Bionic double-pair flapping-wing aircraft and assembly method

Abstract

According to the bionic double-pair flapping wing aircraft and the assembly method, through the structural design of the interior of the aircraft body, an independent power source and a transmission mechanism can be arranged in a very small aircraft body space to efficiently and synchronously drive the double pairs of flapping wings, and assembly and installation of the aircraft body can be stably and rapidly completed. The bionic double-pair flapping-wing aircraft comprises a rack, two stepped shafts and four wings, the two stepped shafts are installed on the front portion and the rear portion of the rack in a penetrating mode respectively, and the four wings are connected to the two ends of the two stepped shafts respectively. The novel bionic double-pair flapping-wing aircraft structure and the manufacturing and assembling technology thereof are achieved, and the bionic double-pair flapping-wing aircraft structure has the advantages of being small in size, light in weight, high in maneuverability, easy to manufacture, low in cost and convenient to assemble.

Description

Technical Field

[0001] The invention relates to the intersecting field of aeronautical engineering and bionics. Background Art

[0002] With the advancement of science and technology and the in-depth understanding of the flight mechanism of biological organisms in nature, the research on bionic flapping-wing aircraft has made significant progress. This type of aircraft not only has the characteristics of high maneuverability and low energy consumption, but also has good concealment, and is suitable for military reconnaissance, environmental monitoring and other fields. Among them, the representative one is the Chinese invention patent application entitled "An independently driven bionic dragonfly robot system and its FOC control method" with application number "2022115740910". In this case, a flapping mechanism imitating dragonfly wings is proposed, and the four wings are independently controlled by four permanent magnet motors. However, the flapping process of dragonfly wings is that a pair of forewings move synchronously in the same direction, a pair of hind wings move synchronously in the same direction, and the movement directions of the forewings and hind wings are always kept opposite; in this way, if the four wings are independently controlled, it is actually necessary to set up an additional phase control mechanism, which makes its structure more complicated and difficult to layout in a very small fuselage.

[0003] Based on this, if one power source can be used with the help of a transmission mechanism to drive the four wings synchronously, the above-mentioned defect of needing to set up a phase control mechanism can be solved. However, in fact, how to arrange a separate power source and transmission mechanism in an extremely small fuselage space and achieve stable and fast assembly and installation has always been a technical difficulty of bionic flapping-wing aircraft for technical personnel in this field. Summary of the invention

[0004] In view of the above problems, the present invention proposes a bionic double-pair flapping-wing aircraft and an assembly method. By optimizing the internal structure design of the fuselage, a separate power source and a transmission mechanism can be arranged in a very small fuselage space to efficiently and synchronously drive the double pairs of flapping wings, and the fuselage assembly and installation can be completed stably and quickly.

[0005] The technical solution of the present invention is as follows: the bionic double-pair flapping-wing aircraft comprises a frame, two stepped shafts 11 and four wings 26, the two stepped shafts 11 are respectively installed through the front and rear of the frame, and the four wings 26 are respectively connected to the two ends of the two stepped shafts 11;

[0006] The frame includes a first side plate 1, an intermediate plate 5 and a second side plate 15 which are arranged in parallel and fixedly connected. A brushless motor 8 is fixedly installed at the center of the intermediate plate 5. The brushless motor 8 is located between the intermediate plate 5 and the second side plate 15. A transmission mechanism is provided between the intermediate plate 5 and the first side plate 1. The transmission mechanism is connected between the brushless motor 8 and the two stepped shafts 11. The two stepped shafts 11 are rotated synchronously through the transmission mechanism.

[0007] Four steering gears 3 are symmetrically fixedly installed on both sides of the frame, and four groups of reversing large gears 16 and reversing small gears 23 corresponding to each other and kept in meshing are rotatably connected to the outer sides of the first side plate 1 and the second side plate 15, respectively. The reversing small gears 23 are fixedly installed on the output shaft of the steering gear 3, and the reversing large gear 16 is movably sleeved on the stepped shaft 11, and the angular position of the reversing large gear 16 is adjusted by the steering gear 3;

[0008] A wing arm 18 is fixedly installed at the root of the wing 26, and the wing arm 18 is rotatably connected to the reversing gear 16, and its rotation center is perpendicular to the axis of the reversing gear 16. Two spaced drive rods 17 are also fixedly installed on each wing arm 18, and the drive rod 17 is arranged parallel to the rotation center of the wing arm 18. The end of the stepped shaft 11 is a crank 116, and the crank 116 extends into the gap between the two drive rods 7.

[0009] Furthermore, the first side panel 1, the middle panel 5 and the second side panel 15 are made of carbon fiber panels.

[0010] Furthermore, a pair of articulated seats are fixedly installed on the outer surface of the reversing gear 16, a wing arm bearing 19 is fixedly installed in the wing arm 18, a wing arm mounting bolt 20 is installed through the wing arm bearing 19, the wing arm mounting bolt 20 is fixedly connected to the articulated seat, and the wing arm mounting bolt 20 is also provided with a thrust bearing 21 that rests between the wing arm 18 and the articulated seat.

[0011] Furthermore, the transmission mechanism includes a high-speed pinion 6, two double-layer gears 14 and two low-speed large gears 12. The high-speed pinion 6 is fixedly mounted on the output shaft of the brushless motor 8, and the two low-speed large gears 12 are fixedly mounted on the two stepped shafts 11 respectively. The double-layer gears 14 are rotatably connected between the middle plate 5 and the first side plate 1, and are located beside the two stepped shafts 11. The double-layer gears 14 simultaneously mesh with the high-speed pinion 6 and the low-speed large gear 12.

[0012] The following steps are involved:

[0013] Step 1: Install the double-layer gear bearing 2 for mounting the double-layer gear 14 and the two stepped shaft first bearings 14 for mounting the two stepped shafts 11 on the first side plate 1 and the second side plate 15, and fix two steering gears 3 on the first side plate 1 and the second side plate 15 respectively;

[0014] Step 2, install two stepped shaft second bearings 7 for mounting two stepped shafts 11 on the intermediate plate 5, and fix the brushless motor 8 on the intermediate plate 5, and then fix the high-speed pinion 6 on the output shaft of the brushless motor 8;

[0015] Step 3, assemble the middle plate 5 and the second side plate 15 through the middle plate mounting bolts 10 and the middle plate positioning sleeves 9. At this time, ensure that the brushless motor 8 is between the middle plate 5 and the second side plate 15;

[0016] Step 4: Install the low-speed gear 12 on the two stepped shafts 11 and place it against the limiting convex ring 112, and then install the gear positioning sleeve 13;

[0017] Step 5, install the two stepped shafts 11 into the middle plate 5 and the second side plate 15, and make the large gear positioning sleeve 13 abut against the second bearing 7 of the stepped shaft; ensure that the phase difference between the two stepped shafts 11 is 180°;

[0018] Step 6, install the gear shafts of the two double-layer gears 14 into the double-layer gear bearings 2 on the second side plate 15, and ensure that the double-layer gears 14 are meshed with the high-speed small gear 6 and the low-speed large gear 12 at the same time;

[0019] Step 7, align the first side plate 5 with the two stepped shafts 11 and the gear shafts of the two double-layer gears 14, and complete the fixed installation of the first side plate 5 through the middle plate mounting bolts 10 and the middle plate positioning sleeve 9;

[0020] Step 8, connect the wing arm 18, flange bearing 19, thrust bearing 21 to the reversing gear 16 through the wing arm mounting bolts 20;

[0021] Step 9: Insert the pre-installed components in step 8 into the stepped shaft 11, and then insert the shaft end retaining ring 24, and fix it with the locking bolt 25; thereafter, install the reversing pinion 23 onto the servo 3, and ensure that the reversing pinion 23 is meshed with the reversing gear 16;

[0022] Step 10: Fix the wing 26 on the wing arm 18; finished.

[0023] The beneficial effects of the present invention are:

[0024] 1. Use a motor to increase the output torque through a gear reduction mechanism, and drive the front and rear four wings to flap up and down at the same frequency. After being decelerated by the reduction group, the output torque is sufficient to overcome the aerodynamic load of the wings and enable the wings to flap at a high frequency, thereby providing sufficient lift for the fuselage.

[0025] Second, the unique metal crankshaft in this case, that is, the stepped shaft, rotates with the rotation of the gear, and forms a moving pair with the two limit rods on the wing arm to drive the wings to flap up and down and back and forth. This ensures that the wings can flap back and forth regardless of the angle (that is, the universal flapping of the wings is achieved).

[0026] Third, through the independent rotation of the four servos, the four wings can be precisely controlled to be at different angles, thereby achieving individual control of each wing. This design allows the lift size and direction of the four wings to be flexibly adjusted as the angle changes, thereby achieving steering control of the aircraft. This design cleverly imitates the characteristics of a dragonfly flying, where the four wings can be independently controlled to achieve flapping at different angles.

[0027] 4. The main material of the fuselage is made of carbon fiber plate, and the gear parts are 3D printed, which is easy to manufacture, assemble and maintain. The fuselage is lighter and more compact, the fuselage length is limited to 10cm, and the fuselage weight is limited to 140g. Such a lightweight fuselage is more flexible and easier to use in high-altitude operations, reconnaissance and other activities.

[0028] Based on the structural innovation of the shaft, gears, and carbon fiber plates that fix the fuselage parts, a separate power source and transmission mechanism are arranged in a very small fuselage space, realizing efficient driving of the double flapping wings; and according to the assembly method of this case, it also has the advantages of high assembly process efficiency and simple operation. On the whole, the present invention realizes a new type of bionic double flapping wing aircraft structure and its manufacturing and assembly process, which has the characteristics of small size, light weight, high maneuverability, simple manufacturing, low cost, and convenient assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of this case;

[0030] Figure 2 This is a three-dimensional diagram of the case after removing the first side panel;

[0031] Figure 3 It is a three-dimensional structure of stepped shaft and double-layer gears. Figure 1 ;

[0032] Figure 4 It is a three-dimensional structure of stepped shaft and double-layer gears. Figure 2 ;

[0033] Figure 5 It is a stereogram of a stepped shaft;

[0034] Figure 6 This is the assembly process of this case Figure 1 ;

[0035] Figure 7 This is the assembly process of this case Figure 2;

[0036] Figure 8 This is the assembly process of this case Figure 3 ;

[0037] Fig. 9 This is the assembly process of this case Figure 4 ;

[0038] Fig.10 This is the assembly process of this case Figure 5 ;

[0039] Fig.11 This is the assembly process of this case Figure 6 ;

[0040] Fig.12 This is the assembly process of this case Figure 7 ;

[0041] Fig.13 This is the assembly process of this case Figure 8 ;

[0042] Fig.14 This is the assembly process of this case Figure 9 ;

[0043] Fig.15 This is the assembly process of this case Figure 10 .

[0044] In the figure, 1 is the first side plate, 2 is the double-layer gear bearing, 3 is the steering gear, 4 is the first bearing of the stepped shaft, 5 is the middle plate, 6 is the high-speed pinion, 7 is the second bearing of the stepped shaft, 8 is the brushless motor, 9 is the middle plate positioning sleeve, 10 is the middle plate mounting bolt, 11 is the stepped shaft, 12 is the low-speed large gear, 13 is the large gear positioning sleeve, 14 is the double-layer gear, 15 is the second side plate, 16 is the reversing large gear, 17 is the driving rod, 18 is the wing arm, 19 is the wing arm bearing, 20 is the wing arm mounting bolt, 21 is the thrust bearing, 22 is the reversing large gear bearing, 23 is the reversing small gear, 24 is the shaft end retaining ring, 25 is the locking bolt, and 26 is the wing;

[0045] The outer diameter of the above-mentioned stepped shaft 11 decreases from the middle to the two ends, which are: a square section 111 for installing the low-speed large gear 12, a limiting convex ring 112 is set next to the square section 111, and the other side is a large step section 113 for installing the large gear positioning sleeve 13 and the stepped shaft second bearing 7. The two ends of the stepped shaft are also provided with small step sections 114 for installing two stepped shaft first bearings 4. The outer side of the small step section 114 is set to be a shaft head section 115 for installing two reversing large gear bearings 22, and the outer side of the shaft head section 115 is set to be a crank 116 for driving the drive rod 17. DETAILED DESCRIPTION

[0046] In order to clearly illustrate the technical features of this patent, this patent is elaborated in detail below through a specific implementation method and in combination with its accompanying drawings.

[0047] like Figure 1-15 As shown, the bionic double-pair flapping-wing aircraft comprises a frame, two stepped shafts 11 and four wings 26, the two stepped shafts 11 are respectively installed through the front and rear of the frame, and the four wings 26 are respectively connected to the two ends of the two stepped shafts 11;

[0048] The frame includes a first side plate 1, an intermediate plate 5 and a second side plate 15 which are arranged in parallel and fixedly connected. A brushless motor 8 is fixedly installed at the center of the intermediate plate 5. The brushless motor 8 is located between the intermediate plate 5 and the second side plate 15. A transmission mechanism is provided between the intermediate plate 5 and the first side plate 1. The transmission mechanism is connected between the brushless motor 8 and the two stepped shafts 11. The two stepped shafts 11 are rotated synchronously through the transmission mechanism.

[0049] In this way, the weight of the motor is arranged between the middle plate 5 and the second side plate 15, and the weight of the transmission mechanism is arranged between the middle plate 5 and the first side plate 1, which can effectively balance the weight distribution inside the frame so that its center is in the middle position of the frame, which is conducive to flapping flight.

[0050] Four steering gears 3 are symmetrically fixedly installed on both sides of the frame, and four groups of reversing large gears 16 and reversing small gears 23 corresponding to each other and kept in meshing are rotatably connected to the outer sides of the first side plate 1 and the second side plate 15, respectively. The reversing small gears 23 are fixedly installed on the output shaft of the steering gear 3, and the reversing large gear 16 is movably sleeved on the stepped shaft 11, and the angular position of the reversing large gear 16 is adjusted by the steering gear 3;

[0051] A wing arm 18 is fixedly installed at the root of the wing 26, and the wing arm 18 is rotatably connected to the reversing gear 16, and its rotation center is perpendicular to the axis of the reversing gear 16. Two spaced drive rods 17 are also fixedly installed on each wing arm 18, and the drive rod 17 is arranged parallel to the rotation center of the wing arm 18. The end of the stepped shaft 11 is a crank 116, and the crank 116 extends into the gap between the two drive rods 7.

[0052] The first side panel 1, the middle panel 5 and the second side panel 15 are made of carbon fiber panels, so as to effectively ensure the structural strength and the connection stability of each component while ensuring a small volume.

[0053] The first side panel 1 and the second side panel 15 are fixedly connected by the middle panel mounting bolts 10. The middle panel mounting bolts 10 also penetrate the middle panel 5, and the middle panel mounting bolts 10 are also provided with middle panel positioning sleeves 9. The middle panel positioning sleeves 9 are pressed between the first side panel 1 and the middle panel 5 and between the second side panel 15 and the middle panel 5.

[0054] A pair of articulated seats are fixedly installed on the outer surface of the reversing gear 16, a wing arm bearing 19 is fixedly installed in the wing arm 18, a wing arm mounting bolt 20 is installed through the wing arm bearing 19, the wing arm mounting bolt 20 is fixedly connected to the articulated seat, and the wing arm mounting bolt 20 is also provided with a thrust bearing 21 that rests between the wing arm 18 and the articulated seat.

[0055] The transmission mechanism includes a high-speed pinion 6, two double-layer gears 14 and two low-speed large gears 12. The high-speed pinion 6 is fixedly mounted on the output shaft of the brushless motor 8. The two low-speed large gears 12 are fixedly mounted on two stepped shafts 11 respectively. The double-layer gears 14 are rotatably connected between the middle plate 5 and the first side plate 1, and are located beside the two stepped shafts 11. The double-layer gears 14 simultaneously mesh with the high-speed pinion 6 and the low-speed large gear 12.

[0056] The double-layer gear 14 includes a gear shaft, a large gear and a small gear that are connected as one. The two ends of the gear shaft of the double-layer gear 14 are rotatably connected to the middle plate 5 and the first side plate 1 respectively through two double-layer gear bearings 2. The large gear of the double-layer gear 14 is meshed with the high-speed small gear 6, and the small gear of the double-layer gear 14 is meshed with the low-speed large gear 12.

[0057] The middle part of the stepped shaft 11 is rotatably connected to the middle plate 5 through the stepped shaft second bearing 7, and is rotatably connected to the first side plate 1 and the second side plate 15 through two stepped shaft first bearings 4 respectively;

[0058] The stepped shaft 11 is provided with a square section 111 for mounting a low-speed gear 12. The center of the low-speed gear 12 has a square groove adapted to the square section 11. A limiting convex ring 112 is arranged adjacent to the square section 111 for abutting against the low-speed gear 12. The other side of the square section 111 is provided with a gear positioning sleeve 13 abutting against the low-speed gear 12. The gear positioning sleeve 13 is pressed between the second bearing 7 of the stepped shaft and the low-speed gear 12.

[0059] The stepped shaft 11 is rotationally connected to the two reversing gears 16 through two reversing gear bearings 22. The outer side of the reversing gear bearing 22 is provided with a shaft end retaining ring 24 which is sleeved on the stepped shaft 11, and a locking bolt 25 for locking the shaft end retaining ring 24 is also installed through the stepped shaft 11.

[0060] The structure of the bionic double-pair flapping-wing aircraft is optimized and designed above. The two pairs of wings are driven synchronously by two stepped shafts. Combined with the layout of various parts in the frame, the double pairs of flapping wings are driven efficiently in a very small fuselage space. The specific assembly method of the structure is as follows:

[0061] like Figure 6 As shown, step 1, a double-layer gear bearing 2 for mounting a double-layer gear 14 and two stepped shaft first bearings 14 for mounting two stepped shafts 11 are installed on the first side plate 1 and the second side plate 15, and two steering gears 3 are fixedly installed on the first side plate 1 and the second side plate 15 respectively;

[0062] like Figure 7 As shown, step 2, two stepped shaft second bearings 7 for mounting two stepped shafts 11 are installed on the intermediate plate 5, and a brushless motor 8 is fixedly installed on the intermediate plate 5, and then a high-speed pinion 6 is fixedly installed on the output shaft of the brushless motor 8;

[0063] like Figure 8 As shown, step 3, assemble the middle plate 5 and the second side plate 15 through the middle plate mounting bolts 10 and the middle plate positioning sleeves 9. At this time, ensure that the brushless motor 8 is between the middle plate 5 and the second side plate 15;

[0064] like Fig. 9 As shown, step 4, install the low-speed gear 12 on the two stepped shafts 11, and abut against the limiting convex ring 112, and then install the gear positioning sleeve 13;

[0065] like Fig.10 As shown, step 5, install the two stepped shafts 11 into the middle plate 5 and the second side plate 15, and make the large gear positioning sleeve 13 abut against the second bearing 7 of the stepped shaft; ensure that the phase difference between the two stepped shafts 11 is 180°;

[0066] like Fig.11 As shown, step 6, install the gear shafts of the two double-layer gears 14 into the double-layer gear bearings 2 on the second side plate 15, and ensure that the double-layer gears 14 are meshed with the high-speed small gear 6 and the low-speed large gear 12 at the same time;

[0067] like Fig.12As shown, step 7, align the first side plate 5 with the two stepped shafts 11 and the gear shafts of the two double-layer gears 14, and complete the fixed installation of the first side plate 5 through the middle plate mounting bolts 10 and the middle plate positioning sleeve 9;

[0068] like Fig.13 As shown, step 8, the wing arm 18, the flange bearing 19, and the thrust bearing 21 are connected to the reversing gear 16 through the wing arm mounting bolts 20;

[0069] like Fig.14 As shown, step 9, insert the pre-installed components in step 8 into the stepped shaft 11, and then insert the shaft end retaining ring 24, and fix it with the locking bolt 25; thereafter, install the reversing pinion 23 onto the servo 3, and ensure that the reversing pinion 23 is meshed with the reversing gear 16;

[0070] like Fig.15 As shown, step 10, the wing 26 is fixedly mounted on the wing arm 18; finished.

[0071] There are many specific implementation ways of the present invention. The above is only the preferred implementation mode of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A bionic double flapping wing aircraft, characterized in that: The bionic double-pair flapping-wing aircraft comprises a frame, two stepped shafts (11) and four wings (26), wherein the two stepped shafts (11) are respectively installed through the front and rear of the frame, and the four wings (26) are respectively connected to the two ends of the two stepped shafts (11); The frame comprises a first side plate (1), an intermediate plate (5) and a second side plate (15) which are arranged in parallel and fixedly connected, a brushless motor (8) is fixedly installed at the center of the intermediate plate (5), the brushless motor (8) is located between the intermediate plate (5) and the second side plate (15), a transmission mechanism is provided between the intermediate plate (5) and the first side plate (1), the transmission mechanism is connected between the brushless motor (8) and the two stepped shafts (11), and the two stepped shafts (11) are caused to rotate synchronously through the transmission mechanism; Four steering gears (3) are symmetrically fixedly installed on both sides of the frame, and four groups of reversing gears (16) and reversing pinions (23) corresponding to each other and kept in meshing are rotatably connected on the outer sides of the first side plate (1) and the second side plate (15), respectively, the reversing pinions (23) are fixedly installed on the output shaft of the steering gear (3), and the reversing gear (16) is movably sleeved on the stepped shaft (11), and the angular position of the reversing gear (16) is adjusted by the steering gear (3); A wing arm (18) is fixedly installed at the root of the wing (26), and the wing arm (18) is rotatably connected to the reversing gear (16), and its rotation center is perpendicular to the axis of the reversing gear (16). Two drive rods (17) arranged at intervals are also fixedly installed on each wing arm (18), and the drive rod (17) is arranged parallel to the rotation center of the wing arm (18). The end of the stepped shaft (11) is a crank (116), and the crank (116) extends into the interval between the two drive rods (7).

2. A bionic double flapping wing aircraft according to claim 1, characterized in that: The first side panel (1), the middle panel (5) and the second side panel (15) are made of carbon fiber panels.

3. A bionic double flapping wing aircraft according to claim 1, characterized in that: A pair of articulated seats are fixedly installed on the outer surface of the reversing gear (16), a wing arm bearing (19) is fixedly installed in the wing arm (18), a wing arm mounting bolt (20) is installed through the wing arm bearing (19), the wing arm mounting bolt (20) is fixedly connected to the articulated seat, and a thrust bearing (21) is also mounted on the wing arm mounting bolt (20) to abut between the wing arm (18) and the articulated seat.

4. A bionic double flapping wing aircraft according to claim 1, characterized in that: The transmission mechanism comprises a high-speed pinion (6), two double-layer gears (14) and two low-speed large gears (12); the high-speed pinion (6) is fixedly mounted on the output shaft of the brushless motor (8); the two low-speed large gears (12) are respectively fixedly sleeved on two stepped shafts (11); the double-layer gears (14) are rotatably connected between the middle plate (5) and the first side plate (1), and are located beside the two stepped shafts (11); the double-layer gears (14) are simultaneously meshed with the high-speed pinion (6) and the low-speed large gear (12).

5. An assembly method for the bionic double flapping-wing aircraft according to claim 1, characterized in that: The following steps are involved: Step 1: Install a double-layer gear bearing (2) for mounting a double-layer gear (14) and two stepped shaft first bearings (14) for mounting two stepped shafts (11) on the first side plate (1) and the second side plate (15), and fix two steering gears (3) on the first side plate (1) and the second side plate (15) respectively; Step 2: Install two stepped shaft second bearings (7) for mounting two stepped shafts (11) on the intermediate plate (5), and fix a brushless motor (8) on the intermediate plate (5), and then fix a high-speed pinion gear (6) on the output shaft of the brushless motor (8); Step 3: Assemble the middle plate (5) and the second side plate (15) using the middle plate mounting bolts (10) and the middle plate positioning sleeves (9). At this time, ensure that the brushless motor (8) is located between the middle plate (5) and the second side plate (15); Step 4: Install the low-speed gear (12) on the two stepped shafts (11) and place it against the limiting convex ring (112), and then install the gear positioning sleeve (13); Step 5, install the two stepped shafts (11) into the middle plate (5) and the second side plate (15), and make the large gear positioning sleeve (13) abut against the second bearing (7) of the stepped shaft; ensure that the phase difference between the two stepped shafts (11) is 180°; Step 6: Install the gear shafts of the two double-layer gears (14) into the double-layer gear bearings (2) on the second side plate (15), and ensure that the double-layer gears (14) are meshed with the high-speed small gear (6) and the low-speed large gear (12) at the same time; Step 7: Align the first side plate (5) with the two stepped shafts (11) and the gear shafts of the two double-layer gears (14), and complete the fixed installation of the first side plate (5) through the middle plate mounting bolts (10) and the middle plate positioning sleeve (9); Step 8: Connect the wing arm (18), flange bearing (19), and thrust bearing (21) to the reversing gear (16) through the wing arm mounting bolts (20); Step 9: Insert the pre-assembled assembly in step 8 into the stepped shaft (11), then insert the shaft end retaining ring (24), and fix it with the locking bolt (25); thereafter, install the reversing pinion (23) onto the steering gear (3), and ensure that the reversing pinion (23) is meshed with the reversing gear (16); Step 10: Fix the wings (26) on the wing arms (18); finished.

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