right wing rod for transmission, and the left bevel gear is meshed with the right bevel gear for transmission;
(3) A through hole at the thicker end of the connecting rod is matched with an eccentric hole of the single-layer gear through a shaft nail; the other end of the connecting rod is fixedly matched with the right bevel gear chute and the base chute through the shaft nails to form two moving pairs; the frame is fixed with the base by means of rivets or buckles;
(4) Manufacturing flexible flapping wings, connecting transverse rods of the flapping wings with left and right wing rods respectively, inserting vertical rods into round holes at mounting ends at two sides of a T-shaped head of a wing root fixing frame, and fixing;
(5) After the control steering engine and the rack control steering engine are fixedly connected through the screw, the wing root fixing frame is fixedly connected with the control steering engine arm through the screw.
5. A high efficiency drive flapping wing mechanism with roll control as defined in claim 1, wherein the speed reducer includes a motor gear and a reduction gear; the reduction gear is a coaxial double-layer gear, the diameters of the double-layer gears are different, wherein a larger layer of gear is meshed with the motor gear, and a smaller layer of gear is meshed with a single-layer gear in the transmission mechanism; the speed reducer is used for decelerating the high-speed rotation of the motor and amplifying the output torque of the motor so as to drive the transmission mechanism and the flapping wings to move.
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| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| CN112009682A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112173101A (en) * | 2020-11-05 | 2021-01-05 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
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| CN112009681A (en) * | 2020-08-05 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| CN112009682A (en) * | 2020-08-06 | 2020-12-01 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
| CN112173100A (en) * | 2020-10-10 | 2021-01-05 | 北京理工大学 | Bionic flapping wing robot based on slider-crank mechanism |
| CN112173101A (en) * | 2020-11-05 | 2021-01-05 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
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