CN108001680A - A kind of multi-layer mini-type bionic flapping-wing flying vehicle - Google Patents

Abstract

The invention discloses a multilayer miniature bionic flapping-wing aircraft, which belongs to the field of mechanical design. The multi-layer miniature bionic flapping-wing aircraft comprises a double-layer double-crank rocker mechanism, a driving mechanism and a flexible wing mechanism; the driving mechanism generates driving force and transmits it to the double-layer double-crank rocker mechanism, and the double-layer double-crank rocker mechanism generates The corresponding flapping trajectory and active flipping drive the flexible wing mechanism connected with the double-layer double crank rocker mechanism to realize the functions of flapping and flipping motion at the same time. By setting the rocker length, crank length, connecting rod length and other parameters of the upper and lower two-layer mechanisms to change the phase difference when the two-layer double-crank rocker mechanism moves, so that the flexible wing rotates while flapping to generate an angle of attack. At the same time, the flexible wing produces a large deformation, forming a passive flip to ensure a large lift. The mechanism has the functions of flapping and twisting the wings at the same time, and has the characteristics of compact structure, small volume, extremely light weight and flexible mechanism.

Description

A multilayer miniature bionic flapping wing aircraft

technical field

The invention belongs to the field of mechanical design, in particular to a multilayer miniature bionic flapping-wing aircraft.

Background technique

At present, the bionic micro flapping wing aircraft has attracted widespread attention, and it plays an important role in the military and other fields due to its small size and efficient flight mechanism.

Although many mechanism designs have been proposed in the current research on micro-bionic flapping-wing aircraft, such as single-crank-rocker mechanism, double-crank-rocker mechanism, etc., most of these mechanisms can only realize the flapping action, and it is difficult to Flapping and twisting at the same time; if only the wings can be driven to do single-degree-of-freedom motion, it is impossible to flip the wings while flapping like insects or birds, and the flipping effect cannot be used to generate lift and thrust, so it is difficult to reach insects. Or the way the birds fly, causing inefficiencies in flight.

Contents of the invention

The present invention aims at the problems and deficiencies existing in the existing bionic flapping-wing aircraft mechanism in the course of flight movement, and proposes a multi-layer miniature bionic flapping-wing aircraft. Compact, small in size, extremely light in weight and flexible in mechanism.

The multi-layer miniature bionic flapping-wing aircraft includes a double-layer double-crank rocker mechanism, a drive mechanism and a flexible wing mechanism. The driving mechanism generates driving force and transmits it to the double-layer double-crank rocker mechanism. The double-layer double-crank rocker mechanism generates a corresponding flapping trajectory and active flipping, driving the flexible wing mechanism connected with the double-layer double-crank rocker mechanism to realize simultaneous Flutter and flip motion.

The double-layer crank-rocker mechanism includes a frame, an offset gear, an upper connecting rod, a lower connecting rod, a lower left rocker, an upper left rocker, an upper right rocker and a lower right rocker.

The frame has a triangular frame structure, and four offset gears are respectively connected to the bottom frame of the triangle, and the four offset gears are divided into two layers; Layer rockers are upper left rocker, lower left rocker, upper right rocker and lower right rocker. Each rocker is connected to a connecting rod through a pin; the four connecting rods are divided into an upper connecting rod and a lower connecting rod; each connecting rod is connected to an offset gear through a pin at the same time; the upper left offset gear meshes with the upper right offset Gears; the lower left offset gear meshes with the lower right offset gear; at the same time, the upper offset gear is connected to the lower offset gear by pins;

Two offset gears meshing with each other form a crank. The connection between each rocker and the connecting rod, and the connection between the connecting rod and the offset gear adopt interference fit and clearance fit to ensure smooth transmission.

The driving mechanism includes a hollow cup motor, a motor gear, a transmission shaft and two transmission gears.

The hollow cup motor is installed in the center of the frame, the motor shaft is connected with the motor gear to output power; the motor gear meshes with a transmission gear, and the two transmission gears are fixedly connected to the two ends of the transmission shaft respectively, and the transmission shaft is arranged vertically on the frame ;Each transmission gear meshes with an offset gear respectively, and the two offset gears are located on the same side;

The flexible wing mechanism includes two symmetrical wings and two flexible wings; each flexible wing is fixed on one side of the wing root. The other side of each wing root is connected with the upper and lower rockers of the double-layer crank rocker mechanism. The upper part of the wing root is connected with the rocker through pins to form a revolving pair, so that the flexible wing can rotate freely. There is a groove at the bottom of the wing root. The lower rocker moves back and forth in the groove to form a sliding pair, which changes the angle of attack of the flexible wing.

The working principle of the described multilayer miniature bionic flapping wing aircraft is as follows:

During the movement of the aircraft, the hollow cup motor generates power, and the motor gear outputs the power, and then the transmission shaft and the transmission gear transmit the power to the double crank rocker mechanism of each layer, driving the offset gear to move, respectively driving the upper connecting rod and the lower connecting rod, thereby driving the movement of the four rockers, which in turn causes the root of the wing to drive the movement of the flexible wing;

Due to the different size parameters of the upper left rocker, lower left rocker, upper right rocker, lower right rocker, upper connecting rod, and lower connecting rod, the flapping angles of the upper and lower rockers are different. Different times produce different turning movements. At the same time, the flexible wing is moving due to air resistance, and the flexible part produces a large deformation, which can simultaneously play a role similar to turning over, that is, passive turning, and finally makes the whole mechanism realize flapping and turning at the same time. Flip.

The present invention has the advantage that:

(1) A multi-layer miniature bionic flapping wing aircraft has the characteristics of simple and compact structure, small size, extremely light weight, and flexible mechanism, and can realize the bionic flapping wing function;

(2) A multi-layer miniature bionic flapping wing aircraft, most of the parts are made by 3D printing technology, which reduces the quality of the whole machine and is easy to modify and optimize;

(3) A multi-layer miniature bionic flapping-wing aircraft adopts plastic gears that are more common in the market, which reduces weight and cost, and is easy to process and assemble in kind;

(4) A multi-layer miniature bionic flapping wing aircraft, which simultaneously realizes flapping and flipping actions, and generates an active angle of attack;

(5) A multi-layer miniature bionic flapping-wing aircraft adopts a flexible wing design, which generates passive flipping while actively flipping, overcomes the deficiency of active flipping, and generates a large enough lift.

Description of drawings

Fig. 1 is the structural representation of a kind of multilayer miniature bionic flapping wing aircraft of the present invention;

Fig. 2 is the structural representation of the double-layer double-crank rocker of a kind of multi-layer miniature bionic flapping-wing aircraft of the present invention;

Fig. 3 is the structural representation of the driving mechanism of a kind of multilayer miniature bionic flapping wing aircraft of the present invention;

Fig. 4 is a structural schematic diagram of a flexible wing mechanism of a multi-layer miniature bionic flapping wing aircraft of the present invention;

In the picture:

1-Flexible wing 2-Left upper rocker 3-Offset gear

4-frame 5-upper connecting rod 6-coreless motor

7-Transmission gear 8-Transmission shaft 9-Right upper rocker

10-wing root 11-right lower rocker 12-left lower rocker

13-Lower connecting rod 14-Motor gear

Detailed ways

The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

The invention is a multi-layer micro-bionic flapping-wing aircraft, which has the functions of flapping and twisting wings simultaneously; as shown in Figure 1, the whole includes a double-layer double-crank rocker mechanism, a driving mechanism and a flexible wing mechanism.

The driving mechanism generates driving force and transmits it to the double-layer double-crank rocker mechanism. The double-layer double-crank rocker mechanism is used to transmit power. By setting parameters such as rocker length, crank length, and connecting rod length To change the phase difference when the two layers of double crank rocker mechanism moves, so that the flexible wing mechanism produces a corresponding flapping trajectory, and actively flips while flapping to generate an angle of attack. Due to the active flipping of both sides during movement Symmetrical, the first half of the movement produces lift, and the second half produces resistance. Therefore, the flexible wing mechanism adopted produces large deformation, resulting in passive flipping, ensuring greater lift.

Described double-layer crank rocker mechanism, as shown in Figure 2, comprises frame 4, offset gear 3, upper connecting rod 5, lower connecting rod 13, left lower rocker 12, left upper rocker 2, right upper rocker 9 and right stick 11.

The frame 4 is printed with 3D printing materials to form a triangular frame structure, which reduces the overall mass and is used to connect and fix various components. There are several reinforcing ribs in the frame 4, which are used to ensure the strength of the frame and simultaneously play a positioning role.

Four offset gears 3 are respectively connected to the triangular bottom frame of the frame 4, and the four offset gears 3 are divided into two layers; The levers are upper left rocker 2, lower left rocker 12, upper right rocker 9 and lower right rocker 11.

The rockers are all made of resin by 3D printing, with high printing accuracy and multiple connection holes; each rocker is connected to a connecting rod through a pin; the four connecting rods are divided into upper connecting rod 5 and lower connecting rod 13 ;Each connecting rod is connected to an offset gear 3 through a pin at the same time; wherein the upper left offset gear 3 meshes with the upper right offset gear 3; the lower left offset gear 3 meshes with the lower right offset gear 3; The set gear 3 is connected to the offset gear 3 of the lower floor by pins;

Two offset gears 3 meshed with each other form a crank, which reduces the quality of parts; two sets of offset gears 3 are installed on the frame 4, and one end of the connecting rod is connected with the offset gear 3, and the other end is connected with the crank. The rods are connected to transmit power.

Each layer of double crank rocker mechanism is at the same height to ensure symmetry and stability during the movement. The connection between each rocker and the connecting rod, and the connection between the connecting rod and the offset gear 3, adopt interference fit and clearance fit to ensure the smooth transmission; it is beneficial to ensure the same transmission ratio of the double crank rocker mechanism and ensure the symmetry of the movement sex.

The offset gear 3 is provided with a crank positioning hole, and all rockers are provided with a rocker positioning hole. By setting the length of the connecting rod, the positions of the crank positioning hole and the rocker positioning hole, the rotation angle of the rocker is determined. range, and then determine the range of wing flapping angle.

The drive mechanism, as shown in FIG. 3 , includes a hollow cup motor 6 , a motor gear 14 , a transmission shaft 8 and two transmission gears 7 .

The hollow cup motor 6 is installed at the center of the whole 4, reducing the volume and making the structure more compact; the motor shaft is connected with the motor gear 14 to output power, the motor gear 14 meshes with a transmission gear 7, and the two transmission gears 7 are fixedly connected to the Both ends of the transmission shaft 8, the transmission shaft 8 is vertically arranged on the frame 4; each transmission gear 7 meshes with an offset gear 3 respectively, and the two offset gears 3 are located on the same side; if the two transmission gears 7 mesh respectively The upper left offset gear 3 and the lower left offset gear 3; or the two transmission gears 7 mesh with the upper right offset gear 3 and the lower right offset gear 3 respectively.

The hollow cup motor 6 generates power, which is transmitted to the transmission gear 7 through the motor gear 14, and the transmission shaft 8 drives the transmission gear 7 at the other end to rotate, and then the power of the two is transmitted to the offset gear 3 for driving. The offset gears 3 of each layer mesh with each other and the transmission gear 7 at the same time, so as to ensure the symmetry and precision of the movement.

The flexible wing mechanism, as shown in Figure 4, includes two symmetrical wing roots 10 and two flexible wings 1; the wing of the double-forked rhinoceros beetle is used as the bionic object, and the wing veins are formed by carbon fiber 3D integrated printing.

Each flexible wing 1 is located between two layers of rockers, and is glued to the groove on one side of the wing root 10 by using polyimide film through superglue, and is fixedly connected with the wing root. The other side of each wing root 10 is connected with the upper and lower rockers of the double-layer crank rocker mechanism. The upper part of the wing root 10 is connected with the rocker by pins to form a revolving pair, so that the flexible wing 1 can rotate freely. The lower part of the wing root 10 is opened. There is a groove, and the rocker on the lower layer moves back and forth in the groove to form a sliding pair, which changes the angle of attack of the flexible wing 1 and realizes active flipping.

In the active overturning mechanism, the variation range of the angle of attack of the wing during the overturning process is determined by the movement phase difference of the double-layer double crank rocker mechanism.

The flexible wing scheme is adopted, that is, the flexible part undergoes large deformation due to air resistance while moving, which can simultaneously play a role similar to flipping, generate a motion angle of attack, and increase lift.

The working principle of the described multilayer miniature bionic flapping wing aircraft is as follows:

During the movement of the aircraft, the hollow cup motor 6 generates power first, and the motor gear 14 performs power output, and then the transmission shaft 8 and the transmission gear 7 transmit the power to the double crank rocker mechanism of each layer respectively to drive the offset gear 3 movement, which drives the upper connecting rod 5 and the lower connecting rod 13 to move respectively, thereby driving the movement of the four rockers, and then causing the wing root 10 to drive the movement of the flexible wing 1;

Due to the different size parameters of the upper left rocker 2, the lower left rocker 12, the upper right rocker 9, the lower right rocker 11, the upper connecting rod 5, and the lower connecting rod 13, the flapping angles of the upper and lower rockers are different, that is, in The wing root 10 connected to the rocker produces different overturning movements at different times. At the same time, the flexible wing 1 is in motion due to air resistance, and the flexible part produces a large deformation, which can simultaneously play a role similar to overturning, and also produce Passive overturning makes the whole mechanism realize the functions of flapping and overturning at the same time.

During the movement, the phase difference of the two-layer double-crank rocker mechanism is changed by setting the rocker length, crank length, connecting rod length and other parameters of the upper and lower two-layer mechanisms, so that the wings rotate while flapping, The angle of attack is generated. Since the active flip generated during the movement is symmetrical on both sides, the first half of the movement generates lift, and the second half generates resistance. Therefore, the flexible wing used produces large deformation and passive flip to ensure greater lift.

Claims (7)

1. A multi-layer miniature bionic flapping-wing aircraft is characterized in that it comprises a double-deck double-crank rocker mechanism, a driving mechanism and a flexible wing mechanism; The driving mechanism generates driving force and transmits it to the double-layer double-crank rocker mechanism. The double-layer double-crank rocker mechanism generates a corresponding flapping trajectory and active flipping, driving the flexible wing mechanism connected with the double-layer double-crank rocker mechanism to realize simultaneous flapping and flipping movements; The double-layer crank-rocker mechanism includes a frame, four offset gears, four connecting rods and four rockers; The four offset gears are divided into upper and lower layers and fixed on the frame. The top of the symmetrical line of the frame is connected to the rockers of the upper and lower layers through the middle hole of the frame; each rocker is connected to a connecting rod; each connecting rod is connected to the An offset gear; the upper left offset gear meshes with the upper right offset gear; the lower left offset gear meshes with the lower right offset gear; at the same time, the upper offset gear is connected to the lower offset gear through pins; each layer is mutually Two offset gears in mesh form a crank; The drive mechanism includes a hollow cup motor, a motor gear, a transmission shaft and two transmission gears; The hollow cup motor is installed in the center of the frame, the motor shaft is connected with the motor gear to output power; the motor gear meshes with a transmission gear, and the transmission gear is fixedly connected to one end of the transmission shaft, and the transmission shaft is arranged vertically on the frame. The other end of the shaft is symmetrically fixed to another transmission gear; each transmission gear meshes with an offset gear respectively, and the two offset gears are located on the same side; The flexible wing mechanism includes two symmetrical wing roots and two flexible wings; each flexible wing is fixed on one side of the wing root; The upper part of the wing root is connected with the rocker through a pin to form a rotating pair, so that the flexible wing can rotate freely. There is a groove at the bottom of the wing root. change. 2. A kind of multi-layer miniature bionic flapping wing aircraft as claimed in claim 1, is characterized in that, described frame is printed by 3D printing material, makes triangular frame structure, connects four on the base frame of triangle respectively. An offset gear; the apex of the triangle is connected to the upper and lower rockers through the middle hole of the rack; the two rockers are the upper left rocker, the lower left rocker, the upper right rocker and the lower right rocker; the four connecting rods are divided into Upper link and lower link. 3. A kind of multi-layer miniature bionic flapping wing aircraft as claimed in claim 1, is characterized in that, the connection of described rocking bar and connecting rod, the connection of connecting rod and offset gear, all take interference fit and clearance Cooperate to ensure smooth transmission. 4. A kind of multilayer miniature bionic flapping wing aircraft as claimed in claim 1, is characterized in that, the length parameters of the four rocking bars of the described upper and lower layers and the length parameters of the four connecting rods are different, causing the upper and lower layers of rocking The flapping angle of the rod is different, and the wing root connected with the rocker produces different flipping movements at different times; at the same time, the flexible wing is in motion due to air resistance, and the flexible part produces a large deformation, which can simultaneously play a role similar to flipping. Function, that is, passive overturning, finally makes the whole mechanism flutter and overturn at the same time. 5. A kind of multilayer miniature bionic flapping wing aircraft as claimed in claim 1, is characterized in that, described offset gear is provided with crank location hole, is provided with rocker location hole on all rockers, by setting The length of the connecting rod, the position of the crank positioning hole and the rocker positioning hole determine the range of the rotation angle of the rocker, and then determine the range of the flapping angle of the wing. 6. A multi-layer miniature bionic flapping wing aircraft as claimed in claim 1, characterized in that, the flexible wing mechanism adopts the bifurcated rhinoceros beetle wings as the bionic object, and the wing veins are formed by carbon fiber 3D integrated printing; Each flexible wing is located between the two layers of rockers, and is glued to the groove on one side of the wing root with polyimide film through superglue, and is fixed with the wing root. 7. A kind of multi-layer miniature bionic flapping-wing aircraft as claimed in claim 1, is characterized in that, in described active flipping mechanism, the motion phase difference of double-layer double-crank rocker mechanism then determines that the wing is in the flipping process Variation range of the angle of attack.