CN204323687U - A kind of four wing flapping-wing modal - Google Patents
A kind of four wing flapping-wing modal Download PDFInfo
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- CN204323687U CN204323687U CN201420776775.3U CN201420776775U CN204323687U CN 204323687 U CN204323687 U CN 204323687U CN 201420776775 U CN201420776775 U CN 201420776775U CN 204323687 U CN204323687 U CN 204323687U
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Abstract
The utility model discloses a kind of four wing flapping-wing modal, comprise: frame, be located at the wing above frame, the empennage being located at frame rear and the drive motor be fixed in frame, wing is made up of four flapping wings, is provided with rocker arm assembly, gear-driven assembly and connecting rod assembly and is in transmission connection between wing and drive motor; Be connected with a pair elliptic gear in gear-driven assembly, elliptic gear realizes unsteady flo w and compares transmission.The utility model uses Double-gear crank rocker combination mechanism to realize fluttering up and down of wing, keep symmetrical when guaranteeing that left and right moves, transmission is compared by the unsteady flo w of elliptic gear, realize wing " closing up " and " opening " two motion stage speed in the process of fluttering different, greatly improve the sport efficiency that wing is fluttered.
Description
Technical field
The utility model relates to minute vehicle, particularly relates to a kind of four wing flapping-wing modal.
Background technology
Flapping-wing modal is an emerging in recent years technical field, and flapping wing refers to the wing of the wing or the beating of fluttering.Different with rotor minute vehicle from fixed-wing, the aerofoil of flapping-wing modal does not rotate, and mainly does and flutter up and down, namely flutters as bird or flying insect wing and flies.From flight mechanism, simultaneously flapping-wing modal produces lift and thrust by flapping wing.
Compared with traditional minute vehicle, flapping-wing modal principal feature to be climbed, to hover and propulsion functions is integrated in one, make it can take off, accelerate and hover by fast speed, there is high mobility and alerting ability, be more suitable for performing the complex-terrain flights such as cut-through thing.For minute sized aircraft, the unsteady flo w lift that flapping wing produces is relatively more much bigger than the steady lift of fixed-wing.And for propulsive force, the propulsion coefficient of flapping wing is also high than propeller propulsive efficiency.Therefore the span is less than to the minute vehicle of 15cm, flapping flight has more advantage than fixed-wing and rotor flying.Simultaneously due to features such as micro flapping wing air vehicle volume are little, lightweight, cost is low, it has application widely in national defence and civil area.
At present, general bionic flying micro-robot major part only relies on a pair flapping wing to produce lift and thrust.This flapping flight pattern major part utilizes Weis-Fogh mechanism (Clap-Fling) to produce to rise thrust, and it is lower that this type of flapping wing for ornithopter generation rises the efficiency of thrust.It is all identical that existing flapping-wing modal " closes up " (clap) and " opening " (fling) two motion stage speed in a flapping wing cycle, but by the observation to occurring in nature insect flying state, it is all different that occurring in nature insect actual flapping motion state (as ladybug) " closes up " (clap) and " opening " (fling) two motion stage speed in a flapping wing cycle, and that is two motion stages have speed to change.Simultaneously by utilizing Particle Image Velocimetry (PIV) to carry out wind tunnel test to prototype (in the flapping wing cycle, " closing up " (clap) and " opening " (fling) two motion stage speed are identical), find in a flapping wing cycle, the lift that " closing up " (clap) and " opening " (fling) two motion stages produce is different.This provides theoretical foundation with regard to the flapping-wing modal that can realize " closing up " (clap) and " opening " (fling) two motion stage speed different for design one.
On the other hand, miniature ornithopter many employings four-bar linkage structure of now successfully taking a flight test, as mechanisms such as space connecting-rod, single crank double rocking lever, double crank double rocking levers, these mechanisms all more or less also exist microminiaturization difficulty or left and right and to flutter the problems such as symmetry is bad.Wherein left and right symmetry problem of fluttering is a key problem of design flapping-wing modal driver train, and what left and right wing was fluttered asymmetricly will directly cause the instability of aircraft flight.This is because at synchronization, asymmetric flutter angle and the cireular frequency of both wings that cause that left and right wing is fluttered is different, and then the lift causing left and right wing to produce is different with thrust, and this also just makes minute vehicle can not stabilized flight.
Therefore, how to design that a kind of structure is simple, flapping wing full symmetric is fluttered and four wing flapping-wing modal that process medium velocity of fluttering the is different technical matters that to be industries urgently to be resolved hurrily.
Utility model content
The utility model provides that a kind of structure is simple, flapping wing full symmetric is fluttered and four wing flapping-wing modal that process medium velocity of fluttering is different for the problems referred to above.
The technical scheme that the utility model proposes is, design a kind of four wing flapping-wing modal, comprise: frame, be located at the wing above frame, the empennage being located at frame rear and the drive motor be fixed in frame, described wing is made up of four flapping wings, is provided with rocker arm assembly, gear-driven assembly and connecting rod assembly and is in transmission connection between described wing and drive motor; The rocking arm that described rocker arm assembly is articulated with frame top by two symmetries is formed, and the bending of described rocking arm two ends forms obtuse angle, and two rocking arm obtuse angles are opening up to be hinged at bending point, and four flapping wings are individually fixed in the outer end of two rocking arms; Gear-driven assembly comprises: the driven gear that the driving gear be in transmission connection with drive motor output shaft, driving gear are connected with a joggle, and the engagement rotation of described driving and driven gear and the hinged rotation of two rocking arms are all in vertical plane surface; Connecting rod assembly is made up of two connecting rods, and coordination hinge is between a rocking arm and driving gear, between another rocking arm and driven gear respectively, and driving and driven gear drives two rocking arms to rotate with identical speed symmetry by connecting rod respectively.
Be connected with a pair elliptic gear between described driving and driven gear, described elliptic gear realizes unsteady flo w and compares transmission.
Described gear-driven assembly comprises: the first gear be in transmission connection with drive motor output shaft, with the first pinion of the first meshed transmission gear, the second gear be coaxially fixedly connected with the first pinion, with the second pinion of the second gears meshing, the 3rd elliptic gear be coaxially fixedly connected with the second pinion, the 3rd secondary elliptic gear engaged with the 3rd elliptic gear, the 4th gear be coaxially fixedly connected with the 3rd secondary elliptic gear, the 4th pinion with the 4th gears meshing; Described driving gear is coaxially fixedly connected with described 4th pinion.
In described gear-driven assembly, first and second gear is miniature gears, and first and second pinion is big gear wheel, and described 3rd elliptic gear is little elliptic gear, and described 3rd secondary elliptic gear is large elliptic gear, and described gear-driven assembly is train of reduction gears.
Described flapping wing has flexual supporting cantilever by outer end and the ala be fixed in supporting cantilever is formed, and described ala presents wavy by the outer end of supporting cantilever to the inner.
Described empennage is made up of base plate and the riser be vertical on base plate, described riser rear end is hinged is provided with vertical control surface, described base plate rear end is hinged is provided with horizontal control surface, described riser front end is provided with the lifting steering wheel that the direction steering wheel, the level of control control surface that control vertical control surface left-right rotation rotates up and down, and described direction steering wheel, lifting steering wheel pull vertical control surface, horizontal control surface to rotate respectively by pull bar.
Compared with prior art, the utility model uses Double-gear crank rocker combination mechanism to realize fluttering up and down of wing, and keep symmetrical when guaranteeing that left and right moves, aircraft flight is stablized, a pair elliptic gear is also provided with in the transmission component of Double-gear and motor output shaft, by the unsteady flo w of elliptic gear than transmission, realize wing " closing up " and " opening " two motion stage speed in the process of fluttering different, greatly improve the sport efficiency that wing is fluttered.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, the utility model is described in detail, wherein:
Fig. 1 is the utility model schematic perspective view;
Fig. 2 is the front schematic view of the utility model rocker arm assembly, connecting rod assembly and gear-driven assembly;
Fig. 3 is the side schematic view of the utility model rocker arm assembly, connecting rod assembly and gear-driven assembly;
Fig. 4 is the schematic perspective view of the utility model empennage.
Detailed description of the invention
As shown in Figure 1, four wing flapping-wing modal that the utility model proposes, comprise: frame 1, be located at the wing above frame, the empennage 2 being located at frame 1 rear and the drive motor 3 be fixed in frame 1, wing is made up of four flapping wings 4, is provided with rocker arm assembly 5, gear-driven assembly 6 and connecting rod assembly 7 and is in transmission connection between wing and drive motor 3.
In the present embodiment, as shown in Figure 2,3, the rocking arm that rocker arm assembly 5 is articulated with frame 1 top by left and right two symmetries is formed, and the bending of rocking arm two ends forms obtuse angle, two rocking arm obtuse angles are opening up to be hinged at bending point, and four flapping wings 4 are individually fixed in the outer end of two rocking arms.Gear-driven assembly 6 comprises: the driven gear 61 that the driving gear 60 be in transmission connection with drive motor 3 output shaft, driving gear 60 are connected with a joggle, the hinged rotation of the engagement rotation of driving and driven gear and two rocking arms is all in vertical plane surface, the velocity of rotation of driving and driven gear is identical, driving gear 60 is located at below left rocking bar 51, and driven gear 61 is located at below right rocking bar 52.
Connecting rod assembly 7 is made up of left and right two connecting rods, left connecting rod 71 one end is articulated with the bottom bending arm of left Rocker arm 51, the other end is articulated with non-home position on driving gear 60, right connecting rod 72 one end is articulated with the bottom bending arm of right Rocker arm 52, the other end is articulated with non-home position on driven gear 61, and driving and driven gear drives two rocking arms to rotate with identical speed symmetry by connecting rod respectively.When driving and driven gear pulls two connecting rods downwards, the top bending arm of two rocking arms closes up, bottom bending arm is opened, driving and driven gear upwardly two connecting rods time, the top bending arm of two rocking arms is opened, bottom bending arm closes up, thus realizes the opening of four flapping wings 4, closing action.
The utility model uses Double-gear crank rocker combination mechanism to realize fluttering up and down of minute vehicle wing, and asymmetric problem of fluttering about can solving.Under this scheme, both sides wing is driven respectively by the driving and driven gear of phase rotating speed, therefore rocking arm swings angle, cireular frequency, angular acceleration are identical, also just achieve angle that left and right flapping wing flutters, cireular frequency, angular acceleration are identical, the aerodynamic force that wing produces is also just identical.
Further, be connected with a pair elliptic gear between driving and driven gear, elliptic gear realizes unsteady flo w and compares transmission.And then realize different in " closing up " (clap) and " opening " (fling) two motion stage speed of flapping wing.In the present embodiment, as shown in the figure, gear-driven assembly 6 comprises: the first gear 62 be in transmission connection with drive motor 3 output shaft, with the first pinion 63 of the first gear 62 engaged transmission, the second gear 64 be coaxially fixedly connected with the first pinion 63, the second pinion 65 engaged with the second gear 64, the 3rd elliptic gear 66 be coaxially fixedly connected with the second pinion 65, engage with the 3rd elliptic gear 66 the 3rd secondary elliptic gear 67, the 4th gear 68 be coaxially fixedly connected with the 3rd secondary elliptic gear 67, the 4th pinion 69 engaged with the 4th gear 68, driving gear 60 is coaxially fixedly connected with the 4th pinion 69.
Drive motor 3 output shaft is connected with the first gear 62 through frame 1, and the second gear 63, second pinion 65 and drive motor 3 are located at the same side of frame 1, and the opposite side of frame 1 is located at by all the other gears, reduce the thickness space that gear-driven assembly 6 takies.Gear-driven assembly 6 is three-stage gear reduction gear cluster, and in gear-driven assembly 6, first and second gear is miniature gears, and first and second pinion is big gear wheel, and the 3rd elliptic gear 66 is little elliptic gear, and the 3rd secondary elliptic gear 67 is large elliptic gear.
Further, flapping wing 4 has flexual supporting cantilever 41 by outer end and the ala 42 be fixed in supporting cantilever is formed, and ala 42 presents wavy by the outer end of supporting cantilever 41 to the inner.Pliability supporting cantilever 41 can reduce prominent wind load, and pliability supporting cantilever 41 can improve in conjunction with wavy ala 42 efficiency that flapping wing flutters.
More excellent, as shown in Figure 4, empennage 2 is made up of base plate 21 and the riser 22 be vertical on base plate 21, riser 22 rear end is hinged is provided with vertical control surface 23, base plate 21 rear end is hinged is provided with horizontal control surface 24, riser 22 front end is provided with the lifting steering wheel 26 that the direction steering wheel 25, the level of control control surface about 24 that control vertical control surface 23 left-right rotation rotates, direction steering wheel 25, lifting steering wheel 26 pull vertical control surface 23 respectively by pull bar, horizontal control surface 24 rotates, realize direction steering wheel 25 and control heading, lifting steering wheel 26 controls flight lifting.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. a wing flapping-wing modal, comprise: frame, be located at the wing above frame, the empennage being located at frame rear and the drive motor be fixed in frame, it is characterized in that, described wing is made up of four flapping wings, is provided with rocker arm assembly, gear-driven assembly and connecting rod assembly and is in transmission connection between described wing and drive motor;
The rocking arm that described rocker arm assembly is articulated with frame top by two symmetries is formed, and the bending of described rocking arm two ends forms obtuse angle, and two rocking arm obtuse angles are opening up to be hinged at bending point, and four flapping wings are individually fixed in the outer end of two rocking arms;
Gear-driven assembly comprises: the driven gear that the driving gear be in transmission connection with drive motor output shaft, driving gear are connected with a joggle, and the engagement rotation of described driving and driven gear and the hinged rotation of two rocking arms are all in vertical plane surface;
Connecting rod assembly is made up of two connecting rods, and coordination hinge is between a rocking arm and driving gear, between another rocking arm and driven gear respectively, and driving and driven gear drives two rocking arms to rotate with identical speed symmetry by connecting rod respectively.
2. four wing flapping-wing modal as claimed in claim 1, is characterized in that, are connected with a pair elliptic gear between described driving and driven gear, and described elliptic gear realizes unsteady flo w and compares transmission.
3. four wing flapping-wing modal as claimed in claim 2, it is characterized in that, described gear-driven assembly comprises: the first gear be in transmission connection with drive motor output shaft, with the first pinion of the first meshed transmission gear, the second gear be coaxially fixedly connected with the first pinion, with the second pinion of the second gears meshing, the 3rd elliptic gear be coaxially fixedly connected with the second pinion, the 3rd secondary elliptic gear engaged with the 3rd elliptic gear, the 4th gear be coaxially fixedly connected with the 3rd secondary elliptic gear, the 4th pinion with the 4th gears meshing; Described driving gear is coaxially fixedly connected with described 4th pinion.
4. four wing flapping-wing modal as claimed in claim 3, it is characterized in that, in described gear-driven assembly, first and second gear is miniature gears, first and second pinion is big gear wheel, described 3rd elliptic gear is little elliptic gear, described 3rd secondary elliptic gear is large elliptic gear, and described gear-driven assembly is train of reduction gears.
5. four wing flapping-wing modal as claimed in claim 1, is characterized in that, described flapping wing has flexual supporting cantilever by outer end and the ala be fixed in supporting cantilever is formed, and described ala presents wavy by the outer end of supporting cantilever to the inner.
6. four wing flapping-wing modal as claimed in claim 5, it is characterized in that, described empennage is made up of base plate and the riser be vertical on base plate, described riser rear end is hinged is provided with vertical control surface, described base plate rear end is hinged is provided with horizontal control surface, described riser front end is provided with the lifting steering wheel that the direction steering wheel, the level of control control surface that control vertical control surface left-right rotation rotates up and down, and described direction steering wheel, lifting steering wheel pull vertical control surface, horizontal control surface to rotate respectively by pull bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420776775.3U CN204323687U (en) | 2014-12-11 | 2014-12-11 | A kind of four wing flapping-wing modal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420776775.3U CN204323687U (en) | 2014-12-11 | 2014-12-11 | A kind of four wing flapping-wing modal |
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| CN204323687U true CN204323687U (en) | 2015-05-13 |
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| CN201420776775.3U Expired - Fee Related CN204323687U (en) | 2014-12-11 | 2014-12-11 | A kind of four wing flapping-wing modal |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859856A (en) * | 2015-06-09 | 2015-08-26 | 李维农 | Scheme for improving flapping intensity of flapping-wing aircrafts |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
| CN108820205A (en) * | 2018-06-28 | 2018-11-16 | 魏辰昊 | A kind of more flight attitude flapping-wing modals |
| CN109117584A (en) * | 2018-09-05 | 2019-01-01 | 四川腾盾科技有限公司 | A kind of dopey is dashed forward wind force coefficient calculation method and equipment |
| CN109292084A (en) * | 2018-10-08 | 2019-02-01 | 中国科学院沈阳自动化研究所 | A kind of flapping wings type synthesizing jet-flow excitor |
| CN109835481A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of flapping wing aircraft to be flown by aerofoil Deformation control |
| CN110091987A (en) * | 2019-05-16 | 2019-08-06 | 西北工业大学太仓长三角研究院 | A kind of miniature vertical landing flapping wing aircraft |
| CN110525647A (en) * | 2019-09-09 | 2019-12-03 | 北京航空航天大学 | A kind of transmission mechanism suitable for miniature four flapping wing aircraft |
| CN112937853A (en) * | 2021-03-10 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Flapping wing mechanism based on line driving |
| CN112977817A (en) * | 2021-04-26 | 2021-06-18 | 吉林大学 | Flapping wing aircraft |
| CN116443248A (en) * | 2023-06-09 | 2023-07-18 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
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2014
- 2014-12-11 CN CN201420776775.3U patent/CN204323687U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859856A (en) * | 2015-06-09 | 2015-08-26 | 李维农 | Scheme for improving flapping intensity of flapping-wing aircrafts |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
| CN109835481B (en) * | 2017-11-29 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Flapping wing aircraft capable of controlling flight through wing surface deformation |
| CN109835481A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of flapping wing aircraft to be flown by aerofoil Deformation control |
| CN108820205A (en) * | 2018-06-28 | 2018-11-16 | 魏辰昊 | A kind of more flight attitude flapping-wing modals |
| CN109117584A (en) * | 2018-09-05 | 2019-01-01 | 四川腾盾科技有限公司 | A kind of dopey is dashed forward wind force coefficient calculation method and equipment |
| CN109117584B (en) * | 2018-09-05 | 2023-01-13 | 四川腾盾科技有限公司 | Method and equipment for calculating sudden wind load coefficient of low-speed airplane |
| CN109292084A (en) * | 2018-10-08 | 2019-02-01 | 中国科学院沈阳自动化研究所 | A kind of flapping wings type synthesizing jet-flow excitor |
| CN109292084B (en) * | 2018-10-08 | 2023-09-19 | 中国科学院沈阳自动化研究所 | Flapping wing type synthetic jet exciter |
| CN110091987A (en) * | 2019-05-16 | 2019-08-06 | 西北工业大学太仓长三角研究院 | A kind of miniature vertical landing flapping wing aircraft |
| CN110525647B (en) * | 2019-09-09 | 2020-12-22 | 北京航空航天大学 | Transmission mechanism suitable for miniature four-flapping-wing aircraft |
| CN110525647A (en) * | 2019-09-09 | 2019-12-03 | 北京航空航天大学 | A kind of transmission mechanism suitable for miniature four flapping wing aircraft |
| CN112937853A (en) * | 2021-03-10 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Flapping wing mechanism based on line driving |
| CN112937853B (en) * | 2021-03-10 | 2024-01-23 | 常州龙源智能机器人科技有限公司 | Flapping wing mechanism based on line drive |
| CN112977817A (en) * | 2021-04-26 | 2021-06-18 | 吉林大学 | Flapping wing aircraft |
| CN116443248A (en) * | 2023-06-09 | 2023-07-18 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
| CN116443248B (en) * | 2023-06-09 | 2023-09-26 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20151211 |
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| EXPY | Termination of patent right or utility model |