Flapping wing mechanism of miniature bionic flapping wing aircraft

Abstract

The utility model discloses a flapping wing mechanism of a miniature bionic flapping wing aircraft, which comprises a fixed base, a brushless motor is fixedly arranged outside the fixed base, and a rotating shaft is arranged at the output end of the brushless motor; the reduction gear set comprises a small gear, a large gear, a transmission gear and a crank gear, and an arc-shaped notch is formed in the outer portion of the crank gear; a transmission shaft is fixedly connected outside the large gear, and a transmission gear is fixedly connected outside the transmission shaft. A bidirectional self-maintaining push-pull type electromagnet is arranged at the rear end of the fixed base, and a first photoresistor and a second photoresistor are arranged at the lower end of the fixed base in parallel; and wing rotating shafts are rotationally connected outside the fixed bases. The dihedral angle of the flapping wing mechanism of the miniature bionic flapping wing aircraft can be fixed, the flapping wing mechanism can rapidly switch the wing flapping state and the wing fixing state, the dihedral angle of the wing is fixed through the locking structure, and therefore the flight efficiency of the bionic flapping wing aircraft is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of micro air vehicle, concretely relates to a micro bionic flapping wing aircraft flapping wing mechanism. BACKGROUND

[0002] The flapping wing aircraft is a kind of aircraft generated by imitating the flight of birds or insects, with the characteristics of small volume, light weight, low energy consumption, low cost and low noise. Domestic and foreign researchers have carried out a lot of research on bionic flapping wing aircraft, and most of the existing flapping wing aircrafts must provide lift by flapping wings during flight, and a few flapping wing aircrafts can maintain the dihedral angle of the wing by aerodynamic force to realize unpowered gliding.

[0003] Birds provide lift by flapping wings and potential gliding during flight to achieve maximum flight efficiency. The bionic flapping wing aircraft that maintains the dihedral angle of the wing by aerodynamic force has poor stability and controllability, and the dihedral angle of the wing cannot be maintained when the speed is slow, and the aircraft is prone to instability after the driving system stops. Quickly realize the mutual conversion between the flapping wing and the fixed state, and use mechanical force to maintain the dihedral angle of the wing, which can simulate the flight process of birds and improve the flight efficiency of bionic flapping wing aircraft. However, there is no related flapping wing aircraft mechanism at present. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of micro bionic flapping wing aircraft flapping wing mechanism to solve the problems raised in the above background.

[0005] To achieve the above purpose, the utility model provides the following technical scheme:

[0006] A kind of micro bionic flapping wing aircraft flapping wing mechanism, characterized by comprising:

[0007] The fixed base is externally fixedly provided with a brushless motor, and the output end of the brushless motor is provided with a rotating shaft;

[0008] The reduction gear set includes a pinion arranged outside the rotating shaft, the pinion is externally meshed with a large gear, the large gear is externally fixedly connected with a transmission gear, the transmission gear is externally meshed with a crank gear, the crank gear is rotatably connected between the fixed base, and the crank gear is externally provided with an arc-shaped notch;

[0009] The large gear is externally fixedly connected with a transmission shaft, the transmission shaft is externally fixedly connected with a transmission gear, the transmission gear is fixedly connected between the large gear through the transmission shaft, and the transmission shaft is rotatably connected between the fixed base;

[0010] The rear end of the fixed base is provided with a bidirectional self-sustaining push-pull electromagnet, the lower end of the fixed base is provided with a first photosensitive resistor and a second photosensitive resistor side by side, and the center part of the bidirectional self-sustaining push-pull electromagnet is slidably provided with an electromagnet push-pull rod.

[0011] The fixed base is externally rotationally connected with an airfoil rotating shaft, the airfoil rotating shaft is externally rotationally connected with a connecting plate, and the connecting plate and the fixed base are rotationally connected through the airfoil rotating shaft.

[0012] Further, the transmission gear can cooperate with the transmission shaft to drive the flapping wing mechanism to move.

[0013] Further, the micro bionic flapping wing aircraft flapping wing mechanism further comprises a rocker mechanism, the rocker mechanism comprises a first rocker rotationally connected outside a crank gear, the first rocker is rotationally connected outside with a second rocker through a rocker center shaft, the fixed base is externally provided with a guide rail, and the rocker center shaft can slide along the guide rail; the second rocker is rotationally connected outside with an airfoil mechanism, the airfoil mechanism comprises a connecting plate rotationally connected outside the second rocker, the connecting plate and the fixed base are rotationally connected, and the connecting plate is externally provided with a wing piece; the fixed base is externally fixedly provided with a connecting rod, and the connecting rod is externally provided with a tail wing.

[0014] Further, the rocker center shaft is rotationally connected with the fixed base.

[0015] Further, the fixed base is externally fixedly connected with a shell, the rotating shaft is rotationally connected between the shell, the rotating shaft is externally provided with a propeller, and the top end of the rotating shaft is provided with a nose cone.

[0016] Further, the fixed base is externally fixedly connected with a fixed shaft, the fixed shaft is externally fixedly connected with a shell, and the shell and the fixed base are fixedly connected through the fixed shaft.

[0017] Compared with the prior art, the micro bionic flapping wing aircraft flapping wing mechanism has the following beneficial effects:

[0018] The micro bionic flapping wing aircraft flapping wing mechanism can fix the upturned angle, can realize quick switching of the flapping wing mechanism between the flapping wing state and the fixed state, and can fix the upturned angle of the airfoil by using the locking structure, so that the flight efficiency of the bionic flapping wing aircraft is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A front view three-dimensional structure schematic view of the micro bionic flapping wing aircraft flapping wing mechanism provided by the utility model embodiment is provided.

[0020] Figure 2 A rear view three-dimensional structure schematic view of the micro bionic flapping wing aircraft flapping wing mechanism provided by the utility model embodiment is provided.

[0021] Figure 3The utility model provides a micro bionic flapping wing aircraft flapping wing mechanism's overhead perspective structure schematic diagram for the embodiment of the utility model provides a micro bionic flapping wing aircraft flapping wing mechanism's partial stereoscopic structure schematic diagram.

[0022] Figure 4 The utility model provides a micro bionic flapping wing aircraft flapping wing mechanism's partial stereoscopic structure schematic diagram for the embodiment of the utility model provides a micro bionic flapping wing aircraft flapping wing mechanism's partial stereoscopic structure schematic diagram.

[0023] In the drawing: 1, rocker center shaft, 2, first rocker, 3, second rocker, 4, brushless motor, 5, fixed base, 6, first photoresistor, 7, second photoresistor, 8, two-way self-sustaining push-pull electromagnet, 9, electromagnet push-pull rod, 10, crank gear, 11, transmission gear, 12, guide rail, 13, connecting plate, 14, wing piece, 15, arc notch, 16, pinion, 17, gear wheel, 18, transmission shaft, 19, shell, 20, rotating shaft, 21, propeller, 22, head cone, 23, fixed shaft, 24, connecting rod, 25, tail wing, 26, wing rotating shaft. DETAILED DESCRIPTION

[0024] In order to make the utility model's purpose, technical scheme and advantage more clear, the utility model will be described in more detail below with the description of the drawings, but the utility model is not limited to this.

[0025] In the description of the utility model, it is necessary to explain that the orientation or position relation of the terms "center", "front", "back", "left", "right", "inner", "outer" and the like is based on the orientation or position relation shown in the drawing, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, is constructed and operated with a particular orientation, therefore can not be understood as the limitation of the utility model.

[0026] The utility model will be described in further detail below with specific embodiment and the combination of the drawing.

[0027] Embodiment 1

[0028] Please refer to Figures 1-4The embodiment provides a micro bionic flapping wing aircraft flapping wing mechanism, which comprises a fixed base 5, a brushless motor 4 is fixedly arranged outside the fixed base 5, and a rotating shaft 20 is arranged at the output end of the brushless motor 4; a speed reduction gear set comprises a pinion 16 arranged outside the rotating shaft 20, a large gear 17 is engagedly connected outside the pinion 16, a transmission gear 11 is fixedly connected outside the large gear 17, a crank gear 10 is engagedly connected outside the transmission gear 11, the crank gear 10 is rotatably connected with the fixed base 5, and an arc-shaped notch 15 is arranged outside the crank gear 10; the large gear 17 is fixedly connected with a transmission shaft 18, the transmission shaft 18 is fixedly connected with the transmission gear 11, the transmission gear 11 and the large gear 17 are fixedly connected through the transmission shaft 18, and the transmission shaft 18 is rotatably connected with the fixed base 5; a bidirectional self-sustaining push-pull electromagnet 8 is arranged at the rear end of the fixed base 5, a first photosensitive resistor 6 and a second photosensitive resistor 7 are arranged side by side at the lower end of the fixed base 5, and an electromagnet push-pull rod 9 is slidably arranged at the central part of the bidirectional self-sustaining push-pull electromagnet 8. A wing rotating shaft 26 is rotatably connected outside the fixed base 5, a connecting plate 13 is rotatably connected outside the wing rotating shaft 26, and the connecting plate 13 is rotatably connected with the fixed base 5 through the wing rotating shaft 26.

[0029] In the device, the speed reduction gear set, the wing rotating shaft 26, the two photosensitive resistors and the bidirectional self-sustaining push-pull electromagnet 8 are fixed on the fixed base 5, the transmission gear 11 in the speed reduction gear set can be matched with the transmission shaft 18 in the aircraft adopting the flapping wing mechanism designed in the utility model to drive the flapping wing mechanism to move. Preferably, an outer shell 19 is fixedly connected outside the fixed base 5, the rotating shaft 20 is rotatably connected with the outer shell 19, a propeller 21 is arranged outside the rotating shaft 20, and a nose cone 22 is arranged at the top end of the rotating shaft 20; further preferably, a fixed shaft 23 is fixedly connected outside the fixed base 5, the fixed shaft 23 is fixedly connected with the outer shell 19, and the outer shell 19 is fixedly connected with the fixed base 5 through the fixed shaft 23.

[0030] When the wing flaps, the electromagnet push-pull rod 9 does not need to be powered and maintains a retracted state, and the crank gear 10 can rotate freely. The transmission gear 11 is driven to rotate by a driving system torque, and drives the crank gear 10 to rotate, and the crank gear 10 drives the rocker mechanism and the wing to move.

[0031] When the wing mechanism switches to the fixed state, the control system detects the bridge voltage of the first photosensitive resistor 6 and the second photosensitive resistor 7. When the hole position of the arc-shaped notch 15 moves to above the detection hole of the first photosensitive resistor 6, the first photosensitive resistor 6 is not blocked, the incident light intensity of the first photosensitive resistor 6 increases, the resistance decreases, the second photosensitive resistor 7 is blocked, the incident light intensity is weaker than that of the first photosensitive resistor 6, the resistance does not change and is greater than that of the second photosensitive resistor 7, and a larger bridge voltage is generated in the bridge. When the arc-shaped notch 15 moves to other positions, the first photosensitive resistor 6 is blocked and the second photosensitive resistor 7 is also blocked, the incident light intensity is weak and close, the resistance is close, and the bridge voltage in the bridge is small. The arc-shaped notch hole 15 and the detection hole of the first photosensitive resistor 6 have the following relationship: when the hole position of the arc-shaped notch 15 is above the detection hole of the first photosensitive resistor 6, that is, when the crank gear 10 does not block the detection hole of the first photosensitive resistor 6, the wing up angle is less than the designed fixed up angle in the gliding stage. When the detection hole of the first photosensitive resistor 6 is not in the hole position range of the arc-shaped notch 15 of the crank gear, that is, when the crank gear 10 blocks the detection hole of the first photosensitive resistor 6, the wing up angle is greater than the designed fixed up angle in the gliding stage.

[0032] When the bridge voltage is greater than the threshold value set by the control system, the driving system stops transmitting torque, the control system supplies power to the bidirectional self-sustaining push-pull electromagnet 8, and the electromagnet push-pull rod 9 has a tendency to extend towards the crank gear 10. The flapping wing mechanism moves under the action of aerodynamic force and inertial force, and during this movement process, the wing up angle tends to eventually reach and stabilize at the maximum wing up angle. When the circular holes at both ends of the arc-shaped notch 15 and the electromagnet push-pull rod through holes opened on the fixed base 5 overlap, the electromagnet push-pull rod 9 extends, the crank gear 10 cannot rotate freely, and the wing up angle is fixed. The circular holes at both ends of the arc-shaped notch 15 and the electromagnet push-pull rod through holes opened on the fixed base 5 have the following relationship: when the circular holes at both ends of the arc-shaped notch 15 and the electromagnet push-pull rod through holes opened on the fixed base 5 overlap, the wing up angle is equal to the designed fixed up angle in the gliding stage. The relative positions of the circular holes at both ends of the arc-shaped notch 15 and the electromagnet push-pull rod through holes opened on the fixed base 5 are determined according to the designed fixed up angle in the gliding stage. The energization time of the bidirectional self-sustaining push-pull electromagnet 8 is determined by the control system, and by controlling the energization time of the bidirectional self-sustaining push-pull electromagnet 8, it can be ensured that the wing is fixed within the time range in which the electromagnet push-pull rod 9 is subjected to driving force.

[0033] When the wing flaps, the electromagnet push-pull rod 9 does not need to be powered and maintained in the extended state, the crank gear 10 cannot rotate freely, and the wing up angle is fixed.

[0034] When the wing switches to the flapping state, the control system reversely supplies power to the bidirectional self-sustaining push-pull electromagnet 8, the electromagnet push-pull rod 9 is retracted, the crank gear 10 can rotate freely, and the driving system starts to transmit torque to the transmission gear 11 through the large gear 17 and the small gear 16.

[0035] It should be noted that the bridge pressure threshold is determined according to the flight environment of the aircraft. When natural light is used as the light source of the photoresistor, the flapping mechanism designed by the utility model should work in sufficient light time, and there should be no more shielding between the mechanism and the natural light. When the flapping mechanism designed by the utility model is used, non-natural light sources can be used for illumination, and the photoresistor should match the illumination light source.

[0036] Embodiment 2

[0037] A micro bionic flapping wing aircraft flapping mechanism is provided in this embodiment, which has basically the same structure as that in Embodiment 1, and the difference lies in that the rocker mechanism includes a crank gear 10 externally connected with a first rocker 2, the first rocker 2 is externally connected with a second rocker 3 through a rocker center shaft 1, a guide rail 12 is formed on the outside of the fixed base 5, and the rocker center shaft 1 slides along the guide rail 12, thereby driving the device to fly in a flapping manner; the second rocker 3 is externally connected with a wing mechanism, the wing mechanism includes a connecting plate 13 externally connected with the second rocker 3, the connecting plate 13 is rotatably connected with the fixed base 5, and the connecting plate 13 is externally provided with a wing piece 14; the fixed base 5 is externally connected with a wing shaft 26, the wing shaft 26 is externally connected with the connecting plate 13, and the connecting plate 13 is rotatably connected with the fixed base 5 through the wing shaft 26; the fixed base 5 is externally fixedly provided with a connecting rod 24, and the connecting rod 24 is externally provided with a tail wing 25, which is used to keep the micro bionic flapping wing aircraft flapping mechanism of the utility model balanced during flight.

[0038] The crank gear 10 and the wing mechanism in the speed reduction gear set are connected through the rocker mechanism, the rocker center shaft 1 can slide along the guide rail 12 formed on the fixed base 5, and the rocker center shaft 1 is rotatably connected with the fixed base 5, and the first rocker 2 and the second rocker 3 are rotatably connected through the rocker center shaft 1, thereby driving the wing mechanism to move, so that the micro bionic flapping wing aircraft flapping mechanism of the utility model can slide in the air.

[0039] It should be noted that the above-described embodiments are only preferred embodiments of the utility model. For ordinary skilled persons in the technical field, some modifications, improvements and equivalent replacements can be made without departing from the principles of the utility model, and these modifications, improvements and equivalent replacements are also considered to fall within the protection scope of the utility model claims.

Claims

1. A flapping mechanism for a micro-bionic ornithopter, comprising: The utility model relates to a micro bionic flapping wing aircraft, including: Fixed base (5), the fixed base (5) outside fixedly provided with brushless motor (4), the output of brushless motor (4) is provided with rotating shaft (20); Speed reducing gear set, the speed reducing gear set includes the pinion (16) that is arranged outside rotating shaft (20), the pinion (16) outside meshing connection has the bull gear (17), the bull gear (17) outside fixedly connected with transmission gear (11), transmission gear (11) outside meshing connection has the crank gear (10), the crank gear (10) is rotatably connected between fixed base (5), the crank gear (10) outside is provided with arc notch (15); The bull gear (17) outside fixedly connected with transmission shaft (18), transmission shaft (18) outside fixedly connected with transmission gear (11), transmission gear (11) and bull gear (17) between fixedly connected through transmission shaft (18), transmission shaft (18) and fixed base (5) between rotatably connected; The rear end of fixed base (5) is provided with a bidirectional self-sustaining push-pull electromagnet (8), and the lower end of the fixed base (5) is provided with a first photosensitive resistor (6) and a second photosensitive resistor (7) side by side, and the center part of the bidirectional self-sustaining push-pull electromagnet (8) is slidably provided with an electromagnet push-pull rod (9). The fixed base (5) is rotatably connected with a wing rotating shaft (26) outside, the wing rotating shaft (26) is rotatably connected with a connecting plate (13) outside, and the connecting plate (13) is rotatably connected with the fixed base (5) through the wing rotating shaft (26).

2. The microbionic flapping-wing vehicle flapping mechanism of claim 1, wherein, The transmission gear (11) can cooperate with the transmission shaft (18) to drive the flapping wing mechanism to move.

3. The flapping mechanism of a micro bio-mimic ornithopter according to claim 1, wherein, The flapping wing mechanism of the micro bionic flapping wing aircraft further comprises a rocker mechanism, the rocker mechanism comprises a first rocker (2) rotatably connected outside the crank gear (10), a second rocker (3) rotatably connected outside the first rocker (2) through a rocker center shaft (1), a guide rail (12) is formed outside the fixed base (5), and the rocker center shaft (1) can slide along the guide rail (12). The second rocker (3) is rotatably connected with a wing mechanism, the wing mechanism comprises a connecting plate (13) rotatably connected outside the second rocker (3), the connecting plate (13) is rotatably connected with the fixed base (5), and the connecting plate (13) is provided with a wing (14) outside. The fixed base (5) is fixedly provided with a connecting rod (24) outside, and the connecting rod (24) is provided with a tail wing (25) outside.

4. The flapping mechanism of a micro bio-mimic ornithopter according to claim 3, wherein, The rocker center shaft (1) is rotatably connected with the fixed base (5).

5. The flapping mechanism of a micro bio-mimic ornithopter according to claim 1, wherein, The fixed base (5) is fixedly connected with an outer shell (19) outside, the rotating shaft (20) is rotatably connected with the outer shell (19), the rotating shaft (20) is provided with a propeller (21) outside, and the top end of the rotating shaft (20) is provided with a nose cone (22).

6. The flapping mechanism of a micro bio-mimic ornithopter according to claim 5, wherein, The fixed base (5) is externally fixedly connected with a fixed shaft (23), the fixed shaft (23) is externally fixedly connected with a shell (19), and the shell (19) and the fixed base (5) are fixedly connected through the fixed shaft (23).

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