Flapping-wing miniature aircraft capable of realizing flapping reversing based on gears

Abstract

The invention discloses a flapping-wing micro aircraft capable of realizing flapping reversing based on gears. The device comprises a power system, a gear transmission system and a lift system. And the gear transmission system realizes reciprocating flapping of the flapping wing through alternate meshing of the incomplete gear and the output gear. Reciprocating motion of the flapping wings is achieved completely in a gear transmission mode, flapping of the flapping wings is smoother, the pneumatic efficiency of the flapping wings is improved, meanwhile, a simply supported beam layout scheme is adopted for gear installation, system operation is stable, the transmission efficiency is improved, flapping motion of the flapping wings on the two sides tends to be consistent by designing the tooth number and meshing layout, and the flapping wings are more uniform. The symmetry of the flapping wing movement is greatly enhanced, the asymmetric torque is reduced, and the controllability of the flapping wing micro aircraft is improved.

Description

Technical Field

[0001] The invention relates to the field of flapping-wing micro-aircraft, in particular to a flapping-wing micro-aircraft which realizes flapping reversing based on gears. Background Art

[0002] With the in-depth research in the fields of biomechanics and micro-electromechanical systems, flapping-wing micro-aircraft are expected to be realized. Compared with rotary-wing micro-aircraft and fixed-wing micro-aircraft, flapping-wing micro-aircraft, by drawing on the flapping-wing flight mechanism of birds and insects in nature and using unsteady aerodynamic mechanisms, effectively reduces the air adhesion effect under low Reynolds number conditions, and exhibits high lift and excellent aerodynamic efficiency. At the same time, it has good hovering ability, low noise and strong concealment, which makes it show broad prospects in multiple application fields. Research and development of flapping-wing micro-aircraft has become an important research direction in the current field of micro-aircraft.

[0003] The transmission system of flapping-wing micro-aircraft converts the high-speed rotational motion of the power system into the high-frequency reciprocating flapping of the flapping wings, which directly determines the flapping motion form of the flapping wings. As the only source of lift for flapping-wing micro-aircraft, the flapping motion of the flapping wings is directly related to the generation of aerodynamic force. Therefore, the transmission system is one of the key systems that determine the aerodynamic performance of flapping-wing micro-aircraft. In addition, from the perspective of energy power, the mechanical work output by the power system of flapping-wing micro-aircraft is transmitted to the flapping wings through the transmission system, and the flapping wings convert the mechanical work into lift. The transmission system of flapping wings is the key intermediate link of energy transmission. Therefore, the transmission system also affects the overall efficiency of flapping-wing micro-aircraft and has an important impact on the endurance of flapping-wing micro-aircraft.

[0004] At present, the transmission system of flapping-wing micro-aircraft mostly adopts mechanical transmission mode, which has the advantages of relatively reliable structure and relatively simple implementation. In order to convert the high-speed rotational motion of the power system into the reciprocating flapping of the flapping wing, the transmission system of most mechanical flapping-wing micro-aircraft adopts connecting rod mechanisms such as crank sliders and crank rockers to achieve this function. However, due to the quick return characteristics of the connecting rod mechanism with the crank transmission form, the flapping motion output by the transmission mechanism has the problem of asymmetry between the up-beat and down-beat, which in turn causes the aerodynamic resistance of the flapping wing to be asymmetric in the up-beat process and the down-beat process, resulting in an unbalanced pitching moment, which brings additional difficulties to the control of the flapping-wing micro-aircraft. On the other hand, due to the manufacturing and assembly errors, there is inevitably a gap between the connecting rod structures, and the connecting rod transmission form will amplify the influence of the gap, which in turn leads to the increase of asymmetry and uncertainty of the flapping motion output by the transmission system, making it difficult to meet the requirements of the sinusoidal flapping of the flapping wing, so that the aerodynamic force of the flapping wing is also difficult to maintain stability, and at the same time, an asymmetric moment is generated, which reduces the effective control steering amount of the flapping-wing micro-aircraft and reduces the controllability of the flapping-wing micro-aircraft. Compared with connecting rod transmission, gear transmission has the advantages of low rotational inertia, smooth operation, high transmission efficiency and good symmetry, which helps to output stable and smooth flapping motion, thereby enhancing the stability of flapping-wing micro-aircraft and improving the endurance of the entire machine.

[0005] Therefore, it is necessary to invent a flapping-wing micro-aircraft that realizes flapping reversing based on gears. Summary of the invention

[0006] In view of the problems of asymmetric motion, large gap and low efficiency existing in the transmission system based on connecting rods of current flapping-wing micro-aircraft, the present invention proposes a flapping-wing micro-aircraft that realizes flapping reversing based on gears. By using the alternating meshing of incomplete gears, symmetrical reciprocating motion of flapping wings on both sides can be achieved. At the same time, the transmission system only adopts gear transmission form, which has the advantages of low moment of inertia, stable operation, high transmission efficiency and good symmetry, reduces the asymmetric torque of the flapping-wing micro-aircraft, and improves the overall efficiency of the flapping-wing micro-aircraft.

[0007] The flapping-wing micro-aircraft that realizes flapping reversal based on gears comprises an upper fixing seat, a middle fixing seat, a lower fixing seat, a power device, a gear transmission group, a bottom platform and flapping wings.

[0008] The upper fixing seat is a three-dimensional spatial structure, including a power device mounting cavity and a gear shaft mounting hole, wherein the power device mounting cavity is a thin-walled cylindrical cavity for placing the power device motor, and the gear shaft mounting holes are all small circular bosses with a through hole in the middle for placing the gear shaft, including a double-layer reduction gear mounting hole, a left reduction synchronous gear mounting hole, a right reduction synchronous gear mounting hole, a lower incomplete gear mounting hole, and an upper incomplete gear mounting hole.

[0009] The middle fixed seat includes a reduction gear mounting hole, a lower base fixing hole and a non-complete gear mounting hole. The reduction gear mounting hole is used to support the upper reduction gear, including a double-layer reduction gear, a left reduction synchronous gear and a right reduction synchronous gear. The lower base fixing hole extends downward and is used to be inserted into the cylindrical column of the lower fixed seat and fixedly connected to the lower fixed seat. The non-complete gear mounting holes are distributed on both sides of the middle fixed seat and are used to place the lower non-complete gear and the upper non-complete gear.

[0010] The lower fixing seat includes a middle base connecting column, a wing root fixing hole and an output wing rod mounting hole. The middle base connecting column is a cylindrical column, extending upward, and is used to cooperate with the downward extending column of the middle fixing seat. The wing root fixing hole extends downward and is used to fix the carbon fiber rod of the wing root. The output wing rod mounting holes are distributed on the left and right sides of the lower fixing seat, and are used to place the left output wing rod gear and the right output wing rod gear.

[0011] The power device is the power source of the flapping-wing micro-aircraft, drives the gear transmission group to realize the reciprocating flapping of the flapping wings, and includes a power device motor and a power battery.

[0012] The gear transmission group includes a motor shaft gear, a double-layer reduction gear, a left reduction synchronous gear, a right reduction synchronous gear, a lower incomplete gear, an upper incomplete gear, a left output wing rod gear and a right output wing rod gear. The motor shaft gear is installed on the output shaft of the power device motor, and the double-layer reduction gear, the left reduction synchronous gear, the right reduction synchronous gear, the lower incomplete gear and the upper incomplete gear are respectively installed in the double-layer reduction gear mounting hole, the left reduction synchronous gear mounting hole, the right reduction synchronous gear mounting hole, the lower incomplete gear mounting hole and the upper incomplete gear mounting hole of the upper fixed seat. The large-toothed gear in the double-layer reduction gear is meshed with the motor shaft gear, and the small-toothed gear is meshed with the large-toothed gear of the left reduction synchronous gear. At the same time, the large-toothed gears of the left reduction synchronous gear and the right reduction synchronous gear are meshed with each other to achieve synchronous rotation of the left and right sides. The small-toothed gears of the left reduction synchronous gear and the right reduction synchronous gear are respectively meshed with the large-toothed gear of the lower incomplete gear. At the same time, the large-toothed gears of the lower incomplete gear and the upper incomplete gear are meshed with each other to achieve synchronous rotation of the upper and lower sides, so that the lower incomplete gear and the upper incomplete gear are alternately meshed with the output wing lever gear (including the left output wing lever gear and the right output wing lever gear) through the incomplete small gear. The high-speed rotation of the power device motor is decelerated and converted into the alternating meshing of the left output wing lever gear and the right output wing lever gear, so that the synchronous reciprocating rotation of the left output wing lever gear and the right output wing lever gear around the rotating shaft is realized.

[0013] The bottom platform includes wing root carbon rod mounting holes and a battery mounting area. The wing root carbon rod mounting holes are two through holes used to constrain the wing root carbon rods of the flapping wings. The battery mounting area is a platform located between the wing rod carbon rod mounting holes and is used to place power batteries.

[0014] The flapping wing is composed of two left and right wings, each of which includes a main beam, a main beam sleeve, an auxiliary beam, a tension beam, a tension beam sleeve and a wing membrane, wherein the main beam, the auxiliary beam and the tension beam are made of carbon fiber rods, the wing membrane is made of coarse benzene fiber material, the main beam sleeve and the tension beam sleeve are rolled from coarse benzene fiber, the main beam sleeve is sleeved on the output wing rod gear main beam of the gear transmission group, the auxiliary beam and the main beam sleeve are at an angle of 30°, the tension beam sleeve is sleeved on the wing root tension beam and can rotate relative to it, the leading edge of the wing membrane is bonded to the main beam sleeve, and the side edge of the wing membrane is bonded to the tension beam sleeve. The wing will repeatedly change the angle of attack during the up and down flapping process to generate lift.

[0015] The specific implementation process of the flapping wing micro-aircraft flapping reversal based on gears is as follows:

[0016] After the gear transmission group slows down the high-speed rotation of the power unit motor and transmits it to the lower incomplete gears on the left and right sides, since the toothed part of the incomplete gear can mesh with the output wing rod gear, and the upper incomplete gear and the lower incomplete gear have achieved synchronous rotation through the meshing of their large gears, when the incomplete gear and the output wing rod gear on one side are engaged and separated, the incomplete gear and the output wing rod gear on the other side begin to mesh, and this switching process is performed alternately, the rotation direction of the output wing rod gear can be changed in time when the incomplete gear is engaged, thereby realizing flapping reversing.

[0017] The advantages of the present invention are:

[0018] 1. A flapping-wing micro-aircraft that realizes flapping reversal based on gears, which realizes flapping reciprocating motion by only using gear transmission, avoids the adverse effect of the quick return characteristics of the connecting rod motion form on the aerodynamic characteristics of the flapping wings, makes the flapping of the wings smoother and has higher aerodynamic efficiency.

[0019] 2. A flapping-wing micro-aircraft that realizes flapping commutation based on gears. All gears adopt a simply supported beam layout, which has the advantages of smooth transmission and high transmission efficiency, improves the transmission efficiency of the aircraft, and reduces the energy consumption of the entire flight.

[0020] 3. A flapping-wing micro-aircraft that realizes flapping reversing based on gears. Through the design of the number of teeth and the meshing layout, the flapping motion of the wings on both sides tends to be consistent, with excellent motion symmetry, reducing the asymmetric torque caused by the asymmetry of flapping-wing motion, and improving the controllability of the flapping-wing micro-aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall schematic diagram of a flapping-wing micro-aircraft that realizes flapping reversal based on gears according to the present invention;

[0022] Figure 2 It is a schematic diagram of an upper fixing seat, a part of a gear transmission group and a part of a power device of a flapping-wing micro-aircraft that realizes flapping reversal based on gears according to the present invention;

[0023] Figure 3 It is a schematic diagram of a middle fixed seat and a part of the gear transmission group of a flapping-wing micro-aircraft that realizes flapping reversal based on gears according to the present invention;

[0024] Figure 4 It is a schematic diagram of the lower fixing seat, part of the gear transmission group, the bottom platform, part of the power device and part of the flapping wing of a flapping wing micro-aircraft based on gears to achieve flapping reversal of the present invention;

[0025] Figure 5 It is a schematic diagram of the flapping wings of a flapping-wing micro-aircraft that realizes flapping reversal based on gears according to the present invention;

[0026] Figure 6 It is a schematic diagram of the instantaneous state of meshing and reversing of a non-complete gear of a flapping-wing micro-aircraft that realizes flapping reversing based on gears according to the present invention;

[0027] In the figure:

[0028] 1-Upper fixing seat 2-Middle fixing seat 3-Lower fixing seat

[0029] 4- Power device 5- Gear transmission group 6- Bottom platform

[0030] 7-Flapping Wings

[0031] 101-Double-layer reduction gear mounting hole 102-Left reduction synchronous gear mounting hole 103-Right reduction synchronous gear mounting hole

[0032] 104-lower incomplete gear mounting hole 105-upper incomplete gear mounting hole

[0033] 201-reduction gear mounting hole 202-lower base fixing hole 203-incomplete gear mounting hole

[0034] 301-Middle base connecting column 302-Wing root fixing hole 303-Output wing rod mounting hole

[0035] 401-Power device motor 402-Power battery

[0036] 501-motor shaft gear 502-double-layer reduction gear 503-left reduction synchronous gear

[0037] 504-right reduction synchronous gear 505-lower incomplete gear 506-upper incomplete gear

[0038] 507-left output wing gear 508-right output wing gear

[0039] 601-Wing root carbon rod mounting hole

[0040] 701- Main beam 702- Main beam sleeve 703- Auxiliary beam

[0041] 704- tension beam 705- tension beam sleeve 706- wing membrane DETAILED DESCRIPTION

[0042] The specific implementation method of the present invention is described in detail below with reference to the accompanying drawings.

[0043] The invention discloses a flapping-wing micro-aircraft for realizing flapping reversal based on gears, comprising an upper fixing seat 1, a middle fixing seat 2, a lower fixing seat 3, a power device 4, a gear transmission group 5, a bottom platform 6 and flapping wings 7.

[0044] The upper fixing seat 1 is a three-dimensional spatial structure, including a power device mounting cavity and a gear shaft mounting hole, wherein the power device mounting cavity is a thin-walled cylindrical cavity for placing the power device motor 401, and the gear shaft mounting holes are all small circular bosses with a through hole in the middle for placing the gear shaft, including a double-layer reduction gear mounting hole 101, a left reduction synchronous gear mounting hole 102, a right reduction synchronous gear mounting hole 103, a lower incomplete gear mounting hole 104 and an upper incomplete gear mounting hole 105.

[0045] The middle fixed seat 2 includes a reduction gear mounting hole 201, a lower base fixing hole 202 and a non-complete gear mounting hole 203. The reduction gear mounting hole 201 is used to support the upper reduction gear, including a double-layer reduction gear 502, a left reduction synchronous gear 503 and a right reduction synchronous gear 504. The lower base fixing hole 202 extends downward, is used to be inserted into the lower fixed seat cylindrical column and is fixedly connected to the lower fixed seat 3. The non-complete gear mounting holes 203 are distributed on both sides of the middle fixed seat, and are used to place the lower non-complete gear 505 and the upper non-complete gear 506.

[0046] The lower fixing seat 3 includes a middle base connecting column 301, a wing root fixing hole 302 and an output wing rod mounting hole 303. The middle base connecting column 301 is a cylindrical column, extending upward, and is used to cooperate with the downward extending column of the middle fixing seat 2. The wing root fixing hole 302 extends downward and is used to fix the carbon fiber rod of the wing root. The output wing rod mounting holes 303 are distributed on the left and right sides of the lower fixing seat 3, and are used to place the left output wing rod gear 507 and the right output wing rod gear 508.

[0047] The power device 4 is the power source of the flapping-wing micro-aircraft, driving the gear transmission group 5 to realize the reciprocating flapping of the flapping wings 7, and includes a power device motor 401 and a power battery 402.

[0048] The gear transmission group 5 includes a motor shaft gear 501, a double-layer reduction gear 502, a left reduction synchronous gear 503, a right reduction synchronous gear 504, a lower incomplete gear 505, an upper incomplete gear 506, a left output wing rod gear 507 and a right output wing rod gear 508. The motor shaft gear 501 is mounted on the output shaft of the power device motor 401, and the double-layer reduction gear 502, the left reduction synchronous gear 503, the right reduction synchronous gear 504, the lower incomplete gear 505 and the upper incomplete gear 506 are respectively mounted on the double-layer reduction gear mounting hole 101, the left reduction synchronous gear mounting hole 102, the right reduction synchronous gear mounting hole 103, the lower incomplete gear mounting hole 104 and the upper incomplete gear mounting hole 105 of the upper fixed seat 1. The large-toothed gear in the double-layer reduction gear 502 is meshed with the motor shaft gear 501, and the small-toothed gear is meshed with the large-toothed gear of the left reduction synchronous gear 503. The left and right reduction synchronous gears 503 and 504 are meshed with each other, and the small gears of the left and right reduction synchronous gears 503 and 504 are respectively meshed with the large gears of the lower incomplete gear 505. At the same time, the large gears of the lower incomplete gear 505 and the upper incomplete gear 506 are meshed with each other to achieve synchronous rotation of the upper and lower sides, so that the lower incomplete gear 505 and the upper incomplete gear 506 are alternately meshed with the output wing lever gears (including the left output wing lever gear 507 and the right output wing lever gear 508) through the incomplete small gears. By reducing the high-speed rotation of the power device motor 401 and converting it into alternating meshing of the left output wing lever gear 507 and the right output wing lever gear 508, the synchronous reciprocating rotation of the left output wing lever gear 507 and the right output wing lever gear 508 around the rotating shaft is achieved.

[0049] The bottom platform 6 includes wing root carbon rod mounting holes 601 and a battery mounting area. The wing root carbon rod mounting holes 601 are two through holes used to constrain the wing root carbon rods of the flapping wing 7. The battery mounting area is a platform located between the wing rod carbon rod mounting holes 601 and is used to place the power battery 402.

[0050] The flapping wing 7 is composed of two left and right wings, each flapping wing includes a main beam 701, a main beam sleeve 702, an auxiliary beam 703, a tension beam 704, a tension beam sleeve 705 and a wing membrane 706, wherein the main beam 701, the auxiliary beam 703 and the tension beam 704 are made of carbon fiber rods, the wing membrane 706 is made of coarse benzene fiber material, the main beam sleeve 702 and the tension beam sleeve 705 are rolled from coarse benzene fiber, the main beam sleeve 702 is sleeved on the output wing rod gear main beam 701 of the gear transmission group, the auxiliary beam 703 and the main beam sleeve 702 are at an angle of 30°, the tension beam sleeve 705 is sleeved on the wing root tension beam 704 and can rotate relative thereto, the leading edge of the wing membrane is bonded to the main beam sleeve 702, and the side edge of the wing membrane is bonded to the tension beam sleeve 705. The wing will repeatedly change the angle of attack during the up and down flapping process to generate lift.

[0051] The specific implementation process of the flapping wing micro-aircraft flapping reversal based on gears is as follows:

[0052] After the gear transmission group 5 decelerates the high-speed rotation of the power device motor 401 and transmits it to the lower incomplete gears 505 on the left and right sides, since the toothed part of the incomplete gear can mesh with the output wing rod gear, and the upper incomplete gear 506 and the lower incomplete gear 505 have achieved synchronous rotation through the meshing of their large gears, when the incomplete gear on one side and the output wing rod gear are meshed and separated, the incomplete gear on the other side and the output wing rod gear begin to mesh, and this switching process is performed alternately, the rotation direction of the output wing rod gear can be changed in time when the incomplete gear is meshed, thereby realizing flapping reversing.

Claims

1. A flapping-wing micro-aircraft based on gears to achieve flapping reversal, comprising a fixed seat, a gear transmission group, a bottom platform, a power device and flapping wings, characterized in that: The fixing seat includes an upper fixing seat, a middle fixing seat and a lower fixing seat, which together form the overall fuselage of the aircraft and are used to place the gear transmission group and connect other parts of the aircraft; The gear transmission group includes a motor shaft gear, a double-layer reduction gear, a left reduction synchronous gear, a right reduction synchronous gear, a lower incomplete gear, an upper incomplete gear, a left output wing rod gear and a right output wing rod gear. The double-layer reduction gear, the left reduction synchronous gear, the right reduction synchronous gear, the lower incomplete gear and the upper incomplete gear are installed between the upper fixed seat and the middle fixed seat in the form of a simply supported beam. The left output wing rod gear and the right output wing rod gear are installed on the lower fixed seat. The large-toothed gear in the double-layer reduction gear is connected to the gear of the middle fixed seat. The motor shaft gears are meshed, the small-tooth gear is meshed with the large-tooth gear of the left reduction synchronous gear, and at the same time, the large-tooth gears of the left reduction synchronous gear and the right reduction synchronous gear are meshed with each other, the small-tooth gears of the left reduction synchronous gear and the right reduction synchronous gear are respectively meshed with the large-tooth gear of the lower incomplete gear, the large-tooth gears of the lower incomplete gear and the upper incomplete gear are meshed with each other, and the lower incomplete gear and the upper incomplete gear are alternately meshed with the output wing lever gear (including the left output wing lever gear and the right output wing lever gear) through the incomplete small gear. The power unit motor rotates at a high speed, is decelerated by the gear transmission group and converted into the alternating meshing of the left output wing lever gear and the right output wing lever gear, so as to realize the synchronous reciprocating rotation of the left output wing lever gear and the right output wing lever gear around the rotating shaft; The bottom platform is a platform with through holes, which is used to constrain the wing root carbon rod and place the power battery; The power device is composed of a power motor and a power battery. The power motor is used to drive the gear transmission group to realize the flapping movement of the flapping wings, and the power battery provides energy for the flapping-wing micro-aircraft. The flapping wing is composed of two left and right flapping wings, and each flapping wing includes a main beam, a main beam sleeve, an auxiliary beam, a tension beam, a tension beam sleeve and a wing membrane.

2. A flapping-wing micro-aircraft based on gears to achieve flapping reversal as claimed in claim 1, characterized in that: The upper fixing seat includes a power device mounting cavity and a gear shaft mounting hole; the power device mounting cavity is a thin-walled cylindrical cavity for placing the power device motor; the gear shaft mounting holes are all small circular bosses with a through hole in the middle for placing the gear shaft, including a double-layer reduction gear mounting hole, a left reduction synchronous gear mounting hole, a right reduction synchronous gear mounting hole, a lower incomplete gear mounting hole and an upper incomplete gear mounting hole.

3. A flapping-wing micro-aircraft based on gears to achieve flapping reversal as claimed in claim 1, characterized in that: The middle fixed seat includes a reduction gear mounting hole, a lower base fixing hole and an incomplete gear mounting hole; the reduction gear mounting hole is used to support the upper reduction gear; the lower base fixing hole is used to be fixedly connected to the lower fixed seat; the incomplete gear mounting hole is used to place the lower incomplete gear and the upper incomplete gear.

4. A flapping-wing micro-aircraft based on gears to achieve flapping reversal as claimed in claim 1, characterized in that: The lower fixing seat includes a middle base connecting column, a wing root fixing hole and an output wing rod mounting hole; the middle base connecting column extends upward to cooperate with the middle fixing seat; the wing root fixing hole extends downward to fix the wing root carbon fiber rod; the output wing rod mounting hole is used to place the left output wing rod gear and the right output wing rod gear.

5. A flapping-wing micro-aircraft based on gears to achieve flapping reversal as claimed in claim 1, characterized in that: The main beam sleeve of the flapping wing is sleeved on the output wing rod gear main beam of the gear transmission group, the auxiliary beam and the main beam sleeve form an angle of 30°, the tension beam sleeve is sleeved on the wing root tension beam and can rotate relative to it, the leading edge of the wing membrane is bonded to the main beam sleeve, and the side edge of the wing membrane is bonded to the tension beam sleeve; The wing repeatedly changes its angle of attack during the up and down strokes to generate lift.

6. A flapping-wing micro-aircraft according to any one of claims 1 to 5 that implements flapping-reversal based on gears performs flapping-reversal in a process of: After the gear transmission group slows down the high-speed rotation of the power unit motor and transmits it to the lower incomplete gears on the left and right sides, since the toothed part of the incomplete gear can mesh with the output wing rod gear, and the upper incomplete gear and the lower incomplete gear have achieved synchronous rotation through the meshing of their large gears, when the incomplete gear and the output wing rod gear on one side are engaged and separated, the incomplete gear and the output wing rod gear on the other side begin to mesh, and after the incomplete gear on the other side enters meshing, the rotation direction of the output wing rod gear is changed in time, and this switching process is performed alternately to achieve flapping reversing.

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